SPIRIT-C Solar Powered Image Response Infrared Tracking Camcorder Justin Eiler Jeff Morroni Adeel Baig Andy Crahan Jim Patterson

SPIRIT-C Applications Live Action Filming Security Surveillance Infant Monitoring Proximity Detection

Pan/tilt tracking system for digital camcorder Overview Pan/tilt tracking system for digital camcorder Two stepper motors used for pan/tilt motion Controlled by array of PIR(pyro-electric infrared) sensors Solar array for supplying power to all components External battery and camcorder battery charged through array FPGA with embedded soft core for integration and control Manual, and possibly wireless, controller

Block Diagram Converters Solar Array ADC / Mux Control Power Data LED Cluster Battery Spartan 3 with Microblaze Manual Control H-Bridge Controller Stepper Motors Camera ADC / Mux Control Power Data IR Sensors

Camera Mount Assembly The camera will be mounted into a cradle using existing tripod mount The cradle is suspended between side holes on yoke The yoke will be used to facilitate tilting motion A Lazy Susan will be used for pan rotation and is connected to bottom hole of yoke

Stepper Motors Two low power stepper motors will be used to power the rotation of the camera The motors will also be Bipolar (no center taps)

Motor Control A simple H-bridge circuit will be constructed to control the motors The H-bridge will allow us the following modes XY Mode 00 D. Braking 01 Forward 10 Reverse 11

Motor Driver The Step input will be hooked up to the Spartan 3 Pulse Width Modulator The Direction input will be held high for clockwise or held low for counter clockwise The outputs then will be attached to the appropriate H bridge inputs Step Y Winding 1 X Y Direction Winding 2 X Driver using TTL logic

IR Sensors To detect rapid human movement will require high quality IR sensors Several types are available including: - Thermopiles - Bolometers - Pneumatic Detectors - Pyroelectric Detectors

Pyroelectric IR Sensors Only pyroelectric sensors have the rapid motion detection we require for high speed filming These operate like current sources with output proportional to the rate of change in temperature Extremely fast responses set them apart They are also insensitive to undesirable external DC effects

Configuration Internal FET detects surface charge changes BW limited 2 stage amplifier reduces HF noise

Fresnel Lens Fresnel lenses are lightweight economical heat dissipative precise FL65 Detects 8-14um radiation

Fresnel Specs Concentrates PIR field to 10 degrees versus 95 Important aspect for sensitive motion detection Provides appropriate field with our 8 sensor cradle design

Motion Detection Motion detected by sensors being triggered consecutively This cancels signals due to vibration, temp. changes, and sunlight

PIR325 Specs 2 sensing elements 5-14um response General motion detector schematic

Solar Power Block Diagram

Solar Module Maximum Power = 40 W 25.8 inches by 21.1 inches Provides 17.3Vmax and 2.31Amax Manual/Automatic tilt for maximum sun intensity

DC/DC Converter Buck Converter Input Voltage, Vg, will be around 17.3 V (for one panel) Battery charging voltage should be around 13-14 V Buck Converter will decrease the voltage with low loss

Control Technique Output Voltage will be set to constant charging voltage Sense the output current FPGA will increase duty cycle thus changing the operating point If new operating point has greater output power, continue increasing duty cycle, otherwise decrease

Deep Cycle Battery 12V Deep cycle required for extended usage A shunt regulator will prevent over-charging When battery draws less current (fully charged), the regulator will dissipate the excess current

Xilinx Spartan-3 Starter Kit

Starter Kit Features Spartan-3 XC3S200 FPGA 2Mbit Xilinx XCF02S Platform Flash Prom 1M-byte of Fast Asynchronous SRAM 3-bit, 8-color VGA display port 9-pin RS-232 Serial Port PS/2-style mouse/keyboard port Four-character, seven segment LED display Eight slide switches Eight individual LED outputs Four momentary-contact push buttons 50 MHz crystal oscillator clock source JTAG port AC power adapter with unregulated +5V power supply On board 3.3V, 2.5 V, and 1.2V regulators

CONFIGURABLE LOGIC BLOCK FPGA – Spartan-3 XC3S200 220K system gates, 4320 equiv. logic cells 480 total CLB (configurable logic block) 30K distributed RAM bits 216K block RAM bits 12 dedicated multipliers 4 DCM (digital clock multiplier) 173 user I/O, 76 differential I/O pairs CONFIGURABLE LOGIC BLOCK Main logic resource for implementing synchronous and combinatorial circuits Comprised of four slices Two logic function generators, two storage elements, wide-function multiplexers, carry logic, and arithmetic gates left-hand pair also supports: storing data using Distributed RAM and shifting data with 16-bit registers.

FPGA implementation ISE development system: synthesis, mapping, placement, routing I/O blocks and selectable paths create versatility CLB’s are workhorse of FPGA Function Generator: LUT function used to implement state machine Storage Element: Flip Flop used to synchronize data to clock signal Carry chain: helps with fast arithmetic PWM (pulse width modulator): clock divider binary up-down counter comparator

MICROBLAZE Embedded Soft Core - Based on RISC 32-bit architecture - 32-bit instruction word with three operands and two addressing modes - 32-bit address bus, 32 32-bit general purpose registers, single issue pipeline

User Interface Switch between automatic and manual control Allows user to control the camera position Sega Genesis controller provides serial input (RS232 on DB-9) to the board

Controller Functions

Camcorder Control Camcorder remote will be incorporated into the Genesis controller

Constraints Financial Time LED cluster Number of solar panels Number of PIR sensors Time Real time data acquisition link Wireless control Digital peak power tracker Automatic positioning for solar array

Contingency Plan IR sensors Camera Motor Control Switch to thermopile sensors Use transmitter on subject Camera Use existing battery charger Motor Control Buy H-bridge controller if design performance bad

Division of Labor Jeff – Solar array and peak power tracker Adeel – Manual and Wireless control for the camcorder system Jim – FPGA implementation and integration Justin – Stepper motors, drivers, and H-bridge controller Andy – Infrared sensor network and interface

Budget

Project Schedule

Questions?