1. Laser Tracking System (LTS) Son Nguyen Jassim Alshamali Aja ArmstrongMatt Aamold

2. Presentation Outline CDR Checklist Digitization Sub-Systems Controls Sub-Systems Target Detection Project Schedule

3. Slight Changes to Project B/W sampling instead of Color –B/W uses intensity sampling –Color uses phase sampling from the back porch Black background instead of white –Better laser detection Two power supplies instead of one

4. CDR Checklist Timing for digitization Obtained main schematics Functioning servos Creating PWM design Designing structure

5. Digitization Sub-System Video Frame Timing Video Line Timing Sync Separator Outputs State Machine Diagram Timing Counters Timing Schematic

6. Digitization – Video Frame Timing Odd/Even Fields Not every line in output of NTSC is valid data Last line on each field is half line

7. Digitization – Video Line Timing  63.5 us line time – not all is valid data  B/W is intensity based

8. Digitization – Sync Separator

9. Digitization – State Machine

10. Digitization – Timing Counters Counter A – Divides 50Mhz to 12.5Mhz; sampling clock Counter B - Throw out invalid lines; starts from line sync; 1,111,250ns @50Mhz = 55,562 cycles Counter C – Throw out invalid line data; starts from Counter B; 9.4us @50Mhz = 470 cycles Counter D – Sampling counter; starts from Counter C; 640 samples throughout 52.6us; Uses 12.5Mhz clock (Coordinate Counter A) Counter E – Keeps track of which line in frame; 242 valid full lines (Coordinate Counter B)

11. Digitization – Timing Schematic

12. Controls Sub-System Structure Design Servo Testing Pulse Wave Modulator Design Power Supply Design

13. Controls - Structure Rotary Base will serve as the x-axis Designs for the y-axis movement are in progress

14. Controls - Servo Testing Dual Timer Chip Used to Implement Hardware PWM 50hz Base Signal Required Changing the duty cycle changes the relative position of the servo

15. Controls - Servo Testing HiTec HS-50 Servo –Full Counter-Clockwise 4.2% Duty Cycle –Full Clockwise 9.8% Duty Cycle –Center 7.0% Duty Cycle Airnotics….Servo –Full Counter-Clockwise 3.2% Duty Cycle –Full Clockwise 9.8% Duty Cycle –Center 5.6% Duty Cycle

16. Controls - Pulse Wave Modulator Design Pulse Wave Modulator (PWM) controls the duty cycle required to move the servos. Implementation of the PWM will be on board the FPGA Design of PWM will be designed in Verilog

17. Controls - Pulse Wave Modulator PWM consists of several parts –Clock Divider to bring the 50Mhz clock of the FPGA down to 45hz-55hz for the base frequency of the PWM. –Verilog code to generate the behavior of a PWM Accumulator and registers will be used to adjust the duty cycle of the 45hz-55hz waveform

18. Controls - Pulse Wave Modulator The clock divider was made with flip flops to bring the frequency down to 47hz

19. Controls - Power Supply Design Servos –9 Volt unregulated transformer With a 5 volt regulator Digitizing Board –12-15 Volt unregulated transformer With 12 and 5 regulated voltages

20. Overall Power Components –Camera 12V * 200 mA = 2.4 Watts –Servos Maximum of (9V-5V) * 1A = 4 Watts –All IC’s will go off of FPGA FPGA will use a regulated 5V

21. Target Detection Four main state machines –Target detector –Choosing mode –Static mode –Dynamic mode

22. State Machine for Target Detector

23. Project Schedule

24. Any Questions??