1. Actively Stabilized Hand Held Laser Pointer May 8, 2014 Kaitlin Peranski Spencer Wasilewski Kyle Lasher Kyle Jensen Chris Caporale Jeremy Berke

2. Agenda Layout/CAD Models System Diagrams Test Bench Test Results BOM/Purchase List Future Development Technical Manual

3. Prototype Layout

4. Housing Main Power (Forward-on) Turns Correction On (Forward-on) NST Controller Access Processor USB/ Charging Port Processor LED (On When Correcting) Charging LED (Yellow- Charging Green- Charged) Push Button to turn on laser (Hold down to turn laser on)

5. CAD Models

6. Use Instructions Gyroscope Calibration: – Turn module on, and leave on a stable surface until the processor led blinks. Moving the module during this process will cause the module to not calibrate properly, resulting in possible drift. Battery Charging: – Turn module on – Plug in micro USB Cable – Yellow light on charging module will turn green when the battery is fully charged

7. Logic Flow Chart

8. Wiring Diagram

9. Test Bench Approximates a sine wave from 4 to 20 Hz Solid state relay triggering system for solenoid actuators Adjustable amplitude using duty cycle Integrated gyroscope DAQ Thermistor DAQ

10. Test Results Accelerometers versus Gyroscopes Extended Runtime Response Time Effectiveness using Test Bench Effectiveness using Target Survey

11. Engineering Requirements with Results

12. Accelerometers VS Gyroscopes Beyond 80 cm, or 31.5 in, gyroscopes begin to out sense over accelerometers.

13. Extended Runtime Testing Time (hours)Battery Voltage 0.0 4.18 0.54.13 1.04.07 1.5 4.05 2.0 4.00 2.53.96 3.03.92 3.5 3.89 4.0 3.86 4.53.82 5.03.81 5.5 3.79 6.0 3.78 6.53.76 7.03.74 7.5 3.72 8.0 3.71 8.53.69 9.03.67 9.5 3.64 10.0 3.47 10.5 N/A Total Runtime: 10.1 Hours

14. Extended Runtime Testing TemperatureMin (C)Max (C)Average (C)Limits (C) TCase122.5126.0524.4832.22 TCase223.1527.3425.4832.22 Tproc24.4428.6327.0385 TNST25.4129.6027.8860 Tgyro24.1228.6326.7385 Tbatt22.5127.9925.8960 Tamb21.2225.4123.27N/A

15. Response Time Prototype: The code was run for 10 seconds The average time it took to run through the code was 1.4 ms NST Module: The Pathways performance logger was used to determine response time to a step response Before update – 300 ms forward, 70 ms reverse After update – 40 ms forward, 20 ms reverse

16. Response Time NST Module: While the teensy was sending commands to simulate a sine wave the performance logger was run Response time – 3.4 ms

17. Effectiveness using Test Bench Without Firmware Update Frequency (Hz)% Reduction 156.89 261.07 357.87 439.5 515.32 642.34 742.86 8-12.89 96.73 1024.25 11-14.7 12-11.89 13-28.6 14-34.02 15-26.87 16-35.61 17-44.92 18-7.57 192.49 20-81.78

18. Effectiveness using Target Without Firmware Update Data Sets: No Drift = {69.75, 20.06, 24.39, 47.06, 56.74, 44.64} Possible Drift = {-13.95, 9.65, 36.18, 25.76, 43.98} Extreme Drift = {-145.65} Averages: ND&PD&ED = 16.85% ND&PD = 33.11% ND = 45.60% No Drift Possible Drift** **Drift in image is due to incorrect calibration of gyroscope

19. Ease of Use/Ergonomics Survey

20. Comments: Module is hard to aim when the correction algorithm activated at the same time as the button press. This led us to add a slight delay from when the button is pressed to when the correction activates User did not know when the correction was turned on without looking at the switch Led to us adding an LED light on the Teensy processor

21. Final Prototype BOM

22. Final Purchase List Started with a $1,000 budget Propose to spend remaining money on practical items

23. Additional Items to Purchase**: Total: $101 Micro USB Cable Sparkfun: $5 Mini USB Cable Sparkfun: $4 Universal Laptop AC Power Adapter Amazon: $15 Triple Axis Digital Output Gyroscope Sparkfun: $25 Micro Lipo USB LiPoly Charger X 2 Adafruit: $12 Teensy 3.1 + Header X 2 Adafruit: $40 **These items have already been accounted for in our purchase list.

24. Future Development Improve Packaging Component layout More ergonomic Better Quality Gyroscope Easier calibration Less drift More accurate Integration of Processors Add gyroscope onto NST module Use single processor Continuous data and corrections Reduce overall response time Improve response of NST’s mechanical system to meet a target of 2.6 ms Add damping to test bench Better method to image process when using test bench Investigate setting of limits (calibration algorithm) Ignore any jitters below 2 Hz and focus on canceling between 2 and 20 Hz

25. Technical Manual Drawing Package Wiring Diagram Processor Code with Notes Current Related Patents Use Instructions Final BOM and Purchase List Testing Results and Data