1. Kaitlin Peranski Spencer Wasilewski Kyle Jensen Kyle Lasher Jeremy Berke Chris Caporale

2. Problem Definition Review Executive Summary System Review Detailed Design Review Detailed Risk Assessment Test Plans Bill of Materials Cost Analysis Project Plan for MSD II

4. There are many people today who use laser for various applications: to aid in presentations, medical imaging, and defense. Under many use scenarios they are negatively affected by unwanted vibrations; one such example is a nervous presenter using a laser pointer. New Scale Technologies (NST) has developed a module that steers a laser beam using piezoelectrics and mirrors. Currently they cannot actively detect and compensate for hand vibrations. To reduce this gap, a handheld and user friendly unit is to be developed utilizing the NST module. Concerns for development include: response time, operating temperature and duration, and unwanted motion attenuation.

6. Target Frequency Range: 1-20 Hz Cost Analysis: Total < $350 Test Bench Design: < $100 Response Time Analysis: Required = 12.5 ms Capability = 10 ms (worst case) Power Consumption: 1.4 Watts Heat Generation: Surface temperature of 95 o F Comparison of Gyroscopes and Accelerometers: Beyond 80 cm, gyroscopes are more accurate Housing: Aluminum, 139X42X32 mm

9. Concept 1 Battery Gyroscope Low Pass Filter Processor Communication to NST Module Concept 2 Battery Accelerometer Integrator/Low Pass Filter Processor Communication to NST

11. Highest hand jitter frequency = 20 Hz Sample rate = 4*frequency = 80 Hz =.0125 sec Required time =.0125 sec or 12.5 ms to accurately reduce vibrations

12. NST Data Acquisition Software Interpretation and Control Communication to NST

14. Total Time Zoomed to Zero (Delay)

15. NST ~ 2 ms (worst case scenario) Data Acquisition ~ 2 ms Software Interpretation and Control ~ 2-5 ms Communication to NST ~.2 ms Total Time = 9.9 to 10 ms Gives 2.5 ms of overhead

16. Detailed Design Review Schematic Drawings Control Algorithm Thermal Resistance Analysis Device Housing/Layout Test Bench Design

20. InvenSense ITG-3200 Sample Rate: 8kHz Operating Current: 6.5mA Operating Voltage: 3.3V Full Scale Range: 2000°/s Fast Mode 400kHz I 2 C Interface Simple breakout board with mounting holes Gyroscope

22. UnionFortune 063450 Cells 1000mAh LiPo 2 cells in parallel for 2000mAh total Battery life close to 4 hours -25°C to 60°C Operating Temperature Nominal Voltage: 3.7V Maximum Current: 1A (wire limited) Battery

24. SparkFun Arduino Fio v3 8MHz Clock 16 Digital I/Os 6 Analog I/Os 150mA Current Draw Built in 3.3v regulator and LiPo charger Built in switch I 2 C, SPI, USB compatible Processor

25. ?

28. Green is input, Red is output

29. Control Algorithm Poll Gyro For Data (I 2 C) Subtract Gyro Data From Accumulator Acc > 15? Acc < -15? Acc = 0 Wait Compute Encoder Counts Send to NST Module Re-Center NST Module

30. First Control Scheme

31. Second Control Scheme

32. Simulated Jump (Within Bound)

33. Simulated Jump (Bound Crossing) Delay =.1s

34. Simulated Jump (Bound Crossing) Delay =.5 s

54. Detailed Risk Assessment Test Plans Bill of Materials Cost Analysis MSD II Project Schedule

56. Validate control algorithm code Validate gyroscope within device Verify test bench functionality Calibrate test bench using second gyroscope Confirm battery life and heat generation Confirm surface and chip temperature