1. Group 6 Target Tracking Spotlight (TTS) Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi

2. Motivation WHY Speed & Accuracy Economic Savings WHO Law Enforcement Entertainment Industry

3. Similar Products Martin Lighting Director (MLD) Martin Lighting Director (MLD) 3D Tracking System for automated followspot 3D Tracking System for automated followspot 4 Ultrasonic Speakers 4 Ultrasonic Speakers frame of reference for tracking system frame of reference for tracking system Modified Wireless Microphone Modified Wireless Microphone Detects ultrasonic pulses from speakers Detects ultrasonic pulses from speakers Sends radio signals back to the MDL system Sends radio signals back to the MDL system http://www.martin.dk/product/product.asp?product=lightingdirector http://www.martin.dk/product/product.asp?product=lightingdirector http://www.martin.dk/product/product.asp?product=lightingdirector

4. Project Goal & Approach Design a pan-tilt system to control the spotlight so that it will follow and illuminate a moving target. The location of the target will be determined using ultrasonic transmitters and receivers. Successfully track and illuminate a moving target with a spotlight. Approach Goal

5. Objectives Track and illuminate a target roughly 6 in. in diameter as it moves around a 5 x 5 ft. grid The required range of motion for both the pan and tilt angles are +/- 27 degrees. The system should be able to traverse the length of the grid in 0.5 sec. in either direction (angular speed = 1.88 rad/sec.) Mount system on stationary platform 5 ft. above grid 2 Path - 3 Phase Design Process Integration of sensors after controller algorithm meets desired specifications

6. Design Strategy Identify Part Specifications Simulation Order Parts System Construction and Programming Data Acquisition Program SensorsControl Simulation Order Parts System Construction and Programming Testing (Parameter Identification) Phase I Phase II Phase III Testing (Parameter Identification) Project Completion!

7. Plan of Action Pan and Tilt Motor Comparison Pittman Express GM8724S010 Mass = 0.321 Kg Peak Torque (stall) = 42 oz-in Pittman Express GM8712-11 Mass = 0.194 Kg Peak Torque (stall) = 6.8 oz-in Identify Part Specs Controller Simulation System Construction/Programming, Testing Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase IIPhase I

8. Plan of Action Pulleys Motor Pulley (2 flange) SDP-SI Timing Belt Pulley – 40 D.P. Bore Size = 0.188 in Pitch Diameter = 0.506 in Shaft Pulley SDP-SI Timing Belt Pulley – 40 D.P. Bore Size = 0.375 in Pitch Diameter = 2.60 in Gear Ratio = 5.13 Identify Part Specs Controller Simulation System Construction/Programming, Testing Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase IIPhase I

9. Plan of Action Timing Belts Polyurethane Belt 0.0816 in. (40 D.P.) Pitch 135 Teeth 3/16 in. wide Pitch Length = 11.02 in. Identify Part Specs Controller Simulation System Construction/Programming, Testing Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase IIPhase I

10. Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Data Acquisition Programming Sensor Simulation Phase III Spotlight RAYOVAC Sportsman Mass = 0.1008 Kg Height = 2.5 in Length = 3.0 in Width = 2.5 in Center of mass Sensor System Construction, Programming and Testing Phase IIPhase I

11. Plan of Action Ultrasonic Sensors-SRF04 Voltage - 5v only required Current - 30mA Typ. 50mA Max. Frequency - 40KHz Max Range - 3 m,Min Range - 3 cm Echo Pulse - Positive TTL level signal, width proportional to range. Small Size - 43mm x 20mm x 17mm Identify Part Specs Controller Simulation System Construction/Programming, Testing Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase IIPhase I

12. Plan of Action Created a model based on estimated masses, inertias, motor parameters, gear ratios, etc. Simulated a step input with this model Simulated a sine input with the model oscillating between our limitations Linearized the model for more systematic controller tuning Identify Part Specs Controller Simulation System Construction/Programming, Testing Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase IIPhase I

13. Kp1 = -0.9 Kd1 = -0.09 Kp2 = -0.55 Kd2 = -0.035

15. Kp1 = -2.0 Kd1 = -0.1 Kp2 = -2.0 Kd2 = -0.1

23. Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase I

24. Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase I Locate and shine spotlight on specific points on the grid Phase II Locate and shine on a predetermined path (continuous sequence of points)

25. Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Phase III Sensor System Construction, Programming and Testing Phase I Develop code to receive signal and convert data to a location on the grid Simulate data to determine the ability of the system to process information with receivers in different locations to determine optimal setup (speed & accuracy) Build and Test Sensor System

26. Cost Spotlight$ 12.00 Batteries 5.00 Pan Motor 74.74 Tilt Motor 74.74 Motor Pulley (x2) 15.04 Shaft Pulley (x2) 37.22 Timing Belts (x2) 10.00 Ultrasonic Receivers & Transmitters 60.00 Miscellaneous Costs 50.00 Subtotal$338.74 Labor: 4 members*$20/hr*2.5*140hrs 28,000.00 TOTAL $28,338.74

27. Schedule Week 6Final Design & Simulation Week 7Design Review, Order Parts Week 8Pan-Tilt System Construction: Dennis, Rajiv Programming (Real-time Code): Joel, Maureen Week 9System Testing (Parameter & Friction Identification) : Team Week 10Complete Construction and begin Phase II: Joel, Rajiv Sensor System Construction and Testing: Dennis, Maureen Week 11Phase III – Integration of Sensors: Team Week 12Controller tuning and optimization: Team Week 13Demonstration of Final System: Team Week 14Final Report: Team

28. THE END Target Tracking Spotlight (TTS)