Target Tracking Spotlight (TTS)

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Target Tracking Spotlight (TTS)
Group 6

• Maureen Desi
• Joel Douglass
• Rajiv Iyer
• Dennis Trimarchi

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Introduction
What Target illumination system that controls a
spotlight which is mounted on a stationary or
moving object.
Who Law Enforcement, Entertainment Industry
Why Accuracy, Economic Savings
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Project Goal Objectives

Goal Successfully track and illuminate a moving
target
Objective Design a system to control a spotlight
mounted on the pan-tilt platform so that it
can follow and illuminate a moving target.
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Original Design Specifications
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Overall Design Approach
Sensors
Control
Identify Part Specifications
Simulation
Research
Order Parts
Order Parts
System Construction and Programming
System Construction
Data Acquisition Program
Testing (Parameter Identification)
Simulation Testing
Phase I Phase II
Phase III
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Sensor System

• Research Order Parts
• System Construction
• Data Acquisition Program
• Simulation Testing

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Research Order Parts

• Devantech SRF-04 Ultrasonic Ranger
• Voltage 5v only required
• Current 30mA Typ. 50mA Max.
• Frequency 40KHz
• Max Range 3 m
• Min Range 3 cm
• Sensitivity Detect a 3cm diameter stick at gt 2 m
  
• Echo Pulse Positive TTL level signal, width
  proportional to range.
• Small Size 43mm x 20mm x 17mm

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Research Order Parts

• Devantech SRF-04 Ultrasonic Ranger

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System Construction
Echo
8 bit Timer
Sensor Pair
PIC
ARCS
Trigger
Sensor Pair
Echo
Address Bits
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Data Acquisition Program
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Data Acquisition Program
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Data Acquisition Program
R1
R2
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Data Acquisition Program
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Simulation Testing
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Simulation Testing
R1
x
y
R2
Radius of Target is added to R1 and R2
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Control System

• Order Parts
• Simulation
• System Construction Programming
• Testing
• Phase I II

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Order Parts

• Verified selected motors met specifications
• Ran non-linear simulations to view torque and
  speed requirements
• Compared data of different sized motors
• Chose the best parts and placed the order

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Option 1 Option 2

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Simulation

• Linearization of Dynamic Model
• Experiment with Design Methods
• Choose Simple PID Controller
• Non-Linear Simulation of Dynamic Model

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Motor 1 Motor 2
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Linear vs. Non-linear
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Outer Block Diagram
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Demonstration Cases Block Diagram
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Point to Point Case Block Diagram
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Controller Block Diagram
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Physical System PerformanceStep Response
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Physical System PerformanceSine Tracking
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Demonstration
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Specification Comparison

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Recommendations

• Implement a Low Pass Filter
• Use Trajectory Estimation Algorithm
• Incorporate SRF04 Pairs
• Use Higher Intensity Spotlight