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Target Tracking Spotlight (TTS)

Target Tracking Spotlight (TTS). Group 6. Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi. Introduction. What: Target illumination system that controls a spotlight which is mounted on a stationary or moving object. Who: Law Enforcement, Entertainment Industry.

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Target Tracking Spotlight (TTS)

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

  2. 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

  3. 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.

  4. Original Design Specifications

  5. Overall Design Approach Sensors Control Identify Part Specifications Research Simulation Order Parts Order Parts System Construction and Programming System Construction Data Acquisition Program Testing (Parameter Identification) Simulation & Testing Phase I & Phase II Phase III

  6. Sensor System • Research & Order Parts • System Construction • Data Acquisition Program • Simulation &Testing

  7. 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 > 2 m • Echo Pulse: Positive TTL level signal, width proportional to range. • Small Size: 43mm x 20mm x 17mm

  8. Research & Order Parts • Devantech SRF-04 Ultrasonic Ranger

  9. System Construction Echo 8 bit Timer Sensor Pair PIC ARCS Trigger Sensor Pair Echo Address Bits

  10. Data Acquisition Program

  11. Data Acquisition Program

  12. Data Acquisition Program R1 R2

  13. Data Acquisition Program

  14. Simulation & Testing

  15. Simulation & Testing R1 x y R2 * Radius of Target is added to R1 and R2

  16. Control System • Order Parts • Simulation • System Construction & Programming • Testing • Phase I & II

  17. 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

  18. Option 1 Option 2

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

  20. Motor 1 Motor 2

  21. Linear vs. Non-linear

  22. Outer Block Diagram

  23. Demonstration Cases Block Diagram

  24. Point to Point Case Block Diagram

  25. Controller Block Diagram

  26. Physical System Performance:Step Response

  27. Physical System Performance:Sine Tracking

  28. Demonstration

  29. Specification Comparison

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

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