New Castle Design Associates

Concept Review of Insect Video Tracking

DeviceOctober 27, 1998

Team 5Sponsors: Keith Hopper, USDA & UD

Project Information

Members Primary Customer

Justin L. Combs Keith Hopper (USDA and UD)

Raymond M. Foulk IV

Ryan S. McDonough Advisor

George H. Sapna III Dr. James Glancey

Summary

Mission: Our mission is to design, construct, and refine an insect video tracking system for agricultural research that provides our customers with a creative, realistic and performance-based solution.

Approach: Our strategy will be to gain an overall knowledge of the project and then to strive for a solution by researching, benchmarking, and defining the customer’s wants and constraints. Finally, using an iterative design synthesis process, our team will generate the best solution to satisfy our customers.

Background

• $100 million crop damage each year due to pests

• Introduction of beneficial (predatory) insects into environment

• Study of reproductive habits - Aphelinus asychis

Problem DescriptionExisting System

Measures insect movements within a small arena

Camera

Specimens

Computer

Problem With Existing SystemDisturbs the behavior of the insects

Customers WantsCustomers Wants

Keith Hopper large area, position/speed, not disturb insect, track for 20 min., existing equipment, C++, minimize post pro., wireless device, interchange camera

Mike Smith * position/speed, minimize post pro, various conditions, reduce pesticides

Richard Turcotte adaptable to other insects, not disturb insect, simple interface, large area, position/speed

* Customer added recently.

Customers WantsCustomers Wants

Mr. Filasky low priced produce, reduce pesticides, unharmful insects

Rex Mears high % corn yield, reduce pesticides, unharmful insects

Alice Kline low priced produce, improve sales, reduce pesticides

Greg Frantz reduce pesticides, benefits outweigh costs, adaptable to other insects

Anthony Wexler reduce pesticides, energy efficient, unharmful insects

Previous Top 10 Wants

• Track the insect over large area

• Measure position and speed of the insect

• Adaptability to other types of insects

• Not to disturb the insect’s behavior

• Easy-to-learn user interface

• Ability to record for 10 - 20 minutes

• Maximize use of existing equipment

• Benefits must out-weight costs

• Preferred language is C/C++

• Minimize post-processing of data

Revised Top 10 Wants

• Measure position and speed of the insect

• Track the insect over large area

• Adaptability to other types of insects

• Minimize post-processing of data

• Not to disturb the insect’s behavior

• Easy-to-learn user interface

• Ability to record for 10 - 20 minutes

• Use existing equipment

• Benefits must outweigh costs

• Preferred language is C/C++

Constraints

Previous constraints• System must cover 1 square meter• Two dimensional tracking system

Revised Constraints• Project must be completed by end of school year• Project expenses must remain below $5000• Must cover a larger area than existing system• Work area must occupy only Stearns Lab

System Benchmarking

• Existing Video Tracking System

• Ultrasound Scanner at the C.C.M.

• NASA Vertical-Spin Tunnel

• Autonomous Robot “RHINO”

• Semi-Automated Film/Video System

Position/speed X,Y coordinates of insectsInstantaneous errorAccumulation of errorMaximum speed of motion

Large area Size of tracking area

Adaptability to other insects Insect size rangeMaximum speed of motion

Minimize post-processing Total acquisition timeFrequency of acquisitionFeedback delay

Do not disturb insect Distance from device to insectSmoothness of surfaceVariation in luminance

Wants Metrics

Wants Metrics

Wants Metrics

Simple user interface Desired programming languagegraphical user interface

Record for 10 - 20 min. Total acquisition timeFrequency of acquisitionFeedback delay

Use existing equipment Amount of existing equipment used

Benefits outweigh costs Savings/Costs

C/C++ Programming language

Wants Metrics

Functional Benchmarking

• Torch location algorithm with ATP project at C.C.M.

• Stepper motors

• Servo motors with position sensors

• P.I.D. control

• Fuzzy Logic control

Old Top 10 Metrics & Target Values

1. Size of Tracking Area 1m x 1m

2. Total Acquisition Time 20 min

3. Adaptability to Other Insects 1mm - 4cm (2D)

4. Frequency of Acquisition 1 Hz

5. Feedback Delay 0.5 sec

6. Desired Programming Language C or C++

7. Accuracy of Positional Measurements +/- 1mm

8. Distance from Device to Insect 0.5 m

9. Amount of Existing Equipment Used 100%

10. X, Y Coordinates of Insect Yes

Revised Top 10 Metrics & Target Values

1. Size of Tracking Area (7.86%) 1m x 1m

2. Distance from Device to Insect (7.38%) 0.5 m

3. X, Y Coordinates of Insect (6.90%) Yes

4. Savings/Costs (6.43%) 1

5. Maximum Speed of Motion (5.95%) 15 mm/sec

6. Frequency of Acquisition (5.95%) 1 Hz

7. Feedback Delay (5.95%) 0.5 sec

8. Variation in Luminance (5.71%) <5%

9. Total Acquisition Time (5.48%) 20 min

10. Programming Language (5.24%) C or C++

3a. Accumulation of Error (4.29%) +/- 1mm

3b. Instantaneous Error (4.05%) +/- 1mm

Concept Generation

x

y

z

F(s) TF(s)

H(s)

R C

Cartesian Track

Polar Track

Sensing Surface

Robot

Wide Angle

PivotMoving Surface

Bubble

Concept EvaluationS

orte

d M

etri

cs Concepts

2. The “best concept” has the highest column total.

3. Repeat step 1 with current “best concept”.

Comparison Values

Total

1. Compare each concept to the best benchmark.

Concept SelectionPrevious best concept: Mobile robot with

relative positioning

Problem: Possible slipping of wheels

Concept Development

Potential Solution: Mobile robot with laser positioning

Problem: Laser Accuracy Per Cost

Concept Development

Preliminary budget for mobile robot with laser positioning:

Quantity Component Supplier Model # Unit Price Sub-Total2 Drive Wheel Stepper Motor Microkinetics 23M80 65.00$ 130.00$ 1 NEMA Size 17 Stepper Motor AMSI, Inc. 406-SM 50.00$ 50.00$ 1 36VDC, 10A Power Supply Microkinetics PWR36 180.00$ 180.00$ 1 OptiStep Motion Controller Microkinetics OptiStep Plus 249.00$ 249.00$ 1 OptiDriver Stepper Motor DriverMicrokinetics OptiDriver Plus 399.00$ 399.00$ 1 Breakout For Controller Microkinetics Breakout-25-OP 45.00$ 45.00$ 1 InStep Software Libraries Microkinetics InStep 99.00$ 99.00$ 1 Distance Measuring Laser Phase Laser Systems, Inc.PM30 1,490.00$ 1,490.00$ 1 Right Angle Aluminum Mirror Edmund Scientific F45595 53.00$ 53.00$

50 6061 Aluminum Per Pound Machine Shop Stock 3.00$ 150.00$ 1 Caster Wheel Unknown N/A 10.00$ 10.00$ 2 Rubber Drive Wheel Unknown N/A 10.00$ 20.00$ 1 Reference Wall Materials Unknown N/A 200.00$ 200.00$ 2 Reflective Tape Roll (4"x30') McMaster-Carr 5997T88 35.90$ 71.80$ 1 Misc. Nuts/Bolts Unknown N/A 100.00$ 100.00$

3,246.80$ Total Estimated Cost

Robot Cost Estimate

Relative Concept Quality

0%

20%

40%

60%

80%

100%

120%

Exist Cart Polar Pivot Wide Subs Robot Bubble Sense

Concept SelectionCurrent best concept:

Cartesian Tracking System

Development of Cartesian Tracking System

Quote for prefabricated system from IDC:

$13,100 !

Development of Cartesian Tracking System

Configuration: Two Trolleys, Rack and Pinion, & Stepper Motors

Development of Cartesian Tracking System - X Trolley

Development of Cartesian Tracking System - Parts List

Estimated Cost: $3,349.28

Estimated Shop Time: 120 hours

Most Expensive Parts:

Rack and Pinion Sets

Motors and Controllers

Stock Aluminum

Other Notes:

Included Existing Parts

Unaware of Shipping Costs

Unaware of Small Hardware Costs

Main Computer

ImageAnalysis

MotionControl

Algorithm

StepperController

InsectPosition

Calculator,Display, &Recorder

Digital

Camera

X-Motor

Y-Motor

Motor

Positions

Integrated System Components

Working Models of Cartesian Tracking System

Schedule Highlights

Order all parts by Dec. 11Set up CNC for X-Y trolley end plates by Jan. 08Build and assemble base by Jan. 28Build and assemble X-Y trolleys by Jan. 28Assemble sub-components by Feb. 12Adapt algorithm to fit physical system by Feb. 26Test complete system by Mar. 19Make changes to the system by Apr. 14

Schedule To Date

Preliminary Concept 1

Mobile robot with relative positioning:A robot which follows insect over a specified area

while recording the insect’s position

Preliminary Concept 2Stationary high-resolution camera with

wide angle lens:A camera records the insect’s motion over a large area

Division of WorkJustin Combs Concept Generation & EvaluationRay Foulk SSD, BenchmarkingRyan McDonough Schedule, Customer RelationsGeorge Sapna SSD, Customer Relations

Team Effort Presentations, Planning, Goals

Budget$5000 Thousand Dollars

Flexible depending upon primary customer’s judgement.

Plans Until Next Presentation

10/25 - 11/8 Refine Concepts

11/1-11/15 Engineering Analysis of “Best Concept”

11/8 - 11/20 Engineering Drawings

11/15 - 11/24 Written Report

11/20 - 12/3 Prepare Presentation

Preliminary Concept 3

Cartesian Tracking SystemCamera moves over a plane in two orthogonal

directions.

CAMERA

INSECT ARENA

XY

Previous Benchmarks

• Existing Video Tracking System

• NASA Vertical Spin Tunnel

• Biorobotic Vision Group

• DARPA Image Understanding Program

• Semi-Automated Film/Video System

• CAD Plotter

• PC Mouse

Previous Top 10 Wants

• Track the insect over large area

• Measure position and speed of the insect

• Adaptability to other types of insects

• Not to disturb the insect’s behavior

• Easy-to-learn user interface

• Ability to record for 10 - 20 minutes

• Maximize use of existing equipment

• Benefits must out-weight costs

• Preferred language is C/C++

• Minimize post-processing of data

Design Process

BenchmarkingRevise Wants

Interview Customers

Derive Metrics

Concept Generation

Concept EvaluationTarget Values

Good Solution?

Revision of Wants

(Performance Goal) x (Importance to Customer) = (Overall Weight)

(Customer Rank) x (Want Factor) = (Importance to Customer)

Cu

stom

ers

RankHigh Want Low Want

Exponential Decay of Importance

Derivation of MetricsL

ist

of M

etri

cs

Top 10 Wants

2. Sum the correlation factors for each metric.

3. Sort the metrics according to total.

Correlation Matrix

Total

1. Rate the correlation of each metric to each want.

Important Customers

Keith Hopper Entomologist

Mike Smith * Entomologist

Richard Turcotte Entomologist

Mr. Filasky Farmer

Rex Mears Farmer

Alice Kline Supermarket Manager

Greg Frantz Consumer

Anthony Wexler Environmentalist

* Added Recently

Comparative Benchmarking

1. Rate each benchmark on how well it satisfies each want.

2. Total the rates to achieve a total score for each

benchmark.

3. Sort the benchmarks by total score.