SPIRIT-CSPIRIT-CSolar Powered Image Response Infrared Tracking CamcorderSolar Powered Image Response Infrared Tracking Camcorder

Justin EilerJeff Morroni Adeel Baig

Andy CrahanJim Patterson

SPIRIT-C ApplicationsSPIRIT-C Applications

Live Action FilmingSecurity SurveillanceInfant MonitoringProximity Detection

OverviewOverview

Pan/tilt tracking system for digital camcorder

Two stepper motors used for pan/tilt motion Controlled by array of PIR(pyro-electric infrared) sensors Solar array for supplying power to all components External battery and camcorder battery charged through

array FPGA with embedded soft core for integration and control Manual, and possibly wireless, controller

Block DiagramBlock Diagram

Spartan 3with

Microblaze

ADC /Mux

IR Sensor

s

ManualControl H-Bridge

ControllerStepperMotors

Camera

Converters

Solar Array

Battery LEDCluster

Control

Power

Data

Camera Mount AssemblyCamera Mount Assembly The camera will be

mounted into a cradle using existing tripod mount

The cradle is suspended between side holes on yoke

The yoke will be used to facilitate tilting motion

A Lazy Susan will be used for pan rotation and is connected to bottom hole of yoke

Stepper MotorsStepper Motors

Two low power stepper motors will be used to power the rotation of the camera

The motors will also be Bipolar (no center taps)

Motor ControlMotor Control

A simple H-bridge circuit will be constructed to control the motors

The H-bridge will allow us the following modes

XY Mode

00 D. Braking

01 Forward

10 Reverse

11 D. Braking

Motor DriverMotor Driver

The Step input will be hooked up to the Spartan 3 Pulse Width Modulator

The Direction input will be held high for clockwise or held low for counter clockwise

The outputs then will be attached to the appropriate H bridge inputs

Step

Direction

YX

Y

X

Winding 1

Winding 2

Driver using TTL logic

IR SensorsIR Sensors

To detect rapid human movement will require high quality IR sensors

Several types are available including:

- Thermopiles

- Bolometers

- Pneumatic Detectors

- Pyroelectric Detectors

Pyroelectric IR SensorsPyroelectric IR Sensors

Only pyroelectric sensors have the rapid motion detection we require for high speed filming

These operate like current sources with output proportional to the rate of change in temperature

Extremely fast responses set them apart They are also insensitive to undesirable external

DC effects

ConfigurationConfiguration

Internal FET detects surface charge changes

BW limited 2 stage amplifier reduces HF noise

Fresnel LensFresnel Lens

Fresnel lenses are – lightweight– economical– heat dissipative– precise

FL65 Detects 8-14um radiation

Fresnel SpecsFresnel Specs

Concentrates PIR field to 10 degrees versus 95

Important aspect for sensitive motion detection

Provides appropriate field with our 8 sensor cradle design

Motion DetectionMotion Detection

Motion detected by sensors being triggered consecutively

This cancels signals due to vibration, temp. changes, and sunlight

PIR325 SpecsPIR325 Specs 2 sensing elements 5-14um response General motion detector schematic

Solar Power Block DiagramSolar Power Block Diagram

Solar ModuleSolar Module

Maximum Power = 40 W 25.8 inches by 21.1 inches Provides 17.3Vmax and

2.31Amax

Manual/Automatic tilt for maximum sun intensity

DC/DC ConverterDC/DC ConverterBuck Converter

•Input Voltage, Vg, will be around 17.3 V (for one panel)

•Battery charging voltage should be around 13-14 V

•Buck Converter will decrease the voltage with low loss

Control TechniqueControl Technique

•Output Voltage will be set to constant charging voltage

•Sense the output current

•FPGA will increase duty cycle thus changing the operating point

•If new operating point has greater output power, continue increasing duty cycle, otherwise decrease

Deep Cycle BatteryDeep Cycle Battery

12V Deep cycle required for extended usage

A shunt regulator will prevent over-charging

When battery draws less current (fully charged), the regulator will dissipate the excess current

Xilinx Spartan-3 Starter KitXilinx Spartan-3 Starter Kit

Starter Kit FeaturesStarter Kit Features

Spartan-3 XC3S200 FPGA 2Mbit Xilinx XCF02S Platform Flash Prom 1M-byte of Fast Asynchronous SRAM 3-bit, 8-color VGA display port 9-pin RS-232 Serial Port PS/2-style mouse/keyboard port Four-character, seven segment LED display Eight slide switches Eight individual LED outputs Four momentary-contact push buttons 50 MHz crystal oscillator clock source JTAG port AC power adapter with unregulated +5V

power supply On board 3.3V, 2.5 V, and 1.2V regulators

FPGA – Spartan-3 XC3S200FPGA – Spartan-3 XC3S200 220K system gates, 4320 equiv. logic cells 480 total CLB (configurable logic block) 30K distributed RAM bits 216K block RAM bits 12 dedicated multipliers 4 DCM (digital clock multiplier) 173 user I/O, 76 differential I/O pairs

CONFIGURABLE LOGIC BLOCK Main logic resource for implementing

synchronous and combinatorial circuits Comprised of four slices Two logic function generators, two storage

elements, wide-function multiplexers, carry logic, and arithmetic gates

left-hand pair also supports: storing data using Distributed RAM and shifting data with 16-bit registers.

FPGA implementationFPGA implementation

ISE development system: synthesis, mapping, placement, routing I/O blocks and selectable paths create versatility

CLB’s are workhorse of FPGAFunction Generator: LUT function used to implement state machineStorage Element: Flip Flop used to synchronize data to clock signalCarry chain: helps with fast arithmetic

PWM (pulse width modulator):clock dividerbinary up-down countercomparator

MICROBLAZE MICROBLAZE Embedded Soft CoreEmbedded Soft Core

- Based on RISC 32-bit architecture- 32-bit instruction word with three operands and two addressing modes- 32-bit address bus, 32 32-bit general purpose registers, single issue pipeline

User InterfaceUser Interface

Switch between automatic and manual control

Allows user to control the camera position

Sega Genesis controller provides serial input (RS232 on DB-9) to the board

Controller FunctionsController Functions

Camcorder ControlCamcorder Control Camcorder remote

will be incorporated into the Genesis controller

ConstraintsConstraints

Financial – LED cluster– Number of solar panels– Number of PIR sensors

Time – Real time data acquisition link– Wireless control– Digital peak power tracker– Automatic positioning for solar array

Contingency PlanContingency Plan

IR sensors– Switch to thermopile sensors– Use transmitter on subject

Camera– Use existing battery charger

Motor Control– Buy H-bridge controller if design performance bad

Division of LaborDivision of Labor

Jeff – Solar array and peak power trackerAdeel – Manual and Wireless control for the

camcorder systemJim – FPGA implementation and integrationJustin – Stepper motors, drivers, and H-bridge

controllerAndy – Infrared sensor network and interface

BudgetBudget

Project ScheduleProject Schedule

Questions?Questions?