Target Tracking Spotlight Target Tracking Spotlight (TTS)(TTS)

Maureen DesiMaureen Desi

Joel DouglassJoel Douglass

Rajiv IyerRajiv Iyer

Dennis TrimarchiDennis Trimarchi

Group 6Group 6

Introduction Introduction

What:Target illumination system that controls a spotlight which is mounted on a stationary

or moving object.

Why: Accuracy, Economic Savings

Who: Law Enforcement, Entertainment Industry

Project Goal & ObjectivesProject Goal & Objectives

Objective: Design a system to control a spotlight mounted on the pan-tilt platform so that it can follow and illuminate a moving target.

Goal: Successfully track and illuminate a moving target

Original Design Original Design SpecificationsSpecifications

Description Value

Grid Length 5 ft

Grid Width 5 ft

Pan-Tilt Height (above grid)

5 ft

Spotlight Maximum Weight

2.26 kg (5 lbs)

Spotlight Diameter 6 in

Maximum Overshoot

5 % (0.3 in)

Pan Range of Motion

± 27 ˚

Tilt Range of Motion

± 27 ˚

Pan Speed1.88 rad/s (10

ft/s)

Tilt Speed1.88 rad/s (10

ft/s)

Maximum Receiver Range

2.15 m (7.07 ft)

Overall Design ApproachOverall Design Approach

Identify Part Specifications

Simulation

Order Parts

System Construction and Programming

Research

Sensors

System Construction

Data Acquisition Program

Simulation & Testing

Testing (Parameter

Identification)

Phase I & Phase II

Phase III

Control

Order Parts

Sensor SystemSensor System

Research & Order PartsResearch & Order Parts System ConstructionSystem Construction Data Acquisition ProgramData Acquisition Program Simulation &TestingSimulation &Testing

Research & Order Research & Order PartsParts Devantech SRF-04 Ultrasonic RangerDevantech 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

Research & Order Research & Order PartsParts Devantech SRF-04 Ultrasonic RangerDevantech SRF-04 Ultrasonic Ranger

System ConstructionSystem Construction

Sensor Pair

Sensor Pair

PICARCS

Trigger

Echo

Echo

8 bit Timer

Address Bits

Data Acquisition Data Acquisition ProgramProgram

Data Acquisition Data Acquisition ProgramProgram

Data Acquisition Data Acquisition ProgramProgram

10

9

8

7

6

5

4

3

2

1

1 2 3 4 5 6 7 8 9 10

R1

R2

2R12)10

252R12R2(X

10252R22R1 Y

Data Acquisition Data Acquisition ProgramProgram

Simulation & TestingSimulation & Testing

ValueDistance

(ft)

23 0.5

41 1

58 1.5

79 2

92 2.5

108 3

124 3.5

144 4

160 4.5

180 5

Chart Title

y = 0.0291x - 0.191

0

1

2

3

4

5

6

0 50 100 150 200

value

dist

ance

(ft

)

Distance

Linear (Distance)t

Simulation & TestingSimulation & Testing

R1

R2

2.52R12)10

252R12R2(X

2.510

252R22R1 Y

* Radius of Target is added to R1 and R2

xy

Control SystemControl System

Order PartsOrder Parts SimulationSimulation System Construction & System Construction &

ProgrammingProgramming TestingTesting Phase I & IIPhase I & II

Order PartsOrder 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

Option 1 Option Option 1 Option 22

SimulationSimulation

Linearization of Dynamic Model Experiment with Design Methods Choose Simple PID Controller

Non-Linear Simulation of Dynamic Model

Motor 1 Motor 1 Motor 2Motor 2

Linear vs. Non-linearLinear vs. Non-linear

Outer Block DiagramOuter Block Diagram

Demonstration Cases Demonstration Cases Block DiagramBlock Diagram

Point to Point Case Point to Point Case Block DiagramBlock Diagram

Controller Block Controller Block DiagramDiagram

Physical System Physical System Performance:Performance:Step ResponseStep Response

Physical System Physical System Performance:Performance:Sine TrackingSine Tracking

Demonstration Demonstration

Specification Specification ComparisonComparison

Description Desired Achieved

Grid Length 5 ft

Grid Height 5 ft

Pan-Tilt Height (above grid)

5 ft 4.25 ft

Spotlight Maximum Weight

2.26 kg (5 lbs) .1008 kg

Spotlight Diameter 6 in

Maximum Overshoot

5 % 2 %

Pan Range of Motion

± 27 ˚ ± 30˚

Tilt Range of Motion

± 27 ˚ ± 30˚

Pan Speed1.88 rad/s (10

ft/s)

Tilt Speed1.88 rad/s (10

ft/s)

Maximum Receiver Range

2.15 m (7.07 ft)

RecommendationsRecommendations

Implement a Low Pass FilterUse Trajectory Estimation AlgorithmIncorporate SRF04 PairsUse Higher Intensity Spotlight