P14372 Actively Stabilized Hand-Held Laser Pointer Kaitlin Peranski Spencer Wasilewski Kyle Jensen Kyle Lasher Jeremy Berke Chris Caporale Kaitlin

Agenda Problem Definition Review Executive Summary System Review Detailed Design Review Detailed Risk Assessment Test Plans Bill of Materials Cost Analysis Project Plan for MSD II Kaitlin

Problem Definition Review Kaitlin

Problem Definition There are many people today who use laser for various applications: to aid in presentations, medical imaging, and defense. Under many use scenarios they are negatively affected by unwanted vibrations; one such example is a nervous presenter using a laser pointer. New Scale Technologies (NST) has developed a module that steers a laser beam using piezoelectrics and mirrors. Currently they cannot actively detect and compensate for hand vibrations. To reduce this gap, a handheld and user friendly unit is to be developed utilizing the NST module. Concerns for development include: response time, operating temperature and duration, and unwanted motion attenuation. Kaitlin

Engineering Requirements Customer Needs Engineering Requirements Kaitlin Focus on added test plans for each requirement

Executive Summary Target Frequency Range: 1-20 Hz Cost Analysis: Total < $350 Test Bench Design: < $100 Response Time Analysis: Required = 12.5 ms Capability = 10 ms (worst case) Power Consumption: 1.4 Watts Heat Generation: Surface temperature of 95o F Comparison of Gyroscopes and Accelerometers: Beyond 80 cm, gyroscopes are more accurate Housing: Aluminum, 139X42X32 mm Kaitlin

System Review Jeremy

System Architecture Jeremy This shows the concept that we’ve chosen

Concept Selection Concept 1 Concept 2 Battery Gyroscope Low Pass Filter Processor Communication to NST Module Battery Accelerometer Integrator/Low Pass Filter Processor Communication to NST Jeremy Two final concepts that we considered

Gyroscope VS Acceleromter Jeremy Describe why we picked gyroscopes over accelerometers

Required Response Time Highest hand jitter frequency = 20 Hz Sample rate = 4*frequency = 80 Hz = .0125 sec Required time = .0125 sec or 12.5 ms to accurately reduce vibrations Chris

Response Time Breakdown NST Data Acquisition Software Interpretation and Control Communication to NST Chris

Tested Circuit Chris

Response Time Measurements Chris Zoomed to Zero (Delay) Total Time

Total Response Time NST ~ 2 ms (worst case scenario) Data Acquisition ~ 2 ms Software Interpretation and Control ~ 2-5 ms Communication to NST ~ .2 ms Total Time = 9.9 to 10 ms Gives 2.5 ms of overhead Chris

Agenda Detailed Design Review Schematic Drawings Control Algorithm Thermal Resistance Analysis Device Housing/Layout Test Bench Design Kaitlin

Detailed Review Kaitlin

Block Schematic: Our System Chris

Gyroscope Schematic Chris

Gyroscope InvenSense ITG-3200 Sample Rate: 8kHz Operating Current: 6.5mA Operating Voltage: 3.3V Full Scale Range: 2000°/s Fast Mode 400kHz I2C Interface Simple breakout board with mounting holes Chris

Power Supply and Charger Chris

Battery UnionFortune 063450 Cells 1000mAh LiPo 2 cells in parallel for 2000mAh total Battery life close to 4 hours -25°C to 60°C Operating Temperature Nominal Voltage: 3.7V Maximum Current: 1A (wire limited) Chris

Processor Schematic Chris

Processor SparkFun Arduino Fio v3 8MHz Clock 16 Digital I/Os 6 Analog I/Os 150mA Current Draw Built in 3.3v regulator and LiPo charger Built in switch I2C, SPI, USB compatible Chris

Deriving the Transfer Function ? Jeremy

Pole Zero Map Jeremy

Bode Plot Jeremy

Sample Input (f = 1 Hz) Jeremy Green is input, Red is output

Control Algorithm Poll Gyro For Data (I2C) Acc = 0 Subtract Gyro Data From Accumulator Wait Acc > 15? Re-Center NST Module Acc < -15? Jeremy Compute Encoder Counts Send to NST Module 29

First Control Scheme Jeremy

Second Control Scheme Jeremy

Simulated Jump (Within Bound) Jeremy

Simulated Jump (Bound Crossing) Delay = .1s Jeremy

Simulated Jump (Bound Crossing) Delay = .5 s Jeremy

Thermal Resistance Analysis Surface temperature of housing 𝑄=ℎ𝑆 𝑇 𝑠 − 𝑇 ∞ 𝑇 𝑠 = 𝑇 ∞ + 𝑄 ℎ𝑆 Assuming hand insulating half the surface and 𝑇 ∞ =68°F 𝑇 𝑠 =95°𝐹 Kyle L

Thermal Resistance Analysis Kyle L

Thermal Resistance Analysis Assuming TC1=TC2=TC 𝑄= 𝑄 1 + 𝑄 2 𝑄 1 = 𝑇 𝑐 − 𝑇 ℎ𝑎𝑛𝑑 𝑅 𝑎𝑖𝑟 + 𝑅 ℎ𝑜𝑢𝑠𝑖𝑛𝑔 + 𝑅 ℎ𝑎𝑛𝑑 = 𝑇 𝑐 − 𝑇 ℎ𝑎𝑛𝑑 𝑅 1 𝑄 2 = 𝑇 𝑐 − 𝑇 ∞ 𝑅 𝑎𝑖𝑟 + 𝑅 ℎ𝑜𝑢𝑠𝑖𝑛𝑔 + 𝑅 𝑎𝑡𝑚 = 𝑇 𝑐 − 𝑇 ∞ 𝑅 2 𝑄 1 = 𝑅 2 𝑄+ 𝑇 ∞ − 𝑇 ℎ𝑎𝑛𝑑 𝑅 1 + 𝑅 2 𝑄 2 = 𝑅 1 𝑄− 𝑇 ∞ + 𝑇 ℎ𝑎𝑛𝑑 𝑅 1 + 𝑅 2 Kyle L

Thermal Resistance Conclusions Top surface = 96°𝐹 Bottom surface (surface with hand) = 97°𝐹 Temperature at surface of chip = 117°𝐹 Kyle L

Device Housing: Shell Spencer

Device Layout: Side View Spencer This needs to be replaced with updated diagram

Device Layout: Side View Spencer

Device Layout: Side View with Screws Spencer

Device Layout: Top View Spencer

Device Layout: Bottom View Spencer

Device Layout: Rear View Kyle J

Device Layout: Front View

Wiring Diagram: Test Bench Kyle J

Test Bench Design Spencer

Test Bench Spencer

Test Bench Spencer

Test Bench Spencer

Test Bench Spencer

Test Bench Spencer

Agenda Detailed Risk Assessment Test Plans Bill of Materials Cost Analysis MSD II Project Schedule Kaitlin Any questions before moving forward?

Detailed Risk Assessment Kyle J

Test Plans Validate control algorithm code Validate gyroscope within device Verify test bench functionality Calibrate test bench using second gyroscope Confirm battery life and heat generation Confirm surface and chip temperature Kyle J

Cost Analysis Kyle J

MSD I Project Plan Kaitlin

MSD II Project Plan Kaitlin

THANK YOU!

Appendix

Housing Drawing

Housing Drawing Put each on their own slides

Housing Drawing

Housing Drawing