P09561 – Visible Spectrum Imaging System: Final Project Review Dave Lewis Steve Sweet Joanna Dobeck Lenny Calabrese Jason Thibado Darrell Draper Customer: Dr. Carl Salvaggio; Imaging Science Department 1

Project Description Summary: Design and build an imaging system that can be mounted onto an Unmanned Aerial Vehicle and controlled with limited user input. This includes a high quality machine vision camera mounted on a vibration damping system, a frame grabber board to get images from the camera, a microcontroller to control the camera and manage storage, a power supply and a custom built frame to hold all equipment inside the plane. Customer: Imaging Science Department 2

Engineering Specifications 3 Engr. Spec. # Specification (description) Unit of Measure Marginal Value Ideal Value Actual Value ES1Data Storagegigabyte4328 ES2Data Transfer rateMb/sec54012 ES3Weightlbs ES4Dimensionsin6 x 6 x 184 x 4 x 64.5 x 3.7 x 12.5 ES5 Reduce Vibration above Specified FrequencyHz – 91 (Axis Dependent) ES6Standard Camera Interface# of types1Multiple1 ES7Power RequirementHours122.16

System Architecture Camera VIS Power Microcontroller / Framegrabber Storage Camera Interface 4

Design Overview Aluminum Frame – Light weight, low cost, adequate strength 3 Axis Elastomer Vibration Isolation System – Low transmissibility, low natural frequency PC104 Microcontroller – Powerful, easily expandable Sony XCL-V500 – Efficient starting point for testing SD Card reader – Large storage available, cheap, longevity Lithium polymer batteries – High performance to cost ratio

Design Overview Camera Controls and PowerVibration Isolation System 6

System Frame and Mounting 7 3-D Model of System FrameFinal Constructed System

System Frame Specifications Material: – Aluminum 6061 bar and plate stock Size: – 4.5 x 3.7 x 7.5 inch Highlights: – Space for additional boards and expansion – Hinged door for easy removal of batteries – Lightweight yet rigid frame 8

Vibration Isolation Subsystem 3-D Model of VIS 9 Final Constructed System

Vibration Isolation Specifications Materials and Stock Items: – 6061-T6 Aluminum Alloy angle and plate stock – Sorbothane® anti-vibration mounts – Linear guides Overall Dimensions: – 4.5 x 5.0 x 3.55 inches Adjustable for various sizes of cameras: – Maximum Camera Dimensions: Weight: 2.41 pounds Overall Height: 4 inches (Allows for Camera Link and power cables to attach) Length: 2.5 inches Width: 4.25 inches Lens Diameter: 2.25 inches 10

Vibration Transmission Transmissibility of vibrations is decreased above Hz, dependent upon axis. Should maintain image clarity 11

PC104 Control Taking Pictures – Control software on PC/104 decides when to takes pictures – Sends command to camera – Saves pictures to SD card Configuration File – Stores Camera configuration file – Specifies Mode of Operation for Control

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Camera Subsystem Sony XCL-V500 – Affordable camera to build and test new system around. Camera Link Interface – High Data Throughput – Upgradable – Compatible with wide variety of scientific cameras

Designed with Modularity in Mind Camera will be easily upgradable – Camera config file is the only thing required to swap cameras. Camera Driver not specific to individual cameras. Easy to use camera functions – attachCamera() – releaseCamera() – acquireImage() – stopCameraAcqs()

Power System Two battery configuration Isolation of camera and PC104 allows for better efficiency Fusing between batteries and DC converter boards DC Buck Converter allows for variable input and appropriate output voltage to power systems

Budget Production Cost: $3, – Includes cost of the camera, frame grabber, and PC/104 Allotted Budget: $ – Budget for additional purchased items Actual Cost: $1,

System Capabilities 2 hours 10 minutes of battery operation at 2 fps (12,890 pictures) 5 fps maximum capture rate Camera isolated from vibrations System capable of mounting in UAV B (P09232) Capable of accepting different cameras – Size and weight of camera can increase – Software easily modified to work with other Camera Link cameras

Questions?