Laser Tracking System (LTS) Team Lazer: Son Nguyen Jassim Alshamali Aja ArmstrongMatt Aamold

Presentation Outline Project Objectives Project Objectives LTS Sub-Systems and Division of Labor LTS Sub-Systems and Division of Labor Xilinx Spartan-3 FPGA Highlights Xilinx Spartan-3 FPGA Highlights LTS Sub-Systems LTS Sub-Systems Goals Goals Project Schedule Project Schedule Areas of Risk Areas of Risk Social Impacts Social Impacts

Project Objectives To design and build a laser tracking system using an analog camera to follow and focus on a moving laser against a white (or other high contrast) background To design and build a laser tracking system using an analog camera to follow and focus on a moving laser against a white (or other high contrast) background To implement the tracking system to function in both static and dynamic modes To implement the tracking system to function in both static and dynamic modes Static Mode Static Mode Camera focuses on a statically positioned laser for firing device Camera focuses on a statically positioned laser for firing device Dynamic Mode Dynamic Mode Camera will follow a moving laser target Camera will follow a moving laser target Target detection and servo control specifically through FPGA Target detection and servo control specifically through FPGA

LTS

LTS Sub-Systems and Division of Labor Matt - Digitization Matt - Digitization Jassim - Target detection/Coordinate System Jassim - Target detection/Coordinate System Son – Control System Son – Control System Aja – Coordinate System/Project Management Aja – Coordinate System/Project Management

Xilinx FPGA Highlights Spartan-3 Starter Kit Easier glue logic implementation Easier glue logic implementation 3 – 40 pin.1” expansion headers for I/O signals 3 – 40 pin.1” expansion headers for I/O signals 50Mhz clock 50Mhz clock 10ns 1MB SRAM 10ns 1MB SRAM 2Mb programmable configuration PROM 2Mb programmable configuration PROM Easy implementation of serial interface for test/debug Easy implementation of serial interface for test/debug Basic user controls and output (push buttons, 7 seg disp., etc) Basic user controls and output (push buttons, 7 seg disp., etc) Softcore processor capabilities (if needed) Softcore processor capabilities (if needed)

Digitization Sub-System Parts Used Parts Used Sampling Sampling Timing Timing

Digitization - Parts Digitization Parts List Digitization Parts List FPGA board FPGA board 8-bit A/D Converter – AD775 8-bit A/D Converter – AD775 Video Sync Separator – LM1881 Video Sync Separator – LM pin.1” right angle header from AMP connectors 40 pin.1” right angle header from AMP connectors 24 pin SOIC to DIP adapter for AD pin SOIC to DIP adapter for AD775 Perf board connected through FPGA expansion ports for ADC, sync separator, and servo signals Perf board connected through FPGA expansion ports for ADC, sync separator, and servo signals

Digitization - Sampling AD775 8-bit  high speed but low quality AD775 8-bit  high speed but low quality Can sample 8-bit color or gray scale Can sample 8-bit color or gray scale Ultimate goal of color  easier detection but low color quality Ultimate goal of color  easier detection but low color quality

Sampling Quality Compare 24-bit, target is very distinct 24-bit, target is very distinct

Sampling Quality Compare 8-bit 8-bit Shades become really close in color to the target Shades become really close in color to the target

Digitization - Timing AD775: 20 MSPS AD775: 20 MSPS NTSC: 64 us per line NTSC: 64 us per line Maximum horizontal resolution: Maximum horizontal resolution: (64E-6) / (1/20E6) = 1280 Actual resolution used projected at ~510 Actual resolution used projected at ~510 Fixed vertical resolution based on specific camera Fixed vertical resolution based on specific camera Frame synchronization and coordinate of target based on use of external Video Sync Separator IC (LM1881) Frame synchronization and coordinate of target based on use of external Video Sync Separator IC (LM1881)

Control Sub-Systems Servo Controls Servo Controls Structure Design Structure Design Trigger Construction Trigger Construction Power Supply Power Supply

Control System - Servo 2 HiTec HS-50 servos Two high speed servo motors (X and Y axis movement) that mount camera and firing device Two high speed servo motors (X and Y axis movement) that mount camera and firing device Specifications of Servo: Specifications of Servo: Deadband of 8us Deadband of 8us Operates off of 4.8V-6V Operates off of 4.8V-6V

Control System - Servo Requires 3-5 Vpp square wave pulse Requires 3-5 Vpp square wave pulse Pulse of.9ms-2.1ms with 1.5ms center Pulse of.9ms-2.1ms with 1.5ms center Refreshes at 50Hz Refreshes at 50Hz

Control System - Structure The structure of the project will be made of plexi-glass conformed to the needs of where the servos need to be placed. The structure of the project will be made of plexi-glass conformed to the needs of where the servos need to be placed. Advantages of Plexi glass Advantages of Plexi glass Light weight Light weight Durable Durable Can easily be cut to conform to structural needs Can easily be cut to conform to structural needs

Control System - Trigger System The use of a trigger system will demonstrate the effectiveness of the LTS The use of a trigger system will demonstrate the effectiveness of the LTS Solenoids will provide a mechanical mechanism to help propel a projectile at a given target Solenoids will provide a mechanical mechanism to help propel a projectile at a given target

Control System - Power Supply Power supply that can generate enough power from a 120V AC source to run the entire LTS project Power supply that can generate enough power from a 120V AC source to run the entire LTS project DC Voltage DC Voltage 1.5V 1.5V 3V 3V 5V 5V 12V 12V

Camera Features: Features: lines of resolution lines of resolution Lux CCD imager Lux CCD imager - Power: 9V to 12V DC, 110mA - Power: 9V to 12V DC, 110mA - Dim: 1.2" x 1.2" x.3" - Weight: 1oz - Dim: 1.2" x 1.2" x.3" - Weight: 1oz - Lens: 3.7mm (78 deg) - Lens: 3.7mm (78 deg) CCD camera instead of CMOS CCD camera instead of CMOS Better resolution Better resolution

Target Detection/Coordinate System The sample bits that are coming in are representing the color, the x-counter and the y- counter. The sample bits that are coming in are representing the color, the x-counter and the y- counter. On a gray scale the numbers for the color will be between On a gray scale the numbers for the color will be between

Goals Minimum: Target detection through B/W feed based on gray scale contrast for Static Targeting Mode only Minimum: Target detection through B/W feed based on gray scale contrast for Static Targeting Mode only Base Goal: Target detection through color feed based on color differentiation for Static and Dynamic Mode Targeting; also implement firing device for Static Targeting Mode Base Goal: Target detection through color feed based on color differentiation for Static and Dynamic Mode Targeting; also implement firing device for Static Targeting Mode Maximum: Design and implement path prediction for Extended Dynamic Mode Maximum: Design and implement path prediction for Extended Dynamic Mode

Project Schedule

Areas of Risk Finding an accurate link between the servos and the digitization (Coordinate System) Finding an accurate link between the servos and the digitization (Coordinate System) How far away we can mount the camera so that it will pick up the laser (Target Detection) How far away we can mount the camera so that it will pick up the laser (Target Detection) Implementing the FPGA for our overall system (Digitization to Servo Link) Implementing the FPGA for our overall system (Digitization to Servo Link)

Impacts on Society Military Applications Military Applications Basic Turret Tracking system Basic Turret Tracking system Current military spending for 2005 is projected at $540 billion Current military spending for 2005 is projected at $540 billion Commercial Use Commercial Use Possibly used for tracking individuals Possibly used for tracking individuals Example: An escaping prisoner Example: An escaping prisoner

Questions?