Motion Tracking & Position Acquisition Final Design Review Solomon Gates | William K. Grefe | Jay Michael Heidbreder | Jeremy Kolpak

Overview of Project Objective Achieve accurate and precise motion of laser pointer directed at a locator beacon Obtain precise object position from sensor input

Design Objectives Simulate control system Refine motor control system Test tracking accuracy Maintain motor feasibility Final component decision Final motor justification Pulley gear ratio Sensor specifications Cost analysis Completed simulation and design specs on schedule

Plan of Action Week 8 Parts PurchasingAssemble & Test Pan/Tilt Week 10 Simulate Position AcquisitionTest Beacon and Receivers Week 11 System Integration Week 12 Final Testing Week 13 Linear SimulationNon-Linear Simulation This week

Original Design Specifications Object tracking velocity: Object velocity of 10 mph Pan/Tilt velocity of 10 radians per second Object acquisition within 1 second Distance to object: ½ft – 20ft Range of motion: Pan range of 180° Tilt range of 90° Sensor accuracy: Detection distance of ½ft – 20ft Detection cone 60° – 180° Beacon accuracy: Transmission distance of up to 20ft Transmit 30 times per second

Testing Procedure Fixed point accuracy & acquisition speed Sinusoidal input tracking Realistic tracking (torque saturation) Trapezoidal input tracking Random path tracking

Tolerance Analysis Fixed point accuracy: Sinusoidal tracking accuracy: Random path tracking accuracy:  20 ft;  6” Beacon acquisition accuracy: unknown Tracking moving beacon:  20 ft;  6”

Part Justification Motor candidates: GM8274S010, GM8274S013, GM Speed and torque requirements met using a variety of gains and gear ratios connected to motor candidates In simulations, large gear ratios gave more power at slower speeds and visa versa After different configurations, we arrived at particular gains and a gear ratio of 4:1 Pulley dimensions were chosen at this ratio Grooves on pulleys also match ratio

Motor Analysis

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Motor Analysis

Realistic Tracking Simulation

Random Path Tracking

Testing Results Desired Specifications Simulation Results Θ1 Simulation Results Θ2 Tracking velocity ≥10 rad/sec12 rad/sec15 rad/sec Acquisition time (over π radians) ≤1.5 seconds0.8 seconds0.6 seconds

Linearization Model

Sensor Design: Beacon Ultrasonic transceiver sends sound wave in a 60° cone Distances of up to 30ft RF signal transmitted in 360° RF signal range of up to 300ft

Sensor Design Beacon will be built from six ultrasonic transceivers to allow 360° range Three receivers will detect signal propagation time

Final Part Decision Supplier: Pittman Express Lo-Cog DC Gearmotor GM8724S010 (qty: 2) Supplier: Stock Drive Products/Sterling Instrument 100 Teeth, Aluminum Alloy Timing Pulley -- A 6A61-00NF03112 (qty: 2) 25 Teeth, Aluminum Alloy Timing Pulley -- A 6A 6-25DF03106 (qty: 2) Supplier: Oatley Electronics 40KHz transmit transducer -- MA40A3S (qty: 6) 40KHz receive transducer -- MA40A3R (qty: 3) Supplier: Abacom Technologies RF transmitter -- AM-TX1-4xx (qty: 1) RF receiver -- AM-HRR3-xxx (qty: 3)

Cost Analysis

Schedule