1. P07521 BRDF Imaging Platform Concept Review 19 Jan 2007 Concept Review 19 Jan 2007

2. Team Members Rick Andol – Robotics/Motor FunctionRick Andol – Robotics/Motor Function Kathryn Berens – Pan/Tilt AssemblyKathryn Berens – Pan/Tilt Assembly Will Casolara – Housing/Structure & DomeWill Casolara – Housing/Structure & Dome Matthew Harris – Robotics/ControlsMatthew Harris – Robotics/Controls Robert Jaromin – Electronics/GPS SystemRobert Jaromin – Electronics/GPS System Ross Strebig – Camera Stabilization & InterfaceRoss Strebig – Camera Stabilization & Interface Rick Andol – Robotics/Motor FunctionRick Andol – Robotics/Motor Function Kathryn Berens – Pan/Tilt AssemblyKathryn Berens – Pan/Tilt Assembly Will Casolara – Housing/Structure & DomeWill Casolara – Housing/Structure & Dome Matthew Harris – Robotics/ControlsMatthew Harris – Robotics/Controls Robert Jaromin – Electronics/GPS SystemRobert Jaromin – Electronics/GPS System Ross Strebig – Camera Stabilization & InterfaceRoss Strebig – Camera Stabilization & Interface

3. Project Mission The mission of this student team is to develop a fully autonomous imaging platform for deployment on a range of vehicles, capable of imaging across a complete hemispherical field of view to measure a target's BRDF. Initial deployment vehicles include full-scale aircraft and ground based vehicles, while future vehicle platforms may include lighter-than-air vehicles and unmanned aerial vehicles. The module should be compatible with the mounting constraints typical of a "pico-satellite." The team must provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this platform to a level of detail that a subsequent team can build upon their work with no more than one week of background research.The mission of this student team is to develop a fully autonomous imaging platform for deployment on a range of vehicles, capable of imaging across a complete hemispherical field of view to measure a target's BRDF. Initial deployment vehicles include full-scale aircraft and ground based vehicles, while future vehicle platforms may include lighter-than-air vehicles and unmanned aerial vehicles. The module should be compatible with the mounting constraints typical of a "pico-satellite." The team must provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this platform to a level of detail that a subsequent team can build upon their work with no more than one week of background research.

4. Needs Assessment Instantaneously look at an object from all possible vantage points before the sun movesInstantaneously look at an object from all possible vantage points before the sun moves Come up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear dayCome up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear day 50-70 degree angle from horizontal on target50-70 degree angle from horizontal on target Log GPS coordinates with each picture takenLog GPS coordinates with each picture taken Time stamp on pictures to know when it was takenTime stamp on pictures to know when it was taken Keep the system nearly level while imagingKeep the system nearly level while imaging Robust enough to prevent damage of equipmentRobust enough to prevent damage of equipment 15x15 pixel area on target at all times15x15 pixel area on target at all times Batteries to hold power for a reasonable amount of timeBatteries to hold power for a reasonable amount of time Batteries that are easy to changeBatteries that are easy to change Show that BRDF exists in multiple band passesShow that BRDF exists in multiple band passes Store images as.TIFF filesStore images as.TIFF files Instantaneously look at an object from all possible vantage points before the sun movesInstantaneously look at an object from all possible vantage points before the sun moves Come up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear dayCome up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear day 50-70 degree angle from horizontal on target50-70 degree angle from horizontal on target Log GPS coordinates with each picture takenLog GPS coordinates with each picture taken Time stamp on pictures to know when it was takenTime stamp on pictures to know when it was taken Keep the system nearly level while imagingKeep the system nearly level while imaging Robust enough to prevent damage of equipmentRobust enough to prevent damage of equipment 15x15 pixel area on target at all times15x15 pixel area on target at all times Batteries to hold power for a reasonable amount of timeBatteries to hold power for a reasonable amount of time Batteries that are easy to changeBatteries that are easy to change Show that BRDF exists in multiple band passesShow that BRDF exists in multiple band passes Store images as.TIFF filesStore images as.TIFF files

5. Specification Table

6. Function Generation & Brainstorming

7. BenchmarkingBenchmarking TASE system

8. BenchmarkingBenchmarking Askman AP system

9. Camera Stabilization System Ross Strebig

10. Customer Needs 15x15 pixel area on target at all times15x15 pixel area on target at all times 50-70 degree angle from horizontal on target50-70 degree angle from horizontal on target Keep the system nearly level while imagingKeep the system nearly level while imaging Robust enough to prevent damage of equipmentRobust enough to prevent damage of equipment 15x15 pixel area on target at all times15x15 pixel area on target at all times 50-70 degree angle from horizontal on target50-70 degree angle from horizontal on target Keep the system nearly level while imagingKeep the system nearly level while imaging Robust enough to prevent damage of equipmentRobust enough to prevent damage of equipment

11. Concept Generation Active GyroActive Gyro Passive GyroPassive Gyro Dampened JointDampened Joint Model Airplane GyroModel Airplane Gyro Floating Compass SystemFloating Compass System Model Airplane Gyro/Dampened JointModel Airplane Gyro/Dampened Joint Active GyroActive Gyro Passive GyroPassive Gyro Dampened JointDampened Joint Model Airplane GyroModel Airplane Gyro Floating Compass SystemFloating Compass System Model Airplane Gyro/Dampened JointModel Airplane Gyro/Dampened Joint

12. Pugh’s Matrix

13. Askman AP system

14. Kenyon Labs Passive Gyro

15. Model Airplane Gyro

16. Concept Selection Dampened Joint with airplane gyro is preferredDampened Joint with airplane gyro is preferred Airplane gyro will be purchased if budget allowsAirplane gyro will be purchased if budget allows Dampened Joint with airplane gyro is preferredDampened Joint with airplane gyro is preferred Airplane gyro will be purchased if budget allowsAirplane gyro will be purchased if budget allows

17. Global Coordinate Data Bob Jaromin

18. Customer Needs Log location information with each picture takenLog location information with each picture taken Time stamp on pictures to know when it was takenTime stamp on pictures to know when it was taken Log location information with each picture takenLog location information with each picture taken Time stamp on pictures to know when it was takenTime stamp on pictures to know when it was taken

19. Concept Generation GPS with no correctionsGPS with no corrections GPS with Differential correctionGPS with Differential correction GPS with WAAS correctionGPS with WAAS correction Inertial navigation onlyInertial navigation only Inertial navigation with GPS correctionInertial navigation with GPS correction GPS with Inertial SensorsGPS with Inertial Sensors GPS with no correctionsGPS with no corrections GPS with Differential correctionGPS with Differential correction GPS with WAAS correctionGPS with WAAS correction Inertial navigation onlyInertial navigation only Inertial navigation with GPS correctionInertial navigation with GPS correction GPS with Inertial SensorsGPS with Inertial Sensors

20. Pugh’s Matrix

21. Concept Selection A type of Differential GPS is more accurate than standard GPS and WAAS is easy to useA type of Differential GPS is more accurate than standard GPS and WAAS is easy to use GPS gives the added benefit of very accurate time informationGPS gives the added benefit of very accurate time information The cost of this system is comparable to a standard GPSThe cost of this system is comparable to a standard GPS A type of Differential GPS is more accurate than standard GPS and WAAS is easy to useA type of Differential GPS is more accurate than standard GPS and WAAS is easy to use GPS gives the added benefit of very accurate time informationGPS gives the added benefit of very accurate time information The cost of this system is comparable to a standard GPSThe cost of this system is comparable to a standard GPS

22. PicturesPictures

23. Data Storage System Kathryn Berens

24. Customer Needs Store images as.TIFF filesStore images as.TIFF files Log GPS coordinates with each picture takenLog GPS coordinates with each picture taken Time stamp on pictures to know when it was takenTime stamp on pictures to know when it was taken Store images as.TIFF filesStore images as.TIFF files Log GPS coordinates with each picture takenLog GPS coordinates with each picture taken Time stamp on pictures to know when it was takenTime stamp on pictures to know when it was taken

25. Concept Generation Serial RS-232Serial RS-232 Compact FlashCompact Flash Flash diskFlash disk Serial RS-232Serial RS-232 Compact FlashCompact Flash Flash diskFlash disk

26. Pugh’s Matrix

27. PicturesPictures Flashdisk Compact Flash Serial RS232 to USB

28. Concept Selection Customer prefers both optionsCustomer prefers both options Will add removable media if budget allowsWill add removable media if budget allows Customer has a serial to USB converter if removable media is too expensiveCustomer has a serial to USB converter if removable media is too expensive Customer prefers both optionsCustomer prefers both options Will add removable media if budget allowsWill add removable media if budget allows Customer has a serial to USB converter if removable media is too expensiveCustomer has a serial to USB converter if removable media is too expensive

29. BatteriesBatteries Matt Harris

30. Customer Needs Self contained powerSelf contained power Battery life = flight timeBattery life = flight time Easy access to batteryEasy access to battery Self contained powerSelf contained power Battery life = flight timeBattery life = flight time Easy access to batteryEasy access to battery

31. Concept Generation ConceptsConcepts –Solar –Battery – only feasible choice –Wind –Nuclear –Fuel –Fuel Cell ConceptsConcepts –Solar –Battery – only feasible choice –Wind –Nuclear –Fuel –Fuel Cell

32. Pugh’s Matrix

33. Concept Selection Li-Polymer was best choiceLi-Polymer was best choice –Very small size and weight NiCd used as referenceNiCd used as reference –Most common NiMH cheaper and as good as NiCdNiMH cheaper and as good as NiCd –Size and discharge rate were issues Li-Ion better power, lifespan, performanceLi-Ion better power, lifespan, performance –Higher cost Lead Acid is unstable, large, and heavyLead Acid is unstable, large, and heavy Li-Polymer was best choiceLi-Polymer was best choice –Very small size and weight NiCd used as referenceNiCd used as reference –Most common NiMH cheaper and as good as NiCdNiMH cheaper and as good as NiCd –Size and discharge rate were issues Li-Ion better power, lifespan, performanceLi-Ion better power, lifespan, performance –Higher cost Lead Acid is unstable, large, and heavyLead Acid is unstable, large, and heavy

34. PicturesPictures Ni-Cd Li-Poly Lead Acid NiMH Li-Ion

35. Pan Tilt Assembly Motor Selection Rick Andol

36. Customer Needs Instantaneously look at an object from all possible vantage points before the sun movesInstantaneously look at an object from all possible vantage points before the sun moves Come up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear dayCome up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear day 50-70 degree angle from horizontal on target50-70 degree angle from horizontal on target 15x15 pixel area on target at all times15x15 pixel area on target at all times Instantaneously look at an object from all possible vantage points before the sun movesInstantaneously look at an object from all possible vantage points before the sun moves Come up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear dayCome up with the shapes of the Bi-directional Reflectance Distribution Functions (BRDF) of natural targets outside on a clear day 50-70 degree angle from horizontal on target50-70 degree angle from horizontal on target 15x15 pixel area on target at all times15x15 pixel area on target at all times

37. Motor Selection Evaluated four different types of motors:Evaluated four different types of motors: –AC Motors –DC Motors –Servo Motors –Stepper motors Each was evaluated for the specific criterion of this projectEach was evaluated for the specific criterion of this project –Torque available –Speed –Reliability –Repeatability of results Evaluated four different types of motors:Evaluated four different types of motors: –AC Motors –DC Motors –Servo Motors –Stepper motors Each was evaluated for the specific criterion of this projectEach was evaluated for the specific criterion of this project –Torque available –Speed –Reliability –Repeatability of results

38. Pugh’s Matrix

39. Motor Selection A Stepper motor will best fit this projectA Stepper motor will best fit this project –Excellent positioning accuracy –Two members of the group have previous experience with this application –Can be easily interfaced with the existing hardware –Is a highly cost effective solution –Will produce the necessary skew rate –Will not “skip” steps if proper motor selection is used Stepper will be controlled by a Basic STAMP to the PC104+ boardStepper will be controlled by a Basic STAMP to the PC104+ board A Stepper motor will best fit this projectA Stepper motor will best fit this project –Excellent positioning accuracy –Two members of the group have previous experience with this application –Can be easily interfaced with the existing hardware –Is a highly cost effective solution –Will produce the necessary skew rate –Will not “skip” steps if proper motor selection is used Stepper will be controlled by a Basic STAMP to the PC104+ boardStepper will be controlled by a Basic STAMP to the PC104+ board

40. PicturesPictures AC Motor DC Motor Servo Stepper

41. Future Work 11 Week Plan11 Week Plan

42. QuestionsQuestions