1. T EAM 7 Joel Handy Rob Schugmann Jon Addison S TAR S EARCH C ONTROL S YSTEMS D ESIGN Final Presentation

2. Final Presentation Outline Project Overview Objective Review original design Describe project construction and functional tests Discuss successes and challenges Future Development Final Presentation Outline

3. Project Overview Using a telescope can be entertaining but also frustrating Difficulties include Locating a celestial object Keeping the object within view over time

4. Project Overview Project Overview Cont These difficulties can be overcome through the design of a motorized telescope that can track a celestial object while remaining resistant to disturbances.

5. Original Goals Design a self-calibrating computer- positioning telescope Should withstand disturbances and stay centered on the desired object Should be easy to use while remaining relatively cheap to implement

6. Design Concerns & Specifications Speed Point to point movement and tracking require different speeds Resolution A small change in telescope position yields a large change in the field of view

7. Speed Specifications for Point to Point Movement 72°.00 / sec Specifications for Tracking Speed 360°/23.93446743 hrs. 15°.04107000 / hr. Speed

8. Resolution Resolution is the smallest movement possible in a system High Resolution Requirements - 0.25 degrees - Half of the field of view at medium magnification - Increase resolution by gearing down the system Resolution

9. Resolution and Accuracy High Resolution Requirements - 0.25 degrees - Half of the field of view at medium magnification - Increase resolution by gearing down the system Accuracy.-0.25 degrees -Any more error and objects will leave field of view Resolution

10. Project Development Linear Simulation Motor Selection Non-linear Simulation Experimental Analysis Project Development

11. Linear Simulation Developed mathematical model of system Used robotic parameters to obtain required torques for a given path Linear Simulation

12. Torque Constraints

13. Motor and Gear Selection Motor Selection Motor (Pittman GM8724S016) 19.5:1 internal gear ratio Max continuous torque of.29 N/m Gears External gear ratio of 4:1 Overall gear ratio of 80:1

14. RLtool Pan Step Response Tilt Step Response

15. Non-linear w/o Non-linear Simulation

16. Non-linear w/ Non-linear Simulation Friction Compensation

17. Testing Procedure Created MATLAB script file -Automated all initialization and operation -Automated data collection Testing Procedure

18. Experimental Analysis No Trajectory Generation

19. Trajectory generator Trajectory Generation

20. Experimental Analysis Trajectory Generation

21. Slow tracking Slow Tracking

22. Final results Initial vs Final Specifications Original GoalsFinal Results Speed72 deg/sec36 deg/sec Resolution0.25 deg0.325 deg Accuracy0.25 deg0.57 deg Self PositioningYes Withstands DisturbancesYes Ease of UseYes

23. Challenges Excessive Speed -Telescope Unsafe -Violent movements Trajectory Generator -Runtime termination -Initial run errors Challenges

24. Project Cost Components for StarSearch ComponentsManufacturerPart NumberCostQuantityTotal Cost MotorPittmanGM8724S016112.262224.52 Large GearStock DriveA 6A61-00NF0311219.37238.74 Small GearStock DriveA 6A 6-25DF031067.4214.8 Timing BeltStock DriveA 6R 6-11503104.1228.24 Project Cost 286.3 Compass SensorPNI CorpVector-2x Magnetometer501 InclinometerUS DigitalT4701 TelescopeJason304-T1501 Total Cost 556.3

25. Future Developments Sensor Integration -Greater system autonomy High resolution encoders -Would allow for much greater accuracy Inclusion of Position data -Allow users to target objects by name rather than coordinates Future Developments

26. Questions? Questions