1. New Castle Design Associates Progress of Insect Video Tracking Device October 27, 1998 Team 5 Sponsors: Keith Hopper, USDA & UD

2. Summary MembersPrimary Customer Justin L. CombsKeith Hopper (USDA and UD) Raymond M. Foulk IV Ryan S. McDonoughAdvisor George H. Sapna III Dr. James Glancey Mission: Our mission is to design, construct, and refine an insect video tracking system for agricultural research that provides our customers with a creative, realistic and performance-based solution. Approach: Our strategy will be to gain an overall knowledge of the project and then to strive for a solution by researching, benchmarking, and defining the customer’s wants and constraints. Finally, using an iterative design synthesis process, our team will generate the best solution to satisfy our customers.

3. Background $100 million crop damage each year due to pests Introduction of beneficial (predatory) insects into environment Study of reproductive habits - Aphelinus asychis

4. Problem Description Existing System Measures insect movements within a small arena Problem With Existing System Disturbs the behavior of the insects Camera Specimens

5. Design Process BenchmarkingRevise Wants Interview Customers Derive Metrics Concept Generation Concept EvaluationTarget Values Good Solution?

6. Important Customers Keith HopperEntomologist Richard TurcotteEntomologist Mr. FilaskyFarmer Rex MearsFarmer Alice KlineSupermarket Manager Greg FrantzConsumer Anthony WexlerEnvironmentalist

7. Revision of Wants (Performance Goal) x (Importance to Customer) = (Overall Weight) (Customer Rank) x (Want Factor) = (Importance to Customer) Customers Rank High Want Low Want Exponential Decay of Importance

8. Top 10 Wants Track the insect over large area Measure position and speed of the insect Adaptability to other types of insects Not to disturb the insect’s behavior Easy-to-learn user interface Ability to record for 10 - 20 minutes Maximize use of existing equipment Benefits must out-weight costs Preferred language is C/C++ Minimize post-processing of data

9. Derivation of Metrics List of Metrics Top 10 Wants 2. Sum the correlation factors for each metric. 3. Sort the metrics according to total. Correlation Matrix Total 1. Rate the correlation of each metric to each want.

10. Top Metrics & Target Values 1. Size of Tracking Area1m x 1m 2. Total Acquisition Time20 min 3. Adaptability to Other Insects1mm - 4cm (2D) 4. Frequency of Acquisition1 Hz 5. Feedback Delay0.5 sec 6. Desired Programming LanguageC or C++ 7. Accuracy of Positional Measurements+/- 1mm 8. Distance from Device to Insect0.5 m 9. Amount of Existing Equipment Used100% 10. Simple Design ?Yes 11. X, Y Coordinates of InsectYes

11. Design Process BenchmarkingRevise Wants Interview Customers Derive Metrics Concept Generation Concept EvaluationTarget Values Good Solution?

12. Comparative Benchmarking 1. Rate each benchmark on how well it satisfies each want. 2. Total the rates to achieve a total score for each benchmark. 3. Sort the benchmarks by total score.

13. System Benchmarking Existing Video Tracking System Ultrasound Scanner at the C.C.M. NASA Vertical-Spin Tunnel Autonomous Robot “RHINO” Semi-Automated Film/Video System

14. Functional Benchmarking Torch location algorithm with ATP project at C.C.M. Stepper motors Servo motors with position sensors P.I.D. control Fuzzy Logic control

15. Concept Generation x y z F(s) TF(s) H(s) R C Cartesian Track Polar Track Sensing Surface Robot Wide Angle Pivot Moving Surface Bubble

16. Concept Evaluation Sorted Metrics Concepts 2. The “best concept” has the highest column total. 3. Repeat step 1 with current “best concept”. Comparison Values Total 1. Compare each concept to the best benchmark.

17. Preliminary Concept 1 Mobile robot with relative positioning: A robot which follows insect over a specified area while recording the insect’s position

18. Preliminary Concept 2 Stationary high-resolution camera with wide angle lens: A camera records the insect’s motion over a large area

19. Division of Work Justin CombsConcept Generation & Evaluation Ray Foulk SSD, Benchmarking Ryan McDonoughSchedule, Customer Relations George Sapna SSD, Customer Relations Team EffortPresentations, Planning, Goals Budget $5000 Thousand Dollars Flexible depending upon primary customer’s judgement.

20. Schedule To Date

21. Plans Until Next Presentation 10/25 - 11/8 Refine Concepts 11/1-11/15Engineering Analysis of “Best Concept” 11/8 - 11/20Engineering Drawings 11/15 - 11/24Written Report 11/20 - 12/3Prepare Presentation

22. Long Term Schedule By December 1998...Finalized Concept By January 1999...Order Major Components By March 1999…Build Full Scale Prototype March - April 1999…Test Prototype By May 1999…Final Revisions & Documentation

24. Preliminary Concept 3 Cartesian Tracking System Camera moves over a plane in two orthogonal directions. CAMERA INSECT ARENA X Y

25. Previous Benchmarks Existing Video Tracking System NASA Vertical Spin Tunnel Biorobotic Vision Group DARPA Image Understanding Program Semi-Automated Film/Video System CAD Plotter PC Mouse

26. Previous Top 10 Wants Track the insect over large area Measure position and speed of the insect Adaptability to other types of insects Not to disturb the insect’s behavior Easy-to-learn user interface Ability to record for 10 - 20 minutes Maximize use of existing equipment Benefits must out-weight costs Preferred language is C/C++ Minimize post-processing of data