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Hyperspectral Camera Design Project Preliminary Design Report

Project #P06522

Team Members: Will Shaffer Jeff Sidoni Dan Scorse Jordan Gartenhaus

Sponsored by: D3 Engineering 222 Andrews Street Rochester, NY 14604

Hyperspectral Camera Project (P06552) D3 Engineering

Table of Contents 1. List of Figures………………………………………………………… 4 2. List of Equations ………………………………………………………5 3. Background of Sponsor ……………………………………………….6 4. Hyperspectral Introduction and Theory ………………………………7

4.1. Background of Hyperspectral Imaging …………………………..7 4.2. Spectroscopy and Spectral Reflectance …………………………..7 4.3. Hyperspectral Data Acquisition …………………………………..8

4.3.1. Linear Array Spectrograph ………………………………..9 4.3.2. Two Dimensional Sensor Method …………………………9 4.3.3. Data Cube Composition …………………………………10

4.4. Identification and Classification of Materials …………………..11 4.5. Applications of Hyperspectral Imaging …………………………12

5. Project Outline ……………………………………………………….13 5.1. Purpose ………………………………………………………….13 5.2. Requirements ……………………………………………………13 5.3. Project Timeline …………………………………………………14

6. Preliminary Design …………………………………………………..15 6.1. Imaging System …………………………………………………15

6.1.1. CCD vs. CMOS Imagers …………………………………15 6.1.2. Texas Instruments C6416 vs. DM642 DSP ………………16 6.1.3. Preliminary Imaging System Design Components ………17

6.2. User Interface ……………………………………………………17 6.3. Optical System Design …………………………………………17

6.3.1. Background Motivation ………………………………….17 6.3.2. Abstract ………………………………………………….17 6.3.3. Preliminary Research …………………………………….18 6.3.4. ImSpector Research ………………………………………20 6.3.5. Alternate Dispersion Element Design ……………………21 6.3.6. Prism Design ……………………………………………..24 6.3.7. Final Optical Design ……………………………………..29

6.4. Scanning Mirror Control ………………………………………..30 6.4.1. System Overview ………………………………………30 6.4.2. Stepper Motor Control …………………………………..31 6.4.3. Design Requirements …………………………………….32 6.4.4. Slit Width Analysis ………………………………………34 6.4.5. Kruse Control …………………………………………….36

6.5. Data Normalization and Material Identification ………………..38 6.6. Mechanical System and Enclosure ………………………………39

6.6.1. Requirements …………………………………………….39 6.6.2. Mounting Hardware ……………………………………39

6.6.2.1. Scanning Mirror Mount …………………………….39 6.6.2.2. ImSpector Lens Mounting System …………………40 6.6.2.3. Custom Design Lens Mounts ……………………….40 6.6.2.4. Imaging Device Mount …………………………….40

PDR definition • design • development of 44


6.6.3. System Enclosure ………………………………………40 6.7. Preliminary Bill of Materials ……………………………………42

7. Design Feasibility and Expected Technical Issues …………………..43 8. References ……………………………………………………………44



1. List of Figures:

Cover Image: Hyperspectral Data Cube Figure 4.1: Electromagnetic Spectrum ………………………….7 Figure 4.2: Spectral Signature of Various Materials ……………..8 Figure 4.3: Linear array Imaging Spectrometer ………………….9 Figure 4.4: Two-dimensional Imaging Spectrometer …………..10 Figure 4.5: Hyperspectral Image Cube …………………………11 Figure 4.6: Panchromatic Combat Area Image …………………12 Figure 4.7: Multispectral Combat Area Image………………….12 Figure 4.8: Hyperspectral Combat Area Image…………………12 Figure 5.1: Project Timeline ……………………………………14 Figure 6.1: System Block Diagram ……………………………..15 Figure 6.2: Imager Response Curve …………………………….16 Figure 6.3: 90 Degree Optical Path ……………………………..19 Figure 6.4: Straight through Optical Path……………………….20 Figure 6.5: Prism Grating Prism Assembly …………………….21 Figure 6.6: Littrow Prism Spectrograph ………………………..22 Figure 6.7: Littrow Prism Spectrograph with mirror……………23 Figure 6.8: Wadsworth constant-deviation mounting …………..23 Figure 6.9: Littrow-mounted Prism Spectrograph ……………..24 Figure 6.10: Geometry of a Prism ………………………………..24 Figure 6.11: Geometry of Focal Length and Detector Height …..27 Figure 6.12: Lambda vs. Height …………………………………27 Figure 6.13: Wavelength vs. Optimized Refracted Angle ……….27 Figure 6.14: Detector Size vs. Input Angle ………………………28 Figure 6.15: Detector Size vs. Prism Angle………………………28 Figure 6.16: Pugh Diagram of Optical Design …………………..29 Figure 6.17: Phase ‘A’ Driver Schematic ………………………..31 Figure 6.18: Two Phase Stepper Motor Configuration ………….31 Figure 6.19: Micro-step Phase Winding Signals ………………..32 Figure 6.20: Open-Loop Stepper Motor Control…………………32 Figure 6.21: Required Target Workspace ………………………..33 Figure 6.22: Scanning Mirror Parameters ………………………..34 Figure 6.23: Image Slit Width Analysis ………………………….35 Figure 6.24: Two Phase Motor Schematic and Model …………..37 Figure 6.25: Closed-loop Kruse Stepper Motor Controller………37 Figure 6.26: Slit Width Analysis for Kruse Controlled System …38 Figure 6.27: Preliminary Bill of Materials ……………………….42



2. List of Equations

Equation 6.1: Optical Path Length ………………………….18 Equation 6.2: Index of Refraction of BK7…………………..25 Equation 6.3: Exit Angle ……………………………………25 Equation 6.4: Detector Size …………………………………25 Equation 6.5: Change in Exit Angle ………………………26 Equation 6.6: Target Image Size ……………………………34 Equation 6.7: Slits per Scan…………………………………34 Equation 6.8-11: Successive Slit Width Calculations…………..34 Equation 6.12: General Slit Width Formula ………………….35 Equation 6.13-23: Kruse Control Functionality Overview …..36-37



3. Background of Sponsor

D3 Engineering provides DSP Hardware, Software, and Algorithms in signal

processing applications. The range of projects includes medical, wireless, image

processing, and motor control.

The Hyperspectral Camera is the 3rd RIT Senior Design project that D3

Engineering has sponsored. The Senior Design Project is used by D3 to evaluate

potential full-time employees, develop IP, and prepare prototypes for potential

customer demonstration.



4. Hyperspectral Introduction and Theory

4.1 Background of Hyperspectral Imaging Imaging in its traditional sense has always been though of as taking pictures

using three distinct wavelengths of light; red, green and blue. In remote sensing,

the term hyperspectral refers to an imaging system capable of capturing up to

several hundred narrow, contiguous spectral bands of the electromagnetic

spectrum, as seen in Figure 4.1. This method of acquiring data is what

distinguishes a hyperspectral system from a traditional multispectral system,

where only a pre-selected set of wavelengths are captured. This ability allows for

the detection of subtle variations that are often overlooked by less informative

multispectral and traditional imaging methods. The interest in this type of

imaging has increased greatly due to the amount of information that an image

contains.

Figure 4.1 – The Electromagnetic Spectrum

Advancements in manufacturing allow for better imaging systems,

imagers with lower signal to noise ratios and more accurate methods of

calibrating the cameras.

4.2 Spectroscopy and Spectral Reflectance Spectroscopy is, by definition, the study of the absorption or reflection of

various wavelengths of light by a substance. There are three main types of



spectroscopy; emission, scattering and absorption. This type of imaging uses the

latter to measure the amount of light reflected from the materials under

investigation.

The spectral reflectance of an object is the ratio of reflected energy to incident

energy as a function of wavelength. The reflectance spectrum, also known as a

hyperspectral signature, of a material is a plot of this spectral reflectance with

respect to wavelength. Figure 4.2 gives an example of a spectral signature for

several materials.

0 5 10 15-10

0

10

20

30

40

50

60

70

Wavelength λ (μm)

% R

efle

ctan

ce

AsphaltDry GrassGraniteGrassDark Soil

Figure 4.2 – Example of Spectral Signature

4.3 Hyperspectral Data Acquisition Hyperspectral images are obtained using a device called an imaging

spectrometer. By definition, this is an optical device used to measure various

properties of light over the electromagnetic spectrum. Typically, it contains an

optical system, a dispersing element such as a prism or grating, and an array of

detectors that are designed to operate over a wide variety of wavelengths.



4.3.1 Linear Array Spectrograph

A linear array spectrograph contains a single row of detectors, depicted by

the simplified diagram in Figure 4.3. This figure shows how the spectral plot

of a single cell of the target is obtained. The reflected light from this cell is

broken into is spectral content by the element, and the array of detectors

measures the respective values of the intensity of the incident light.

Figure 4.3 – Simplified Imaging Spectrometer

In order to obtain a complete row of the target, it is necessary to use a

mirror that scan across the target while the spectrograph evaluates the spectral

content of each individual cell in the row.

The limitation of this setup is the contingency that another element is

responsible for the second dimension of motion over the target. In remote

sensing applications this is usually accomplished by the movement of the

camera inside a flying plane or a non-geosynchronous satellite over the target

area.

4.3.2 Two Dimensional Sensor Method

An alternative method of capturing the data is to replace the linear array

with a two dimensional CMOS or CCD imager. Figure 4.4 shows a simplified

diagram of such a system. One row of the target is passed through a slit in the

front end optical system and into the dispersion element. The output of the



element is a two dimensional representation of the spectrum of each cell of the

row, which the sensor detects. One axis of the sensor represents the spectral

content, while the other represents the spatial.

Figure 4.4 – Two Dimensional Sensor Method

The use of a two dimensional sensor allows the imaging system to cover a

single linear dimension with one frame of the imager, while the linear array

spectrometer has to take successive frame captures to create a row. This will

simply the data acquisition in a lab based environment has the possibility of

eliminating the need for moving mechanical components, such as the scanning

mirror, in remote sensing applications where a two dimensional target is

acquired.

4.3.3 Data Cube Composition

The final data set consists of successive images with high spectral

resolution that allows for materials to be identified, unlike old systems that

could only differentiate between materials. In order to organize the data in a

way that is understandable, the successive two dimensional images acquired

are combined to form a three dimensional data set, known as a hyperspectral

cube. Figure 4.5 shows how a data cube is comprised; two spatial axes and

one spectral axis.



Figure 4.5 – Hyperspectral Image Cube

4.4 Identification and Classification of Materials

Due to the vast amounts of information contained in a hyperspectral data set,

the spectral responses of the pixels can be used to identify the materials present.

There are several libraries available that contain plots of spectral signatures for

hundreds or even thousands of materials ranging from natural to man-made.

Several issues arise when extracting the data from a raw image cube. In

remote sensing applications, the target cell that is being observed rarely contains

reflectance values due to a single material since the target cell size is large. While

the degree of distortion is dependent on exactly how large the cell size is, the

resulting spectra is a combination of all the different materials within that cell,

resulting in a composite or mixed spectrum.

Classification and identification pose other problems when compared directly

with a reference spectral signature plot; the values measured with the imager

correspond to the radiance values off the surface of the material, and must be

converted into relative reflectance before a direct comparison can be made.

Several methods to accomplish this are available; some of which require only the

data set, and others require some knowledge about the conditions in which the

images were taken.

Using the approach of trying to match the acquired data set directly with a

library requires an accurate conversion from radiance to reflectance. Since the

capture spectra will not match exactly, it must be compared and the correlation

between the reference and the observed, rated, and from this rating a decision



about the identity of the material can be made. This is complicated by issues

discussed previously with mixing of different spectra, a topic that will be

investigated further as the project progresses.

4.5 Hyperspectral Applications

With the amount of information present in a hyperspectral data cube, there

are an abundance of applications ranging from medical to agricultural to

defense. Remote sensing hyperspectral cameras are currently being used by

the military to detect targets and are normally hidden to traditional color and

even multispectral imaging systems. Figures 4.6-4.8 below show the same

image viewed with these three types of systems. The target being observed is

a combat zone which contains a camouflaged tank.

Figure 4.6-4.8 – Defense Remote Sensing Application

Other remote sensing applications include forest heath observations for

fire prevention, tracking vegetation, measuring soil quality and terrain

mapping.

Several applications of hyperspectral imaging that are on a smaller scale

occur in the medical industry for early cancer detection and food borne

illness detection and prevention. Additionally, this technology is being

utilized by the government to identify counterfeit currency.



5. Project Outline

5.1. Purpose The purpose of this design is to build a functional hyperspectral camera system

for use by D3 Engineering’s design staff.

5.2. Requirements

The design requirements for this project were left very open, which allows for a

very research oriented design project. The following list defines the requirements

specified by the customer.

• The hyperspectral camera shall use a single CMOS or CCD detector.

• The hyperspectral camera shall have a spectral resolution of 25 to 50nm over the

visible region; 400-850nm.

• The hyperspectral camera shall utilize a scanning mirror to acquire images.

• The hyperspectral camera shall use pre-existing hardware developed by D3

Engineering for the image capture and motion control.



5.3. Project Timeline

Figure 5.1 shows the projected timeline for this project. ID

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6. Preliminary Design

Since this project is more research oriented than developing a final product, there are

minimal design constraints. The block diagram in Figure 6.1 depicts a high-level model

of the design.

Scan

Control

Imager0

OpticsMirro

r

Figure 6.1 – System Block Diagram

6.1. Imaging System

The imaging system will consist of an embedded platform that will interface to an

image sensor capable of capturing data over the specified bandwidth of 400 to

850nm.

6.1.1. CCD vs. CMOS Imagers CCD (charge coupled devices) and CMOS (complementary metal oxide

semiconductor) imagers both provide a way to digitally capture images, but each

have their respective benefits. CMOS imagers provide a simplified method of

interfacing due to the integration of all the timing circuitry necessary to clock data

out of the sensor, while CCD sensors require a significant amount of external

circuitry to obtain the data. Key advantages to a CMOS sensor include a lower

power usage, this integration of timing circuitry, and lower cost.

The most significant property in this application is image quality, where the

CCD surpasses that of a CMOS sensor. While this will become an issue in the



future, the main goal of this project is to develop a working hyperspectral camera

prototype, and since D3 Engineering already the ability to interface to a CMOS

sensor, this technology will be utilized in the beginning stages of this design. The

bandwidth specification of this project is between 400 and 850nm, which as seen

by the spectral response curve of the chosen imager in Figure 6.2, will be

adequate for this specification. Future improvements of this project may include

the use of a CCD image sensor over a CMOS and the possibly of migrating to a

12 or 14 bit sensor.

Figure 6.2 – Spectral Response of Imager

6.1.2. Texas Instruments C6416 vs. DM642 DSP

There are two digital signal processors available from Texas Instruments that

were considered during this design, namely the C6416 and the DM642. D3

Engineering has hardware to interface to both processors, but connectivity to a PC

varies by platform. The system will be connected using a USB interface;

therefore due to hardware limitations the C6416 will be used. While the DM642

is TI’s flagship digital media processor, the complication of the video port driver

used to capture images may cause unnecessary problems syncing the movement

of the scanning mirror with the frame capture. The C6416 has a higher clock

frequency, running at 1GHz, than the DM642 which processes at 720MHz. At

the early stage of development the processing speed is of little concern since the

algorithm development will be done in MATLAB.



6.1.3. Preliminary Imaging System Design Components

The design will utilize hardware that D3 Engineering will provide to capture

images using an embedded system. The final imaging system specifications are

as follows:

• 1.3 Mega Pixel 10-Bit CMOS Image sensor

• D3 Engineering’s Camera Developers Kit for image acquisition.

• Spectrum Digital 6416 DSK using a Texas Instruments C6416 1GHz Digital

Signal Processor

6.2. User Interface

In the early development phase of this project the post-processing will be

preformed in MATLAB after the image cubes have been captured. This will ease the

experimentation and development of the algorithms necessary to obtain spectral

signatures and classify materials from the attained data sets. The system will

interface with MATLAB over a high speed USB 2.0 connection.

6.3. Optical System

6.3.1. Background Motivation The desire to take on the optical design for this camera stemmed from the

fact that the work experience of a team member, who has spent a year and half

working for a company that, in the particular division, dealt mostly with telescope

design, integration, and testing. The basic knowledge of optics and optical testing

beyond how it applies to a telescope would be beneficial, especially for possible

career paths.

6.3.2. Abstract

The system had a wavelength requirement of 400-850 nm and a resolution of

25-50 nm. Size of the system is to be bench top, but portable. A scanning mirror

will be integrated into the front of the system in order to sweep the target while

the detector or data acquisition unit captures the images.

Through thorough internet and library research, optical path designs and

dispersion elements were considered. Such elements such as diffraction grating,

wedge filters, and prisms were investigated while straight through and diffracted



optical paths were considered. Existing off the shelf designs from Edmund Optics

and Specim were also researched and found to be feasible options for the given

specifications.

Low-end calculations using a prism as a dispersing element, along with

correspondence with a representative of Specim, a company who produces a

spectral photometer, discussions with Dr. Wells of ITT, and discussion’s with

Edmund Optics technicians aided concept selection. The results of the above

effort yielded an off the shelf component from either Edmund Optics or Specim

as the best choice in order to provide the most effective prototype for the

customer.

6.3.3. Preliminary Research

Dr. Conrad Wells of ITT was approached with the problem statement for

this design and an ensuing discussion took place. Dispersion elements such as

grating and prisms were first brought to attention through this discussion as there

had been no previous knowledge of how the wavelength range for a given

resolution was to be achieved. Very low level, but necessary for understanding,

light paths were illustrated to give a direction for what the system design may

resemble. Minimal requirements for an optics system consist of three lenses, a

variable slit and a dispersion element inside an enclosure. Figures 6.3 and 6.4

illustrate beginning comprehension of an optical system. The figures also

illustrate other components of the optical system such as a variable slit, a scanning

mirror, and baffles for stray light.

Further research on the internet revealed a calculation for determining

optical path length.

(6.1) ∫=

c

dssnA )(

Where ‘A’ represents path length and n(s) is index of refraction as a

function of distance. The index is also dependent upon the glass element light is

passing through.



TARGET MIRROR

ENCLOSURE

BAFFLE

PRISM

LENS (3) PLACES

Figure 6.3 – 90 Degree Optical Path



MIRROR

Figure 6.4 – Straight through Optical Path

6.3.4. ImSpector Research

The complex nature of an optical system promoted research of off the shelf

optical systems. Specim makes a number of ImSpector cameras that capture

images and display data cubes as specified by the customer. Initially, the

impression was that the ImSpector was only capturing visible or infrared light

separately; however, that is not the case as search results yielded that the AISA

Eagle is a bench top unit with dimensions 165mm x 200mm x 390mm and

weighing no more than 6kg. This suggested that the design could realistically be

TARGET

ENCLOSURE

BAFFLE

PRISM

LENS (3) PLACES



sized to bench top. Correspondence with Specim resulted in contact with Wes

Procino, a sales representative who graduated from the University of Rochester.

Procino was very helpful in answering questions and offering suggestions.

Reading about the ImSpector camera revealed that a “straight through”

optical design for all their cameras was discovered by utilizing a specific

dispersion element, Prism-Grating-Prism. The Prism-Grating-Prism or PGP was

developed by Mauri Aikio’s, whose dissertation was the creation of a

Hyperspectral PGP Imaging Spectrograph. Aikio invented the PGP element as a

low-cost option to make spectrographs and as a result of his work, a company in

1995 was founded to manufacture the PGP technology.

The PGP element is a mate of a prism, long pass filter (LPF), covering glass,

grating, substrate glass, short pass filter (SPF), and a second prism. Figure 6.5

depicts this.

Figure 6.5 – Prism-grating-prism element

Prism 1 LPF

Covering glass

Grating

SPF

Prism 2

Substrate glass

6.3.5. Alternate Dispersion Element Design

While the possible intellectual property held by the PGP system was being

researched, alternate dispersion element designs were investigated. Simple prism

designs were looked at and an array of calculations were done to assess the



feasibility of a custom optics design in this project. Prism designs along with

alternate dispersion methods are assessed in subsequent sections.

After calculations had been preformed on the prism design, more technical

advise was obtained about the possible design. Holographic gratings were

discussed, but the use of a monochromator is preferred. If the design utilized a

holographic grating, a slit would be required and calibration procedures

preformed. The attraction of the monochromator’s holographic dispersion

element revolves around the pre-calibration of the unit off the shelf; a subject that

is very complex.

Design’s in Figures 6.6 – 6.9 all utilize a Littrow prism which was not

discovered until late in the preliminary design process. A Littrow prism refracts

the light into it and then reflects it back out into the path that it came in,

effectively cutting the focal length into a fraction of a normal refracting prism. A

silver or aluminum backing on the prism allows for this reduction in focal length.

Figure 6.6 – Littrow Prism Spectrometer



Figure 6.7 – Littrow Prism Spectrometer with Mirror

Figure 6.8 – Wadsworth constant-deviation Mounting Device



Figure 6.9 – Littrow-mounted prism spectrograph

6.3.6. Prism Design

At first glance, a simple prism design seemed like it would be the cheapest

and easiest dispersion element in an optical system. In order to prove this,

calculations optimizing the focal length, detector size, prism angle, and angle the

prism is held (or incident angle) had to be preformed. While the calculations

were lengthy, it was necessary to properly optimize the parameters. Calculations

were preformed for a range of wavelengths from 400 nm to 700 nm.

1iϑ δ 2tϑ

α

Normal to surface

Normal to surface

Figure 6.10 – Geometry of a Prism



The prism material being used was BK7. The index of refraction for BK7

as a function of wavelength is as follows:

3

32

21

11C

BC

BC

Bn−

+−

+−

+=λ

λλ

λλ

λ (6.2)

Where B1, B2, B3, C1, C2, C3 are constants of the index of refraction.

The angle of incidence was predetermined and changed as needed for

optimization. Exit angle, 2tϑ , out of BK7 in a function of the index of refraction,

incidence angle, 1iϑ , and the prism angle, α . The prism angle was also

predetermined, but changed for optimization. Usually, an angle between 45

degrees or 60 degrees is utilized.

(6.3) ]cossin)sin)(sin[(sin 12/1

122

2 αϑϑαϑ iit na −−=

Detector size is determined by simple trigonometry, as seen in Figure 6.11 and Equation 6.4

fh

t =2tanϑ (6.4)

2tϑ

f

h

Figure 6.11 – Geometry of focal length and detector height



The variable ‘f’ represents the focal length and ‘h’ represents the height of

the detector. Units are in millimeters. This is a function of the exit angle and thus

a function of wavelength; for every wavelength there is a change in height, and

the overall delta in height returns the detector size.

Finally, a delta is found between the angle exiting the prism, 2tϑ , and the

normal to the prism in order to verify the calculations were done correctly.

(6.5) ααϑϑαϑδ −−−+= − ]cossin)sin)([(sinsin 1

2/11

2211 iii n

The delta as a function of wavelength, seen in Equation 6.5, varied

between 32 and 35 degrees. To add a degree of verification to the design,

calculations were done with an incident angle of zero degrees into a 60 degree

prism. The exit angle was 60 degrees with a delta of 30 degrees which was

expected. The figures below depict results to these calculations as well as a copy

of the spreadsheet used.


Hyperspectral Camera Project (P06552)


D3 Engineering

lamda vs. h

-30

-20

-10

0

10

20

30

0.4 0.45 0.5 0.5

5 0.6 0.65 0.7 0.7

5 0.8 0.85 0.9 0.9

5 11.0

5

lamda (nm)

h (m

m)

Series1

Figure 6.12 – Lambda vs. Height

Wavelength vs. Optimized Refracted Angle

-0.03

-0.02

-0.01

0

0.01

0.02

0.03

0.4

0.45 0.5

0.55 0.6

0.65 0.7

0.75 0.8

0.85 0.9

0.95 1

1.05

Lamda (nm)

Thet

a_t2

-thet

a_no

t (de

g)

Series1

Figure 6.13 – Wavelength vs. Optimized Refracted Angle


Detector size Vs Input angle

0

10

20

30

40

50

60

70

80

90

100

0 10 20 30 40 50 60 70

Incident Angle (deg)

Foca

l Pla

ne S

ize

(mm

)

Series1

Figure 6.14 – Detector Size vs. Input Angle

detector size vs. prism angle

0

5

10

15

20

25

30

35

40

45

50

0 10 20 30 40 50 60 70 80

prism angle (deg)

dete

ctor

siz

e (m

m)

Series1Series2Series3Series4Series5Series6Series7Series8Series9Series10Series11Series12Series13Series14Series15

Figure 6.15 – Detector Size vs. Prism Angle



6.3.7. Final Optical Design The following factors were considered for the final design decision: Results

from extensive calculations performed on utilizing a prism, alternate dispersion

elements and optical path’s research, a Pugh diagram of design trades, seen in

Figure 6.16, and the customer’s specifications. Specifically, the desire of the

customer to investigate the data acquisition and image processing rather than the

construction of an optical system.

Design Criteria

Datum Handheld Spectro- scope

Prism

Grating & Slit

Chucks Apparatus

Impspector Mono- chromator

Cost

$500 + ($272)

+ ($200)

- ($900)

+ - - ($1165)

Size “Bench Top”

+ S S S S +

Complexity Ready off the shelf

+ - assembly and calibration required

- assembly and calibration required

- design of light source input needed

+ +

Light source

White light/Sun light

S S S - S S

Achieved Wavelength

400-700nm

S S S S S S

Achieved Resolution

25-50nm + + + TBA + +

Tuning Desired wavelength can be chosen

- - - + +

+

Totals + = 1 - = -1 S = 0

3 1 0 0 2 3

Figure 6.16 – Pugh Diagram

Calculations performed for utilizing a prism where done with the focus of

optimizing the focal length, incident angle, prism angle, and angle the prism is

set at. All of these parameters were optimized at reasonable values with the

exception of the focal length. It was decided that 75-200 millimeters is an



optimal focal length and the length that came out of the analysis was

approximately one meter. This was unacceptable for a bench top design of this

system. Alternate forms of dispersion elements had to be looked into.

After further research about alternate dispersion elements, a blazed

holographic grating from Edmund Optics was discovered. This dispersion

element could be set at an optimal focal length of 150mm. A discussion with

Edmund Optics, however, suggested the use of a monochromator or a handheld

spectroscope over a custom built optics system. Both items are already calibrated

and are off the shelf ready to be implemented into a system. The final design

recommendation is to use an off the shelf system from either Edmund Optics of

Specim. In addition, a custom optics system will be experimented with to extend

the customers knowledge about the subject of hyperspectral imaging.

6.4. Scanning Mirror Control

6.4.1. System Overview This project requires the use of a scanning mirror to focus light from

successive slits of a stationary target image into the optical system and eventually

the CMOS imager. Since the slit widths from the target image are ideally

dimensionless, it is advantageous to implement a motion control device with the

highest possible resolution. As a starting point, a 100 pole-pair 2-phase stepper

motor has been chosen to rotate the mirror which provides a 3.6° per full-step

resolution.

Illustrated in figure 6.17 is the schematic for the circuitry needed to drive

one phase (A) of a stepper motor. An identical circuit is used to drive the second

phase (B). Based upon this configuration, four PWM signals are required to drive

the stepper motor and rotate the scanning mirror.




D3 Engineering

100

10k

100

10k

10k

100

10k

100

47k

47k

1k

1k .033 .033

IRFZ44E

IRFZ44EIRFZ44E

IRFZ44E

1uF

IN 2

SHDN 3LO5

HO7

COM 4

VB 8

VCC 1

VS 6

IR21040

PWM_A1+

820nF

ZMM5251B100 uF

Vmm

1uF

0

0

0

0

0

Vdd Vdd

31

2-

+

MtrDA1- MtrDA1+

820nF

IN2

SHDN3 LO 5

HO 7

COM4

VB8

VCC1

VS6

Half - Bridge DriverHalf - Bridge Driver

PWM_A1-

IR2104

V3_3/2

ViA1

Motor Current Sense0

0

Figure 6.17 – Phase ‘A’ Driver Schematic

6.4.2. Stepper Motor Control

Figure 6.18 – Two Phase Stepper Motor Configuration

There exist a number of methods to control the magnitude of the angle

rotated per step. Full-stepping is a method by which both phase windings are

energized with the polarity being switched by an alternating current and thus

requiring four cycles to rotate by a full step. Using this method, the stepper motor

chosen for this project would rotate 3.6° for each successive slit. Half-stepping

doubles the resolution by alternating between single and dual-phase operation.


Micro-stepping is a technique in which sinusoidal signals are used to drive

the phase windings as opposed to discrete transitions. This method allows the

motor’s natural step size to be further subdivided into anywhere from 16 to 256

micro-steps. Figure 6.19 illustrates the applied signals to the phase windings in a

micro-step mode.

Figure 6.19 – Micro-step Phase Winding Signals

Each of the methods described above operate in an open-loop controller

configuration. In section 6.4.5, a technique for calculating and feeding the rotor

position back into the controller is outlined. A block diagram for the open-loop

configuration is shown in Figure 6.20.

Figure 6.20 – Open-Loop Stepper Motor Controller

6.4.3. Design Requirements

Implementing the stepper motor controller is going to be an incremental

process. The required number of slits per target image to generate a useful data

set remains a variable in this design; and is largely a function of how accurately

the stepper motor can be positioned. The minimum requirement for the scanning

mirror is a +/- 20° range of motion with respect to the center of the target image.

Figure 6.21 illustrates the target workspace.




D3 Engineering

Figure 6.21 – Required Target Workspace

As a baseline, an open-loop controller configuration will be implemented

with 16 micro-steps per full step. This design generates an effective step angle of

.225° and 177 total slits. The corresponding slit widths remain only a function of

the distance between the scanning mirror and the target image. As mentioned

above, the number of micro-steps will gradually increase as the controller design

progresses until satisfactory image resolution is achieved.

Notice also from Figure 6.21 that as the scanning mirror rotates towards

the edges of the target, the corresponding slit widths increase and must be

accounted for in the image processing algorithm. Section 6.4.4 provides a more

detailed analysis of this effect.


6.4.4. Slit Width Analysis

Figure 6.22 – Scanning Mirror Parameters

The size of the target image as a function of the distance between the

target and the scanning mirror is given by:

Target Width 2y= tan(20 )y d= ⋅ ° (6.6)

The number of slits per full 40° swing is given by:

2 20

Full ImageSlitsn ⋅ °

=ΔΘ

(6.7)

In order to develop a mathematical relationship between successive slit

widths, start at the center of the image and rotate outwardly.

(6.8) 1 tan( )y dΔ = ⋅ ΔΘ

(6.9) 2 1tan(2 )y d yΔ = ⋅ ΔΘ −Δ

(6.10) 3 2tan(3 )y d y yΔ = ⋅ ΔΘ − Δ − Δ 1

j (6.11) ( )1

1tan( ) 1

i

ij

y d i y i−

=

Δ = ⋅ ΔΘ − Δ ∀ >∑

The equation for the ith slit width can be simplified further with the

following realizations:




D3 Engineering

( )

( )

( ) ( )

1

1

2 2

1 1

tan( )

tan( ) tan ( 1)

tan tan ( 1)

i

i jj

i i

j jj j

y d i y

d i d i y y

d i d i

−

=

− −

= =

Δ = ⋅ ΔΘ − Δ

⎛ ⎞= ⋅ ΔΘ − − ΔΘ − Δ − Δ⎜ ⎟

⎝ ⎠= ⋅ ΔΘ − ⋅ − ΔΘ

∑

∑ ∑ (6.12)

Based upon the equations derived above the following table is compiled to

illustrate the relationship between the number of micro-steps per full step, step

angle size, target size, and image slit width.

3.6° per Full Step:

d [m]

y (half target width) [m] μStep Size Δθ

# Slits/ Half

Image Avg. Δy

[mm] Min Δy [mm] Max Δy

[mm] 0.0625 0.225 88 4.136 3.927 4.430 0.03125 0.1125 177 2.056 1.963 2.220

0.015625 0.05625 355 1.025 0.982 1.111 0.0078125 0.028125 711 0.512 0.491 0.556

1 0.36397023

0.00390625 0.0140625 1422 0.256 0.245 0.278 0.0625 0.225 88 8.272 7.854 8.860 0.03125 0.1125 177 4.113 3.927 4.439

0.015625 0.05625 355 2.051 1.963 2.222 0.0078125 0.028125 711 1.024 0.982 1.112

2 0.72794047

0.00390625 0.0140625 1422 0.512 0.491 0.556 0.0625 0.225 88 12.408 11.781 13.289 0.03125 0.1125 177 6.169 5.890 6.659

0.015625 0.05625 355 3.076 2.945 3.333 0.0078125 0.028125 711 1.536 1.473 1.667

3 1.09191070

0.00390625 0.0140625 1422 0.768 0.736 0.834 0.0625 0.225 88 16.544 15.708 17.719 0.03125 0.1125 177 8.225 7.854 8.878

0.015625 0.05625 355 4.101 3.927 4.444 0.0078125 0.028125 711 2.048 1.963 2.223

4 1.45588094

0.00390625 0.0140625 1422 1.024 0.982 1.112 0.0625 0.225 88 20.680 19.635 22.149 0.03125 0.1125 177 10.282 9.817 11.098

0.015625 0.05625 355 5.126 4.909 5.555 0.0078125 0.028125 711 2.560 2.454 2.779

5 1.81985117

0.00390625 0.0140625 1422 1.280 1.227 1.390

Figure 6.23 – Image Slit Width Analysis


6.4.5. Kruse Control Kruse control is a technique by which the rotor angle can be accurately

determined without the use of an encoder at resolutions on the order of 40,000 -

60,000 steps per revolution. In order to accomplish this, the sense winding

voltages are sampled with an A/D converter and fed back into the controller.

From these values, it is possible to calculate the rotor position in real-time. The

methodology is outlined below and will eventually be incorporated into this

project as the controller algorithm advances.

Figure 6.24 – Two Phase Stepper Motor Schematic and Model

i ediV iR L Vdt

= + + mf (6.13)

sense emfdiV L Vdt

= + (6.14)

AA A e

diV Ri L Vdt

= + + mfA (6.15)

BB B em

diV Ri L Vdt

= + + fB (6.16)

( )sinemfA R E RV k nω= ⋅ ⋅ ⋅Θ (6.17)

( )cosemfB R E RV k nω= ⋅ ⋅ ⋅Θ (6.18)

(sinA )senseA E R RdiV L k ndt

ω= + ⋅ ⋅ ⋅Θ (6.19)




D3 Engineering

( )cosBsenseB E R R

diV L k ndt

ω= + ⋅ ⋅ ⋅Θ (6.20)

( )2 2cos posA A senseA pos RV k i V dt V n k k= + = − ⋅ ⋅Θ ∀ = −∫ 1L (6.21)

( )2 2sin posB B senseB pos RV k i V dt V n k k= + = ⋅ ⋅Θ ∀ = −∫ 1L (6.22)

1 2E E

posk k k kV

n n= = −

L (6.23)

Figure 6.25 – Closed-loop Kruse Stepper Motor Controller

Using the same analysis performed in Figure 6.23, the relationship

between the number of micro-steps per full revolution, step angle size, target size,

and image slit width for the Kruse controlled system is illustrated in Figure 6.26.


Kruse Control

d [m]

y (half target

width) [m] μSteps / Full Rev. Δθ

# Slits/ Half

Image Avg. Δy

[mm] Min Δy [mm] Max Δy

[mm] 40000 0.00900 2222 0.163802986 0.1570796 0.177874045000 0.00800 2500 0.145588094 0.1396263 0.158115250000 0.00720 2777 0.131065983 0.1256637 0.142294355000 0.00655 3055 0.119139193 0.1142397 0.1293622

1 0.36397023

60000 0.00600 3333 0.109201990 0.1047198 0.118584940000 0.00900 2222 0.327605971 0.3141593 0.355747945000 0.00800 2500 0.291176187 0.2792527 0.316230450000 0.00720 2777 0.262131966 0.2513274 0.284588655000 0.00655 3055 0.238278386 0.2284795 0.2587244

2 0.72794047

60000 0.00600 3333 0.218403981 0.2094395 0.237169840000 0.00900 2222 0.491408957 0.4712389 0.533621945000 0.00800 2500 0.436764281 0.4188790 0.474345650000 0.00720 2777 0.393197948 0.3769911 0.426882955000 0.00655 3055 0.357417579 0.3427192 0.3880866

3 1.09191070

60000 0.00600 3333 0.327605971 0.3141593 0.355754740000 0.00900 2222 0.655211943 0.6283185 0.711495945000 0.00800 2500 0.582352375 0.5585054 0.632460850000 0.00720 2777 0.524263931 0.5026548 0.569177255000 0.00655 3055 0.476556772 0.4569589 0.5174488

4 1.45588094

60000 0.00600 3333 0.436807962 0.4188790 0.474339640000 0.00900 2222 0.819014929 0.7853982 0.889369845000 0.00800 2500 0.727940469 0.6981317 0.790576150000 0.00720 2777 0.655329914 0.6283185 0.711471555000 0.00655 3055 0.595695964 0.5711987 0.6468111

5 1.81985117

60000 0.00600 3333 0.546009952 0.5235988 0.5929245Figure 6.26 – Slit Width Analysis for Kruse Controlled System

6.5. Data Normalization and Material Identification The data that is captured by the imager is measured as the intensity of the pixel,

which cannot be compared directly to any reference plot of a materials spectrum. The

obtained image must be converted in such a way that the resulting data set is in terms

of reflectance. Several methods can be use to do such a conversion. Algorithms and

methods used for this calibration and conversion will be explored during the first

phases of the project development.



6.6. Mechanical System and Enclosure

6.6.1. Requirements While the some of the specifications of the project were unconstrained, the

mechanical system is to be operated in a lab environment, therefore the system

should be bench top sized, but also designed to be portable if such an application

is desired. Additionally, the area of hyperspectral imaging is a relatively new

topic to this customer; this means maximum adjustability and functionality are of

utmost importance.

Due to this recent entry into the hyperspectral imaging, a tremendous

amount of time is required before they can realize the cameras abilities. Lenses,

controllers, motors, and the like will inevitably need to be swapped while fine

tuning and hyperspectral signatures are collected. Ultimately, the camera will be

assembled using parts that are precise, but unimposing to future design changes

and laboratory experimentation.

6.6.2. Mounting Hardware Much of the required mounting hardware is available from the multitude

of optical equipment distributors. In some cases however, the commercially

available mounting hardware isn’t adjustable enough to suit the customer’s needs.

In this case, custom optical, or modified commercial equipment will be machined

using the Rochester Institute of Technology’s machine shop.

The camera is primarily composed of a series of lenses, a dispersing

element such as a prisms or grating, a scanning mirror, and a detection device,

such as an imager.

6.6.2.1. Scanning Mirror Mount The scanning mirror is a precisely controlled stepper motor with a mirror

affixed to its output shaft. To ensure that the mirror’s reflective surface is

perpendicular to the ground, a mirror mount will be fabricated. The mount

will allow height and angle adjustment for fine tuning.

The stepper motor will be mounted to the board using an adapter plate, as

the motor’s bolt pattern does not match that of the breadboard. This plate will

also allow for shims should they be required.



6.6.2.2. ImSpector Lens Mounting System The ImSpector is a conveniently packaged imaging spectrograph, which is

offered in two different styles: OEM and cased. Both versions come standard

with a C-mount adapter for easy interfacing to a sensor.

The mount will be designed to bolt directly to the optical bench, and the

ImSpector will thread into the face of the mount using the standard C-mount.

6.6.2.3. Custom Design Lens Mounts The lenses will be held using a commercially available mounting system.

Optical equipment supplier, Standa, offers a universal adjustable lens mount.

This will ensure that the lenses are held perpendicular to the ground, and

allows for quick lens swapping. They feature a machined flat on the bottom

of the mount so they can be mounted directly to the breadboard, or to a

custom mount.

6.6.2.4.Imaging Device Mount

The imaging device must be held in a precise position directly in front of the

ImSpector. Finding this location will require a great deal of trial and error, so

the mount must allow a great deal of adjustability. As such, the imager will

be mounted on a sliding track on the ImSpector’s lens centerline.

6.6.3. System Enclosure Since the camera is going to be used in a laboratory environment, the

enclosure will simply consist of an optical breadboard and a removable aluminum

top. The simple design will be functional, inexpensive, and most importantly,

reliable.

The optical breadboard is a perfect foundation for the camera. The flat

surface and robust construction are critical for the camera’s proper operation. The

evenly spaced holes will allow for an innumerable number of optical

combinations. Most of the commercially available mounts are designed to be

compatible with the optical breadboard, but both the mounts and the breadboard

can be machined.



The top will be an aluminum box that will completely enclose the camera,

and will be free of light leaks. It will be lightweight, and will feature a handle on

top for easy removal. The top and breadboard interface will have a small layer of

compressible material. This will enable the use of flexible draw-style latches.

The latches are rugged, inexpensive, and forgiving if the top is not exactly

aligned.



6.7. Preliminary Bill of Materials

System/Description Imaging System Actual or Est. Description Cost Source 10 Bit 1.3 Mega Pixel CMOS Sensor - Provided by D3 Eng. DSK Camera Developer’s Kit - Provided by D3 Eng. Spectrum Digital 6416 DSK - Provided by D3 Eng. Optical System Description Cost Source ImSpector $2000 SPECIM Lenses Edmund Optics Slit Edmund Optics Prism(s) Edmund Optics/Custom Other Scanning Mirror Control Cost Source Spectrum Digital F2812 DSP - Provided by D3 Eng. D3 Engineering Motor Control Board - Provided by D3 Eng. Mirror $50 Edmund Optics Motor - Provided by D3 Eng. Mechanical Components Cost Source Enclosure Materials Mounting Fixtures Manufacturing Costs

Figure 6.27 – Preliminary Bill of Materials



7. Design Feasibility and Expected Technical Issues

This system is being designed to run in a laboratory environment to minimize many

of the effects that are presented when a hyperspectral camera is operated in a real-world

outdoor condition. Inevitably, there are some technical issues that will be come apparent

when the hardware is being evaluated and the algorithms are developed to transform the

images from measured light intensity values to reflectance for identification purposes, in

addition to the normalization of the measured values.

Technical issues that are expected to arise are such things as separating any mixing of

wavelength bands that may occur, and in the event that the camera is viewing a target at a

distance in which mixing of material spectra occur, these problems will be addressed.



8. References

[1] MicroImages Inc., Introduction to Hyperspectral Imaging. 2006 [2] "Electromagnetic Spectrum" Microsoft® Encarta® Online Encyclopedia 2005

http://encarta.msn.com © 1997-2005 Microsoft Corporation. All Rights Reserved. [3] "Spectroscopy" Microsoft® Encarta® Online Encyclopedia 2005 http://encarta.msn.com © 1997-

2005 Microsoft Corporation. All Rights Reserved. [4] "Spectroscopy" Wikipedia, 2006 http://en.wikipedia.org. [5] ASTER Spectral Library, speclib.jpl.nasa.gov. © 1998, 1999, 2000 California Institute of

Technology. [6] AVIRIS Image Cube, Jet Propulsion Laboratory, California Institute of Technology.

http://aviris.jpl.nasa.gov [7] USGS Digital splib04 Spectral Library, http://speclab.cr.usgs.gov/spectral.lib04/spectral-

lib04.html [8] IMINT – Hyperspectral Imaging, http://www.fas.org/irp/imint/hyper.htm [9] CMOS vs. CCD and the Future of Imaging, Kodak Research and Development.

http://www.kodak.com/US/en/corp/researchDevelopment/technologyFeatures/cmos.shtml. [10] Aikio, Mauri. Hyperspectral prism-grating-prism imaging spectrograph. Finland: Julkaisija-

Utgivare., 2001. [11] Deardon, Steve. Spectroscopy, Astronomy, and Optics. 3 March 2004.

http://astrosurf.com/dearden/ [12] Dr. Wells, Conrad. Personal interview. 11 January 2006. [13] Edmund Optics Technician. Telephone interview. 5 February 2006. [14] Hecht, Eugene and Alfred Zajac. Optics. Reading, MA: Addison-Wesley Publishing Co., 1974. [15] Hyperspectral Remote Sensing Applications,

http://www.space.gc.ca/asc/eng/satellites/hyper_brochure.asp [16] Applications of Hyperspectral Imagery,

http://home.student.uva.nl/derck.truijens/CPBG_files/Hyperspectral%20Applications.pdf.


http://en.wikipedia.org/

http://aviris.jpl.nasa.gov/

http://speclab.cr.usgs.gov/spectral.lib04/spectral-lib04.html

http://speclab.cr.usgs.gov/spectral.lib04/spectral-lib04.html

http://www.fas.org/irp/imint/hyper.htm

http://www.kodak.com/US/en/corp/researchDevelopment/technologyFeatures/cmos.shtml

http://astrosurf.com/dearden/

http://www.space.gc.ca/asc/eng/satellites/hyper_brochure.asp

http://home.student.uva.nl/derck.truijens/CPBG_files/Hyperspectral%20Applications.pdf

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