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Motion Tracking & Position Acquisition
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Transcript of Motion Tracking & Position Acquisition
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 Purchasing
Assemble & Test Pan/TiltWeek 10
Simulate Position Acquisition Test Beacon and ReceiversWeek 11
System IntegrationWeek 12
Final TestingWeek 13
Linear Simulation Non-Linear SimulationThis 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:
1/2” @ 20 ft; 1/8” @ 6”
Beacon acquisition accuracy: unknown
Tracking moving beacon: 1” @ 20 ft; 1/4” @ 6”
Part Justification Motor candidates:
GM8274S010, GM8274S013, GM8712-11 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
Testing Results
Desired
Specifications
Simulation Results
Θ1
Simulation
Results
Θ2
Tracking velocity
≥10 rad/sec 12 rad/sec 15 rad/sec
Acquisition time (over π radians)
≤1.5 seconds 0.8 seconds 0.6 seconds
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 DesignBeacon will be built from six ultrasonic transceivers
to allow 360° rangeThree receivers will detect signal propagation time
Final Part DecisionSupplier: 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
Item Quantity Cost (each) Total CostMotors 2 $112.00 $224.00Large pulleys 2 $11.87 $23.74Small pulleys 2 $13.01 $26.02Belts 2 $1.50 $3.00Laser Pointer 1 $3.00 $3.00RF Transmitter 1 $12.61 $12.61Ultrasonic Beacon 6 $3.00 $18.00RF Receiver 3 $10.95 $32.85Ultrasonic Receiver 3 $3.00 $9.00Micro Controller 3 $20.00 $60.00Miscellaneous Electronics 1 $50.00 $50.00
Total Cost $462.22