New Castle Design Associates Concept Review of Insect Video Tracking Device October 27, 1998 Team 5...
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![Page 1: New Castle Design Associates Concept Review of Insect Video Tracking Device October 27, 1998 Team 5 Sponsors: Keith Hopper, USDA & UD.](https://reader036.fdocuments.net/reader036/viewer/2022081519/56649d365503460f94a0e9c9/html5/thumbnails/1.jpg)
New Castle Design Associates
Concept Review of Insect Video Tracking
DeviceOctober 27, 1998
Team 5Sponsors: Keith Hopper, USDA & UD
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Project Information
Members Primary Customer
Justin L. Combs Keith Hopper (USDA and UD)
Raymond M. Foulk IV
Ryan S. McDonough Advisor
George H. Sapna III Dr. James Glancey
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Summary
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.
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Background
• $100 million crop damage each year due to pests
• Introduction of beneficial (predatory) insects into environment
• Study of reproductive habits - Aphelinus asychis
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Problem DescriptionExisting System
Measures insect movements within a small arena
Camera
Specimens
Computer
Problem With Existing SystemDisturbs the behavior of the insects
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Customers WantsCustomers Wants
Keith Hopper large area, position/speed, not disturb insect, track for 20 min., existing equipment, C++, minimize post pro., wireless device, interchange camera
Mike Smith * position/speed, minimize post pro, various conditions, reduce pesticides
Richard Turcotte adaptable to other insects, not disturb insect, simple interface, large area, position/speed
* Customer added recently.
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Customers WantsCustomers Wants
Mr. Filasky low priced produce, reduce pesticides, unharmful insects
Rex Mears high % corn yield, reduce pesticides, unharmful insects
Alice Kline low priced produce, improve sales, reduce pesticides
Greg Frantz reduce pesticides, benefits outweigh costs, adaptable to other insects
Anthony Wexler reduce pesticides, energy efficient, unharmful insects
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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
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Revised Top 10 Wants
• Measure position and speed of the insect
• Track the insect over large area
• Adaptability to other types of insects
• Minimize post-processing of data
• Not to disturb the insect’s behavior
• Easy-to-learn user interface
• Ability to record for 10 - 20 minutes
• Use existing equipment
• Benefits must outweigh costs
• Preferred language is C/C++
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Constraints
Previous constraints• System must cover 1 square meter• Two dimensional tracking system
Revised Constraints• Project must be completed by end of school year• Project expenses must remain below $5000• Must cover a larger area than existing system• Work area must occupy only Stearns Lab
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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
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Position/speed X,Y coordinates of insectsInstantaneous errorAccumulation of errorMaximum speed of motion
Large area Size of tracking area
Adaptability to other insects Insect size rangeMaximum speed of motion
Minimize post-processing Total acquisition timeFrequency of acquisitionFeedback delay
Do not disturb insect Distance from device to insectSmoothness of surfaceVariation in luminance
Wants Metrics
Wants Metrics
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Wants Metrics
Simple user interface Desired programming languagegraphical user interface
Record for 10 - 20 min. Total acquisition timeFrequency of acquisitionFeedback delay
Use existing equipment Amount of existing equipment used
Benefits outweigh costs Savings/Costs
C/C++ Programming language
Wants Metrics
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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
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Old Top 10 Metrics & Target Values
1. Size of Tracking Area 1m x 1m
2. Total Acquisition Time 20 min
3. Adaptability to Other Insects 1mm - 4cm (2D)
4. Frequency of Acquisition 1 Hz
5. Feedback Delay 0.5 sec
6. Desired Programming Language C or C++
7. Accuracy of Positional Measurements +/- 1mm
8. Distance from Device to Insect 0.5 m
9. Amount of Existing Equipment Used 100%
10. X, Y Coordinates of Insect Yes
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Revised Top 10 Metrics & Target Values
1. Size of Tracking Area (7.86%) 1m x 1m
2. Distance from Device to Insect (7.38%) 0.5 m
3. X, Y Coordinates of Insect (6.90%) Yes
4. Savings/Costs (6.43%) 1
5. Maximum Speed of Motion (5.95%) 15 mm/sec
6. Frequency of Acquisition (5.95%) 1 Hz
7. Feedback Delay (5.95%) 0.5 sec
8. Variation in Luminance (5.71%) <5%
9. Total Acquisition Time (5.48%) 20 min
10. Programming Language (5.24%) C or C++
3a. Accumulation of Error (4.29%) +/- 1mm
3b. Instantaneous Error (4.05%) +/- 1mm
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Concept Generation
x
y
z
F(s) TF(s)
H(s)
R C
Cartesian Track
Polar Track
Sensing Surface
Robot
Wide Angle
PivotMoving Surface
Bubble
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Concept EvaluationS
orte
d M
etri
cs 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.
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Concept SelectionPrevious best concept: Mobile robot with
relative positioning
Problem: Possible slipping of wheels
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Concept Development
Potential Solution: Mobile robot with laser positioning
Problem: Laser Accuracy Per Cost
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Concept Development
Preliminary budget for mobile robot with laser positioning:
Quantity Component Supplier Model # Unit Price Sub-Total2 Drive Wheel Stepper Motor Microkinetics 23M80 65.00$ 130.00$ 1 NEMA Size 17 Stepper Motor AMSI, Inc. 406-SM 50.00$ 50.00$ 1 36VDC, 10A Power Supply Microkinetics PWR36 180.00$ 180.00$ 1 OptiStep Motion Controller Microkinetics OptiStep Plus 249.00$ 249.00$ 1 OptiDriver Stepper Motor DriverMicrokinetics OptiDriver Plus 399.00$ 399.00$ 1 Breakout For Controller Microkinetics Breakout-25-OP 45.00$ 45.00$ 1 InStep Software Libraries Microkinetics InStep 99.00$ 99.00$ 1 Distance Measuring Laser Phase Laser Systems, Inc.PM30 1,490.00$ 1,490.00$ 1 Right Angle Aluminum Mirror Edmund Scientific F45595 53.00$ 53.00$
50 6061 Aluminum Per Pound Machine Shop Stock 3.00$ 150.00$ 1 Caster Wheel Unknown N/A 10.00$ 10.00$ 2 Rubber Drive Wheel Unknown N/A 10.00$ 20.00$ 1 Reference Wall Materials Unknown N/A 200.00$ 200.00$ 2 Reflective Tape Roll (4"x30') McMaster-Carr 5997T88 35.90$ 71.80$ 1 Misc. Nuts/Bolts Unknown N/A 100.00$ 100.00$
3,246.80$ Total Estimated Cost
Robot Cost Estimate
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Relative Concept Quality
0%
20%
40%
60%
80%
100%
120%
Exist Cart Polar Pivot Wide Subs Robot Bubble Sense
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Concept SelectionCurrent best concept:
Cartesian Tracking System
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Development of Cartesian Tracking System
Quote for prefabricated system from IDC:
$13,100 !
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Development of Cartesian Tracking System
Configuration: Two Trolleys, Rack and Pinion, & Stepper Motors
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Development of Cartesian Tracking System - X Trolley
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Development of Cartesian Tracking System - Parts List
Estimated Cost: $3,349.28
Estimated Shop Time: 120 hours
Most Expensive Parts:
Rack and Pinion Sets
Motors and Controllers
Stock Aluminum
Other Notes:
Included Existing Parts
Unaware of Shipping Costs
Unaware of Small Hardware Costs
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Main Computer
ImageAnalysis
MotionControl
Algorithm
StepperController
InsectPosition
Calculator,Display, &Recorder
Digital
Camera
X-Motor
Y-Motor
Motor
Positions
Integrated System Components
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Working Models of Cartesian Tracking System
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Schedule Highlights
Order all parts by Dec. 11Set up CNC for X-Y trolley end plates by Jan. 08Build and assemble base by Jan. 28Build and assemble X-Y trolleys by Jan. 28Assemble sub-components by Feb. 12Adapt algorithm to fit physical system by Feb. 26Test complete system by Mar. 19Make changes to the system by Apr. 14
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Schedule To Date
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Preliminary Concept 1
Mobile robot with relative positioning:A robot which follows insect over a specified area
while recording the insect’s position
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Preliminary Concept 2Stationary high-resolution camera with
wide angle lens:A camera records the insect’s motion over a large area
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Division of WorkJustin Combs Concept Generation & EvaluationRay Foulk SSD, BenchmarkingRyan McDonough Schedule, Customer RelationsGeorge Sapna SSD, Customer Relations
Team Effort Presentations, Planning, Goals
Budget$5000 Thousand Dollars
Flexible depending upon primary customer’s judgement.
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Plans Until Next Presentation
10/25 - 11/8 Refine Concepts
11/1-11/15 Engineering Analysis of “Best Concept”
11/8 - 11/20 Engineering Drawings
11/15 - 11/24 Written Report
11/20 - 12/3 Prepare Presentation
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Preliminary Concept 3
Cartesian Tracking SystemCamera moves over a plane in two orthogonal
directions.
CAMERA
INSECT ARENA
XY
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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
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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
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Design Process
BenchmarkingRevise Wants
Interview Customers
Derive Metrics
Concept Generation
Concept EvaluationTarget Values
Good Solution?
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Revision of Wants
(Performance Goal) x (Importance to Customer) = (Overall Weight)
(Customer Rank) x (Want Factor) = (Importance to Customer)
Cu
stom
ers
RankHigh Want Low Want
Exponential Decay of Importance
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Derivation of MetricsL
ist
of M
etri
cs
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.
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Important Customers
Keith Hopper Entomologist
Mike Smith * Entomologist
Richard Turcotte Entomologist
Mr. Filasky Farmer
Rex Mears Farmer
Alice Kline Supermarket Manager
Greg Frantz Consumer
Anthony Wexler Environmentalist
* Added Recently
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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.