Transcript Proposal for Insect Video Tracking Device

New Castle Design Associates
Progress of Insect
Video Tracking Device
October 27, 1998
Team 5
Sponsors: Keith Hopper, USDA & UD
Summary
Members
Justin L. Combs
Raymond M. Foulk IV
Ryan S. McDonough
George H. Sapna III
Primary Customer
Keith Hopper (USDA and UD)
Advisor
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.
Background
• $100 million crop damage
each year due to pests
• Introduction of beneficial
(predatory) insects into
environment
• Study of reproductive
habits - Aphelinus asychis
Problem Description
• Existing System
• Measures insect movements within a small arena
• Problem With Existing System
• Disturbs the behavior of the insects
Camera
Specimens
Design Process
Interview Customers
Revise Wants
Benchmarking
Concept Generation
Derive Metrics
Target Values
Concept Evaluation
Good Solution?
Important Customers
Keith Hopper
Richard Turcotte
Mr. Filasky
Rex Mears
Alice Kline
Greg Frantz
Anthony Wexler
Entomologist
Entomologist
Farmer
Farmer
Supermarket Manager
Consumer
Environmentalist
Revision of Wants
High Want
Exponential Decay of Importance
Customers
Rank
Low Want
(Customer Rank) x (Want Factor) = (Importance to Customer)
(Performance Goal) x (Importance to Customer) = (Overall Weight)
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
Derivation of Metrics
List of Metrics
Top 10 Wants
Total
Correlation Matrix
1. Rate the correlation of each metric to each want.
2. Sum the correlation factors for each metric.
3. Sort the metrics according to total.
Top Metrics & Target Values
1. Size of Tracking Area
2. Total Acquisition Time
3. Adaptability to Other Insects
4. Frequency of Acquisition
5. Feedback Delay
6. Desired Programming Language
7. Accuracy of Positional Measurements
8. Distance from Device to Insect
9. Amount of Existing Equipment Used
10. Simple Design ?
11. X, Y Coordinates of Insect
1m x 1m
20 min
1mm - 4cm (2D)
1 Hz
0.5 sec
C or C++
+/- 1mm
0.5 m
100%
Yes
Yes
Design Process
Interview Customers
Revise Wants
Benchmarking
Concept Generation
Derive Metrics
Target Values
Concept Evaluation
Good Solution?
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.
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
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
Concept Generation
y
Polar Track
x
Sensing Surface
z
Wide Angle
Moving Surface
R
F(s)
TF(s)
Pivot
C
Bubble
H(s)
Robot
Cartesian Track
Sorted Metrics
Concept Evaluation
Concepts
Comparison Values
Total
1. Compare each concept to the best benchmark.
2. The “best concept” has the highest column total.
3. Repeat step 1 with current “best concept”.
Preliminary Concept 1
Mobile robot with relative positioning:
A robot which follows insect over a specified area
while recording the insect’s position
Preliminary Concept 2
Stationary high-resolution camera with
wide angle lens:
A camera records the insect’s motion over a large area
Division of Work
Justin Combs
Ray Foulk
Ryan McDonough
George Sapna
Concept Generation & Evaluation
SSD, Benchmarking
Schedule, Customer Relations
SSD, Customer Relations
Team Effort
Presentations, Planning, Goals
Budget
$5000 Thousand Dollars
Flexible depending upon primary customer’s judgement.
Schedule To Date
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
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
Preliminary Concept 3
Cartesian Tracking System
Camera moves over a plane in two orthogonal
directions.
CAMERA
INSECT ARENA
X
Y
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
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