Transcript Laser Tracking System (LTS) Team Lazer: Son Nguyen Jassim Alshamali Aja Armstrong Matt Aamold Presentation Outline         Project Objectives LTS Sub-Systems and Division of Labor Xilinx Spartan-3 FPGA Highlights LTS Sub-Systems Goals Project.

Laser
Tracking System (LTS)
Team Lazer:
Son Nguyen
Jassim Alshamali
Aja Armstrong
Matt Aamold
Presentation Outline
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Project Objectives
LTS Sub-Systems and Division of Labor
Xilinx Spartan-3 FPGA Highlights
LTS Sub-Systems
Goals
Project Schedule
Areas of Risk
Social Impacts
Project Objectives
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To design and build a laser tracking system using an
analog camera to follow and focus on a moving laser
against a white (or other high contrast) background
To implement the tracking system to function in both
static and dynamic modes
 Static Mode
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Dynamic Mode
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Camera focuses on a statically positioned laser for firing
device
Camera will follow a moving laser target
Target detection and servo control specifically through
FPGA
LTS
LTS Sub-Systems and Division of
Labor
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Matt - Digitization
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Jassim - Target detection/Coordinate System
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Son – Control System
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Aja – Coordinate System/Project Management
Xilinx FPGA Highlights
Spartan-3 Starter Kit
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Easier glue logic
implementation
3 – 40 pin .1” expansion
headers for I/O signals
50Mhz clock
10ns 1MB SRAM
2Mb programmable
configuration PROM
Easy implementation of serial
interface for test/debug
Basic user controls and output
(push buttons, 7 seg disp., etc)
Softcore processor capabilities
(if needed)
Digitization Sub-System
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Parts Used
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Sampling
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Timing
Digitization - Parts
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Digitization Parts List
FPGA board
 8-bit A/D Converter – AD775
 Video Sync Separator – LM1881
 40 pin .1” right angle header from AMP connectors
 24 pin SOIC to DIP adapter for AD775
 Perf board connected through FPGA expansion
ports for ADC, sync separator, and servo signals
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Digitization - Sampling
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AD775 8-bit  high speed but low quality
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Can sample 8-bit color or gray scale
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Ultimate goal of color  easier detection but
low color quality
Sampling Quality Compare
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24-bit, target is
very distinct
Sampling Quality Compare
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8-bit
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Shades become
really close in
color to the
target
Digitization - Timing
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AD775: 20 MSPS
NTSC: 64 us per line
Maximum horizontal resolution:
(64E-6) / (1/20E6) = 1280
Actual resolution used projected at ~510
Fixed vertical resolution based on specific camera
Frame synchronization and coordinate of target based
on use of external Video Sync Separator IC (LM1881)
Control Sub-Systems
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Servo Controls
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Structure Design
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Trigger Construction
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Power Supply
Control System - Servo
2 HiTec HS-50 servos
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Two high speed servo
motors (X and Y axis
movement) that
mount camera and
firing device
Specifications of
Servo:
 Deadband of 8us
 Operates off of
4.8V-6V
Control System - Servo
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Requires 3-5 Vpp square wave pulse
Pulse of .9ms-2.1ms with 1.5ms center
Refreshes at 50Hz
Control System - Structure
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The structure of the project will be made of
plexi-glass conformed to the needs of where the
servos need to be placed.
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Advantages of Plexi glass
Light weight
 Durable
 Can easily be cut to conform to structural needs
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Control System - Trigger System
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The use of a trigger
system will
demonstrate the
effectiveness of the
LTS
Solenoids will provide
a mechanical
mechanism to help
propel a projectile at a
given target
Control System - Power Supply
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Power supply that can generate enough power
from a 120V AC source to run the entire LTS
project
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DC Voltage
1.5V
 3V
 5V
 12V
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Camera
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Features:
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- 380 lines of resolution
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- 0.1 Lux CCD imager
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- Power: 9V to 12V DC, 110mA
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- Dim: 1.2" x 1.2" x .3"
- Weight: 1oz
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- Lens: 3.7mm (78 deg)
CCD camera instead of
CMOS
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Better resolution
Target Detection/Coordinate
System
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The sample bits that are coming in are
representing the color, the x-counter and the ycounter.
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On a gray scale the numbers for the color will be
between 0-255.
Goals
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Minimum: Target detection through B/W feed
based on gray scale contrast for Static Targeting
Mode only
Base Goal: Target detection through color feed
based on color differentiation for Static and
Dynamic Mode Targeting; also implement firing
device for Static Targeting Mode
Maximum: Design and implement path
prediction for Extended Dynamic Mode
Project Schedule
Areas of Risk
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Finding an accurate link between the servos and
the digitization (Coordinate System)
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How far away we can mount the camera so that
it will pick up the laser (Target Detection)
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Implementing the FPGA for our overall system
(Digitization to Servo Link)
Impacts on Society
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Military Applications
Basic Turret Tracking system
 Current military spending for 2005 is projected at
$540 billion
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Commercial Use
Possibly used for tracking individuals
 Example: An escaping prisoner
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Questions?