Laser Tracking System (LTS) Team Lazer: Son Nguyen Jassim Alshamali Aja ArmstrongMatt Aamold.

Laser Laser Tracking System Tracking System

(LTS)(LTS)

Team Lazer:Team Lazer:

Son NguyenSon Nguyen Jassim Alshamali Jassim Alshamali

Aja ArmstrongAja Armstrong Matt Matt AamoldAamold

Presentation OutlinePresentation Outline

Project ObjectivesProject Objectives LTS Sub-Systems and Division of Labor LTS Sub-Systems and Division of Labor Xilinx Spartan-3 FPGA HighlightsXilinx Spartan-3 FPGA Highlights LTS Sub-SystemsLTS Sub-Systems GoalsGoals Project Schedule Project Schedule Areas of RiskAreas of Risk Social ImpactsSocial Impacts

Project ObjectivesProject Objectives To design and build a laser tracking system using To design and build a laser tracking system using

an analog camera to follow and focus on a moving an analog camera to follow and focus on a moving laser against a white (or other high contrast) laser against a white (or other high contrast) backgroundbackground

To implement the tracking system to function in To implement the tracking system to function in both static and dynamic modesboth static and dynamic modes Static ModeStatic Mode

Camera focuses on a statically positioned laser for Camera focuses on a statically positioned laser for firing device firing device

Dynamic ModeDynamic Mode Camera will follow a moving laser targetCamera will follow a moving laser target

Target detection and servo control specifically Target detection and servo control specifically through FPGAthrough FPGA

LTSLTS

LTS Sub-Systems and LTS Sub-Systems and Division of LaborDivision of Labor

Matt - DigitizationMatt - Digitization

Jassim - Target detection/Coordinate Jassim - Target detection/Coordinate System System

Son – Control System Son – Control System

Aja – Coordinate System/Project Aja – Coordinate System/Project ManagementManagement

Xilinx FPGA HighlightsXilinx FPGA HighlightsSpartan-3 Starter KitSpartan-3 Starter Kit

Easier glue logic Easier glue logic implementationimplementation

3 – 40 pin .1” expansion 3 – 40 pin .1” expansion headers for I/O signalsheaders for I/O signals

50Mhz clock 50Mhz clock 10ns 1MB SRAM 10ns 1MB SRAM 2Mb programmable 2Mb programmable

configuration PROMconfiguration PROM Easy implementation of Easy implementation of

serial interface for serial interface for test/debugtest/debug

Basic user controls and Basic user controls and output (push buttons, 7 output (push buttons, 7 seg disp., etc)seg disp., etc)

Softcore processor Softcore processor capabilities (if needed) capabilities (if needed)

Digitization Sub-SystemDigitization Sub-System

Parts UsedParts Used

SamplingSampling

TimingTiming

Digitization - PartsDigitization - Parts

Digitization Parts ListDigitization Parts List FPGA boardFPGA board 8-bit A/D Converter – AD7758-bit A/D Converter – AD775 Video Sync Separator – LM1881Video Sync Separator – LM1881 40 pin .1” right angle header from AMP 40 pin .1” right angle header from AMP

connectorsconnectors 24 pin SOIC to DIP adapter for AD77524 pin SOIC to DIP adapter for AD775 Perf board connected through FPGA Perf board connected through FPGA

expansion ports for ADC, sync separator, expansion ports for ADC, sync separator, and servo signalsand servo signals

Digitization - SamplingDigitization - Sampling

AD775 8-bit AD775 8-bit high speed but low high speed but low qualityquality

Can sample 8-bit color or gray scaleCan sample 8-bit color or gray scale

Ultimate goal of color Ultimate goal of color easier easier detection but low color qualitydetection but low color quality

Sampling Quality Sampling Quality CompareCompare

24-bit, target 24-bit, target is very is very distinctdistinct

Sampling Quality Sampling Quality CompareCompare

8-bit8-bit

Shades Shades become become really close really close in color to in color to the targetthe target

Digitization - TimingDigitization - Timing

AD775: 20 MSPSAD775: 20 MSPS NTSC: 64 us per lineNTSC: 64 us per line Maximum horizontal resolution: Maximum horizontal resolution:

(64E-6) / (1/20E6) = 1280(64E-6) / (1/20E6) = 1280 Actual resolution used projected at ~510Actual resolution used projected at ~510 Fixed vertical resolution based on specific Fixed vertical resolution based on specific

cameracamera Frame synchronization and coordinate of Frame synchronization and coordinate of

target based on use of external Video Sync target based on use of external Video Sync Separator IC (LM1881)Separator IC (LM1881)

Control Sub-SystemsControl Sub-Systems

Servo ControlsServo Controls

Structure DesignStructure Design

Trigger ConstructionTrigger Construction

Power SupplyPower Supply

Control System - ServoControl System - Servo

2 HiTec HS-50 2 HiTec HS-50 servosservos

Two high speed Two high speed servo motors (X and servo motors (X and Y axis movement) Y axis movement) that mount camera that mount camera and firing deviceand firing device

Specifications of Specifications of

Servo:Servo: Deadband of 8usDeadband of 8us Operates off of Operates off of

4.8V-6V4.8V-6V

Control System - Servo Control System - Servo

Requires 3-5 Vpp square wave pulseRequires 3-5 Vpp square wave pulse Pulse of .9ms-2.1ms with 1.5ms centerPulse of .9ms-2.1ms with 1.5ms center Refreshes at 50HzRefreshes at 50Hz

Control System - Control System - StructureStructure

The structure of the project will be The structure of the project will be made of plexi-glass conformed to the made of plexi-glass conformed to the needs of where the servos need to needs of where the servos need to be placed.be placed. Advantages of Plexi glassAdvantages of Plexi glass

Light weightLight weight DurableDurable Can easily be cut to conform to structural Can easily be cut to conform to structural

needsneeds

Control System - Trigger Control System - Trigger SystemSystem

The use of a The use of a trigger system will trigger system will demonstrate the demonstrate the effectiveness of effectiveness of the LTSthe LTS

Solenoids will Solenoids will provide a provide a mechanical mechanical mechanism to help mechanism to help propel a projectile propel a projectile at a given targetat a given target

Control System - Power Control System - Power SupplySupply

Power supply that can generate Power supply that can generate enough power from a 120V AC enough power from a 120V AC source to run the entire LTS projectsource to run the entire LTS project DC VoltageDC Voltage

1.5V1.5V 3V3V 5V5V 12V12V

CameraCamera Features:Features:

- - 380 lines of resolution380 lines of resolution

- 0.1 Lux CCD imager- 0.1 Lux CCD imager

- Power: 9V to 12V DC, 110mA- Power: 9V to 12V DC, 110mA

- Dim: 1.2" x 1.2" x .3"- Dim: 1.2" x 1.2" x .3"- Weight: 1oz- Weight: 1oz

- Lens: 3.7mm (78 deg)- Lens: 3.7mm (78 deg)

CCD camera instead CCD camera instead of CMOSof CMOS Better resolutionBetter resolution

Target Target Detection/Coordinate Detection/Coordinate

SystemSystem The sample bits that are coming in The sample bits that are coming in

are representing the color, the x-are representing the color, the x-counter and the y-counter.counter and the y-counter.

On a gray scale the numbers for the On a gray scale the numbers for the color will be between 0-255.color will be between 0-255.

GoalsGoals

Minimum:Minimum: Target detection through Target detection through B/W feed based on gray scale contrast B/W feed based on gray scale contrast for Static Targeting Mode onlyfor Static Targeting Mode only

Base Goal:Base Goal: Target detection through Target detection through color feed based on color color feed based on color differentiation for Static and Dynamic differentiation for Static and Dynamic Mode Targeting; also implement firing Mode Targeting; also implement firing device for Static Targeting Modedevice for Static Targeting Mode

Maximum:Maximum: Design and implement path Design and implement path prediction for Extended Dynamic Modeprediction for Extended Dynamic Mode

Project ScheduleProject Schedule

Areas of RiskAreas of Risk

Finding an accurate link between the Finding an accurate link between the servos and the digitization (Coordinate servos and the digitization (Coordinate System)System)

How far away we can mount the camera so How far away we can mount the camera so that it will pick up the laser (Target that it will pick up the laser (Target Detection)Detection)

Implementing the FPGA for our overall Implementing the FPGA for our overall system (Digitization to Servo Link)system (Digitization to Servo Link)

Impacts on SocietyImpacts on Society

Military ApplicationsMilitary Applications Basic Turret Tracking system Basic Turret Tracking system Current military spending for 2005 is Current military spending for 2005 is

projected at $540 billion projected at $540 billion

Commercial Use Commercial Use Possibly used for tracking individuals Possibly used for tracking individuals Example: An escaping prisonerExample: An escaping prisoner

Questions?Questions?