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?