Motion Tracking

1
Motion Tracking Position Acquisition

• Final Design Review

Solomon Gates William K. Grefe Jay Michael
Heidbreder Jeremy Kolpak
2
Overview of Project Objective

• Achieve accurate and precise motion of laser
  pointer directed at a locator beacon
• Obtain precise object position from sensor input

3
Design Objectives

• Simulate control system
• Refine motor control system
• Test tracking accuracy
• Maintain motor feasibility
• Final component decision
• Final motor justification
• Pulley gear ratio
• Sensor specifications
• Cost analysis
• Completed simulation and design specs on schedule

4
Plan of Action
5
Original Design Specifications

• Object tracking velocity
• Object velocity of 10 mph
• Pan/Tilt velocity of 10 radians per second
• Object acquisition within 1 second
• Distance to object ½ft 20ft
• Range of motion
• Pan range of 180
• Tilt range of 90
• Sensor accuracy
• Detection distance of ½ft 20ft
• Detection cone 60 180
• Beacon accuracy
• Transmission distance of up to 20ft
• Transmit 30 times per second

6
Testing Procedure

• Fixed point accuracy acquisition speed
• Sinusoidal input tracking
• Realistic tracking (torque saturation)
• Trapezoidal input tracking
• Random path tracking

7
Tolerance Analysis

• Fixed point accuracy
• Sinusoidal tracking accuracy
• Random path tracking accuracy ? 1/2 _at_ 20 ft
  ?1/8 _at_ 6
• Beacon acquisition accuracy unknown
• Tracking moving beacon? 1 _at_ 20 ft ? 1/4 _at_ 6

8
Part Justification

• Motor candidates
• GM8274S010, GM8274S013, GM8712-11
• Speed and torque requirements met using a variety
  of gains and gear ratios connected to motor
  candidates
• In simulations, large gear ratios gave more power
  at slower speeds and visa versa
• After different configurations, we arrived at
  particular gains and a gear ratio of 41
• Pulley dimensions were chosen at this ratio
• Grooves on pulleys also match ratio

9
Motor Analysis
10
Motor Analysis
11
Motor Analysis
12
Motor Analysis
13
Realistic Tracking Simulation
14
Realistic Tracking Simulation
15
Realistic Tracking Simulation
16
Realistic Tracking Simulation
17
Realistic Tracking Simulation
Random Path Tracking
18
Testing Results
Desired Specifications Simulation Results T1 Simulation Results T2
Tracking velocity 10 rad/sec 12 rad/sec 15 rad/sec
Acquisition time (over p radians) 1.5 seconds 0.8 seconds 0.6 seconds
19
Linearization Model
20
Sensor Design Beacon

• Ultrasonic transceiver sends sound wave in a 60
  cone
• Distances of up to 30ft
• RF signal transmitted in 360
• RF signal range of up to 300ft

21
Sensor Design

• Beacon will be built from six ultrasonic
  transceivers to allow 360 range
• Three receivers will detect signal propagation
  time

22
Final Part Decision
23
Cost Analysis
24
Schedule