Laser Tracking System (LTS)Presentation OutlineProject ObjectivesLTSLTS Sub-Systems and Division of LaborXilinx FPGA HighlightsDigitization Sub-SystemDigitization - PartsDigitization - SamplingSampling Quality CompareSlide 11Digitization - TimingControl Sub-SystemsControl System - ServoControl System - ServoControl System - StructureControl System - Trigger SystemControl System - Power SupplyCameraTarget Detection/Coordinate SystemGoalsProject ScheduleAreas of RiskImpacts on SocietyQuestions?Laser Laser Tracking System Tracking System (LTS)(LTS)Team Lazer:Team Lazer:Son NguyenSon Nguyen Jassim Alshamali Jassim AlshamaliAja ArmstrongAja ArmstrongMatt Matt AamoldAamoldPresentation 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 ImpactsProject ObjectivesProject ObjectivesTo design and build a laser tracking system using an To design and build a laser tracking system using an analog camera to follow and focus on a moving laser analog camera to follow and focus on a moving laser against a white (or other high contrast) backgroundagainst a white (or other high contrast) background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 FPGALTSLTSLTS 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 ManagementManagementXilinx 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TimingTimingDigitization - 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 signalsDigitization - 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 qualitySampling Quality Sampling Quality CompareCompare24-bit, target 24-bit, target is very is very distinctdistinctSampling Quality Sampling Quality CompareCompare8-bit8-bitShades Shades become become really close really close in color to in color to the targetthe targetDigitization - 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 SupplyControl System - ServoControl System - Servo2 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-6VControl 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 50HzControl 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 needsneedsControl 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