Transcript Electro-Magnetic Manual/Autonomous Controlled Launching

ELECTRO-MAGNETIC
MANUAL/AUTONOMOUS
CONTROLLED
LAUNCHING SYSTEM
(EMMA CLS)
• Thomas Jacobson
• Max Macri
• Paul Sadaukas
Design Review
WHAT IS EMMA CLS?
 EMMA CLS is a turret that can autonomously track moving
objects using image processing.
 The device is also capable of user -control via a manual
override mode.
 The turret provides the user with the ability to launch a
projectile from the turret utilizing the onboard
electromagnetic launcher.
CUSTOMER NEEDS
 A device that can perform surveillance work to track moving
targets
 Can launch a projectile to deter threats
 Can rotate or pan to stay fixed on a moving target
MARKETING REQUIREMENTS
1.
2.
3.
4.
Must accurately find moving targets, and track them
continuously
Must provide video feedback to the user
User must be able to override the autonomous mode and
manually control the device
User must be able to fire a projectile by means of a user
interface
ENGINEERING REQUIREMENTS
Marketing
Requirements
Engineering Requirements
Justification
1,2,3
Device should contain webcam for transmitting The device needs to have some way of using video feed both to
video from device to computer
display the feed to the user, and to use that feed for image
processing. A webcam is both a cheap and a widely available
means.
1,3
Device should have 270 degrees of horizontal
rotation, and 90 degrees of vertical rotation,
using at least two servos.
Two servos are the absolute minimum for full 2-dimensional
targeting.
1,4
Device should be capable of launching a
projectile up to 10 feet away.
The force required to propel the projectile 10 feet should be
sufficient to ensure accuracy at closer ranges (the ideal “strike
zone”).
3, 4
UI should contain at least four buttons for
controlling the turret, a button for firing the
turret, and a toggle between auto and manual
mode. UI should also contain a section of the
screen devoted to displaying the image.
This is the basic user interface that contains all of the basic
utilities for controlling the device. Based on actual testing, this
design may be subject to change (using the mouse instead of
arrow keys to control the device).
4
System must be able to step a nominal voltage The voltage of 300V for the capacitor is required to be able to
of 12V to 300V, with an input current of
provide enough power to launch the projectile the desired
100mA (± 20mA).
distance. The current requirement ensures that the capacitors
will charge at a reasonable rate, with overall charge times of
under 60 seconds.
DESIGN
 EMMA can be broken down into three main sections: The
Software, the Turret, and the Launcher, as can be seen on the
next slide.
SYSTEM ARCHITECTURE
CONCEPT SELECTION
 Previous designs used pneumatics, which are large and
dif ficult to transport
 Using an electromagnetic launcher allows for the same
amount of force to be used, while maintaining a higher level
of mobility
 The only moving parts are the servos, which also reduces the
wear and tear, and increases the lifespan of the device
LAUNCHER DESIGN CONCEPT
 Capacitors were chosen as the power source for the launcher
because of their ability to hold a large amount of energy and
dispel the energy rapidly
 Two stage coil design was used to provide a varying amount of
power for the launcher, while avoiding the complexity of larger
power control circuits
 SCR was chosen over other switching mechanisms because it
allowed for digital control, triggers faster then relays, and
because of its low activation energy requirement
TURRET DESIGN CONCEPT
Charge and Fire commands (from software)
Design 1
Webcam
Launcher
Video output (to software)
 Design 2 was selected
for the project
Wooden Slab
 Design 1 requires
Ser vo 1 to suppor t a
large amount of weight
Servo 2
Servo 1
Servo inputs (from software)
Design 2
 Design 2 has the
center of mass directly
in the middle of the
turret, which makes it
sturdier
 Design 2 provides a
better suppor ted
platform for the
launcher and webcam
TRACKING DESIGN CONCEPT
 Optical was used over other types of sensors because humans
are familiar with vision. Also webcams are cheap, and easy to
interface with.
 Lucas-Kanade algorithm was used over others, because it
provides good balance between resource intensity, and details
to track. It can be fine tuned to provide more details, if the
computer can handle it.
LAUNCHER SUBSYSTEM
L1
3
1
S
RL1
4
Sensor1
Charge Status
Projectile Status
RL0
4
3
1
S
Sensor0
3
Fire
D1
L0
] Read Cap Voltage
Charge
] Cap Charge Control
Coil1 Activ e
MICROCONTROLLER
3
1
2
Coil1 Trigger
1
2
D2
Coil0 Trigger
C1
+
10mF
R1
1k
R2
100k
Bleeder Resistors
HV-
HV+
Launcher Design Circuit
High Voltage DC-DC
LV-
LV+
RL2
V1
4
3
1
2
12Vdc
THE LAUNCHER SUBSYSTEM
LAUNCHER SUBSYSTEM
R3
390
1
U1
3
V4
5Vdc
2
4
Q1
2N3904
SensorN
R4
10k
0
Sensor circuit
R5
510
THE TURRET SUBSYSTEM
The turret receives new positions from the software
subsystem (from either the user, or the tracking software) and
updates both servos
SOFTWARE SUBSYSTEM
Steps:
1)Acquire Image
5)Driver sends new position commands to MCU
2)Compare to next image
6)MCU sends new position to servos
3)Get the offset between images
7)Servos are updated to new position, go to 1
4)Send difference to driver in (x,y) format
THE SOFTWARE SUBSYSTEM
The User Interface
REQUIRED MATERIALS
Item
Retail Price (per unit)
Our Price (per unit)
Quantity
Servo
$10-20
$0
X2
Webcam
$40
$30
X1
450V Capacitors
$40
$0
X2
Arduino Microcontroller
$25
$25
X1
SCR
$12.50
$12.50
X4
IR Emitter/ Collector
$3
$0
X2
440V Capacitor
$1.65
$0
X1
4.7Kohm resistor
$0.20
$0
X1
15Kohm resistor
$0.20
$0
X4
500V Capacitor
$0.22
$0
X1
SE555P Precision Timer
$0.51
$0
X1
68ohm resistor
$0.20
$0
X1
1Kohm resistor
$0.20
$0
X1
1Mohm resistor
$0.20
$0
X1
FEP16HTD Rectifier
$1.30
$0
X1
12Kohm resistor
$0.20
$0
X1
10Kohm potentiometer
$2.75
$0
X1
LM311PE4 TI Comparator
$0.72
$0
X1
2200HT-121-V-RC 120uH
Inductor
$3.22
$0
X1
STW25NM60ND 600V Nchannel MOSFET
$5.68
$0
X1
Total Cost
$248.85
$105.00
N/A
All of these parts
are standard and
have lead times
of roughly 1 week
(Standard
shipping)
LAUNCHER RISKS
 The launcher uses large voltages (~400V), which can be
dangerous to handle
 The final design will have a casing around all high voltage
components to prevent accidental shock
 The launcher needs to be light enough to that the turret can
move it
 Non-critical launching components will be placed in the base of the
turret to minimize the amount of weight needed to be moved by the
turret’s servos.
 The launcher has the potential of breaking if fired with no
ferromagnetic projectile in the barrel.
 Sensors are used not only to accurately fire the projectile, but to
ensure that the system actually contains a projectile.
TURRET RISKS
 Speed: The turret needs to be able to keep up with moving
targets. This requires using high speed servos
 Torque: The turret needs to be able to bear the weight of the
components located on the launching platform
SOFTWARE RISKS
 The tracking algorithm needs to balance between computing
resources consumed, and accuracy of tracking.
 Software needs to switch between tracking a target, and
moving to the new position (alternating between the two)
 Both of these risks can be avoided through early testing.
SYSTEM TESTING
 Testing will be a cumulative ef fort to ensure any bugs, or
design flaws can be caught early, to minimize downtime.
 Each Component will undergo separate testing to ensure the
components operate as defined in the design documentation,
followed by a suite of integration tests to ensure that the
pieces all function together properly.
TESTING THE LAUNCHER
 The launcher’s sensor system must be tested to ensure the
critical projectile sensing features operate properly and in a
timely manner.
 The charging circuit of the launcher must be extensively
tested to ensure that the circuit can handle multiple
recharges without damaging components from overwork.
 The launcher must be tested to ensure not only that the SCR’s
trigger the EM coils and launch a projectile, but that the
launching capabilities are repeatable.
TESTING THE TURRET
 The turret will be tested to see how fast the servos can turn,
while under a variety of loads.
 The servo controller will need to be tested to ensure that
based on a set of predefined control inputs, that the servos
orient in the proper direction.
 Tests will also be performed to make sure the servos can
maintain continuous movement without breaking down.
TESTING THE SOFTWARE
 Initial testing of the control software will just verify that
control via the UI/automation software will produce sets of
outputs that can appropriately control the turret .
 Following the completion of these test, the turret (or servos at
least) will be integrated with the software for the remainder
of the testing.
 Test such as tracking a target and moving the servos
“simultaneously” will need to be performed.
 The tracking software will be tested to see how well it works
in a variety of conditions
 Variances in lighting, indoor vs. outdoor, against different backdrops,
using different targets.
FINAL TESTING
 Following the completion of all the individual system tests,
the systems will be fully integrated. At this time a series of
integration tests will be performed to verify that the pieces
function as expected when interacting with each other.
 The system will need to hit a moving RC car driving in circles
of 2,5,7, and 10 feet from the turret. While the turret is
tracking the car, it will need to accurately hit the car upon
user input.
QUESTIONS?
We got answers!