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Visual Target Tracking System

Visual Target Tracking System. Final Design February 26, 2003 Chad Helm Matthew Sked James Deloge Tim Bagnull. Objective. To track a moving point on a screen. This moving point will be simulated by a PowerPoint animation.

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Visual Target Tracking System

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  1. Visual Target Tracking System Final Design February 26, 2003 Chad Helm Matthew Sked James Deloge Tim Bagnull

  2. Objective • To track a moving point on a screen. This moving point will be simulated by a PowerPoint animation. • We assume this point will be traveling no faster than 300 mm/sec. (approx. 1 ft./sec.) • Initialize the system by using edge detection to locate the point.

  3. Features • User Interface in C++ or Visual Basic • System initialization (edge detection). • Displays the target and tracking on-screen. • System reset and shutdown.

  4. System Diagram motion Simulink drivers RS-232 C++

  5. Specification • Top angular motion of 6 degrees/sec. for both axis. • For acceptable reliability the system must be no more than about 20 degrees off center of the screen. • Desired settling time of 0.1 seconds • Desired overshoot of 1%

  6. Preliminary Modeling • Investigated various starting positions and gains. • Did not vary different gears and motors. Used Pittman’s GM8724S010 motor. • 1:1 gear ratio

  7. Final Motors • Pan motor: GM8724S010 • 6.3 Motor Gear • 1:1 Belt Drive • Tilt motor: PG6614 • 4:1 Motor Gear • 2.7:1 Belt Gear • 6-8 week lead time

  8. Linear Simulation • Used Proposal gains in the linear model. • Added integral gain (Ki = 0.5). • Used MATLAB rltool to find optimal gain parameters.

  9. Pan Root Locus • Observed the system settling time to be 0.5 seconds. • Unable to move all of poles to the constrained region.

  10. Linear Step Response of Pan • Settling time at 0.1s, but 10% overshoot. • Controller Transfer Function

  11. Linear Pan Bode Plot

  12. Tilt Root Locus • 25% overshoot from our initial gains. • Pulled movable poles and zeros to fit in the constrained area.

  13. Linear Step Response of Tilt • Settling time at 0.1s, negligible overshoot. • Tilt Transfer Function

  14. Linear Tilt Bode Plot

  15. Linear Simulation Summary • Design Specifications of 0.1s settling is met for both stages. • 1% overshoot is met only for tilt. • Feasibility of root locus zero-pole placements unclear. • Unstable plant pole?

  16. Non-Linear Simulation • Used the controller gains in the non-linear model. • Pan stage has considerable overshoot. • Tilt stage has steady state error.

  17. Non-Linear Screen Translation

  18. Cost • Motors: $179.60 • Pulleys: $36.50 • Belts: $10.20 • Total Parts Cost: 226.30 • Four persons working 12 hours a week for 15 weeks at $100/hour: $72,000

  19. Gantt Chart

  20. Verification • Verification will be done on both of the subsystems independently before integration. • Pan-Tilt • Small, discrete point to point movements. Distance to be dictated by the Kalman filter. • Computer Vision • Ensure the software can track a point in a sequence of frames. • Verify camera and frame grabber works with the software.

  21. Problems with Verification • The element of our project that will likely present us with the most problems is image processing. We are currently unsure of the maximum frame rate we can use and still have the system behave properly. • The frame rate translates into elements like the speed at which the target object can move, and the distance at which the system is placed from the screen (which determines range and precision of motion).

  22. Cost • Total Cost: $226.36 • Pan Tilt System • Motor: $179.60 ($89.80 each) • Pulleys: $36.56 ($9.14) • Timing Belt: $10.20 ($5.10) • Computer Vision • Provided by Ben and Prof. Wen (Free) • Camera, Frame Grabber, CPU (dedicated for vision processing)

  23. Conclusion • We have confidence with our motor and gear specifications. • Our current uneasiness resides with our software.

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