New Castle Design Associates Concept Review of I nsect Video Tracking Device

1. New Castle Design AssociatesConcept Review of Insect Video Tracking Device October 27, 1998 Team 5 Sponsors: Keith Hopper, USDA & UD

2. Project Information MembersPrimary Customer Justin L. Combs Keith Hopper (USDA and UD) Raymond M. Foulk IV Ryan S. McDonough Advisor George H. Sapna III Dr. James Glancey

3. Summary Mission: Our mission is to design, construct, and refine an insect video tracking system for agricultural research that provides our customers with a creative, realistic and performance-based solution. Approach: Our strategy will be to gain an overall knowledge of the project and then to strive for a solution by researching, benchmarking, and defining the customer’s wants and constraints. Finally, using an iterative design synthesis process, our team will generate the best solution to satisfy our customers.

4. Background • $100 million crop damage each year due to pests • Introduction of beneficial (predatory) insects into environment • Study of reproductive habits - Aphelinus asychis

5. Camera Computer Specimens Problem Description Existing System Measures insect movements within a small arena Problem With Existing System Disturbs the behavior of the insects

6. Customers Wants Customers Wants Keith Hopper large area, position/speed, not disturb insect, track for 20 min., existing equipment, C++, minimize post pro., wireless device, interchange camera Mike Smith * position/speed, minimize post pro, various conditions, reduce pesticides Richard Turcotte adaptable to other insects, not disturb insect, simple interface, large area, position/speed * Customer added recently.

7. Customers Wants Customers Wants Mr. Filasky low priced produce, reduce pesticides, unharmful insects Rex Mears high % corn yield, reduce pesticides, unharmful insects Alice Kline low priced produce, improve sales, reduce pesticides Greg Frantz reduce pesticides, benefits outweigh costs, adaptable to other insects Anthony Wexler reduce pesticides, energy efficient, unharmful insects

8. Previous Top 10 Wants • Track the insect over large area • Measure position and speed of the insect • Adaptability to other types of insects • Not to disturb the insect’s behavior • Easy-to-learn user interface • Ability to record for 10 - 20 minutes • Maximize use of existing equipment • Benefits must out-weight costs • Preferred language is C/C++ • Minimize post-processing of data

9. Revised Top 10 Wants • Measure position and speed of the insect • Track the insect over large area • Adaptability to other types of insects • Minimize post-processing of data • Not to disturb the insect’s behavior • Easy-to-learn user interface • Ability to record for 10 - 20 minutes • Use existing equipment • Benefits must outweigh costs • Preferred language is C/C++

10. Constraints • Previous constraints • System must cover 1 square meter • Two dimensional tracking system • Revised Constraints • Project must be completed by end of school year • Project expenses must remain below $5000 • Must cover a larger area than existing system • Work area must occupy only Stearns Lab

11. System Benchmarking • Existing Video Tracking System • Ultrasound Scanner at the C.C.M. • NASA Vertical-Spin Tunnel • Autonomous Robot “RHINO” • Semi-Automated Film/Video System

12. Wants Metrics Wants Metrics Position/speed X,Y coordinates of insects Instantaneous error Accumulation of error Maximum speed of motion Large area Size of tracking area Adaptability to other insects Insect size range Maximum speed of motion Minimize post-processing Total acquisition time Frequency of acquisition Feedback delay Do not disturb insect Distance from device to insect Smoothness of surface Variation in luminance

13. Wants Metrics Simple user interface Desired programming language graphical user interface Record for 10 - 20 min. Total acquisition time Frequency of acquisition Feedback delay Use existing equipment Amount of existing equipment used Benefits outweigh costs Savings/Costs C/C++ Programming language Wants Metrics

14. Functional Benchmarking • Torch location algorithm with ATP project at C.C.M. • Stepper motors • Servo motors with position sensors • P.I.D. control • Fuzzy Logic control

15. Old Top 10 Metrics & Target Values 1. Size of Tracking Area 1m x 1m 2. Total Acquisition Time 20 min 3. Adaptability to Other Insects 1mm - 4cm (2D) 4. Frequency of Acquisition 1 Hz 5. Feedback Delay 0.5 sec 6. Desired Programming Language C or C++ 7. Accuracy of Positional Measurements +/- 1mm 8. Distance from Device to Insect 0.5 m 9. Amount of Existing Equipment Used 100% 10. X, Y Coordinates of Insect Yes

16. Revised Top 10 Metrics & Target Values 1. Size of Tracking Area (7.86%) 1m x 1m 2. Distance from Device to Insect (7.38%) 0.5 m 3. X, Y Coordinates of Insect (6.90%) Yes 4. Savings/Costs (6.43%) 1 5. Maximum Speed of Motion (5.95%) 15 mm/sec 6. Frequency of Acquisition (5.95%) 1 Hz 7. Feedback Delay (5.95%) 0.5 sec 8. Variation in Luminance (5.71%) <5% 9. Total Acquisition Time (5.48%) 20 min 10. Programming Language (5.24%) C or C++ 3a. Accumulation of Error (4.29%) +/- 1mm 3b. Instantaneous Error (4.05%) +/- 1mm

17. y x z Concept Generation Polar Track Robot Moving Surface Pivot F(s) TF(s) C R Bubble H(s) Sensing Surface Cartesian Track Wide Angle

18. Concept Evaluation Concepts Sorted Metrics Comparison Values Total 1. Compare each concept to the best benchmark. 2. The “best concept” has the highest column total. 3. Repeat step 1 with current “best concept”.

19. Concept Selection Previous best concept: Mobile robot with relative positioning Problem: Possible slipping of wheels

20. Concept Development Potential Solution: Mobile robot with laser positioning Problem: Laser Accuracy Per Cost

21. Concept Development Preliminary budget for mobile robot with laser positioning:

22. Relative Concept Quality

23. Concept Selection Current best concept: Cartesian Tracking System

24. Development of Cartesian Tracking System Quote for prefabricated system from IDC: $13,100 !

25. Development of Cartesian Tracking System Configuration: Two Trolleys, Rack and Pinion, & Stepper Motors

26. Development of Cartesian Tracking System - X Trolley

27. Development of Cartesian Tracking System - Parts List Estimated Cost: $3,349.28 Estimated Shop Time: 120 hours Most Expensive Parts: Rack and Pinion Sets Motors and Controllers Stock Aluminum Other Notes: Included Existing Parts Unaware of Shipping Costs Unaware of Small Hardware Costs

28. Main Computer Image Analysis Insect Position Calculator, Display, & Recorder Digital Camera Motion Control Algorithm X-Motor Motor Positions Stepper Controller Y-Motor Integrated System Components

29. Working Models of Cartesian Tracking System

30. Schedule Highlights Order all parts by Dec. 11 Set up CNC for X-Y trolley end plates by Jan. 08 Build and assemble base by Jan. 28 Build and assemble X-Y trolleys by Jan. 28 Assemble sub-components by Feb. 12 Adapt algorithm to fit physical system by Feb. 26 Test complete system by Mar. 19 Make changes to the system by Apr. 14

33. Schedule To Date

34. Preliminary Concept 1 Mobile robot with relative positioning: A robot which follows insect over a specified area while recording the insect’s position

35. Preliminary Concept 2 Stationary high-resolution camera with wide angle lens: A camera records the insect’s motion over a large area

36. Division of Work Justin Combs Concept Generation & Evaluation Ray Foulk SSD, Benchmarking Ryan McDonough Schedule, Customer Relations George Sapna SSD, Customer Relations Team Effort Presentations, Planning, Goals Budget $5000 Thousand Dollars Flexible depending upon primary customer’s judgement.

37. Plans Until Next Presentation 10/25 - 11/8 Refine Concepts 11/1-11/15 Engineering Analysis of “Best Concept” 11/8 - 11/20 Engineering Drawings 11/15 - 11/24 Written Report 11/20 - 12/3 Prepare Presentation

38. Preliminary Concept 3 Cartesian Tracking System Camera moves over a plane in two orthogonal directions. CAMERA INSECT ARENA X Y

39. Previous Benchmarks • Existing Video Tracking System • NASA Vertical Spin Tunnel • Biorobotic Vision Group • DARPA Image Understanding Program • Semi-Automated Film/Video System • CAD Plotter • PC Mouse

40. Previous Top 10 Wants • Track the insect over large area • Measure position and speed of the insect • Adaptability to other types of insects • Not to disturb the insect’s behavior • Easy-to-learn user interface • Ability to record for 10 - 20 minutes • Maximize use of existing equipment • Benefits must out-weight costs • Preferred language is C/C++ • Minimize post-processing of data

41. Design Process Interview Customers Revise Wants Benchmarking Concept Generation Derive Metrics Target Values Concept Evaluation Good Solution?

42. Low Want High Want Rank Exponential Decay of Importance Customers (Customer Rank) x (Want Factor) = (Importance to Customer) Revision of Wants (Performance Goal) x (Importance to Customer) = (Overall Weight)

43. Total Top 10 Wants List of Metrics Correlation Matrix 1. Rate the correlation of each metric to each want. 2. Sum the correlation factors for each metric. 3. Sort the metrics according to total. Derivation of Metrics

44. Important Customers Keith Hopper Entomologist Mike Smith * Entomologist Richard Turcotte Entomologist Mr. Filasky Farmer Rex Mears Farmer Alice Kline Supermarket Manager Greg Frantz Consumer Anthony Wexler Environmentalist * Added Recently

45. Comparative Benchmarking 1. Rate each benchmark on how well it satisfies each want. 2. Total the rates to achieve a total score for each benchmark. 3. Sort the benchmarks by total score.