P14372 Actively Stabilized Hand-Held Laser Pointer Detailed Design Review

P14372 Actively Stabilized Hand-Held Laser Pointer

Kaitlin PeranskiSpencer WasilewskiKyle JensenKyle LasherJeremy BerkeChris Caporale

Kaitlin1AgendaProblem Definition ReviewExecutive SummarySystem ReviewDetailed Design ReviewDetailed Risk AssessmentTest PlansBill of MaterialsCost AnalysisProject Plan for MSD II

Kaitlin2Problem Definition ReviewKaitlin3Problem DefinitionThere are many people today who use laser for various applications: to aid in presentations, medical imaging, and defense. Under many use scenarios they are negatively affected by unwanted vibrations; one such example is a nervous presenter using a laser pointer. New Scale Technologies (NST) has developed a module that steers a laser beam using piezoelectrics and mirrors. Currently they cannot actively detect and compensate for hand vibrations. To reduce this gap, a handheld and user friendly unit is to be developed utilizing the NST module. Concerns for development include: response time, operating temperature and duration, and unwanted motion attenuation.Kaitlin4Customer Needs

Engineering Requirements

KaitlinFocus on added test plans for each requirement5Executive SummaryTarget Frequency Range: 1-20 HzCost Analysis: Total < $350Test Bench Design: < $100Response Time Analysis:Required = 12.5 msCapability = 10 ms (worst case)Power Consumption: 1.4 WattsHeat Generation: Surface temperature of 95o FComparison of Gyroscopes and Accelerometers: Beyond 80 cm, gyroscopes are more accurateHousing: Aluminum, 139X42X32 mmKaitlin6System ReviewJeremy7System Architecture

JeremyThis shows the concept that weve chosen8Concept SelectionConcept 1BatteryGyroscopeLow Pass FilterProcessorCommunication to NST ModuleConcept 2BatteryAccelerometerIntegrator/Low Pass FilterProcessorCommunication to NSTJeremyTwo final concepts that we considered9Gyroscope VS Acceleromter

JeremyDescribe why we picked gyroscopes over accelerometers10Required Response TimeHighest hand jitter frequency = 20 HzSample rate = 4*frequency = 80 Hz = .0125 secRequired time = .0125 sec or 12.5 ms to accurately reduce vibrationsChris11Response Time Breakdown

NSTData AcquisitionSoftware Interpretation and ControlCommunication to NSTChris

12Tested Circuit

Chris13Response Time Measurements

Total Time

Zoomed to Zero (Delay)Chris14Total Response TimeNST ~ 2 ms (worst case scenario)Data Acquisition ~ 2 msSoftware Interpretation and Control ~ 2-5 msCommunication to NST ~ .2 msTotal Time = 9.9 to 10 msGives 2.5 ms of overheadChris15AgendaDetailed Design ReviewSchematic DrawingsControl AlgorithmThermal Resistance AnalysisDevice Housing/LayoutTest Bench Design

Kaitlin16Detailed ReviewKaitlin17Block Schematic: Our System

Chris18Gyroscope Schematic

Chris19InvenSense ITG-3200

Sample Rate: 8kHz

Operating Current: 6.5mA

Operating Voltage: 3.3V

Full Scale Range: 2000/s

Fast Mode 400kHz I2C Interface

Simple breakout board with mounting holesGyroscope

Chris20Power Supply and Charger

Chris21UnionFortune 063450 Cells

1000mAh LiPo

2 cells in parallel for 2000mAh total

Battery life close to 4 hours

-25C to 60C Operating Temperature

Nominal Voltage: 3.7V

Maximum Current: 1A (wire limited)Battery

Chris22Processor Schematic

Chris23SparkFun Arduino Fio v3

8MHz Clock

16 Digital I/Os

6 Analog I/Os

150mA Current Draw

Built in 3.3v regulator and LiPo charger

Built in switch

I2C, SPI, USB compatibleProcessor

Chris24Deriving the Transfer Function

?25JeremyPole Zero Map

26JeremyBode Plot

27JeremySample Input (f = 1 Hz)

Green is input, Red is output28JeremyControl Algorithm

Poll Gyro For Data(I2C)Subtract Gyro DataFrom AccumulatorAcc > 15?Acc < -15?Acc = 0WaitCompute EncoderCountsSend to NST ModuleRe-Center NST Module2929JeremyFirst Control Scheme

30JeremySecond Control Scheme

31JeremySimulated Jump (Within Bound)

32JeremySimulated Jump (Bound Crossing)

Delay = .1s33JeremySimulated Jump (Bound Crossing)

Delay = .5 s34JeremyThermal Resistance AnalysisKyle L35Thermal Resistance Analysis

Kyle L36Thermal Resistance AnalysisKyle L37Thermal Resistance Conclusions

Kyle L38Device Housing: Shell

Spencer39Device Layout: Side View

SpencerThis needs to be replaced with updated diagram40Device Layout: Side View

Spencer41Device Layout: Side View with Screws

Spencer42

Device Layout: Top ViewSpencer43Device Layout: Bottom View

Spencer44Device Layout: Rear View

Kyle J45Device Layout: Front View

Wiring Diagram: Test Bench

Kyle J47Test Bench Design

Spencer

48Test Bench

Spencer49Test Bench

Spencer50Test Bench

Spencer51Test Bench

Spencer52Test Bench

Spencer53AgendaDetailed Risk AssessmentTest PlansBill of MaterialsCost AnalysisMSD II Project Schedule

KaitlinAny questions before moving forward?54Detailed Risk Assessment

Kyle J55Test PlansValidate control algorithm codeValidate gyroscope within deviceVerify test bench functionalityCalibrate test bench using second gyroscopeConfirm battery life and heat generationConfirm surface and chip temperatureKyle J56Cost Analysis

Kyle J57MSD I Project Plan

Kaitlin58MSD II Project Plan

Kaitlin59THANK YOU!

AppendixHousing Drawing

Housing Drawing

Put each on their own slides63Housing Drawing

Housing Drawing