TA: Rafael Quintanilla, quintr at rpi dot edu x 2973 (CII 8123)
Secretary: Jeanette Young, x 8744 (CII 8015)
Pan-Tilt mechanisms are used in many pointing applications, from large telescope to webcams. This course offers a number of interesting and challenging projects based on the design and control of pan-tilt platforms. The project team will need to formulate the design problem in terms of quantitative performance goal and design constraints, develop conceptual design, size and select actuators and sensors, design the feedback controller, model, analyze, and simulate the system (using MATLAB and Simulink), and test and demonstrate its operation. Each project team will request a mechanism from a set left from the last time the course was offered. A system will be assigned based on the conceptual design.
The projects in spring 2005 are:
Team 1: automatic liquid dispensing
Team 2: ping-pong ball shooting with iterative learning
Team 3: Nintendo duck-hunt video game
Team 4: vision based laser turret targeting
Team 5: puck shooting with iterative learning
The projects in spring 2004 are:
Team 1: tracking based on ultrasound sensors
Team 2: ball on plate balancing
Team 3: pointing based on sound localization
Team 4: dancing machine
Team 5: writing system
Team 6: 3-D audio tracking system
Team 7: toss and catch
The projects in spring 2003 are:
Team 1: vision tracking
Team 2: rejection of base disturbance
Team 3: fast pointing of laser beam
Team 4: target tracking
Team 5: rejection of disturbance to a laser beam
Team 6: tracking of target using spot light
Team 7: telescope pointing and tracking
Other potential projects are:
Solar power sun tracker: Solar cell array will track the sun across the sky.
Surveillance pan and tilt for camera: Tracking a moving target using a webcam (like team 1 of 03)
Motion tracking based on multiple sensors (like teams 4 and 6 of 03)
Satellite dish positioner: locating, pointing, tracking of a moving signal beacon
Audio signal tracker: locating, pointing, tracking of a moving audio signal source (like teams 3 and 6 of 04)
o Motion based on a single sensor
Self leveling marker: Generating a horizontal line using a laser pointer based on the tilt sensor feedback
Disturbance compensation: Reject disturbance based on accelerometer/gyro feedback (like teams 2 and 5 of 03)
o Motion based on open loop command (like teams 3 and 7 of 03 or teams 4, 5, and 7 of 04)
Pan and tilt for telescope: Tracking of a celestial object, e.g., Venus or Mars, based on published data and initial calibration.
Laser beam "director": Move a mirror to generate a specified pattern on screen by using a fixed laser source. Pattern specified in the screen frame will need to be transformed to the motion in platform frame.
Some commercial pan-tilt systems:
Solar panel sun tracker
Surveillance motion tracker
Laser auto leveler
Pan and tilt mechanism overview
A complete pan and tilt mechanism is shown in Figure 1, Complete Pan and Tilt Mechanism. Each team will mount their project on the pan-tilt platform.
Figure 1 Complete Pan and Tilt Mechanism
Because of the different mass properties and performance requirements for each project, each pan and tilt mechanism will require that the motor and transmission be sized appropriately. Each team will then choose a motor and transmission based on calculations and match with the available hardware. A small budget is available for additional components, e.g., sensors, and other parts. There are also parts in my lab that may be used.
Project resource page: Resources.html
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