Instructor: John T. Wen, firstname.lastname@example.org x 8744 (CII 8213)
TA: Ben Potsaid, email@example.com x 2973 (CII 8123)
Secretary: Melissa Reardon, firstname.lastname@example.org x 6313 (JEC 6049)
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. Each project team will select from a list of potential projects or propose its own. 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), construct the physical system, and test and demonstrate its operation. A basic platform type of mechanism will be provided to each project team.
Some potential projects are:
Motion tracking based on an array type sensor:
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.
Motion tracking based on multiple sensors (e.g., one fixed, one mounted on pan-tilt platform):
Satellite dish positioner: locating, pointing, tracking of a moving signal beacon
Audio signal tracker: locating, pointing, tracking of a moving audio signal source
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
Motion based on open loop command
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.
Here are some examples of some real world pan and tilt applications:
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. CSD supplies a skeletal pan and tilt mechanism to each team as shown in Figure 2 Skeletal Pan and Tilt Mechanism. Each team will then choose a motor and transmission based on calculations and dynamic simulations from a list of suggested motor vendors. Teams are allocated a budget in order to purchase drive components as well as additional sensors, actuators, hardware, etc. that are required for the specific project.
Figure 2 Skeletal Pan and Tilt Mechanism
Figure 3, Student Specified Components, shows the drive components that are required to complete the Pan and Tilt Mechanism.
Figure 3 Student Specified Components
Step by step (to be thoroughly documented in each studentís design notebook)
Choose a project
Research state of the art
Define performance specifications
Derive equations of motion (template of EOM is supplied by CSD)
Create linear/non-linear simulation models based on catalog/CAD parameter values
Iterate controller and mechanical design in simulation to choose drive components
Purchase Drive components and project specific hardware
Experimentally determine parameter values (parameter identification procedures)
Update linear/non-linear model with new parameter values
Design and implement low level PID controller
Design and implement high level controller (additional logic, initialization sequence, etc.)
Run the project
Experimentally assess the performance of the final design
Project resource page: http://www.cat.rpi.edu/~potsaid/csd/Resources.html
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