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SPIRIT-CSPIRIT-CSolar Powered Image Response Infrared Tracking CamcorderSolar Powered Image Response Infrared Tracking Camcorder
Justin EilerJeff Morroni Adeel Baig
Andy CrahanJim Patterson
SPIRIT-C ApplicationsSPIRIT-C Applications
Live Action FilmingSecurity SurveillanceInfant MonitoringProximity Detection
OverviewOverview
Pan/tilt tracking system for digital camcorder
Two stepper motors used for pan/tilt motion Controlled by array of PIR(pyro-electric infrared) sensors Solar array for supplying power to all components External battery and camcorder battery charged through
array FPGA with embedded soft core for integration and control Manual, and possibly wireless, controller
Block DiagramBlock Diagram
Spartan 3with
Microblaze
ADC /Mux
IR Sensor
s
ManualControl H-Bridge
ControllerStepperMotors
Camera
Converters
Solar Array
Battery LEDCluster
Control
Power
Data
Camera Mount AssemblyCamera Mount Assembly The camera will be
mounted into a cradle using existing tripod mount
The cradle is suspended between side holes on yoke
The yoke will be used to facilitate tilting motion
A Lazy Susan will be used for pan rotation and is connected to bottom hole of yoke
Stepper MotorsStepper Motors
Two low power stepper motors will be used to power the rotation of the camera
The motors will also be Bipolar (no center taps)
Motor ControlMotor Control
A simple H-bridge circuit will be constructed to control the motors
The H-bridge will allow us the following modes
XY Mode
00 D. Braking
01 Forward
10 Reverse
11 D. Braking
Motor DriverMotor Driver
The Step input will be hooked up to the Spartan 3 Pulse Width Modulator
The Direction input will be held high for clockwise or held low for counter clockwise
The outputs then will be attached to the appropriate H bridge inputs
Step
Direction
YX
Y
X
Winding 1
Winding 2
Driver using TTL logic
IR SensorsIR Sensors
To detect rapid human movement will require high quality IR sensors
Several types are available including:
- Thermopiles
- Bolometers
- Pneumatic Detectors
- Pyroelectric Detectors
Pyroelectric IR SensorsPyroelectric IR Sensors
Only pyroelectric sensors have the rapid motion detection we require for high speed filming
These operate like current sources with output proportional to the rate of change in temperature
Extremely fast responses set them apart They are also insensitive to undesirable external
DC effects
ConfigurationConfiguration
Internal FET detects surface charge changes
BW limited 2 stage amplifier reduces HF noise
Fresnel LensFresnel Lens
Fresnel lenses are – lightweight– economical– heat dissipative– precise
FL65 Detects 8-14um radiation
Fresnel SpecsFresnel Specs
Concentrates PIR field to 10 degrees versus 95
Important aspect for sensitive motion detection
Provides appropriate field with our 8 sensor cradle design
Motion DetectionMotion Detection
Motion detected by sensors being triggered consecutively
This cancels signals due to vibration, temp. changes, and sunlight
Solar ModuleSolar Module
Maximum Power = 40 W 25.8 inches by 21.1 inches Provides 17.3Vmax and
2.31Amax
Manual/Automatic tilt for maximum sun intensity
DC/DC ConverterDC/DC ConverterBuck Converter
•Input Voltage, Vg, will be around 17.3 V (for one panel)
•Battery charging voltage should be around 13-14 V
•Buck Converter will decrease the voltage with low loss
Control TechniqueControl Technique
•Output Voltage will be set to constant charging voltage
•Sense the output current
•FPGA will increase duty cycle thus changing the operating point
•If new operating point has greater output power, continue increasing duty cycle, otherwise decrease
Deep Cycle BatteryDeep Cycle Battery
12V Deep cycle required for extended usage
A shunt regulator will prevent over-charging
When battery draws less current (fully charged), the regulator will dissipate the excess current
Starter Kit FeaturesStarter Kit Features
Spartan-3 XC3S200 FPGA 2Mbit Xilinx XCF02S Platform Flash Prom 1M-byte of Fast Asynchronous SRAM 3-bit, 8-color VGA display port 9-pin RS-232 Serial Port PS/2-style mouse/keyboard port Four-character, seven segment LED display Eight slide switches Eight individual LED outputs Four momentary-contact push buttons 50 MHz crystal oscillator clock source JTAG port AC power adapter with unregulated +5V
power supply On board 3.3V, 2.5 V, and 1.2V regulators
FPGA – Spartan-3 XC3S200FPGA – Spartan-3 XC3S200 220K system gates, 4320 equiv. logic cells 480 total CLB (configurable logic block) 30K distributed RAM bits 216K block RAM bits 12 dedicated multipliers 4 DCM (digital clock multiplier) 173 user I/O, 76 differential I/O pairs
CONFIGURABLE LOGIC BLOCK Main logic resource for implementing
synchronous and combinatorial circuits Comprised of four slices Two logic function generators, two storage
elements, wide-function multiplexers, carry logic, and arithmetic gates
left-hand pair also supports: storing data using Distributed RAM and shifting data with 16-bit registers.
FPGA implementationFPGA implementation
ISE development system: synthesis, mapping, placement, routing I/O blocks and selectable paths create versatility
CLB’s are workhorse of FPGAFunction Generator: LUT function used to implement state machineStorage Element: Flip Flop used to synchronize data to clock signalCarry chain: helps with fast arithmetic
PWM (pulse width modulator):clock dividerbinary up-down countercomparator
MICROBLAZE MICROBLAZE Embedded Soft CoreEmbedded Soft Core
- Based on RISC 32-bit architecture- 32-bit instruction word with three operands and two addressing modes- 32-bit address bus, 32 32-bit general purpose registers, single issue pipeline
User InterfaceUser Interface
Switch between automatic and manual control
Allows user to control the camera position
Sega Genesis controller provides serial input (RS232 on DB-9) to the board
Camcorder ControlCamcorder Control Camcorder remote
will be incorporated into the Genesis controller
ConstraintsConstraints
Financial – LED cluster– Number of solar panels– Number of PIR sensors
Time – Real time data acquisition link– Wireless control– Digital peak power tracker– Automatic positioning for solar array
Contingency PlanContingency Plan
IR sensors– Switch to thermopile sensors– Use transmitter on subject
Camera– Use existing battery charger
Motor Control– Buy H-bridge controller if design performance bad
Division of LaborDivision of Labor
Jeff – Solar array and peak power trackerAdeel – Manual and Wireless control for the
camcorder systemJim – FPGA implementation and integrationJustin – Stepper motors, drivers, and H-bridge
controllerAndy – Infrared sensor network and interface