P09561 – Visible Spectrum Imaging System: Final Project Review

Dave LewisSteve Sweet

Joanna DobeckLenny CalabreseJason ThibadoDarrell Draper

Customer: Dr. Carl Salvaggio; Imaging Science Department

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Project Description

• Summary: Design and build an imaging system that can be mounted onto an Unmanned Aerial Vehicle and controlled with limited user input. This includes a high quality machine vision camera mounted on a vibration damping system, a frame grabber board to get images from the camera, a microcontroller to control the camera and manage storage, a power supply and a custom built frame to hold all equipment inside the plane.

• Customer: Imaging Science Department

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Engineering Specifications

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Engr. Spec. # Specification (description) Unit of

MeasureMarginal

ValueIdeal Value Actual Value

ES1 Data Storage gigabyte 4 32 8

ES2 Data Transfer rate Mb/sec 5 40 12

ES3 Weight lbs 10 5 5.63

ES4 Dimensions in 6 x 6 x 18 4 x 4 x 6 4.5 x 3.7 x 12.5

ES5Reduce Vibration above Specified

Frequency Hz 50 248 – 91 (Axis Dependent)

ES6 Standard Camera Interface # of types 1 Multiple 1

ES7 Power Requirement Hours 1 2 2.16

System Architecture

Camera

VISVISPower

Microcontroller / Framegrabber

Storage

CameraInterface

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Design Overview• Aluminum Frame

– Light weight, low cost, adequate strength• 3 Axis Elastomer Vibration Isolation System

– Low transmissibility, low natural frequency• PC104 Microcontroller

– Powerful, easily expandable• Sony XCL-V500

– Efficient starting point for testing• SD Card reader

– Large storage available, cheap, longevity• Lithium polymer batteries

– High performance to cost ratio

Design Overview

Camera Controls and Power Vibration Isolation System

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System Frame and Mounting

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3-D Model of System Frame Final Constructed System

System Frame Specifications

• Material:– Aluminum 6061 bar and plate stock

• Size:– 4.5 x 3.7 x 7.5 inch

• Highlights:– Space for additional boards and expansion– Hinged door for easy removal of batteries– Lightweight yet rigid frame

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Vibration Isolation Subsystem

3-D Model of VIS

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Final Constructed System

Vibration Isolation Specifications

• Materials and Stock Items:– 6061-T6 Aluminum Alloy angle and plate stock– Sorbothane® anti-vibration mounts– Linear guides

• Overall Dimensions:– 4.5 x 5.0 x 3.55 inches

• Adjustable for various sizes of cameras:– Maximum Camera Dimensions:

• Weight: 2.41 pounds• Overall Height: 4 inches (Allows for Camera Link and power cables to attach)• Length: 2.5 inches• Width: 4.25 inches• Lens Diameter: 2.25 inches

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Vibration Transmission

• Transmissibility of vibrations is decreased above 48 -91 Hz, dependent upon axis.

• Should maintain image clarity

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0 50 100 150 2000

0.5

1

1.5

2

2.5

Frequency [Hz]

Tra

nsm

issi

bilit

y R

atio

PC104 Control

• Taking Pictures– Control software on PC/104 decides when to takes

pictures– Sends command to camera– Saves pictures to SD card

• Configuration File– Stores Camera configuration file– Specifies Mode of Operation for Control

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Camera Subsystem

• Sony XCL-V500– Affordable camera to

build and test newsystem around.

• Camera Link Interface– High Data Throughput– Upgradable– Compatible with wide variety of scientific cameras

Designed with Modularity in Mind

• Camera will be easily upgradable– Camera config file is the only thing required to

swap cameras.

• Camera Driver not specific to individual cameras.

• Easy to use camera functions– attachCamera()– releaseCamera()– acquireImage()– stopCameraAcqs()

Power System

Vin (V) R1 Vout (V) Iin (A) Iout (A) VFB (V) R222 180 12.345 0.25 1 1.293 1.54k15 510 5.163 0.1 0.3 1.293 1.54k

•Two battery configuration

•Isolation of camera and PC104 allows for better efficiency

•Fusing between batteries and DC converter boards

•DC Buck Converter allows for variable input and appropriate output voltage to power systems

Budget

• Production Cost: $3,544.43– Includes cost of the camera, frame grabber, and

PC/104

• Allotted Budget: $2000.00– Budget for additional purchased items

• Actual Cost: $1,118.43

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System Capabilities

• 2 hours 10 minutes of battery operation at2 fps (12,890 pictures)

• 5 fps maximum capture rate• Camera isolated from vibrations• System capable of mounting in UAV B (P09232)• Capable of accepting different cameras

– Size and weight of camera can increase– Software easily modified to work with other Camera Link

cameras

Questions?