Trademarks. ix

Resources. x (Not Online)

Nomenclature. xi (Not Online)

1.0 Introduction. 1

1.1 Objectives. 2

1.2 Project Method. 2

1.3 System Breakdown. 3

1.4 Applications of Work. 4

1.5 Project Planning. 5

2.0 Background Theory. 7

2.1 Previous Work. 7

2.2 Hardware. 9

2.2.1 PIC Microcontroller 9

2.2.2 PIC Brick. 10

2.2.3 USB Brick. 10

2.2.4 FPGA. 11

2.2.5 Servo Motors. 12

2.2.6 Optical Components. 13

2.2.7 Wii Remote Control. 15

2.3 Standards. 16

2.3.1 RS232. 16

2.3.2 Phillips RC5. 17

2.4 Host Software. 18

2.4.1 Borland C++ Builder 18

2.4.2 Matlab. 19

2.5 Embedded Software. 19

2.5.1 Verilog. 19

2.5.2 Assembly. 20

3.0 Pan/Tilt Design. 21

3.1 Chosen Pan/Tilt Design. 21

3.2 Pan / Tilt Specifications. 22

4.0 System Controller 23

4.1 Design. 23

4.2 Command Set 24

4.3 Circuit Schematic. 25

4.4 Operation of Blocks. 26

4.4.1 Serial Module. 26

4.4.2 Servo Driver 26

4.4.3 Command Decoder 27

4.5 Command Decoder Pseudocode. 28

4.6 Test Program.. 29

4.6 1 GUI 29

4.6.2 Main Functions. 30

5.0 Communications. 32

5.1 Laser 32

5.1.1 Development 32

5.1.2 Laser Modulation Schematic. 34

5.1.3 Program Operation Pseudocode. 35

5.2 IR Leds. 36

5.2.1 Development 36

5.2.2 IR Transmitter Flowchart 38

5.2.3 IR Transmitter Pseudocode. 39

5.2.4 Timing of Transmitter Delays. 41

5.2.5 IR Receiver Flowchart 42

5.2.6 IR Receiver Pseudocode. 43

5.2.7 Timing of Receiver Delays. 45

6.0 Achieving Lock On. 46

6.1 Design. 46

6.2 Image Processing Development 47

6.3 Guide to Capturing and Locating Beacon. 48

6.4 Main Processing Program.. 49

6.4.1 AreaScan Flowchart 50

6.4.2 AreaScan Pseudocode. 51

7.0 Complete System.. 53

7.1 Summary. 53

7.2 Hardware. 54

7.3 Software. 55

7.3.1 AreaScan. 55

7.3.2 Controller 55

7.3.3 IR Modulator 55

7.3.4 IR Decoder 55

8.0 Measurements & Results. 56

8.1 Pan /Tilt Head & Controller 56

8.2 IR Camera & Image Processing. 56

8.3 Complete Scanning System. 58

8.3.1 Method. 58

8.3.2 Results. 58

8.3.3 Discussion of results. 59

9.0 Conclusions & Future Work. 61

9.1 Conclusions. 61

9.2 Problems. 62

9.3 Limitations. 62

9.4 Future Work. 63

References

Bibliography. 65

Appendix A – Project Schematic. 66

Appendix B – Project Cost 68(Not Online)

Appendix C – IR Data Rate Calculations . 69(Not Online)

Appendix D – Using Wii Camera sensor 70

Appendix E – CD Contents. 71

Appendix F – Program Details. 72 (Not Online)

Appendix G – Journal Conference Paper 74 (Not Online)

Appendix H – Minutes Of Meetings. 80 (Not Online)