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This report is submitted as the final report requirement for the ECE.492B course. The course requirements were completed while doing a semester project at the Ecole Polytechnique Fédérale de Lausanne (EPFL) in Lausanne, Switzerland. The academic credits gained at EPFL for this project do not count towards a degree and will not grant me any other credits at the University of Waterloo, other than for ECE 391, ECE 492A and ECE 492B. This project involves the design of a light-weight vision system to be used on the flying robot. The vision system is made up of two identical modules, each one containing a linear photodiode sensor array, a focusing lens with associated plastic casing, a gyroscope, and the PCB on which the system is mounted. The first module will be pointed ahead of the robot and will be used for lateral steering, and the second module will be pointed straight down and be used to control elevation. The main design constraint is the weight of the system, which has to be below 2g for the robot to fly. The aperture size is the diameter of the opening (aperture) in front of the lens of a camera. A semiconductor packaging technology that decreases packaging weight and footprint by placing connections underneath the chip in the form of small solder bumps that are attached to a PCB by curing in an oven. The angle in degrees from the face of the lens from which light can pass through the lens and be focused on the photodiode array on the other side, providing an image. Introduction 1.1 Background 1.2 Previous Design – The F2 1.3 General Specifications 1.3.1 Vision System Weight 1.3.2 Camera Vision Directions 1.4 Block Diagram 2 High-Level Analysis. 2.1 Vision System 2.1.1 Using Only 2 Cameras for 3 VDs 2.1.2 Photodiode Sensor Array 2.1.3 Lens System/Optics 2.2 Microcontroller 2.2.1 A/D Conversion 2.2.2 Pixel Scan Driver 2.2.3 Store Data 3 Detailed Design 3.1 Overall Design 3.1.1 Inclusion of the Gyroscope in the Final Design 3.1.2 Modularity vs. Integration 3.2 Components 3.2.1 Photodiode Sensor Array 3.2.2 Lens System/Optics 3.2.3 Gyroscope 3.2.4 Printed Circuit Board 3.3 Duties/Responsibilities 4 Experimental Results.
Tags : ecole polytechnique fédérale, ecole polytechnique fédérale de lausanne, photodiode array, lausanne epfl, design constraint, lausanne switzerland, flying robot, aperture size, vision directions, sensor array, university of waterloo, miniature cameras, camera vision, vision system, academic credits
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