New Castle Design Associates Progress of Insect Video

New Castle Design Associates Progress of Insect Video Tracking Device October 27, 1998 Team 5 Sponsors: Keith Hopper, USDA & UD

Summary Members Justin L. Combs Raymond M. Foulk IV Ryan S. Mc. Donough George H. Sapna III Primary Customer Keith Hopper (USDA and UD) Advisor Dr. James Glancey Mission: Our mission is to design, construct, and refine an insect video tracking system for agricultural research that provides our customers with a creative, realistic and performance-based solution. Approach: Our strategy will be to gain an overall knowledge of the project and then to strive for a solution by researching, benchmarking, and defining the customer’s wants and constraints. Finally, using an iterative design synthesis process, our team will generate the best solution to satisfy our customers.

Background • $100 million crop damage each year due to pests • Introduction of beneficial (predatory) insects into environment • Study of reproductive habits - Aphelinus asychis

Problem Description • Existing System • Measures insect movements within a small arena • Problem With Existing System • Disturbs the behavior of the insects Camera Specimens

Design Process Interview Customers Revise Wants Benchmarking Concept Generation Derive Metrics Target Values Concept Evaluation Good Solution?

Important Customers Keith Hopper Richard Turcotte Mr. Filasky Rex Mears Alice Kline Greg Frantz Anthony Wexler Entomologist Farmer Supermarket Manager Consumer Environmentalist

Revision of Wants Low Want Exponential Decay of Importance Customers Rank High Want (Customer Rank) x (Want Factor) = (Importance to Customer) (Performance Goal) x (Importance to Customer) = (Overall Weight)

Top 10 Wants • • • Track the insect over large area Measure position and speed of the insect Adaptability to other types of insects Not to disturb the insect’s behavior Easy-to-learn user interface Ability to record for 10 - 20 minutes Maximize use of existing equipment Benefits must out-weight costs Preferred language is C/C++ Minimize post-processing of data

Derivation of Metrics List of Metrics Top 10 Wants Total Correlation Matrix 1. Rate the correlation of each metric to each want. 2. Sum the correlation factors for each metric. 3. Sort the metrics according to total.

Top Metrics & Target Values 1. Size of Tracking Area 2. Total Acquisition Time 3. Adaptability to Other Insects 4. Frequency of Acquisition 5. Feedback Delay 6. Desired Programming Language 7. Accuracy of Positional Measurements 8. Distance from Device to Insect 9. Amount of Existing Equipment Used 10. Simple Design ? 11. X, Y Coordinates of Insect 1 m x 1 m 20 min 1 mm - 4 cm (2 D) 1 Hz 0. 5 sec C or C++ +/- 1 mm 0. 5 m 100% Yes

Design Process Interview Customers Revise Wants Benchmarking Concept Generation Derive Metrics Target Values Concept Evaluation Good Solution?

Comparative Benchmarking 1. Rate each benchmark on how well it satisfies each want. 2. Total the rates to achieve a total score for each benchmark. 3. Sort the benchmarks by total score.

System Benchmarking • • • Existing Video Tracking System Ultrasound Scanner at the C. C. M. NASA Vertical-Spin Tunnel Autonomous Robot “RHINO” Semi-Automated Film/Video System

Functional Benchmarking • • • Torch location algorithm with ATP project at C. C. M. Stepper motors Servo motors with position sensors P. I. D. control Fuzzy Logic control

Concept Generation y Polar Track Sensing Surface z x Wide Angle Moving Surface R F(s) TF(s) Pivot C Bubble H(s) Robot Cartesian Track

Sorted Metrics Concept Evaluation Concepts Comparison Values Total 1. Compare each concept to the best benchmark. 2. The “best concept” has the highest column total. 3. Repeat step 1 with current “best concept”.

Preliminary Concept 1 Mobile robot with relative positioning: A robot which follows insect over a specified area while recording the insect’s position

Preliminary Concept 2 Stationary high-resolution camera with wide angle lens: A camera records the insect’s motion over a large area

Division of Work Justin Combs Ray Foulk Ryan Mc. Donough George Sapna Concept Generation & Evaluation SSD, Benchmarking Schedule, Customer Relations SSD, Customer Relations Team Effort Presentations, Planning, Goals Budget $5000 Thousand Dollars Flexible depending upon primary customer’s judgement.

Schedule To Date

Plans Until Next Presentation 10/25 - 11/8 Refine Concepts 11/1 -11/15 Engineering Analysis of “Best Concept” 11/8 - 11/20 Engineering Drawings 11/15 - 11/24 Written Report 11/20 - 12/3 Prepare Presentation

Long Term Schedule By December 1998. . . Finalized Concept By January 1999. . . Order Major Components By March 1999… Build Full Scale Prototype March - April 1999… Test Prototype By May 1999… Final Revisions & Documentation

Preliminary Concept 3 Cartesian Tracking System Camera moves over a plane in two orthogonal directions. CAMERA INSECT ARENA X Y

Previous Benchmarks • • Existing Video Tracking System NASA Vertical Spin Tunnel Biorobotic Vision Group DARPA Image Understanding Program Semi-Automated Film/Video System CAD Plotter PC Mouse

Previous Top 10 Wants • • • Track the insect over large area Measure position and speed of the insect Adaptability to other types of insects Not to disturb the insect’s behavior Easy-to-learn user interface Ability to record for 10 - 20 minutes Maximize use of existing equipment Benefits must out-weight costs Preferred language is C/C++ Minimize post-processing of data