Milestone 4

4.1 Optimization

Target Acquisition and Targeting

• During camera and laser calibration we found that the use of a 2mm fisheye focal length limited the precision of the system. Since the galvo has a FOV of about 40°, we instead opted to use a 6mm lens.

• During testing of the tracking system, a direct aim point where the laser was aimed at the last position of an object was found to be inadequate. As expected, it would consistently aim at where the object was, not where it is unless it stopped moving. To overcome this, we implemented a kalman filter to create a prediction of the object's future location and aimed the laser there, and also used a multi-object tracking library to determine which insect was the best to follow.

Optics and Mechanical Design

• When adjusting the focal point of the laser, we found that it was more effective to move the laser rather than the diverging and converging lens pairs when considering that the beam had to coincide with both the insect and the laser galvanometer.

4.3 Management

The members of the group adhered to a collaborative approach, fulfilling their designated roles while concurrently providing support when necessary. The group established a rigorous schedule of tri-weekly focused work sessions. This structured yet cooperative dynamic facilitated a cohesive and efficient progression towards the overarching objectives of the project.

Group Member Roles:

Dorzhi Denisov:

• Mechanical design

• Optics

• Electrical design

Chiripol Sirikakan:

• Target identification

• Camera and Laser Calibration

• Insect tracking