Goal-line technology Team INTERNATIONAL Marko Bundalo Ponphet Homchanh David Wu Ideen Taeb Jason Mucilli

Why Goal-line technology ? Improve officiating Various sports Increase sport fans interest

Top Level Overview Remote controller Launcher Goal Wire Wrapped board Camera PC Desktop Speaker

Division of Labor Schematics CPLD Microcontroller Board Design Marko & David Pohphet, Marko, Ideen Ideen & Jason Ping Pong gun Controller Hardware Goal Schematics CPLD Microcontroller Board Design Software Digital Image Processing Camera

Functional Block Diagram Camera Computer Image Processing Trigger RAM Stepper Motor 1 Stepper Driver Micro controller ROM Stepper Motor 2 Stepper Driver CPLD Stepper Motor 3 Stepper Driver Controller

Microcontroller Motorola HC11K1 16 bit address 8 bit data Four 8-bit PWM outputs Memory map on the left R/W both data and address on falling edge of E clock (2 MHz)

Microcontroller Schematic

Wire Wrapped HC11K1 and Memory

CPLD Schematic

Motor control Optocoupler to isolate high current from microcontroller Bipolar micro stepping motor driver (+/- 2.5A) Power Transistor & heat sink Bipolar stepper motor (2A)

Motor Drivers 2.5 A, 35V Output Rating 3.0 ~ 5.5V Logic Supply Voltage Range Thermal Shutdown Circuitry Crossover Current Protection 44 pin PLCC

Power Source ATX Power Supply (300W) Output: 12V @ 18A 5V @ 26A 12V will be used to power Stepper motors each rate at 2A (Total of 6A) 5V will be used to power Controller boards

Controller Control multiple functions of the paintball gun: - horizontal/vertical movement of barrel - launching the ball - moving along straight/semicircle path around the goal

Launcher Assembly SPECIFICATIONS Velocity: 10~70 miles/hr 86 balls capacity Weight: Launcher – 5 lbs Turret Mount ~ 5 lbs Max/Min => 63/13 balls/min Material: Acrylic, Bolts, Bearing Rotating Wheels Control Speed, Frequency, Power Motors: 3x DC stepper motor Width/Height/Depth => 16’/25’/12’

Camera VGA Stealth Wire camera (30 fps) 320*240 resolution - 640*480 Firewire-IIDC Compatible-no drivers needed

Image Processing Magic Capture the frames Turn them to black and white Edge Filtering Find the center Compare the centers to find out if it is the goal or not

Image subtract and edge Capturing Frames Turn to B&W Image subtract and edge

Filling and finding the center Dilate Filtering Filling and finding the center

Timeline Status Milestone 1 The microcontroller with Flash and ROM CPLD Read frames from camera and do some basic processing Two Stepper motors that will horizontally and vertically point launcher to specific target

Timeline Status Milestone 2 Third stepper motor that will move the launcher on semicircle path around the goal Complete integration with launcher and microcontroller Goal line detection completely working Testing all modules Manual controller to be able to shoot

Timeline Status EXPO Fully functional launcher which can be controlled manually or automated Goal line detection completed with user interface with display

Gantt Chart

Possible Risks & Problems PRECISION whether the ball passed the goal line or not Speed of ball versus frame rate Real time response/Fast processing Multi-camera processing capability Smooth changing directions of the gun shot Ball speed control

Estimated Part Costs

Questions / Comments ?