Team 14 : Jonathan Pham, Pritesh Solanki, Po-Han Wu, Josh Schulte, Joseph Nguyen

Background Design Requirement Proposed Design Block Diagram I/O Specification Criteria

Design a system using multiple sensors that i nterface to a TI microprocessor. Use a Mobile Robot Platform Implement One Game & One Task Utilize Open Source Software

Multi Sensor System: Microsoft Kinect Processor: Beagle Board Mobile Robot: Roomba Game: Laser Tag Task: Intruder Detection Open Source Software: Microsoft SDK, TIesr (Speech Recognition)

Multi Sensor System: Microsoft Kinect Processor: Beagle Board Mobile Robot: Roomba Game: N/A Task: Intruder Detection Open Source Software: Open Kinect, Player TIesr (Speech Recognition) Modified Design

Beagle Board Kinect VoiceVideoInfrared Roomba

Subsystem Criteria  Object Recognition Detect object of size 3 cm by 3 cm. At Distance of 5 feet  Movement Moving at full speed: 250 mm/sec without hitting any object.  Speech Recognition: Identify the key command 80%  Aim and shoot: Detect target within 1 meter Within 5 sec aim at object location and shoot. Accuracy 90%

 Chosen robotics platform: The Roomba –Smooth mobility; easy to navigate –Low-cost –UT lab provides programming capability –Provides stability for kinect (unlike robosapiens)

 Chosen sensor array: Kinect –Integrated with all desired sensors –Unrivaled performance –No integrated microprocessor –Low-cost solution –Many open-source software implementations (MSFT)

 Chosen microcontroller: Beagle Board –Powered by TI OMAP3530 ARM processor –Low-powered –Low-cost –720MHz ARM Cortex- A8 Core –256 MB LPDDR RAM memory –Contains many desired peripherals

Intruder Detection  Using Player, beagleboard will control the movement of the roomba.  Using Open Kinect, kinect will capture video, and beagleboard will process for intruder detection.  If detected, beagleboard will stop movement and sound the alarm.