G al-line tech nl gy Team INTERNATIONAL Marko Bundalo Ponphet Homchanh David Wu Ideen Taeb Jason Mucilli

Pr ject Descripti n FIFA (federation internationale de football association) Referee errors Improvements Other sports (tennis, football, hockey, etc.)

Pr ject G als Mandatory Features Implement beside/above the goal camera that is linked to a computer Uploading pictures generated from camera to the computer Detection system will give response whether the goal was scored or not Building a launcher (ping pong) that will move in semicircle/straight path around the goal Shooting from the gun toward specific target by moving it horizontally/vertically

Extra Features Detect different shapes of objects (foot, hand, ball, etc..) Feedback ability from detector to the speaker Detect what coordinates the ball has entered Accurate control - targeting Measure the speed of a ball

Hardware Implementati n Computer Image Processing Camera #1 FPGA Camera #2 Stepper Motor 2 Stepper Motor 1 Stepper Motor 3 Controller Trigger RAM ROM Micro controller Stepper Driver Stepper Driver

Micr c ntr ller Software brains on M68HC11K1 8 bit opcodes 16 bit addressing Four 8-bit PWM outputs Expandable memory

FPGA verview Chip selection Addressing selection of RAM/ROM Xilinx Spartan-3 FPGA with twelve 18-bit multiplexers, 216Kbits of block RAM, 500MHz internal clock speeds On-board 2Mbit Platform Flash (XCF02S) 8 slide switches, 4 pushbuttons, 9 LEDs, 4-digit seven-segment display Serial port, VGA port, and PS/2 mouse/keyboard port Three 40-pin expansion connectors 1Mbyte on-board 10ns SRAM Works with JTAG3 programming cable

M t rs and Mechanics Provide gun left/right and up/down movement Additional Parts such as camera might be added Stepper motors with driver chip will be used to provide bi-directional movement

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

Turret Assembly SPECIFICATIONS Velocity: 4.47~31.3 m/s Weight: Launcher – 5 lbs Turret Mount ~ 10 lbs Material: Wood, Acrylic, Bolts Motors: 3x DC stepper motor Width/Height/Depth => 16’/40’/12’ Gear Ratio: 1:8 ~ 1:10

Setting up the camera Personal Computer 1-2 VGA cameras (30-60 fps) USB/Firewire interface

Digital Image Pr cessing This part will be done using 1-2 cameras The cameras will send frames to computer and Matlab will process these frames. Using Image Processing Toolbox, these frames will be processed in real time and IPT tool will determine if the ball has passed the line or not.

Image Prepr cessing Using Image Processing Toolbox, these frames will be processed in real time The frames will be turned into black and white. The ball will be segmented out of the picture using image subtraction The center of ball will be found using regionprops command. Then decision will be made based on coordinates of the center.

Divisi n f Lab r Goal Digital Image Processing Camera(s) FPGA Microcontroller Board Design Marko & DavidPohphet & TeamIdeen & Jason Mechanics Ping Pong gun Controller Hardware

Estimated Part C sts

Return f Investment Development cost Production cost (1000 units) Sales Price Profit Man power (5x$20x300) $30,000 $100K Material cost $2500(unit x $500) $500K (unit x $1000) $1M Total$32,500$600K$1M$360K

Gantt Chart

P ssible Risks & Pr blems PRECISION whether the ball passed the goal line or not / Speed of ball vs frame rate Real time response/Fast processing Multi-camera processing capability Smooth changing directions of the gun shot Ball speed control Dependent upon previous project especially programming

Questi ns / C mments ?