Christopher Avakian Intelligent Machine Design Laboratory COMBAT SUPPORT BOT

Mechanical Design Motion Base Storage AreaPan Tilt

Nerf Gun Hack

Blob Detection Calibration: HSV, Brightness, Contrast, Color Intensity, White Balance

Blob Detection Ability to isolate colors in natural high-light environments

Blob Tracking Objective: Move pan/tilt such that highlighted object becomes centered 1.Search for object in a 180 degree span 2.When found, start moving opposite of error 3.Centering. Keep moving until error becomes close to 0. ** 4.When blob is aimed at, and if ultrasound detects an object > 3m away -> Shoot 5.If blob is no longer detected, wait for a set time, then go back to step (564,382) (320,240) (0,0) ** Increment Amount = k* Error Size Delay Amount = k/Error Size

Thank You