1. Si-Fo..The Universal ‘Sign’ Follower! TAs: Andy Gray, Jake Easterling Instructors: Dr. A. Antonio Arroyo Dr. Eric M. Schwartz Izhar Shaikh ---------------------- ------------ IMDL | FALL 2015

2. Topics What until now? What did I change? What I learned? A Working model Video Si-Fo

3. ..Si-Fo on Pre-Demo Day! Very low FPS & Resolution: 4 FPS @ 640x480 7 FPS @ 320x240 Lower range due to lower resolution Low speed and larger response time Delay in frames capturing and processing Erratic behavior (sometimes)

4. What were my options? Upgrade the hardware to some powerful board e.g. Odroid-XU4, BeagleBone Black etc. That’s a lot of change and very little time. So, No! Maybe different vision algorithm, eh? Current algorithm is the simplest and least CPU intensive one among others. So, No! Any other way that won’t change anything in the Hardware & Robot Design, but will improve the performance significantly? Yes!

5. The Shift Added!

6. Results? HUGE Improvement in FPS & Resolution: 30 FPS @ 640x480 with no lag! 15 FPS @ 1280x720 with lag ~0.6 seconds! (720p Resolution) Currently Running on: 20 FPS @ 800x600 Resolution. Response time is in microseconds! No Erratic behavior. Higher precision because of the motor speed control algorithm on computer.

7. Working Demo See Website

8. What did I learn from IMDL? First time Hands-On OpenCV, Data Transfer over Network implementation in programming, Python System Integration & Development How to stick to the timeline Algorithm & Software Development for Real-Time Systems An art of doing ‘Trade-offs’ Problem Solving Techniques Mechanical Aspects of Robotics

9. Thank You!