1. “Murphy” Surveillance Robot
Phong Truong
IMDL Fall 2011
Dr. Arroyo, Dr. Schwartz

2. Overview Surveillance Robot Objectives: Obstacle Avoidance
Target Tracking
Eliminate Target
Final Robot Design

3. Sensors and Actuators Sensors Actuators Power 2x Sonar: MaxSonar EZ1
4x Bump: 50 mm Switch
Actuators
2x Pololu HP micro motor
2x 70 mm Wheels
Power
9.6V, 7.2V AA NiMH Battery Pack
Sonar Sensors

4. Special System
Target Tracking: Foscam Wireless IP Camera with Pan/Tilt
Color detection
Xbee communication
Projectile System: USB Missile Launcher
Wireless IP Camera
USB Missile Launcher

5. Experimental Results Obstacle Avoidance Threshold: Behavior:
speed = (K/(K+1))*oldvalue + (1/(K+1))*newvalue; K >= 0
Threshold:
Very_close: 250
Near: 300
Far: 350
Very_far: 400
Behavior:
Left_sonar < 250 && Right_sonar < 250: back up
Left_sonar < 250: hard right
Right_sonar < 250: hard left
250 < Left_sonar || Right_sonar < 300: turn left or right
300 < Left_sonar && Right_sonar < 350: forward
Left_sonar && Right_sonar > 400: forward fast
XCTU Display

6. Experimental Results (cont.)
Image Processing
Position Data
Facial Recognition
Thresholded Image
Real-time Image

7. Conclusion Accomplishments Lessons Learned Platform design
Missile launcher system with pan/tilt servos
Obstacle Avoidance and Target Tracking
Understanding of C language, EE principles
Lessons Learned
Cutting platform on T-Tech
Move C.G. forward
Reduce shipping costs
MATLAB image processing
IR mount on missile launcher
ALWAYS BACK UP DATA!!