1. Autonomous Tracking Unit (New Name -- Same Great Project) John Berglund Randy Cuaycong Wes Day Andrew Fikes Kamran Shah Spring 1999 CPSC 483 Midterm Evaluation

2. Project Status Project Goals (Revised): Develop a 2-dimensional servo control system Develop a camera platform Implement an FPGA to camera interface Develop a memory and camera control system Develop a motion tracking algorithm Implement the algorithm in hardware Integrate components Objective: Develop an autonomous camera that can identify and track an object in motion

3. System Diagram (Revised) SRAM Motion Detection Hardware Camera Interface Camera Servo Control Memory & Camera Control Servos

4. Divides the pulse into 10000 increments. Minimum pulse = 625 increments Maximum pulse = 875 increments Problem –Large CLB requirement due to 14-bit counter. 10000 increments 20ms Servo Control Design #1

5. Test the MSB for minimum pulse length. 6-bit input angle and a 7-bit internal counter Problems –Wrong range of pulse duty cycle. Not 1.25-1.75ms –Did not provide small enough increments. Servo Control Design #2

6. Use 8-bit counter twice Increment for minimum pulse length. Reset and increment angle. Problem –CLB count increased as in Design #1 Backed up to Design #2. 8-bit input angle with 9-bit internal counter. Test for MSB. Minimum pulse length => 1|0000|0000 - minimum number of pulses Servo Control Design #3 Final Design

7. Servo Control Final Design

8. Camera Platform Servo Camera

9. Camera Interface I Supports all QuickCam nibble- mode commands Reduced Xilinx footprint from previous implementations Fully tested and operational Speed is limited by handshaking protocol Difficult for outside logic to control and initialize camera Memory and Camera Control Camera Interface Module QuickCam Instruction (8) Parameter (8) Start Hold Send Rdy Valid Data (8) Nibble (4) PCAck Reset Command (8) CamRdy

10. Camera Interface II Memory and Camera Control Camera Interface Module QuickCam Start Hold Send Valid Data (8) Nibble (4) PCAck Reset Command CamRdy Command (8) Removes handshaking protocol Reduces complexity of controlling logic Initialization and video frame size are configurable Easily integrated into other team’s projects

11. Camera Interface II Components

12. Memory & Camera Control Flow Chart

13. Memory & Camera Control Block Diagram

14. Algorithm Test & Development Goal was to develop and test several algorithms Use software to help us visually compare solutions Tests will compare performance in different scenarios

15. Project Timeline

16. Project Ratings