1. Electrical and Computer Engineering Irregular Object Dimensioning System Advisor: Professor Neal Anderson Michael Baccari Peter Bian Michael Coughlin Avi Noy

2. 2 Electrical and Computer Engineering Agenda  Background  MDR Specification  Progress Report  Challenges  Future Plans  Summary

3. 3 Electrical and Computer Engineering Background Sorting facilities’ conveyer belts. Components of sort system: Photo eye, laser measuring heads, set of 6 line-scan cameras.

4. 4 Electrical and Computer Engineering Background (Cont’d) Irregularly shaped objects Current issues with the dimensioning component. “The irregular approval.”

5. 5 Electrical and Computer Engineering Background (Cont’d)  Dimensions used for storage area on cargo planes  Minimize cuboidal volume of irregularly shaped objects Increases profits Save cargo space  “Irregular Approval” Guideline test for major shipping companies  Half inch margin error  “Sputnik” test

6. 6 Electrical and Computer Engineering MDR Specification  Software Progress Demo of algorithms for dimensional reconstruction from simulated laser data input Demo of image processing algorithm with basic edge detection from camera  Working Hardware Components Conveyor Belt 2 laser measuring heads (LMS 200) 2 Cameras LED Light Sources Photo Eye  Research Multiplexing Image Processing Depth Maps  Quantifiable Requirement Specifications Irregular Approval Proposed System Improvement

7. 7 Electrical and Computer Engineering Progress Report - System Block Diagram

8. 8 Electrical and Computer Engineering Progress Report (Cont’d)  Hardware Components LMS – Laser Measuring Heads One 2-D camera Two LEDs Photoeye Conveyor belt

9. 9 Electrical and Computer Engineering Progress Report (Cont’d)  LMS Setup

10. 10 Electrical and Computer Engineering Progress Report (Cont’d)  LMS Initialization

11. 11 Electrical and Computer Engineering Progress Report (Cont’d)  2-D Camera

12. 12 Electrical and Computer Engineering Progress Report (Cont’d)  LEDs

13. 13 Electrical and Computer Engineering Progress Report (Cont’d)  Photoeye

14. 14 Electrical and Computer Engineering Progress Report (Cont’d)  Photoeye (Cont’d) IR Led transmitter – Hamamatsu part #L2690-02  Forward current I F = 50mA  R = V CC /I F = 5/50mA = 100Ω Digital output photo IC – Hamamatsu part #L6289  Photodiode  Schmitt trigger circuit  Output resistor R L = 1.2kΩ C coupling = 0.01uF

15. 15 Electrical and Computer Engineering Progress Report (Cont’d)  Photoeye – Results

16. 16 Electrical and Computer Engineering Progress Report (Cont’d)  Conveyer belt demo video

17. 17 Electrical and Computer Engineering Progress Report (Cont’d)  Image processing algorithm SUSAN (Smallest Univalue Segment assimilating Nucleus) Principle

18. 18 Electrical and Computer Engineering Progress Report (Cont’d) Image processing algorithm demo

19. 19 Electrical and Computer Engineering Progress Report (Cont’d)  Laser edge detection and dimensional algorithm

20. 20 Electrical and Computer Engineering Challenges  Blind spots

21. 21 Electrical and Computer Engineering Challenges (Cont’d)  Current algorithm 2 dimensional axis  No algorithm for 3 dimensional axis  All edges and protrusions mapped out for irregular object  Multiplexing cameras with LMS heads

22. 22 Electrical and Computer Engineering Future Plans  Creation of 3 dimensional axis algorithm  Implementation Multiplexing of two sets of data Execution of new dimensioning algorithm  Possible improvement of edge detection for LMS and cameras  Construction of redesigned control box

23. 23 Electrical and Computer Engineering Summary  MDR Specification  Improve accuracy of dimensioning of irregularly shaped objects  “Irregular Approval” Half inch margin of error

24. 24 Electrical and Computer Engineering Comments / Questions?