1. Camera Control Loop & Base Station Shawn Schaffert

2. System Overview Base Station (Linux & C++) Pan/Tilt/Zoom Camera serial Node network serial RF

3. Base Station Software Overview Base Station Mote Packet Base Station Camera Camera Interface Estimate Pursuer & Evader Position Predict Evader Position Mote Position TOS packet serial Camera packet serial

4. Estimating Position Loudest Node Center of mass Grouping (Experimental) k-means ??

6. Base Station Configuration File max_x_inches max_y_inches max_x_discrete max_y_discrete number_motes_x number_motes_y camera_base_x_inches camera_base_y_inches camera_base_z_inches camera_base_height_inches camera_descent_angle_degrees camera_zoom_factor mote_proxy_server_ip mote_proxy_server_port_number camera_device mote_device connect_to_mote_proxy base_station_camera_debug base_station_debug mote_proxy_debug max_number_sensor_readings mote_group_id am_handler log_data log_file_name read_data_from_file input_file_name

7. Alternative System Overview (ping pong table light tracking) Base Station 2 (Linux & C++) (UGV) Pan/Tilt/Zoom Camera serial Node network Serial or RF Base Station 1 (Windows & Matlab) RF serial