1. H.O.S.S. AUTOMATED SENTRY FOR HUMANS VS ZOMBIES 10/31/2013

2.  Stationary tripod mounted Blaster  Blaster can easily be installed/uninstalled for maintenance or non-autonomous use  Not Shown:  Tripod Legs  Fully assembled Vulcan (epoxy curing)  Ammo belt feed PLATFORM

3.  Bump sensors are mounted to the left and right of the blaster’s barrel  Coat hanger wire whiskers to be glued in place  Another bump sensor will be placed inside the Nerf Gun to count the rounds fired, which will be displayed on an LCD numeric display. However, gluing it in place to the PVC strut has proven difficult (4 bonders have been tried).  Function will likely be cut out OBJECT AVOIDANCE

4.  Two webcam circuit boards are hot glued vertically to each other and angled to create a panaramic camera  The center region isnt a perfect match, there is some error when tracking directly in front  OPENCV currently detects largest orange and it’s position  Working on passing the data to the beaglebone TARGET TRACKING

5.  Logitech webcam and OpenCV to track UV Laser  OpenCV: HSV convert -> Threshold -> Erode -> X Position  Not a Number values replaced by last known value LASER DISTANCE FINDING

6.  Distance Calculated by solving: tan(angle)*(cam-laser placement in ft)  Left hand Field of View of Cam is almost parallel to Laser  Pixels are converted to degrees  FoV = 8°, Pixels_x = 1600, Pixels/deg = 200 px/°  Laser Position -> Object Angle -> add to Fixed Angle  UV Filter is used to reduce noise  Needs to be sanded with an emery cloth  For final installation LASER DISTANCE FINDING

7. -> Beagle Bone -> WIRING Outputs: Laser Nerf Mosfet Servo Pan, Servo Tilt Status LEDs Inputs: Laser Web cam Left/Right bumpers Laptop Position Data -> Laptop -> Inputs: Webcam Left Webcam Right Output: Position to beaglebone

8.  OpenCV is a tricky, tricky mistress who’ll eat your time like it’s nobodies business CONCLUSIONS

9. ? ??? ???????????????????????????? ??????????????????????????????????????????????? ??????????????????????????????????????????????? ??????????????????????????????????????????????? ??????????????????????????????????????????????? ??????????????????????????????????????????????? ? QUESTIONS