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Published byHoward Bennett Spencer Modified over 9 years ago
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CSE 477 Drone Defense Reece Beigh Peter Gagnon Jonah Nelson
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Investment Opportunity! http://www.youtube.com/watch?v=6i-nMWgBUp0
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Unveiling and Demo http://www.youtube.com/watch?v=sMXbHJMn2hI We’ll Demo Sections as we talk about the Ask questions! We want to answer them!
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High Level Hardware Diagram
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NERF Gun Modified NERF Stampede Removed Air restrictors for Power Removed Excess plastic and batteries for weight
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Firing Circuit NERF Gun requires 12V @ 2A to fire
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Servos It’s been a grim quarter for servos… Started with a pair of Futaba S3306 One died; limping by with an Hobbico CS-75
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Arduino Does low level control of Servos Receives serial commands from Either the Controller, Beagle Board, or PC (Processing)
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Relay Arduino Both the controller and Beagle board talk to the Arduino over serial, but only 1 port available Solution: 2 nd Arduino as Serial to I2C relay
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Serial Inverter Beagle board does serial over RS232 RS232 is -5 to 5V logic. Who new?! A simple inverter = lucky fix
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Let’s See The D@mn Thing Shoot!
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Controller Features: Voltage Regulator 4 Momentary Switches LED’s Rotary LED Array 2 Two-Axis Joysticks Laird Long Range Wireless Radio Arduino Mega Discussion: What the switches do Rotary LED Expandability Serial Commands Laird Radio The Brains
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Serial Commands 102351298 Commands Up Right Don’t Fire Commands ? 5 4 3 012 9 8 6 7
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Laird Radio Three wire interface TXD, RXD, and CTS Ascii Steam Cast (char)
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The Brains PositiveNegative I/O Laird Interface Serial Pins Very Sensitive 1.Laird 2.Serial Com 3.LED DRead Arduino Mega 2560
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Computer Program Processing Capabilities Video Input Serial Output Uses Current/Future Backup Controller Controlled Over Internet Controlled over Laird Wireless
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BeagleBoard, Ubuntu and OpenCV Libraries Autonomous Vision Detection
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BeagleBoard (Rev C4) Specifications: OMAP3530 (720 MHz) 256MB NAND and 256MB SDRAM Boots from NAND, USB, or SD card Has USB, S-video, HDMI, Stereo Audio in/out, J-TAG debugger and Serial-out Chosen by us for its high- speed processor and large amount of RAM for video processing
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CV_Median blur cvSmooth() using a median blur over a 25 x 25 square
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CV_THRESHOLD Graphical descriptor of CV_THRESHOLD functionality. Binary Inverted works alone, but the truncation gets rid of a few more blobs.
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Original ImageCV_MEDIAN smooth After Blobs detection BaseImg Mask After Threshold Truncation After Inverted Binary Threshold
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Original ImageCV_MEDIAN smooth After Threshold Truncation After Inverted Binary Threshold After Blobs detection BaseImg Mask
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Original Image CV_MEDIAN smooth After Blobs detection BaseImg Mask After Threshold Truncation After Inverted Binary Threshold
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Stuff that went wrong / Difficulties Installing the blobs libraries from scratch Trying to turn off the console Problems with the X-loader and U-boot Driver issues with the Logitech webcam Serial I/O communication problems cvBlobsLib all done in grayscale Not being able to see the images from the beagleboard to debug what it saw Integrating all of the systems to work together
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Recommendations / Future Work Implement further image detection requirements or co-requisites (not just color blobs, but an actual shape) Control the whole system from the beagleboard (and the servos with PWM from a PIC) Not use a beagleboard. (Not enough usable IO)
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Thanks! We got a lot of help! Thanks Everyone! Dustin, Ross Serial Help, Beagle/ linux help TomHardware help Gabe CohnPCB Help ArvindDrone Modeling FranOpenCV, Serial, 3D Printing Bing Chen, Sami KunzeMech E Help Prof PatelA lot of work and $ into making this class happen
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Questions?
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