1. BABY DUCK Chenlu Sun MAE

2. IDEA A baby duck looking for her mom Functions:  Basic motion  Obstacle avoidance  Distance keeping  Color tracking

3. LAYOUT

4. STRUCTURE Micro Controller Unit ( MCU ) Sensors Human feedback Communication Motors

5. MICRO CONTROLLER UNIT (MCU) Atmel Xmega 128A1

6. SENSORS Webcam Sonar Photoresistor

7. SENSORS - WEBCAM iPhone: iOS 6 App Laptop: OpenCV 2.4.4 + Visual Studio 2012 IP address Video capture

8. SENSORS - WEBCAM

10. SENSORS - SONAR TC  Sonar rigger signal IO port input interrupt M(L/R) { Read TC M(L/R)_Distance = average of 20 history data M(L/R)_Distance > 800  Obstacle detected } If (M_Detected) { Slow down or back If L_Distance > R_Distance + ∆, turn left If R_Distance > L_Distance + ∆, turn right } If (L_Detected), turn right If (R_Detected), turn left M L R

11. SENSORS - PHOTORESISTOR Dark Beep Stop ADC problem

12. HUMAN FEEDBACK LED  Show status of three sonar sensors  If M ( L / R ) _Detected, turn M ( L / R ) _LED on

13. COMMUNICATION Blue Tooth Built-in Blue Tooth Blue Tooth Slave Module

14. MOTORS Two motors  Rear-wheels driving  speed control  Front-wheel turning  Work with gears  position control Motor driver IC  Dual drivers  PWM input – easy control × 2 +

15. THIS IS NOT THE END OpenCV Atmel Spark Fun T-Tech webcam START Lowe’s