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Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface

Automated Football Launcher: Methods for Completing Autonomous Football Passes using Motion Tracking. Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface Georgia Institute of Technology School of Electrical and Computer Engineering March 17, 2010. Project Overview.

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Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface

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  1. Automated Football Launcher: Methods for Completing Autonomous Football Passes using Motion Tracking Carmine Milone, Joe Milone, Alex Heydari, George Yue, and Joe Fyneface Georgia Institute of Technology School of Electrical and Computer Engineering March 17, 2010

  2. Project Overview • Continuously track a moving object using web-cams to deliver a football accurately • Apply technology for football teams in order to reduce work load for trainers • Estimated development costs at $80,000; initial cost of a prototype system will be approximately $1,500

  3. Automated Football Launcher Components

  4. Design Objectives • Continuously track a moving object using web-cams in real-time • Analyze the path of the object to determine the launching angle and direction • Utilize a motor control algorithm to attain a specified trajectory • Launch a football triggered by a relay board

  5. Summarized Design Flow chart

  6. Current Status • Web-cam tracking program completed • Motor control and relay board code written and tested • Compressed air launcher and platform are under construction

  7. Logitech Orbit Web-cam • Resolution: up to 1600 by 1200 pixels • Currently using 640x480 resolution for better performance • Color depth: 24-bit true color • Frame rate: 30 FPS • 15 to 20 FPS when detection algorithm is running • Interface: USB 2.0

  8. Phidgets HC Motor Control Board • Controls up to two DC motors • Updates data 50 times/second • Can provide up to 18A • Utilizes USB connection

  9. Motor Specifications • Type: DC Gear motor • Voltage: 12V • Current: 14A-19A • Currently programmed to utilize 7A • Controlled using Phidgets HC Motor control board

  10. Pan/Tilting Platform

  11. Phidgets Relay and I/O Board • Relay board: • 2 relays for switching AC/DC • Up to 240VAC at 10A • Up to 100VDC at 5A • Will open/close air valve • I/O board • 8 analog inputs • 8 digital inputs / outputs

  12. Compressed Air Launcher • 6 in. diameter PVC pipe • Can be interchanged with a 3 in. diameter PVC pipe • 135 psi • 3 gallon air tank • Controlled with Sprinkler valve

  13. Technical Approach • Calculate the offset between the center of the web-cam's frame and the object’s position • Translate the offset into a motor control launch angle and direction • Predict the object’s final position and launch the football timely to the specified location

  14. Web-cam Tracking Algorithm

  15. Tracking using Blob Detection • Web-cam searches for a specific color • Code written in C# using .NET framework • Utilizes DirectShow library • Accesses pixel data directly from memory

  16. Web-cam Tracking Demo http://www.youtube.com/watch?v=162fvelALGU

  17. Motor Control • Coded in C# • Tracking determines degrees of rotation/tilt • Use small movements as a unit of translation • Keep velocity constant

  18. Trajectory Algorithm • Use kinematics to determine angles of the platform θ H

  19. Alternatives • Linx RF modules were developed and tested for tracking • RSSI / Triangulation tracking methods were designed • Did not work as intended due to destructive interference • Lower frequency RF modules are being considered

  20. Challenges / Problems • Building the compressed air launcher and platform • Implement a web-cam algorithm to detect objects over 30 yards away from the launcher • Lighting constraints • Lack of commercial football launcher • Develop RF modules for tracking

  21. Marketing • Estimated System cost • Logitech Web-cam: $100 • DC Motors and control board: $200 • Moderately powered computer: $500 • Air compressor launching system/platform: $700 Total: approximately $1500

  22. Schedule • 03/29/2010: Finish building platform • 04/07/2010: Complete compressed air launcher • 04/16/2010: Integrate all components • 04/30/2010: Complete system testing • 05/06/2010: Final Demonstration

  23. Future Work • Consider more complicated tracking methods such as RF frequency modulation • Integrate with the Jugs Football Thrower • Create a hopper system to automatically feed and reload multiple footballs

  24. Project Summary • Two candidate methods to track an object have been compared and evaluated • Optical tracking has shown promising results while RF needs more development • Optical tracking performs reasonably well if the object is within 30 yards

  25. Any questions, suggestions, or comments?

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