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CSE 477 Drone Defense

CSE 477 Drone Defense. Reece Beigh Peter Gagnon Jonah Nelson. Investment Opportunity!. http:// www.youtube.com/watch?v=6i-nMWgBUp0. 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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CSE 477 Drone Defense

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  1. CSE 477Drone Defense Reece Beigh Peter Gagnon Jonah Nelson

  2. Investment Opportunity! • http://www.youtube.com/watch?v=6i-nMWgBUp0

  3. 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!

  4. High Level Hardware Diagram

  5. NERF Gun • Modified NERF Stampede • Removed Air restrictors for Power • Removed Excess plastic and batteries for weight

  6. Firing Circuit • NERF Gun requires 12V @ 2A to fire

  7. 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

  8. Arduino • Does low level control of Servos • Receives serial commands from Either the Controller, Beagle Board, or PC (Processing)

  9. Relay Arduino • Both the controller and Beagle board talk to the Arduino over serial, but only 1 port available • Solution: 2nd Arduino as Serial to I2C relay

  10. Serial Inverter • Beagle board does serial over RS232 • RS232 is -5 to 5V logic. Who new?! • A simple inverter = lucky fix

  11. Let’s See The D@mn Thing Shoot!

  12. Controller • Features: • Voltage Regulator • 4 Momentary Switches • LED’s • Rotary LED Array • 2 Two-Axis Joysticks • Laird Long Range Wireless Radio • Arduino Mega Discussion:

  13. Serial Commands 9 5 4 0 1 2 8 3 6 7 102351298 102351298

  14. Laird Radio • Three wire interface • TXD, RXD, and CTS • Ascii Steam • Cast (char)

  15. The Brains Arduino Mega 2560

  16. Computer Program • Processing • Capabilities • Video Input • Serial Output • Uses Current/Future • Backup Controller • Controlled Over Internet • Controlled over Laird Wireless

  17. BeagleBoard, Ubuntu and OpenCV Libraries Autonomous Vision Detection

  18. 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

  19. CV_Median blur cvSmooth() using a median blur over a 25 x 25 square

  20. CV_THRESHOLD Graphical descriptor of CV_THRESHOLD functionality. Binary Inverted works alone, but the truncation gets rid of a few more blobs.

  21. Original Image CV_MEDIAN smooth BaseImg After Blobs detection Mask After Threshold Truncation After Inverted Binary Threshold

  22. Original Image CV_MEDIAN smooth BaseImg After Blobs detection Mask After Inverted Binary Threshold After Threshold Truncation

  23. CV_MEDIAN smooth Original Image BaseImg After Blobs detection Mask After Threshold Truncation After Inverted Binary Threshold

  24. 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

  25. 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)

  26. Thanks! • We got a lot of help! Thanks Everyone! • Dustin, Ross Serial Help, Beagle/ linux help • Tom Hardware help • Gabe Cohn PCB Help • Arvind Drone Modeling • Fran OpenCV, Serial, 3D Printing • Bing Chen, Sami KunzeMech E Help • Prof Patel A lot of work and $ into making this class happen

  27. Questions?

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