PROJECT : Human tracking system using a zeppelin & pc-station INSTRUCTOR:

הטכניון - מכוןטכנולוגילישראלTECHNION - ISRAEL INSTITUTE OF TECHNOLOGYהפקולטהלהנדסתחשמלהמעבדהלבקרהורובוטיקה PROJECT : Human tracking system using a zeppelin & pc-station INSTRUCTOR: Kobi-Kochay David-Gidony ACCOMPLISHED BY : Ronen-Horovitz Uri-Gover Faculty of Electrical Engineering Control & Robotics – Lab

PROJECT-DEFINITION : • HUMAN-TRACKING SYSTEM , using : • A MOBILE ZEPPELIN , a flying motored platform transmitting video-stream of tracked-target to PC-station • A STATIC PC-STATION , performing real-time image-processing on video-stream and sending steering-commands to mobile-zeppelin Faculty of Electrical Engineering Control & Robotics – Lab

APPLICATIONS : • INDOOR SURVEILLANCE : inspecting or tracking a suspect in any kind of a closed arena ( airport/mall/check-point ) from a control room • ANY INDOOR OBJECT INSPECTING APPLICATION ( with limitation of speed ) Faculty of Electrical Engineering Control & Robotics – Lab

SUB-SYSTEMS : • PC-APPLICATION : a suspect that was marked upon video-stream received from zeppelin will be tracked by a s.w. algorithm. PC-station will send steering commands to zeppelin in order to track suspect. • VIDEO-TRANSMISSION : a camera will send video-stream to a video-transmitter , both placed on the zeppelin . PC-station will receive the video-stream through a video-receiver . • COMMANDS-TRANSMISSION : PC-station will transmit commands to zeppelin through commands-transmitter . These commands will be received by the zeppelin and control its • 3 motors : right, left and up-down motors Faculty of Electrical Engineering Control & Robotics – Lab

PROJECT-SCHEME : Mobile zeppelin Video-stream commands Static PC-station moving target Faculty of Electrical Engineering Control & Robotics – Lab

Image processing task • The task is defined as follows:A user clicks on a human or an object in the screen.The algorithm analyses the object to be tracked and continuously finds it in the next video frame along the video stream, marking it as well. Faculty of Electrical Engineering Control & Robotics – Lab

Our original solution • Color is a very powerful attribute which distinguishes an object from its environment, and is easy to represent. Faculty of Electrical Engineering Control & Robotics – Lab

Our original solution • Objects change their position in a very smooth and continuous way so an object’s local position is a very important attribute which can help distinguish an object from other similar or exact objects. It is also an easy attribute to represent. Faculty of Electrical Engineering Control & Robotics – Lab

Lets see a few movies… Occluded by similar color… Faculty of Electrical Engineering Control & Robotics – Lab

COMMANDS - TRANSMISSION • THE TASK: • commands from PC-station will be transmitted using a transmitter-unit. It will be received and decoded on the zeppelin , to control its motors . • SOLUTION REQUIRMENTS : • Support a wide/flexible range of commands • Reliable • Lightweight • Low power consumption • Small dimensions Faculty of Electrical Engineering Control & Robotics – Lab

SOLUTION FLOW-CHART : a P.W.M CONTROL , but not a full one -> S.W. invokes a pulse to a motor/motors PC-UNIT ZEPPELIN-UNIT 1) S.W. SENDS COMMANDS TO PARALLEL-PORT 5) COMMAND IS RECEIVED 2) PARALLEL-PORT CONNECTS TO A TRANSMIT-UNIT 6) COMMAND IS DECODED • SELECTION OF MOTORS AND THEIR DIRECTIONS. PULSE GENERATION. 3) COMMAND IS ENCODED 8) DRIVING POWER INTO CORRESPONDING MOTORS 4) COMMAND IS TRANSMITTED Faculty of Electrical Engineering Control & Robotics – Lab

IMPLEMENTING REQUIRMENTS : • Support a wide/flexible range of commands : • -> 10 commands , pulse-freq. determined by s.w. • Reliable • -> enc/dec units , pulse-width is fixed smaller implementation = less noise • Lightweight • Small dimensions • -> smaller implementation • Low power consumption • -> smaller implementation , using 3V-logic (74hcXX family) Faculty of Electrical Engineering Control & Robotics – Lab

PC-UNIT : transmission of command BOARD-UNIT : receive command & drive motors TOP : Faculty of Electrical Engineering Control & Robotics – Lab

Faculty of Electrical Engineering Control & Robotics – Lab

PC-UNIT : S.W. interface to Parallel-port Encoder Output Encoder Clock & TX data Transmitter : Frequency Modulation Faculty of Electrical Engineering Control & Robotics – Lab

REC&DEC-UNIT: Receive data & decode it (reverse opertion of PC-UNIT) CONTROLLER : Convert command to motor-selection & direction DRIVER : Drive power to selected motors BOARD-UNIT : Faculty of Electrical Engineering Control & Robotics – Lab

REC&DEC-UNIT : Decoder time-constant of a bit Receiver output Decoder time-constant of a word Receiver output ** Encoder double checks data received Faculty of Electrical Engineering Control & Robotics – Lab

convert command to selection of motor and its direction generate fixed-width-pulse to selected motors. CONTROLLER : Fixed-width-pulse Faculty of Electrical Engineering Control & Robotics – Lab

DRIVERS : • Supply power to motors • according to their selection • 2 drivers : • Motors left and right • Motor up-down Faculty of Electrical Engineering Control & Robotics – Lab

PC-UNIT Faculty of Electrical Engineering Control & Robotics – Lab

BOARD-UNIT Faculty of Electrical Engineering Control & Robotics – Lab

DEMONSTRATION : Faculty of Electrical Engineering Control & Robotics – Lab

!! MANY THANKS !! • TO • CRL-STAFF • FOR YOUR KIND • SUPPORT • & • GUIDANCE … Faculty of Electrical Engineering Control & Robotics – Lab

PROJECT : Human tracking system using a zeppelin & pc-station INSTRUCTOR: