UF Presentation at Intel

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EEL 5666c Intelligent Machines Design Lab
Presented By Gregory Garcia
B.O.S.S Battery Operated Smart Servant The Final
Revision
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Functionality
Current Capabilities

• Obstacle Detection

• Target Identification and Recognition

• Target Tracking

• Reactive Behaviors

• Fault and recovery modes

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Integrated System
Major subsystems

• Processing

• Sensor Suite

• Actuation

• Power System

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Power System


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Actuation


Transient voltage Suppressor
Motor Driver
Denso 12V DC Power Window Motor capable of 150 rpm
Heavy-Duty Solid Rubber Tire 8x1.75 inches
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Actuator System
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Enclosure and Integration
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Sensor Suite
Capabilities
Sensors

• Vision

• Obstacle Detection

• Sonar

• Target Identification and Recognition

• IR

• Target Tracking

• Reactive Behaviors

• Fault and recovery modes

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IR Sensor

• Functionality

• Detection of close range obstacle that may be
  encountered during image tracking

• Location/Adjustment/Mounting

• Shielding and rerouting

• Noise

• Secure, yet modular and adjustable

• Data conditioning

• Ring buffer

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Other Sensors

• Sonar used for determining distance to tracked
  target

• Logitech Quick cam Web used for target
  identification/recognition and tracking

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Image Processing Algorithm

• Processes

• Capture image

• Find and denote area of interest

• Mean Filter Data

• Locate Centriod and mark on image

• Flaws

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Video Samples Continued


Filtered
Unfiltered
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Video Sample


Comprehensive
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B.O.S.S. Vision

• Algorithm compiled using C language and OpenCV
  libraries

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B.O.S.S. Vision
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Implemented Behaviors

• Learn
• Track
• Maintain distance
• Approach
• Fault Mode

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First Run Video
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Conclusions

• Sonar difficulties initially
• Color tracking is heavily dependant on lighting
  conditions, therefore limited use
• Webcams like to auto adjust levels which is a bad
  thing
• Leads to false positives
• Noise is always an issue, so use GOOD SHIELDED
  wire
• IR sensors work but reliability in different
  ambient conditions is questionalbe

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Future Work

• More sophisticated tracking system.
• Pattern recognition
• IR beacons
• Auto iris lens
• Base platform
• Bearings on drive motors
• Compartmentalize microcontroller and single board
  computer

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Questions?