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“Murphy” Surveillance Robot

“Murphy” Surveillance Robot. Phong Truong IMDL Fall 2011 Dr. Arroyo, Dr. Schwartz. Overview. Surveillance Robot Objectives: Obstacle Avoidance Target Tracking Eliminate Target. Final Robot Design. Sensors and Actuators. Sensors 2x Sonar: MaxSonar EZ1 4x Bump: 50 mm Switch Actuators

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“Murphy” Surveillance Robot

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  1. “Murphy”Surveillance Robot Phong Truong IMDL Fall 2011 Dr. Arroyo, Dr. Schwartz

  2. Overview • Surveillance Robot • Objectives: • Obstacle Avoidance • Target Tracking • Eliminate Target Final Robot Design

  3. Sensors and Actuators • Sensors • 2x Sonar: MaxSonar EZ1 • 4x Bump: 50 mm Switch • Actuators • 2x Pololu HP micro motor • 2x 70 mm Wheels • Power • 9.6V, 7.2V AA NiMH Battery Pack Sonar Sensors

  4. Special System • Target Tracking: Foscam Wireless IP Camera with Pan/Tilt • Color detection • Xbee communication • Projectile System: USB Missile Launcher Wireless IP Camera USB Missile Launcher

  5. Experimental Results • Obstacle Avoidance • speed = (K/(K+1))*oldvalue + (1/(K+1))*newvalue; K >= 0 • Threshold: • Very_close: 250 • Near: 300 • Far: 350 • Very_far: 400 • Behavior: • Left_sonar < 250 && Right_sonar < 250: back up • Left_sonar < 250: hard right • Right_sonar < 250: hard left • 250 < Left_sonar || Right_sonar < 300: turn left or right • 300 < Left_sonar && Right_sonar < 350: forward • Left_sonar && Right_sonar > 400: forward fast XCTU Display

  6. Experimental Results (cont.) • Image Processing Position Data Facial Recognition Thresholded Image Real-time Image

  7. Conclusion • Accomplishments • Platform design • Missile launcher system with pan/tilt servos • Obstacle Avoidance and Target Tracking • Understanding of C language, EE principles • Lessons Learned • Cutting platform on T-Tech • Move C.G. forward • Reduce shipping costs • MATLAB image processing • IR mount on missile launcher • ALWAYS BACK UP DATA!!

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