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Vision Controlled Nios Robot ViCoN-Bot™

A team of members from Georgia Institute of Technology School of Electrical and Computer Engineering have developed ViCoN-Bot™, an innovative vision-controlled robot. The project involves addressing challenges related to camera noise and interference, color tracking, and distance measurements. The team has also proposed a layout for landmarks in EE halls and is currently working on Nios to camera interfacing and servo pulse-width modulation. Future tasks include completing the state machine, assembling ViCoN-Bot™, and powering it up.

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Vision Controlled Nios Robot ViCoN-Bot™

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  1. Vision Controlled Nios RobotViCoN-Bot™ Team Members Jeff Vickers (gte613i) Andre Moore (gt6875a) Kevin Walker (gte143x) K. Bosompem (gte616r) June 11, 2002 Georgia Institute of Technology School of Electrical and Computer Engineering

  2. Camera Noise and Interference • Two pictures of the same hall with different lighting conditions drastically alters the colors seen by the camera • Sun light casts a reddish tint to the image • Too little light creates an almost greyscale image • All of these were considering when deciding color tracking ranges

  3. Color Measurements and Specifications • Yellow was the best color to track, but interfering lights makes it unsuitable for tracking. • Pink had an effective tracking distance of 15 meters. • Green had an effective tracking distance of 12 meters. • 10 meters was chosen to be color cue landmark separations

  4. Camera Experimental Tracking & Distance Pictures • 3 meters 6 meters 9 meters 12 meters 15 meters • Neon pink & neon green poster boards are tracked at various distances

  5. Proposed Layout of Landmarks in EE Halls

  6. Nios to Camera Interfacing • Initial Problems • UART / Serial Port functionality • Communication – null modem • Baud rate matching • ASCII character recognition • Packet handling • Outstanding Problems • Streaming data packets • Buffering incoming data packets • Synchronization while changing program functions

  7. State Machine

  8. Current Project Progress

  9. Future Tasks • Outstanding Nios to CMUcam interfacing problems • Servo Pulse-Width-Modulation with Nios • Completing and tweaking State Machine • Begin assembling ViCoN-Bot • Powering ViCoN-Bot

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