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Autonomous Tracking Robot

Team 7 Victor Abreu Thomas Schreifer Brent Eisenmann Matthew Beutler Peng Xie Hisham Hassan. Autonomous Tracking Robot. Sponsor: ECE Department Faculty Advisor: Jian Ren. Overview. Project Description Prototype Design Hardware Software Budget Risk Analysis Summary.

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Autonomous Tracking Robot

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  1. Team 7 Victor Abreu Thomas Schreifer Brent Eisenmann Matthew Beutler PengXie Hisham Hassan Autonomous Tracking Robot Sponsor: ECE Department Faculty Advisor: JianRen

  2. Overview • Project Description • Prototype Design • Hardware • Software • Budget • Risk Analysis • Summary

  3. Project Description • Robotic vehicle to identify and follow a marked target • Close within certain distance • Communication capability • Data Documentation • Additional Requirements • Structurally sound body • Self powered • Zero Turning Radius • Manual Shutdown

  4. Prototype Design • Tank Design • Zero turn radius • Easily customizable • Structurally Sound • Greater terrain navigation

  5. Hardware • Tamiya Dual Motor Gearbox • 3V operating voltage • Free run motor shaft speed: 12300rpm • Free run current: 150mA • Stall current: 2100mA • Devantech SRF05 Ultrasonic Range Finder • 1cm-4m Range • 43mm x 20mm x 17mm • 3-4cm Resolution • Blue-tooth Joystick • Bandwidth 2400-2480MGHz • Class 2: 10m range indoors

  6. Hardware Continued • D-Link Wireless Enabled Webcam • Stream to laptop • Wi-Fi • Bandwidth up to 5GHz • 36m range indoors • Tank Body • Chassis • Treads • Arduino Uno Board • Specifications • 14 digital input/outputs • 6 analog inputs • 16MHz ceramic resonator • USB connection • Power jack • ICSP header • Reset button • 2.7”x 2.1” • Compatible with wifi/bluetooth • Easily programmable

  7. Hardware Continued • Power usage and protection • Lithium Ion • 11.1V (working) • 12.6V peak • 7.5V cut-off • 2400mAh capacity • Protection Circuit Module (10A) installed • Overcharge (>12.6V) • Overdischarge (<7.5V) • Over drain (>10 Amp) • Short Circuits • Manual Shutdown

  8. Software • Microprocessor Programming • Arduino Open Source Software • Large community support for similar applications • Movement Control and Obstacle Avoidance • Calculating and Transmitting through Bluetooth: • Distance • Via Ultra-sonic Sensors • Speed • Via Sharp Infrared Sensor • Runtime • Power Usage

  9. Software Continued • Target Tracking • Processing video using OpenCV Library • Open Source Computer Vision (OpenCV) Library • Real-time computer vision • Multilanguage interfaces • Multiplatform supports • Built-in optimized algorithms • Widely adopted all around the world • User Interface • Receiving streamed video from the robot via Wi-Fi • Displaying data transmitted from the robot via Bluetooth • Target selecting and user control of the robot • Mac OSX and Windows support

  10. Budget Requirements

  11. Risk Analysis • MobilityDifficulties • Ledges • Obstacles • Communication range • Tracking Errors • Target loss • Wrong Target • Battery Issues • Combustion • Power issues

  12. Timeline

  13. Summary • Tank style robotics • 4/6 Devantech SRF05 Ultrasonic Range Finder • Tamiya Double Gearbox • Bluetooth Remote Controller • Wifi Webcam • Arduino UNO Microprocessor • Target Tracking Robot • Data Storage • Lithium Ion (Li-Ion 18650) • Protection Circuit Module (10A) installed

  14. Questions??

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