1. Fire Ants A Firefighting Robot Team Matt Gough Intelligent Machine Design Lab Fall 2015

2. Summary  Inspiration  Overview of Components  What I’ve Accomplished  Future Work  Questions

3. Inspiration

6. Queen Drone Overview of Components  Arduino Uno  Raspberry Pi 2  PS3 Eye Camera  Ultrasonic Rangefinders  Teensy 3.1  IR Flame Detectors  Bump Whiskers

7. Computer Vision Changes: Less LEDs in ball. RGB -> HSV color space. More Erosion/Dilation.

8. Even though the flame is still visible on the threshold image, the algorithm only circles the illuminated Ping-Pong ball.

9. Fire Detection Array of IR Flame Sensors Fuzzy Logic High-powered LED to signal to Queen IR Flame Sensor

10. Future Work  Aesthetics  Finalize environment for Demo/Media Day  Improve search algorithm for Drone  Computer Vision

11. Special thanks  Jake Easterling  Andy Gray  Dr. Arroyo  Dr. Schwartz  Fellow IMDL’ers

12. Questions?