1. CSE 477 Drone Defense Reece Beigh Peter Gagnon Jonah Nelson

2. Investment Opportunity! http://www.youtube.com/watch?v=6i-nMWgBUp0

3. Unveiling and Demo http://www.youtube.com/watch?v=sMXbHJMn2hI We’ll Demo Sections as we talk about the Ask questions! We want to answer them!

4. High Level Hardware Diagram

5. NERF Gun Modified NERF Stampede Removed Air restrictors for Power Removed Excess plastic and batteries for weight

6. Firing Circuit NERF Gun requires 12V @ 2A to fire

7. Servos It’s been a grim quarter for servos… Started with a pair of Futaba S3306 One died; limping by with an Hobbico CS-75

8. Arduino Does low level control of Servos Receives serial commands from Either the Controller, Beagle Board, or PC (Processing)

9. Relay Arduino Both the controller and Beagle board talk to the Arduino over serial, but only 1 port available Solution: 2 nd Arduino as Serial to I2C relay

10. Serial Inverter Beagle board does serial over RS232 RS232 is -5 to 5V logic. Who new?! A simple inverter = lucky fix

11. Let’s See The D@mn Thing Shoot!

12. Controller Features: Voltage Regulator 4 Momentary Switches LED’s Rotary LED Array 2 Two-Axis Joysticks Laird Long Range Wireless Radio Arduino Mega Discussion: What the switches do Rotary LED Expandability Serial Commands Laird Radio The Brains

13. Serial Commands 102351298 Commands Up Right Don’t Fire Commands ? 5 4 3 012 9 8 6 7

14. Laird Radio Three wire interface TXD, RXD, and CTS Ascii Steam Cast (char)

15. The Brains PositiveNegative I/O Laird Interface Serial Pins Very Sensitive 1.Laird 2.Serial Com 3.LED DRead Arduino Mega 2560

16. Computer Program Processing Capabilities Video Input Serial Output Uses Current/Future Backup Controller Controlled Over Internet Controlled over Laird Wireless

17. BeagleBoard, Ubuntu and OpenCV Libraries Autonomous Vision Detection

18. BeagleBoard (Rev C4) Specifications: OMAP3530 (720 MHz) 256MB NAND and 256MB SDRAM Boots from NAND, USB, or SD card Has USB, S-video, HDMI, Stereo Audio in/out, J-TAG debugger and Serial-out Chosen by us for its high- speed processor and large amount of RAM for video processing

21. CV_Median blur cvSmooth() using a median blur over a 25 x 25 square

22. CV_THRESHOLD Graphical descriptor of CV_THRESHOLD functionality. Binary Inverted works alone, but the truncation gets rid of a few more blobs.

23. Original ImageCV_MEDIAN smooth After Blobs detection BaseImg Mask After Threshold Truncation After Inverted Binary Threshold

24. Original ImageCV_MEDIAN smooth After Threshold Truncation After Inverted Binary Threshold After Blobs detection BaseImg Mask

25. Original Image CV_MEDIAN smooth After Blobs detection BaseImg Mask After Threshold Truncation After Inverted Binary Threshold

26. Stuff that went wrong / Difficulties Installing the blobs libraries from scratch Trying to turn off the console Problems with the X-loader and U-boot Driver issues with the Logitech webcam Serial I/O communication problems cvBlobsLib all done in grayscale Not being able to see the images from the beagleboard to debug what it saw Integrating all of the systems to work together

27. Recommendations / Future Work Implement further image detection requirements or co-requisites (not just color blobs, but an actual shape) Control the whole system from the beagleboard (and the servos with PWM from a PIC) Not use a beagleboard. (Not enough usable IO)

28. Thanks! We got a lot of help! Thanks Everyone! Dustin, Ross Serial Help, Beagle/ linux help TomHardware help Gabe CohnPCB Help ArvindDrone Modeling FranOpenCV, Serial, 3D Printing Bing Chen, Sami KunzeMech E Help Prof PatelA lot of work and $ into making this class happen

29. Questions?