Electrical and Computer Engineering Irregular Object Dimensioning System Advisor: Professor Neal Anderson Michael Baccari Peter Bian Michael Coughlin Avi Noy

2 Electrical and Computer Engineering Agenda  Background  MDR Specification  Progress Report  Challenges  Future Plans  Summary

3 Electrical and Computer Engineering Background Sorting facilities’ conveyer belts. Components of sort system: Photo eye, laser measuring heads, set of 6 line-scan cameras.

4 Electrical and Computer Engineering Background (Cont’d) Irregularly shaped objects Current issues with the dimensioning component. “The irregular approval.”

5 Electrical and Computer Engineering Background (Cont’d)  Dimensions used for storage area on cargo planes  Minimize cuboidal volume of irregularly shaped objects Increases profits Save cargo space  “Irregular Approval” Guideline test for major shipping companies  Half inch margin error  “Sputnik” test

6 Electrical and Computer Engineering MDR Specification  Software Progress Demo of algorithms for dimensional reconstruction from simulated laser data input Demo of image processing algorithm with basic edge detection from camera  Working Hardware Components Conveyor Belt 2 laser measuring heads (LMS 200) 2 Cameras LED Light Sources Photo Eye  Research Multiplexing Image Processing Depth Maps  Quantifiable Requirement Specifications Irregular Approval Proposed System Improvement

7 Electrical and Computer Engineering Progress Report - System Block Diagram

8 Electrical and Computer Engineering Progress Report (Cont’d)  Hardware Components LMS – Laser Measuring Heads One 2-D camera Two LEDs Photoeye Conveyor belt

9 Electrical and Computer Engineering Progress Report (Cont’d)  LMS Setup

10 Electrical and Computer Engineering Progress Report (Cont’d)  LMS Initialization

11 Electrical and Computer Engineering Progress Report (Cont’d)  2-D Camera

12 Electrical and Computer Engineering Progress Report (Cont’d)  LEDs

13 Electrical and Computer Engineering Progress Report (Cont’d)  Photoeye

14 Electrical and Computer Engineering Progress Report (Cont’d)  Photoeye (Cont’d) IR Led transmitter – Hamamatsu part #L  Forward current I F = 50mA  R = V CC /I F = 5/50mA = 100Ω Digital output photo IC – Hamamatsu part #L6289  Photodiode  Schmitt trigger circuit  Output resistor R L = 1.2kΩ C coupling = 0.01uF

15 Electrical and Computer Engineering Progress Report (Cont’d)  Photoeye – Results

16 Electrical and Computer Engineering Progress Report (Cont’d)  Conveyer belt demo video

17 Electrical and Computer Engineering Progress Report (Cont’d)  Image processing algorithm SUSAN (Smallest Univalue Segment assimilating Nucleus) Principle

18 Electrical and Computer Engineering Progress Report (Cont’d) Image processing algorithm demo

19 Electrical and Computer Engineering Progress Report (Cont’d)  Laser edge detection and dimensional algorithm

20 Electrical and Computer Engineering Challenges  Blind spots

21 Electrical and Computer Engineering Challenges (Cont’d)  Current algorithm 2 dimensional axis  No algorithm for 3 dimensional axis  All edges and protrusions mapped out for irregular object  Multiplexing cameras with LMS heads

22 Electrical and Computer Engineering Future Plans  Creation of 3 dimensional axis algorithm  Implementation Multiplexing of two sets of data Execution of new dimensioning algorithm  Possible improvement of edge detection for LMS and cameras  Construction of redesigned control box

23 Electrical and Computer Engineering Summary  MDR Specification  Improve accuracy of dimensioning of irregularly shaped objects  “Irregular Approval” Half inch margin of error

24 Electrical and Computer Engineering Comments / Questions?