1. ACaR: Autonomous Chasing Robot Team 19: Bryan Diaz BSEE Victor HernandezBSEE Khanh LeBSEE Luis SosaBSCpE Sponsored by Boeing

2. Motivations Aligned with the members’ interest, including: Computer Vision applications. Power Regulation. Microcontroller Programming and Interfacing. Embedded OS Applications Robotics Usually human reaction is slower than a machine’s would be helpful for law enforcement in between other applications

3. Description RC car modified to follow a target autonomously A Robot/Vehicle (may be controlled manually or automatically) will go around in the specific area and look at the license plate of all vehicle on street. When it detects any license plate in blacklist of Police Department, it will automatically follow the target. Once the target is locked and followed, Officer does not worry about losing target and is able to make the next action. It is really a helpful assistant for Police officer to improve the security of our environment, which is endangered by crime

4. Possible Applications Military: Autonomous Tank/Ground Vehicle Law Enforcement: Autonomous Car Chasing Civil: Autonomous Caravan

5. ACaR: Specifications TitleQTYUnits Size6 x 18 x 12in Weigh3~4Kg Voltage Operation15V Battery Life30minutes Maximum Tracking Target Distance5meters Minimum Tracing Target Distance10cmcm Maximum SpeedUp to 20Km/h Maximum (Following) SpeedUp to 15Km/h Simultaneous License Plates DetectionUp to 3plates

6. High Level Diagram

7. Intel Edison

8. Edison vs. Rpi vs. BeagleBone http://www.davidhunt.ie/raspberry-pi-beaglebone-black-intel-edison-benchmarked/

9. Wireless Communication FeaturesWi-FiBluetooth PowerHoursDays Range100m10m Frequency2.4,5 GHz2.4 GHz SecurityHigh-WPA, WEP, WPA2 128 bit ComplexityVery ComplexComplex Data rate54 Mbps1 Mbps Nodes327 Physical Layer Standard 802.11802.15.1

10. Image Processing OpenCV Advance vision research by providing not only open but also optimized code for basic vision infrastructure. No more reinventing the wheel. Is free and open source! Has a lot of support because a lot of people use it

11. License Plate Recognition (LPR) Computer Vision OpenCV Image Processing Leptonica Image Processing Library Optical Character Recognition (OCR) Tesseract OCR “Image Usage: Permission Granted under the terms of the GNU Free Documentation License” Open Source!

12. LPR Process and Decision “Permission Granted under the terms of the GNU Free Documentation License”

13. Software OpenCV for image processing - Using C++ Mraa library (uses C++) - Low Level Skeleton Library for Communication on GNU/Linux platforms Separate Modules for vision and low level serial communication.

14. Software Block Diagram

15. OpenCV Target Detection Demo

16. Motor Control

17. Using PWM signal to control the speed. Using idea of H-bridge circuit to control the direction of motor rotation. We send PWM signal through pin 1 and 2. They are I/O pins of Micro-controller.

18. Motor Control Pin 1Pin 2Action Low Stop HighLowForward LowHighBackward High Short-circuit

19. Motor Control Component NameModelQuantity DC motorDS540 3.6 12V Electric DC motor 1 DiodeIN41484 NMOSIRF540N4 NPN transistorBC5482 PNP transistorBC3272

20. Schematic on EagleCADSoft

21. Circuit Testing on Breadboard

22. Datasheet of DC Motor

23. Servo Motor Control Extra circuit is not necessary, just connect the servo to Micro- controller directly. Micro-controller can power up the servo through DC voltage pin Using PPM signal (Pulse Proportional Modulation) to control position of Servo.

24. Servo and Microcontroller Connections White Wire -> I/O pin Red Wire -> Power supply Black Wire -> Ground pin http://www.robotshop.com/en/hitec-hs422-servo-motor.html

25. Micro-controller for DC motor and Servo Use MSP430 chips as Micro-controller for motor control MSP430 will communicate with Edison through serial Edison gives command through Serial Pins to tell MSP430 what to do with DC motor and Servo MSP430G2553 http://www.ti.com/ww/en/launchpad/img/launchpad-mspexp430g2-02-thumb.png

26. Pheripherals Ultra Sonic Sensor Inertia Measuring Unit (IMU) Accelerometer Gyroscope Magnetometer

27. Ultra Sonic Sensor Used for Obstacle Detection and Distance We will use the HC-SR04 Tested to accurately measure in between 10 and 75 cm https://electrosome.com/hc-sr04-ultrasonic-sensor-pic/

28. Inertia Measuring Unit Can provide Speed Measurements Safety Feature IMU Accelerometer (ADXL345) Gyroscope (ITG-3200) Magnetometer (HMC5883L) These devices have: Same Input Voltage SPI interface, which can be communicated with the MSP430G2553 Will all be operated under a Master Clock

29. Power System Main DC Source Voltage Regulator Motor Voltage Regulator EdisonCamera Voltage Regulator MCUSensors Servo Motor (Steering) Servo Motor (Pan)

30. Main DC Source (Rechargeable Battery) Main Requirements Battery life must be at least 30 minutes Something light weight and small Reasonable price With permission from Venom-group.com

31. Voltage Regulators FeaturesLinear Voltage RegulatorSwitching Voltage Regulator FunctionStep down only, output voltage must be less than input voltage Steps up or Steps Down the voltage, can produce multiple outputs. SizeSmall to medium in portable design, may be even larger if heat sink is needed Large than linear at low power, but smaller in the case where linear requires a heat sink EfficiencyLow to mediumHigh NoiseLowMedium to high due to ripple effect Output RippleVery small almost negligibleLarge Waste HeatHigh, when load and voltage difference is high Low, most components will run cool for low power levels

32. Voltage Regulator (con’t) ItemsInput Voltage (volts)Input current (A) Edison7-15V2 Msp43030.5e-3 Motor3.6-12Up to 6 amps Servo (pan/tilt)4.5 0.500 Servo ( Steering)4.5 0.500

33. Webench Tool

34. RC Car Platform Batt Intel Edison Breakout Board / PCB CamCam Motor Enough Space for Components Capable of Speeds of +20 km/h Low Center of Gravity Has a Steering System Has Predetermined Spacing (e.g. Space set for Battery) 1:4 Scale GoKart

35. Administrative Content

36. Work Distribution SectionBryanVictorKhanhLuis PowerP MotorP Computer VisionSP Video StreamingP PeripheralsP PCB DesignSPS

37. Budget and Cost ItemQtyTotal Cost Sensors (various)Various$100 Car Body2$100 PCB Fabrication1$70 Misc. ElectricalVarious$150 Misc. MechanicalVarious$100 IP Camera1$110 Tablet1$200 Pan/Tilt Mechanism1$50 Battery1$60 TOTAL$910 ItemQtyTotal Cost Ultra Sonic3$12 Car Body1$85 Intel Edison1$75 Misc. ElectricalVarious$141 Pan Mechanism1$50 USB Camera1$30 Servo1$10 PCB1$70 TOTAL$473 ItemQtyTotal Cost Ultra Sonic3$12.00 Car Body1$85.00 Intel Edison1$110.00 Misc. ElectricalVarious$101.00 Pan Mechanism1$50.00 USB Camera1Owned Tablet1 Owned IMU ComponentsVarious$40.00 TOTAL$398 Initial Estimated Budget Cost to DateEstimated Production Cost

38. Progress

39. Issues Steering Angle: Left 20 deg, Right 30 deg (Mechanical modifications required). Object detection does not uniquely identifies the target. Real Time Video Streaming from the Edison. 1.8V vs. 3.3V Logic Levels (Edison vs. MSP430)

40. Q&A Session