logging in or signing up omni cdr Nathaniel Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 90 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 04, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Omni-Directional Vision System for Mobile Robots: Omni-Directional Vision System for Mobile Robots Critical Design Review Denise Fancher Kyle Hoelscher Michael Layton Eric MillerOmni-directional Mirror Selection: Omni-directional Mirror Selection Original mirror from Neovision – $290 Light bulb from Lowe’s – two for $3 Budget decreases from $827 to $540 Limited horizon on hemispherical surface Will work for our purposesHardware Assembly: Hardware Assembly BOE-Bot assembled and working CMUcam attached and testing is in progress Plans for mounting the light bulbSoftware Skeleton: Software Skeleton Download object coordinates from camera to BOE bot Calculate radius Calculate appropriate movement signal Perform collision detection If collision eminent calculate new movement signals Issue servo commandsObject Tracking: Object Tracking Comfort radius Comfort radius Adjustable Determines if bot should approach or back away from the object Movement Determination X-coord = turn left/right Magnitude of y-coord determines speed of rotation Tracked object location = (x,y) (72,40) (0,0) Radius, r (144,80)Obstacle Avoidance: Obstacle Avoidance Considered using vector fields for navigation Currently planning to use a simpler algorithm Uses data from sonar unit and left and right whiskersCMUcam Control: CMUcam Control Initialization Communication from stamp to camera: Stamp sends SEROUT followed by camera command Stamp sends SERIN to receive data from camera Camera sends data values followed by ACK or NCKBasic CMUcam Commands: Basic CMUcam Commands L1 – controls green LED on camera board PM – controls poll mode (multiple or single data packets returned) TC – tracks a color specified by the RGB arguments TW – track window obtains a new color to track from the center of the window RS – resets camera boardUpdated Gantt Chart: Updated Gantt Chart You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
omni cdr Nathaniel Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 90 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 04, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Omni-Directional Vision System for Mobile Robots: Omni-Directional Vision System for Mobile Robots Critical Design Review Denise Fancher Kyle Hoelscher Michael Layton Eric MillerOmni-directional Mirror Selection: Omni-directional Mirror Selection Original mirror from Neovision – $290 Light bulb from Lowe’s – two for $3 Budget decreases from $827 to $540 Limited horizon on hemispherical surface Will work for our purposesHardware Assembly: Hardware Assembly BOE-Bot assembled and working CMUcam attached and testing is in progress Plans for mounting the light bulbSoftware Skeleton: Software Skeleton Download object coordinates from camera to BOE bot Calculate radius Calculate appropriate movement signal Perform collision detection If collision eminent calculate new movement signals Issue servo commandsObject Tracking: Object Tracking Comfort radius Comfort radius Adjustable Determines if bot should approach or back away from the object Movement Determination X-coord = turn left/right Magnitude of y-coord determines speed of rotation Tracked object location = (x,y) (72,40) (0,0) Radius, r (144,80)Obstacle Avoidance: Obstacle Avoidance Considered using vector fields for navigation Currently planning to use a simpler algorithm Uses data from sonar unit and left and right whiskersCMUcam Control: CMUcam Control Initialization Communication from stamp to camera: Stamp sends SEROUT followed by camera command Stamp sends SERIN to receive data from camera Camera sends data values followed by ACK or NCKBasic CMUcam Commands: Basic CMUcam Commands L1 – controls green LED on camera board PM – controls poll mode (multiple or single data packets returned) TC – tracks a color specified by the RGB arguments TW – track window obtains a new color to track from the center of the window RS – resets camera boardUpdated Gantt Chart: Updated Gantt Chart