carmine milone , joe milone , alex heydari , george yue , and joe fyneface
DESCRIPTION
Automated Football Launcher: Methods for Completing Autonomous Football Passes using Motion Tracking. Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface Georgia Institute of Technology School of Electrical and Computer Engineering March 17, 2010. Project Overview. - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/1.jpg)
Automated Football Launcher: Methods for Completing Autonomous Football
Passes using Motion Tracking
Carmine Milone, Joe Milone, Alex Heydari, George Yue, and Joe Fyneface
Georgia Institute of TechnologySchool of Electrical and Computer Engineering
March 17, 2010
![Page 2: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/2.jpg)
Project Overview• Continuously track a moving object using web-
cams to deliver a football accurately• Apply technology for football teams in order
to reduce work load for trainers • Estimated development costs at $80,000;
initial cost of a prototype system will be approximately $1,500
![Page 3: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/3.jpg)
Automated Football Launcher Components
![Page 4: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/4.jpg)
Design Objectives• Continuously track a moving object using web-
cams in real-time • Analyze the path of the object to determine
the launching angle and direction• Utilize a motor control algorithm to attain a
specified trajectory • Launch a football triggered by a relay board
![Page 5: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/5.jpg)
Summarized Design Flow chart
![Page 6: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/6.jpg)
Current Status • Web-cam tracking program completed• Motor control and relay board code written
and tested• Compressed air launcher and platform are
under construction
![Page 7: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/7.jpg)
Logitech Orbit Web-cam• Resolution: up to 1600 by 1200 pixels– Currently using 640x480 resolution for better
performance• Color depth: 24-bit true color• Frame rate: 30 FPS– 15 to 20 FPS when detection algorithm is running
• Interface: USB 2.0
![Page 8: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/8.jpg)
Phidgets HC Motor Control Board• Controls up to two DC motors• Updates data 50 times/second• Can provide up to 18A • Utilizes USB connection
![Page 9: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/9.jpg)
Motor Specifications• Type: DC Gear motor • Voltage: 12V• Current: 14A-19A– Currently programmed to utilize 7A
• Controlled using Phidgets HC Motor control board
![Page 10: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/10.jpg)
Pan/Tilting Platform
![Page 11: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/11.jpg)
Phidgets Relay and I/O Board• Relay board:– 2 relays for switching AC/DC– Up to 240VAC at 10A – Up to 100VDC at 5A– Will open/close air valve
• I/O board– 8 analog inputs– 8 digital inputs / outputs
![Page 12: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/12.jpg)
Compressed Air Launcher• 6 in. diameter PVC pipe– Can be interchanged with a 3 in. diameter PVC
pipe• 135 psi• 3 gallon air tank• Controlled with Sprinkler valve
![Page 13: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/13.jpg)
Technical Approach• Calculate the offset between the center of
the web-cam's frame and the object’s position• Translate the offset into a motor control
launch angle and direction• Predict the object’s final position and launch
the football timely to the specified location
![Page 14: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/14.jpg)
Web-cam Tracking Algorithm
![Page 15: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/15.jpg)
Tracking using Blob Detection • Web-cam searches for a specific color• Code written in C# using .NET framework• Utilizes DirectShow library • Accesses pixel data directly from memory
![Page 16: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/16.jpg)
Web-cam Tracking Demo
http://www.youtube.com/watch?v=162fvelALGU
![Page 17: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/17.jpg)
Motor Control
• Coded in C#• Tracking determines degrees of rotation/tilt• Use small movements as a unit of translation• Keep velocity constant
![Page 18: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/18.jpg)
Trajectory Algorithm
• Use kinematics to determine angles of the platform
θ
H
![Page 19: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/19.jpg)
Alternatives• Linx RF modules were developed and tested for tracking
– RSSI / Triangulation tracking methods were designed
• Did not work as intended due to destructive interference• Lower frequency RF modules are being considered
![Page 20: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/20.jpg)
Challenges / Problems• Building the compressed air launcher and platform• Implement a web-cam algorithm to detect objects over 30
yards away from the launcher– Lighting constraints
• Lack of commercial football launcher• Develop RF modules for tracking
![Page 21: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/21.jpg)
Marketing • Estimated System cost
– Logitech Web-cam: $100 – DC Motors and control board: $200– Moderately powered computer: $500– Air compressor launching system/platform: $700
Total: approximately $1500
![Page 22: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/22.jpg)
Schedule• 03/29/2010: Finish building platform• 04/07/2010: Complete compressed air
launcher• 04/16/2010: Integrate all components• 04/30/2010: Complete system testing• 05/06/2010: Final Demonstration
![Page 23: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/23.jpg)
Future Work• Consider more complicated tracking methods
such as RF frequency modulation• Integrate with the Jugs Football Thrower• Create a hopper system to automatically feed
and reload multiple footballs
![Page 24: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/24.jpg)
Project Summary• Two candidate methods to track an object
have been compared and evaluated• Optical tracking has shown promising results
while RF needs more development• Optical tracking performs reasonably well if
the object is within 30 yards
![Page 25: Carmine Milone , Joe Milone , Alex Heydari , George Yue , and Joe Fyneface](https://reader033.vdocuments.us/reader033/viewer/2022051421/568160dc550346895dd00aee/html5/thumbnails/25.jpg)
Any questions, suggestions, or comments?