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RESEARCH, INSTRUCTION, SERVICE, ENTREPRENEURSHIP – EYE IN THE SKY RESEARCHRISE STUDENT: ZACH PECK
MENTOR: JOHN WELSH
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BACKGROUND
• Introduction to Engineering Design (ENES100) is a course at UMD taken by every freshman engineer
• Students split into teams and design an autonomously controlled hovercraft that can accomplish a given task
• This project has been in place for several years, and the curriculum now needs some revision
• New project will require students to construct rovers that traverse a sand arena to accomplish tasks
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OBJECTIVE
• Assist in the development of the new ENES100 curriculum
• Student built rovers required to accomplish tasks
• To be implemented within the next several years
• Create an “eye in the sky” webcam-based system
• Track locations of student rovers and tasks
• Relay coordinates to student rovers A fully constructed arena, including camera (top center)
and rover.
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INITIAL CONCEPT
• Webcam interfaced with Robot Operating System (ROS)
• Linux based
• Retrieved webcam images and relayed them to image processing algorithm
• Image processing algorithm: ARUCO
• Open source in C++ (found online)
• Detect coordinates of unique markers
An example marker that can be detected by the image processing algorithm
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INITIAL CONCEPT CONTINUED…
• Interactive, web-based Graphical User Interface (GUI)
• Display live camera feed
• Control various camera parameters
• Display port statuses on student Arduino
• Communication Protocol
• Bluetooth link between server computer and Arduino
• Automatically packaged data
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PROBLEMS
• ROS
• Sharp learning curve – difficult to modify system
• Somewhat difficult to interface with Arduino
• Single platform – can only run on Linux systems
• GUI
• Bulky and slow
• Runs only on select browsers
• Communication Protocol
• Bluetooth signal intermittent/inconsistent
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REVISIONS
• Eye in the Sky became an entirely C++ based system
• Easier to modify
• GUI simpler to understand
• Cross-platform – can be run on any Windows, Mac, or Linux system
• Communication protocol shifted to Radio Frequency (RF)
• Much more consistent connection
• Ability to communicate with multiple receivers simultaneously