the automated life preserver launcher
DESCRIPTION
The Automated Life Preserver Launcher. Curtis Sand & Zach Byrne. Overview. Automatic System for launching life preservers when someone falls off a boat. In a real system: thermal cameras, an actual pneumatic life preserver launcher, victim would carry a panic beacon - PowerPoint PPT PresentationTRANSCRIPT
The Automated Life Preserver Launcher
Curtis Sand & Zach Byrne
Overview
Automatic System for launching life preservers when someone falls off a boat.
In a real system: thermal cameras, an actual pneumatic life preserver launcher, victim would carry a panic beacon
In our system: regular cameras, Nerf launcher, flashlight
Inspiration
Incorporate many interesting subsystems:
Serial Communication
Stepper motor/servo control
Image processing
Binocular range finding
What’s cooler than a Nerf turret?
The ALPL
The ALPL
The ALPL
Finding Bright Spots
Find the average location of bright pixels.
Effective for single light sources.
Fails for images with many lights or high overall brightness.
Calculating Distance
Second camera finds angle θ.
Fixed width w. Limitations:
Camera FoV Image
resolution 57°
Theoretical Range
Min: 0.78 meters
Max: 32.6 meters
Aiming Control range by
adjusting launcher elevation.
Experimentally determined ranges.
Fit a parabola to the data.
Setbacks Mechanical Issues
Moment of Inertia on the elevation motor.
Firing servo missing trigger.
Difficulty squaring cameras
Computer Issues
Instability of external RAM.
Unreliable connection to cameras.
Floating point bugs.
Results
Success!...Mostly.
Finds targets...sometimes.
Calculates distance...reasonably.
Calculates correct elevation...almost.
Acceptable Proximity to target...usually.
Questions?