group 4 bianca wood chris culver shane parker yousef al-khalaf
TRANSCRIPT
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Group 4Bianca WoodChris Culver
Shane ParkerYousef Al-Khalaf
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Motivation
Challenge Our CapabilitiesSense of AccomplishmentSheer Fun
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Objectives
Competitive performance against human opponentsAgileAccurate shootingReal-time, intelligent decision-making
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Specifications
Four quadrotor combatantsEach quadrotor has .5m diamterAble to operate for 15 minutes on a single
charge
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A.I. Controller
Power System
Image Processor
Flight Control
Destination Current Position
Shut Off
Opponent Pos. & Opponent Hit
Memory Power Switch
Starting Pos.
Motor ControllerCamera
Sensor
Laser
Block Diagram
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Artificial Intelligence Subsystem
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State Machine
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Navigation Mesh
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Path With Navigation Mesh
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Control Point
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Cover Zones
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Probability Field
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Hardwarei7 Ivy Bridge16GB DDR3 1600 with 9-9-9-24 Timings120GB SSDNVIDIA 8900 GT
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Motion Detecting Algorithms• Two frames difference motion detector
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Motion Detecting Algorithms, cont.Simple background modeling motion detector
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Motion Processing AlgorithmsGrid motion area processing
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Overall Software Class Diagram
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Power
Micro Controller
Motor
Motor
Motor
Motor
Movement
A.I. Controller
Flight Control Sub-System
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NavigationControl/Stabilization
Algorithm Coordinates /
Sensors Motors
Navigation•Coordinates come from AI computer
Stabilization•Readings come from sensors
Varies Voltage
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Stabilization Navigation
Dead-Reckoning
Image recognition1
2
3
4
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Hardware
Voltage :1.8 – 3.3 V
Current : 165 µA/MHz
32 bit
3 – Axis Accelerometer
3 – AxisGyroscope
Digital Compass
Voltage : 2.1 – 3.6
Frequency : 2.4 GHz
Data Rate : 250 Kbps
Range : 133 ft
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PowerBest part of the project Lithium-ion Polymer battery11.1 v and trying to figure best mAh Need a PCB to disperse the power
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BudgetItem Quantity
Price per Quantity Total Price
Quadcopter Frames 4 $250 $1,000
Computer 1 $500 $500
Spy Strike Laser Dueling System 2 $23 $46
Motors 12 $10 $120
Slowfly electric prop 1045R 4-piece set 4 $3 $12
Wireless Microprocessor 4 $50 $200
Webcams 4 $15 $60
Accelerometer/Gryometer 4 $100 $400
11.1V 1600mAh 25C LiPo Battery 4 $30 $120
Miscellaneous Unknown UnknownAllocating
$150
Total $2,608
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FinancesNeed sponsors/ donations$500 from a family friend$500 from another friendMotors Still waiting
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Progress
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Challenges
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Questions?