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CSE 477 Drone Defense

Join us as we unveil an innovative drone defense system utilizing modified NERF guns and advanced technology. This live demo showcases our high-level hardware design, including modified NERF stampede guns, Arduino systems for low-level control, and BeagleBoard for image processing. We’ll discuss challenges faced during development, including serial communication issues and integration hurdles. Your questions are welcomed as we explore future improvements and investment opportunities into autonomous vision detection and drone defense technology. Don't miss the chance to learn about cutting-edge developments!

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CSE 477 Drone Defense

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Presentation Transcript

  1. CSE 477Drone Defense Reece Beigh Peter Gagnon Jonah Nelson

  2. Investment Opportunity! • http://www.youtube.com/watch?v=6i-nMWgBUp0

  3. Unveiling and Demo • http://www.youtube.com/watch?v=sMXbHJMn2hI • We’ll Demo Sections as we talk about the • Ask questions! We want to answer them!

  4. High Level Hardware Diagram

  5. NERF Gun • Modified NERF Stampede • Removed Air restrictors for Power • Removed Excess plastic and batteries for weight

  6. Firing Circuit • NERF Gun requires 12V @ 2A to fire

  7. Servos • It’s been a grim quarter for servos… • Started with a pair of Futaba S3306 • One died; limping by with an Hobbico CS-75

  8. Arduino • Does low level control of Servos • Receives serial commands from Either the Controller, Beagle Board, or PC (Processing)

  9. Relay Arduino • Both the controller and Beagle board talk to the Arduino over serial, but only 1 port available • Solution: 2nd Arduino as Serial to I2C relay

  10. Serial Inverter • Beagle board does serial over RS232 • RS232 is -5 to 5V logic. Who new?! • A simple inverter = lucky fix

  11. Let’s See The D@mn Thing Shoot!

  12. Controller • Features: • Voltage Regulator • 4 Momentary Switches • LED’s • Rotary LED Array • 2 Two-Axis Joysticks • Laird Long Range Wireless Radio • Arduino Mega Discussion:

  13. Serial Commands 9 5 4 0 1 2 8 3 6 7 102351298 102351298

  14. Laird Radio • Three wire interface • TXD, RXD, and CTS • Ascii Steam • Cast (char)

  15. The Brains Arduino Mega 2560

  16. Computer Program • Processing • Capabilities • Video Input • Serial Output • Uses Current/Future • Backup Controller • Controlled Over Internet • Controlled over Laird Wireless

  17. BeagleBoard, Ubuntu and OpenCV Libraries Autonomous Vision Detection

  18. BeagleBoard(Rev C4) • Specifications: • OMAP3530 (720 MHz) • 256MB NAND and 256MB SDRAM • Boots from NAND, USB, or SD card • Has USB, S-video, HDMI, Stereo Audio in/out, J-TAG debugger and Serial-out • Chosen by us for its high-speed processor and large amount of RAM for video processing

  19. CV_Median blur cvSmooth() using a median blur over a 25 x 25 square

  20. CV_THRESHOLD Graphical descriptor of CV_THRESHOLD functionality. Binary Inverted works alone, but the truncation gets rid of a few more blobs.

  21. Original Image CV_MEDIAN smooth BaseImg After Blobs detection Mask After Threshold Truncation After Inverted Binary Threshold

  22. Original Image CV_MEDIAN smooth BaseImg After Blobs detection Mask After Inverted Binary Threshold After Threshold Truncation

  23. CV_MEDIAN smooth Original Image BaseImg After Blobs detection Mask After Threshold Truncation After Inverted Binary Threshold

  24. Stuff that went wrong / Difficulties • Installing the blobs libraries from scratch • Trying to turn off the console • Problems with the X-loader and U-boot • Driver issues with the Logitech webcam • Serial I/O communication problems • cvBlobsLib all done in grayscale • Not being able to see the images from the beagleboard to debug what it saw • Integrating all of the systems to work together

  25. Recommendations / Future Work • Implement further image detection requirements or co-requisites (not just color blobs, but an actual shape) • Control the whole system from the beagleboard (and the servos with PWM from a PIC) • Not use a beagleboard. (Not enough usable IO)

  26. Thanks! • We got a lot of help! Thanks Everyone! • Dustin, Ross Serial Help, Beagle/ linux help • Tom Hardware help • Gabe Cohn PCB Help • Arvind Drone Modeling • Fran OpenCV, Serial, 3D Printing • Bing Chen, Sami KunzeMech E Help • Prof Patel A lot of work and $ into making this class happen

  27. Questions?

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