S16: SkyNet

Grading Criteria

• How well is Software & Hardware Design described?
• How well can this report be used to reproduce this project?
• Code Quality
• Overall Report Quality:
  • Software Block Diagrams
  • Hardware Block Diagrams

    Schematic Quality

  • Quality of technical challenges and solutions adopted.

Abstract

SkyNet is a tracking tripod mount that will follow a given target using computer vision technologies. The system utilizes two brushless motors that are controlled by inputs given from a Raspberry Pi 3. The Raspberry Pi 3 utilizes the OpenCV open source library to calculate the deviation of a tracked object from the center of its view. It will then control the motors to correct the camera position such that the target will always be in the center of the video. The mount will be able to hold any standard 5-inch phone (should aim for universal mount) for video recording.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

Team Members & Responsibilities

• Steven Hwu
  • OpenCV
• Jason Tran
  • OpenCV
• Andrew Herbst
  • Brushless Motor system
• Vince Ly
  • Brushless Motor system

Schedule

Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.

Week#	Due Date	Task	Completed	Notes
1	3/29	- Create Parts list and place order (Motors, Cameras, etc.) - Compile OpenCV C++ code and run examples on Raspberry Pi 3
2	4/5	- Create motorized unit - Be able to track an object in frame (Highlight object)
3	4/12	- Control motors VIA user input - Extrapolate movement of object
4	4/19	- Sync-up on how to command motors (scaling, etc.) - Create API interface to control motors - Create communication tasks to control motors
5	4/26	- Integration of control system and motor unit
6	5/3	- Control Calibration - Use case test
7	5/10	- Finish Report/Slide deck(?)

Parts List & Cost

ECU:

   RaspBerry Pi 3 Rev B

Brushless Motors:

   4008-70Kv Brushless Gimbal Motor ~$20
       - http://www.hobbyking.com/hobbyking/store/__43041__4008_70Kv_Brushless_Gimbal_Motor_Ideal_for_mid_Style_Cameras_like_the_Nex6_.html

Controllers:

   A4941 ~$2
       - http://www.allegromicro.com/en/Products/Motor-Driver-And-Interface-ICs/Brushless-DC-Motor-Drivers/A4941.aspx
   
   DRV11873
       - http://www.ti.com/lit/ds/symlink/drv11873.pdf

Phone mount:

   Vince's cheap ass mount ~Free

Whole Enclosure:

   ??? ~???

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

My Issue #1

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

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Project Source Code

• Sourceforge Source Code Link

References

Acknowledgement

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References Used

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Appendix

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