The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.
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Transcript of The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.
![Page 1: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/1.jpg)
The Automated Life Preserver Launcher
Curtis Sand & Zach Byrne
![Page 2: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/2.jpg)
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
![Page 3: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/3.jpg)
Inspiration
Incorporate many interesting subsystems:
Serial Communication
Stepper motor/servo control
Image processing
Binocular range finding
What’s cooler than a Nerf turret?
![Page 4: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/4.jpg)
The ALPL
![Page 5: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/5.jpg)
The ALPL
![Page 6: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/6.jpg)
The ALPL
![Page 7: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/7.jpg)
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.
![Page 8: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/8.jpg)
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
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Aiming Control range by
adjusting launcher elevation.
Experimentally determined ranges.
Fit a parabola to the data.
![Page 10: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/10.jpg)
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.
![Page 11: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/11.jpg)
Results
Success!...Mostly.
Finds targets...sometimes.
Calculates distance...reasonably.
Calculates correct elevation...almost.
Acceptable Proximity to target...usually.
![Page 12: The Automated Life Preserver Launcher Curtis Sand & Zach Byrne.](https://reader038.fdocuments.net/reader038/viewer/2022110322/56649d355503460f94a0ce35/html5/thumbnails/12.jpg)
Questions?