Design Proposal

Problem Overview: 

Using a static camera placed at the base of a LynxMotion robotic arm, be able to detect motion and follow it with a pointing device (laser pointer).  The laser pointer will be attached to the robotic arm.  Rotation of the robotic arm will be around the x and y axis.  Open CV is used to write the codes and programs using C++.  The programming must translate data from the camera into precise motion of the arm to accurately aim at the object in motion. 

Pre-Existing Solution:

 Axis Communications [2], a security camera company, sells cameras that fit in a standard dome camera casing.  This camera is controlled by a motion sensor.  When it detects motion, it follows and centers the activity on the screen.  This ensures that any movement is fully in the frame and nothing is missed.  Not only can this technology be used for security purposes, but is also very beneficial in animal tracking and viewing applications.

            The most common application for a motion tracking robotic arm is an automatic defense turret.  Many examples of these can be found on Youtube.  Using similar programming, but a gun mount, it is possible to program the gun to fire at anything that moves.  It is currently illegal to put a real firearm on an automatic turret; however, many people have done such things with paintball and airsoft guns.

Design Constraints: 
Design constraints include being limited to using a partially pre-built LynxMotion robotic arm, as well as using Arduino control boards.  Restrictions in the computing language are present.  The precision of the servos is not exact, therefore will not always be exactly on the moving target.

Project Goal:

In 10 weeks design, build, and program a robotic arm and camera to detect motion and follow it.  A laser point mounted at the end of the robotic arm will point at and accurately follow any motion in the camera frame.  The motion will be tracked by a color designated in the program.  After color tracking is complete, tracking by change in pixels will be programmed.  As an object enters the frame, the pixels in that area will change and designate that motion is occurring.  Pixel tracking allows motion detection of an object of any color and size, and is the ideal way of tracking motion.

              As opposed to pre-existing designs such as the camera by Axis Communications [2], the motion in this robotic arm will be controlled by two servos controlling two full length LynxMotion arms.  This design allows for complete compatibility with other mountable items such as laser pointers, flashlights, cameras, and even firearms.

Project Deliverables: 
The goal is to deliver an operating motion tracking robotic arm that successfully detects motion.  A weak laser pointer will be mounted to the end of the arm and accurately point at the object as it moves using both color detection and change in pixels.

•           Follow motion using color detection.
•           Follow motion using pixel changes in the recording frame.

Project Schedule:

•             Week 1: Initial research completed, gain understanding of Arduino arm.
•             Week 2: Successfully operate Arduino robotic arm in both the x and y direction.
•             Week 3: Write code that identifies a color and tracks it using a static camera.  Complete design proposal.
•             Week 4: Write program that identifies color and interprets location in frame.  Complete Pro/Engineer design of laser pointer mount.
•             Week 5: Integrate color location in camera frame to motion of robotic arm.  CNC laser pointer mount.
•             Week 6: Wire laser pointer to computer program to operate on/off switch.  Build solid platform for robotic arm.
•             Week 7: Write program that follows motion using change in pixels in frame instead of color.
•             Week 8: Achieve following a person walking and running.  Continue to debug program.
•             Week 9: Achieve following a large bouncing ball.  Continue to debug program and prepare for presentation.
•             Week 10:  Deliver project during project presentation.

Projected Budget:

Laser Pointer - $4.28

Aluminum - $5.00

Wiring - $7.99

Hardware - $4.40
Total - $21.67