Senior Design Project 2009 – Team Goeckel

PAWS Precise Autonomous Wildlife Surveillance

Outline

• Motivation

• Requirements

• Design

• Prototype

• Outlook

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Contemporary Societal Context

Environmental Concerns• Sprawling human infrastructure and influence reducing wildlife habitats worldwide• Wildlife at risk of extinction

Political Context• Government protection under Endangered Species Act needed to preserve rare species• Considerable data is needed to support a claim for government protection

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Examples

• Thought to be extinct• Recently rediscovered by wildlife camera• Application for protection under Endangered Species Act

California Wolverine

• Rare tiger photographed on Sumatra• Photos used to estimate population density and establish range maps

“Camera Traps.” worldwildlife.org. 8 October 2008. <http://www.worldwildlife.org/species/camera-traps/cameratraps.html>

Cambodian Tiger

• Hunted to near extinction• Efforts being made to protect natural populations

Asiatic Cheetahs• Fewer than 60 exist on the entire Asian continent

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Examples

Clouded LeopardSumatran Tiger

Asian Elephants• Rare species found deep in Sumatran Forest

• Forest earmarked for oil palm and timber plantations

• Area of forest where pictures taken deemed “worthless” by local government

http://www.newscientist.com/article/dn12852-camera-traps-reveal-secrets-of-worthless-forest.html

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Potential Consumers Conservationist Organizations seeking government protection for rare species

• Monitor movements and migratory patterns

• Evidence and data to support or discredit claims for endangered species classification

Wildlife Documentaries• Rare footage

• Motion tracking will allow for higher quality video

Wildlife Scientists• Involved in various studies necessitating wildlife surveillance

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Application Requirements (details in subsequent slides)

Cost Main competitor-camera traps ~$700

Environmental Conditions Outdoor application

Noise Sensitivities of wildlife must be considered

Pan Speed Trade-off between capturing at average speed or slower speed

Resolution / Frame Rate Ability to identify distinguishable features in targeted wildlife Maximizing data throughput and minimizing tracking delay

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Applying Realistic Constraints

Noise • Tested for noise levels and evaluated to be within a, yet to be

determined, permissible audible range.

Environment • Components can withstand 5 - 45 ºC and Humidity range 20 - 80% RH

(non-condensing)

• Optional system case will extend operability ranges

Cost • Prototype is within cost specification (excluding computer)• Cost will be variable on account of the range of cameras and quality

available

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Applying Realistic Constraints- Experimentation

Vision Range • 360 Degrees Lateral Pan• Angle of View from Camera

• 48○

horizontal• 30○ vertical

• At 15 feet allows you to see 12 feet up a tree

Pan Speed• Given a target moving 20 mph at 15 feet,

• Angular Velocity 111 Degrees/sec 3.24s / revolution• Servo chosen to meet application requirement• RECALL: NOT tracking animals at top speeds

Power • Currently a computer is being used for computing and the source of

power- FPGA in the future?• 2 week sustainability is the goal

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Flow Diagram

Deployment of PAWS(Wait for Motion)

MCUPosition Adjustment

Algorithm

Recording Video

Motion VectorAnalysis

Servo with Camera

ImagesStorage

Sensor Detection?

Target Relocated?

No Target LocatedEnd Video Return to

Dormant State

data No

Yes

Time Out

PWM

No

Yes

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Block Diagram

Camera

Servo

High Powered Microprocessor

ImageProcessor

Memory

SerialMCU

MotionSensor Array

PWM

Ethernet

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Original MDR Specs• Camera, Servo, MCU, & Motion Sensors Interfaced• Identify quadrants w/ motion sensors and move servo accordingly• Successfully track an simple object against a simple background

Prototype

MDR Progress• 3 major interfaces completed • Established basis for extracting pixels and identifying the center of a

target object

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Motion Sensor Array to MCU

Signal out of Sensor

High and Low Strobe while detecting motion

Charging Capacitor Discharging Capacitor

Capacitor is charging Capacitor discharging when motion is detected. Complete discharge will initiate system.

Time Constant is adjustable using a potentiometer for the resistor in the RC Circuit. Adjusting τ adjusts the sensitivity level of the system.

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

MCU to Servo Each duty cycle corresponds to a discrete location

Using Servo library in MCU, Pulse Width Modulation generated

Duty Cycle

Period

Duty Cycle - .9 ms

Duty Cycle – 1.5 ms

Duty Cycle – 1.2 ms

Duty Cycle – 1.8 ms

180 °

90 °

270 °

0 °

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

MCU to Servo

Frames Isolation of a Target Center of Target

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Prototype

Unexpected obstacles

• Complexity of real time image processing

• Streaming video into program

• Extracting frames intermittently

• Establishing serial connection from PC to MCU

• Various serial connection libraries difficult to implement due to

complexity of Operating Systems

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Jason Dvorsky

• Part research, selection, and purchase

• Interfacing servomotor and motion sensors

Timothy Somerville

• Part research, selection, and purchase

• Camera and obtaining image data

Kelvin Chan

• Interfacing servomotor and motion sensors

• Camera and obtaining image data

Taylor Caggiano

• Report and presentation expectations

• Motion analysis options for the application

Responsibility Distribution / Progression

P.A.W.S. Gantt Chart

9/29/08 10/19/08 11/8/08 11/28/08 12/18/08 1/7/09 1/27/09

Determine SystemSpecification

Reasearch andPurchase Parts

PrototypeDevelopment

Prototype Testing &Debug

MDR Preparation

Winter Break

Ta

sks

Completed Remaining Winter Break

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Motivation Application Requirements System Specifications Design Prototype Outlook

Senior Design Project 2009 – Team Goeckel

Outlook

CDR Goals

• Extract frames from streaming video

• Identify object without the aid of a distinguishing color

• Generate vectors for the MCU