Transcript Title of presentation goes here

PAWS
Precise Autonomous Wildlife Surveillance
Outline
•
Motivation
•
Requirements
•
Design
•
Prototype
•
Outlook
Senior Design Project 2009 – Team Goeckel
Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Contemporary Societal Context
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Environmental Concerns
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Sprawling human infrastructure and influence reducing wildlife habitats worldwide
Wildlife at risk of extinction
Political Context
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Government protection under Endangered Species Act needed to preserve rare species
Considerable data is needed to support a claim for government protection
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Examples
California Wolverine
• Thought to be extinct
• Recently rediscovered by wildlife camera
• Application for protection under Endangered Species Act
Asiatic Cheetahs
• Fewer than 60 exist on the entire Asian continent
• Hunted to near extinction
• Efforts being made to protect natural populations
Cambodian Tiger
• 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>
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Examples
• Rare species found deep in Sumatran Forest
Asian Elephants
• Area of forest where pictures taken deemed
“worthless” by local government
• Forest earmarked for oil palm and timber plantations
Clouded Leopard
Sumatran Tiger
http://www.newscientist.com/article/dn12852-camera-traps-reveal-secrets-of-worthless-forest.html
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Potential Consumers
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Conservationist Organizations seeking government protection for rare species
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Monitor movements and migratory patterns
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Evidence and data to support or discredit claims for endangered species classification
Wildlife Documentaries
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Rare footage
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Motion tracking will allow for higher quality video
Wildlife Scientists
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Involved in various studies necessitating wildlife surveillance
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Application Requirements (details in subsequent slides)
 Noise
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Sensitivities of wildlife must be considered
 Pan Speed
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Trade-off between capturing at average speed or slower speed
 Resolution / Frame Rate
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Ability to identify distinguishable features in targeted wildlife
Maximizing data throughput and minimizing tracking delay
 Environmental Conditions
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Outdoor application
 Cost
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Main competitor-camera traps ~$700
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Applying Realistic Constraints
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Noise
• Tested for noise levels and evaluated to be within a, yet to be
determined, permissible audible range.
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Environment
• Components can withstand 5 - 45 ºC and Humidity range 20 - 80%
RH (non-condensing)
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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
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Applying Realistic Constraints- Experimentation
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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
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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
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Power
• Currently a computer is being used for computing and the source of
power- FPGA in the future?
• 2 week sustainability is the goal
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Flow Diagram
Deployment of PAWS
(Wait for Motion)
No
Motion Vector
Analysis
Images
Storage
Sensor Detection?
data
Recording Video
No
Target Relocated?
Yes
Time Out
No Target Located
End Video
Return to
Dormant State
PWM
MCU
Position Adjustment
Algorithm
Senior Design Project 2009 – Team Goeckel
Servo with
Camera
Yes
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Block Diagram
Ethernet
High Powered
Microprocessor
Image
Processor
Camera
Serial
MCU
Servo
PWM
Memory
Motion
Sensor Array
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Prototype
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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
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MDR Progress
• 3 major interfaces completed
• Established basis for extracting pixels and identifying the center of a
target object
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Motion Sensor Array to MCU
Signal out of Sensor
Discharging Capacitor
Charging Capacitor
High and Low Strobe
while detecting motion
Capacitor discharging when
motion is detected. Complete
discharge will initiate system.
Capacitor is charging
Time Constant is adjustable using a potentiometer for the resistor in the RC Circuit.
Adjusting τ adjusts the sensitivity level of the system.
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
MCU to Servo
 Each duty cycle corresponds to a discrete location
 Using Servo library in MCU, Pulse Width Modulation generated
Duty Cycle
Duty Cycle - .9 ms
0°
Duty Cycle – 1.2 ms
90 °
Duty Cycle – 1.5 ms
180 °
Duty Cycle – 1.8 ms
Senior Design Project 2009 – Team Goeckel
Period
270 °
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
MCU to Servo
Frames
Senior Design Project 2009 – Team Goeckel
Isolation of a Target
Center of Target
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Prototype
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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
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Responsibility Distribution / Progression
Jason Dvorsky
P.A.W.S. Gantt Chart
• Part research, selection, and purchase
9/29/08
• Interfacing servomotor and motion sensors
• Interfacing servomotor and motion sensors
• Camera and obtaining image data
11/28/08 12/18/08
1/7/09
1/27/09
Reasearch and
Purchase Parts
Tasks
• Part research, selection, and purchase
Kelvin Chan
11/8/08
Determine System
Specification
Timothy Somerville
• Camera and obtaining image data
10/19/08
Prototype
Development
Prototype Testing &
Debug
MDR Preparation
Winter Break
Completed
Remaining
Winter Break
Taylor Caggiano
• Report and presentation expectations
• Motion analysis options for the application
Senior Design Project 2009 – Team Goeckel
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Motivation
Application Requirements
System Specifications
Design
Prototype
Outlook
Outlook
 CDR Goals
• Extract frames from streaming video
• Identify object without the aid of a distinguishing color
• Generate vectors for the MCU
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