Dream-a-bot

DREAM-A-BOT TECHNOLOGY ROBOTIX SOCIETY

IIT KHARAGPUR

WHAT IS DREAM-A-BOT?

 Initiated by TRS last year  Proposals for sufficiently large-scale robotics projects were invited  The chosen project would receive mentorship, financial and logistical support from TRS  The first project was The Quadrotor

THE QUADROTOR  A multi-copter propelled by 4 rotors  Used as a UAV in security and surveillance, and for robotics research

 The Dream-A-Bot Quadrotor Project began recently in Kharagpur  Roadmap has been laid; the rotors have been tested; and the Inertial Measurement Unit has been set up

THE WORK AHEAD!

 EMBEDDED – IMU interfacing; Brushless DC Motor Control; Feedback and PID  MECHANICAL – Aerodynamics; Flight Control

 PROGRAMMING – Implementation of Flight Algorithm; Computer Vision for navigation

DREAM-A-BOT 2.0

 We are now looking for something centered around using the Microsoft Kinect as an integral part of the robot  We will be receiving ideas till June 30  Exact details for submission will be mentioned later  The chosen idea will be the next Dream-A-Bot project and the proposer responsible for it.

Image Processing Basics

WHAT IS IMAGE PROCESSING?

Accessing the data stored in an image and working with it is called Image Processing

WHAT IS AN IMAGE? It is a 2 dimensional array of pixels with each pixel having an unsigned value between 0 and 255.

RESOLUTION

ď‚šDefines how many pixels are there in the image ď‚šIf an image has the resolution of [ 800 X 600 ] it means that the image is a two dimensional array of size[800][600] that is 800 pixel in the horizontal direction for each of the 600 pixel in the vertical direction.

PIXEL

ď‚šUnits which make up the image are called pixels. ď‚šThese contain valueS depicting the shade of the particular cell.

CHANNELS  It is the number of divisions in a particular pixel.  Grayscale images have 1 channel – with value of each pixel from 0 to 255

 Normal colored images (Blue-Green-Red) have 3 channelas, the shade of each pixel results from the combination of these 3 values.

THRESHOLD In segmentation, it is the value of a particular channel set by the programmer which is the border line between the wanted and the unwanted pixels.

HISTOGRAM A Graphical representation of the integral value of the pixels versus the frequency of each pixel.

An overview KINECT FOR WINDOWS

MICROSOFT KINECT  Senses depth, gestures, motion, sound and much more.  Natural user

interface.  Lively interaction with technology.

SENSOR COMPONENTS

HOW DOES IT WORK?

 RGB Camera : Makes capturing colour pictures possible.  IR emitter & IR depth sensor : Gets the “depth” for each pixel  Multi-array microphone : Possible to record audio as well as find the location and direction of it.

 3-axis accelerometer : Possible to determine the current orientation of the Kinect.

FEATURES

Face Tracking and Recognition

FEATURES

Skeleton Tracking

FEATURES

Gesture Recognition

FEATURES

3D Reconstruction

FEATURES

Audio Localization

APPLICATIONS Gaming

APPLICATIONS Gaming

APPLICATIONS

Next-Gen User Interfaces

APPLICATIONS Healthcare

APPLICATIONS

Robots – Human Mimicry

APPLICATIONS

Robots – Autonomous Vehicles

WHAT IS REQUIRED TO ‘KINECT’ ?

All you need to get started with development for the Kinect is  A Kinect Sensor  A Windows Computer

 Microsoft Visual Studio

GETTING STARTED Log on to http://www.microsoft.com/en-us/kinectforwindows/

BUYING A SENSOR

You can shell out ~ Rs. 9,000

OR….

IDEAS! IDEAS! IDEAS!

Ideas and proposals for robotics projects involving the Microsoft Kinect are now being invited as part of the Dream-ABot initiative.

So get thinking and fire away!

PROJECT PROPOSALS  The proposal should not be longer than 2 pages.  It should be in a .doc(x) or .pdf format.  It should include the following : a) Project Title b) Motivation and Applications c) Working Idea d) Time Span (Weekend/Semester/Long-Term) e) Financial Requirements f) Milestones and Possible Extensions

SUBMISSIONS Send the draft of your proposals to myproject@robotix.in The deadline is June 30, 2013 The selected entry(ies) will be chosen as part of the Dream-A-Bot initiative and the proposers will be the project leaders

THANK YOU! LOOKING FORWARD TO YOUR IDEAS!