Browsing by Author "Abraham, Dylan"

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AUV - Automated Unmanned Vehicle for the RoboSub 2012 competition
(2013-03) Shirley, Jesse; Abraham, Dylan; Mondl, Sarah; Lloyd, Hunter
This is a project that will be developing the software (artificial intelligence and mission controlling) for a AUV, or Automated Unmanned Vehicle, which is being built for an upcoming competition. It is for AUVSI’s RoboSub competition, and it will be a submarine that has to perform various tasks, such as picking up and dropping markers, firing torpedoes, etc., autonomously.
Computer Vision in Underwater Navigation Systems
(2013-03) Mondl, Sarah; Shirley, Jesse; Abraham, Dylan; Lloyd, Hunter
The use of computer vision in navigation, especially navigation in underwater environments is directly dependent on the quality of the images and the ability of the computer to process them accurately. The unique conditions of underwater environments provide a particular challenge in image analysis as glare, light scattering, and particulates in the water can cause interference in pattern recognition. The computer vision system being tested focuses on navigating an underwater competition course that requires the use of path, shape and color recognition. To accomplish this, the robot is tested on a mock course, located in the university pool, which is designed to mimic the conditions found at the competition, and also tested on images obtained from the course in previous years. The algorithms used in this system heavily utilize the open source library Open CV and the code is written using C++ to minimize compatibility issues with the rest of the submarines operating platform.
RoboSub
(2013-03) Abraham, Dylan; Shirley, Jesse; Mondl, Sarah; Lloyd, Hunter
I have and will continue to work on the development of the decision, task-managing, internal modeling, and communication modules of the core program for MSU's entry to the 2012 AUVSI Robosub autonomous submarine competition. In addition to this, I lead the coding team and am in charge of overall coding design decisions for the project. My presentation will focus on the design decisions and goals for this year's entry, as well as the more technical details of how the decision making will be handled.