Autonomous Crossbow: Applying Image Processing and Pneumatic System Control in Security and Defense Applications.
Mohammad Al-Shabi
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Alaa Hamamra
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Mohammad Sawafta
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Samer Alshaer
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Abstract—This project uses image processing algorithms to detect specific features from the required object and specify its center, location, and velocity characteristics. This project implements process control of pneumatic systems to identify the required angle of inclination of a pneumatic-based crossbow system using the previously mentioned extracted features from the image processing algorithm. The project consists of a robotic arm that is used to refill and place the arrows in the required trajectory, a pneumatic system that sets the arrow and applies pressure to the arrow to fire it to the required target by setting the proper inclination angle set by servo motors installed beneath the pneumatic system. Image processing is achieved using Kinect to identify specific points in the required object after applying several filters to rule out noise in the captured image. The image is then processed for extracting the perimeter of the object and identifying it's centroid, knowing the original dimensions of the object allows for acquiring the distance of the object. The project's...