The Software

We are runnning a command line only installation of Debian (Sarge) Linux with the 2.6.1.1 kernel on our PC-104 hardware. The software running on the PC-104 first converts images to RGB format before performing a color segmentation to isolate four basic colors. Blob tracking is used to identify the blinking light for the docking mission. For the pipeline, an EM algorithm fits one or two lines to the pixels identified as orange in the color segmentation. These lines are then used to determine the relative angle of the sub to the pipeline.

The PC-104 Hardware

• AMD Geode GX1 processor (Pentium MMX like) 266MHz (3 cards)
• 128MB SDRAM (per card)
• Rugged Passive Heatsink
• PC-104 62 Point Isolated Digital I/O Board
• On-Power 90 Watt Power Adapter