RotativeRoboticArmforIntelligentFace Tracking
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Date
2026-09-23
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المركز الجامعي إليزي - معهد العلوم، قسم الإعلام الآلي
Abstract
TeleGimbalisanintelligent rotatingroboticarm powered byartificial intelligenceforfacetracking. Thesystemaimstosolvetheproblemoftargetlosscausedbythecontinuousmovementofspeakers inside lecture halls, where fixed cameras or human operators often fail to track movement reliably and cost-effectively.
The system relies on computer vision algorithms using the OpenCV library, where faces are detected using the YuNet model and recognized using the SFace model. Based on the visual coordinatesobtainedfromimageprocessing,thesystemsendsreal-timecontrolcommandsthrough an Arduino UNO microcontroller to drive the Pan rotation axis and the Tilt axis using NEMA 17 stepper motors controlled by A4988 drivers with 1/16 microstepping enabled, providing smooth, silent, and vibration-free motion.
Five major engineering challenges were documented and addressed: audio resonance, solved through microstepping activation; overshoot caused by artificial intelligence processing, solved by applyinga50-pixeltolerancethresholdandlimitingspeed;mechanicalvibration,solvedbyphysical adjustmentsand increasingthemountingheight;target loss,solvedthrough asafetymechanism that immediately sends a stop command; and stepper motor overheating, solved by adjusting the VREF value to 0.8 volts.
Experimentalresultsdemonstratedhighoperationalefficiency,achievingframeratesrangingfrom
27.75to29.79framespersecond,face recognitionconfidenceexceeding0.7,responsetimesbelow 50 milliseconds, and an angle measurement accuracy reaching 92.14 degrees. From a commercial perspective, the feasibility study showed a gross profit margin of 71.6%, a break-even point at 41 units sold, and a return on investment reaching 133.6% at 200 units sold.
ThisacademicprototypewasdevelopedwithintheframeworkofMinisterialDecisionNo.1275and is proposed as a marketable commercial product under the startup project TeleGimbal.
Description
Keywords:ComputerVision,FaceTracking,HeadPoseEstimation,GimbalMechanism, Ministerial Decision No. 1275, TeleGimbal Startup.