STATSSelf-Targeting Automated Turret System

Group 8

Elso Caponi

Michael Lakus

Ali Marar

Jonathan Thomas

Sponsored by Boeing

Defense Oriented Real world

implementation Remote control for

security Militaristic design

Price vs. performance balance Within budget Within specifications

Division of labor for EE and CE PCB and Power design Software development

Project Motivation and Goals

Hardware Touchscreen

tablet Fully wireless High torque

servos Stable and

reliable power Projectile

weapon platform Adaptable mount

and frame

Project Requirements Software

Intuitive tracking software

Multiple firing modes

Interactive tablet UI

Field calibration

Main Housing Mobile and Robust

2.5ft x 2ft x 1ft

Wood / metal design Tablet / camera holder Lexan PCB Housing Internal power board

Battery storage

Future modifications

Platform Mount Universal clamp mount

Weapons / lasers Integrated positioning

and trigger servos Servoblocks™ by

Robotzone Max Vertical 90⁰ rotation Max Horizontal 180⁰

rotation

JG MAC-10 airsoft gun Form factor with

platform mount Semi and fully

automatic 280 FPS muzzle velocity 7.2V 450mAh NiMH

battery Insufficient

Weapon Testing Platform

Battery Modification

NiMH (Nickel metal hydrate) to LiPo (Lithium Polymer)

Better performance

Voltage to 7.4V 800mAh

Larger Capacity

Tamiya to Deans connection

Less electrical resistance

Less heat

Reliable

Hardware Block Diagram

Servos Three servos required

Operate at 6 and 7.4 volts

Digital, minimal programming

Hitec HS-5685MH - Positioning

Torque: 179 oz-in (1.26 N-m)

Combined Current Drain: 6 A (Max)

Hitec HS-5485HB – Trigger

Torque: 89 oz-in (0.63 N-m)

Current Drain: 1 A (Max)

HS-5485HB

HS-5685MH

Servos Calibration using pulse

width modulation signals Oscilloscope and Function

Generator for testing Required Pulse: 3-5Vpp Frequency: 50Hz (20ms) Dead band width:

0.002ms Camera view limits range

of pulse

Servo Power Hitec HS-5685MH -

Positioning KingMax 7.4V

1000mAh Li-Po Two-cell, 25C

Continuous Discharge Rate

Max Current Draw: 6A Wire Gauge: 22 AWG

Power Design

Motor Controller Atmel Mega 328P Serial Communication Interface Interface with XBee Series 1 Processing IDE Compatibility Price vs performance tradeoff

Operating Voltage 1.8V – 5.5V

DC Current 40 mA

I/O Pins 14

PWM Pins 6

Clock Speed 16 MHz

FRAM 32 kB

Hardware Prototype Arduino Uno Rev 3

Board $29.99

XBee Arduino Shield $24.95

Inexpensive test servos $7.00 x 3 = $21.00

Motor Controller

LP2985-33DBVR 3.3V Linear Regulator XBee Input Voltage

LM7805 5V Linear Regulator Mega 328 Input Voltage Supplies voltage to pins

Designed Using Eagle by Cadosft Education License 3.2in * 4 in Size Constraint

Manufactured by Advanced Circuits(4pcb.com) 2 Layer PCB 4.75in * 3.5in $33.00 Educational Pricing 4 PCB Ordered

PCB

PCB Mounting and Testing Surface Mount Soldering

Assembled in SD2 Lab Wago Screw in Terminal Connectors

Secure Tight Connection Type N Barrel Jack 9V Battery/Adapter

Easy Change Between Battery/Adapter

Individually Examine and Test Components

Bootload and program using Uno and AVR Programmer Dip Socket

Assembled PCB

Additional Hardware

Warning System Indicates if a moving

projectile is in the perimeter using LED light array.

Sound alarm buzzer

Power System Monitor Monitors Motor Controller

Battery Level MAX1704 Causes an

interrupt if battery level drops below desired voltage.

Wireless Communication Video Camera-to-Tablet

Tablet-to-Microcontroller

Camera-to-Tablet Send live video stream to tablet

Virtual Router Manager – Wi-Fi hotspot

DroidCam Windows client application Android app

Motorola Moto G 5 Megapixel – 720p HD camera

Tablet - Microcontroller Send targeting and tracking signals to

turret

XBee 802.15.4

Transmitter connected to tablet via XBee Explorer Dongle

Receiver connected directly to the PCB with headers

Wireless Complications

XBee Wi-Fi is expensive (>$200)

UCF Wi-Fi connection issues

Alternative cameras D-Link Cloud Camera 1150 Driver complications

Tablet Options Apple

No experience

Android Experience Limited processing power –

Alternative CPU necessary

Windows Experience Enough CPU

Dell Venue 8 ProScreen Size 8 in

Screen Resolution

1280 x 800

Weight 0.86 lbs

Processor2GHz Intel Atom

Z2580

RAM 2 GB

Operating System

Windows 8.1 – 32 bit

USB Port Micro USB - one

Price $275

Software Block Diagram

Firing ControlAutonomous

Mode

No operator required

Automatically targets moving objects

Manual Mode

Operator required

Use of tablet UI

Auto Mode UI

Tracking Requirements

Track objects moving between 0-3 m/s

Lightweight code for easy processing and responsiveness

Locate targets in less than (300 ms)

Weapon Calibration

Matching weapon sights with target crosshairs on the user interface

Finding the borders of the camera image and hard coding those X-Y values into the Arduino code.

Simple equation used to calculate center of screen

Tracking Algorithms

Background subtraction

Color-based tracking

Blob detection

Blob Detection Compares frame to frame to

determine changing pixels

Changing pixels encapsulated in a fixed shape

Centroid calculated using blob dimensions

OpenCV vs Processing

OpenCV: Open-source tracking libraries

Mainly C++

Processing IDE: Java based

Multiple Processing libraries

Libraries

Processing: JMyron GUI 4 Processing Blob Detection

Arduino Servo

Class Diagram

Manual Mode UI

Administrative Content

Division of LaborAli Michael Jonathan Elso

Processor X

PCB X

Servos X

Power X

Housing X

Tracking Software X X

Arduino Coding X X

Wireless X X X X

BudgetComponent Quantity Price Extended

PCB 4 $33.00 $132.00

Battery pack 2 $7.99 $15.98

XBee Sereis 1 2 $37.95 $75.90

XBee Shield 2 $29.99 $59.98

USB Adapter 1 $3.95 $3.95

Arduino Uno 1 $39.99 $39.99

Dell Venue 8 Pro 1 $275.00 $275.00

HS-5685MH Servo Motor 2 $39.99 $79.98

HS-5055MG Servo Motor 1 $24.99 $24.99

Frame Materials 1 $120.00 $120.00

Miscellaneous 1 $50.00 $50.00

LM7805 2 $0.99 $1.98

Airsoft Gun 1 $150.00 $150.00

Resistors, Capacitors, Etc… 1 $70.00 $70.00

Boeing Funding 1 ($476) -$476.46

    Grand Total $623.29

Questions?