STATS Self-Targeting Automated Turret System
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Transcript of STATS Self-Targeting Automated Turret System
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?