STATS Self Targeting Automated Turret System Group 8 Elso Caponi Michael Lakus Ali Marar Jonathan...

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 user safety

Militaristic design

Price vs. performance

Within budget

Within specifications

Well balanced for EE and CE

PCB and Power design

Software development

Project Motivation and Goals

Hardware

Touchscreen tablet

Fully wireless

High torque servos

Projectile weapon platform

Reliable mount and frame

Project Requirements

Software

Intuitive tracking software

Multiple fire modes

Interactive tablet UI

Main Housing Mobile and Robust

2.5ft x 2ft x 2ft

Wood / metal design

Detachable tablet mount

Plexiglass PCB Housing

Internal storage

DC Battery

AC Adapter

Rubberized support legs

Tracking stability

Top View

Platform Mount Universal mount

Weapons / lasers

Integrated positioning and trigger servos

180⁰ rotation

Rubberized clamps

Platform Mount

JG MAC-10 airsoft gun

Form factor with platform mount

Metal gearbox

Semi and fully automatic

280 FPS muzzle velocity

Sufficient range

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

Rate of fire increase

Tamiya to Deans connection Less electrical resistance

Less heat

Reliable

Hardware Block Diagram

Servos Three servos required

Operate at 6 volts

Digital, plug-and-play

Hitec HS-5685MH - Positioning Torque: 157 oz-in (1.1 N-m)

Current Drain: 3 A (Max)

Hitec HS-5055MG – Trigger Torque: 22 oz-in (0.16 N-m)

Current Drain: 1 A (Max)

Motor Controller Major Components

Atmel Mega 328P

XBee Series 1

AVR Mini Programmer

MAX 1704

Warning System

Can be triggered on and off

Indicates if a moving projectile is in the area

RGB LED Sound alarm buzzer

Power System

Power System

Battery A Battery BModel SANYO Lithium Polymer Battery

Voltage 12 V 3.7 V

Max Current 1.35 A 1.00 A

Milliamp Hours 1100 mAh 1000 mAh

Max Power Rating 16.2 Watts 3.7 Watts

Weight 4 lbs 1 lb

Switch between battery and plug in source

Recharge battery while in operation Recharge in 1.8 hours, 450 mA

Recharge Circuit

Power System Monitor MAX1704

Monitors battery level

Configurable calibration

Causes an interrupt

PCB Layout in the works

2 Layer PCB

Eagle

4PCB @ $33.00 educational rate

Hardware Prototype Use an Arduino Uno Rev 3 Board

XBee Arduino Shield

XBee Explorer Dongle

Bread boarded our Arduino

Hardware Mounting & Testing

All components mounted to PCB

Surface mount soldering

Individually test all components

Bootload and program using Arduino Uno

Wireless Communication

Video Camera-to-Tablet

Tablet-to-Microcontroller

Camera-to-Tablet Send live video stream to tablet

USB webcam

XBee Wi-Fi

Up to 72 Mbps data rate

Connected to tablet via USB Explorer Dongle

Camera Requirements Must have a resolution

range no higher than 640 x 480 to minimize data size

Must allow for wireless transmission to the tablet

Lightweight (< 5.0 oz)

Windows 8 compatible

Logitech C170

Resolution

640 x 480

FPS 15

Weight 3.5 oz

Price $20

Tablet - Microcontroller Send targeting and tracking signals to

turret

XBee 802.15.4

XBee Explorer Dongle

Wireless Complications

XBee Wi-Fi is expensive (~$200)

Possible connection issues

Alternative: Wi-Fi camera

D-Link Cloud Camera 1150

D-Link Cloud Camera 1150

Resolution: 640 x 480

Weight: 3.4 oz

Field of View: 55 degrees

Uses wireless 802.11n

Issues – browser only viewing

Tablet Options Apple

No experience

Android

Experience

Limited processing power – Alternative CPU necessary

Windows

Experience

Enough CPU

Dell Venue 8 ProPrice $275

Screen 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

Software Block Diagram

Firing ControlAutomated Mode

No operator required

Various tracking methods

Manual Mode

Tablet operator required

Tablet UI

Automated Mode No user required

Immediate response

Continuous firing

Auto Mode UI

Tracking Requirements

Track objects moving between 0-5 m/s

Lightweight code for easy processing

Locate targets in less than (300 ms)

Tracking Algorithms

Background subtraction

Color-based tracking

Blob detection

Blob Detection Compares frames to

determine changing pixels

Changing pixels encapsulated in a fixed shape

Centroid calculated using blob dimensions

OpenCV - Processing

OpenCV: Open-source tracking libraries

Mainly C++

Processing IDE: Java based

Multiple Processing libraries including the JMyron library

Manual Mode User control using tablet

Target selection by use of touch screen

Enables wireless control of the turret system by the user

Manual Mode UI

Tracking Problems Laptop to tablet code

transfer

Tablet driver and software complications

Not overloading the tablet’s processor

Testing PC to tablet code transfer

Tracking accuracy

Intuitive UI

Administrative Content

Division of LaborAli

Michael

Jonathan

Elso

Processor X

PCB X X

Servos X

Power X

Housing X

Tracking Software

X X

Camera X X

Wireless X X X X

BudgetComponent Quantity Price Extended Acquired

Atmel Mega 328 2 $3.23 $6.46 Yes

PCB 2 $33.00 $66.00 No

RGB LED 3 $4.95 $14.85 No

Web Camera 1 $20.00 $20.00 Yes

Battery pack 1 $39.99 $39.99 No

X-Bee Pro 2 $37.95 $75.90 Yes

USB Adapter 1 $3.95 $3.95 Yes

Arduino Uno 1 $39.99 $39.99 Yes

Windows Tablet 1 $275.00 $275.00 Yes

Airsoft Gun 1 $100.00 $100.00 Yes

LT1510 1 $5.13 $5.13 No

Maxim 1704 1 $3.00 $3.00 No

HS-5685MH Servo Motor

2 $39.99 $79.98 Yes

HS-5055MG Servo Motor

1 $17.99 $17.99 Yes

Frame Materials 4 $4.00 $16.00 Yes

Miscellaneous 1 $50.00 $50.00 No

AVR mini programmer

1 $9.95 $9.95 Yes

LM7805 2 $0.99 $1.98 Yes

    Grand Total $826.17  

Progress

Total

Testing

Prototype

Parts

Design

Research

0 10 20 30 40 50 60 70 80 90 100

Questions?