Automated Targeting Proximity Turret Group 17 Group Members

Automated Targeting Proximity Turret Group 17 Group Members: Hector Colon, Adam Horton, Kyle Steighner, and Nicholas Yielding

Goals and Objectives n n n Turret acknowledges that an intruder has entered the field of view Turret warns the intruder to leave the area by an audible alarm once a certain perimeter distance has been reached If the intruder reaches a closer perimeter distance instead of leaving, the turret will fire upon them While all of these processes are going on, the turret continuously tracks the intruder Provide persistant engagement history on an off-board server and allow manual control of the turret. University of Central Florida

Project Overview n 1 Micro-Controller 3 Servos ¨ 1 Audio Alarm ¨ n On-board Laptop Web-Cameras ¨ Range Finder ¨ n Off-board Server Wireless Connection from On-board laptops ¨ Serves web-application to end-user ¨ University of Central Florida

HARDWARE REQUIREMENTS AND SPECIFICATIONS University of Central Florida

Requirements and Specifications n n n Does not weigh more than 20 lbs. Is between 1 and 3 feet tall Is able to determine the distance of targets 60 feet away Is able to fire upon targets 30 feet away The battery lasts at least one hour on a full charge The battery is a commercial off the shelf (COTS) 12 volt battery University of Central Florida

Requirements and Specifications n n n Other sub-systems are powered by their own internal batteries The 12 volt lead acid battery is rechargeable and has a capacity of at least 5000 m. Ah The rangefinder has a range of 75 feet with an accuracy of ± 6 inches The microcontroller provides Pulse Width Modulation (PWM) for 3 servo motors The audible alarm is louder than 50 d. B in sound University of Central Florida

SOFTWARE REQUIREMENTS AND SPECIFICATIONS University of Central Florida

Requirements and Specifications n n n Motion detection is able to detect motion of at least 3 ft/s at 30 feet away Turrets tracking system is able to follow targets moving 10 ft/s at 30 feet away Target tracking system is able to track 4 or more targets at the same time University of Central Florida

Requirements and Specifications n n n Engagement history database is able to store and display at least 100 prior engagements The web applications work on all modern browsers such as Firefox, Google Chrome, etc Manual control of the web application does not have more than 1 second of latency between receiving a command executing it University of Central Florida

HARDWARE COMPONENTS University of Central Florida

Mechanical Base n n First, we wanted to create a base from aluminum, but the cost and equipment needed was too high Refabricating would become even more costly if it became necessary from a redesign. Moved towards a wood or plastic design Decided wood is the best option. This is due to: Lowest price, easily acquired ¨ Sturdy enough for our required accuracy ¨ Lightweight for low strain on motor ¨ Design can be easily modified if necessary ¨ University of Central Florida

Paintball / Airsoft Gun n Airsoft Gun: ¨ n Paintball Gun: ¨ n n Crosman Mini Carbine with semi-auto and fully automatic capability Spyder Shutter with semi auto capability only The turret base is designed to utilize either gun The primary focus will be with the airsoft gun due to: Lighter weight ¨ Ammo capacity is higher and does not require a hopper on top or extra weight from CO 2 canister ¨ Has the option of being fully automatic ¨ University of Central Florida

University of Central Florida

Servo Motors n HS-485 HB (Trigger Motor) from www. servocity. com 83. 3 oz-in of torque, 90 degree rotation ¨ 6 V power, 180 m. A current draw ¨ n HS-5745 MG Digital ¼ Scale (Pan / Tilt Motors) from www. servocity. com 250 oz-in of torque, 180 degree rotation ¨ 6 V power, 840 m. A current draw ¨ n 1. 2231 N-m which when expressed in oz-in is 173. 206 oz-in University of Central Florida

Rangefinder n n Fluke 411 D laser 100 ft range, continuous measurement, accuracy of plus or minus 3 mm, small size, and light weight LIDAR, IR, and others either too expensive or not long enough range Allows perimeter to be established University of Central Florida

Rangefinder Control n n n LR 3 interface board allows computer control and communication with the 411 D rangefinder Solders into the inside of the 411 D in place of the LCD and control panel Enables continuous measurement mode University of Central Florida

Computers and Webcams n Computers The computers are COTS laptops/netbooks ¨ Wi-Fi network connection ¨ n Webcams Using 3 COTS webcams ¨ 2 -3 stationary to cover 180 degrees viewing angle ¨ 1 gun mounted camera for user vision ¨ University of Central Florida

Audible Alarm n Audio. Larm II from Floyd Bell Incorporated group members experience with the alarm sensor and the fact that it costs only $25 for a quality alarm sound ¨ 90 d. B alarm ¨ University of Central Florida

Microcontroller n n n Has 3 PWM outputs for servo motors Has analog input for voltage sensing Has digital outputs to also fit warning alarm Communicates with the computer via serial connection Is inexpensive and easy to interface with using a high level language University of Central Florida

Atmel 328 n n n n Inexpensive, 8 bit microcontroller Has 6 PWM lines 14 digital I/O lines 6 Analog in lines Serial communication lines over two of the digital pins Programmable over serial using the Arduino bootloader Programmable in Wire, which is similar to C For pre-testing purposes, we can use the inexpensive Arduino University of Central Florida

Microcontroller PCB Requirements n n n Has power line at 5 volts, 1 amp max for board power Has separate power line at 6 volts, 5 amp max to power the servos Both power lines run off of the same battery Has voltage sensing circuit to estimate battery charge Has serial connection to computer Has break out connections for servos and alarm University of Central Florida

University of Central Florida

University of Central Florida

University of Central Florida

Power n n The webcams and rangefinder will be powered by USB connections from the laptop The microcontroller PCB, servo motors, and alarm will be powered with an external battery ¨ UB 1280 lead acid battery n n n 12 volts 8 amp hour 5 lbs. University of Central Florida

ON-BOARD SOFTWARE COMPONENTS University of Central Florida

Software Overview University of Central Florida

Software Components - Onboard n n n C# 4. 0 Visual Studio 2010 Aforge. NET Framework University of Central Florida

Software Components n n n Python 2. 2 Django My. SQL Java 6. 2 SDK Java Eclipse Adobe Flash University of Central Florida

Source Control n n n Apache Subversion Tortoise. SVN Win. Merge University of Central Florida

Motion Detection n Compare new frames to an updated ‘initial frame’ Track multiple targets Prioritize targets based on threat University of Central Florida

Target Tracking University of Central Florida

Target Class n Keeps track of a Target Time, Location ¨ Shots fired ¨ ID : int angle. Location : int pitch. Location : int distance : int time. Acquired : int time. Released : int shots. Fired : int active : boolean University of Central Florida Target() : void get. Angle. Location() : int set. Angle. Location(int) : void get. Pitch. Location() : int set. Pitch. Location(int) : void get. Distance() : int set. Distance(int) : void get. Time. Aquired() : int get. Time. Released() : int get. Shots. Fired() : int shot. Fired() : void release() : void

Manual Control n Converts received manual control commands into turret control Movement ¨ Fire ¨ Alarm ¨ Manual. Control. Server : : Thread + ROTATE_CMD : String + Manual. Control. Server() + PITCH_CMD : String + run() : void + SIREN_CMD : String - calc. Target. Pitch(offset : Integer) : Integer + SILENCE_CMD : String - calc. Target. Angle(offset : Integer) : Integer + FIRE_CMD : String - set. Angle(angle : Integer) : void + SET_ROTATE_CMD : String - set. Pitch(pitch : Integer) : void + SET_PITCH_CMD : String - sound. Siren() : void + UP : Integer - silence. Siren() : void + DOWN : Integer - fire() : void + LEFT : Integer - validate(String passcode) : Boolean + RIGHT : Integer - process. Cmds() : void + ON : Integer - terminate. Control() : void + OFF : Integer - PASSCODE : String - name : String - port : Integer - turret. Controller : Turret. Controller - socket : Socket - target. Angle : Integer - target. Pitch : Integer - rotating. Right : Boolean - rotating. Left : Boolean - pitching. Up : Boolean - pitching. Down : Boolean University of Central Florida

Microcontroller Communication n Communication between motion tracking software and microcontroller through 5 byte packets Inbound Packet Structure Outbound Packet Structure University of Central Florida

OFF-BOARD SOFTWARE COMPONENTS University of Central Florida

Off-board Server n Python based Web-application using Django framework. Supports multiple turrets connected to a single server. ¨ Web-application Provides: ¨ n n Engagement History Radar-like representation of current target acquisition Manual control of turrets with video feed. Data collection from turrets to persist data on server database. University of Central Florida

Server Database n Turrets Table ¨ n Field of Vision ¨ n Contains information regarding the cameras attached to each turret Targets ¨ n Contains data on each turret Contains the current potential targets the turret has identified Engagement History ¨ Contains the targets fired warned or fired upon. University of Central Florida

Server Data Collection n n Data will be collected over TCP Socket connections between the Turret and Server using serialized objects. Data will be sent as the following: ¨ After turret connection with server: n ¨ Once a second throughout connection: n ¨ Turret, Field of Vision table data and initial camera view of the turret. Updates on Turret Targets, and update the Turret pan angle. After engagement: n Insert into Engagement History with snapshot of target. University of Central Florida

Web-App: Home Screen n Main page including a grid of all connected turrets, with latest engagement snapshot or intial snapshot if no engagements University of Central Florida

Web-App: Engagement History n Lists all the engagements on the left, selecting an engagement will load the details, radar representation and camera snapshot of the engagement. University of Central Florida

Web-App: Turrets Page n Displays a grid of all connected turrets and their initial snapshot. Provides access to filtered engagement history list, radar watch page and manual control page. University of Central Florida

Web-App: Radar Watch n Displays radar-like representation of the current target acquisition of each turret that was selected to view. University of Central Florida

Web-App: Manual Control Page n Displays video feed of gun-mounted camera, current radar, and a java applet for taking manual control of the turret. University of Central Florida

Web-App: Manual Control Applet n n Connects directly to turret. Receives turret pan angle and turret targets for a faster response radar. Maps keyboard/mouse controls to controlling pan, tilt, alarm and firing. Sends turret commands over socket connection to turret software which relays the commands to the turret’s microcontroller. Manual. Control. Server : : Thread + ROTATE_CMD : String + Manual. Control. Server() + PITCH_CMD : String + run() : void + SIREN_CMD : String - calc. Target. Pitch(offset : Integer) : Integer + SILENCE_CMD : String - calc. Target. Angle(offset : Integer) : Integer + FIRE_CMD : String - set. Angle(angle : Integer) : void + SET_ROTATE_CMD : String - set. Pitch(pitch : Integer) : void + SET_PITCH_CMD : String - sound. Siren() : void + UP : Integer - silence. Siren() : void + DOWN : Integer - fire() : void + LEFT : Integer - validate(String passcode) : Boolean + RIGHT : Integer - process. Cmds() : void + ON : Integer - terminate. Control() : void + OFF : Integer - PASSCODE : String - name : String - port : Integer - turret. Controller : Turret. Controller - socket : Socket - target. Angle : Integer - target. Pitch : Integer - rotating. Right : Boolean - rotating. Left : Boolean - pitching. Up : Boolean - pitching. Down : Boolean University of Central Florida

Potential Problems n n Rangefinder malfunctioning Securely fastening of gun to mechanical base Latency of updates for web-application because of webapplication and data collection are seperate. Keeping a sufficiently high fps to track target University of Central Florida

Administrative University of Central Florida

Project Status University of Central Florida

Budget Component Price Rangefinder $100 Rangefinder Control Board $150 Servo Motors $170 Audible Alarm $25 (Projected) Arduino Uno $35 Test Webcam $6 PCB $100 (Projected) Base Materials $58 Battery $50 Total $694 University of Central Florida