STATS Self Targeting Automated Turret System Group 8

STATS Self Targeting Automated Turret System Group 8 Elso Caponi Michael Lakus Ali Marar Jonathan Thomas Sponsored by Boeing

Project Motivation and Goals § § § 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 Requirements § Hardware § Software § Touchscreen tablet § Intuitive tracking software § Fully wireless § Multiple fire modes § High torque servos § Interactive tablet UI § Projectile weapon platform § Reliable mount and frame

Main Housing § Mobile and Robust § 2. 5 ft x 2 ft § 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

Weapon Testing Platform § JG MAC-10 airsoft gun § Form factor with platform mount § Metal gearbox § Semi and fully automatic § 280 FPS muzzle velocity § § Sufficient range 7. 2 V 450 m. Ah Ni. MH battery § Insufficient

Battery Modification § § § Ni. MH (Nickel metal hydrate) to Li. Po (Lithium Polymer) Better performance § Voltage to 7. 4 V 800 m. Ah § 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-5685 MH - Positioning § § Torque: 157 oz-in (1. 1 N-m) § Current Drain: 3 A (Max) Hitec HS-5055 MG – Trigger § Torque: 22 oz-in (0. 16 N-m) § Current Drain: 1 A (Max)

Motor Controller § Major Components § Atmel Mega 328 P § 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 B Model SANYO Lithium Polymer Battery Voltage 12 V 3. 7 V Max Current 1. 35 A 1. 00 A Milliamp Hours 1100 m. Ah 1000 m. Ah Max Power Rating 16. 2 Watts 3. 7 Watts Weight 4 lbs 1 lb

Recharge Circuit Switch between battery and plug in source § Recharge battery while in operation § Recharge in 1. 8 hours, 450 m. A §

Power System Monitor § MAX 1704 § Monitors battery level § Configurable calibration § Causes an interrupt

PCB § Layout in the works § 2 Layer PCB § Eagle § 4 PCB @ $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 C 170 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. 11 n § Issues – browser only viewing

Tablet Options § Apple § § § No experience Android § Experience § Limited processing power – Alternative CPU necessary Windows § Experience § Enough CPU

Dell Venue 8 Pro $275 Price 8 in Screen Size 1280 x 800 Screen Resolution 0. 86 lbs Weight 2 GHz Intel Atom Z 2580 Processor 2 GB RAM Operating System Windows 8. 1 – 32 bit USB Port Micro USB - one

Software Block Diagram

Firing Control Automated Mode Manual Mode § No operator required § Tablet operator required § Various tracking methods § 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

Open. CV - Processing § Open. CV: 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 Labor Ali Processor X PCB X Servos Power Michael Jonathan Elso X X X Housing X Tracking Software X X Camera X X Wireless X X

Budget Component 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 Yes Battery pack 1 $39. 99 No X-Bee Pro 2 $37. 95 $75. 90 Yes USB Adapter 1 $3. 95 Yes Arduino Uno 1 $39. 99 Yes Windows Tablet 1 $275. 00 Yes Airsoft Gun 1 $100. 00 Yes LT 1510 1 $5. 13 No Maxim 1704 1 $3. 00 No 2 $39. 99 $79. 98 Yes 1 $17. 99 Yes Frame Materials 4 $4. 00 $16. 00 Yes Miscellaneous 1 $50. 00 No AVR mini programmer 1 $9. 95 Yes LM 7805 2 $0. 99 $1. 98 Yes Grand Total $826. 17 HS-5685 MH Servo Motor HS-5055 MG Servo Motor

Progress Research Design Parts Prototype Testing Total 0 10 20 30 40 50 60 70 80 90 100

Questions?