Transcript STATS Self Targeting Automated Turret System

STATS
Self-Targeting Automated
Turret System
Group 8
Elso Caponi
Michael Lakus
Ali Marar
Jonathan Thomas
Sponsored by Boeing
Project Motivation and Goals
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Defense Oriented
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Real world implementation
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Remote control for security
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Militaristic design
Price vs. performance balance
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Within budget
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Within specifications
Division of labor for EE and CE
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PCB and Power design
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Software development
Project Requirements
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Hardware
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Touchscreen tablet
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Fully wireless
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Software
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Intuitive tracking
software
High torque servos
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Multiple firing modes
Stable and reliable
power
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Interactive tablet UI
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Field calibration
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Projectile weapon
platform
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Adaptable mount
and frame
Main Housing
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Mobile and Robust
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2.5ft x 2ft x 1ft
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Wood / metal design
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Tablet / camera holder
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Lexan PCB Housing
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Internal power board
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Battery storage
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Future modifications
Platform Mount
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Universal clamp mount
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Weapons / lasers
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Integrated positioning and
trigger servos
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Servoblocks™ by Robotzone
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Max Vertical 90⁰ rotation
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Max Horizontal 180⁰
rotation
Weapon Testing Platform
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JG MAC-10 airsoft gun
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Form factor with
platform mount
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Semi and fully automatic
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280 FPS muzzle velocity
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7.2V 450mAh NiMH battery
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Insufficient
Battery Modification
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NiMH (Nickel metal hydrate)
to LiPo (Lithium Polymer)
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Better performance
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Voltage to 7.4V 800mAh
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Larger Capacity
Tamiya to Deans connection
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Less electrical resistance
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Less heat
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Reliable
Hardware Block Diagram
Servos
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Three servos required
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Operate at 6 and 7.4 volts
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Digital, minimal programming
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Hitec HS-5685MH - Positioning
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Torque: 179 oz-in (1.26 N-m)
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Combined Current Drain: 6 A (Max)
Hitec HS-5485HB – Trigger
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Torque: 89 oz-in (0.63 N-m)
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Current Drain: 1 A (Max)
HS-5685MH
HS-5485HB
Servos
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Calibration using pulse
width modulation signals
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Oscilloscope and Function
Generator for testing
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Required Pulse: 3-5Vpp
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Frequency: 50Hz (20ms)
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Dead band width: 0.002ms
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Camera view limits range
of pulse
Servo Power
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Hitec HS-5685MH Positioning
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KingMax 7.4V 1000mAh LiPo
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Two-cell, 25C Continuous
Discharge Rate
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Max Current Draw: 6A
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Wire Gauge: 22 AWG
Power Design
Motor Controller
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Atmel Mega 328P
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Serial Communication Interface
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Interface with XBee Series 1
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Processing IDE Compatibility
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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
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Arduino Uno Rev 3 Board
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XBee Arduino Shield
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$29.99
$24.95
Inexpensive test servos
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$7.00 x 3 = $21.00
Motor Controller
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LP2985-33DBVR
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3.3V Linear Regulator
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XBee Input Voltage
LM7805
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5V Linear Regulator
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Mega 328 Input Voltage
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Supplies voltage to pins
PCB
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Designed Using Eagle by Cadosft
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Education License
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3.2in * 4 in Size Constraint
Manufactured by Advanced Circuits(4pcb.com)
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2 Layer PCB 4.75in * 3.5in
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$33.00 Educational Pricing
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4 PCB Ordered
PCB Mounting and Testing
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Surface Mount Soldering
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Wago Screw in Terminal Connectors
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Assembled in SD2 Lab
Secure Tight Connection
Type N Barrel Jack 9V Battery/Adapter
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Easy Change Between
Battery/Adapter
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Individually Examine and Test
Components
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Bootload and program using Uno and
AVR Programmer
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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
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Video Camera-to-Tablet
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Tablet-to-Microcontroller
Camera-to-Tablet
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Send live video stream to tablet
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Virtual Router Manager – Wi-Fi hotspot
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DroidCam
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Windows client application
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Android app
Motorola Moto G
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5 Megapixel – 720p HD camera
Tablet - Microcontroller
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Send targeting and tracking signals to turret
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XBee 802.15.4
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Transmitter connected to tablet via XBee
Explorer Dongle
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Receiver connected directly to the PCB with
headers
Wireless Complications
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XBee Wi-Fi is expensive (>$200)
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UCF Wi-Fi connection issues
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Alternative cameras
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D-Link Cloud Camera 1150
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Driver complications
Tablet Options
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Apple
 No experience
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Android
 Experience
 Limited processing power –
Alternative CPU necessary
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Windows
 Experience
 Enough CPU
Dell Venue 8 Pro
8 in
Screen Size
1280 x 800
Screen Resolution
0.86 lbs
Weight
2GHz Intel Atom Z2580
Processor
2 GB
RAM
Operating System
Windows 8.1 – 32 bit
USB Port
Micro USB - one
Price
$275
Software Block Diagram
Firing Control
Autonomous Mode
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No operator required
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Automatically targets
moving objects
Manual Mode
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Operator required
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Use of tablet UI
Auto Mode UI
Tracking Requirements
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Track objects moving between 0-3 m/s
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Lightweight code for easy processing
and responsiveness
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Locate targets in less than (300 ms)
Weapon Calibration
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Matching weapon sights with target crosshairs
on the user interface
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Finding the borders of the camera image and
hard coding those X-Y values into the Arduino
code.
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Simple equation used to calculate center of
screen
Tracking Algorithms
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Background subtraction
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Color-based tracking
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Blob detection
Blob Detection
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Compares frame to frame to determine
changing pixels
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Changing pixels encapsulated in a fixed
shape
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Centroid calculated using blob
dimensions
OpenCV vs Processing
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OpenCV: Open-source
tracking libraries
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Mainly C++
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Processing IDE: Java based
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Multiple Processing libraries
Libraries
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Processing:
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JMyron
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GUI 4 Processing
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Blob Detection
Arduino
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Servo
Class Diagram
Manual Mode UI
Administrative Content
Division of Labor
Ali
Jonathan
Elso
Tracking Software
X
X
Arduino Coding
X
X
X
X
Processor
X
PCB
X
Michael
Servos
X
Power
X
Housing
X
Wireless
X
X
Budget
Component
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?