Transcript AIR-STRIKE Aerial Intruder Removal

AIR-STRIKE
Aerial Intruder Removal - System for Tracking and Rendering Ineffective Knavish Enemies
Group 13
Kevin Chau - Computer Engineering
Scott Greenwald - Electrical Engineering
Andrew Kirk - Photonics Engineering
Christopher Walls - Computer Engineering
Motivation
● Project contains several subsystems coinciding with our
individual interests
● Utilizes our each of our skill sets
● Previous internships/CWEP at Lockheed Martin
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Worked on similar systems
● Improving our engineering skills and judgement
Goals and Objectives
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Develop a autonomous surface-to-air turret defense system
Utilize directed energy systems to neutralize targets
Maintain reliability, precision and safety throughout the process
Perform all computation without external computers
Specifications & Requirements
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The detection rate of a target in the field of view shall be at least
70%
The system shall be capable of tracking a single target
The system shall be able to neutralize a target within ten feet
Upon detection, time to first kill shall be 7 seconds
The total field of view shall be 75° with two cameras
The directed energy system shall deliver at least 100 mW of
power in a concentrated beam
The mounted laser should be capable of movement 120°
azimuthal (60° each direction) and 120° elevational (60° each
direction)
The system shall be interfaceable through USB or wireless signals
by external devices
Overall Control System Design
Directed Energy
Device
Power Settings
Gimbal System
Orientation
Commands
MCU (Tiva C)
External AC Power
Source (Outlet)
Events / Status
Information
Web Server
(CC3100)
Commands / Status
Information
External Observing
Device (Optional)
Pixy Camera
Target Coordinates/
Images
Microcontroller
Microcontroller - TM4C1294NCPDT
● Able to interface with required peripherals.
o 2 Pixy cameras - SPI
o 2 Servos - PWM and Analog Input
o 1 Laser Driver - PWM
o 1 Network Processor - SPI
o USB
Microcontroller - Divide and Conquer
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Offload intensive processes off the main MCU
Target Identification
Master Control
Wifi Communication
Software
Software Architecture
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Designed as a series of
tasks
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Target Acquisition
Turret Movement
Fire Control
External
Communication
Software State Diagram
Target Acquisition
Turret Movement
Fire Control
External Communication
Network Design
Network Architecture
MCU
SPI
CC3100
2.4GHz
Antenna
Hardware
Software
Event
Handler
Simplelink
API
HTTP Server,
Wi-Fi, and
Internet
Protocols
Network Design
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Network intensive processes such as TLS/SSL, TCP/IP, and WiFi don’t take the main MCU’s resources.
Authorizes users through WPA.
Providing interface through HTTP web server allows any Wi-Fi
enabled device with a web browser to interface with system.
Only need to develop one application that will work with
multiple platforms.
Network User Interface
● Through a web browser users can:
o Enable/Disable the laser
o View target information
o View current orientation of turret
o Set laser power level
Vision System
Camera
● Chose Pixy (CMUCam5)
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Built in image processing
Detects color blobs and transmits
coordinates
Communicates via SPI, I2C, UART,
and more
75° horizontal view, 47°vertical
50 frames per second
(while processing)
● Two cameras
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Can be set up to get wider FoV or Parallax
Redundancy to ensure a real target in Parallax config
Pixy Functionality
● Tested first camera
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Three black smudges
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Likely focal plane array defects
Don’t get detected as objects
Object detection requires good lighting to distinguish colors
properly
● Only tested with Pixymon so far
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Hooked up to Arduino (cable shipped with Pixy) for initial testing
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Will connect to Tiva C launchpad when wires arrive
Communicating with Pixy
● Communicate via SPI
○ Faster than other methods
● Big Endian, 16-bit words
● Sends data every 20 ms
● Separate frames separated by two sync words
Parallax
● Phenomenon where an object’s
position relative to a background
object is different on different lines
of sight
● Allows us to determine range with
two cameras
○ Same method used by the
human brain
● Range is useful to accurately direct
the servos to aim the laser device
PCB Design
PCB Design/Schematics
GPIO Breakdown
PCB Design/Schematics
USB Port
USB-on-the-go
ESD Protection
PCB Design/Schematics
Power Breakdown from
Tiva microcontroller
PCB Design/Schematics
25 MHz
Oscillator
PCB Design/Schematics
32.768 KHz
Oscillator
40 MHz
Oscillator
PCB Design/Schematics
Antenna
AT25P Flash
Memory
PCB Design/Schematics
SPI connection to Tiva
microcontroller
PCB Design/Schematic
Directed Energy
Directed Energy System
• The DE component will generate a high
energy, coherent light beam to eliminate
targets
• Wide range of laser diodes available
• Narrowed down to 445nm and 808nm
wavelength LDs
• Single Mode vs Multi Mode output
• Single mode preferable, however for power
output >500mW, MM is the only option
Diode Characteristics
• M140 diode rated for max 1.6W at 4.5V
• Emits at peak wavelength of 445nm
Components
• Collimating Optics- Light emitted from LD is highly diverging
• Proper optics required to capture majority of light and collimate for
high efficiency operation
• Proper cooling required for maximize lifetime of LD
• The high thermal conductivity of copper makes it an ideal choice
for material
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Power Delivery
• The LD will be powered by a Flexmod
P3 current driver
• Flexmod will receive PWM signals from
the MCU to determine the current to
provide the LD
• Two operating lasing modes:
• Low power mode- Driver will supply 3.5V
at 180mA giving < 50mW optical power
• High power mode- Driver will supply 4.5 V
at 1A giving ~1W optical power
2-Axis Gimbal
• TP GM90 Metal Gear Servos
• Same size as 9g nylon gear servo
• Metal gearing offers high torque figures to
compensate for additional weight of heat sink
• Specifications
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Torque: 4.8/6 V= 2.2/2.5 kg/cm
Speed: 4.8/6 V=.11/.1 sec/60degree
Rotation Range: 180°
Driven by PWM: 400-2400μs pulse
• Gimbal assembly is a modified Boscam camera
gimbal
Housing
Power Flow
120 Vac
5 Vdc
DC/DC
Regulator
24 Vdc
AC/DC
Converter
12Vdc
DC/DC
Regulator
Microcontroller
5 Vdc
Servo
Motors
6 Vdc
(max)
Camera
Diode Current
Driver
Administrative Content
Work Distribution
Name
Softwar
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Kevin
X
Camera
Network
Laser
Servos
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Andrew
X
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Power
X
Scott
Chris
PCB
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Budget Distribution
Budget
Funded by Boeing: $900
Progress
Issues
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Routing for PCB
Considering using the CC3200 instead
Coordinate Frame Transforms
Use Camera for wider FoV or Parallax
Questions?