Missile Defense Group 12 Aaron Smith Garrett Murray Brad Miller Dylan Tootle Steven Kipikash

Agenda Overview and Needs Analysis Tasks Assignments Gantt Chart Camera Full Specs and Vision Demo Target Identification Demo Tracking Information Aiming Platform Demo Intercept Launcher Demo Current Status of Budget Website Questions Aaron Smith

Project Overview Aaron Smith

Aaron Smith

What is the scenario? d = 20.3 cm V = 43.8cm3 M = 122g 5.6m/s 0.9s Projectile d = 20.3 cm V = 43.8cm3 M = 122g Average Horizontal Velocity 5.6m/s Average Flight Time 0.9s Defense Zone Area 0.7m2 Max Projectile Height 2m Aaron Smith

4 Aaron Smith

What do we need for success? Identify the projectile Record projectile’s characteristics Speed, Direction, Acceleration Calculate projectile’s trajectory Fire “defense dart” and alter missile's current course 0.2 seconds 0.1 seconds 0.4 seconds Aaron Smith

Overall Progress Report Gantt Chart Aaron Smith

Camera

Camera Basler ace acA1300-200uc Color USB 3.0 Why we chose this camera Frame rate(203 fps) Resolution (1.31 MP) USB 3.0 Color (differentiation between target and surroundings) Online Resources and software Ease of use Dylan Tootle

Camera 3.5 mm C Series Fixed Focal Length Lens Why we chose this lens Chosen with assistance from Edmund Optics Focal and sensor length allow for an increased field of view Dylan Tootle

See Camera

Tracking OpenCV Python Aaron Smith

Tracking Information Toss the ball

Calculate x and y velocity from two frames Vx = ∆dx/t Vy = ∆dy/t Calculate Intercept x and y coordinates y= Vy t+(½)(9.81)t2 x= Vxt Projectile Flight Path Steven Kipikash

Camera Grid System Calculate two X velocities and two Y velocities from three frames Vx1 = (x2 - x1)/t1 Vy1 = (y2 - y1)/t1 Vx2 = (x3 - x2)/t2 Vy2 = (y3 - y2)/t2 Calculate X and Y accelerations Ax = (Vx2 - Vx1)/(t1 + t2) Ay = (Vy2 - Vy1)/(t1 + t2) Calculate Intercept x and y coordinates Y = y3 + Vy2 tt +(½)(Ay)tt2 X = x2 + Vx2 tt +(½)(Ax)tt2 Steven Kipikash

Tracking Predict the ball

Aiming Platform ScorpionX MX-64 Pan Tilt Brad Holding Torque 74 kg·cm 7.3 N·m No-load Speed 78 RPM Resolution 0.088° Rotation 360° Max Current 4.1 A @ 12V Voltage 12 V Load Speed 75 RPM Steps Per 45° 512 Preloaded Firmware Arduino 1.0.6 Compatible FTDI-USB connection ArbotiX-M Robocontroller 16MHz AVR microcontroller 16 Digital inputs 3-pin headers (gnd, vcc, signal) on all 8 analog inputs ScorpionX MX-64 Pan Tilt Brad

Aiming Software We have separated the aiming software into 2 different parts: Taking in the calculated intercept point and sending a signal to the pan/tilt interface Implementing a signal to “fire” the missile C code is used to control the pan/tilt interface that is connected to an Arduino ArbotiX-M Robocontroller The Arduino ArbotiX-M Robocontroller offers a higher processing rate which allows the turret have time to point in the direction to where it was commanded to. Brad

Aiming Platform Motion Calculations The Servo’s position is represented by a number called the position ID, a number that tells where the servo to point. The bottom servo(Pan) position ID Center = 2048 90 Degrees to the right = 1024 90 Degrees to the left = 3072 The top servo(Tilt) position ID Starting point = 2049 Facing the floor = 1023 In order to figure out where the turret needs to be pointed to obstruct the target, calculations will need to be made. Brad

Aiming Platform Motion Calculations (Aerial View) B C Where target is thrown Where target lands Theta = 32° 4 m A = 2048 + 364 = 2412 Position ID # of Steps = 32/0.088 = 364 Theta B = 2048 Position ID Total Number of Steps in Range = 728 Steps C = 2048 - 364 = 1684 Position ID Turret Brad

Aiming Platform Motion Calculations (Side View) Theta= 14.03° # of steps in the range: 160 Position IDs A(top of range) = 1843 B(center) = 1683 C(bottom of range) = 1523 1 m theta turret B theta 1 m 1 m C Brad 5 m 5 m

Turret Demo Show Turret

Intercept Launcher Ball Throw and Hit Specifications Circuit Design Stationary Ball and Hit Specifications Max launching pressure: 105 PSI Approximate speed of projectile: 15 (m/s) Paintball barrel used for increased accuracy Circuit Design Garrett Murray

Interceptor Demo Fire Turret

Budget Final

Budget Final Steven Kipikash TOTAL $4,821.82 Projectile $15.00 Mounting(Brad) $80.00 Turret $694.08 Mounting(Aaron) $105.39 Launcher $135.55 Missiles 2 (Brad) $36.74 Computer $2,459.78 Compressor #2 281.85 Camera $924.49 Backdrop 38.94 Paintballs $50.00 Left Over $178.18 Steven Kipikash

Challenges Faced

Communication between separate programs Code conversions Turret accuracy

Website

eng.fsu.edu/~millbr Brad

Questions?