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

2. 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

3. Project Overview
Aaron Smith

4. Aaron Smith

5. 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

6. 4
Aaron Smith

7. 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

8. Overall Progress Report Gantt Chart
Aaron Smith

9. Camera

10. 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

11. 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

12. See Camera

13. Tracking
OpenCV
Python
Aaron Smith

14. Tracking Information
Toss the ball

15. 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

16. 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

17. Tracking
Predict the ball

18. 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 12V
Voltage
12 V
Load Speed
75 RPM
Steps Per 45°
512
Preloaded Firmware
Arduino 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

19. 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

20. 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

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

22. 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

23. Turret Demo
Show Turret

24. 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

25. Interceptor Demo
Fire Turret

26. Budget Final

27. 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

28. Challenges Faced

29. Communication between separate programs
Code conversions
Turret accuracy

30. Website

31. eng.fsu.edu/~millbr
Brad

32. Questions?