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

2.  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 Motivation and Goals

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

4. Main Housing  Mobile and Robust  2.5ft x 2ft x 2ft  Wood / metal design  Detachable tablet mount  Plexiglass PCB Housing  Internal storage  DC Battery  AC Adapter  Rubberized support legs  Tracking stability

5. Top View

6. Platform Mount  Universal mount  Weapons / lasers  Integrated positioning and trigger servos  180 ⁰ rotation  Rubberized clamps

7. Platform Mount

8.  JG MAC-10 airsoft gun  Form factor with platform mount  Metal gearbox  Semi and fully automatic  280 FPS muzzle velocity  Sufficient range  7.2V 450mAh NiMH battery  Insufficient Weapon Testing Platform

9. Battery Modification  NiMH (Nickel metal hydrate) to LiPo (Lithium Polymer)  Better performance  Voltage to 7.4V 800mAh  Rate of fire increase  Tamiya to Deans connection  Less electrical resistance  Less heat  Reliable

10. Hardware Block Diagram

11. Servos  Three servos required  Operate at 6 volts  Digital, plug-and-play  Hitec HS-5685MH - Positioning  Torque: 157 oz-in (1.1 N-m)  Current Drain: 3 A (Max)  Hitec HS-5055MG – Trigger  Torque: 22 oz-in (0.16 N-m)  Current Drain: 1 A (Max)

12. Motor Controller  Major Components  Atmel Mega 328P  XBee Series 1  AVR Mini Programmer  MAX 1704

13. Warning System  Can be triggered on and off  Indicates if a moving projectile is in the area  RGB LED  Sound alarm buzzer

14. Power System

15. Battery ABattery B Model SANYOLithium Polymer Battery Voltage 12 V3.7 V Max Current 1.35 A1.00 A Milliamp Hours 1100 mAh1000 mAh Max Power Rating 16.2 Watts3.7 Watts Weight 4 lbs1 lb

16.  Switch between battery and plug in source  Recharge battery while in operation  Recharge in 1.8 hours, 450 mA Recharge Circuit

17. Power System Monitor  MAX1704  Monitors battery level  Configurable calibration  Causes an interrupt

18. PCB  Layout in the works  2 Layer PCB  Eagle  4PCB @ $33.00 educational rate

19. Hardware Prototype  Use an Arduino Uno Rev 3 Board  XBee Arduino Shield  XBee Explorer Dongle  Bread boarded our Arduino

20. Hardware Mounting & Testing  All components mounted to PCB  Surface mount soldering  Individually test all components  Bootload and program using Arduino Uno

21. Wireless Communication  Video Camera-to-Tablet  Tablet-to-Microcontroller

22. 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

23. 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

24. Logitech C170 Resolution 640 x 480 FPS 15 Weight 3.5 oz Price $20

25. Tablet - Microcontroller  Send targeting and tracking signals to turret  XBee 802.15.4  XBee Explorer Dongle

26. Wireless Complications  XBee Wi-Fi is expensive (~$200)  Possible connection issues  Alternative: Wi-Fi camera  D-Link Cloud Camera 1150

27. D-Link Cloud Camera 1150  Resolution: 640 x 480  Weight: 3.4 oz  Field of View: 55 degrees  Uses wireless 802.11n  Issues – browser only viewing

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

29. Dell Venue 8 Pro Price $275 Screen Size 8 in Screen Resolution 1280 x 800 Weight 0.86 lbs Processor 2GHz Intel Atom Z2580 RAM 2 GB Operating System Windows 8.1 – 32 bit USB Port Micro USB - one

30. Software Block Diagram

31. Firing Control Automated Mode  No operator required  Various tracking methods Manual Mode  Tablet operator required  Tablet UI

32. Automated Mode  No user required  Immediate response  Continuous firing

33. Auto Mode UI

34. Tracking Requirements  Track objects moving between 0-5 m/s  Lightweight code for easy processing  Locate targets in less than (300 ms)

35. Tracking Algorithms  Background subtraction  Color-based tracking  Blob detection

36. Blob Detection  Compares frames to determine changing pixels  Changing pixels encapsulated in a fixed shape  Centroid calculated using blob dimensions

37. OpenCV - Processing  OpenCV: Open-source tracking libraries  Mainly C++  Processing IDE: Java based  Multiple Processing libraries including the JMyron library

38. Manual Mode  User control using tablet  Target selection by use of touch screen  Enables wireless control of the turret system by the user

39. Manual Mode UI

40. Tracking Problems  Laptop to tablet code transfer  Tablet driver and software complications  Not overloading the tablet’s processor

41. Testing  PC to tablet code transfer  Tracking accuracy  Intuitive UI

42. Administrative Content

43. Division of Labor AliMichaelJonathanElso ProcessorX PCBXX ServosX PowerX HousingX Tracking Software X X CameraX X Wireless XXX X

44. Budget ComponentQuantityPriceExtendedAcquired Atmel Mega 3282$3.23$6.46Yes PCB2$33.00$66.00No RGB LED3$4.95$14.85No Web Camera1$20.00 Yes Battery pack1$39.99 No X-Bee Pro2$37.95$75.90Yes USB Adapter1$3.95 Yes Arduino Uno1$39.99 Yes Windows Tablet1$275.00 Yes Airsoft Gun1$100.00 Yes LT15101$5.13 No Maxim 17041$3.00 No HS-5685MH Servo Motor 2$39.99$79.98Yes HS-5055MG Servo Motor 1$17.99 Yes Frame Materials4$4.00$16.00Yes Miscellaneous1$50.00 No AVR mini programmer1$9.95 Yes LM78052$0.99$1.98Yes Grand Total$826.17

45. Progress

46. Questions?