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Published byChristopher Randall Modified over 9 years ago
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STATS Self Targeting Automated Turret System Group 8 Elso Caponi Michael Lakus Ali Marar Jonathan Thomas Sponsored by Boeing
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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
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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
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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
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Top View
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Platform Mount Universal mount Weapons / lasers Integrated positioning and trigger servos 180 ⁰ rotation Rubberized clamps
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Platform Mount
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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
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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
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Hardware Block Diagram
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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)
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Motor Controller Major Components Atmel Mega 328P XBee Series 1 AVR Mini Programmer MAX 1704
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Warning System Can be triggered on and off Indicates if a moving projectile is in the area RGB LED Sound alarm buzzer
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Power System
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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
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Switch between battery and plug in source Recharge battery while in operation Recharge in 1.8 hours, 450 mA Recharge Circuit
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Power System Monitor MAX1704 Monitors battery level Configurable calibration Causes an interrupt
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PCB Layout in the works 2 Layer PCB Eagle 4PCB @ $33.00 educational rate
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Hardware Prototype Use an Arduino Uno Rev 3 Board XBee Arduino Shield XBee Explorer Dongle Bread boarded our Arduino
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Hardware Mounting & Testing All components mounted to PCB Surface mount soldering Individually test all components Bootload and program using Arduino Uno
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Wireless Communication Video Camera-to-Tablet Tablet-to-Microcontroller
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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
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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
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Logitech C170 Resolution 640 x 480 FPS 15 Weight 3.5 oz Price $20
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Tablet - Microcontroller Send targeting and tracking signals to turret XBee 802.15.4 XBee Explorer Dongle
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Wireless Complications XBee Wi-Fi is expensive (~$200) Possible connection issues Alternative: Wi-Fi camera D-Link Cloud Camera 1150
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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
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Tablet Options Apple No experience Android Experience Limited processing power – Alternative CPU necessary Windows Experience Enough CPU
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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
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Software Block Diagram
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Firing Control Automated Mode No operator required Various tracking methods Manual Mode Tablet operator required Tablet UI
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Automated Mode No user required Immediate response Continuous firing
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Auto Mode UI
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Tracking Requirements Track objects moving between 0-5 m/s Lightweight code for easy processing Locate targets in less than (300 ms)
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Tracking Algorithms Background subtraction Color-based tracking Blob detection
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Blob Detection Compares frames to determine changing pixels Changing pixels encapsulated in a fixed shape Centroid calculated using blob dimensions
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OpenCV - Processing OpenCV: Open-source tracking libraries Mainly C++ Processing IDE: Java based Multiple Processing libraries including the JMyron library
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Manual Mode User control using tablet Target selection by use of touch screen Enables wireless control of the turret system by the user
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Manual Mode UI
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Tracking Problems Laptop to tablet code transfer Tablet driver and software complications Not overloading the tablet’s processor
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Testing PC to tablet code transfer Tracking accuracy Intuitive UI
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Administrative Content
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Division of Labor AliMichaelJonathanElso ProcessorX PCBXX ServosX PowerX HousingX Tracking Software X X CameraX X Wireless XXX X
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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
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Progress
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Questions?
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