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

2. Project Motivation and Goals
Defense Oriented
Real world implementation
Remote control for security
Militaristic design
Price vs. performance balance
Within budget
Within specifications
Division of labor for EE and CE
PCB and Power design
Software development

3. Project Requirements Hardware Software Touchscreen tablet
Fully wireless
High torque servos
Stable and reliable power
Projectile weapon platform
Adaptable mount and frame
Software
Intuitive tracking software
Multiple firing modes
Interactive tablet UI
Field calibration

4. Main Housing Mobile and Robust Wood / metal design
2.5ft x 2ft x 1ft
Wood / metal design
Tablet / camera holder
Lexan PCB Housing
Internal power board
Battery storage
Future modifications

5. Platform Mount Universal clamp mount Weapons / lasers
Integrated positioning and trigger servos
Servoblocks™ by Robotzone
Max Vertical 90⁰ rotation
Max Horizontal 180⁰ rotation

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

7. Battery Modification
NiMH (Nickel metal hydrate) to LiPo (Lithium Polymer)
Better performance
Voltage to 7.4V 800mAh
Larger Capacity
Tamiya to Deans connection
Less electrical resistance
Less heat
Reliable

8. Hardware Block Diagram

9. Servos Three servos required Operate at 6 and 7.4 volts
Digital, minimal programming
Hitec HS-5685MH - Positioning
Torque: 179 oz-in (1.26 N-m)
Combined Current Drain: 6 A (Max)
Hitec HS-5485HB – Trigger
Torque: 89 oz-in (0.63 N-m)
Current Drain: 1 A (Max)
HS-5685MH
HS-5485HB

10. Servos Calibration using pulse width modulation signals
Oscilloscope and Function Generator for testing
Required Pulse: 3-5Vpp
Frequency: 50Hz (20ms)
Dead band width: 0.002ms
Camera view limits range of pulse

11. Servo Power Hitec HS-5685MH - Positioning KingMax 7.4V 1000mAh Li- Po
Two-cell, 25C Continuous Discharge Rate
Max Current Draw: 6A
Wire Gauge: 22 AWG

12. Power Design

13. Motor Controller Atmel Mega 328P Serial Communication Interface
Interface with XBee Series 1
Processing IDE Compatibility
Price vs performance tradeoff
Operating Voltage
1.8V – 5.5V
DC Current
40 mA
I/O Pins 14
PWM Pins 6
Clock Speed
16 MHz
FRAM
32 kB

14. Hardware Prototype Inexpensive test servos Arduino Uno Rev 3 Board
$29.99
XBee Arduino Shield
$24.95
Inexpensive test servos
$7.00 x 3 = $21.00

16. Motor Controller LP2985-33DBVR 3.3V Linear Regulator
XBee Input Voltage
LM7805
5V Linear Regulator
Mega 328 Input Voltage
Supplies voltage to pins

17. PCB Designed Using Eagle by Cadosft Education License
3.2in * 4 in Size Constraint
Manufactured by Advanced Circuits(4pcb.com)
2 Layer PCB 4.75in * 3.5in
$33.00 Educational Pricing
4 PCB Ordered

19. PCB Mounting and Testing
Surface Mount Soldering
Assembled in SD2 Lab
Wago Screw in Terminal Connectors
Secure Tight Connection
Type N Barrel Jack 9V Battery/Adapter
Easy Change Between Battery/Adapter
Individually Examine and Test Components
Bootload and program using Uno and AVR Programmer
Dip Socket

20. Assembled PCB

21. Additional Hardware Warning System
Indicates if a moving projectile is in the perimeter using LED light array.
Sound alarm buzzer
Power System Monitor
Monitors Motor Controller Battery Level
MAX1704 Causes an interrupt if battery level drops below desired voltage.

22. Wireless Communication
Video Camera-to-Tablet
Tablet-to-Microcontroller

23. Camera-to-Tablet Send live video stream to tablet
Virtual Router Manager – Wi-Fi hotspot
DroidCam
Windows client application
Android app
Motorola Moto G
5 Megapixel – 720p HD camera

25. Tablet - Microcontroller
Send targeting and tracking signals to turret
XBee
Transmitter connected to tablet via XBee Explorer Dongle
Receiver connected directly to the PCB with headers

26. Wireless Complications
XBee Wi-Fi is expensive (>$200)
UCF Wi-Fi connection issues
Alternative cameras
D-Link Cloud Camera 1150
Driver complications

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

28. Dell Venue 8 Pro Screen Size Screen Resolution Weight Processor RAM
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
Price
$275

29. Software Block Diagram

30. Firing Control Autonomous Mode Manual Mode No operator required
Automatically targets moving objects
Operator required
Use of tablet UI

31. Auto Mode UI

32. Tracking Requirements
Track objects moving between 0-3 m/s
Lightweight code for easy processing and responsiveness
Locate targets in less than (300 ms)

33. Weapon Calibration
Matching weapon sights with target crosshairs on the user interface
Finding the borders of the camera image and hard coding those X-Y values into the Arduino code.
Simple equation used to calculate center of screen

34. Tracking Algorithms Background subtraction Color-based tracking
Blob detection

35. Blob Detection Compares frame to frame to determine changing pixels
Changing pixels encapsulated in a fixed shape
Centroid calculated using blob dimensions

36. OpenCV vs Processing OpenCV: Open-source tracking libraries Mainly C++
Processing IDE: Java based
Multiple Processing libraries

37. Libraries Processing: JMyron GUI 4 Processing Blob Detection Arduino
Servo

38. Class Diagram

39. Manual Mode UI

40. Administrative Content

41. Division of Labor Ali Michael Jonathan Elso Processor X PCB Servos
Power
Housing
Tracking Software
Arduino Coding
Wireless

42. Resistors, Capacitors, Etc…
Budget
Component
Quantity
Price
Extended
PCB 4
$33.00
$132.00
Battery pack 2
$7.99
$15.98
XBee Sereis 1
$37.95
$75.90
XBee Shield
$29.99
$59.98
USB Adapter 1
$3.95
Arduino Uno
$39.99
Dell Venue 8 Pro
$275.00
HS-5685MH Servo Motor
$79.98
HS-5055MG Servo Motor
$24.99
Frame Materials
$120.00
Miscellaneous
$50.00
LM7805
$0.99
$1.98
Airsoft Gun
$150.00
Resistors, Capacitors, Etc…
$70.00
Boeing Funding
($476)
-$476.46
Grand Total
$623.29

43. Questions?