1. AIR-STRIKE Aerial Intruder Removal - System for Tracking and Rendering Ineffective Knavish Enemies
Group 13
Kevin Chau - Computer Engineering
Scott Greenwald - Electrical Engineering
Andrew Kirk - Photonics Engineering
Christopher Walls - Computer Engineering

2. Motivation
Project contains several subsystems coinciding with our individual interests
Utilizes our each of our skill sets
Previous internships/CWEP at Lockheed Martin
Worked on similar systems
Improving our engineering skills and judgement

3. Goals and Objectives
Develop a autonomous surface-to-air turret defense system
Utilize directed energy systems to neutralize targets
Maintain reliability, precision and safety throughout the process
Perform all computation without external computers

4. Specifications & Requirements
The detection rate of a target in the field of view shall be at least 70%
The system shall be capable of tracking a single target
The system shall be able to neutralize a target within ten feet
Upon detection, time to first kill shall be 7 seconds
The total field of view shall be 75° with two cameras
The directed energy system shall deliver at least 100 mW of power in a concentrated beam
The mounted laser should be capable of movement 120° azimuthal (60° each direction) and 120° elevational (60° each direction)
The system shall be interfaceable through USB or wireless signals by external devices

5. Overall Control System Design

6. Microcontroller

7. Microcontroller - TM4C1294NCPDT
Able to interface with required peripherals.
2 Pixy cameras - SPI
2 Servos - PWM and Analog Input
1 Laser Driver - PWM
1 Network Processor - SPI
USB

8. Microcontroller - Divide and Conquer
Offload intensive processes off the main MCU
Target Identification
Master Control
Wifi Communication

9. Software

10. Software Architecture
Designed as a series of tasks
Target Acquisition
Turret Movement
Fire Control
External Communication

11. Software State Diagram

12. Target Acquisition

13. Turret Movement

14. Fire Control

15. External Communication

16. Network Design

17. HTTP Server, Wi-Fi, and Internet Protocols
Network Architecture
MCU
CC3100
2.4GHz Antenna
SPI
Hardware
Software
HTTP Server, Wi-Fi, and Internet Protocols
Event Handler
Simplelink API

18. Network Design
Network intensive processes such as TLS/SSL, TCP/IP, and Wi-Fi don’t take the main MCU’s resources.
Authorizes users through WPA.
Providing interface through HTTP web server allows any Wi-Fi enabled device with a web browser to interface with system.
Only need to develop one application that will work with multiple platforms.

19. Network User Interface
Through a web browser users can:
Enable/Disable the laser
View target information
View current orientation of turret
Set laser power level

20. Vision System

21. Camera Chose Pixy (CMUCam5) Two cameras Built in image processing
Detects color blobs and transmits coordinates
Communicates via SPI, I2C, UART, and more
75° horizontal view, 47°vertical
50 frames per second (while processing)
Two cameras
Can be set up to get wider FoV or Parallax
Redundancy to ensure a real target in Parallax config

22. Pixy Functionality Tested first camera Only tested with Pixymon so far
Three black smudges
Likely focal plane array defects
Don’t get detected as objects
Object detection requires good lighting to distinguish colors properly
Only tested with Pixymon so far
Hooked up to Arduino (cable shipped with Pixy) for initial testing
Will connect to Tiva C launchpad when wires arrive

23. Communicating with Pixy
Communicate via SPI
Faster than other methods
Big Endian, 16-bit words
Sends data every 20 ms
Separate frames separated by two sync words

24. Parallax
Phenomenon where an object’s position relative to a background object is different on different lines of sight
Allows us to determine range with two cameras
Same method used by the human brain
Range is useful to accurately direct the servos to aim the laser device

25. PCB Design

26. PCB Design/Schematics
GPIO Breakdown

27. PCB Design/Schematics
USB Port
USB-on-the-go
ESD Protection

28. PCB Design/Schematics
Power Breakdown from Tiva microcontroller

29. PCB Design/Schematics
25 MHz
Oscillator

30. PCB Design/Schematics
40 MHz
Oscillator
KHz
Oscillator

31. PCB Design/Schematics
Antenna
AT25P Flash Memory

32. PCB Design/Schematics
SPI connection to Tiva microcontroller

33. PCB Design/Schematic

34. Directed Energy

35. Directed Energy System
The DE component will generate a high energy, coherent light beam to eliminate targets
Wide range of laser diodes available
Narrowed down to 445nm and 808nm wavelength LDs
Single Mode vs Multi Mode output
Single mode preferable, however for power output >500mW, MM is the only option

36. Diode Characteristics
M140 diode rated for max 1.6W at 4.5V
Emits at peak wavelength of 445nm

37. Components
Collimating Optics- Light emitted from LD is highly diverging
Proper optics required to capture majority of light and collimate for high efficiency operation
Proper cooling required for maximize lifetime of LD
The high thermal conductivity of copper makes it an ideal choice for material θ

38. Power Delivery The LD will be powered by a Flexmod P3 current driver
Flexmod will receive PWM signals from the MCU to determine the current to provide the LD
Two operating lasing modes:
Low power mode- Driver will supply 3.5V at 180mA giving < 50mW optical power
High power mode- Driver will supply 4.5 V at 1A giving ~1W optical power

39. 2-Axis Gimbal TP GM90 Metal Gear Servos Specifications
Same size as 9g nylon gear servo
Metal gearing offers high torque figures to compensate for additional weight of heat sink
Specifications
Torque: 4.8/6 V= 2.2/2.5 kg/cm
Speed: 4.8/6 V=.11/.1 sec/60degree
Rotation Range: 180°
Driven by PWM: μs pulse
Gimbal assembly is a modified Boscam camera gimbal

40. Housing

41. Power Flow 120 Vac 24 Vdc 12Vdc DC/DC Regulator AC/DC Converter 5 Vdc
Microcontroller
5 Vdc
Diode Current Driver
Servo Motors
Camera
6 Vdc (max)
24 Vdc
12Vdc
5 Vdc

42. Administrative Content

43. Work Distribution Name Software Camera Network Laser Servos PCB Power
Kevin X
Scott
Andrew
Chris

44. Budget Distribution Budget
Funded by Boeing: $900

45. Progress

46. Issues Routing for PCB Considering using the CC3200 instead
Coordinate Frame Transforms
Use Camera for wider FoV or Parallax

47. Questions?