1. STATSSelf-Targeting Automated Turret System Group 8 ElsoCaponi 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 • Software • Intuitive tracking software • Multiple firing modes • Interactive tablet UI • Field calibration • Hardware • Touchscreen tablet • Fully wireless • High torque servos • Stable and reliable power • Projectile weapon platform • Adaptable mount and frame

4. Main Housing • Mobile and Robust • 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 HS-5685MH • Three servos required • Operate at 6 and 7.4 volts • Digital, minimal programming • HitecHS-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-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

14. Hardware Prototype • 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 802.15.4 • 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 • Experience • Enough CPU

28. Dell Venue 8 Pro

29. Software Block Diagram

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

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 bordersof 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

42. Budget

43. Questions?