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Automated Targeting Proximity Turret

Automated Targeting Proximity Turret. Group 17 Group Members : Hector Colon, Adam Horton, Kyle Steighner, and Nicholas Yielding. Goals and Objectives. Turret acknowledges that an intruder has entered the field of view

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Automated Targeting Proximity Turret

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  1. Automated Targeting Proximity Turret Group 17 Group Members: Hector Colon, Adam Horton, Kyle Steighner, and Nicholas Yielding

  2. Goals and Objectives • Turret acknowledges that an intruder has entered the field of view • Turret warns the intruder to leave the area by an audible alarm once a certain perimeter distance has been reached • If the intruder reaches a closer perimeter distance instead of leaving, the turret will fire upon them • While all of these processes are going on, the turret continuously tracks the intruder • Provide persistant engagement history on an off-board server and allow manual control of the turret.

  3. Project Overview • 1 Micro-Controller • 3 Servos • 1 Audio Alarm • On-board Laptop • Web-Cameras • Range Finder • Off-board Server • Wireless Connection from On-board laptops • Serves web-application to end-user

  4. Hardware Specifications

  5. Specifications • Weighs approx. 20 lbs. • 17 inches tall • Is able to determine the distance of targets 60 feet away • Is able to fire upon targets 30 feet away • The battery lasts 5 hours on a full charge • The battery is a commercial off the shelf (COTS) 12 volt battery

  6. Specifications • Other sub-systems are powered by their own internal batteries • The 12 volt lead acid battery is rechargeable and has a capacity of 8000 mAh • The rangefinder has a range of 75 feet with an accuracy of ± 3 mm • The microcontroller provides Pulse Width Modulation (PWM) for 3 servo motors • The audible alarm is louder than 50 dB in sound

  7. Software Specifications

  8. Specifications • Motion detection is able to detect motion as little as 3 ft/s at 40 feet away • Turrets tracking system is able to follow targets moving 5 ft/s at 30 feet away • Has automatic and manual controls

  9. Specifications • Engagement history database is able to store and display at least 100 prior engagements • The web applications work on all modern browsers such as Firefox, Google Chrome, etc • Manual control of the web application does not have more than 1 second of latency between receiving a command and executing it

  10. Hardware Components

  11. Mechanical Base • First, we wanted to create a base from aluminum, but the cost and equipment needed was too high • Refabricating would become even more costly if it became necessary from a redesign. • Moved towards a wood or plastic design • Decided wood is the best option. This is due to: • Lowest price, easily acquired • Sturdy enough for our required accuracy • Lightweight for low strain on motor • Design can be easily modified if necessary

  12. Airsoft Gun • Airsoft Gun: • Crosman Mini Carbine with fully automatic capability • Previous Gun: • UTG MP5 : Jammed • The turret base is designed to utilize either gun, as well as • The primary focus will be with the airsoft guns instead of paintball guns due to: • Lighter weight • Ammo capacity is higher and does not require a hopper on top or extra weight from CO2 canister • Has the option of being fully automatic

  13. Servo Motors • HS-485HB (Trigger Motor) from www.servocity.com • 83.3 oz-in of torque, 90 degree rotation • 6V power, 180mA current draw • HS-5745MG Digital ¼ Scale (Pan / Tilt Motors) from www.servocity.com • 250 oz-in of torque, 180 degree rotation • 6V power, 840mA current draw • 1.2231 N-m which when expressed in oz-in is 173.206 oz-in

  14. Rangefinder • Fluke 411D laser • 100ft range, continuous measurement, accuracy of plus or minus 3mm, small size, and light weight • LIDAR, IR, and others either too expensive or not long enough range • Allows perimeter to be established

  15. Rangefinder Control • LR3 interface board allows computer control and communication with the 411D rangefinder • Solders into the inside of the 411D in place of the LCD and control panel • Enables continuous measurement mode

  16. Computers and Webcams • Computers • The computers are COTS laptops/netbooks • Wi-Fi network connection • Webcams • Using 3 COTS webcams • 1-2 stationary to cover viewing angle • Xbox Live Vision • PS3 Eye • 1 gun mounted camera for user vision • Android Cell Phone IP Camera

  17. Audible Alarm • AudioLarm II from Floyd Bell Incorporated • group members experience with the alarm sensor and the fact that it costs only $33 for a quality alarm sound • 80 dB alarm

  18. Atmel 328 • Inexpensive, 8 bit microcontroller • Has 6 PWM lines • 14 digital I/O lines • 6 Analog in lines • Serial communication lines over two of the digital pins • Programmable over serial using the Arduino bootloader • Programmable in Wire, which is similar to C • For pre-testing purposes, we used the inexpensive Arduino Uno

  19. Microcontroller PCB Requirements • Has power line at 5 volts, 1 amp max for board power • Has separate power line at 6 volts, 5 amp max to power the servos • Both power lines run off of the same battery • Has voltage sensing circuit to estimate battery charge • Has serial connection to computer • Has break out connections for servos and alarm

  20. Power • The webcams and rangefinder are powered by USB connections from the laptop • The microcontroller PCB, servo motors, and alarm are powered with an external battery • UB1280 lead acid battery • 12 volts • 8 amp hour • 5 lbs.

  21. On-Board Software Components

  22. Software Overview

  23. Software Components - Onboard • C# 4.0 • Visual Studio 2010 • Aforge.NET Framework • Arduino IDE

  24. Software Components • Python 2.2 • Django • MySQL • Java 6.2 SDK • Java Eclipse

  25. Source Control • Apache Subversion • TortoiseSVN • WinMerge

  26. Motion Detection • Reads each new frame and processes them through filters • Black/White • Pixelate • Erosion • Compare new frames to an updated ‘background frame’ • Blob detection to find areas with most difference

  27. Target Tracking • Track largest target for each camera • Prioritize target based on size • Calculate target posisiton based on viewing angle of camera

  28. Onboard Software • Automatic and manual control • Camera Selection • Battery Monitor

  29. Microcontroller Communication • Communication between motion tracking software and microcontroller through 5 byte packets Inbound Packet Structure Outbound Packet Structure

  30. Off-Board Software Components

  31. Off-board Server • Python based Web-application using Django framework. • Supports multiple turrets connected to a single server. • Web-application Provides: • Engagement History • Radar-like representation of current target acquisition • Manual control of turrets with video feed. • Data collection from turrets to persist data on server database.

  32. Server Database • Turrets Table • Contains data on each turret • Field of Vision • Contains information regarding the cameras attached to each turret • Turret Targets • Contains the current potential targets the turret has identified • Engagement History • Contains the targets fired warned or fired upon.

  33. Server Data Collection • Data is collected over TCP and UDP Socket connections between the Turret and Server using serialized objects, and datagram packets • Data is sent over TCP/UDP as the following: • After turret connection with server (TCP): • Turret, Field of Vision table data. • Server downloads current gun-mounted snapshot for initial setup. • Once a second throughout connection (UDP Broadcast): • Updates on Turret Targets, and update the Turret pan angle. • After engagement (TCP): • Engagement History Data. • Server downloads current gun-mounted snapshot for image of target.

  34. Web-App: Home Screen • Main page including a grid of all connected turrets, with latest engagement snapshot or intial snapshot if no engagements

  35. Web-App: Engagement History • Lists all the engagements on the left, selecting an engagement will load the details, radar representation and camera snapshot of the engagement.

  36. Web-App: Turrets Page • Displays a grid of all connected turrets and their initial snapshot. Provides access to filtered engagement history list, radar watch page and manual control page.

  37. Web-App: Radar Watch • Displays radar-like representation of the current target acquisition of each turret that was selected to view.

  38. Web-App: Manual Control Page • Displays video feed of gun-mounted camera, current radar, and a java applet for taking manual control of the turret.

  39. Web-App: Manual Control Applet • Connects directly to turret. • Maps keyboard controls to controlling pan, tilt, alarm and firing. • Sends turret commands over socket connection to turret software which relays the commands to the turret’s microcontroller. • Displays speeds, status, and number of shots fired.

  40. Future Improvements • Improve fastening of gun to mechanical base for less sway • Decrease latency of updates for web-application because of web-application and data collection are separate. • Implement active readings from rangefinder for determining distance to targets. • Allow for more configurable camera set-ups. • Improve target acquisition from motion detection to support tracking multiple targets. • Utilize PID control to smooth movements of the turret.

  41. Administrative

  42. Budget

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