STATSSelf Targeting Automated Turret System
Group 8
Elso Caponi
Michael Lakus
Ali Marar
Jonathan Thomas
Sponsored by Boeing
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
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
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
Top View
Platform Mount Universal mount
Weapons / lasers
Integrated positioning and trigger servos
180⁰ rotation
Rubberized clamps
Platform Mount
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
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
Hardware Block Diagram
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)
Motor Controller Major Components
Atmel Mega 328P
XBee Series 1
AVR Mini Programmer
MAX 1704
Warning System
Can be triggered on and off
Indicates if a moving projectile is in the area
RGB LED Sound alarm buzzer
Power System
Power System
Battery A Battery BModel SANYO Lithium Polymer Battery
Voltage 12 V 3.7 V
Max Current 1.35 A 1.00 A
Milliamp Hours 1100 mAh 1000 mAh
Max Power Rating 16.2 Watts 3.7 Watts
Weight 4 lbs 1 lb
Switch between battery and plug in source
Recharge battery while in operation Recharge in 1.8 hours, 450 mA
Recharge Circuit
Power System Monitor MAX1704
Monitors battery level
Configurable calibration
Causes an interrupt
PCB Layout in the works
2 Layer PCB
Eagle
4PCB @ $33.00 educational rate
Hardware Prototype Use an Arduino Uno Rev 3 Board
XBee Arduino Shield
XBee Explorer Dongle
Bread boarded our Arduino
Hardware Mounting & Testing
All components mounted to PCB
Surface mount soldering
Individually test all components
Bootload and program using Arduino Uno
Wireless Communication
Video Camera-to-Tablet
Tablet-to-Microcontroller
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
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
Logitech C170
Resolution
640 x 480
FPS 15
Weight 3.5 oz
Price $20
Tablet - Microcontroller Send targeting and tracking signals to
turret
XBee 802.15.4
XBee Explorer Dongle
Wireless Complications
XBee Wi-Fi is expensive (~$200)
Possible connection issues
Alternative: Wi-Fi camera
D-Link Cloud Camera 1150
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
Tablet Options Apple
No experience
Android
Experience
Limited processing power – Alternative CPU necessary
Windows
Experience
Enough CPU
Dell Venue 8 ProPrice $275
Screen Size 8 in
Screen Resolution
1280 x 800
Weight 0.86 lbs
Processor2GHz Intel Atom
Z2580
RAM 2 GB
Operating System
Windows 8.1 – 32 bit
USB Port Micro USB - one
Software Block Diagram
Firing ControlAutomated Mode
No operator required
Various tracking methods
Manual Mode
Tablet operator required
Tablet UI
Automated Mode No user required
Immediate response
Continuous firing
Auto Mode UI
Tracking Requirements
Track objects moving between 0-5 m/s
Lightweight code for easy processing
Locate targets in less than (300 ms)
Tracking Algorithms
Background subtraction
Color-based tracking
Blob detection
Blob Detection Compares frames to
determine changing pixels
Changing pixels encapsulated in a fixed shape
Centroid calculated using blob dimensions
OpenCV - Processing
OpenCV: Open-source tracking libraries
Mainly C++
Processing IDE: Java based
Multiple Processing libraries including the JMyron library
Manual Mode User control using tablet
Target selection by use of touch screen
Enables wireless control of the turret system by the user
Manual Mode UI
Tracking Problems Laptop to tablet code
transfer
Tablet driver and software complications
Not overloading the tablet’s processor
Testing PC to tablet code transfer
Tracking accuracy
Intuitive UI
Administrative Content
Division of LaborAli
Michael
Jonathan
Elso
Processor X
PCB X X
Servos X
Power X
Housing X
Tracking Software
X X
Camera X X
Wireless X X X X
BudgetComponent Quantity Price Extended Acquired
Atmel Mega 328 2 $3.23 $6.46 Yes
PCB 2 $33.00 $66.00 No
RGB LED 3 $4.95 $14.85 No
Web Camera 1 $20.00 $20.00 Yes
Battery pack 1 $39.99 $39.99 No
X-Bee Pro 2 $37.95 $75.90 Yes
USB Adapter 1 $3.95 $3.95 Yes
Arduino Uno 1 $39.99 $39.99 Yes
Windows Tablet 1 $275.00 $275.00 Yes
Airsoft Gun 1 $100.00 $100.00 Yes
LT1510 1 $5.13 $5.13 No
Maxim 1704 1 $3.00 $3.00 No
HS-5685MH Servo Motor
2 $39.99 $79.98 Yes
HS-5055MG Servo Motor
1 $17.99 $17.99 Yes
Frame Materials 4 $4.00 $16.00 Yes
Miscellaneous 1 $50.00 $50.00 No
AVR mini programmer
1 $9.95 $9.95 Yes
LM7805 2 $0.99 $1.98 Yes
Grand Total $826.17
Progress
Total
Testing
Prototype
Parts
Design
Research
0 10 20 30 40 50 60 70 80 90 100
Questions?