Automated Targeting Proximity Turret Group 17 Group Members

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

Goals and Objectives n n n 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. University of Central Florida

Project Overview n 1 Micro-Controller 3 Servos ¨ 1 Audio Alarm ¨ n On-board Laptop Web-Cameras ¨ Range Finder ¨ n Off-board Server Wireless Connection from On-board laptops ¨ Serves web-application to end-user ¨ University of Central Florida

HARDWARE SPECIFICATIONS University of Central Florida

Specifications n n n 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 University of Central Florida

Specifications n n n Other sub-systems are powered by their own internal batteries The 12 volt lead acid battery is rechargeable and has a capacity of 8000 m. Ah 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 d. B in sound University of Central Florida

SOFTWARE SPECIFICATIONS University of Central Florida

Specifications n n n 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 University of Central Florida

Specifications n n n 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 executing it University of Central Florida

HARDWARE COMPONENTS University of Central Florida

Mechanical Base n n 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 ¨ University of Central Florida

Airsoft Gun n Airsoft Gun: ¨ n Previous Gun: ¨ n n Crosman Mini Carbine with fully automatic capability UTG MP 5 : 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 CO 2 canister ¨ Has the option of being fully automatic ¨ University of Central Florida

University of Central Florida

Servo Motors n HS-485 HB (Trigger Motor) from www. servocity. com 83. 3 oz-in of torque, 90 degree rotation ¨ 6 V power, 180 m. A current draw ¨ n HS-5745 MG Digital ¼ Scale (Pan / Tilt Motors) from www. servocity. com 250 oz-in of torque, 180 degree rotation ¨ 6 V power, 840 m. A current draw ¨ n 1. 2231 N-m which when expressed in oz-in is 173. 206 oz-in University of Central Florida

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

Rangefinder Control n n n LR 3 interface board allows computer control and communication with the 411 D rangefinder Solders into the inside of the 411 D in place of the LCD and control panel Enables continuous measurement mode University of Central Florida

Computers and Webcams n Computers The computers are COTS laptops/netbooks ¨ Wi-Fi network connection ¨ n Webcams Using 3 COTS webcams ¨ 1 -2 stationary to cover viewing angle ¨ n n ¨ Xbox Live Vision PS 3 Eye 1 gun mounted camera for user vision n Android Cell Phone IP Camera University of Central Florida

Audible Alarm n Audio. Larm 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 d. B alarm ¨ University of Central Florida

Atmel 328 n n n n 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 University of Central Florida

Microcontroller PCB Requirements n n n 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 University of Central Florida

University of Central Florida

Power n n 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 ¨ UB 1280 lead acid battery n n n 12 volts 8 amp hour 5 lbs. University of Central Florida

ON-BOARD SOFTWARE COMPONENTS University of Central Florida

Software Overview University of Central Florida

Software Components - Onboard n n C# 4. 0 Visual Studio 2010 Aforge. NET Framework Arduino IDE University of Central Florida

Software Components n n n Python 2. 2 Django My. SQL Java 6. 2 SDK Java Eclipse University of Central Florida

Source Control n n n Apache Subversion Tortoise. SVN Win. Merge University of Central Florida

Motion Detection n Reads each new frame and processes them through filters Black/White ¨ Pixelate ¨ Erosion ¨ n n Compare new frames to an updated ‘background frame’ Blob detection to find areas with most difference University of Central Florida

Target Tracking n n n Track largest target for each camera Prioritize target based on size Calculate target posisiton based on viewing angle of camera University of Central Florida

Onboard Software n n n Automatic and manual control Camera Selection Battery Monitor University of Central Florida

Microcontroller Communication n Communication between motion tracking software and microcontroller through 5 byte packets Inbound Packet Structure Outbound Packet Structure University of Central Florida

OFF-BOARD SOFTWARE COMPONENTS University of Central Florida

Off-board Server n Python based Web-application using Django framework. Supports multiple turrets connected to a single server. ¨ Web-application Provides: ¨ n n 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. University of Central Florida

Server Database n Turrets Table ¨ n Field of Vision ¨ n Contains information regarding the cameras attached to each turret Targets ¨ n Contains data on each turret Contains the current potential targets the turret has identified Engagement History ¨ Contains the targets fired warned or fired upon. University of Central Florida

Server Data Collection n n 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): n n ¨ Once a second throughout connection (UDP Broadcast): n ¨ Turret, Field of Vision table data. Server downloads current gun-mounted snapshot for initial setup. Updates on Turret Targets, and update the Turret pan angle. After engagement (TCP): n n Engagement History Data. Server downloads current gun-mounted snapshot for image of target. University of Central Florida

Web-App: Home Screen n Main page including a grid of all connected turrets, with latest engagement snapshot or intial snapshot if no engagements University of Central Florida

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

Web-App: Turrets Page n 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. University of Central Florida

Web-App: Radar Watch n Displays radar-like representation of the current target acquisition of each turret that was selected to view. University of Central Florida

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

Web-App: Manual Control Applet n n 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. Manual. Control. Server : : Thread + ROTATE_CMD : String + Manual. Control. Server() + PITCH_CMD : String + run() : void + SIREN_CMD : String - calc. Target. Pitch(offset : Integer) : Integer + SILENCE_CMD : String - calc. Target. Angle(offset : Integer) : Integer + FIRE_CMD : String - set. Angle(angle : Integer) : void + SET_ROTATE_CMD : String - set. Pitch(pitch : Integer) : void + SET_PITCH_CMD : String - sound. Siren() : void + UP : Integer - silence. Siren() : void + DOWN : Integer - fire() : void + LEFT : Integer - validate(String passcode) : Boolean + RIGHT : Integer - process. Cmds() : void + ON : Integer - terminate. Control() : void + OFF : Integer - PASSCODE : String - name : String - port : Integer - turret. Controller : Turret. Controller - socket : Socket - target. Angle : Integer - target. Pitch : Integer - rotating. Right : Boolean - rotating. Left : Boolean - pitching. Up : Boolean - pitching. Down : Boolean University of Central Florida

Future Improvements n n n 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. University of Central Florida

Administrative University of Central Florida

Budget Component Price Rangefinder $100 Rangefinder Control Board $150 Servo Motors $170 Audible Alarm $33 Arduino Uno $35 Test Webcam $6 PCB (2) $110 Base Materials $60 Airsoft Rifle $20 Battery $43 Total $727 University of Central Florida