Automated Targeting Proximity Turret

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Automated Targeting Proximity Turret

• Group 17
• Group Members
• Hector Colon, Adam Horton, Kyle Steighner, and
  Nicholas Yielding

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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.

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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

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Hardware Specifications
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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

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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

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Software Specifications
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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

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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

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Hardware Components
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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

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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

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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

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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

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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

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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

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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

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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

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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

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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.

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On-Board Software Components
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Software Overview
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Software Components - Onboard

• C 4.0
• Visual Studio 2010
• Aforge.NET Framework
• Arduino IDE

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Software Components

• Python 2.2
• Django
• MySQL
• Java 6.2 SDK
• Java Eclipse

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Source Control

• Apache Subversion
• TortoiseSVN
• WinMerge

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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

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Target Tracking

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

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Onboard Software

• Automatic and manual control
• Camera Selection
• Battery Monitor

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Microcontroller Communication

• Communication between motion tracking software
  and microcontroller through 5 byte packets

Inbound Packet Structure
Outbound Packet Structure
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Off-Board Software Components
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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.

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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.

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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.

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Web-App Home Screen

• Main page including a grid of all connected
  turrets, with latest engagement snapshot or
  intial snapshot if no engagements

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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.

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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.

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Web-App Radar Watch

• Displays radar-like representation of the current
  target acquisition of each turret that was
  selected to view.

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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.

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Web-App Manual Control Applet
ManualControlServer Thread ManualControlServer Thread
ROTATE_CMD String ManualControlServer()
PITCH_CMD String run() void
SIREN_CMD String - calcTargetPitch(offset Integer) Integer
SILENCE_CMD String - calcTargetAngle(offset Integer) Integer
FIRE_CMD String - setAngle(angle Integer) void
SET_ROTATE_CMD String - setPitch(pitch Integer) void
SET_PITCH_CMD String - soundSiren() void
UP Integer - silenceSiren() void
DOWN Integer - fire() void
LEFT Integer - validate(String passcode) Boolean
RIGHT Integer - processCmds() void
ON Integer - terminateControl() void
OFF Integer  
- PASSCODE String  
- name String  
- port Integer  
- turretController TurretController  
- socket Socket  
- targetAngle Integer  
- targetPitch Integer  
- rotatingRight Boolean  
- rotatingLeft Boolean  
- pitchingUp Boolean  
- pitchingDown Boolean  

• 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
  turrets microcontroller.
• Displays speeds, status, and number of shots
  fired.

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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.

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Administrative
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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