Target Capture System

1
Target Capture System
2
Team Members

• Leader
• Heath Causey
• Members
• Nobu Fuji
• Josh Wooten
• Renae Webb
• Advisor
• Dr Robert Reese

3
Team Member Responsibilities
Members Research Documentation Website Circuit Design Programming
Heath Causey X X   X X
Nobu Fuji X X     X
Josh Wooten X X     X
Renae Webb X X X   X
4
Development Incentives

• Save rifle shooter enthusiasts time on the
  shooting range
• View at a glance a graphical representation of
  bullet positioning
• Provide wireless target display with a range up
  to 100 yards

5
Design Constraints

• Operational at a distance of 100 yards
• Bullet position measured within ½ inch of actual
  location
• Operate using 9V batteries
• Contain collapsible stand

6
Abstract

• Design circuitry to detect time differences of
  shock waves of a passing bullet
• Design a transmitter and receiver for logic of
  triangulated time differences
• Develop software for conversion of time
  differences into positioning coordinates
• Display bullet positioning on a Palm Pilot

7
End of Semester Delivery

• Working prototype of sound wave detector
• Working prototype of transmitter and receiver
• Palm Pilot display of target

8
Target Capture System
9
Target Remote Station

• Measures time differences of shock waves with the
  use of microprocessor
• Converts time differences into 5V CMOS logic
• Encodes binary shock wave times
• Sends times to shooter base station via wireless
  RF communication

10
Target Remote System Circuitry
11
Target Stand
12
Microphone Detection

• Bullet creates a shock wave
• Microphones detect leading edge of the shock wave
• Different shock wave arrival times are taken
  between each microphone
• Time differences are used for triangulation
  calculation for bullet location
• Ajay Mahajan and Maurice Walworth, IEEE
  Transactions on Robotics and Automation

13
Shock Wave Signal
14
Analog Circuitry Picture
15
Op-AmpLM411

• High Slew Rate
• Response time of 0.245 ?sec
• Works from 0 to 18V with 9V reference

16
Shockwave Amplification Circuit3300 Fold
Increase of Shockwave Signal
18V
9V
9V
Output
17
DifferentiatorLM411

• Amplifies the high frequency noise spike
• Filters out any low frequencies

18
Differentiator CircuitHigh Pass Filter
18V
9V
LM411
Output
Input
1 kW
1nF
1.2 kW
0
19
Window ComparatorLM339N

• If signal lt 7.5V, Comparator is ON
• If signal gt 13.5V, Comparator is ON
• If signal gt 7.5V or less than 13.5V, Comparator
  is OFF
• Provides 5V for PIC processing
• Used to Compensate for and voltage Rejects
  frequencies not needed

20
Window Comparator CircuitConverts to 5V Logic
for Pic ProcessingInverts Negative Signals
18V
5V
LM339N
4.7 kW

Output 1
270 kW

Input
LM339N
4.7 kW
100 kW

Output 2it 2
100 kW


270 kW

21
OR GateDM74LS32N

• Connected to the Clock on the D-Flip Flop

22
D Flip-FlopSN74LS74AN

• Preset is set high
• D-Input is tied to 5V
• If Clock goes high,Q-Output latches at 1
• After all mics have gone high, D-Flip Flop is
  cleared

23
Latch CircuitIf Clock goes High, Q-Output
latches at 1
5V


Window Circuit Output 1
DM74LS32N OR Gate

Latch Output
SN74LS74AN D Flip Flop
Window Circuit Output 2
Input from Micro-controller
0
24
MicrocontrollerPIC 16F877

• Connected to the D Flip-Flop
• Watches for mics to go high
• The PIC stores the output until 8 signals have
  been received
• Clears latches to 0
• Sends data to shooter
• Looks for another shot

25
Shockwave EmulatorSimulates Shockwave Hitting
All Mics
26
Wireless Transmission

• Transmits up to 100 yards
• Applies decoding and encoding scheme
• Decoder/Encoder ----- DP-2400
• Transmitter ----- RTF3-433
• Receiver ----- RTF1-433
• Data rate is 2.4 kb per second

27
Decoder / EncoderDP-2400

• Completely encapsulates encoding/decoding
• Operates at 2.4Kbits per second
• Switches from a decoder to encoder
• according to the voltage of the selected pin
• Compatible with the PIC 16F877 chip

28
Transmitter / ReceiverRTF3-433 / RRF1-433

• Data rate up to 2.4 Kb per second
• Up to 175 yard range
• Legal frequency of 433 MHz
• Low power consumption

29
Transmitting Test Board Schematic
RF Transmitter Board
Encoder
Transmitter
Micro-controller PIC 16F877-20


Logic Converter
30
Receiver Test Board Schematic
RF Transmitter Board
Receiver
Micro-controller
Decoder
Logic Converter

31
Transmitter Receiver
32
Shooter Base Station

• FM receiver module collects time differences
• Decoder decodes the logic time differences and
  sends to Max 233
• Serial port communication allows interfacing with
  the Palm Pilot

33
Shooter Base Station Circuitry
34
Palm Pilot Software Development Kit

• Used freeware SDK, not CodeWarrior which is a
  commercial SDK
• Cygwin - a free Unix environment that runs under
  Win2K
• PRC-tools - GCC (C-compiler), GDB (debugger)
  targeted for Motorola 68K microcontroller used in
  Palm

35
Palm Pilot Software Development Kit

• PilRCedit  - Java-based tool for building Palm
  GUIs, produces .rcp files which define the Palm
  GUI elements
• PilRC - compiler which combines GCC-produced
  object files and resource files (.rcp) into a
  .prc file which can be loaded into the Palm
• Palm Emulator - emulator which runs under W2K
  that allows Palm operation to be simulated on a
  PC
• Palm 3.5, 4.0 SDKs from Palm - contains OS
  documentation, libraries, include files, example
  code.

36
Palm Pilot Software Duties

• Converts the time differences from binary to base
  10
• Calculates bullet position for target display
• Displays position coordinates bullet velocity
• Displays up to 5 different shots per target

37
Palm Pilot Development
38
Palm Pilot Data

• Start Bytes 2
• TimeH, TimeL, Status 3x8
• CheckSum (For Validation) 3
• Stop Bytes 2
• Total Bytes 31
• Three Packets of 31 bytes are transmitted for
  Validation purposes (93 bytes total)

39
Transmitter SimulatorTransmits Preset Mic
Signals with Latches High
40

• Palm reads in the three packets of 31 bytes

41

• Time differences are calculated after
  manipulations using the matrix
• Mic sequence are identified according to data
  received

42

• Uses C Code for manipulations to identify X,Y
  coordinates using 4 linear equations
• The coordinates of the bullet location are
  displayed

43

• The location of the bullet position is displayed
  on the scaled target graph
• Bottom left corner is (0,0)
• Top right corner is (100,100)

44
Actual Target Palm Target
45
Bullet Shot Error
46
Economics
Shooter Base Station Shooter Base Station
Receiver 19.15
Decoder 5.95
Antenna 9.00
Project Box 7.00
DB-9 0.25
MAX233 3.60
Total 44.95
Target Base Station Target Base Station
Transmitter 8.90
PIC 7.50
Encoder 5.95
Antenna 9.00
Project Box 7.00
Analog Circuitry 10.00
Power Circuit 0.90
Oscillator Circuit 0.65
Total 50.90
Target Stand
Stand Materials 35.00
Microphones 15.00
Shielded Cable 3.45
Total 53.45
Total Cost of Target Capture System 149.30 Note
PCB boards not included in the cost Prices are
for 100 of 1000 units
47
Timeline
Tasks January January January January February February February February March March March March April April April April May May May May
Documents                                        
Project Research                                        
Test Specifications                                        
Hardware Software Design                                        
Simulation Process                                    
Test Certification                                        
Revise Design Documents                                        
Final Design Documents                                        
48
References

• Ajay Mahajan and Maurice Walworth, 3-D Position
  Sensing Using the Differences in the
  Time-of-Flights from a Wave Source to Various
  Receivers, IEEE Transactions on Robotics and
  Automation, vol. 17, no. 1, pp. 91-94, February
  2001.
• Raymond A. Serway and Robert J. Beichner, Physics
  for Scientists and Engineers with Modern Physics
  Fifth Edition, vol. 1, Saunders College
  Publishing, Orlando, Florida, 2000.
• John B. Peatman, Design with PIC
  Microcontrollers, Prentice Hall, Upper Saddle
  River, NJ, 1998.
• PICmicro Mid-Range MCU Family Reference Manual,
  Microchip Technology Incorporated, Chandler,
  Arizona, 1997.
• PIC16F87X Data Sheet, Microchip Technology
  Incorporated, Chandler, Arizona, 2001.

49
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50
References Continued

• MPLAB ICD Users Guide, Microchip Technology
  Incorporated, Chandler, Arizona, 2000.
• David Benson, Easy PICn, Square 1 Electronics,
  Kelseyville, California, 1997.
• Lonnon R. Foster, Palm OS Programming Bible,
  Hungry Minds, Incorporated, New York, New York,
  2000.
• Brian Millier, Listen Anywhere A Wireless MP3
  Remote Jukebox, Circuit Cellar, no. 134, pp.
  26-37, September 2001.
• Peter Birnie and John Fairall, An Introduction
  Low Power Radio, RF Solutions Ltd, Lewes, East
  Sussex, United Kingdom, 1999.
• Tom Dahlin and Donald Krantz, Wireless Data
  Link, Circuit Cellar, no. 131, pp. 10-19, June
  2001.