WIXLIB

University of Central FloridaSTATSSelf-Targeting Autonomous Turret SystemSenior Design DocumentationElso CaponiMichael LakusAli MararJonathan Thomas

Table of ContentsSection 1: Executive Summary . 1Section 2: Project Requirements and Specifications . 32.1 Project Motivation and Goals . 32.2 Fire Control . 42.2.1 Automated Fire Control . 42.2.2 Manual Fire Control . 52.2.3 Processor Targeting control Requirements . 72.3 Weapon Systems. 72.3.1 Paintball Guns . 82.3.2 Airsoft Guns. 92.4 Tablet Device. 112.4.1 Tablet User Interface . 112.4.2 Tablet Control Interface . 122.5 Video Tracking Requirements . 142.5.1 Tracking Motor Control Requirements . 142.5.2 Processor Requirements for Tracking . 142.5.3 Tablet Tracking and Control . 152.5.4 Video Subsystem Requirements . 152.5.5 Laser Sight . 162.5.6 Range Finding . 162.5.7 Software Requirements . 162.6 Servos and Actuators . 162.7 Housing Design. 182.8 Power Systems . 21Section 3: Research Related To Project Definition . 233.1 Division of Labor . 233.2 Existing Similar Projects . 233.2.1 Remote Touchscreen-Controlled Defense Turret (RTCDT) . 243.2.2 Autonomous Targeting Sentry (ATS). 243.2.3 Automated Targeting Proximity Turret (ATPT) . 253.2.4 Lessons Learned . 263.3 Software Research . 27i

3.3.1 Open Computer Vision . 283.3.2 Processing Programming Language . 303.4 Hardware Based Tracking . 313.4.1 FPGA Motion Tracking . 313.5 Hardware & Software Tracking Systems . 323.6 Additional Sensors . 333.6.1 Sonar Tracking. 333.6.2 RFID . 333.6.3 Infrared Motion Detection . 333.6.4 Range Detection Sensors . 343.6.5 IR Range Finders. 343.6.6 Ultrasonic Range Finders . 353.6.7 Laser & Camera Triangulation. 353.6.8 Laser Sights . 363.6.9 Warning Alarm & Light . 363.6.10 CMUcam. 373.7 Processors . 383.7.1 Processor options. 393.8 Microcontroller Software Issues . 403.9 Microcontrollers Considered . 403.9.1 TI MSP 430 . 403.9.2 Atmel Mega 328 . 413.9.3 Microcontroller-Computer Hybrid: . 413.9.4 PIC Controller . 423.10 Control System Processing . 433.11 Tablets . 443.12 Video Hardware . 453.12.1 Cameras . 463.12.2 USB Web Cameras . 463.12.3 Wireless Cameras . 473.12.4 Infrared Cameras . 473.13 Remote Control . 493.14 Motors and Actuators . 49ii

3.14.1 Servo Motors. 503.14.2 Linear Actuators . 503.14.3 Stepper Motors . 513.15 Wireless Technologies. 513.15.1 Bluetooth . 523.15.2 Wi-Fi . 523.15.3 Wireless USB . 533.15.4 ZigBee . 533.15.5 XBee . 533.16 Power System Research . 543.16.1 Solar . 543.16.2 Battery. 543.17 Recharge Circuit . 573.17.1 Fuel Cell Gauge. 573.18 Mounting Options . 583.19 Weapon Platforms . 58Section 4: Hardware and Software Design Details . 624.1 Project Design Architecture . 624.1.1 Hardware Block Diagram . 624.1.2 Software Block Diagram . 634.2 Main Housing . 634.2.1 PCB Housing . 644.3 Turret Design. 654.4 Motors. 664.5 Software Design . 674.5.1 User Interface. 674.5.2 Arduino IDE . 694.5.3 Software Development Life-Cycle. 704.6 Targeting Control . 714.6.1 Servo Control Library . 714.6.2 Multidirectional Control. 744.6.3 Arduino PID Library . 754.7 Image Capture . 77iii

4.7.1 Camera . 774.7.2 Camera Schematic . 784.8 Tracking System Design. 794.8.1 Class Functionality. 804.9 Wireless Communication . 824.9.1 Camera to Tablet. 834.9.2 Tablet to Processor . 834.10 Electrical Hardware . 844.11 Audio and Alarm Design. 884.12 Laser Device . 904.13 Audio Alarm . 904.14 LED Alarm . 914.15 Power Supply Design. 924.16 Servo Motor Connection . 94Section 5: Prototype Construction. 965.1 Hardware Assembly . 965.1.1 Main Housing . 965.1.2 PCB Housing . 975.2 Weapon Platform Mount . 985.3 Servo Armature . 985.4 PCB Software Design . 995.4.1 PCB design . 995.4.2 PCB Fabrication . 1005.4.3 Processor . 1005.5 System Hardware Wiring . 1015.6 Hardware and Software Design Summary . 1015.6.1 Hardware design summary . 1015.6.2 Software Design Summary . 103Section 6: Prototype Testing . 1056.1 Hardware Testing . 1066.1.1 PCB and Main Housing Testing . 1066.1.2 Power Supply and Battery Testing . 1066.1.3 Servo Testing . 107iv

6.1.4 Camera to Tablet Testing . 1076.1.5 Tablet-Microcontroller Testing . 1086.1.6 Weapon Platform Clamp Testing . 1086.1.7 Airsoft Gun Testing . 1096.1.8 BB Accuracy Test . 1096.1.9 Microcontroller Testing. 1106.1.10 Power System. 1106.1.11 Siren Testing . 1116.2 Software Testing . 1116.2.2 Object Detection Testing . 1126.2.3 Motion Tracking Testing . 1126.2.4 Tablet Tracking Software Testing . 1136.2.5 Arduino Servo Library . 1146.2.6 Manual Mode . 1146.2.7 Custom User Interface Video Stream . 1156.3 Overall Testing . 1156.3.1 Automated Testing. 1166.3.1 Manual Testing. 116Section 7: Administrative Content . 1187.1 Project Milestone . 1187.2 Finance and Sponsorship . 1217.2.1 Budgeting . 122Section 8: Appendices . 1238.1 Bibliography . 123v

Table of FiguresFigure 3.1 – Automatic Firing Overview. 27Figure 3.2 – Range Finder . 35Figure 4.1 – Hardware Block Diagram . 62Figure 4.2 – Tablet-Software Communication Block Diagram . 63Figure 4.3 – Main Housing Top View . 64Figure 4.4 – Main Housing Overview . 65Figure 4.5 – Servo Armature Mount . 66Figure 4.6 - Tablet Based User Interface Design . 69Figure 4.7 – Arduino IDE Interface . 70Figure 4.8 – Agile Software Development Method . 70Figure 4.9 – Servo Control System . 74Figure 4.10 – Basic PID Servo Control Topology . 75Figure 4.11 – Wireless Camera Schematic . 79Figure 4.12 – Software Sequence of Events . 80Figure 4.13 – Hardware/Software Communication . 83Figure 4.14 – XBee – Arduino Connection . 84Figure 4.15 – ATmega Pin Out . 86Figure 4.16 – Atmel Mega328P Reference Design . 87Figure 4.17 –AVR Mini Programmer . 88Figure 4.18 – Audio Alarm Schematic . 89Figure 4.19 – AudioLarm II from Floyd Bell. 91Figure 4.20 - LED Layout . 92Figure 4.21 – LT1510 Battery Recharge Circuit . 93Figure 4.22 – Fuel Cell Gauge. 94Figure 4.23 – Board Schematic . 95Figure 5.1 – Main Frame Blowout. 96Figure 5.2 – Main Leg Frame Support . 97Figure 5.3 – PCB Housing Blowout . 97Figure 5.4 - Clamp and Trigger Servo . 98Figure 5.5 – PCB Trace Width. 99Figure 5.6 – PCB Block Layout . 100vi

Table of TablesTable 2.1 – Airsoft Gun Requirements . 10Table 2.2 – Target Tracking Servos . 18Table 2.3 – Fire Control Servo . 18Table 2.4 – Main Housing Requirements . 21Table 2.5 – Armature & Servo Mounting Requirements . 21Table 2.6 – Leg Stabilizers Requirements . 21Table 3.1 – Division of Labor . 23Table 3.2 - Lasers. 36Table 3.3 – Microprocessor Comparison Table . 43Table 3.4: Windows Tablet Comparison . 45Table 3.5 - Cameras. 49Table 3.6: Wireless Technology Comparison . 52Table 3.7: Bluetooth Categories . 52Table 3.8 - Battery table. 55Table 3.9 – Power ratings of components used for primary battery. 56Table 3.10 – Power ratings of components used for secondary battery. 57Table 3.11 – Airsoft Gun Options . 60Table 4.1 – Draw Control Path Function . 68Table 4.2 – Arduino Servo Library Attach . 71Table 4.3 – Arduino Servo Library Write. 71Table 4.4 – Arduino Servo Library WriteMicroseconds . 71Table 4.5 – Arduino Servo Library Read. 72Table 4.6 – Arduino Servo Library Attached . 72Table 4.7 – Arduino Servo Library Detach . 72Table 4.8 – Arduino Serial Library Available . 72Table 4.9 – Arduino Serial Library Begin . 73Table 4.10 – Arduino Serial Library End . 73Table 4.11 – Arduino Serial Library Read . 73Table 4.12 – Arduino Serial Library Write . 73Table 4.13 – Arduino Serial Library Flush . 73Table 4.14 – PID Controller Algorithms . 74Table 4.15 – Arduino PID Library PID . 75Table 4.16 – Arduino PID Libr

University of Central Florida . STATS . Self-Targeting Autonomous Turret System . Senior Design Documentation . Elso Caponi . Michael Lakus . Ali Marar . Jonathan Thomas