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FAST: Fully Autonomous Sentry Turret

Patrick Croom, Kevin Neas, Anthony Ogidi, Joleon Pettway

ECE 4007Dr. David Keezer

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FAST Overview

• Fully Autonomous Sentry Turret – area denial gun turret with integral IFF capabilities

• Improve security, reduce unnecessary casualties, and reduce operational costs

• Intended for US Department of Defense, other armed federal organizations, and licensed private security companies

• $1893.50 component cost; $200,000 prototype development

Final Budget

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Parts Cost

Servo (x2) $90

Mount $45

Box $25

Arduino $30

Laptop $1500

12V Battery $140

USB (x2) $7

Wires $3

IR $2

LED $1.50

Webcam $50

Total $1893.50Overall Development Cost : ≈ $200,000.00

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Design Objectives

• Once activated, this system will operate without user interaction

• Uses visual monitoring to detect significant sources of movement

• Rapidly engages targets while avoiding designated friendly personnel

• Easy to use, portable, and low cost

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System Configuration

WebcamNotebook Computer

Phidget Control Board

Azimuth Servo

Altitude Servo

Power Supply

Digital Video(USB)

USB

DC Voltage

Voltage Data

Arduino Board

IR SensorUSB

FAST Prototype Components

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FAST Prototype

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Motion Tracking Interface

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Tracking and Targeting Algorithm

StartSave

Current Frame

Save Next Frame

Detect Differences

Locate rectangle around

connecting edges

Mark largest rectangle and its center on

video

Check for safe

parameters

Convert pixel location to

azimuth and altitude angles

Send angle

data to servo

controller

If Yes

If No

Motion Algorithm and Memory

• Image comparison of video stream is done in virtual memory

• Frames are compared in bitmap form in computer’s memory and are not saved on the hard drive

• This allows for faster computation and comparison of successive frames

Pixel Location to Degrees of Rotation

• Converts the center point of the target into degrees of rotation

• Algorithm estimates distance to target based its size – Example: If a target is 42 pixels in height, the

algorithm estimates that the target is X feet away

• The data is then used in trigonometric equations to determine where to position the servos

Safe Position

• After five iterations without detecting movement, the software sets the servos to safe position.

• The servos are also set to safe position when a target is wearing the safe color and/or when the system receives the correct IR “safe” signal

IFF Color

• Each iteration, the algorithm retrieves the RGB values of the center pixel of that target

• If the RGB values meet the specified “safe” range, the servos are set to safe position

• Otherwise, the target will be engaged

IR Configuration

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220 Ω

Sony Remote Protocol

• 13 pulses long• A pulse is LOW points, not HIGH• The first pulse lasts for 2.4 ms• Each subsequent pulse is 1.2 ms for a 1, 0.6 ms

for a 0• Each data pulse is 0.3 ms apart• When the button is held down, each set of 13

pulses is <10 ms apart

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101001100…

Arduino Code

• Arduino measures pulses based on LOW pulses• Long HIGH pulse signifies start of sequence• Converts binary string to decimal

• 10100111101 = 1341

• Only operates while receiving a signal• Does not send partial numbers – sends 0 instead• LED flashes when a 13 bit sequence is received• Sends 4 digit decimal number through USB serial

port• Prints each number on a separate line

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Reading Serial Port

• After each new frame, checks for correct IR number

• Calls ReadLine() to receive entire number• 10 ms timeout – no signal returns false• Compares first four digits to “safe” number

• Currently set to “1341” – The big button• Last digit of every sequence is the next line

character – “\n”• If the correct button is pushed – returns

True• Else – returns False

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Acceptance Testing

• Testing Target Engagement– Single target: linear path– Single target: erratic path– Multiple targets / Target priority

• Testing Safety Functions– Safe passage with IR remote – Safe passage of proper color– Escorting

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Single Target: Linear Movement

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Single Target: Erratic Movement

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Multiple Targets

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Color Detection Demonstration

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Color Safety Delay Protection

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IR Safety Demonstration

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Safe Passage: Color and IR

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Escorting Guests

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Temporarily Escorting Targets

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Fully Enclosed System

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Primary Specifications

• Can the system successfully engage a target before that target can reach the turret itself?– Yes

• Can a properly designated ally pass through the kill-zone without being engaged?– Yes

Detailed Specifications

Future Work

• Scale up design– High resolution camera, faster processor,

bigger servos, M60 belt-fed machine gun

• Face recognition

• Implement RFID

• Badge scanning

• 360˚ Field view

• Implement for outdoorsECE 4007 L01 DK6 31

Questions?

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