1. ECE 4007 L01 DK6 1 FAST: Fully Autonomous Sentry Turret Patrick Croom, Kevin Neas, Anthony Ogidi, Joleon Pettway ECE 4007 Dr. David Keezer

2. ECE 4007 L01 DK6 2 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

3. Final Budget ECE 4007 L01 DK6 3 PartsCost 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 $1893.50 Overall Development Cost : ≈ $200,000.00

4. ECE 4007 L01 DK6 4 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

5. ECE 4007 L01 DK6 5 System Configuration Webcam Notebook Computer Phidget Control Board Azimuth Servo Altitude Servo Power Supply Digital Video (USB) USB DC Voltage Voltage Data Arduino Board IR Sensor USB

6. FAST Prototype Components ECE 4007 L01 DK6 6

7. FAST Prototype ECE 4007 L01 DK6 7

8. 8 Motion Tracking Interface

9. ECE 4007 L01 DK6 9 Tracking and Targeting Algorithm Start Save 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

10. 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

11. 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

12. 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

13. 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

14. IR Configuration ECE 4007 L01 DK6 14 220 Ω

15. 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 ECE 4007 L01 DK6 15 101001100…

16. 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 ECE 4007 L01 DK6 16

17. 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 ECE 4007 L01 DK6 17

18. 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 ECE 4007 L01 DK6 18

19. Single Target: Linear Movement ECE 4007 L01 DK6 19

20. Single Target: Erratic Movement ECE 4007 L01 DK6 20

21. Multiple Targets ECE 4007 L01 DK6 21

22. Color Detection Demonstration ECE 4007 L01 DK6 22

23. Color Safety Delay Protection ECE 4007 L01 DK6 23

24. IR Safety Demonstration ECE 4007 L01 DK6 24

25. Safe Passage: Color and IR ECE 4007 L01 DK6 25

26. Escorting Guests ECE 4007 L01 DK6 26

27. Temporarily Escorting Targets ECE 4007 L01 DK6 27

28. Fully Enclosed System ECE 4007 L01 DK6 28

29. 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

30. Detailed Specifications Proposed Specifications 50ft effective range 45 degree field of view Maximum target acquisition: 2 sec Actual Specifications 40ft effective range 65+ degree field of view Maximum target acquisition: <1sec

31. 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 outdoors ECE 4007 L01 DK6 31

32. Questions? ECE 4007 L01 DK6 32