[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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Automatic Targeting Sentry Turret for Distributed Systems Piotr Demski, Tomasz Grzejszczak, Karol Jędrasiak, and Michał Mikulski Abstract. Today most popular systems are constructed with the idea of collaboration. In software we can see a drastic increase of cloud-oriented applications, in electronics more devices are designed with CAN and Ethernet communications, and in robotics and defense whole systems are linked as unmanned sensor and agent networks. This paper describes the fundamental design principles of an automatic sentry turret in a distributed multi-agent system. The work is focused on the design of the turret system itself and the system architecture for distributed robotic applications. The papers is divided into the following sections: introduction, turret construction, system architecture, automatic target detection and aiming, and summary. Module. 1 Introduction Increased collaboration in applications, communications, electronics extends rapidly to the field of robotics. Multi-agent networks can be used for sharing vital information, either for control purposes or intelligence. This approach to the development of specialized robots is essential if a more complex system can be achieved. This article presents the construction, system architecture, and aiming algorithms of a specialized robotic platform: a sentry turret, as a part of a bigger and more complex robotics system that is being deployed at the Silesian University of Technology. This article presents a thought process behind specialized units as seen from an agent-network, but the principles presented here can be applied, but not limited to: exoskeletons, UAVs [11],[9],[14] and mobile robots [3][1]. Piotr Demski ⋅ Tomasz Grzejszczak ⋅ Karol Jędrasiak ⋅ Michał Mikulski Silesian University of Technology, Institute of Automatic Control, Akademicka 16, 44-101 Gliwice, Poland e-mail: {michal.mikulski,tomasz.grzejszczak,piotr.demski, karol.jedrasiak}@polsl.pl A. Nawrat and Z. Kuś (Eds.): Vision Based Systems for UAV Applications, SCI 481, pp. 47–55. DOI: 10.1007/978-3-319-00369-6_3 © Springer International Publishing Switzerland 2013
48 P. Demski et al. Fig. 1. Automatic sentry turret Sentry turrets that can be attached to distributed systems can be used for more complex systems, such as multi-target attack, or cooperative decision-making as seen in [7]. They can be either stand-alone [6], deployable, or mounted on tactical vehicles, guard posts, or wearable robots such as exoskeletons, or "mech" like machines like KURATAS [4] . 2 Turret Construction The project's goals was to construct an automatic targeting system, that would consist of two rotary joints, allowing the gun to aim freely at stationary and moving targets. Because the main focus of this article was on the control systems: both visual and distributed, a paintball marker was used instead of a live-ammo firearm. Automatic turret elements (spotted in Fig.2): • Tippmann X7 Phenom paintball marker, (a) • Tippmann E-Grip - electronic powered automatic trigger system, (integrated with a) • Tippmann X7 Phenom Cyclone Feed System, (b) • Tiberius Arms Dual Illumination Open Dot Sight (swappable with Tiberius Arms 4x32 or 1x30 Dot Scope), (c) • Tiberius Arms Tactical Laser, (d) • 48cl 3000 psi HPA Tank, (e)
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Studies in Computational Intelligen
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VIII Preface valuable information i
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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