[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 49 • Coiled Remote HPA Line, (f) • 45MHz wireless receiver, (g) • Linear electric actuator responsible for horizontal turret rotation, (h) • Pitch servomechanism (TowerPro MG-995), (not seen on image) • Trigger servomechanism (TowerPro MG-995), (i) • H-Bridge integrated speed controller, (j) • Emergency Stop button, (k) • Li-Pol battery pack, (inside k) • Logitech C910 HD Webcam, (l) • Windows 8 tablet PC.(m) Fig. 2. Solution elements The trigger in the presented system is based on a TowerPro MG-995 servomechanism, that presses and releases the Tippmann E-Grip automatic trigger. This is the easiest solution, that doesn't require any modification of the Tippmann's electronic components. Because the automatic turret presented in this paper was created to be a universal construction - compatible with any mechanical trigger firearm, only the automatic firing was done using the E-Grip electronic control board, that was powered by it's own 9 Volt Battery hidden inside the grip.
50 P. Demski et al. E-Grip firing modes according to Tippmann: • Semi-Auto: Fires 1 Shot for each trigger pull. • Auto-Response: Fires 1 Shot for each trigger pull or release. • Full Auto: Fires Repeatedly as long as the trigger is held. • 3 Shot Burst: Fires 3 Shots for each trigger pull. • Turbo: Fires 1 shot for every trigger pull, fires 1 shot for every trigger pull or release if the time between trigger pulls is less than .25 seconds. 3 System Architecture The system network architecture is organized so it allows remote connection, monitoring and control of multiple devices and platforms. There was a need to choose architecture which can incorporate communication methods with varying devices, such as UAVs, exoskeletons and sentry turrets. Each of those have different functionality, which must be clearly defined so the remote (Internet) user can quickly and easily connect to them. System should also be expandable in a way which allows the addition of other devices without need to recreate whole system, or even breaking the connection with existing devices. The answer for all those needs was the Windows Communication Foundation (WCF) API. Its object-oriented architecture gives the desired flexibility to the system. WCF was already tested and has proven its value in previous Authors works, such as [5]. Fig. 3. An overview schema of the system
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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344 Conclusions Control algorithms
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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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