[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 51 The WCF Data Exchange Server is a central communication point between remote users and devices, as shown in Fig.3. Each device is connected to system via base station, which can be dedicated - as in sentry turret application, or some other general-purpose device adapted to the application (such as PC tablet or smartphone). The sentry turret can be operated in two modes. In first mode, the turret is controlled manually (Fig.4). The position of the turret is set using Graupner RC equipment. The camera image is transmitted to video goggles, so the operator can see which way he is pointing the turret. Fig. 4. An overview of the manual operation schema The second operating mode is automatic (Fig. 5). In this mode, images from the camera is send to base station. Their image processing and other algorithms determine the position of the tracked object. The detection and aiming of the turret will be described later. After processing the image data, the desired turret position is sent to turret motors using xBee wireless network [2]. It is notable that all the communication with the turret itself is wireless, so the operator or the base station can be placed safely away from the turret. The base station also implements the client functionality of WCF, using the software written in C\#. Base station is connected to WCF server, so the remote user can monitor the work of the turret. Fig. 5. An overview of base station control schema
52 P. Demski et al. 4 Automatic Target Detection and Aiming The turret aiming motors are capable of moving the gun and its sight vertically and horizontally. Depending on the accuracy of mechanisms, it is possible to create a coordinate system, where x and y axes corresponds to motors adjustments or indirectly to angles of barrel deflection or sight position. The field of all possible sight positions is similar to image from mounted or stationary camera. After proper system calibration it is possible to get the adjustment of motors from the wanted sight position, which corresponds to position of object on image. By the assumption of mounting camera directly on barrel or mounting stationary camera with the same field of view and orientation as gun it is possible to easily correlate the image coordinates with simple construction of two motors working horizontally and vertically in two dimensions. As it was mentioned previously, it is possible to handle two approaches. The camera can be mounted on gun or it can be set stationary with the same field of view. In case of stationary camera, the calibration process begins with gun aiming at certain points and user indicating those points on camera field of view. Then by means of linear interpolation the correlation between motors adjustment and detected object position on image is set. In case of camera mounted on gun, there no need of software calibration. There is only a need to properly mount the camera, so the gun is aiming directly to the center of image. In this case, the position of detected objects and their displacement from center of image would be treated as correction to motors position. If the object is detected to the right of image center, there is an order send to move gun to the right. The algorithm previously was prototyped in simulation environment [8] and implemented in opto-electronic gimbal [10]. Depending on how far the object is from the center of image, the correction presets are chosen with use of fuzzy logic. Example of camera mounted on gun is presented in Fig. 6. Fig. 6. Camera mounted on the gun
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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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XVI List of Contributors Adam Czorn
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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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