Outline

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(No Transcript)
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Outline

• Introduction and applications
• General theory
• Performance
• Conclusions and future direction

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IntroductionMotivation

• Uniqueness of idea

• Goal To sense a target and shoot it with a
  paintball gun using a tank style vehicle.

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IntroductionApplicationPaintball games

• Definition of terms
• Paintball games - games where there are two
  teams whos objective is to capture the
  other teams flag and bring it back to home
  teams base. Opposing team members are marked
  with the use of a special paintball paint
• Paintball gun - special airgun that projects
  paintballs.
• Points are awarded for each opposing team
  member being marked and for the team who
  captures the oppositions flag.

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IntroductionApplication Paintball games

• S.P.L.A.T.s involvement
• Survey the paintball playing field, acquire the
  target, range
• the target, and shoot the target.

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IntroductionDesign Specifications

• Object must be Identified as Friend or Foe(IFF)
• Target must be within a 20-60 foot range to
  commence firing
• Paintball gun must fire when in range at a rate
  of 1
• paintball per second.
• -Tank must avoid obstacles to obtain safety

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General theory Materials and technologies

• Infrared
• Ultrasonic
• Basic Stamp I and II
• Brushless motors
• Servo motor
• Mosfet DC power relay

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General theory Infrared and Ultrasonic
technologies

• Utilized in a Sonin combo pro CST
• electronic measuring device

• Main triggers sends IR signal . Starts timer.

• Target responds with ultrasonic signal.

• Main measures return signal delay in time
• which translates into a distance.

main
target
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General theory Basic stamp modules
Basic Stamp I

• Control the IR and ultrasonic
• technologies
• Output is a binary output saying if an object
  is
• a target and what its range is
• Detects obstacles and has a binary code for
  that
• instance.

Basic Stamp II

• Control servo motor used on paintball gun
• Controls the main brushless motors
• Makes sure tank avoids collision with obstacles

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General theory Flow Diagrams
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General theory Flow Diagrams
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General theory Circuit connection
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Performance

• Prototype of tank built
• Paintball gun accurate up to 100 feet
• Measuring devices works consistently at distances
  up to 200 feet
• Control circuitry works
• motors
• paintball gun

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Performance Test Certification

• Does the Algorithm work?
• Is the vehicle safe?
• When the gun is fired does the paintball hit the
  target?
• Does the vehicle run for the desired amount of
  time

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Conclusions

• The project will be considered a success as of
  April 26, 2000
• Specific results can then be reported

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Future Direction

• Turret changes elevation
• Tank body made of a more durable material than
  wood
• Use laser instead of sound waves to pinpoint
  target
• Install a neural network where tank will learn
  behaviors and
• not depend on just the laser

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References
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Abstract