Final Project and Group Identification Document ANT-FR Autonomous NERF Turret with Facial Recognition A mounted non-expanding recreational foam turret that utilizes facial recognition software to detect and acquire designated targets within a field of vision. University of Central Florida Group 23 Steffen J. Camarato Nicolas Jaramillo Michael A. Young B.S., Computer Engineering B.S., Computer Engineering B.S., Electrical Engineering Sponsors: Soar Technology, Inc. (SoarTech) Valencia College Division of Engineering and Built Environments Table of Contents 1 Executive Summary ..................................................................................................... 1 2 Project Description ...................................................................................................... 3 2.1 Project Motivation and Goals ............................................................................. 3 2.2 Objectives ........................................................................................................... 4 2.3 Requirements Specifications ............................................................................... 4 2.4 House of Quality Analysis .................................................................................. 6 2.5 Initial Design Architectures and Related Diagrams ............................................ 7 2.5.1 Unified Modeling Language Use Case Diagram .......................................... 7 2.5.2 Software Block Diagram............................................................................... 8 2.5.3 Hardware Block Diagram ............................................................................. 9 3 Research related to Project Definition ....................................................................... 11 3.1 Existing Similar Projects and Products ............................................................. 11 3.1.1 Self-Targeting Autonomous Turret System (STATS) ................................ 11 3.1.2 Autonomous Turret ..................................................................................... 12 3.1.3 Home Observable Monitoring Entry System (HOMES) ............................ 13 3.1.4 Smart Mirror ............................................................................................... 13 3.1.5 Existing Products ........................................................................................ 14 3.2 Relevant Technologies ...................................................................................... 14 3.2.1 Facial Recognition ...................................................................................... 15 3.2.2 Open Source Computer Vision Library (OpenCV) .................................... 16 3.2.3 OpenFace .................................................................................................... 16 3.2.4 VGG Face Descriptor ................................................................................. 17 3.2.5 Labeled Faces in the Wild (LFW) .............................................................. 17 3.2.6 YouTube Faces DB ..................................................................................... 17 3.2.7 Eagle Schematic & PCB Layout Software ................................................. 17 3.2.8 Programming Technologies ........................................................................ 18 3.2.9 Web Development Stacks ........................................................................... 18 3.2.10 Mobile App Development.......................................................................... 18 3.2.11 Pulse Width Modulation (PWM) ............................................................... 19 3.3 Strategic Components and Part Selections ....................................................... 19 3.3.1 Single-board Computer and Laptop ............................................................ 19 3.3.1.1 BeagleBoard ........................................................................................ 19 3.3.1.2 Raspberry Pi 3 Model B ...................................................................... 20 i 3.3.1.3 Laptop Computer ................................................................................. 20 3.3.1.4 Selection of Single-board Computer and Laptop ................................ 20 3.3.2 Single-board Microcontroller ...................................................................... 21 3.3.2.1 Texas Instrument MSP430G2553 ....................................................... 21 3.3.2.2 Arduino Uno Rev3............................................................................... 21 3.3.2.4 Selection of Single-board Microcontroller .......................................... 22 3.3.3 Power Supply .............................................................................................. 22 3.3.3.1 NiMH (Nickel Metal Hydride) ............................................................ 23 3.3.3.2 Lithium Polymer (LiPo) ...................................................................... 24 3.3.3.3 Lithium-Ion (Li-Ion) ............................................................................ 25 3.3.3.4 Selection of Battery Pack Technology ................................................ 26 3.3.4 Voltage Regulation ..................................................................................... 27 3.3.4.1 Linear Voltage Regulation ................................................................... 27 3.3.4.2 Selection of Linear Voltage Regulator ................................................ 29 3.3.4.3 Switching Voltage Regulation ............................................................. 29 3.3.4.4 Selection of Switching Voltage Regulator .......................................... 30 3.3.5 Universal Serial Bus 2.0 Type B (USB) ..................................................... 31 3.3.6 Light Emitting Diode (LED) Indicators ...................................................... 32 3.3.7 Master Power Push-Button ......................................................................... 33 3.3.8 Rangefinder ................................................................................................. 33 3.3.8.1 Selection of Rangefinder ..................................................................... 34 3.3.9 Servos .......................................................................................................... 35 3.3.9.1 HSR-2645CRH .................................................................................... 35 3.3.9.2 HSR-2648CR ....................................................................................... 36 3.3.9.3 HS-5645MG ........................................................................................ 36 3.3.9.4 HSB-9380TH ....................................................................................... 36 3.3.9.5 Selection of Servo Motors ................................................................... 36 3.3.10 Communication Devices ............................................................................ 37 3.3.10.1 Wi-Fi .................................................................................................... 37 3.3.10.2 Bluetooth 4.2 ....................................................................................... 37 3.3.10.3 UART Microcontroller ........................................................................ 38 3.3.10.4 Selection of LAN Technologies .......................................................... 39 3.3.11 Camera ....................................................................................................... 40 3.3.11.1 Logitech C930e ................................................................................... 40 ii 3.3.11.2 Logitech Pro/Brio Webcam ................................................................. 40 3.3.11.3 Razer Kiyo ........................................................................................... 40 3.3.11.4 Selection of Cameras ........................................................................... 41 3.3.12 Microcontroller .......................................................................................... 41 3.3.12.1 ATmega Series .................................................................................... 42 3.3.12.2 ATXMega Series ................................................................................. 42 3.3.12.3 AT89 Series ......................................................................................... 42 3.3.12.4 Selection of Microcontroller ................................................................ 42 3.3.13 Non-Expanding Recreational Foam (NERF) Gun ..................................... 43 3.3.13.1 Foam Dart ............................................................................................ 43 3.3.13.2 NERF XLR Discs ................................................................................ 44 3.3.13.3 High-Impact Rounds............................................................................ 44 3.3.13.4 NERF Weapon Selection ..................................................................... 44 3.3.14 Firing Mechanism ....................................................................................... 46 3.4 Parts Selection Summary .................................................................................. 46 3.5 Facilities and Equipment................................................................................... 47 4 Related Standards and Realistic Design Constraints ................................................