Mech Final

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July1,2012 [AUTOMATICURRETSCORPIO]2.......................................................................................................................................21...........................................................................................................................................41.1....................................................................................................................41.1.1.......................................................................................................41.1.297UniversalTurret.....................................................................................................62............................................................................................................72.1...............................................................72.1.1................................................................................................72.1.2...................................................................................................82.1.3......................................................................................................................82.1.4....................................................................................................82.1.5...........................................................................................................82.1.6.................................................................................................92.1.7/........92.1.8...............................................................................92.2(Modules)....................................................................................112.2.1................................................................................................112.2.2LEGONXT(IntelligentBrick)....................................................112.2.3()()........................................................................................................................122.2.4()()...............................................................................................................................................132.2.5().....................................................................................................132.2.6..........................................................................................142.3..................................................................152.3.1.......................................................................................................152.3.2()...........................................172.4....................................................................................................................193.....................................................................................................................203.1OpenSourceComputerVisionLibrary.................................................................................203.1.1.............................................................................................213.1.2Gaussian(Smoothing)................................................................................22[AUTOMATICURRETSCORPIO] July1,201233.1.3..................................................................................233.1.4...............................................................................................243.1.5/................................263.2/........................................................................................................273.2.1FPS..................................................................................274...................................................294.1.....................................................................................................294.2......................................................................................................304.3.........................................................................................324.4.....................................................................................................344.5.....................................................................................365....................................................425.1............................................................................................425.1.1DC....................................................................................................425.1.2............................................................................................435.1.3..............................................................................................465.2....................................................................................475.2.1...............................................................................................................475.2.2.....................................................................................496................................................................................................516.1..........................................................................................516.2...........................................................................................52LegoNXTIntelligentBrick........................................................53B....................................................................................54........................................................................................55.................................................................................................................55........................................................................................................................................55C++.........................................................................................................56Matlab.....................................................................................................62....................................................................................................................................67 July1,2012 [AUTOMATICURRETSCORPIO]41. . . ,, (smart projectiles/missiles). , .. electromagnetic mass drivers () laser (HELLADS), [18] [19]. , DARPA (Defense Advanced Research Projects Agency), (target recognition) (tracking). , , (.. , .). , , (.. ) IFF(FriendFoeIdentification),.1.11.1.1 , . [20].399.X. , .(Scorpio),,,[25]. . . , , . , , , , , . [AUTOMATICURRETSCORPIO] July1,20125,().1:Scorpio[25]. , , , tormenta. , , 1000..(),(trebuchet) , (). , 60 , . : , 100 . Avaricum , .,,400,(34),. .July1,2012 [AUTOMATICURRETSCORPIO]61.1.297UniversalTurret AH1SUpgunnedCobra[1][26].201973(XM18830).110,21,50,80 60 . , .2:XM97UniversalTurret[26]. [AUTOMATICURRETSCORPIO] July1,201272.2.1 (, ) LEGO. (riskanalysis), , LEGO. .:1. .2. (Drafting).3. .4. .5. .6. .7. /.8. (GOTOSTEP5)(END),, . ,(a:,b:LEGO).2.1.1a. ,,. . .b. LEGO, ABS(acrylonitrilebutadienestyrene). . .. .. PCHPPaviliondv51080ev.July1,2012 [AUTOMATICURRETSCORPIO]82.1.2a. , . CADCAMCNC.b. LEGO DIGITAL DESIGNER, .,modular LEGO, , .2.1.3a. , . (microcontroller), internet, ,.b. LEGO MINDSTORMS NXT 2.0, .. .2.1.4a. . ..b. LEGO . on the go. . , . ().2.1.5a. . . . , .b. LEGO , . , . [AUTOMATICURRETSCORPIO] July1,20129 (.. ) , .2.1.6a. .b. , LEGO, . , ,,.,, , . , ,.2.1.7/a. ..b. . onthego.2.1.8a. .b. .,, , .,risk analysis, LEGO.July1,2012 [AUTOMATICURRETSCORPIO]10()LEGO()1 5 62 4 83 3 104 5 75 4 86 6 57 4 98 5 7 36 601:. , , LEGO,. [AUTOMATICURRETSCORPIO] July1,2012112.2(Modules)3:SCORPIOMKIIRobot.6modules(. 3), , 3 LEGO ( ).(),,.2.2.1. St37 5 , . , . .2.2.2LEGONXT(IntelligentBrick) (. 4). LEGONXT.[27].July1,2012 [AUTOMATICURRETSCORPIO]124:LegoNXTIntelligentBrick.2.2.3()()module,LEGO [2]. . B[22][23]. / /(gearbox)nA=1/2.1[21]. 11.5 Ncm 1=35cm1=39.5rpm[22]., . (tracking).5:q1.[AUTOMATICURRETSCORPIO] July1,2012132.2.4()() module , LEGO [2].,. / / (gearbox) nB= 1/5 [21]. 2=83.5cm 2=16.4rpm[22]. , , /,. , ,,.6:q2.2.2.5() 7:. module LEGO NXT [2]. , Oring , [4]. ., 900 , /. . July1,2012 [AUTOMATICURRETSCORPIO]14 . nC=1/3 /[21].8:.2.2.6.9:PhilipsNotebookCameraSPZ6500/27. (.9) , . [28]. , . , ( ) 3.[AUTOMATICURRETSCORPIO] July1,201215PC,. , , , laser, (triangulation) ,[5][6].2.3 , , . :- .- , LEGO, . .2.3.1:- LEGO [3]. , . .,. .- [3]. , ,(),.- [3]. , , . , .- . . July1,2012 [AUTOMATICURRETSCORPIO]16 . . , , , .10:. (), .11:. () . . .[AUTOMATICURRETSCORPIO] July1,201217 .2.3.2():- . , . , /,[3].- . . . ,.- ..- .- .: (3).... .TO12:.July1,2012 [AUTOMATICURRETSCORPIO]18 , (). module , .