Sentry Gun
Vinayak Prabhutenodolkar (1)
Thadomal Shahani Engineering College
Student
Mumbai,India
vptendolkar@gmail.com
Shubham Patil (3)
Thadomal Shahani Engineering College
Student
Mumbai,India
Shubhammith13@gmail.com
Abstract A sentry gun is a gun that is automatically aimed
and fired at targets that are detected by sensors. The earliest
functioning military sentry guns were the close-in weapon
systems point-defense weapons for detecting and destroying short
range incoming missiles and enemy aircraft first, used exclusively
on naval assets, and now also as land-based defenses. This
system is an autonomous, area protection; TRACT This senior
project involves the complete system design and construction of a
sentry gun to replace an armed guard. We aimed to develop a
compact and highly mobile defense system that allows
operational flexibility. The sentry gun can autonomously track
and shoot at moving targets the hardiness, and functionality of
this system allows a reliable replacement for human beings in
harsh and hostile environments and ultimately sparing a life.
Keywordscomponent; formatting; style; styling; insert (key
words)
I. INTRODUCTION
The initial idea for this project came from a military based
video game where a player could put down a sentry gun and
it would then automatically target, track and shoot at enemy
players without the player having to supervise the system. To
my knowledge, this system does not readily used by the
military even though it has great potential. It parallels the
purpose of the MQ-1 Predator made by General Atomics; an
UAV used in military applications. The system would replace
the active functions of an armed guard while keeping a human
life out of harms way. Since this system would replace a
human, we wanted to make it as accessible as possible which
lead to idea of having the system remotely accessible and
piloted by a user. The purpose of this design effort was the
development of a viable proof-of-concept prototype of the
Fully Autonomous Sentry Turret (FAST) System. In its
simplest form, the FAST system is composed of a some
sensors connected to the controller IC which detect and track
sources of movement. This tracking information will be
passed to a gear motor to start shooting mechanism. The
Australian Navy currently utilizes the sentry gun system
Gladiator II, to help train their soldiers. We hope, like the
Karan Pandey (2)
Thadomal Shahani Engineering College
Student
Mumbai,India
karanpandey3107@gmail.com@gmail.com
Shubham pilankar (4)
Thadomal Shahani Engineering College
Student
Mumbai,India
Pilankar.shubham@gmail.com
Gladiator II, that our system becomes a useful entity for
military application, and forwards the use of robot technology
in modern military strategy components, incorporating the
applicable criteria that follow.
II. MOTIVATION AND GOALS
There exists, among modern military organizations, a
distinct lack of available systems for the purpose of unmanned
anti-personnel area denial and/or defense. The only existing
systems, which provide any remotely similar function, are
barbed wire and landmines. Both of these systems are rather
dated and generally low-tech. In addition, these existing
systems are entirely indiscriminate in their operation,
effectively closing off the position in which they are emplaced
to everyone. These systems are further handicapped by the
limitations on the settings in which they can be employed as
well as the time consuming and potentially complicated setup
that is required in order for them to be effective. The FAST
system suffers from none of these inherent limitations. FAST
is capable of discriminating between targets and non-targets in
mere fractions of a second. FAST can be easily emplaced and
positioned in less than a minute and can be activated with only
a few keystrokes.
This also means that FAST can be employed indoors,
something that is generally impractical for any other system.
The FAST system is also superior in many situations to using
human soldiers for the same purpose because FAST cannot
become tired or distracted while on duty. This also means that
those same soldiers will be kept out of danger.
 III. BLOCK DIAGRAM AND DISCRIPTION
A. Power supply: - Here we used 12v 1.3mah lithium ion
rechargeable battery
B. Sensor unit: - in this unit the moving objects is detected by
using ultra sonic sensor hc-sr04.It acts as eyes for the
whole circuit and direct the gun in the required direction.
C. Microcontroller: - here we used atmega328 which acts as a
decision making body of the circuit and manages to control
the motion of the gun as well as the accuracy of the gun. It
works on the input provided by the sensing unit to aim the
target.
D. Servo motor: - It is responsible for the motion of the gun.
It moves he gun as per the direction given by the
microcontroller.
E. DC motor driver: - It is used to power the DC motor in
accordance with the instruction given by the
microcontroller using L293D.
F. DC motor: - it is used to pull the trigger whenever there is
an object detected by the sensing unit.
G. Gun point: - in this section the actual gun is used to
demonstrate.
H. Shooting mechanism:- which allows the gun to shoot on
particular movement.
IV. PROJECT DISCRIPTION
I. Ultrasonic sensor
The HC-SR04 ultrasonic sensor uses sonar to determine
distance to an object like bats do. It offers excellent non-
contact range detection with high accuracy and stable
readings in an easy-to-use package. From 2cm to 400 cm
or 1 to 13 feet. It operation is not affected by sunlight or
black material like Sharp rangefinders are (although
acoustically soft materials like cloth can be difficult to
detect). It comes complete with ultrasonic transmitter and
receiver module.
The output of the sensor is given to the microcontroller
indicating whether an obstacle has been detected or
not.Microcontroller
J. Microcontroller
The high-performance Microchip picoPower 8-bit AVR
RISC-based microcontroller combines 32KB ISP flash
memory with read-while-write capabilities, 1024B
EEPROM, 2KB SRAM, 23 general purpose I/O lines, 32
general purpose working registers, three flexible
timer/counters with compare modes, internal and external
interrupts, serial programmable USART, a byte-oriented 2-
wire serial interface, SPI serial port, a 6-channel 10-bit
A/D converter (8-channels in TQFP and QFN/MLF
packages), programmable watchdog timer with internal
oscillator, and five software selectable power saving
modes. The device operates between 1.8-5.5 volts.
K. Servo motor
Servos are controlled by sending an electrical pulse of
variable width, or pulse width modulation (PWM), through
the control wire. There is a minimum pulse, a maximum
pulse, and a repetition rate. A servo motor can usually only
turn 90 in either direction for a total of 180 movement.
The motor's neutral position is defined as the position
where the servo has the same amount of potential rotation
in the both the clockwise or counter-clockwise direction.
The PWM sent to the motor determines position of the
shaft, and based on the duration of the pulse sent via the
control wire; the rotor will turn to the desired position. The
servo motor expects to see a pulse every 20 milliseconds
(ms) and the length of the pulse will determine how far the
motor turns. For example, a 1.5ms pulse will make the
motor turn to the 90 position. Shorter than 1.5ms moves it
in the counter clockwise direction toward the 0 position,
and any longer than 1.5ms will turn the servo in a
clockwise direction toward the 180 position.
Variable Pulse width control servo position
When these servos are commanded to move, they
will move to the position and hold that position. If an
external force pushes against the servo while the servo is
holding a position, the servo will resist from moving out of
that position. The maximum amount of force the servo can
exert is called the torque rating of the servo. Servos will
not hold their position forever though; the position pulse
must be repeated to instruct the servo to stay in position.
L. Dc motor
Here we used 30 rpm dc gear motor. It is based on the
principle that when a current-carrying conductor is placed in a
magnetic field, it experiences a mechanical force whose
direction is given by Fleming's Left-hand rule and whose
magnitude is given by
Force, F = B I l newton
Where B is the magnetic field
I is the current in amperes and
l is the length of the coil in meter.
 Features of motor:- VI. CODE ALGORITHM
RPM: 30 at 12V
Voltage: 4V to 12V
Stall torque: 28 Kg-cm at stall current of 1.3 Amp.
Shaft diameter: 6mm
Shaft length: 22mm
Gear assembly: Spur
Brush type: Carbon
Motor weight: 143gms
Actual torque may vary by 20%

IV. LAYOUT

A. Layout

VII. RESULTS
Object were detected successfully within 5 Inch, 20
Inch, and 50 Inch.

V. METHODOLOGY
The sensor first senses the object using ultrasonic waves and Fig (1) Target at left (5 Inch)
indicates the microcontroller that an object has been detected
in a prefix rage
The microcontroller the stops the rotation of the servo motor(
which is rotating with in angle of 180 degree) so as to point
the gun in the direction the object was detected
The assembly of the gun and sensor is such that the gun
points on the object when the object is in detection angle of
the sensor
Then the microcontroller triggers the dc motor so as to pull
the trigger and reverses it to release the trigger with the help
of Dc motor driver
And then after shooting the object the whole process repeats
itself
Fig (2) Target at Right (5 Inch)
 IX. FUTURE SCOPE

Camera can be used to increase the range of the weapon

Y axiss control can be used after implementation of the
camera to improve the accuracy of the project
Human detecting sensors can be used so as to make the
project more reliable and to use the resources available
efficiently.
Centralization of the control can be done in case many units
are in use.
X. APPLICATIONS
Can be used in defense sector
Fig (3) Target at centre (5 Inch) Can be used to provide security to valuable assets
Can be used to guard a particular sector
VIII. CONCLUSION
Inch 5 Inch 20 Inch 50 Inch References
Object Detected Detected Detected
[1] AForge.Net Framework. AForge.Net,2010. [Online]. Available:
Object Detected Detected Detected
http://www.aforgenet.com/framework/
Object Detected Detected Detected
[2] A. Kirillov. Motion Detection Algorithms. The Code Project, 2007.
http://www.codeproject.com/KB/audio-video/MotionDetection.aspx
[3] P. Croom, K. Neas, A. Ogidi, and J. Pettway. Turret Trackers. 2010.
http://www.ece.gatech.edu/academic/courses/ece4007/10spring/ECE400
[4] D.David. SONY infrared remote protocol. Telenet, 2007. .
Available: http://users.telenet.be/davshomepage/sony.htm
[5] Drivers. Phidgets, 2010.Available: http://www.phidgets.com/drivers.php
[6] Universal Serial Bus Specification, Rev. 3.0, 2008. [Online]. Available:
http://www.usb.org/developers/docsyeah
[7] Phalanx Close-In Weapon System, Raytheon Company, Waltham, MA,
2008.

J. Clerk Maxwell, A Treatise on Electricity and Magnetism, 3rd ed., vol. 2.

Oxford: Clarendon, 1892
[1] I.S. Jacobs and C.P. Bean, Fine particles, thin films and exchange
anisotropy, in Magnetism, vol. III, G.T. Rado and H. Suhl, Eds. New
York: Academic, 1963, pp. 271-350.
[2] K. Elissa, Title of paper if known, unpublished.
[3] R. Nicole, Title of paper with only first word capitalized, J. Name
Stand. Abbrev., in press.
[4] Y. Yorozu, M. Hirano, K. Oka, and Y. Tagawa, Electron spectroscopy
studies on magneto-optical media and plastic substrate interface, IEEE
Transl. J. Magn. Japan, vol. 2, pp. 740-741, August 1987 [Digests 9th
Annual Conf. Magnetics Japan, p. 301, 1982].
[2] A. Kirillov. Motion Detection Algorithms. The Code Project, 2007.
http://www.codeproject.com/KB/audio-video/MotionDetection.aspx
[3] P. Croom, K. Neas, A. Ogidi, and J. Pettway. Turret Trackers. 2010.
http://www.ece.gatech.edu/academic/courses/ece4007/10spring/ECE400
[4] D.David. SONY infrared remote protocol. Telenet, 2007. .
Available: http://users.telenet.be/davshomepage/sony.htm
[5] Drivers. Phidgets, 2010.Available: http://www.phidgets.com/drivers.php
[6] Universal Serial Bus Specification, Rev. 3.0, 2008. [Online]. Available:
http://www.usb.org/developers/docsyeah
[7] Phalanx Close-In Weapon System, Raytheon Company, Waltham, MA, 2008.