Projectile Dispersion of a Marker Ball Launcher by Peter J. Fazio ARL-TR-3319 October 2004 Approved for public release; distribution is unlimited. NOTICES Disclaimers The findings in this report are not to be construed as an official Department of the Army position unless so designated by other authorized documents. Citation of manufacturer’s or trade names does not constitute an official endorsement or approval of the use thereof. DESTRUCTION NOTICEDestroy this report when it is no longer needed. Do not return it to the originator. Army Research Laboratory Aberdeen Proving Ground, MD 21005-5066 ARL-TR-3319 October 2004 Projectile Dispersion of a Marker Ball Launcher Peter J. Fazio Weapons and Materials Research Directorate, ARL Approved for public release; distribution is unlimited. 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REPORT TYPE 3. DATES COVERED (From - To) October 2004 Final August 2003 to October 2003 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Projectile Dispersion of a Marker Ball Launcher 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER AH80 622618 Peter J. Fazio (ARL) 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING ORGANIZATION U.S. Army Research Laboratory REPORT NUMBER Weapons and Materials Research Directorate ARL-TR-3319 Aberdeen Proving Ground, MD 21005-5066 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR’S ACRONYM(S) 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution is unlimited. 13. SUPPLEMENTARY NOTES 14. ABSTRACT The Weapons Technology Analysis Branch of the Ballistics and Weapons Concepts Division, Weapons and Materials Research Directorate of the U.S. Army Research Laboratory conducted a test of the firing ability of a marker ball launcher mounted on a robotic research laboratory vehicle. The robotic vehicle was used as a technology demonstration platform for autonomous and semi-autonomous behaviors. Some of the behaviors included the ability to return fire against enemy targets. In the interest of safety and simplicity, it was decided that a marker ball launcher would be used as the robot’s “weapon” system. A fully inte- grated marker ball launcher and turret assembly, the return fire simulator (RFS), was mounted on the robotic vehicle. The RFS mounts a 0.68-inch caliber, 16-inch-long launcher barrel onto a Directed Perceptions pan-and-tilt assembly. Some of the autonomous robotic behaviors require the robotic vehicle to fire a specified number of rounds to achieve a 90% probability of hit (pHit). To meet this requirement, an estimate of the launcher round dispersion, based on the range to the target, was needed. A test was developed to determine an estimate of the number of rounds required to achieve a 50%, 75%, 90%, 95%, and 99% pHit against a target of a specified cross-sectional size at various ranges. The test ranges were 20, 40, 60, and 80 feet from the muzzle of the launcher to the target board. At each range, 20 rounds were fired and their impact points were recorded. For each round fired, the optical aim point, produced by a class II laser, was recorded. The data were collected and analyzed to generate the azimuth (x coordinate) error and elevation (y coordinate) error and the total (x and y coordinate) error. The statistical means and standard deviations of these errors and of the muzzle velocities were calculated. The means of the azimuth error and elevation error were used to calculate the azimuth and elevation angular offsets, respectively. These data and the target cross- sectional size were used to calculate the number of shots required to achieve the probabilities of hit at the four target ranges. 15. SUBJECT TERMS dispersion; launcher; marker ball; pHit 17. LIMITATION 18. NUMBER 19a. NAME OF RESPONSIBLE PERSON 16. SECURITY CLASSIFICATION OF: OF ABSTRACT OF PAGES Peter J. Fazio a. REPORT b. ABSTRACT c. THIS PAGE 19b. TELEPHONE NUMBER (Include area code) Unclassified Unclassified Unclassified UL 25 410-278-6646 Standard Form 298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 ii Contents List of Figures iv 1. Introduction 1 2. Procedures 3 3. Discussion 5 4. Summary 12 Appendix A. Dispersion Test Data 15 Distribution List 20 iii List of Figures Figure 1. All-terrain research vehicle.............................................................................................1 Figure 2. Return fire simulator........................................................................................................2 Figure 3. Radar chronograph..........................................................................................................3 Figure 4. Target box........................................................................................................................4 Figure 5. Dispersion pattern (range = 20 feet)................................................................................7 Figure 6. Dispersion pattern (range = 40 feet)................................................................................8 Figure 7. Dispersion pattern (range = 60 feet)................................................................................9 Figure 8. Dispersion pattern (range = 80 feet)..............................................................................10 Figure 9. Number of shots, uncorrected pHit...............................................................................11 Figure 10. Number of shots, corrected pHit.................................................................................12 iv 1. Introduction The Weapons Technology Analysis Branch of the Ballistics and Weapons Concepts Division, Weapons and Materials Research Directorate, U.S. Army Research Laboratory (ARL) conducted a test of the firing ability of a marker ball launcher mounted on a robotic research laboratory vehicle. The robotic vehicle, an iRobot all-terrain research vehicle (ATRV) shown in figure 1, was used as a technology demonstration platform for autonomous and semi-autonomous behaviors. Some of the behaviors included the ability to return fire against enemy targets. The ability to return fire necessitated that some form of weapon system be implemented on board the robotic vehicle to properly evaluate the behavior. b«\ for Camera l*o»'cr Supplies Cjunem GPS CmnpniK Oni' tairh \tdt (III Tank Figure 1. All-terrain research vehicle. In the interest of safety and simplicity, it was decided that a marker ball launcher (paintball gun) would be used as the robot’s “weapon” system. A turret capable of azimuth and elevation changes was also needed for the marker ball launcher to allow the robotic vehicle to precisely point the launcher tube during targeting behaviors. A fully integrated marker ball launcher and turret assembly, the return fire simulator (RFS) shown in figure 2, was purchased from Bristlecone Corporation. The RFS is typically used as a stationary tactical training device for 1 military and law enforcement personnel. The RFS simulates enemy fire during close quarter tactical scenarios, such as military operations in urban terrain and law enforcement special weapons and tactics operations in urban dwellings. The RFS mounts a 0.68-inch caliber, 16-inch-long launcher barrel onto a Directed Perceptions, Inc., pan-and-tilt assembly. The standard trough-like paintball magazine was replaced with a vertical acrylic tube magazine in an effort to reduce the load on the turret drives. A low power class II laser was used as an optical pointing aid for targeting during the testing. The RFS launcher and turret assembly, along with the carbon dioxide propellant and regulator, were mounted on top of the ATRV to create a mobile autonomous robotic gun system surrogate. Figure 2. Return fire simulator. Some of the autonomous robotic behaviors require the robotic vehicle to detect an enemy target, sight the weapon system on the target, and then fire a specified number of rounds to achieve a 90% probability of hit (pHit). To meet one of the requirements for these behaviors, namely, number of rounds to achieve 90% pHit, an estimate of the RFS launcher round dispersion based upon the range to the target was needed. A test was developed to determine an estimate of the number of rounds required to be fired to achieve a 50%, 75%, 90%, 95%, and 99% pHit against a target of a specified cross-sectional size at various close quarter ranges. The test consisted of a series of trials where the RFS was fired at a fixed target setup from four close quarter ranges. 2 The test ranges were 20, 40, 60, and 80 feet from the muzzle of the launcher to the target board. At each range, 20 rounds were fired and their impact points were recorded. For each round fired, the optical aim point, produced by the class II laser, was recorded and the launcher re-aimed when necessary. The projectile’s muzzle velocity was also recorded for each round fired via a radar chronograph, shown in figure 3. The data were collected and analyzed to generate the azimuth (x coordinate) error and elevation (y coordinate) error and the total (x and y coordinate) error. The statistical means and standard deviations of these errors and of the muzzle velocities were calculated. The means of the azimuth error and elevation error were used to calculate the azimuth and elevation angular offsets, respectively. These data and the target cross-sectional size were used to calculate the number of shots required to achieve the probablities of hit at the four target ranges. Figure 3. Radar chronograph. 2. Procedures The ATRV robot, which was outfitted with the RFS projectile launcher and a class II laser, was used as the surrogate weaponized autonomous robotic vehicle to evaluate the system’s ability to achieve a probability of target hit within a specified number of shots fired. The ATRV, which is manufactured by iRobot Corporation, is a small, lightweight wheeled research robot. The vehicle is approximately 4 feet long, 3 feet wide, and 2.5 feet high and weighs 250 pounds. The chassis is a four-wheeled, skid-steered platform employing battery-powered electric drive motors. The RFS is a projectile launcher that uses compressed carbon dioxide propellant. The launcher tube is 16 inches long with a 0.68-inch diameter bore. The propellant is regulated to maintain a muzzle velocity of approximately 300 feet per second. The projectiles used for this 3 test were made of hard nylon and had a mass of approximately 28 grains. The launcher is mounted to a turret assembly comprised of a pan-and-tilt unit, manufactured by Directed Perceptions, Inc. A class II laser, with a maximum power output of less than 1 milliwatt, was mounted to the launcher barrel to allow for optical aiming of the RFS. The specified target size for the pHit calculations was a 3-foot by 3-foot square, which reasonably represents the cross- sectional area of the target vehicle. The target vehicle for the autonomous behavior being evaluated was a wheeled research robot that had a size similar to the ATRV. A 4-foot by 4-foot square target box, shown in figure 4, was constructed. This size target was assumed to be large enough to accept the total shot dispersion pattern of the launcher for the required test ranges. Figure 4. Target box. The target region was made from a heavy weight craft paper that was held in tension across the target box to allow for the projectiles to make a clear perforation upon impact. The horizontal and vertical sides of the target box had graduated rules attached to allow for accurate measuring of the azimuth and elevation optical laser aim points and projectile hit points. The testing began upon completion of the final assembly of the various pieces of hardware. The ATRV with its mounted projectile launcher was emplaced at the initial test range from the target box. A radar chronograph was set up below and slightly ahead of the launcher tube’s muzzle to record the projectile muzzle velocity. We aimed the launcher by observing the red laser spot generated by the class II laser, via a remote mounted joystick controlling the turret drives. The laser spot image produced on the target area was measured to record its azimuth and elevation position. The launcher was pressurized with propellant and a projectile fired at the target. The projectile 4