Meet the Development Team Aditya Wadaskar Kyle Douglas Richard - - PowerPoint PPT Presentation

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Meet the Development Team Aditya Wadaskar Kyle Douglas Richard - - PowerPoint PPT Presentation

Aug 20, 2022 877 likes •1.31k views

E TERNAL F LIGHT Delivering Power In Flight Delivering Power In Flight Meet the Development Team Aditya Wadaskar Kyle Douglas Richard Boone Sang Min Oh Sayali Kakade Battery Switching Controls & Controls & System Embedded &

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SLIDE 1

Delivering Power In Flight

ETERNAL FLIGHT

Delivering Power In Flight

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SLIDE 2

Meet the Development Team

Aditya Wadaskar Richard Boone Kyle Douglas Sang Min Oh Sayali Kakade

Battery Switching & Latching Controls & Electronics Controls & 3D Modeling Embedded Systems System Integration

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SLIDE 3

BACKGROUND

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SLIDE 4

Overview

Applications of UAVs

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SLIDE 5

Overview

Applications of UAVs

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SLIDE 6

Overview

Applications of UAVs

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SLIDE 7

Overview

Applications of UAVs

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SLIDE 8

Overview

Applications of UAVs

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SLIDE 9

Overview

Applications of UAVs

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SLIDE 10

Introduction

Drones have extremely limited battery life (typical maximum of 20 mins)

  • Limited range due to battery shortcoming
  • Current approach: drones must land to recharge or switch battery
  • Drones are needed in remote areas without infrastructure
  • Setting up remote infrastructure is expensive

Problem

Environmental Monitoring Offshore Monitoring Border Security / Patrol Precision Agriculture

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SLIDE 11

Introduction

Switch drone battery in flight to allow “eternal flight” Solution

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SLIDE 12

Introduction

Switch drone battery in flight to allow “eternal flight” Solution

Receiver navigates to Tanker using GPS coordinates

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SLIDE 13

Introduction

Switch drone battery in flight to allow “eternal flight” Solution

Receiver navigates to Tanker using GPS coordinates Receiver lands on Tanker using computer vision and controls algorithm

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SLIDE 14

Introduction

Switch drone battery in flight to allow “eternal flight” Solution

Receiver navigates to Tanker using GPS coordinates Receiver lands on Tanker using computer vision and controls algorithm Tanker hot swaps battery from Receiver using custom battery switching mechanism

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SLIDE 15

Introduction

Switch drone battery in flight to allow “eternal flight” Solution

Receiver navigates to Tanker using GPS coordinates Receiver lands on Tanker using computer vision and controls algorithm Tanker hot swaps battery from Receiver using custom battery switching mechanism Receiver undocks and takes off once battery is replaced

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SLIDE 16
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SLIDE 17

HARDWARE

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SLIDE 18

Receiver and Tanker Model

Receiver Tanker

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Receiver

Parts Overview

1 2 3 4 1 2 3 4

Pixracer Flight Controller Raspberry Pi Zero W u-blox NEO-M8P GPS Raspberry Pi Camera v2.1 Weight: 1068 grams

5 5

Battery Holder Compartment

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SLIDE 20

Receiver

Schematic

1 2 3 4 5 4 1 3 2 5

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SLIDE 21

Tanker

Parts Overview

1 4 1 2 3 4

DJI N3 Flight Controller Raspberry Pi Zero W u-blox NEO-M8P GPS Actuonix Linear Actuator Weight: 3679 grams

5

Switching Base & Landing Alignments

5 6 6

AprilTag Platform

2, 3

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SLIDE 22

Tanker

Schematic

1 4 2, 3 1 2 3 4

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SLIDE 23

POWER DISTRIBUTION

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SLIDE 24

Power Distribution

5V (2A) Receiver Requirements

4S 14.8V LiPo Battery

Tanker Requirements

6S 24V LiPo Battery 1 Raspberry Pi Zero W - 250mA Raspberry Pi Cam v2.1 - 150mA u-blox NEO-M8P Module Pixracer Flight Controller

7V (600mA)

1 Linear Actuator - 400mA

5 V (1A)

2 Raspberry Pi Zero W - 250mA u-blox NEO-M8P Module

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SLIDE 25

Power PCB

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SLIDE 26

Power PCB

  • Two layer PCB – 47 mm x 84 mm
  • Receiver and Tanker circuitry on a

single PCB

  • Components include voltage level-

shifting and backup battery IC

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SLIDE 27

FUNCTIONALITY

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SLIDE 28
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SLIDE 29
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SLIDE 30
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SLIDE 31

Waypoint Navigation

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SLIDE 32

Waypoint Navigation

Centimeter-Level GPS Accuracy

u-blox NEO-M8P GPS Modules

  • Tanker determines own GPS

coordinates with centimeter-level accuracy using RTK

  • Tanker communicates GPS

coordinates to Receiver over WiFi

  • Receiver navigates above Tanker

using GPS

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SLIDE 33

Landing Control System

Precision Landing using Computer Vision

  • AprilTag fiducial marker provides x, y,

z (linear) and roll, pitch, yaw (rotational) coordinates

  • Receiver uses Pi Cam to collect

AprilTag inputs and runs a controls algorithm to land stably on Tanker

Raspberry Pi Cam v2.1 AprilTag Platform

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SLIDE 34

Controls Algorithm

Precision Landing Controls

  • Hovers over AprilTag using PID controls

algorithm

  • Velocity, Position, and the Integral of Position are

independently scaled and input into the system

  • Algorithm works on XYZ directions

independently

  • Controller inputs emulate an RC system
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SLIDE 35

Battery Hot Swap

Mechanical Battery Switching System

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SLIDE 36

Battery Hot Swap

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SLIDE 37

Individual Battery Case

Parts Overview

1 2 3 1 2 3

Neodymium Magnet Copper Plate Connectors Power/Ground Lines

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SLIDE 38

Receiver Battery Holder

Parts Overview

1 3 1 2 3

Neodymium Magnet Spring Compression Contacts Power Lines

2

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SLIDE 39

Tanker Switching Base

Parts Overview

1 2 3 1 2 3

Replacement Battery Actuonix Linear Actuator Linear Sliding Rail

4 4

Drained Battery Holder

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SLIDE 40

DEMO

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SLIDE 41
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SLIDE 42

Thank you!

Acknowledgements Eric Sandoz Yogananda Isukapalli Carrie Segal Brandon Pon Forrest Brewer