SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex Reifert - - PowerPoint PPT Presentation

SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex Reifert Advisors: Dr. Nicola Elia and Dr. Phillip Jones

 History

• MicroCART has been an active project since 1998.
• The project has been plagued by a:

 Lack of testing availability (weather, pilot, safety issues, etc…)  Lack of cooperation between successive teams and passing

• n of undocumented knowledge

 Lack of consistent advising causing the lack of a systematic approach to designing a very complex end product

 Rationale for project restructuring

• Platform needed to be smaller.
• Platform needed to be more stable.
• Platform needed to be flown indoors.
• Control system needed to be simplified.

To create a small electrically powered autonomous flying vehicle capable of takeoff and landing from horizontal surfaces as well as stable indoor hover without human assistance.

Embry Riddle College of Engineering Carnegie Mellon University

South Dakota School of Mines and Technology (SERV Robot)

Massachusetts Institute

• f Technology

Technische Universitaet Berlin Georgia Tech 2009 Aerial Robotics Team

 Operating Environment:

• Indoors and Unobstructed Area
• Within Range of Position Tracking System

 End Use and Users:

• The intended end use of our system will be

continued research and development into the area of autonomous flight systems.

• The intended users will be knowledgeable

engineering students and/or professors.

 The system will only be operated in the

• perational environment defined in the

design document.

 Basic flight mechanics will be achieved by

the base platform.

 There will be a ground station.  Platform will have a limited payload

capability.

 There will not be obstacles in the flight

path.

 The system shall be able to take off

autonomously from a surface with no incline.

 The system shall be able to hover

autonomously.

 The system shall be able to land

autonomously on a surface with no incline.

 The system shall have a minimum battery

life of 5 minutes under normal operation.

 The system shall be no larger than

30”x30”x10” (LxWxH)

 The base platform shall be capable of

carrying a payload of at least 0.125kg.

 The base platform shall be powered solely

by batteries.

 The system shall be capable of wirelessly

communicating with a ground station.

Helicopter Flight Mechanics

Radio Controller

Onboard Sensors:

• IR Camera
• Accelerometer
• Wireless Transmitter

Ground Station

UAV

Sensor System Power System Communication System Software System Mechanical System

UAV

Sensor System Power System Communication System Software System Mechanical System

 Minimal Option: Wii-mote sensors

• Infrared Camera Tracking System

 Single (per wii-mote)1024x768 Infrared Camera  4 Blob position tracking at 100Hz or more

• Inertial Measurement Unit

 3 axis Accelerometer (ADXL330)  0.04g maximum acceleration resolution on all three linear axes  Free fall frame of reference  Normalized output readings (g=1)

Bluetooth Transmitter Onboard Microcontroller Infrared Camera Infrared Light Emitters 3 - Axis Accelerometer

 Optimal Option

• Infrared Camera Tracking System

 OptiTrac™ optical motion capture system  Six infrared cameras (lowest cost, larger numbers increase accuracy)  Millimeter accuracy and resolution for the 3D location of markers depending on capture volume size and camera configuration.  Currently Unavailable to us.

• Inertial Measurement Unit

 Highly accurate six degree of freedom accelerometer  Still in production  Likely ready for use mid next semester

• Other Options Researched: Indoor GPS, WIFI, RF Fingerprinting as

well as several different IR camera systems

Infrared Light Emitter Infrared Cameras Direct Wired Into Ground Station 6-axis Inertial Measurement Unit Onboard FPGA's and Microcontroller Zigbee Wireless Transmitter

• Infrared Camera Tracking System Use:

 Accurate XYZ spatial coordinates over time  Accurate Pitch Roll Yaw coordinates over time

• Inertial Measurement Unit Use:

 Fast response feedback on the dynamic movements of our platform  More quickly than we would be able to achieve by position sensing alone  Velocity and spatial coordinates for short intervals (option 2)

UAV

Sensor System Power System Communication System Software System Mechanical System

 Onboard UAV Power

• Base Platform

 7.4V, 1000 mAh 2-cell Li-Po battery pack

• Power Conversion System

 Originally attempted to design simple voltage divider but ran into some critical flaws:

 Too much power wasted  Changing load impedance

 Decided to implement a step-down DC-DC (buck) converter

• Power During Testing

 0-40V, 0-10A DC power supply (Model 6267B by Hewlett-Packard)

 Ground Station Power

• Control System Power

 Wall plug-in for the PC/monitor

• Communications Power

 8 AA batteries or optional AC/DC wall plug-in

UAV

Sensor System Power System Communication System Software System Mechanical System

 Sensor to Ground Station Communication

• Minimal Sensor System Option

 Broadcom 2042  HID Bluetooth

• Optimal Sensor System Option

 OptiTrack optical motion tracking  Custom IMU

 Ground Station to UAV Communications

• Manipulation of 4-Channel Stock RC Controller

 Computer will send signals to a DAC which will send 4 separate voltages to the controller  Use original 72.8 MHz FM transmitter to communicate with Base Platform Controller

Information from On- Board Sensors Computer Processor DAC to RC Controller UAV Control System

UAV

Sensor System Power System Communication System Software System Mechanical System

Data Aquisition

• Outputs:
• X, Y, Z positions
• X,Y,Z accelerations
• Pitch, Roll, and Yaw

Input Data Transform and Filtering

• Outputs
• Actual Angular speed for

both propellers.

• Actual Blade Pitch for both

propellers.

Controller

• Outputs
• New Angular

Speed for both propellers

• New Blade

Pitch for both propellers

Output Data Transform

• Outputs
• New Throttle
• New Yaw
• New Pitch
• New Roll

Data Transmission

• Outputs
• Data Stream for

sending to the DAC described in the communications plan.

UAV

Sensor System Power System Communication System Software System Mechanical System

 Sensor Mounting to Base Platform

• Minimal Sensor System Option

 Cradle system suspended below the battery cage  Designed to produce no mid-flight instability

• Optimal Sensor System Option

 Will vary depending on sensor system physical dimensions and weight distribution

 Testing Platforms

• Anchoring System
• Damage Reduction System

4 screw locations for cradle mounting

 Platform

• 1. Approximately 34 grams of unnecessary mass was removed from

platform

• 2. Regular helicopter mass w/o battery is 190 grams
• 3. Stripped platform mass w/o battery is 156 grams
• 4. Current Battery (7.4V,1000mAh) mass is 50 grams \
• 5. Flight ready regular helicopter mass is 240 grams
• 6. Flight ready stripped helicopter mass is 206 grams

 Minimal Sensor System Mass (Wiimote)

• 1. Original mass was of 82g lightened to 22g after removal of external casing and

interface buttons

 Digital Scale

• 1. Capable of reading ounces or grams
• 2. Capable of negative mass readings (upward pull)
• 3. Maximum reading either way is 200 grams

A detailed report and procedure are available on our website.

 Inputs:

1) Time 2) x,y,z accelerations 3) 1st IR dot found (1 or 0) 4) 1st IR coordinates (‘x’, ‘y’) 5) 1st IR dot size (0 to 5) 6) 2nd IR dot found 7) 2nd IR coordinates 8) 2nd IR dot size

• (any length) X 12 OR (any length) X

4data sets

• Up to 6 such sets at once
• Choice of including IR data or not (12
• r 4 cols)
• *Will be extended to 4 IR input sets

when we can get WiiYourself source to compile

 Outputs:

1) Subplots of each acceleration for each data set 2) Superimposed accelerations of all data sets 3) Subplots of pitch and roll calculated from accels for each data set 4) Superimposed pitch and roll for all data sets 5) Subplots of each set of IR points coordinates 6) Superimposed IR coordinates for all data sets 7) Superimposed xyz accelerations and pitch/roll for first data set 8) Plots of the ‘x’ and ‘y’ coordinates

• f each dot VS time

9) Optional: Vectors including the minimum step sizes for each acceleration as well as angle

• *Will be extended in the future

• Accelerometer testing:

 0.04g maximum resolution on linear axes  ~2 degrees maximum resolution for pitch and roll, both by experiment and analysis  Consistent outputs, though prone to some impulsive noise

• IR camera testing:

 1 pixel resolution at distances up to 6 ft.  Optimal range of operation greater than 4 ft. from IR  Very consistent static outputs  Highly noisy dynamic outputs (due to high sensitivity to vibration)  Optimal filtering to be determined

• Large number of data sets as well as analysis function

script available through our website

0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 x 10

4

10 20 30 40 50 60 70 80 90 pitches

θ (degrees)

Time (ms) 2000 4000 6000 8000 10000 12000 14000 16000 50 100 pitch 1

θ (degrees)

Time (ms) 2000 4000 6000 8000 10000 12000 14000 16000 18000 50 100 pitch 2

θ (degrees)

Time (ms) 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 x 10

4

50 100 pitch 3

θ (degrees)

Time (ms)

470 480 490 500 510 520 530 540 550 560 377 378 379 470 480 490 500 510 520 530 540 550 560 377 378 379 460 470 480 490 500 510 520 530 540 550 560 350 400 450 460 470 480 490 500 510 520 530 540 550 560 423 424 425 469 469.1 469.2 469.3 469.4 469.5 469.6 469.7 469.8 469.9 470 350 400 450 551 552 553 5000 10000 15000 dot A x coordinate VS time x coordinate Time (ms) 5000 10000 15000 376 376.5 377 377.5 378 dot A y coordinate VS time x coordinate Time (ms) 469 470 471 5000 10000 15000 dot B x coordinate VS time x coordinate Time (ms) 5000 10000 15000 378 378.5 379 dot B y coordinate VS time x coordinate Time (ms)

8/25/2009 10/14/2009 12/3/2009 1/22/2010 3/13/2010 5/2/2010 Problem Statement Tech and Implementation Spec End Product Design Prototype Implementation End Product Testing End Product Documentation End Product Demonstration Project Reporting

Estimated Original Project Costs Section Item Cost Equipment: Base Platform Donated Replacement Parts $ 50.00 Upgraded Batteries $ 20.00 Microprocessor Board Donated IMU Donated IPS Donated Other Sensors $ 40.00 Tools and Hardware $ 40.00 Reporting: Project Poster $ 40.00 Bound Project/Design Plans $ 25.00 Labor ($20/hr): (hours) Michael Peat 350 $ 7,000.00 Kollin Moore 332 $ 6,640.00 Matt Rich 322 $ 6,440.00 Alex Reifert 320 $ 6,400.00 Subtotal (without labor): $ 215.00 Total: $ 26,695.00