T T e eam 1 1 3 38 S ome e Assem embly Req equired ed E - - PowerPoint PPT Presentation
T T e eam 1 1 3 38 S ome e Assem embly Req equired ed E xplorer Post 1 1 0 01 1 0 0 F light Rea eadines ess Rev eview ew Brief efing Introduc ductions a and d F ligh ght Mission R n Roles V isesh P rim ary P
V isesh P rim ary P ilot in C
m and N ick M ission P lanner S pecialist /A lternate P ilot G unvir S coring C aptain L ucas A ircraft S pecialist /S afety S pecialist T im
S trategic T echnician
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W e considered two m ethods of flying and scoring points: 1 . F ly autonom
anually search for scoring item s (targets, debris, etc.)
ly autonom
s (while carrying balloons), locate accurate coordinates and drop balloons, then land to perform autonom
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Decis isio ion Ri Risk Re Rewa ward
A utonomous search pattern G P S malfunctions, unable to pause/resume mission to write down coordinates C
scoring objects M anual searching L
altitude, drift while recording coordinates A ble to recover from G P S issues, potentially faster speed
W e decided to em ploy a hybrid approach: m anually following a search pattern using loiter m
the benefits of both strategies - consistent search pattern with the ability to m ake m anual adjustm ents as needed. T his works by the M ission P lanner specialist giving the P ilot heading directions to m
right stick, and when som ething is found, the M
bserver guides the pilot.
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xecute autonom
mapping any targets seen on the way
se map to guide our pilot to the approximate locations of the targets to obtain precise G PS coordinates
se coordinates to drop balloons on designated targets using autonomous mission
ll 5 SA R targets located and classified
ll 10 waypoints captured
ission completed within 25-28 minutes flight time
utonomous takeoff and landing
t least one package (balloon) delivered successfully
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et telem etry data from the aircraft
se the flight log to understand aircraft perform ance ○ D iagnose P roblem s ○ C
pare D ata
rogram autonom
issions
etry data
se M ission P lanner to C
ervo on Balloon M echanism (C am era S hutter approach)
heck for safety (arm /disarm , G P S lock, G P S satellite count, flight m
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W
ith our m
PS L
PS C
light M
atitude/L
M
team using this information.
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ur final design is a single balloon drop system
e used 3 nylon standoffs to firm ly attach a wood plate to the aircraft
3D
single wood plate is on the servo, to secure the balloons until ready to be released
ctivating the “C am era S hutter” feature toggles the servo releasing the balloon and recording the location of the drop in m ission planner!
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ll flights conducted with supervising adult
ll flights conducted in visual line of sight
ll flights conducted BE L O W 400 feet and within F A A regulations
O flights conducted without perform ing pre-flight inspection
O flights conducted in bad weather or bad visibility
O flights conducted over people or buildings
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uses a series of checklists: pre- and post-flight.
hecklists ensure a safer, m
ll parts of our aircraft are regularly inspected.
ll repairs are m ade with consent of all the mem bers.
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ll of our tests were conducted at K ing F arm P ark in an open field
anual flight tests using our “hybrid” strategy and autonom
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e were consistently able to search for and locate search objectives and were also able to autonom
land
e practiced using our “M ap” m ethod to locate the general locations of targets in autonom
the search m
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he interface between the legs and the aircraft are 4 custom 3D
ur new landing gear ensures that we land upright 1 00% of the tim e!
he landing gear uses the sam e carbon fiber rods from the stock landing gear, but we cut them to achieve greater stability.
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W
ell:
Balloon D rop System ○ Increased F light T ime and Improved Reliability
ew motor arm design keeping motor mounts aligned
○ provides more balloon compression and less room for balloon movement
and drop balloons over targets autonomously D idn’t W
rop System ○ Increased A mp D raw and D ecreased Battery L ife
isaligned to F rame ○ Increased V ibrations/C aused F ailsafe
ave F
Balloons ○ M ade Q uad U nmanageable in the A ir
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balloons, autonom
issions, and use of hybrid m ethod
uccessful identification of target objects
0 ft from desired targets
afety protocols executed effectively to prevent unsafe deviations from the planned m ission when in autonom
roblem s solved through effective team com m unication
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V isesh P rim ary P ilot in C
m and N ick M ission P lanner S pecialist /A lternate P ilot G unvir S coring C aptain L ucas A ircraft S pecialist /S afety S pecialist T im
S trategic T echnician
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W e use checklists to ensure safety and m ake G
Before F light
eather
irspace A ctivity
hether there are people on the field
uad D uring F light
ircraft stability / functionality
ind Speed
irspace A ctivity W hen one or more conditions is seen as a hazard we may
and Immediately
ake necessary plans to repair and inspect Q uad thoroughly
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pass C alibrations (“D rone D ance”)
earned m
ission planner ○ C
rop S ervos
light S afety
earned to handle G P S Interference Issues
e also learned how to apply physics to solve problem s ○ M inim iz e V ibrations that cause rapid descent
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nalyz ing quality of com petition perform ance
ractice, practice, practice! ○ M anual and autonom
○ M ission P lanner
rdupilot tuning and calibration
echniques to im prove G P S A ccuracy
axim iz e Balloon D rop A ccuracy
ixhawk P aram eters
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