SLIDE 1
UAV Automated Flight & Seeded Fault Control
Detailed Design Review
Aurora Kiehl Jeremie Snyder Scott Neuman Dennis Vega Stephen Wess
SLIDE 2 Agenda
- Project Goals
- Aircraft Selection
- ArduPilot Overview
- Data Acquisition
- Data Logging Capabilities
- Seeded Fault Design
- Mechanical Implementation
- Electrical Implementation
- Video System Cost Analysis
- Imaging System
- System Integration
- Preliminary Test Plans
- Bill of Materials
- Risks
- Future Plan of Action
SLIDE 3 Project Goals
UAV project consists of three overarching goals:
- 1. Demonstrate the capability of automated flight
between GPS waypoints for future use with proposed Imaging Science project
- 2. Incorporate ability to initiate seeded faults and detect
that they have occurred
- 3. Log flight data, fault status, & on board accelerometer
data
- 4. Display live video feed to users on the ground and
allow user to capture still images in flight and store these images for viewing after landing
SLIDE 4 RC Aircraft Selection
Hobbico Nexstar Mini EP Price: $170.00 Wingspan: 3.7ft
(Meets spec: wingspan < 5ft)
Electric Powered Balsa Wood Construction
(Easier to modify than foam construction)
Independent Aileron Control
(Meets spec allowing for loss of control for one aileron only)
Image Credit: modelairplanenews.com
SLIDE 5 ArduPilot Overview
3DRobotics ArduPilot w/ ArduPlane Software Price: $310.00 Allows for automated flight via GPS waypoints
(Meets need for automated flight capabilities)
Includes instrumentation for measuring roll, pitch, yaw, altitude, and ground speed
(3-axis gyros/accelerometers/magnetometers, barometer, GPS unit)
Collects measurements at either 10Hz or 50Hz (GPS data @ 5Hz)(Meets data refresh rate spec) Automatic data logging w/ 4MB of onboard memory
SLIDE 6
SLIDE 7 ArduPilot Relay for aileron fault
SLIDE 8
Cross Section Top View
SLIDE 9 ArduPilot Simulation
By using X-Plane Flight Simulator, a hardware- in-the-loop (HIL) simulation can be performed
X-Plane provides ArduPilot with GPS and sensor data similar to a realistic flight and ArduPilot flies the plane.
SLIDE 10
ArduPilot Simulation
SLIDE 11
ArduPilot Simulation
SLIDE 12
ArduPilot Simulation
SLIDE 13
Data Acquisition
3-axis accelerometer x3 Sensitivity Range: Selectable ±1.5 or ±6 g Analog output
SLIDE 14 Data Logging Capabilities
12 Channels of 10-bit ADC 15ksps ADC capability, >50 Hz sampling based
~330kB accelerometer data for 10 minute flight @ 50 Hz
SLIDE 15 Rudder Failure
Servo pulls pin connecting upper and lower sections of rudder Loss of control of upper rudder section Open circuit indicates fault has been successfully seeded
Fault Detection Circuit
SLIDE 16
SLIDE 17 Wing Section Failure
Servo released spring loaded portion of wing section Lower section of wing protrudes into the airflow Broken electrical connection pulls down fault line
Fault Detection Circuit
SLIDE 19
Wing Fault - Door
SLIDE 20
Aileron Failure
Relay allows aileron to be deactivated, thus limiting the aircraft to using a single aileron for roll control.
SLIDE 21 Video System Analysis
CMOS 26N/P
- Less risk in integration than
Keychain #16
5.8 GHz Tx/Rx Kit
- Lower risk of signal loss beyond "line of sight"
ArduPilot Mega MinimOSD R1.1 Goggles too costly for current scope (~ $250) Separate battery pack for video system
Source: 3D Robotics
SLIDE 22 Imaging System
Camera capable of capturing still images to be installed on aircraft Command sent through ArduPilot will trigger camera to take image Low mass, high resolution camera desirable Option #1 HD Mini Camera Cost: $30 Image Resolution: 12Mp? USB Charger Micro SD card storage Ships from China
Image Credit: www.k-ding.cn
SLIDE 23 Imaging System
Option #2 Smile Button Hidden Camera Cost: $60 Image Resolution: 3Mp USB Charger Micro SD card storage Camera to be reversed engineered, allowing a voltage signal to emulate user action to capture image
Image Credit: www.internetsiao.com
SLIDE 24 Remote Camera Trigger Circuit
The Switch on the camera can be replaced with an NMOS pass transistor, which acts like an
- pen circuit when the input is
'low' and a short circuit when the input is 'high.'
SLIDE 25
System Integration
SLIDE 26
Testing: Ardupilot
Ensure signals pass through Ardupilot in Manual Mode Ensure all data of interest is collected and stored properly. Manually fly UAV to certain altitude, switch to fly-by- wire A mode and verify it flies to waypoints Datalogging Capabilities can be tested by running Ardupilot and collecting data for 10 minutes and determining if it fills up the 4MB onboard flash memory.
SLIDE 27 Testing: Ground Station
Ensure that ground station can communicate necessary information with the UAV remotely on ground Verify that all servos can be controlled either using the laptop or controller Modify Ardupilot Mission GUI to add fault and imaging features, verify that these features perform as required
SLIDE 28 Testing: Fault Seeding/Detection
Test that all faults can be triggered on the ground and
Run vibration test on fault detection system and make sure the accelerometer data is stored and looks as expected Create a circuit that "open circuits" when a fault
- ccurs, obtain timestamp when this occurs for
correlation with accelerometer data by future groups
SLIDE 29
Testing: Video/Imaging System
Use the video transmitter to verify that video is sent to laptop remotely on the ground. Verify remote triggering of ‘Take Photo’ command works and saves the photo on the UAV.
SLIDE 30
Testing: Power Subsystems
To ensure our ideal flight time of 10 minutes, All batteries should last at least this long The current draw for all components can be thoroughly tested on the ground: the battery life will be equal to the strength of the battery (mAh) divided by the total current draw
SLIDE 31
Bill of Materials
SLIDE 32
Updated Risks
SLIDE 33
Future Plan of Action
