AURORAAURORA

AAerial UUnmanned RReconnaissance and OOperations RResearch AAircraft

http://my.fit.edu/senior_design/uav

OverviewOverview – – What, Why, and What, Why, and How…How…

• Attempt to design and build the first successful UAV at Florida Tech

• 4th Annual AUVSI Student UAV Competition in St. Inigoes, Maryland– Navigate a pre-determined course– Search and recognize targets– Process images autonomously

http://my.fit.edu/senior_design/uav

Organizational ChartOrganizational Chart

Justin OliveiraTEAM LEADER

Julie WiketeSTRUCTURES

Lori SchwartzELECTRICAL

Amit PatelTania Gay Rakesh Gupta Mark Campbell

Zack Brimhall Omari Sarjeant

Kyle Flynn Adam Linsenbardt

Shagun Kumar Tim Buker

Chelsea Whitten Robyn Evans

Saranya Raghavan David Kincaid

Tim Pelletier Chris Cease

Art Rozenbaum Dustin ClauserJames Muehlen

Sadiq Bashir

Dave WickersNiroshen

Divitotawela

Louis Nucci Megan Kramer

Christopher Jojola Michael Harris

Todd Rausch

http://my.fit.edu/senior_design/uav

Overview – Overview – Sub-TeamsSub-Teams

• Structures– Design airframe independently– All mounting points on the plane

• Electrical– Using off-the-shelf products– Autonomous flight or remote flight pattern recognition– Payload

• Image and data storage• Ground-to-air communications• Autonomous control unit• Ideally air-to-ground communications also

http://my.fit.edu/senior_design/uav

Team AURORATeam AURORA

• Aspires to create a smaller, more efficient and cost-effective product

• Alternative to current products

• Off-the-shelf electrical components– Cheaper product– Commerical applications possible

http://my.fit.edu/senior_design/uav

Block DiagramBlock Diagram

Jaguar PC 104 board

Program will acquire GPS data and send signal to ake picture mapped with current

data.

Camera

USB capture device connected to a digital

camera.

USB

Micropilot MP028g

Autopilot with sensors and GPS system.

Serial RS232

Servo Board

Servos run through the UAV

to control it

Cirronet Wireless TX/RX

Seria

l RS2

32

Power Board

Power board will distribute regulated power to each part

CirronetWireless TX/RX

Ground Station

http://my.fit.edu/senior_design/uav

Software – Software – Ground Flight Ground Flight ControlsControls

Horizon Autopilot software

Handles course, airspeed, position and all necessay correction

Aircraft

Manual overide Initiate if necessary

Tra

nsm

it &

Rec

eive

Flig

ht d

ata

http://my.fit.edu/senior_design/uav

Software – Software – Image Image ProcessingProcessing

Possible matches to search shape

are highlighted on Landscape

Location, Time, Altitude, Direction,

Velocity for all times

Pictures and data matched

by Time

Output:Area Map with

Landmarks Highlighted from

backround Topograghy

Image Data, time stamped

Using Labview, Picture data is

overlayed into one large landscape

Search Data ShapeUsing I-Vision

http://my.fit.edu/senior_design/uav

Interface Specifications & Interface Specifications & RequirementsRequirements

• Data– Raw Images taken from image– GPS location of each image– Heading and altitude of UAV for each image

• Image Manipulation– Images are overlaid together using GPS– Images are matched to digital landscape for elevation info– Output is converted to grayscale

• Image Processing– Given patterns are matched to locations on the landscape– Pattern matches are highlighed– GPS location is outputted

http://my.fit.edu/senior_design/uav

Code for regulating power board

• Set-up circuit in PSpice and make sure voltages and currents are correct at each output terminal.

• Set up different test cases where it creates simulated spikes to see how the devices respond.

• Breadboard and test actual voltages and currents correspond to the theoretical values with generic loads before connecting equipment to prevent damage.

Testing Procedures: Testing Procedures: Module 0Module 0

http://my.fit.edu/senior_design/uav

Testing Procedures: Testing Procedures: Module 1Module 1

Code for taking and storing pictures

• Run the program that takes in GPS data and takes pictures saving the data and pictures to compact flash.

• Send in generic data where the GPS will connect serially and check if the USB output captures a picture.

• Finally check whether the data and picture was saved correctly. Test some outlying data to input as simulated GPS data and check to see if the code functions correctly.

http://my.fit.edu/senior_design/uav

Testing Procedures: Testing Procedures: Module 2Module 2

Code for converting images from 3-D to 2-D

• Run the program that takes the data from the compact flash.

• Use generic input to test whether the system is successful converting the image from 3-D into 2-D.

• Once the software has completed this process, a test should be conducted to determine whether the converted was saved correctly into memory.

http://my.fit.edu/senior_design/uav

Testing Procedures: Testing Procedures: Module 3Module 3Code for image recognition

• Run the program which uses the previously converted image to look for specified objects.

• Using the sample input, test whether the system is able to locate for the objects.

• Lastly, check to see if the information on the recognized objects is stored correctly into memory.

http://my.fit.edu/senior_design/uav

Risks & Solutions - Risks & Solutions - TechnicalTechnical

• Power Board Development may take more time than anticipated due to limited resources and knowledge of power boards– Solution:

• More in-depth research is required• More collaboration with structures team is required

in order to determine the voltage requirements and also determine a feasible layout for the power board

http://my.fit.edu/senior_design/uav

Risks & Solutions - Risks & Solutions - ScheduleSchedule

• Time delay due to technical risks resulting in:– Time delay in ordering the necessary parts– Possibility of not receiving parts on time to

build prototype – Time delay in ordering new parts, if necessary

• Solution:– Resolve technical risks immediately– Overestimate possible man hours in order to consider

time delays

http://my.fit.edu/senior_design/uav

Status – Status – ScheduleSchedule

http://my.fit.edu/senior_design/uav

Status – Status – LaborLabor

0

5

10

15

20

25

30

35

40

45

03.2

1.20

05

04.0

4.20

05

04.1

8.20

05

05.0

2.20

05

05.1

6.20

05

05.3

0.20

05

06.1

3.20

05

06.2

7.20

05

07.1

1.20

05

07.2

5.20

05

08.0

8.20

05

08.2

2.20

05

09.0

5.20

05

09.1

9.20

05

Planned (Hours)

Actual (Hours)

AURORAAURORA

AAerial UUnmanned RReconnaissance and OOperations RResearch AAircraft

Questions?Questions?