client: space systems & controls laboratory (sscl) advisor : matthew nelson anders nelson (ee)...
TRANSCRIPT
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Midterm PresentationMay 11-10: Autonomous UAV Competition
Client: Space Systems & Controls Laboratory (SSCL)Advisor : Matthew Nelson
Anders Nelson (EE)[email protected]
Mathew Wymore (CprE)[email protected]
Kshira Nadarajan (CprE)[email protected]
Mazdee Masud (EE)[email protected]
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Problem Statement
Aim: To participate in the International Aerial Robotics Competition (IARC) August 2011 http://iarc.angel-strike.com/ Overall Challenge: To penetrate a
building, navigate through the corridors and completing tasks such as replacing a USB stick▪ Our specific challenge: To build a platform
capable of flying autonomously, stabilizing and avoiding obstacles
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Functional Requirements
1.5kg Maximum Total Platform Weight Battery Powered
Capable of >10 minutes of flight time (12 minute goal)
Operational Onboard stability control▪ Recovery time goal of three seconds or less▪ Entirely self-contained hover behavior
Wireless base station communication▪ Wireless link capable of at least 42 meters
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Functional Requirements (continued)
Expandable Potential for navigation in a GPS-denied
environment▪ Support for laser rangefinder▪ Support for computer vision system
Potential for executing remote autonomous commands
Connectivity for manual remote kill switch Connectivity for wire-burn USB stick drop-
off system
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Project Plan
Working with 2 other teams this semester Engr 467 – Platform team worked with last
semester Engr 466 – Newly created, are Controls team
for Project Weekly team and large group meetings
Team lead from Engr 467 leads group meeting and combines agendas from each team
Working closely with Controls to set API and sensors to their requirements
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Project Design – Full Solution Quad-Copter Sensors
6 DoF IMU Laser Range Finder Camera Vision System RF Beacons for
localization Control System
Dedicated stability controller
Remote Kill Switch and Manual Control Ability
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Project Design – Our Component
Control System PIC microcontroller dedicated to stability control Gumstix for on board processing and communication of
sensor data Software System
Determine architecture solution around navigation algorithms
Sensor System Selection of sensors to match controls team requirements▪ 6 DoF IMU, Sonar Altitude Detection, Laser Range Finder, Cameras
for Vision System, RF Beacons Power System
Selection of battery scheme to match power requirements
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Implementation Status
Control System Main controller Flight controller
Software SystemSensor System
Inertial Measurement Unit (IMU) Cameras, Range Finders, RF
BeaconsPower System
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Control System Status
Gumstix has been received Had problems getting it to boot Can now ssh to it over WiFi
PIC has been received Test I/O program successfully run
Next steps Get Gumstix and PIC to talk Get controllers to read sensors
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Software System Status
Software Architecture being created
Waiting on Gumstix boot Linux to be installed
Started working with Pic
Work on integrating software on components
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Sensor System Status
Sensors are selected and ordered Inertial Measurement Unit (IMU)
Analog ADIS 16364 High Precision IMU Laser Range Finder
Hokuyo URG-04LX Scanning Laser Range Finder Sonar
Maxbotix MB1040 LV-MaxSonar-EZ4 Cameras
Selected from Controls team to be Logitech C905 Will be ordered at time of presentation
New system – RF Beacons Working with Adviser on selection and integration Added recently from Controls team
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Power System Status
Ran into issue with requirements from platform team Platform team gave incorrect power
estimate They are reselecting the motors and
props Should have new estimate to work
with by end of the week
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Schedule
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Questions?