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FUFO projectFinal report
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LOGOContents
Introduction1
Hardware & Software2
Algorithms3
Experiments and results4
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Conclusion5
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Introduction FUFO team
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Definition: A Vertical Take-Off and Landing aircraft. Has 4 rotors.
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Introduction History
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The first Quadrocopter was developed in 1920.
No commercialized Quadrocopter because: Limitation of technology and science at that time.
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Introduction History
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8 years before 2012, many institutes and companies began to research on this platform as a small UAV.
Introduction History
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Commercialized product
Airbot X600-BKPP (€ 34,500) Radio control unit (2.4 GHz) Live video stream GPS waypoint navigation
CyberQuad Maxi ($ 36,000) Radio control unit GPS waypoint navigation Live video stream
Introduction
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Idea
Develop a Quadrocopter for observation purpose.
Introduction
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Quadrocopter Helicopter Fixed-Wing aircraft
Aerodynamics mechanical
design
No Yes Yes
Control method Medium Medium Complicated
Runway No No Yes
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Quadrocopter is more suitable for embedded Engineering students who are not familiar with
aerospace issue and mechanical design.
IdeaIntroduction
Why choosing Quadrocopter platform?
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Android phone In-circuit designs
Software development Android SDK Linux, C30…
Evaluation of controlling by phone/tablet via Bluetooth?
Yes No
Risk and complexity in hardware design
Low High
Cost Low High
Has built-in camera, Wi-Fi, 3G module
Phone is still usable after this Capstone project
IdeaIntroduction
Why choosing Android Phone?
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Sensor data
Command
Bluetooth
IdeaIntroduction
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PictureJPEGPictureJPEG
IdeaIntroduction
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Control Mode
Autonomous(Dynamic
Stabilization)Manual
IdeaIntroduction
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Manual mode
Wind
IdeaIntroduction
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Go to 1m
WindDynamic stabilization
SAFEDynamic Stablization
IdeaIntroduction
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Hardware studyHard & SoftNo. Components Quantity Description
1 dsPIC30f4012 1 Microcontroller
2 HC-06 1 Bluetooth module
3 BMP085 1 Barometer
4 L3G4200D 1 Gyroscope
5 ADXL345 1 Accelerometer
6 HW 30A ESC 4 Electronic speed Controller
7 Himodel 2212 1400kv
4 Brushless motor
8 Turnigy 3000mAh 11.1v 3s
2 Li-Po battery pack.
9 HTC HD2 1 Android 2.3 phone
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Hardware studyHard & SoftdsPIC30f4012 Microcontroller
Max speed: 30 MIPS 16x16 bit working arrays 5 timers, 3 PWM generators Programmable by C30.
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Hardware studyHard & SoftBMP085 + ADX345 + L3G4200D
All-in-one module:• 3-axis accelerometer.• 3-axis gyroscope.• -300m to 9000m altimeter.
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Hardware studyHard & SoftTurnigy 3000mAh battery pack
3000mAh x 2 253 grams x 2 11.1v Discharge rate: 20C
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Hardware studyHard & SoftMotor and ESC
1400kv Brushless motors 8x4” propellers ESC PWM range: 1ms – 2ms
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Hardware studyHard & SoftHTC HD2 Android 2.3
320x240 camera. Has Bluetooth and Wi-Fi connection Run on Android 2.3
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Hardware designHard & Soft
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Hardware designHard & Soft
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Frame designHard & Soft
Motor mount
Circuit mount
440 mm
Fiber Glass & Fiber Carbon
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FUFO QuadrocopterHard & Soft
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Software studyHard & Soft Iterative model:
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Software studyHard & Soft Embedded system development:
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Software studyHard & Soft Three software:
Software on PC Software on Phone Firmware
UDP/IP
Video Control
AOC
Status Control
Command Control TCP/IP*
*
* *
*
*
AOP
Command Control
Status Control
Video Control
Quadrocopter Firmware
Interface1
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Software studyHard & Soft FSM:
StartWaitingForConnection Verify
PendingSetupForFlightReady
Hovering
Landing
Error
Power on
System initiatedSystem connected
Control method selected
Start button pressed
Sensor data initiated
First altitudeis chosen
Any error
Altitude is set to zero Motor stopped
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Software studyHard & Soft PC interface:
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Software studyHard & Soft Android interface:
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Quadrocopter DynamicAlgorithms Inertial Frame, Body frame and Euler
Angle:
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Quadrocopter DynamicAlgorithmsInput:
𝜂1 = [x,y,z];
𝜂2 = [ , , ]; 𝜃 𝜑 𝜓 x = y = 0.
Output: [F1,F2,F3,F4]
Linear translational movement Rotational movement
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PID Control systemAlgorithmsOpen-loop feedback controller:
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Signal ProcessingAlgorithmsEuler angles calculation:
Gyroscope: Integration of angular velocity over time.
Accelerometer: Multiplication with a (x,y,z) Direction Cosine Transformation Matrix.
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Signal ProcessingAlgorithmsTheta angle by Accelerometer and
Gyroscope:
BEFORE FILTERAFTER HIGH-PASS AND LOW-PASS FILTER
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Signal ProcessingAlgorithmsTheta angle by Accelerometer and
Gyroscope:
AFTER COMPLEMENTARY FILTER
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ExperimentsExperiment<Show video>
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ResultsExperimentIndoor flight:
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ResultsExperimentOutdoor flight:
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AchievementConclusion
Successfully proved the correctness of the aforementioned algorithms.
Understand more about this flying platform for further improvement and development.
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Future ImprovementConclusion Develop a higher response system. Hold altitude in narrow and low area with
precision of +-0.1 m Hold a specified position on map or
moving on a track. Obstacle detection and avoidance. CMOS camera's video transmission over
long distance.Object detection based on image
processing.
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www.themegallery.com
From FUFO team with love
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