p06004 air surveillance platform preliminary design review friday, may 19, 2006
TRANSCRIPT
P06004 Air Surveillance Platform
Preliminary Design ReviewFriday, May 19, 2006
Introductions/Acknowledgments
Team Michael Abbatte Stephen Byers Christina Ermie Daniel Irwin Brian Rowe Brian Sipos Amy Slevar
Sponsor Center for Imaging
Science Jason Faulring Don McKeown
Coordinator Dr. Alan Nye
Mentor Dr. Kevin
Kochersberger
Project Description
Unmanned Aerial Vehicle Imaging payload Base Station
Work breakdown
Team Member Engineering Major Project Focus
Michael Abbatte Mechanical Airframe/Pilot
Stephen Byers Computer AP50/Base Station
Christina Ermie Mechanical Modeling
Daniel Irwin Computer RF/Communications
Brian Rowe Computer Vision System
Brian Sipos Electrical PC104/Power
Amy Slevar Mechanical Project Leader
Overview
Project Background Questions
Payload Development Questions
Background – Airframe Prior teams supplied 2 airframes
Student design Telemaster kit-built
Current team concentrated on student design platform due to sufficient payload area
Telemaster bay too small Possible use for autonomous flight testing
Background – Airframe Airframe Modifications
Removed excess weight for Preliminary testing
Foam core / fiber reinforced rear fuselage section
Made tail adjustable / removable
Moved motor forward Changed wing attachment
method Added landing gear
Background – Airframe Flight Testing
Supplied platform gave head start for SD II testing Performed 3 preliminary flight tests after modifications to
airframe Rebalanced Airframe about ¼ chord First flight short, but encouraging Second flight with additional 3.5lbs Third flight longer with some stability / control issues
Background – Airframe Aluminum Rails
Crash Scenario ANSYS
Max Stress 2300psi<Sy
Max Deflection .001951in
Background – AP50
UAV Flight AP50
COTS Autopilot Solution
Purchased by previous team
$5000
Background - AP50 Flight and
Mission Processors
GPS Navigation Sensors
Gyros Accelerometers Altimeter Airspeed
PID Controller
Background – AP50 Software Autonomous
Flight Control and Monitoring
Upload Waypoints
Execute Commands
Real-time Monitoring
Background – AP50 Testing Initially tested
GPS functions by driving in car with AP50
GPS Antenna Failure caused project delay
AP50 RF and control testing attempted with RC Car
Simulink Modeling
AP-50 requires gain inputs for PID control algorithms
Missing UAV signal flow diagrams Need to create from scratch
Problem No controls and flight dynamics
background on team
Simulink Modeling - Justification
Improper gain values
Future expansion based on full model
Simulink Modeling - Equations Relating airspeed error
with elevator deflection
Simulink Modeling - Equations
New model2( ) 2
( ) t
t LO
A s V S LV s
S C
Simulink Modeling – Senior Design II
Inaccurate State Space model Digital DATCOM
FORTRAN Derivative Coefficients
Any Questions?
Morphological Chart
Relative Weight Concept Chart
R1 Sufficient student skills R R R R R R R R R 9 0 9 20%R2 Adequate knowlegde available R R R R R R R R 8 0 8 18%R3 Area available for work/testing R R R C C R R 5 0 5 11%E1 Cost of materials R C C C R R 3 0 3 7%E2 Available budget for repairs C C C R R 2 0 2 4%E3 Cost of materials do not exceed budget C C R R 2 2 4 9%S1 Ability to finish by the end of 20061 R R R 3 4 7 16%S2 Meet design review milestones R R 2 4 6 13%T1Similar technology used C 0 0 0 0%T2 Finish previous senior design team's work 0 1 1 2%
Column Total 0 0 0 0 0 2 4 4 0 1 45 100%
R1
Suf
ficie
nt s
tude
nt s
kills
R2
Ade
quat
e kn
owle
gde
avai
labl
e
R3
Are
a av
aila
ble
for
wor
k/te
stin
g
E1
Cos
t of
mat
eria
ls
E2
Ava
ilabl
e bu
dget
for
rep
airs
E3
Cos
t of
mat
eria
ls d
o no
t ex
ceed
bud
get
S1
Abi
lity
to f
inis
h by
the
end
of
2006
1
S2
Mee
t de
sign
rev
iew
mile
ston
es
T1S
imila
r te
chno
logy
use
d
T2
Fin
ish
prev
ious
sen
ior
desi
gn t
eam
's w
ork
Rel
ativ
e W
eigh
t
Row
+ C
olum
n T
otal
Col
umn
Tot
al
Row
Tot
al
Pugh Analysis
CONCEPT 1 CONCEPT 2 CONCEPT 3 CONCEPT 4 CONCEPT 5 CONCEPT 6 CONCEPT 7 CONCEPT 8Resource FeasibiltyR1 Sufficient student skills 0 + + + + + + +R2 Adequate knowlegde available 0 + + + + + + +R3 Area available for work/testing 0 + + + + + + +Economic FeasibilityE1 Cost of materials 0 + + + + + + +E2 Available budget for repairs 0 + + + + + + +E3 Cost of materials do not exceed budget 0 + + + 0 0 0 +Schedule FeasibilityS1 Ability to finish by the end of 20061 0 0 0 0 0 0 0 0S2 Meet design review milestones 0 0 0 0 0 0 0 0Technology FeasibiltiyT1 Similar technology used 0 0 0 0 0 0 0 0T2 Finish previous senior design team's work 0 + + + + + + +
+ Baseline 7 7 7 6 6 6 70 Baseline 3 3 3 4 4 4 3- Baseline 0 0 0 0 0 0 0
Weighted Concept Chart
R1 Sufficient student skills 0.20 3 4 4 4 4 4 4 4R2 Adequate knowlegde available 0.18 3 4 4 4 4 4 4 4R3 Area available for work/testing 0.11 3 5 5 5 5 5 5 5E1 Cost of materials 0.07 3 4 4 5 3 3 4 4E2 Available budget for repairs 0.09 3 4 4 4 4 3 4 4E3 Cost of materials do not exceed budget 0.13 3 4 4 5 3 3 4 4S1 Ability to finish by the end of 20061 0.16 3 4 4 4 4 4 4 4S2 Meet design review milestones 0.04 3 4 4 4 4 4 4 4T1 Similar technology used 0.00 3 3 3 3 3 3 3 3T2 Finish previous senior design team's work 0.02 3 4 5 5 4 5 4 5
Raw Score 2.993 4.102 4.122 4.322 3.902 3.833 4.102 4.122
Normalized Score 0.693 0.949 0.954 1 0.903 0.887 0.949 0.954
Rel
ativ
e W
eigh
t
ATTRIBUTE CO
NC
EP
T 5
CO
NC
EP
T 4
CO
NC
EP
T 3
CO
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EP
T 2
CO
NC
EP
T 1
CO
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EP
T 6
CO
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T 7
CO
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T 8
Real-Time Forward Video
Concept Development Portable Black and White Television Portable Color Television Computer Monitor with TV Tuner PCI Card TV Tuner USB TV Tuner Large (40+ inches) Flat Panel Television Average (13-27inches) CRT Television
Real-Time Forward Video
Feasibility Cost
Team Decision Portable Black and White Television
Sponsor Decision USB TV Tuner
Battery Concept Development
NiCd, NiMH, LiPo, HiPo, Lead Acid
Feasibility Power Density, Charging Capability, Cost, Safety
Current Equipment: 5 cell LiPo ~8000mAh 4 cell LiPo ~2100mAh 18 cell NiMH ~3300mAh LiPo / NiMH charging capability
RF Link – Concept Development
Ethernet Off-the-shelf 2.4 GHz
Cellular Phone GMRS Radio Satellite Communications IP Over Avian Carriers
RF Link – Feasibility
Top Choice: Long-Range Ethernet Fast Cheap Low-power Small Interface with PC104
Payload Camera and Lens
Camera Requirements Progressive Scan Smallest/Lightest possible Largest Pixel Size possible
Lens Requirements C-mount Filter Ring Focal Length matched to Camera Cost: $200-$300 range
Payload Camera and Lens
Camera Concept Development & Feasibility
Sony XCL-V500 Pulnix TMC-6700CL Balser A601F●Black and White (10-bit)●Resolution: 640x480●Interface: CameraLink●Pixel Size: 7.4um●Weight: 55g●Size: 29mmX29mmX30mm●Cost: ~$900
●Color (24-bit)●Resolution: 640x480●Interface: CameraLink●Pixel Size: 9.0um●Weight: 368g●Size: 67mmX51mmX116.5mm●Cost: ~$1595
●Monochrome (8-bit) or Color (24-bit)●Resolution: 640x480●Interface: IEEE-1394●Pixel Size: 9.9um●Weight: 100g●Size: 67.3mmX44mmX29mm●Cost: ~$995
Payload Camera and Lens
Lens Concept Development & Feasibility g/a = p/f
g: Ground Sampling Distance (½ meter) a: Altitude (1000ft) p: Pixel Size (Sony XCL-V500 = 7.4um) f: Focal Length of Lens
Focal Length matched to Camera Sony XCL-V500 needs ~4.5mm
Best Option: Megapixel Fixed Focal Length Lenses, 8mm Focal Length (Edmund Optics) Focal length approved by sponsor
Software Flowchart
Telemetry Computer
PC/104+ Hardware standards
ISA bus PCI bus CompactFlash RS-232 Ethernet
Software capability
Telemetry Computer Software
High-level design Compiled libraries
and programs Interpreted programs Off-line maintenance Stand-alone
operation and maintenance
Embedded constraints Low memory
footprints Low disk usage Low-speed CPU
Power Supply
Design Linear vs. Switching Average output Peak output Efficiency Component count
Fabrication Facilities available
Testing
Senior Design II
Airframe Continuation of flight testing with no
payload Addition of payload
Rebalance CG Flight testing
Aesthetic Improvement Paint all Black Organize Payload
Senior Design II AP50 Autopilot
Log Flight Data Observe commands issued by pilot and log response
of the platform Analyze logs in Excel for purposes of adjusting the
trim Work Toward Autonomous Flight
Start with PID gains from simulation and perform iterative adjustments to tune system performance
After stable flight achieved, attempt to execute fully autonomous waypoint following with Ground Pilot Software
Pilot is always able to resume control with Futaba radio
Senior Design II
Imaging Payload Build Write software for proper picture interval Place in airframe for testing
System Block Diagram Hardware
Integration
PC104 Embedded Computer
Futaba 72MHz Receiver Servos
AP50 Autopilot
Ethernet Bridge
Payload SensorsIMU GPS
Compact Flash Storage
Payload Camera
Any Questions?