sd-may1014 team: michael peat, kollin moore, matt rich...
TRANSCRIPT
SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex ReifertAdvisors: Dr. Nicola Elia and Dr. Phillip Jones
History◦ MicroCART has been an active project since 1998.◦ The project has been plagued by a: Lack of testing availability (weather, pilot, safety issues,
etc…) Lack of cooperation between successive teams and passing
on of undocumented knowledge Lack of consistent advising causing the lack of a systematic
approach to designing a very complex end product
Rationale for project restructuring◦ Platform needed to be smaller.◦ Platform needed to be more stable.◦ Platform needed to be flown indoors.◦ Control system needed to be simplified.
To create a small electrically powered autonomous flying vehicle capable of takeoff and landing from horizontal
surfaces as well as stable indoor hover without human assistance.
Embry Riddle College of Engineering
Carnegie Mellon University
South Dakota School of Mines and Technology (SERV Robot)
Massachusetts Institute of Technology
Technische UniversitaetBerlin
Georgia Tech 2009 Aerial Robotics Team
Operating Environment:◦ Indoors and Unobstructed Area◦ Within Range of Position Tracking System
End Use and Users:◦ The intended end use of our system will be
continued research and development into the area of autonomous flight systems.◦ The intended users will be knowledgeable
engineering students and/or professors.
The system will only be operated in the operational environment defined in the design document.
Basic flight mechanics will be achieved by the base platform.
There will be a ground station. Platform will have a limited payload
capability. There will not be obstacles in the flight
path.
The system shall be able to take off autonomously from a surface with no incline.
The system shall be able to hover autonomously.
The system shall be able to land autonomously on a surface with no incline.
The system shall have a minimum battery life of 5 minutes under normal operation.
The system shall be no larger than 30”x30”x10” (LxWxH)
The base platform shall be capable of carrying a payload of at least 0.125kg.
The base platform shall be powered solely by batteries.
The system shall be capable of wirelessly communicating with a ground station.
Helicopter Flight
Mechanics
Radio Controller
Onboard Sensors:•IR Camera•Accelerometer•Wireless Transmitter
Ground Station
UAVSensor System
Power System
Communication System
Software System
Mechanical System
UAVSensor System
Power System
Communication System
Software System
Mechanical System
Minimal Option: Wii-mote sensors◦ Infrared Camera Tracking System Single (per wii-mote)1024x768 Infrared Camera 4 Blob position tracking at 100Hz or more
◦ Inertial Measurement Unit 3 axis Accelerometer (ADXL330) 0.04g maximum acceleration resolution on all three linear
axes Free fall frame of reference Normalized output readings (g=1)
Bluetooth Transmitter
Onboard Microcontroller
Infrared Camera
Infrared Light Emitters
3 - Axis Accelerometer
Optimal Option◦ Infrared Camera Tracking System OptiTrac™ optical motion capture system Six infrared cameras (lowest cost, larger numbers increase accuracy) Millimeter accuracy and resolution for the 3D location of markers depending on
capture volume size and camera configuration. Currently Unavailable to us.
◦ Inertial Measurement Unit Highly accurate six degree of freedom accelerometer Still in production Likely ready for use mid next semester
◦ Other Options Researched: Indoor GPS, WIFI, RF Fingerprinting as well as several different IR camera systems
Infrared Light Emitter
Infrared Cameras
Direct Wired Into Ground
Station
6-axis Inertial Measurement
Unit
Onboard FPGA's and
Microcontroller
ZigbeeWireless
Transmitter
◦ Infrared Camera Tracking System Use: Accurate XYZ spatial coordinates over time Accurate Pitch Roll Yaw coordinates over time
◦ Inertial Measurement Unit Use: Fast response feedback on the dynamic movements of our
platform More quickly than we would be able to achieve by position
sensing alone Velocity and spatial coordinates for short intervals (option
2)
UAVSensor System
Power System
Communication System
Software System
Mechanical System
Onboard UAV Power◦ Base Platform 7.4V, 1000 mAh 2-cell Li-Po battery pack
◦ Power Conversion System Originally attempted to design simple voltage divider but ran into
some critical flaws: Too much power wasted Changing load impedance
Decided to implement a step-down DC-DC (buck) converter◦ Power During Testing 0-40V, 0-10A DC power supply (Model 6267B by Hewlett-Packard)
Ground Station Power◦ Control System Power Wall plug-in for the PC/monitor
◦ Communications Power 8 AA batteries or optional AC/DC wall plug-in
UAVSensor System
Power System
Communication System
Software System
Mechanical System
Sensor to Ground Station Communication◦ Minimal Sensor System Option Broadcom 2042 HID Bluetooth
◦ Optimal Sensor System Option OptiTrack optical motion tracking Custom IMU
Ground Station to UAV Communications◦ Manipulation of 4-Channel Stock RC Controller Computer will send signals to a DAC which will send 4 separate voltages
to the controller Use original 72.8 MHz FM transmitter to communicate with Base
Platform Controller
Information from On-
Board Sensors Computer Processor
DAC to RC Controller
UAV Control System
UAVSensor System
Power System
Communication System
Software System
Mechanical System
Data Aquisition
•Outputs:•X, Y, Z positions•X,Y,Z accelerations•Pitch, Roll, and Yaw
Input Data Transform and Filtering
•Outputs• Actual Angular speed for both propellers.•Actual Blade Pitch for both propellers.
Controller
•Outputs•New Angular Speed for both propellers•New Blade Pitch for both propellers
Output Data Transform
•Outputs•New Throttle•New Yaw•New Pitch•New Roll
Data Transmission
•Outputs•Data Stream for sending to the DAC described in the communications plan.
UAVSensor System
Power System
Communication System
Software System
Mechanical System
Sensor Mounting to Base Platform◦ Minimal Sensor System Option Cradle system suspended below the battery cage Designed to produce no mid-flight instability◦ Optimal Sensor System Option Will vary depending on sensor system physical
dimensions and weight distribution
Testing Platforms◦ Anchoring System◦ Damage Reduction System
4 screw locations for cradle mounting
Platform 1. Approximately 34 grams of unnecessary mass was removed from
platform 2. Regular helicopter mass w/o battery is 190 grams 3. Stripped platform mass w/o battery is 156 grams 4. Current Battery (7.4V,1000mAh) mass is 50 grams \5. Flight ready regular helicopter mass is 240 grams 6. Flight ready stripped helicopter mass is 206 grams
Minimal Sensor System Mass (Wiimote)1. Original mass was of 82g lightened to 22g after removal of external casing and
interface buttons
Digital Scale 1. Capable of reading ounces or grams 2. Capable of negative mass readings (upward pull) 3. Maximum reading either way is 200 grams
A detailed report and procedure are available on our website.
Inputs:1) Time2) x,y,z accelerations3) 1st IR dot found (1 or 0)4) 1st IR coordinates (‘x’, ‘y’)5) 1st IR dot size (0 to 5)6) 2nd IR dot found7) 2nd IR coordinates8) 2nd IR dot size◦ (any length) X 12 OR (any length) X
4data sets◦ Up to 6 such sets at once◦ Choice of including IR data or not (12
or 4 cols)◦ *Will be extended to 4 IR input sets
when we can get WiiYourself source to compile
Outputs:1) Subplots of each acceleration for
each data set2) Superimposed accelerations of all
data sets3) Subplots of pitch and roll calculated
from accels for each data set4) Superimposed pitch and roll for all
data sets5) Subplots of each set of IR points
coordinates6) Superimposed IR coordinates for all
data sets7) Superimposed xyz accelerations and
pitch/roll for first data set8) Plots of the ‘x’ and ‘y’ coordinates
of each dot VS time9) Optional: Vectors including the
minimum step sizes for each acceleration as well as angle
◦ *Will be extended in the future
◦ Accelerometer testing: 0.04g maximum resolution on linear axes ~2 degrees maximum resolution for pitch and roll, both by
experiment and analysis Consistent outputs, though prone to some impulsive noise
◦ IR camera testing: 1 pixel resolution at distances up to 6 ft. Optimal range of operation greater than 4 ft. from IR Very consistent static outputs Highly noisy dynamic outputs (due to high sensitivity to
vibration) Optimal filtering to be determined
◦ Large number of data sets as well as analysis function script available through our website
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x 104
0
10
20
30
40
50
60
70
80
90pitches
θ (d
egre
es)
Time (ms)
0 2000 4000 6000 8000 10000 12000 14000 160000
50
100pitch 1
θ (d
egre
es)
Time (ms)
0 2000 4000 6000 8000 10000 12000 14000 16000 180000
50
100pitch 2
θ (d
egre
es)
Time (ms)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x 104
0
50
100pitch 3
θ (d
egre
es)
Time (ms)
470 480 490 500 510 520 530 540 550 560377
378
379
470 480 490 500 510 520 530 540 550 560377
378
379
460 470 480 490 500 510 520 530 540 550 560350
400
450
460 470 480 490 500 510 520 530 540 550 560423
424
425
469 469.1 469.2 469.3 469.4 469.5 469.6 469.7 469.8 469.9 470350
400
450551 552 5530
5000
10000
15000dot A x coordinate VS time
x coordinate
Tim
e (m
s)
0 5000 10000 15000376
376.5
377
377.5
378dot A y coordinate VS time
x co
ordi
nate
Time (ms)
469 470 4710
5000
10000
15000dot B x coordinate VS time
x coordinate
Tim
e (m
s)
0 5000 10000 15000378
378.5
379dot B y coordinate VS time
x co
ordi
nate
Time (ms)
8/25/2009 10/14/2009 12/3/2009 1/22/2010 3/13/2010 5/2/2010
Problem Statement
Tech and Implementation Spec
End Product Design
Prototype Implementation
End Product Testing
End Product Documentation
End Product Demonstration
Project Reporting
Estimated Original Project Costs
Section Item Cost
Equipment:
Base Platform Donated
Replacement Parts $ 50.00
Upgraded Batteries $ 20.00
Microprocessor Board Donated
IMU Donated
IPS Donated
Other Sensors $ 40.00
Tools and Hardware $ 40.00
Reporting:
Project Poster $ 40.00
Bound Project/Design Plans $ 25.00
Labor ($20/hr): (hours)
Michael Peat 350 $ 7,000.00
Kollin Moore 332 $ 6,640.00
Matt Rich 322 $ 6,440.00
Alex Reifert 320 $ 6,400.00
Subtotal (without labor): $ 215.00
Total: $ 26,695.00
