Air Dropped Communication Relay System for Unmanned Vehicles 04/24/07 SENIOR DESIGN MAY07-05.
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Transcript of Air Dropped Communication Relay System for Unmanned Vehicles 04/24/07 SENIOR DESIGN MAY07-05.
Air Dropped Communication Relay System for Unmanned
Vehicles
04/24/07
SENIOR DESIGNMAY07-05
2May07-05 Air Dropped Communications Relay System 2
Team Information
Client:Mr. Todd Colten Lockheed Martin
Advisor:Dr. Ahmed Kamal Professor, ISU
Team:
John ChargoCprE
Andrew HanrathEE
Jonathan HobackEE
Matthew ProssEE
3May07-05 Air Dropped Communications Relay System 3
Presentation Outline
• Introduction– Problem Statement
– Environment, users, and uses
– Functional requirements
• Project Activity– Design approach
– Implementation activities
– Testing activities
• Resources and Schedules• Closing
– Additional Work
– Lessons Learned
– Risk Management
4May07-05 Air Dropped Communications Relay System 4
Project Overview
RN RN RN
5May07-05 Air Dropped Communications Relay System 5
Definitions
• UAV – Unmanned Aerial Vehicle• IEEE 802.11 – specification for wireless LAN• QoS – Quality of Service• KTAS – Knots true airspeed
6May07-05 Air Dropped Communications Relay System 6
Acknowledgements
• Lockheed Martin
• Dr. Ahmed Kamal
• Ubiquiti
• Genuine Innovations
• Professor Patterson
• Leland Harker
7May07-05 Air Dropped Communications Relay System 7
Problem Statement
“Develop a system of self-contained communications nodes that can be air-dropped from a UAV at an altitude of 500ft. The nodes will then provide ‘network-centric’ IEEE 802.11 communications between ground and aerial vehicles separated by a large geographic area”
8May07-05 Air Dropped Communications Relay System 8
General Solution Approach
RN RN RN
9
Operating Environment
• Terrain– Plains– Tundra– Desert– Forest– Marsh
• Conditions– Open battlefield– Natural disaster area– Possible moisture– -20°C to 50°C
10May07-05 Air Dropped Communications Relay System 10
End Users and Uses
11May07-05 Air Dropped Communications Relay System for UAVs 11
Assumptions and Limitations
Assumptions• Ground and air vehicles are
802.11 compliant• Deployable from UAV traveling
at 55ktas (63mph)• UAV payload bay is
24”x12”x12”, holds 50 lbs• Nodes will drop from 500 feet• Multiple UAVs can be used for
deployment• Nodes are not reusable
Limitations• Battery life limits operating
time• Only authenticated devices
can use the system• Nodes must cost less than
$500• Nodes must be as compact as
possible• System must be compatible
with IEEE 802.11 devices
12May07-05 Air Dropped Communications Relay System 12
End-product and Deliverables
End-Product• Fully functional relay
nodes (2)
Deliverables• Project plan• Design document• Poster• Testing results• Final report• Project presentations (3)
13May07-05 Air Dropped Communications Relay System 13
Present Accomplishments
• Parachute system
• Antenna mast system
• Routing software
• Sequencing software
• Power supply
• Enclosure
14
Approaches Considered
• Enclosure• Landing System• Antenna Support Structure• Radio• Antenna• Processing Platform• Software• Power Supply
15
Project Definition Activities
• Examined problem statement
• Communicated with client
• Established assumptions/limitations
16
Research Activities
• Technical journals and publications– Current routing protocols– Embedded systems– Antenna/radio technology
• Company-based web search
17
Design Activities
• Examined overall system• Defined subsystems• Designed subsystems
– Link distance– Parachute drag calculations– Power consumption– Sensitivity analysis
• Designed subsystem interaction– Block diagram– Layout
18May07-05 Air Dropped Communications Relay System 18
Node Design
Embedded SBC
RadiominiPCI
Relay Antenna
Softw
are
Routing
QoS
Encryption
Power SupplyPWM
Timer Parachute
Aerial Antenna
Battery
Mast
19May07-05 Air Dropped Communications Relay System 19
Node Lifecycle
Four main stages in each node’s life:
Node Deployed Node Activates Node active
< 1 minute <15 seconds
Node Self-destructs
approx 6 hours
20May07-05 Air Dropped Communications Relay System 20
Enclosure
• High-impact lexan– Will not interfere with
RF communications– Will withstand the drop– Inexpensive to
produce
21May07-05 Air Dropped Communications Relay System 21
Parachute
•Type: Semi-hemispherical
•Material: Ripstop Nylon
•Size: 1.70 m diameter
•3.5 m/s impact velocity
•Shoud lines: 2.55 m
•Deployment: SBC triggered nichrome coils with drone chutes
22May07-05 Air Dropped Communications Relay System 22
Antenna Support Structure
• Raised antenna– 42 inches– Maximize link distance– Signal strength
•Inflatable– Tubular sleeve design
• Ripstop nylon• Inner tubes
– CO2 cartridges
23May07-05 Air Dropped Communications Relay System 23
Radio/Antenna
• Ubiquiti SuperRange 2 MiniPCI radio
• Tx: 400 mW
• IEEE 802.11e
• 5dBi 8.4” Dipole Antenna
24May07-05 Air Dropped Communications Relay System 24
Processing Platform
Soekris Engineeringnet 4526 single board computer
•MiniPCI slots (x2)•133MHz CPU•64 MB SDRAM•64 MB CompactFlash•Small form-factor
25May07-05 Air Dropped Communications Relay System 25
Operating System
Pyramid Linux
•Designed for wireless networking applications
•Support for the Soekris 4526 SBC and Atheros
•Total size: < 64 MB
26May07-05 Air Dropped Communications Relay System 26
Power Supply
• Ultralife® UBBL04 Lithium Ion batteries (2)– Rechargeable– 7.2 Volts nominal
• National Semiconductor LM3478 controller (1)– High efficiency– Suitable for boost topology
27May07-05 Air Dropped Communications Relay System 27
Power Supply
• Schematic design/simulation– National Semiconductor WEBENCH® Tools
28May07-05 Air Dropped Communications Relay System 28
Power Supply
• PCB Layout– ExpressPCBTM
29May07-05 Air Dropped Communications Relay System 29
Network Components
• AODV-based Routing
FN10.1.0.1
RN10.0.0.1
RN10.0.0.2
RN10.0.0.3
FN10.1.0.2
1 RREQ [Dest: 10.1.0.2]
2 RREQ 3 RREQ
4 RREQ
5 RREP
6 RREP7 RREP
8 RREP
Routing TableDestination Next Hop
0 Null Null8 10.1.0.2 10.0.0.1
Routing TableDestination Next Hop
0 Null Null
Routing TableDestination Next Hop
0 Null Null
Routing TableDestination Next Hop
0 Null Null
Routing TableDestination Next Hop
0 Null Null
1 10.1.0.1 0.0.0.07 10.1.0.2 10.0.0.2
2 10.1.0.1 10.0.0.16 10.1.0.2 10.0.0.3
3 10.1.0.1 10.0.0.25 10.1.0.2 0.0.0.0
4 10.1.0.1 10.0.0.3
30May07-05 Air Dropped Communications Relay System 30
Network Components
• Quality of Service (QoS)– IEEE 802.11e– Provides priority to UAVs
• Encryption– 128-bit WEP
31May07-05 Air Dropped Communications Relay System 31
Overall System
300m between nodes/100km = 334 nodes in system
Each node: 10”x10”x4”, 6lbs = 6 nodes per UAV
= 56 UAVs to deploy 100km system
Cost per Node: $515
$515/node * 334nodes = $172,010
$1,720/km of coverage
32May07-05 Air Dropped Communications Relay System 32
Implementations Activities
• Parachutes– Main chutes (2)– Drone chutes (2)
33May07-05 Air Dropped Communications Relay System 33
Implementations Activities
• Inflatable Mast– Sleeves sewn (4)– End-caps devised (2)
34May07-05 Air Dropped Communications Relay System 34
Implementations Activities
• Software– Sequencing– General I/O interface
General Purpose IO
Pins
Ubiquiti SuperRange2
Radio
General Purpose IO
Pins
Ubiquiti SuperRange2
RadioRouting System
Deployment Control Process
Parachute Control Process
Antenna Mast Control Process
Node Software
Input Interfaces Output Interfaces
35May07-05 Air Dropped Communications Relay System 35
Implementations Activities
• Power Supply PCB– ExpressPCBTM
– Completed soldering of surface mount components
36May07-05 Air Dropped Communications Relay System 36
Implementations Activities
• Enclosure
37May07-05 Air Dropped Communications Relay System 37
Testing Activities
• Tx power test– Actual power
requirements
• Parachute drop test– 2.08 m/s
• Routing tests– Multi-hop route
• Link distance test– 532 m
I-V Curve for Soekris SBC
y = -15.375x + 554.6
R2 = 0.773
0
50
100
150
200
250
300
350
400
450
13.0 18.0 23.0
voltage (V)
cu
rren
t (m
A)
38May07-05 Air Dropped Communications Relay System 38
Resource Requirements
39May07-05 Air Dropped Communications Relay System 39
Schedules
Project Schedule
Deliverable Schedule
ID Task Name Duration Start Finish
1 Project Definition 21 days? Mon 8/28/06 Fri 9/22/06
5 Technology Considerations 44.5 days? Sat 9/9/06 Thu 11/9/06
10 End-Product Design 41 days Tue 10/17/06 Tue 12/12/06
14 End-Product Prototype Implementation 45 days Mon 1/8/07 Fri 3/9/07
16 End-Product Testing 100 days? Mon 11/13/06 Fri 3/30/07
21 End-Product Documentation 65 days? Mon 1/8/07 Fri 4/6/07
23 End-Product Demonstration 20 days Mon 4/2/07 Fri 4/27/07
28 Project Reporting 179 days? Mon 8/28/06 Wed 5/2/07
20 27 3 10 17 24 1 8 15 22 29 5 12 19 26 3 10 17 24 31 7 14 21 28 4 11 18 25 4 11 18 25 1 8 15 22 29 6Aug '06 Sep '06 Oct '06 Nov '06 Dec '06 Jan '07 Feb '07 Mar '07 Apr '07 May '07
ID Task Name Duration Start Finish
1 Fall 2006 Semester 72 days? Mon 9/4/06 Tue 12/12/06
2 Update Website 12 days? Mon 9/4/06 Tue 9/19/06
3 Unbounded Project Plan 15 days? Mon 9/4/06 Fri 9/22/06
4 Bounded Project Plan 12 days? Mon 9/25/06 Tue 10/10/06
5 Revew Project Plan with Client 4 days? Tue 10/10/06 Fri 10/13/06
6 Unbound Design Report 20 days? Mon 10/16/06 Fri 11/10/06
7 Review Design Report with Client 5 days? Mon 12/4/06 Fri 12/8/06
8 Bounded Design Report 22 days? Mon 11/13/06 Tue 12/12/06
9 Spring 2007 Semester 78 days? Mon 1/15/07 Wed 5/2/07
10 Update Website 17 days? Mon 1/15/07 Tue 2/6/07
11 Poster Due 32 days? Mon 1/15/07 Tue 2/27/07
12 Unbound Final Report 23 days? Wed 2/28/07 Fri 3/30/07
18 Review Final Report 5 days? Mon 4/23/07 Fri 4/27/07
19 Bound Final Report 23 days? Mon 4/2/07 Wed 5/2/07
20 27 3 10 17 24 1 8 15 22 29 5 12 19 26 3 10 17 24 31 7 14 21 28 4 11 18 25 4 11 18 25 1 8 15 22 29 6Aug '06 Sep '06 Oct '06 Nov '06 Dec '06 Jan '07 Feb '07 Mar '07 Apr '07 May '07
40May07-05 Air Dropped Communications Relay System 40
Project Evaluation
Milestone Rating Score Importance ProductProblem Definition Met 100% 15% 15.00%Research Exceeded 100% 12% 12.00%Technology Selection Met 100% 10% 10.00%End-product Design Met 100% 12% 12.00%Prototype Implementation Mostly Met 90% 5% 4.50%End-product Testing Partially Met 80% 14% 11.20%End-project Documentation Met 100% 9% 9.00%End-product Demonstration Partially Met 50% 15% 7.50%Project Reporting Met 100% 8% 8.00%
Total 100% 89%
41May07-05 Air Dropped Communications Relay System 41
Commercialization
• Prototype
• Possible future applications
42May07-05 Air Dropped Communications Relay System 42
Recommendations for additional work
• UAV deployment mechanism
• Node 2.0 concept– Rotational directional antennas– Dual-radio for multi-channel links– Servo-controlled parafoil– GPS guided auto-positioning– Wireless sensor network
43May07-05 Air Dropped Communications Relay System 43
Lessons Learned
• Project documentation– Better efficiency and accuracy
• Schedule planning– Resources– Timeline
• Design verification– Important step for success
• Expanding technical horizons– Get help/advice when needed
44
Technical Lessons Learned
• Power Supply Design
• Parachute Design
• Pneumatic system design
• Ad-hoc routing protocols
• Embedded Linux
• Cross-compiling
• System Integration
45May07-05 Air Dropped Communications Relay System 45
Risk Management
• Potential Risks– Loss of team member– Loss of an advisor– Time of completion– Budget
• Risks Encountered– Budget restraints
• Unanticipated risks– Laptop hard drive
failure– Hardware failure
• Resultant changes– Backup of all source
code
46May07-05 Air Dropped Communications Relay System 46
Closing Summary
“Development of an IEEE 802.11 wireless network that can increase situational awareness to military personnel, supply data to environmental researchers, or aid emergency responders in their effort to save lives.”
47
Demonstration
48May07-05 Air Dropped Communications Relay System 48
Questions
• Questions?