Title of presentation goes here

Comprehensive Design Review2/16/12AAPSAutomated Aero-Painting SystemTeam Members:Adib Khozouee Christopher BrennanEdmar GonalvesEjiroghene Urhiafe

Advisors: Csaba Andras MoritzRoderic Grupen

ECE Department, UMass Amherst, Fall 2012enter Dept name in Title Master#enter Dept name in Slide MasterEdmarReview of projectProblem:Slow or dangerous liquid deposition due to hard to reach surfaces or because of dangerous chemicals

Solution:Quadrocopter equipped with spray nozzle

Applications: Painting large factories or ships De-icing planes on the tarmac Spraying pesticides on crops / fruit trees

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterEdmarProgress Since MDRArdupilot implemented on quadrocopter frameWireless communication progressGUI further developedWorking electronically controlled spraying

Next Goal: Autonomous painting with manually controlled flightUltimate Goal: Autonomous painting and flightECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterAdibTeam Member ContributionsAdibLead GUI programmerInstalling operating system and software on Intel boardEdmarXbee communicationArdupilot programmingE.J.Quadrocopter pilotDesigned/built Actuator Control SystemChrisTeam leader/coordinator Built/programmed Actuator Control SystemAll members actively helped each other with each partECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterAdibFlight: Current StatusFlight achieved Can take off and land safely

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterEJ

IssuesThrottle control needs to be better established

Roll/Pitch/Yaw orientation needs to be better defined in order to better direct aircraftFuture plansAdjust flight settings to achieve more stable flight

Add ACS onto quadrocopter Flight: PlansECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterEJ

Communication Goal: Two-way telemetry via Xbee radio communicationRead in-flight data from APM telemetry portPitch, roll and yawBattery status, altitude, etc.Write in-flight control commands from GUI editor to APM via XbeeECE Department, UMass Amherst, Fall 2012

Ardupilot Mega (APM)#enter Dept name in Slide MasterEdmarCommunication: Reading DataMission Planner logs in-flight data wirelessly to base station

Next step: feed APM telemetry data into the GUI editorJava RXTX for Xbee radio

ECE Department, UMass Amherst, Fall 2012

Gyro values stored and updated at between 10 and 50 Hz#enter Dept name in Slide MasterEdmarCommunication: Sending DataFlight command IDsLand: 0x15Loiter time/alt: 0x19Change altitude: 0x71Etc

Actuator Control SystemUse RC output pins to relay binary signal (i.e. on & off) for spray painting

ECE Department, UMass Amherst, Fall 2012

#enter Dept name in Slide MasterEdmarBase Processing Unit (BPU)The Intel Atom board will perform the processingWorking to install windows XP

Graphical User Interface can now record visitation history

Xbee Java code has been integrated into the GUIPacket transmission currently being tested

ECE Department, UMass Amherst, Fall 2012

#enter Dept name in Slide MasterAdibActuator Control System (ACS): DesignECE Department, UMass Amherst, Fall 2012Spray PaintServoSpraying consists of two commands:

Depress the spray nozzleRelease the spray nozzle

#enter Dept name in Slide MasterCBACS: Current Status Fires at a frequency of ~ 4.85 HzCode is not optimized yetCan depress spray paint canister and silly string canisterWill use silly string for demo purposesNeed to fix nozzle position to prevent it form rotating between each sprayCurrent system is a prototypeA more robust, lightweight, and compact final version will be madeECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterCBTimeline ECE Department, UMass Amherst, Fall 2012

#enter Dept name in Slide MasterEJDemosActuator Control SystemGUI with Visitation HistoryECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterCBExtra Information ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterCommunication (contd)ECE Department, UMass Amherst, Fall 2012

#enter Dept name in Slide MasterImage Processing: Overview

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterImage Processing: Down sampling

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterImage Processing: Grayscale Normalization

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterThe ProblemMany paint jobs require painters to climb great heights. Ex: Company buildings, ships, structural fabrications, bridges, dam gates, automobiles, pipes, and transformers.

Painters safety and health is a huge liability.

Labor cost for multiple painters and equipment cost of scaffolding and other equipment make the job expensive.

Conventional painting can last days or up to weeks.

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterThe SolutionService: selling flying painting machines with software, and with option of rent-to-own

Painting aircraft can easily reach heights of 40 stories

Lowers wage costs

Shorter time-to-completion

Can be used for anything the customer wishes

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterSocial ApplicationPotential to assist in construction work

Reduce labor costs

Reduce liability costs

Assist in painting hard to reach areas

Potential to be expanded to general home improvement ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide MasterEJHousing starts/new construction closely corresponds to painting revenue. The industry is recovering from the real estate bubble in 2008. Forecasts predict that market revenue will be $30-33 billion by 2015 10% of the approx. 4600 establishments

Market Opportunity

ECE Department, UMass Amherst, Fall 2012#enter Dept name in Slide Master