Design Review May 11-10: Autonomous UAV Competitio n
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Transcript of Design Review May 11-10: Autonomous UAV Competitio n
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Design ReviewMay 11-10: Autonomous UAV Competition
Client: Space Systems & Controls Laboratory (SSCL)Advisor : Matthew Nelson
Anders Nelson (EE)[email protected]
Mathew Wymore (CprE)[email protected]
Kale [email protected]
Stockli [email protected]
Kshira Nadarajan (CprE)[email protected]
Mazdee Masud (EE)[email protected]
Andy [email protected]
Karolina [email protected]
491 Team Component
466 Team Component
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Project Plan
Project Statement Conceptual Sketch Functional Requirements Constraints and Considerations Market Survey Risks and Mitigation Resources and Cost Milestones and Schedule
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Problem Statement
Aim: To participate in the International Aerial Robotics Competition (IARC) August 2011 http://iarc.angel-strike.com/ Overall Challenge: To penetrate a
building, navigate through the corridors and complete another task like identifying a USB stick▪ Our specific challenge: To build a platform
capable of flying autonomously, stabilizing and avoiding obstacles
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Conceptual Sketch
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Platform Concept
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Functional Requirements
1.5kg Maximum Total Platform Weight Battery Powered
Capable of >10 minutes of flight time (12 minute goal)
Operational Onboard stability control▪ Recovery time goal of three seconds or less▪ Entirely self-contained hover behavior
Wireless base station communication▪ Wireless link capable of at least 42 meters▪ System capable of JAUS-compliant telemetry
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Functional Requirements (continued) Expandable
Potential for navigation in a GPS-denied environment▪ Support for USB laser rangefinder▪ Considerations for computer vision system
Potential for executing remote autonomous commands
Connectivity for manual remote kill switch Connectivity for wire-burn USB stick drop-
off system
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Constraints and Considerations Weight
Batteries Power draw mainly from motors for lift▪ Lift based on weight-completing interdependence
Compatibility Must integrate into 466 team’s vehicle platform
Time Deliverables due at end of school year Team has other time-consuming obligations
Experience Team has limited experiences on aspects of the
project
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Market Survey
Unique because it’s ISU’s
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Risks and Mitigation
Too large a bite Scope limitations Market survey Advisor knowledge
Multiple-team structure Weekly meeting to check up Shared Dropbox Email communication
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Hardware Cost
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Total Cost
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Milestones and Schedule
Project plan, design document complete
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Design
Functional Decomposition Detailed Design Technologies Used Test Plan
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Functional DecompositionControl System
Main controller Flight controller
Sensor System Inertial Measurement Unit (IMU) Cameras, Range Finders
Will not be selected by us.Software SystemPower System
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Controllers
Main Controller – Gumstix Overo Fire Supported by Summit expansion board Linux with USB host for laser WiFi communications Other sensor inputs (A/D)
Flight Controller – PIC24 with nanoWatt XLP IMU input PWM output I2C interface with Gumstix
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Sensors Inertial Measurement Unit (IMU)
Takes in 9 DOF measurements Outputs to Motor Microcontroller through serial
interface Sampling Analog Device’s High Precision IMU
External Sensors IR/sonar sensors▪ For basic obstacle avoidance▪ Used as a fail safe for navigation system
Range Finders and Vision Systems▪ To be selected by later teams for SLAM
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Software
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Power Motors are Main Power Draw
Require 11.1 V Each Typically Draw 6A
Competition Requirements 10 Minutes of Flight + 2 Minutes for Safety Range
Battery 11.1 V - 3cell LiPo Batteries Assume 30A worst case draw – 6Ah capacity required
One Battery is bulky and inhibits thrust Thus Parallel Combination Used
Allows flexibility of battery placement Lowers required capacity per battery
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Test Plan Stability
Test motor stability control with varying degrees of external disturbance and record response
Communication Test distance and speed of communication between platform and
remote base Flight Control
Determine accuracy of movement from various control commands
Obstacle Avoidance Determine reliability and accuracy of obstacle avoidance from
movement in various directions Endurance (Power)
Will run the battery under expected load while monitoring voltage over time
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Current Status
Documentation Project plan, design doc complete
Design Most hardware selected Software sketched
Implementation Start over break Flight demo in early March
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Individual Contributions
Contributions Anders – Team Lead, Sensor Research Mazdee – Power System Research Kshira – Software System Research Mathew – Control Hardware Research
Implementation Expected LaborTeam Member Control System On-Board Programming Sensor Integration Power System Communication System Parts&Integration Testing Final System Testing TotalAnders Nelson 20 10 15 10 5 40 60 160Mazdee Masud 20 10 10 15 5 40 60 160Mathew Wymore 15 30 5 0 10 40 60 160Kshira Nadarajan 15 30 5 0 10 40 60 160Total 70 80 35 25 30 160 240 640
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Plan for Next Semester
Test Individual Components Power System Implementation Test Integration of Components Stabilization Control Implementation
Establish Autonomous Hovering Software Implementation
Simple Flight Capabilities from established commands
Testing of Total Design
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Questions?
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Backup Slides
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Hardware Options Scoring
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IMU Comparison ScoringIMU Comparison Power (mW) Score Weight (g) Score Volume (cubic cm) Score Resolution Score
Name/CompanyAtomic IMU 6 DoF - XBee Ready 81.6 1 2 43.475 1 .00403g/tick-Low, .977deg./tick1IMU 6DOF Razor - Ultra-Thin IMU 36.3 2 2 5.61 2 .83-3.33mV/deg/s, 300mV/g 19 Degrees of Freedom - Razor IMU - 16MHz 44.0385 2 2 14 2 300deg/s 2IMU 6 Degrees of Freedom - v4 with Bluetooth® Capability 555 -2 2 43.68 1 500deg/s 3Memsense customized solutions High -3 0 1 3LandMark™ 21 IMU - 1 Cubic Inch "LN Series" 1419 -3 55 0 16.4 2 3ADIS16405: High Precision Tri-Axis Gyroscope, Accelerometer, Magnetometer75 1 0 29.0928 1 .0125degree/s/lsb 4
<50 : 2 50-100 : 1 100-200 : 0 200-400:-1 400-800 : -2 800+ : -3
Negligable: 2 >50g : 0 <25: 2 25-50:1 50+:0
Price ($) Score Score (output)Additional Features Past Required Source
Digital: 2 Analog: 0 TOTAL SCORE
99.95 1 2 8 http://www.sparkfun.com/commerce/product_info.php?products_id=918489.95 1 0 8 http://www.sparkfun.com/commerce/product_info.php?products_id=9431
124.95 0 2 1 11 http://www.sparkfun.com/commerce/product_info.php?products_id=9623449.95 -2 2 1 5 http://www.sparkfun.com/commerce/product_info.php?products_id=8454
Contact for pricing -2 2 1 http://www.memsense.com/?? -1 2 3 http://www.gladiatortechnologies.com/PRODUCTS/IMU/product_LandMark21_IMU_LN_Series.htm
700(0) 2 2 3 13 http://www.analog.com/en/mems/imu/adis16405/products/product.html
<50 : 2 50-100:1 100-200:0 200-300: -1
300+: -2
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Potential Arena Layout