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M ICRO - CART
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The Micro-CART project teaches students how to familiarize themselves with a project that they were not part of from conception to completion. Students must quickly become familiar with Micro-CART at its current state and determine how they can actively contribute to the team. This experience is useful as many engineers may not experience projects in the workplace that they design, implement, test, and maintain. MICRO-CART U N M A N N E D A E R I A L V E H I C L E Closing Summary ONGO - 03 http://seniord.ece.iastate.edu/ongo03 Estimated Cost for Fall 2006 (total expenses $2,100) 612 129 230 645 639 Documentation R esearch Meetings Developm ent Adm inistrative Abstract The Association for Unmanned Vehicle Systems International (AUVSI) holds an International Aerial Robotics Competition (IARC) every July at Ft. Benning, Georgia. Collegiate teams from around the world enter unmanned aerial vehicles (UAVs) capable of autonomous flight into this competition where specific mission objectives must be met. The goal of the Microprocessor-Controlled Aerial Robotics Team (Micro-CART) is to enter a UAV into the entry level of IARC by developing a fully- autonomous helicopter. A secondary vehicle is also being developed for later stages in the competition. This will showcase the role of Iowa State in the field of unmanned aerial robotics and provide valuable design experience to Micro-CART team members. •Continued support from Iowa State University and Lockheed Martin •Sensor System Will Provide All Necessary Flight Software Inputs •Current helicopter airframe limitations (lift, weight, speed, fuel) •Power considerations for on- board hardware •Robust autonomous flight system modifiable for various missions •Documentation covering all aspects of research and accomplished tasks •Design and build a primary and secondary aerial vehicle capable of autonomous flight •Develop an integrated system of sensors to control the aerial vehicles •Enter entry level IARC, summer 2007 •Outside in fair weather conditions •Maneuver within a 430-acre area •Varied topography and a few man-made obstacles •Micro-CART team members will use the vehicle to compete in the IARC •Future uses in aerial surveillance, law enforcement reconnaissance Problem Statement Operating Environment Intended Users and Uses Assumptions Limitations Expected End Product Client Funding Provided By Design Objectives •Develop an aerial vehicle to compete in entry level IARC •Develop a secondary vehicle for higher level IARC Functional Requirements •Hover via autonomous flight-control •Self-navigation to global positioning system (GPS) waypoints •Communication between both vehicles Design Constraints •Size and weight considerations •Cost minimization •Low power consumption Measurable Milestones •Autonomous flight-control software testing •Sensor implementation and testing •Communications and ground station development •Test flight(s): hover, translational test flights Proposed Approach •X-Cell #1005-1 gas helicopter as primary vehicle •Quad-ducted fan platform as secondary vehicle •On-board controller (PC/104) will provide sensor interfaces and processing resources for flight control software •GPS unit and magnetic compass will provide data for navigation •Inertial measurement unit (IMU) will provide helicopter dynamics •Sonar arrays will provide data for object detection and avoidance Technologies Considered •Software controlled basic stability •Self-navigation to GPS waypoints Testing Considerations •Individual hardware unit testing (GPS, IMU, Sonar) •Integrated hardware unit test with flight-control •Hover and translational flight tests •Tethered flight testing with test stand M i c r o p r o c e s s o r – C o n t r o l l e d A e r I a l R o b o t I c s T e a m PC -104 Processor Board PC -104 Serial PortBoard PC -104 Pow erSupply (U PS)Board PC -104 ISA/ PCIBus PC -104 ISA/ PCIBus PC -104 Stack Processing U nit R F M odem Inertial Measuring Unit(IM U) Magnetic C om pass Global Positioning System (G PS) R S-232 Line D river SonarBoard PIC M icrocontroller SonarAssem bly R S-232 R S-232 R S-232 R S-232 R S-232 Sensors Com munications Battery FlightC ontrol Softw are Sensor Data C ontrol C om m ands Gasoline Engine Servo Interface Servos Em ergency Kill Sw itch H um an Pilot Radio R eceiver (C ontrols) M anual O verride R S-232 C ontrolInput C ontrolO utput Introduction Approach and Considerations Estimated Resources Project Schedule Closing Summary Project Requirements Hardware Subteam Erica Moyer (EE)(Leader) Bill Hughes (EE) Hassan Javed (EE) Pankaj Makhija (EE) Cristina Olivas (EE)(Communication Coordinator) Software Subteam Andrew Larson (CprE/EE) (Leader) Brian Baumhover (CprE) Kito Berg –Taylor (AeroE) Bai Shen (CprE) Advisors Dr. John Lamont (EE/CprE) Prof. Ralph Patterson, III (EE/CprE) Scott Morgan (Lockheed Martin) Team Leaders Timothy Gruwell (CprE) Erica Moyer (EE) Ground Station Subteam Josh Robinson (CprE) (Leader) Gustav Brandstrom (ME) Secondary Vehicle Subteam Brett Pfeffer (ME)(Co- Leader) Jeffrey Pries (ME)(Co- Leader) Byung O Kang (EE) Patrick Turner (CprE) Estimated Personnel Hours/Category (2255 Total Hours) Primary Vehicle Secondary Vehicle
description
U N M A N N E D. A E R I A L. V E H I C L E. Introduction. Approach and Considerations. Limitations. Assumptions. Intended Users and Uses. Problem Statement. Operating Environment. Closing Summary. Estimated Resources. Project Schedule. Project Requirements. Expected End Product. - PowerPoint PPT Presentation
Transcript of M ICRO - CART
The Micro-CART project teaches students how to familiarize themselves with a project that they were not part of from conception to completion. Students must quickly become familiar with Micro-CART at its current state and determine how they can actively contribute to the team. This experience is useful as many engineers may not experience projects in the workplace that they design, implement, test, and maintain.
MICRO-CART U N M A N N E D A E R I A L
V E H I C L E
Closing Summary
ONGO - 03http://seniord.ece.iastate.edu/ongo03
Estimated Cost for Fall 2006(total expenses $2,100)
612129
230645
639
Documentation ResearchMeetings DevelopmentAdministrative
AbstractThe Association for Unmanned Vehicle Systems International (AUVSI) holds an International Aerial Robotics Competition (IARC) every July at Ft. Benning, Georgia. Collegiate teams from around the world enter unmanned aerial vehicles (UAVs) capable of autonomous flight into this competition where specific mission objectives must be met. The goal of the Microprocessor-Controlled Aerial Robotics Team (Micro-CART) is to enter a UAV into the entry level of IARC by developing a fully-autonomous helicopter. A secondary vehicle is also being developed for later stages in the competition. This will showcase the role of Iowa State in the field of unmanned aerial robotics and provide valuable design experience to Micro-CART team members.
• Continued support from Iowa State University and Lockheed Martin
• Sensor System Will Provide All Necessary Flight Software Inputs
• Current helicopter airframe limitations (lift, weight, speed, fuel)
• Power considerations for on-board hardware
• Robust autonomous flight system modifiable for various missions
• Documentation covering all aspects of research and accomplished tasks
• Design and build a primary and secondary aerial vehicle capable of autonomous flight
• Develop an integrated system of sensors to control the aerial vehicles
• Enter entry level IARC, summer 2007
• Outside in fair weather conditions• Maneuver within a 430-acre area• Varied topography and a few man-
made obstacles
• Micro-CART team members will use the vehicle to compete in the IARC
• Future uses in aerial surveillance, law enforcement reconnaissance
Problem Statement
Operating Environment
Intended Users and Uses
Assumptions
Limitations
Expected End Product
Client
Funding Provided By
Design Objectives• Develop an aerial vehicle to compete in entry level IARC• Develop a secondary vehicle for higher level IARC
Functional Requirements• Hover via autonomous flight-control• Self-navigation to global positioning
system (GPS) waypoints• Communication between both vehicles
Design Constraints• Size and weight considerations• Cost minimization• Low power consumption
Measurable Milestones• Autonomous flight-control software testing• Sensor implementation and testing• Communications and ground station development• Test flight(s): hover, translational test flights
Proposed Approach• X-Cell #1005-1 gas helicopter as primary vehicle• Quad-ducted fan platform as secondary vehicle• On-board controller (PC/104) will provide sensor interfaces and
processing resources for flight control software• GPS unit and magnetic compass will provide data for navigation• Inertial measurement unit (IMU) will provide helicopter dynamics• Sonar arrays will provide data for object detection and avoidance
Technologies Considered• Software controlled basic stability• Self-navigation to GPS waypoints
Testing Considerations• Individual hardware unit testing (GPS, IMU, Sonar)• Integrated hardware unit test with flight-control• Hover and translational flight tests• Tethered flight testing with test stand
M i c r o p r o c e s s o r – C o n t r o l l e d A e r I a l R o b o t I c s T e a m
PC-104 Processor
Board
PC-104 Serial Port Board
PC-104 Power Supply (UPS) Board
PC-104 ISA/PCI Bus
PC-104 ISA/PCI Bus
PC
-104
Sta
ck
Processing Unit
RF Modem
Inertial Measuring Unit (IMU)
Magnetic Compass
Global Positioning
System (GPS)
RS-232 Line Driver
Sonar Board
PIC Microcontroller
Son
ar A
ssem
bly
RS-232
RS-232
RS-232
RS-232
RS-232
Sensors
Communications
Battery
Flight Control Software
Sensor Data
Control Commands
Gasoline Engine
Servo Interface
Servos
Emergency Kill Switch
Human PilotRadio
Receiver (Controls)
Manual Override
RS-232
Control Input
Control Output
Introduction Approach and Considerations
Estimated Resources
Project Schedule
Closing Summary
Project Requirements
Hardware SubteamErica Moyer (EE)(Leader) Bill Hughes (EE)Hassan Javed (EE)Pankaj Makhija (EE)Cristina Olivas (EE)(Communication Coordinator)
Software SubteamAndrew Larson (CprE/EE)(Leader)Brian Baumhover (CprE) Kito Berg –Taylor (AeroE)Bai Shen (CprE)
AdvisorsDr. John Lamont (EE/CprE) Prof. Ralph Patterson, III (EE/CprE) Scott Morgan (Lockheed Martin)
Team LeadersTimothy Gruwell (CprE)Erica Moyer (EE)
Ground Station SubteamJosh Robinson (CprE)(Leader)Gustav Brandstrom (ME)
Secondary Vehicle SubteamBrett Pfeffer (ME)(Co-Leader) Jeffrey Pries (ME)(Co-Leader)Byung O Kang (EE)Patrick Turner (CprE)
Estimated Personnel Hours/Category(2255 Total Hours)
Primary Vehicle Secondary Vehicle
