1. enter Dept name in Title Master Preliminary Design Review AAPS Automated Aero-Painting System Team Members: Adib Khozouee Chris Brennan Edmar Gonçalves Ejiroghene Urhiafe Advisors: Csaba Andras Moritz Roderic Grupen

2. 2 enter Dept name in Slide Master Background and Motivation  Unmanned Aerial Vehicles (UAV) revolutionizing aviation technology Do not require qualified pilot on board Reduces exposure risk of the aircraft operator Flight time of up to 30 hours, performing raster scan of a region, in darkness or fog, under computer control Can enter environments that are dangerous to human life Can be programmed to complete a mission autonomously Automation reduces inspection and maintenance costs, and improves flight readiness Source: http://www.uavs.org/advantages ECE Department, UMass Amherst, Fall 2011

3. 3 enter Dept name in Slide Master Background and Motivation (cont’d) UAV usage:  Military operations Espionage Sabotage Combat  Agriculture: spray fertilizer and pesticide over large fields  NASA’s planetary science planning on using UAVs for space missions  Weather research  Coast watch  Search and rescue  Hobbyist activities  Newest application: Painting ECE Department, UMass Amherst, Fall 2011

4. 4 enter Dept name in Slide Master Challenge and Requirements  UAV automation reliability Prioritize potential concerns and take preemptive action Make real time decisions based on input sensors Communicate with base processing unit Adjust flight goals to functional and environmental limitations  Graffiti Copter system Flight guidance Painting surface recognition Feedback on its functional state Assess task performance ECE Department, UMass Amherst, Fall 2011

5. 5 enter Dept name in Slide Master General System Flowchart ECE Department, UMass Amherst, Fall 2011

6. 6 enter Dept name in Slide Master System Process Initial set-up ECE Department, UMass Amherst, Fall 2011 Base station Quadrocopter Canvas IR camera Base processing unit

7. 7 enter Dept name in Slide Master System Process Step 1: Wall Calibration ECE Department, UMass Amherst, Fall 2011 IR camera Base station Quadrocopter Canvas Base processing unit

8. 8 enter Dept name in Slide Master System Process Step 2: Quadrocopter Take-off ECE Department, UMass Amherst, Fall 2011 IR camera Base station Canvas Base processing unit

9. 9 enter Dept name in Slide Master System Process Step 3: Reaching Canvas ECE Department, UMass Amherst, Fall 2011 IR camera Base station Canvas Base processing unit

10. 10 enter Dept name in Slide Master System Process Step 4: Painting ECE Department, UMass Amherst, Fall 2011 IR camera Base station Canvas Base processing unit

11. 11 enter Dept name in Slide Master System Process Step 5: Image Comparison ECE Department, UMass Amherst, Fall 2011 IR camera Base station Canvas Base processing unit

12. 12 enter Dept name in Slide Master System Process Step 6: Landing ECE Department, UMass Amherst, Fall 2011 IR camera Base station Quadrocopter Canvas Base processing unit

13. 13 enter Dept name in Slide Master Function Flow Chart - Quadrocopter ECE Department, UMass Amherst, Fall 2011

14. 14 enter Dept name in Slide Master Function Flow Chart - Base Processing Unit ECE Department, UMass Amherst, Fall 2011

15. 15 enter Dept name in Slide Master Nozzle placement ECE Department, UMass Amherst, Fall 2011

16. 16 enter Dept name in Slide Master Performance Measures  Accuracy  Complexity  Real-time Position Awareness Algorithm (RPAA)  Canvas Calibration ECE Department, UMass Amherst, Fall 2011

17. 17 enter Dept name in Slide Master Parts  Quadrocopter kit: 670g, $529  Xbee Receiver / transmitter: (3g, free from M5)  Aduino microcontroller ATmega 328 (~227g free from M5) Or Intel Atom processor if finalist in Cornell Cup (free) ECE Department, UMass Amherst, Fall 2011

18. 18 enter Dept name in Slide Master Parts  Battery Option 1: 14.8V, 5000mAh, 545 g, $81 Option 2: 14.8V, 3200mAh, 386 g, $63  Spray Cans 245 g, $7  Spray Can holster (parts from SDP lab)  Camera: ps3 camera (free from m5) ECE Department, UMass Amherst, Fall 2011

19. 19 enter Dept name in Slide Master Costs  Quadrocopter kit $529  Battery$81  Spray Can$7  Spray Can HolsterFree  Xbee Receiver/TransmitterFree  AduinoFree  CameraFree  ---------------------------------------------  Total$617 ECE Department, UMass Amherst, Fall 2011

20. 20 enter Dept name in Slide Master Funding Ideas  Cornell Cup Competition Embedded design competition presented by Intel If we become finalists we will receive: $2,500 Intel Atom Processors  Ask companies for donations if we advertise that we used their products  Personal investments ECE Department, UMass Amherst, Fall 2011

21. 21 enter Dept name in Slide Master Weight Calculation Battery 1 Battery 2  Quadrocopter kit 670 g 670 g  Battery545 g 386 g  Spray Can247 g 247 g  Xbee Receiver/Transmitter3 g 3 g  Aduino227 g 227 g  Spray Can Holster0-508 g0-767 g ----------------------------------------------------------------------  Total1692-2200 g1433-2200 g ECE Department, UMass Amherst, Fall 2011

22. 22 enter Dept name in Slide Master Timeline  First Semester ECE Department, UMass Amherst, Fall 2011

23. 23 enter Dept name in Slide Master MDR Deliverables  Quadrocopter capable of achieving flight  Camera able to virtualize physical canvas ECE Department, UMass Amherst, Fall 2011