1. EDGE™ MAV Control System - P09122 - Management Review (MSD I) Erik Bellandi – Project Manager Ben Wager – Lead Engineer Garrett Argenna – Mechanical Engineering Michael Pepen – Electrical Engineering Tahar Allag – Electrical Engineering Ramon Campusano – Computer Engineering Stephen Nichols – Computer Engineering

2. EDGE™ Project Objectives & Deliverables Product Description / Project Overview To design and build a flight control system for the Micro Aerial Vehicle, that will most quickly lead to a fully autonomous system. Key Business Goals / Project Deliverables Primary Goals: – Make the MAV as autonomous as possible. Achieve desired flight qualities. –Stabilize if unstable or increase damping Adaptable Fully Tested and Integrate with Platform Secondary Business Goal: – Able to compete in the 2010 EMAV Competition.

3. EDGE™ Control System Concept Stability Augmentation System Autopilot System Stability Augmentation System: –If an airplane is marginally stable or unstable, the SAS can provide proper vehicle stability –Ensure the plane has the appropriate handling qualities; additional damping can be incorporated using a pitch, roll and yaw damper. Autopilot: Reduce Pilot Workload (Time Permitting) –Attitude Hold – Maintain desired roll, pitch and heading –Altitude Hold – Maintain desired altitude –Velocity Hold – Maintain desired velocity

4. EDGE™ Overall System Architecture

5. EDGE™ Detailed System Diagram

6. EDGE™ PCB Board Design

7. EDGE™ Test Stand Design

8. EDGE™ Current State of Design Control System –Design is adaptable for other sensors, platform characteristics and additional autonomy algorithms (configurable with removable SD card) –Design allows for desired performance with proper gain selection –Weight: 446 grams< 500 g –Size: 2” x 2” x 2”< 2.5” x 2.5” x 8” Test Stand –2-Axis: accurately control position and velocity Under Budget –Total Costs: $2500< $3000 Schedule –Problems using Datcom: 2 weeks behind schedule on control system gain selection. Part of refinement, phase 4. –Electronics and Test Stand Designs finished ahead of schedule, 2 weeks ahead of schedule on ordering and receiving parts.

9. EDGE™ Risk Assessment RiskProbabilitySeverityOverall RiskMitigation Component Interfacing LowHighMedResearch all components and datasheets and prototype and test components as soon as possible. Damage when interfacing electronics LowHighMedThoroughly research components and datasheets. Discrete effects on Control System LowHighMedResearch digital controls, consult with faculty and discretize system to account for discrete effects Difficultly getting aerodynamic values HighMed Review example files and consult with faculty. Get preliminary values and refine from testing. Research robust controls. Test Stand SafetyLowHighMedTest stepper motor driver with motor unattached, test procedures, protective cover for test stand, and emergency stop Platform integrationMedLow Test system with test fixture and flight testing with OTS kit plane or previous year’s MAV platform.

10. EDGE™ Current Progress 01243 MSD I MSD II Product Development Process –Phase 0: Planning –Phase 1: Concept Development –Phase 2: System Level Design –Phase 3: Detailed Design –Phase 4: Testing and Refinement

11. EDGE™ MSD II Plan MSD II Milestones –March 20: Complete building of Test Stand, testing of component communication and design of PCB board. –March 27: Finalize discrete control system and gains –April 24: Complete implementation and testing of control system –May 1: Have working system on a platform –May 8: Finalize Documentation –May 15: Final Project Review – Phase 4 Complete