1. Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu Kshira Nadarajan (CprE) kshira90@iastate.edu Mazdee Masud (EE) mmasud@iastate.edu 1

2.  Aim: To participate in the International Aerial Robotics Competition (IARC) August 2011  http://iarc.angel-strike.com/ http://iarc.angel-strike.com/  Overall Challenge: To penetrate a building, navigate through the corridors and completing tasks such as replacing a USB stick ▪ Our specific challenge: To build a platform capable of flying autonomously, stabilizing and avoiding obstacles 2

3.  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 3

4.  Expandable  Potential for navigation in a GPS-denied environment ▪ Support for laser rangefinder ▪ Support 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 4

5.  Working with 2 other teams this semester  Engr 467 – Platform team worked with last semester  Engr 466 – Newly created, are Controls team for Project  Weeklyteam and large group meetings  Team lead from Engr 467 leads group meeting and combines agendas from each team  Working closely with Controls to set API and sensors to their requirements 5

6.  Quad-Copter  Sensors  6 DoF IMU  Laser Range Finder  Camera Vision System  RF Beacons for localization  Control System  Dedicated stability controller  Remote Kill Switch and Manual Control Ability 6

7.  Control System  PIC microcontroller dedicated to stability control  Gumstix for on board processing and communication of sensor data  Software System  Determine architecture solution around navigation algorithms  Sensor System  Selection of sensors to match controls team requirements ▪ 6 DoF IMU, Sonar Altitude Detection, Laser Range Finder, Cameras for Vision System, RF Beacons  Power System  Selection of battery scheme to match power requirements 7

8.  Control System  Main controller  Flight controller  Software System  Sensor System  Inertial Measurement Unit (IMU)  Cameras, Range Finders, RF Beacons  Power System 8

9.  Gumstix has been received  Had problems getting it to boot  Can now ssh to it over WiFi  PIC has been received  Test I/O program successfully run  Next steps  Get Gumstix and PIC to talk  Get controllers to read sensors 9

10.  Software Architecture being created  Waiting on Gumstix boot  Linux to be installed  Started working with Pic  Work on integrating software on components 10

11.  Sensors are selected and ordered  Inertial Measurement Unit (IMU)  Analog ADIS 16364 High Precision IMU  Laser Range Finder  Hokuyo URG-04LX Scanning Laser Range Finder  Sonar  Maxbotix MB1040 LV-MaxSonar-EZ4  Cameras  Selected from Controls team to be Logitech C905  Will be ordered at time of presentation  New system – RF Beacons  Working with Adviser on selection and integration  Added recently from Controls team 11

12.  Ran into issue with requirements from platform team  Platform team gave incorrect power estimate  They are reselecting the motors and props  Should have new estimate to work with by end of the week 12

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