1. P06004 Air Surveillance Platform
Preliminary Design Review
Friday, May 19, 2006

2. Introductions/Acknowledgments
Team
Michael Abbatte
Stephen Byers
Christina Ermie
Daniel Irwin
Brian Rowe
Brian Sipos
Amy Slevar
Sponsor
Center for Imaging Science
Jason Faulring
Don McKeown
Coordinator
Dr. Alan Nye
Mentor
Dr. Kevin Kochersberger

3. Project Description Unmanned Aerial Vehicle Imaging payload
Base Station

4. Work breakdown Team Member Engineering Major Project Focus
Michael Abbatte
Mechanical
Airframe/Pilot
Stephen Byers
Computer
AP50/Base Station
Christina Ermie
Modeling
Daniel Irwin
RF/Communications
Brian Rowe
Vision System
Brian Sipos
Electrical
PC104/Power
Amy Slevar
Project Leader

5. Overview
Project Background
Questions
Payload Development

6. Background – Airframe Prior teams supplied 2 airframes Student design
Telemaster kit-built
Current team concentrated on student design platform due to sufficient payload area
Telemaster bay too small
Possible use for autonomous flight testing

7. Background – Airframe Airframe Modifications
Removed excess weight for Preliminary testing
Foam core / fiber reinforced rear fuselage section
Made tail adjustable / removable
Moved motor forward
Changed wing attachment method
Added landing gear

8. Background – Airframe Flight Testing
Supplied platform gave head start for SD II testing
Performed 3 preliminary flight tests after modifications to airframe
Rebalanced Airframe about ¼ chord
First flight short, but encouraging
Second flight with additional 3.5lbs
Third flight longer with some stability / control issues

9. Background – Airframe Aluminum Rails Max Stress Max Deflection
Crash Scenario
ANSYS
Max Stress
2300psi<Sy
Max Deflection in

10. Background – AP50 UAV Flight AP50 COTS Autopilot Solution
Purchased by previous team
$5000

11. Background - AP50 Flight and Mission Processors GPS Navigation Sensors
Gyros
Accelerometers
Altimeter
Airspeed
PID Controller

12. Background – AP50 Software
Autonomous Flight Control and Monitoring
Upload Waypoints
Execute Commands
Real-time Monitoring

13. Background – AP50 Testing
Initially tested GPS functions by driving in car with AP50
GPS Antenna Failure caused project delay
AP50 RF and control testing attempted with RC Car

14. Simulink Modeling
AP-50 requires gain inputs for PID control algorithms
Missing UAV signal flow diagrams
Need to create from scratch
Problem
No controls and flight dynamics background on team

15. Simulink Modeling - Justification
Improper gain values
Future expansion based on full model
Future SD teams could get rid of the AP50 using the Simulink Full Model as a basis for their work.

16. Simulink Modeling - Equations
Relating airspeed error with elevator deflection

17. Simulink Modeling - Equations
New model

18. Simulink Modeling – Senior Design II
Inaccurate
State Space model
Digital DATCOM
FORTRAN
Derivative Coefficients

19. Any Questions?

20. Morphological Chart

21. Relative Weight Concept Chart

22. Pugh Analysis

23. Weighted Concept Chart

24. Real-Time Forward Video
Concept Development
Portable Black and White Television
Portable Color Television
Computer Monitor with TV Tuner
PCI Card TV Tuner
USB TV Tuner
Large (40+ inches) Flat Panel Television
Average (13-27inches) CRT Television
DON’T ADD A PICTURE OF THE TV!!!
We’re now starting the payload part of the presentation.

25. Real-Time Forward Video
Feasibility
Cost
Team Decision
Portable Black and White Television
Sponsor Decision
USB TV Tuner
Student Skills, knowledge, working space, ability to finish, technology do not apply RTFV
The camera is Black and white, no need for color.
Camera is only for reference no need for large screen or high cost.
Sponsor wanted ability to watch on computer monitor and already owns a USB TV Tuner.

26. Battery Concept Development Feasibility Current Equipment:
NiCd, NiMH, LiPo, HiPo, Lead Acid
Feasibility
Power Density, Charging Capability, Cost, Safety
Current Equipment:
5 cell LiPo ~8000mAh
4 cell LiPo ~2100mAh
18 cell NiMH ~3300mAh
LiPo / NiMH charging capability

27. RF Link – Concept Development
Ethernet
Off-the-shelf 2.4 GHz
Cellular Phone
GMRS Radio
Satellite Communications
IP Over Avian Carriers

28. RF Link – Feasibility Top Choice: Long-Range Ethernet Fast Cheap
Low-power
Small
Interface with PC104
900 MHz
125 mW
1.5 Mbit
128-bit encryption
~5.5 oz

29. Payload Camera and Lens
Camera Requirements
Progressive Scan
Smallest/Lightest possible
Largest Pixel Size possible
Lens Requirements
C-mount
Filter Ring
Focal Length matched to Camera
Cost: $200-$300 range

30. Payload Camera and Lens
Camera Concept Development & Feasibility
Sony XCL-V500
Pulnix TMC-6700CL
Balser A601F
Black and White (10-bit)
Resolution: 640x480
Interface: CameraLink
Pixel Size: 7.4um
Weight: 55g
Size: 29mmX29mmX30mm
Cost: ~$900
Color (24-bit)
Resolution: 640x480
Interface: CameraLink
Pixel Size: 9.0um
Weight: 368g
Size: 67mmX51mmX116.5mm
Cost: ~$1595
Monochrome (8-bit) or Color (24-bit)
Resolution: 640x480
Interface: IEEE-1394
Pixel Size: 9.9um
Weight: 100g
Size: 67.3mmX44mmX29mm
Cost: ~$995

31. Payload Camera and Lens
Lens Concept Development & Feasibility
g/a = p/f
g: Ground Sampling Distance (½ meter)
a: Altitude (1000ft)
p: Pixel Size (Sony XCL-V500 = 7.4um)
f: Focal Length of Lens
Focal Length matched to Camera
Sony XCL-V500 needs ~4.5mm
Best Option: Megapixel Fixed Focal Length Lenses, 8mm Focal Length (Edmund Optics)
Focal length approved by sponsor

32. Software Flowchart

33. Telemetry Computer PC/104+ Hardware standards Software capability
ISA bus
PCI bus
CompactFlash
RS-232
Ethernet
Software capability

34. Telemetry Computer Software
High-level design
Compiled libraries and programs
Interpreted programs
Off-line maintenance
Stand-alone operation and maintenance
Embedded constraints
Low memory footprints
Low disk usage
Low-speed CPU

35. Power Supply Design Fabrication Testing Linear vs. Switching
Average output
Peak output
Efficiency
Component count
Fabrication
Facilities available
Testing

36. Senior Design II Airframe
Continuation of flight testing with no payload
Addition of payload
Rebalance CG
Flight testing
Aesthetic Improvement
Paint all Black
Organize Payload

37. Senior Design II AP50 Autopilot Log Flight Data
Observe commands issued by pilot and log response of the platform
Analyze logs in Excel for purposes of adjusting the trim
Work Toward Autonomous Flight
Start with PID gains from simulation and perform iterative adjustments to tune system performance
After stable flight achieved, attempt to execute fully autonomous waypoint following with Ground Pilot Software
Pilot is always able to resume control with Futaba radio

38. Senior Design II Imaging Payload Build
Write software for proper picture interval
Place in airframe for testing

39. System Block Diagram
Hardware Integration

40. Any Questions?