1. Presents: THE XR-82 PROJECT

2. Team Members James Flora Power Point Christopher Ho Report Editor Jonathan Hammer Parts Manager Kyle Tam Web Design Edel Marcelino Project Manager

3. Problem Definition Military Research Disaster zones

4. Proposed Product A multi-purpose robotic vehicle with the following attributes:  Aerial  Inexpensive  Expandable Quadrotor design

5. Our task Take off Autonomously Fly to the end of the hallway Retrieve data input Return to take off location and land Output data Teams will be judged by time, collisions, and data capture

6. Simplicity of design Few moving parts Good payload capacity Why a Quadrotor?

7. Flight Control

8. Functionality

9. Power Supply +3.3V +5V

10. Low Voltage Indicator + Battery

11. Infrared Sensors

13. Accelerometer

14. Gyroscope

15. Signal Amplifier

16. Embedded System

17. Pulse Width Modulation

18. ESC and Motors

19. Error Measurement Accelerometer Tilt

20. Error Measurement Gyroscope Axial Rotation

21. Complementary Filter

22. PID Controller

23. Proportional Control

24. Proportional + Integral

25. PID Controller

26. Single Axis PID

27. Start Up Sequence

28. Manual Override

29. Infrared Data

30. IR Beacon Detection

31. Progress

32. Mechanical Design Low center of gravity Rotor Protection Lightweight

33. Cost DescriptionPrice/ItemQtyPrice(design)Price(prod.) Microcontroller$0.001 $5.23 Accelerometer (3-axis)$0.001 $1.88 Gyroscope (2-axis)$0.001 $35.00 IR Sensor (100cm-550cm)$19.504$78.00 IR Sensor (20-150cm)$11.501 $7.91 3-Cell Li 11.1V 2100mAh$42.001 Propellers (counter rotating pair)$4.002$8.00 Brushless Motor$13.994$55.96 Speed Control$18.604$74.40 Carbon Fiber Tubing 40in$15.004$60.00$48.00 PCB Material$0.001 $10.50 Misc (hardware, wire, etc.)$10.001 $5.00 Total$339.86$366.88

34. Single Axis Testing

35. Tethered Testing

36. Custom Quadrotor design Complementary filter to combine signals Implemented PID stabilization algorithm Infrared data collection Results

37. Competition: Thursday, December 11, 2008 Design Day: Friday, December 12, 2008 Visit us at aerobotics.sdsu.edu