1. P07122 – Autonomous Quadcopter Jason Enslin (EE – Team Leader) Courtney Walsh (ME – Aero) Richard Nichols (EE) Glenn Kitchell (CE) Jeff Welch (ME) Dr. Vincent J. Amuso (EE – Advisor) Project Overview Student initiated project Student initiated project Funded through grant from RIT Honors Program Funded through grant from RIT Honors Program Final product can be used for Ground Penetrating Radar (GPR) research Final product can be used for Ground Penetrating Radar (GPR) research Several modes of operation: startup, manual, autonomous, abort & land. Several modes of operation: startup, manual, autonomous, abort & land. Customer Needs Customer Needs Payload capability of at least 1 kg. Payload capability of at least 1 kg. Ability to fly and hover at 75-125 ft. off the ground Ability to fly and hover at 75-125 ft. off the ground Communication range of at least 0.25 mi. radius Communication range of at least 0.25 mi. radius Flight time of at least 10 minutes Flight time of at least 10 minutes On-Board Electrical System On-Board Electrical System RCM4000 microprocessor RCM4000 microprocessor SIRF-3 GPS unit SIRF-3 GPS unit Digital compass Digital compass Tri-axis accelerometer Tri-axis accelerometer Dual-axis gyroscope Dual-axis gyroscope Radar altimeter Radar altimeter RF wireless transmitter RF wireless transmitter 3.6 V lithium battery 3.6 V lithium battery 4 optical rotation sensors 4 optical rotation sensors 4 analog micro-servos 4 analog micro-servos Key Results & Analysis Key Results & Analysis Servos can be controlled manually through USB game pad Servos can be controlled manually through USB game pad Readings from accelerometer, gyroscope, and rotation sensors verified Readings from accelerometer, gyroscope, and rotation sensors verified Wireless protocol with error correction capability implemented Wireless protocol with error correction capability implemented Combination PID/fuzzy control system demonstrated with Simulink models Combination PID/fuzzy control system demonstrated with Simulink models Power consumption analysis yielded a calculated battery life of 5 hours Power consumption analysis yielded a calculated battery life of 5 hours Design Team (L to R) – Glenn Kitchell, Jeff Welch, Jason Enslin, Courtney Walsh, Richard Nichols Electrical System Block Diagram Java Software Interface Working on Test Setup Concept Sketch Test Fixture Apparatus Mechanical Design Features Mechanical Design Features Powered by 4 glow fuel 0.41 HP engines mounted sideways Powered by 4 glow fuel 0.41 HP engines mounted sideways 4 eight inch radius plastic rotors 4 eight inch radius plastic rotors Lightweight yet rigid design Lightweight yet rigid design Estimated weight of 10.87 lbs including load Estimated weight of 10.87 lbs including load Custom designed and machined rotor attachment Custom designed and machined rotor attachment Centrally located electronics compartment Centrally located electronics compartment Minimizes moving parts Minimizes moving parts Key Results & Analysis Key Results & Analysis Java PC application with GUI’s for each mode of operation Java PC application with GUI’s for each mode of operation Java flight application software with easy to use interface Java flight application software with easy to use interface Design is capable of achieving 16 lbs of lift as calculated with Blade Element Theory Design is capable of achieving 16 lbs of lift as calculated with Blade Element Theory 3-D assembly drawing with instructions 3-D assembly drawing with instructions Complete 2-D part drawings package Complete 2-D part drawings package Comprehensive test plan for use by subsequent design teams Comprehensive test plan for use by subsequent design teams 3-D SolidWorks Model 3-D Engine Model