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

2.  SSCL(Space Systems & Controls Lab)  Unmanned Aerial Vehicle  AUVSI Aerial Robotics Competition 2

3.  Aim: To participate in the International Aerial Robotics Competition(IARC)  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 3

4.  1.5kg Maximum Total Platform Weight  Low Power  Battery Powered  Capable of >10 minutes of flight time (20+ minutes reached with 1278g weight)  Operational  Capable of onboard stability control (Generation of PWM signals from Pic )  Wireless base station communication ▪ Wireless link capable of at least 42 meters 4

5.  Expandable  Potential for navigation in a GPS-denied environment ▪ Obstacle Detection Module using Laser Range Finder ▪ Support for computer vision system  Connectivity for manual remote kill switch  Potential for remote autonomous commands  Connectivity for wire-burn USB stick drop-off 5

6.  Working with 2 other teams this semester  Engr 467 – Platform Team worked with last semester  Engr 466 – Second Semester, 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 Team to set API and sensors to their requirements 6

7.  Quad-Copter  Sensors  9 DoF IMU  Laser Range Finder  Camera Vision System  Control System  Dedicated stability controller  Remote Kill Switch and Manual Control Ability 7

8.  WiFi to base station for vision processing  Two separate control modules  PIC dedicated to stability control  Main controller for system control and communication  Internal and External Sensors  IMU - stability algorithms in PIC  Altitude - detection through Sonar  Laser Range Finder - collision avoidance and navigation  Cameras – finding room and USB as part of challenge 8

9.  Hardware System  Processing  Software System  Software Architecture  Sensors System  Internal and External  Power System 9

10.  Laser Range Finder - >$2000  Hokuyo URG-4LX - 240º range : 2mm – 5m  Obstacle Detection  Sonar – LV-Max Sonar-EZ 4  Depth Sensing  Obstacle Detection, Control System  IMU – Analog ADIS 16400  9 Degrees of Freedom  12bits Resolution: +/- 300˚/s, +/-18g, +/-2.5 gauss  Gumstix Overo Fire COM  TI OMAP3 720 MHz w/ 256 MB RAM  Angstrom embedded Linux kernel  Integrated USB, WiFi  PIC32MX795F512L  80MHz, 32-bit MCU 10

11.  Larger number of teams  Controls Team: Vision and Navigation  Improved budget  Re-evaluation of system design  Arrival of some parts  Communication Breakdown 11

12.  Manually flyable platform  Table-top test system  Hardware  Software  Sensors  Power 12

13.  Gumstix  SPI  Ad-hoc WiFi w/ DHCP  Gcc  PIC  Sonar  PWM  SPI  PICstix 13

14.  Overall system level software  Obstacle Detection Module 14

15. 15

16.  int isLeftBlocked();  int isRightBlocked();  int isFrontBlocked();  int isBlocked(int index1, int index2); 16

17.  Hokuyo URG-04LX Laser Range Finder  Connection through software established  Program developed for initializing and reading in data ▪ Sub function of forward and side obstacle detection  Sonar  Connects via USART serial in  Consistent altitude measurements into PIC32  IMU  Was not acquired, deemed a low priority ▪ Gaui 330 by Controls team used to simplify controls ▪ IMU still needed, but flight capable through stability system on Gaui  Were advised to concentrate on integration of other parts 17

18.  Lipo Battery  2 – 3cell pack combination will be used  11.1V, 6400mah, 20 C  320g  BEC voltage regulator  11.1V (ESC’s, 4 motors)  3.3V (PIC)  5V (Laser, Gumstix, Camera, Sonar, IMU) 18

19. 19

20.  SPI  Oscilloscope, register watch, Gumstix terminal  Sonar  Oscilloscope, register watch  Fixed position, yard stick, LEDs  Power  Manual flight endurance test 20

21.  SPI  PIC and Gumstix run at different voltage  Sonar  Sonar is accurate to 1 inch  Ranges up to 44 inches  Power  Flight time of almost 21 minutes  With 1278g weight 21

22. 15 trials in each test case SideTrue Positives (%) True Negatives (%) False Positives(%) False Negatives(%) Left100014.2885.71 Right100035.7164.28 Front98.41.628.57171.42 Average99.460.526.1973.81 22

23.  Implement IMU with format for use by Controls team  Set up cameras with frame grabber  Order designed PCB  Test all connections and functions  Conduct stability tests with all items on platform  Implement navigation algorithm  Basic algorithm designed by Controls team  Test runs on complete platform  Debug as needed 23

24.  Importance of Communication  Too many visions, too little time  But I thought….  Full team from start  Playing catch up  Defining roles  Attention to detail  Biting off more than you can chew 24

25. 25

26. 26

27. 27

28. 28

29. 29

30. 30

31. 31

32.  First successful flight  http://www.youtube.com/watch?v=SKbRr4Nj6V4 http://www.youtube.com/watch?v=SKbRr4Nj6V4  Demo of ESC shutoff at low voltage  http://www.youtube.com/watch?v=Hx0s8WKSEH 8 http://www.youtube.com/watch?v=Hx0s8WKSEH 8  Endurance Flight  http://www.youtube.com/watch?v=jSsSbn8tQgk http://www.youtube.com/watch?v=jSsSbn8tQgk 32