1. Ben Houston Camden Mendiola Dan “Klitz” Johnson Dan Rice Monty Prekeris

2.  To provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond.  Useful for military, police, search and rescue, and/or back country navigation  Localized and self managed. Camden

3.  To design and implement an autonomous quad-copter platform that can remotely sense and relay data to a base station  To utilize the IEEE 802.15.4 protocol to create a low power mesh network Camden

5. Command Station XBee Command Station PC XBee Flight Sensors & GPS Third Comm Module Environmental Sensors Motors XBee Flight Sensors & GPS Quad-copter ATMega 2560 Environmental Sensors Motors Camden

6. Manual Flight Command Locate unoccupied air space Perform Autonomous Flight Pattern Manual Return Flight Assert UAV Mode and Input GPS Point Autonomous Navigation to GPS Point Perform Autonomous Flight Pattern Autonomous Return Navigation SECONDARY GOAL ELEVATED GOAL Camden

8. XBee PRO ZB 2.4GHz RF 3.2 km range 250 Kbps data throughput XBee Explorer USB Command Station WINDOWS OS PC USB IEEE 802.15.4 Zigbee Protocol Dan J.

9. XBee (Serial) Flight Sensors Flight Sensors: Barometer – BMP085 Magnetometer – HMC5843 Accelerometer – ADXL345 Gyro – ITG3200 Ultrasonic range finder – Daventech SFR10 GPS – USGlobalSat EM-408 I2C Motors E-Flight Brushless 1020Kv 22A max continuous 2lb nominal payload/motor Environmental Sensors (tentative): Temperature Gas CMOS Camera - TCM8230MD 30A ESC’s: Allows 35,000 rpm 40A for 10s Burst PWM Env. Sensors Copter ATMEGA 2560 ZigBee ESC Motors Dan J.

10.  Terrestrial Unit Temperature Chemical Sensing Person ○ Heart Rate  Second Quad Copter Mirror functionality of former Quad-Copters Dan J.

11. Battery – 11.1 V, 8000mAh High Discharge Li-Po Battery Power Rails – 5V rail for the ATMega 2560, 3.3V for Sensors and XBee MC33269 Voltage Regulator – takes 12V to 5V Logic Level converter – converts 5V to 3.3V for input to XBee and 3.3V to 5V for signals output from XBee Battery Monitor – checks the status of the battery voltage and signals a warning if it is too low. If the battery supply voltage drops even further, the Quadcopter will begin to land. ESCs (Electronic Speed Controller) – Convert PWM signals from the ATMega2560 into signals for the brushless motors. Dan J.

12. Flight Sensors(Primary): Barometer – Used to measure atmospheric pressure. Allows the flight control to determine height of the Quadcopter and attempt to increase power to motors in order to maintain altitude. Magnetometer – Measures the strength of the Earth’s magnet field to get the heading of the Quadcopter Accelerometer – Measures acceleration of the Quadcopter along the x, y, z axes. Gyro – Measures radial velocity in terms of roll, pitch, and yaw. Flight Sensors(Secondary): Ultrasonic range finder – Determines distance objects are away from the sensor. Can be used to avoid objects that come within range of the Quadcopter. Can also be used to aid in landing. GPS – Gets longitude and latitude coordinates from a satellite which allows the Quadcopter to determine a flight path to its desired location Dan J.

14. Temperature Sensor – Analog output. (Primary) Gas Sensors – CO, Methane, Hydrogen gas. Analog Output. (Elevated) CMOS Camera – Communicates using I 2 C. (Elevated) Heart rate monitor – Uses a Polar transmitter and communicates through I 2 C. (Elevated) Dan R.

15.  Ultrasonic Multiple Ultrasonic sensors may cause interference with one another ○ Alternate sets of opposing sensors to fire at different times. Wide beam width may cause unexpected detection ○ Size down the beam width and use more sensors Motor interference ○ Relocate sensors  Barometer Propeller interfering with air pressure ○ Encapsulate barometer or shield it from motors  CMOS Camera Exceed XBee bandwidth ○ Use high compression ○ Stream at lower frames per second ○ Store images locally Dan R.

16. Ben

17. Ad hoc On-demand Distance Vector (AODV) Mesh Routing  Allows data packets to traverse multiple nodes (hops) from source to destination  Does not necessarily have to be routed through the coordinator  AODV Routing Algorithm dictates ever changing and locally stored look up table of nearest one hop neighbors Ben

18.  Digi International has designed the Xbees in a way that allows a PAN to include up to 40 drop-in radio devices in an Ad Hoc configuration.  Ease of use when building a large self healing network. Ben

19.  ZB Pro RF data throughput: 250 kbps  Line of site range: 3.2 km  Serial Flow Control via RTS and CTS pins  Encryption (adds latency)  Sleep Mode(s)  Ability to self manage digital and analog sensors  Application Program Interface Ben

20. The API specifies how commands, command responses and module status messages are sent and received from the module using a UART Data Frame.  Follows IEEE 802.15.4 standard  Useful for software design  84 byte payload  Multiple command features Ben

21.  Software drivers contain algorithms that can build or parse API packets  Payloads can contain the following data: Radio Addresses 12 bits of analog sensor data converted to digital at the XBee hardware level Command Status bytes AT commands  Embedded System Experience Ben

22.  Risks Signal Interference Range Power Consumption Bandwidth  Contingency XBee-PRO® ZB Wall Routers ○ Extends signal strength and range of an XBee ZB mesh network ○ Creates additional network pathways for more reliable mesh networking Adjust Sleep Mode settings via XBee firmware Limit amount of simultaneous data output Ben

24. ATmega2560  Operating Voltage: 5V  JTAG Interface  Digital I/O Pins: 54 (of which 14 provide PWM output)  ADC Pins: 16  UART Ports: 4  SPI Interface  I2C Interface  2 External Interrupt Pins  DC Current per I/O Pin 40 mA  DC Current for 3.3V Pin 50 mA  Flash Memory: 256 KB of which 8 KB used by bootloader  SRAM: 8 KB  EEPROM: 4 KB  Clock Speed: 16 MHz Monty

25.  Eclipse C/C++ Dev environment for Arduino Mega Allows for parallel development of flight programs and control during PCB development  ATMEL Professional Dev Suite intended for low level debugging though JTAG Need access to JTAG pin outs which the Arduino Mega does not give access to Emulator AVR JTAG ICE device will be used Monty

26.  200Hz Read Gyro Read Accelerometer  100Hz Flight Controls (Stabilization routines)  50Hz Process Telemetry  25Hz Read Barometer  10Hz Read Battery Process Compass Monty

27. PIDATmega MOTORS SENSOR RESPONSE Monty

28.  Task Scheduling – Addition of sensors consumes clock cycles Scheduling sensors in order of priority Circumvent processer and straight to XBee Co-Processor Hard Real Time System – Sam Monty

30. Prototype Frame: Made from Balsa, Poplar and Oak. Aluminum Frame: Aeroquad frame that is more robust. Future Frames: A Carbon Fiber or Fiberglass frame could be used, as these are lightweight at the risk of durability Dan R.

31.  Indoor net and pulley apparatus  Emergency Shutoff via firmware watchdog timer  Manual Emergency shutoff via a serial command Dan R.

32. Phase 1:BenCamdenDanielKlitzMonty PCB Design Flight Command Phase 2: PCB Revision and Design Environmental Sensor *Hardware design *Software design XBee Mesh Network Phase 3: Basic Auto Patterns GPS Integration Dan R.

34. Frame Plan to buy Aluminum frame in the future. If it is not available, we may have to make it ourselves. Schedule uncertainty Current timeline does not incorporate weekends. Availability of components Utilize multiple distributers Code Sharing Tortoise SVN with revision control Broken Parts Backup Parts on hand (Propellers) Dan R.

35. Component#Price E-Flite 480 Brushless Motors4$54 each Hobbywing Pentium 30A ESCs4$23 each Accelerometer ADXL-3451$15 Magnetometer HMC-58431$15 Barometer BMP-0851$20 Gyro ITG-32001$50 XBee ZB Pro 2.4GHz3$40 each Arduino Mega2560 Temp Dev. Boards2$50 each Safe Testing Apparatus1$75 8000 mAH LiPo Battery1$55 Revision 1 Frame Materials1$30 Revision 2 Aluminum Frame1$225 PCB Orders3$65 each ATMega 2560 QFP Processors2$20 each US GlobalSat EM-408 GPS Module1Free, Thanks Nate Bernstein Other Sensors (Gas, Heartrate, Camera, etc)1$20 - $100 each Dan R.

36. Component#Price Other SMT Board Components3$50 each Total (Not including tentative high level sensors)~ $1400 Funding: -UROP -EEF (possible) -Sponsorship through Elintrix Dan R.