1. Hacking and controlling toy flyers Mid-term presentation Student : Frédéric Blanc Assistant : Rico Möckel Professor : Auke Jan Ijspeert

2. Motivations Personal motivations  Electronic, mechanic and programming project  PCB design  Working on Flapping flyer Global motivation  Hacking vs designing complete flyers 2

3. Outline Flyer’s description Possible improvement Mechanical constraints Global schematic Future works 3

4. Flyer’s description 4 Two degrees of freedom: Yaw controlThrust control

5. Possible improvement Increase the number of DOF  Additional propeller for pitch control 5

6. Possible improvement Extend time of flight  Additional battery Stabilisation (Hovering)  New sensors (accelerometers, gyroscope, magnetometer) Complete autonomous control  Out of the field of this project but still possible with a camera and optic flow algorithms 6

7. Mechanical constraints Air vehicles implies light embodiment  Total weight of the original dragonfly : 22 g Light embodiment implies small PCB  Limited in the choice of components 7

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9. Global schematic 9 Bluetooth Module H-Bridges 3-Axis Accelerometer 3-Axis Gyroscope 3-Axis Magnetometer Batteries Power converter DsPic I2CI2C UART PWM Motors

10. Future work 10 Layout of the PCB SolderingProgrammingTest  Placing components  Routing

11. Future work 11 Layout of the PCB Soldering ProgrammingTest

12. Future work 12 Layout of the PCB Soldering Programming Test Main steps :  Motor control  Communication with digital sensors (I 2 C)  Communication with the bluetooth module (UART)

13. Future work 13 Layout of the PCB SolderingProgramming Test  Mechanical tests  Programming tests

14. Future work 14

15. Thanks for you attention ! 15