SFU UAV System

1
SFU UAV System

• Aerial Robotics Group
• Jimmy Tsai
• Shahin Roboubi
• Mike Mierau
• Marc Alfonso

2
Intro

• Group Members
• History
• Current State
• Hardware
• Software
• Control Flow Diagram
• Future Expectations
• Commercial Possibilities
• Expected Budget

3
History

• International Aerial Robotic Competition
• Conception in 1990 by Robert Michelson, Past
  President, AUVS International
• Missions SFU has been involved with- 1995 pick
  up and return disks from the contest area- 1996
  1997 retrieve sample from toxic waste drums-
  1998-2000 disaster area mapping- 2002-2004 the
  current mission

4
History

• Major Sponsors
• Association for Unmanned Vehicle Systems
  International (http//www.auvsi.org/)
• US Army
• Contest Location
• Soldier Battle Lab's McKenna Urban Operations
  Site,Fort Benning, Georgia

5
History

• Achievements To Date
• 2001 began construction of the helicopter
  platform
• 2002 attended the contest in Calgary Alberta,
  tested various systems but unable to attempt the
  contest targets. High winds and radio
  interference major issues.
• 2003 continued to work on the flight and
  navigation system, local flight tests but did not
  attend as the contest was in Georgia and the cost
  was too high
• 2004 solid hover and forward flight achieved,
  traveled to Georgia and attempted part 1.
  Limitations of the current platform precluded
  completing the task.

6
Hardware

• Model Helicopter
• TSK (old)
• Century Gasser (new)
• Computer
• PC104 stack
• Tri-M power supply
• Jumptec main board (Pentium 166MMX)
• Serial Expander Board

• Sensors
• CSI-wireless Seres GPS
• MicroStrain 3dm-G IMU mounted with custom
  vibration isolation system
• Custom override board
• MaxStream 900Mhz transceiver pair
• Base station laptop

7
Software

• Stack software in C
• PID controller
• Extended Kalman Filter
• Sensor driver modules
• Servo controller module
• Logging
• Real Time Telemetry

• Firmware for override board
• Read pilot input
• Output computer command to servo
• Base Station
• Telemetry display
• PID tuning
• Waypoint management
• Diagnostic data plotting

8
Helicopter Control Flow Diagram
Servos
Sensors
Kalman Filter
Override Board
State Machine
Roll del Roll
Aileron
Pitch del Pitch
Elevator
Yaw del Yaw
Gain Scheduling
Collective
X pos Velocity
Y pos Velocity
Throttle
PID Control
Z pos Velocity
Rudder
9
Current State

• Fully autonomous hover and forward flight
• PID tuning capability real time telemetry
• Flight data logging

10
2004-2005 Expectations

• Reinstall system on more powerful helicopter
• Camera gimbaled mount
• Vision recognition software
• Faster wireless communication
• Ultrasound (autonomous takeoff landing)
• IARC missions
• Improved forward flight algorithms

11
Commercial Possibilities

• Surveillance
• Search rescue
• Movie camera platform
• Military applications
• RC pilot training
• Delivery system

12
Budget

• Long Distance wireless data transceiver pair
  (1250)
• Long Distance wireless video transmitter Camera
  (1500)
• Crash Kit Parts (1500)
• Ultrasound System (500)
• 2005 IARC Trip Expenses (3500)

13
Budget

• Complete backup system ( 9,000)
• Model helicopter (3000)
• Sensors (2500)
• Stack (1000)
• Communication system (1250)
• Video transmitter (1500)
• Base station upgrade (2500)
• TOTAL 19,000