Project ASD Aerial Surveillance Drone

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Project ASDAerial Surveillance Drone

• Team Syntech
• Ken Hua
• Andy McCormick
• Dan Redington
• Travis Cartwright
• Ryan Le
• Critical Design Review

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Project Overview

• The ASD is an Aerial Surveillance Drone that is
  designed for use by corporate or military
  projects.
• The ASD provides advanced reconnaissance and much
  needed intel on tactical locations.
• Autonomous drones are expendable.

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Time Budgeting
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Project Gantt Chart
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Milestone 1 Deliverables

• Fully constructed quad-copter
• with limited capability.
• This includes
• Designed and constructed
• frame and test area
• Hover function
• Balance function

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Milestone 2 Deliverables

• Fully constructed and functional quad-copter
• This includes
• Hover and Balance functionality
• Turn left/right
• Ascend Descend
• Wireless communication established

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Expo Deliverables
A completed quad-copter with mounted camera and
fully autonomous functionality.
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Division of Labor
Ryan Software Algorithm development Software
development Hardware Motor mount design Prop
mounting Material testing
Daniel PCB Design Core circuit design Peripheral
design V1 and V2 board layout Power
Systems Primary and auxiliary power design
Travis PCB Design Core circuit design Peripheral
design Circuit construction Software Software
development Test Design Test area design Test
data collection
Andy Documentation and Budget CDR
compilation. Resource tracking Timesheet
upkeep Hardware Frame construction Test
Design Construct test area
Ken Software Lead software design Software
development Algorithm design Hardware Frame
design Material research
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Monetary Budget
Bought Items Part Qty Cost Totaltax
LiPo Balance Charger EXTR7595 1 42.89 42.89
EDF Outrunner motor HK90132 1 9.99 9.99
Brushless heli motor TP2415-07T 1 11.99 11.99
Turnigy EDF Outrunner T26101C4000 1 13.45 13.45
GWS EP Propeller 127x76mm 6pc. GWS-DD-5030 1 3.4 3.4
Thunder Power 2250 mAh LiPoly LP-TP2250-3SP30 2 57.99 115.98
Tenergy LiPo Battery Tester 1 16.24 16.24
Heli Series ESC (motor driver) 1 15.12 15.12
E-Flite Balance Adapter Cables EFLA229 1 7.99 7.99
balancer connectors 3 3.25 9.75
PVC40 PIPE and Tees 1 38.04 38.04
Nets 3 14.99 44.97
Motor Collars 3 2.59 7.77
Tax 1 4.38 4.38
Xbee Explorer USB WRL-98687 1 24.95 24.95
Arduino Uno SMD DEV-10356 1 36.05 36.05
Inclinometer Dual 1G 551-1003-1-ND 1 64.62 64.62
IC MCU AVR32 AT32UC3B0256 2 12.52 25.04
Xbee Antenna Chip XB24-ACI-001-ND 2 19 38
IC 3 axis accelerometer 497-8549-ND 2 5.12 10.24
40 MHz Crystal 18PF 535-10650-1-ND 2 1.65 3.3
shipping and tax 1 9.58 9.58
Carbon Fiber Tube SM4548F 1 44.55 44.55
shipping and tax 1 15 15
Carbon Fiber Sheet WCC-T0151116 1 22.99 22.99
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Monetary Budget
The total Spent amount for the quad copter test
and build is at 932.75 of the asked for 1100.
We are finished in buying the critical
components except for the printed PCB.
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Component Diagram
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Microcontroller

• AT32UC3B0256
• AVR32 Architecture
• 32kB Program Memory
• 256kB Flash Memory
• USB Bootloader
• Up to 66MHz Clock

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Microcontroller

• General Purpose IO
• 44 GPIO Pins
• Secondary Functions
• PWM Output
• SPI Bus
• USB Interface
• Analog to Digital Converter
• USART

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Wireless Module

• XBee
• Indoor Range 30m
• 2.4 GHz Operating frequency
• TX Current 45mA
• Rx Current 50mA
• UART Interface
• 3.3V Supply Required

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Rangefinder

• Ping))) Ultrasonic Distance Sensor
• 2cm 3m
• 30mA supply current
• 5V Supply
• Timed Response Pulse
• Only requires one IO pin

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Controller Power Circuit
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Software Block Diagram
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Software Description

• Main functions (Purple)
• demo() calls the control and led functions in a
  specified order to demo the capabilities of the
  quadcopter
• patrol() similar to demo but will follow the
  beacons for navigation
• remote() handles remote control input
• kill(int killSig) shuts off all operations
  immediately if the killSig variable is true
• launch() launch sequence
• land() landing sequence

• LED functions (Red)
• blink(int led) sets the selected led to blink
• on(int led) turns on selected led
• off(int led) turns off selected led
• Motor functions (Blue)
• mControl(int motor, int speed) sets the motor to
  the speed given by changing the corresponding
  mArray index

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Software Description

• Control functions (Grey)
• zMove(int alt) move to given altitude alt
• xMove(int dist) move in the x direction to given
  distance dist
• yMove(int dist) move in the y direction to given
  distance dist
• rotate(int deg) rotate by given degree value
• hover() sets the copter into hover mode

• balance() constantly adjusts the copters set
  calibration variables set by the calArray
• xAdj() changes calArray0 if needed
• yAdj() changes calArray1 if needed
• zAdj() changes calArray2 if needed
• iAdj() changes calArray3 if needed
• jAdj() changes calArray4 if needed

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Software Description

• Sensor functions (Yellow)
• altRead() reads altitude
• xRead() reads x acceleration
• yRead() reads y acceleration
• zRead() reads z acceleration
• iRead() reads tilt in i
• jRead() reads tilt in j
• Wireless Com functions (Green)
• rxLED() handles rx from LED Mode button, cycles
  through on, blink, and off

• rxKill() handles requests from kill switch, sets
  killSig to 1 (0 is no kill sig)
• rxHover() handles requests from hover, overides
  all commands and calls hover()
• rxLR() handles requests from Left and Right
  buttons
• rxUD() handles requests from Up and Down buttons
• rxFB() handles requests from Forward and
  Backward buttons
• rxLL() handles launch and land requests

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Frame Solidworks
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Frame

• Main body
• 2 carbon fiber plates
• IC board mounted to top
• Mounting Hardware
• 4-40 screw size
• 4 standoffs (plastic)
• 4 spacers (plastic)
• 4 nuts (plastic)
• 12 arm mount screws

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Frame

• Battery
• Mounted in between plates
• Arm mounts
• Delrin (Acetal)
• Arms
• Carbon fiber tube .45
• 6 (5 pictured)

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Frame

• Motor Mounts
• Delrin (Acetal)
• High strength and rigidity
• Light weight
• Motors mounted on inside of tube

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Preliminary Testing

• Motors
• Mounted through the lid of a box
• Tested the I-V characteristics
• I-V graph is for unloaded motor

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Preliminary Testing

• Motors
• We used a tachometer to measure RPM
• RPM chart for loaded motor

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Test Plans

• 5 foot cube made from PVC pipe
• Cube will be surrounded by a net
• Quadcopter will be tethered to the ground

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Test Plans

• Balance testing
• A stand will hold two opposing arms in place
• The other arms are free to move.

• This allows for actuation in one plane
• We can use this to hone in balance control

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Risks, Delays Contingencies

• Broken components
• We ordered doubles of most
• Over budget
• Remove camera
• Structural failure
• Evaluate material choices

• Controller failure
• Adjust schedule for revision
• Arduino last resort
• Controllability
• Expect major delays
• Test cage for safety

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Questions?
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Inclinometer Circuit
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Accelerometer Circuit