491 Team Component
Anders Nelson (EE)
anelson7@iastate.edu
Kshira Nadarajan (CprE)
kshira90@iastate.edu
Mathew Wymore (CprE)
mlwymore@iastate.edu
Mazdee Masud (EE)
mmasud@iastate.edu
466 Team Component
Kale Brockman
kaleb@iastate.edu
Andy Jordan
andyjobo@iastate.edu
Stockli Manuel
stockli@iastate.edu
Karolina Soppela
soppela@iastate.edu
Client: Space Systems & Controls Laboratory (SSCL)
Advisor : Matthew Nelson
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Project Statement
Conceptual Sketch
Functional Requirements
Constraints and Considerations
Market Survey
Risks and Mitigation
Resources and Cost
Milestones and Schedule
2
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Aim: To participate in the International Aerial
Robotics Competition (IARC) August 2011
 http://iarc.angel-strike.com/
 Overall Challenge: To penetrate a building,
navigate through the corridors and complete
another task like identifying a USB stick
▪ Our specific challenge: To build a platform capable of
flying autonomously, stabilizing and avoiding obstacles
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4
5
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1.5kg Maximum Total Platform Weight
Battery Powered
 Capable of >10 minutes of flight time (12 minute goal)
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Operational
 Onboard stability control
▪ Recovery time goal of three seconds or less
▪ Entirely self-contained hover behavior
 Wireless base station communication
▪ Wireless link capable of at least 42 meters
▪ System capable of JAUS-compliant telemetry
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Expandable
 Potential for navigation in a GPS-denied
environment
▪ Support for USB laser rangefinder
▪ Considerations for computer vision system
 Potential for executing remote autonomous
commands
 Connectivity for manual remote kill switch
 Connectivity for wire-burn USB stick drop-off
system
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Weight
 Batteries
 Power draw mainly from motors for lift
▪ Lift based on weight-completing interdependence
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Compatibility
 Must integrate into 466 team’s vehicle platform
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Time
 Deliverables due at end of school year
 Team has other time-consuming obligations
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Experience
 Team has limited experiences on aspects of the project
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Unique because it’s ISU’s
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Too large a bite
 Scope limitations
 Market survey
 Advisor knowledge
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Multiple-team structure
 Weekly meeting to check up
 Shared Dropbox
 Email communication
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12
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Project plan, design document complete
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Functional Decomposition
Detailed Design
Technologies Used
Test Plan
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Control System
 Main controller
 Flight controller
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Sensor System
 Inertial Measurement Unit (IMU)
 Cameras, Range Finders
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Will not be selected by us.
Software System
Power System
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Main Controller – Gumstix Overo Fire
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Supported by Summit expansion board
Linux with USB host for laser
WiFi communications
Other sensor inputs (A/D)
Flight Controller – PIC24 with nanoWatt XLP
 IMU input
 PWM output
 I2C interface with Gumstix
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Inertial Measurement Unit (IMU)
 Takes in 9 DOF measurements
 Outputs to Motor Microcontroller through serial
interface
 Sampling Analog Device’s High Precision IMU
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External Sensors
 IR/sonar sensors
▪ For basic obstacle avoidance
▪ Used as a fail safe for navigation system
 Range Finders and Vision Systems
▪ To be selected by later teams for SLAM
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Motors are Main Power Draw
 Require 11.1 V
 Each Typically Draw 6A
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Competition Requirements
 10 Minutes of Flight + 2 Minutes for Safety Range
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Battery
 11.1 V - 3cell LiPo Batteries
 Assume 30A worst case draw – 6Ah capacity required
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One Battery is bulky and inhibits thrust
Thus Parallel Combination Used
 Allows flexibility of battery placement
 Lowers required capacity per battery
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Stability
 Test motor stability control with varying degrees of external
disturbance and record response
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Communication
 Test distance and speed of communication between platform
and remote base
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Flight Control
 Determine accuracy of movement from various control
commands
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Obstacle Avoidance
 Determine reliability and accuracy of obstacle avoidance from
movement in various directions
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Endurance (Power)
 Will run the battery under expected load while monitoring
voltage over time
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Documentation
 Project plan, design doc complete
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Design
 Most hardware selected
 Software sketched
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Implementation
 Start over break
 Flight demo in early March
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Contributions
 Anders – Team Lead, Sensor Research
 Mazdee – Power System Research
 Kshira – Software System Research
 Mathew – Control Hardware Research
Implementation Expected Labor
Team Member Control System On-Board Programming Sensor Integration Power System Communication System Parts&Integration Testing Final System Testing
Anders Nelson
20
10
15
10
5
40
60
Mazdee Masud
20
10
10
15
5
40
60
Mathew Wymore
15
30
5
0
10
40
60
Kshira Nadarajan
15
30
5
0
10
40
60
Total
70
80
35
25
30
160
240
Total
160
160
160
160
640
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Test Individual Components
Power System Implementation
Test Integration of Components
Stabilization Control Implementation
 Establish Autonomous Hovering
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Software Implementation
 Simple Flight Capabilities from established
commands
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Testing of Total Design
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IMU Comparison
Power (mW) Score Weight (g) Score Volume (cubic cm) Score Resolution
<50 : 2 50-100 : 1
100-200 : 0 200-400:-1
400-800 : -2 800+ : -3
Negligable: 2
Name/Company
>50g : 0
Atomic IMU 6 DoF - XBee Ready
81.6 1
2
IMU 6DOF Razor - Ultra-Thin IMU
36.3 2
2
9 Degrees of Freedom - Razor IMU - 16MHz
44.0385 2
2
IMU 6 Degrees of Freedom - v4 with Bluetooth® Capability 555 -2
2
Memsense customized solutions
High -3
0
LandMark™ 21 IMU - 1 Cubic Inch "LN Series"
1419 -3
55 0
ADIS16405: High Precision Tri-Axis Gyroscope, Accelerometer,
75 Magnetometer
1
0
Price ($)
Additional Features
Score Score (output) Past Required
<50 : 2 50-100:1
100-200:0 200-300: -1
300+: -2
99.95
89.95
124.95
449.95
Contact for pricing
??
700(0)
1
1
0
-2
-2
-1
2
Digital: 2
Analog: 0
2
0
2
2
2
2
2
<25: 2
25-50:1
43.475
5.61
14
43.68
16.4
29.0928
Score
50+:0
1
2
2
1
1
2
1
.00403g/tick-Low, .977deg./tick1
.83-3.33mV/deg/s, 300mV/g 1
300deg/s
2
500deg/s
3
3
3
.0125degree/s/lsb
4
Source
TOTAL SCORE
1
1
3
8
8
11
5
1
3
13
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