AURORA
Aerial
Unmanned
Reconnaissance and
Operations
Research
Aircraft
Overview – What, Why, and How…
• Attempt to design and build the first
successful UAV at Florida Tech
• 4th Annual AUVSI Student UAV
Competition in St. Inigoes, Maryland
– Navigate a pre-determined course
– Search and recognize targets
– Process images autonomously
http://my.fit.edu/senior_design/uav
Organizational Chart
Justin Oliveira
TEAM LEADER
Todd Rausch
Julie Wikete
AEROSPACE
Lori Schwartz
ELECTRICAL
Art Rozenbaum
Tania Gay
Amit Patel
Rakesh Gupta
Mark Campbell
Megan Kramer
Zack Brimhall
Omari Sarjeant
Chelsea Whitten
Robyn Evans
Louis Nucci
Kyle Flynn
Adam Linsenbardt
Saranya Raghavan
David Kincaid
Sadiq Bashir
Christopher Jojola
Dustin Clauser
Tim Pelletier
Chris Cease
http://my.fit.edu/senior_design/uav
Overview – Sub-Teams
• Structures
– Design airframe independently
– All mounting points on the plane
• Electrical
– Using off-the-shelf products
– Autonomous flight or remote flight pattern recognition
– Payload
•
•
•
•
Image and data storage
Ground-to-air communications
Autonomous control unit
Ideally air-to-ground communications also
http://my.fit.edu/senior_design/uav
Team AURORA
• Aspires to create a smaller, more efficient
and cost-effective product
• Alternative to current products
• Off-the-shelf electrical components
– Cheaper product
– Commercial applications possible
http://my.fit.edu/senior_design/uav
Electrical Success
• The project will be considered successful if
as long as all electrical components work,
regardless of aircraft flight.
http://my.fit.edu/senior_design/uav
Specifications
•
•
•
•
•
•
Weight: < 55lbs
Wing Span: 13ft.
Length: 10ft
Autopilot: MP2028
On board Computer: PC104 board
Transceiver: WIT2410 range: up to 20 miles,
data rate: 460Kbps
• Camera: SSC-101: zoom: 270X zoom,
resolution: 480 lines
• Servos: Futaba S5301
http://my.fit.edu/senior_design/uav
Aircraft
http://my.fit.edu/senior_design/uav
Requirements
• Create a UAV capable of performing realistic autonomous
missions. The aircraft is to be launched and transition or
continue to autonomous flight, navigate a specific course, use
on board payload senors to locate and assess a series of
man-made objects prior to returning to the launch point for
landing.
• The take-off gross weight of the aircraft is not to exceed
55lbs. For safety purposes the aircraft wings must be able to
handle a 2.5g load case without breaking. The aircraft must
have a radio control fail safe that is automatically selected
during the loss of signal or manually selected if required.
• Total mission time including time for image processing is 40
minutes. The mission is to be flown at an altitude above 50ft
AGL and below 500ft AGL. The aircraft must be able to
navigate using GPS and must be able to demonstrate
dynamic control by changing airspeed, altitude, etc during the
mission.
http://my.fit.edu/senior_design/uav
Block Diagram
Power Board
Power board will
distribute regulated
power to each part
Micropilot MP028g
USB
Program will acquire GPS
data and send signal to ake
picture mapped with current
data.
Serial RS232
Autopilot with sensors and
GPS system.
Se
r
ial
RS
23
2
USB capture device
connected to a digital
camera.
Servo Board
Jaguar PC 104 board
Camera
Cirronet
Wireless TX/RX
Cirronet
Wireless TX/RX
Ground Station
http://my.fit.edu/senior_design/uav
Servos run
through the UAV
to control it
Software – Ground Flight Controls
Manual overide
Initiate if necessary
Transmit & Receive Flight data
Aircraft
Horizon Autopilot
software
Handles course,
airspeed, position and
all necessay correction
http://my.fit.edu/senior_design/uav
Software – Image Processing
Image Data, time
stamped
Location, Time,
Altitude, Direction,
Velocity for all
times
Pictures and
data matched
by Time
Using Labview,
Picture data is
overlayed into one
large landscape
http://my.fit.edu/senior_design/uav
Search Data Shape
Using I-Vision
Possible matches
to search shape
are highlighted on
Landscape
Output:
Area Map with
Landmarks
Highlighted from
backround
Topograghy
Design Drawing - Flowchart
Set numpic=# of images
Set loopflag=0
Set shaflag=0
Set shanum=#shapes
Set finalimage=image(0)
Images and
telemerty in
arrray
Loopflag=loopflag
+1
No
Combine at matching
parts by adjusting
zoom and direction of
image(loopflag)
Save to finalimage
Find matching
parts of
image(loopflag)
and finalimage
Search finalimage
for shape(shaflag)
Loopflag=numpic
Yes
Shaflag=shanum-1
Calculate GPS
location based on
known locations
Search
patterns in
an array
GPS
Locations of
partterns in
an array
Shaflag=shaflag+1
No
Yes
Highlight location
on finalimage
http://my.fit.edu/senior_design/uav
Output
finalimage and
pattren location
array
END
Power Board Circuits
Servo Board
5.4 v
1-2 a
Regulating
Circuit
DC
11.1v
Regulating
Circuit
DC
11.1v
Wireless
5v
.02 a
Regulating
Circuit
Camera
12 v
.35 a
DC
11.1v
DC
11.1v
http://my.fit.edu/senior_design/uav
PC 104
5v
4.41 a
Micropilot
6.5 v
.14 a
Schematic - Camera
http://my.fit.edu/senior_design/uav
Schematic – Servo Board
http://my.fit.edu/senior_design/uav
Schematic – Micro Pilot
http://my.fit.edu/senior_design/uav
Interface Specifications & Requirements
• Data
– Raw Images taken from image
– GPS location of each image
– Heading and altitude of UAV for each image
• Image Manipulation
– Images are overlaid together using GPS
– Images are matched to digital landscape for elevation info
– Output is converted to grayscale
• Image Processing
– Given patterns are matched to locations on the landscape
– Pattern matches are highlighed
– GPS location is outputted
http://my.fit.edu/senior_design/uav
Testing Procedures: Module 0
Code for regulating power board
• Set-up circuit in PSpice and make sure voltages
and currents are correct at each output terminal.
• Set up different test cases where it creates
simulated spikes to see how the devices
respond.
• Breadboard and test actual voltages and
currents correspond to the theoretical values
with generic loads before connecting equipment
to prevent damage.
http://my.fit.edu/senior_design/uav
Testing Procedures: Module 1
Code for taking and storing pictures
• Run the program that takes in GPS data and
takes pictures saving the data and pictures to
compact flash.
• Send in generic data where the GPS will
connect serially and check if the USB output
captures a picture.
• Finally check whether the data and picture was
saved correctly. Test some outlying data to input
as simulated GPS data and check to see if the
code functions correctly.
http://my.fit.edu/senior_design/uav
Testing Procedures: Module 2
Code for converting images
• Run the program that takes the data from
the compact flash.
• Use generic input to test whether the
system is successful converting the image.
• Once the software has completed this
process, a test should be conducted to
determine whether the converted was
saved correctly into memory.
http://my.fit.edu/senior_design/uav
Testing Procedures: Module 3
Code for image recognition
• Run the program which uses the previously
converted image to look for specified objects.
• Using the sample input, test whether the system
is able to locate for the objects.
• Lastly, check to see if the information on the
recognized objects is stored correctly into
memory.
http://my.fit.edu/senior_design/uav
Risks & Solutions - Technical
• Power Board Development may take more time than anticipated
– Preliminary power board layout is complete
– Currently designing schematics for power board
– Determining the correct value for the components for the power board
are taking longer than expected
– Calculations are not giving the desired output
– Solution: Continue testing power board circuit and seek
professional assistance
• Software Development may take more time than anticipated
– Currently writing algorithms for:
•
•
•
•
Module 0: Regulating Voltage
Module 1: Image Restoration from Snapshots
Module 2: Image Conversion
Module 3: Image Recognition
– Need assistance for MatLab coding in Labview
– Solution: Seek professional assistance
http://my.fit.edu/senior_design/uav
Risks & Solutions - Schedule
• Time delay due to power board and software
development taking more time than anticipated
• Time delay in ordering the necessary parts
• Possibility of not receiving parts on time to build
and test prototype during allotted time period
• Time delay in ordering new parts, if necessary
– Solution: Resolve technical risks immediately to
avoid future time delays readjust schedule and
overestimate possible man hours in order to
consider future time delays
http://my.fit.edu/senior_design/uav
Reliability and Maintainability
• Measures of Reliability:
– Mean Time Between Failures (MTBF)
• In terms of flight hours
– Failure Rate
• Failure over a certain time period
http://my.fit.edu/senior_design/uav
Reliability and Maintainability
• Measures of Maintainability:
– Mean Time to Repair
• Average number of repair times
– Maintenance
• Man-hours per flight hour
– Maintenance crew size
• Average number of people required to accomplish
the task
• Factors which influence reliability:
• Proximity to ground
– Affects interfacing with electronics at the base station
http://my.fit.edu/senior_design/uav
Reliability and Maintainability
• Plans to achieve reliability and
maintainability:
– Simplification – Fewer parts means less things are
likely to fail
– Standardization – Quality and capacity of equipments
are comparable
• Use off-the-shelf products to reduce costs and increase
standardization of components
– Reliability Design Checklist
– Back-up power systems for electronics and engine
– Auxiliary power located in the fuselage
http://my.fit.edu/senior_design/uav
Status – Schedule
http://my.fit.edu/senior_design/uav
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Hours
Status – Labor
45
40
35
30
25
20
15
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Planned (Hours)
http://my.fit.edu/senior_design/uav
Actual (Hours)
Bill of Materials
Line
Item
Part / Model
Number
Part Description
Manufacturer
Supplier /
Vendor
Number
Unit
Unit
Price
Extended
Price
Surveillance
Spy
Equipment
1
unit
$549.99
$549.99
1
SSC-101
27x optical c25 ccd camera
MarBril
Enteprises Inc.
2
MP2028g
Micropilot MP2028g
Micro Pilot
Micro Pilot
1
unit
$500.00
$500.00
3
SBC 1586
PC 104 board Micro/Sys
Micro/Sys
Micro/Sys
1
unit
$485.00
$485.00
4
SDCFB-1024-A10
1 GB Compact flash card
Sandisk
Amazon
1
unit
$74.99
$74.99
5
WIT2410
Cirronet wireless Rx Tx
Cirronet
Cirronet
2
wires
$409.0
0
$818.00
6
misc. electronics
electronics
misc.
misc.
1
unit
unknow
n
unknown to
date
3LP650
11.1v Lithium Polymer
Batteries
Batteries America
Batteries
America
4
battery
$31.95
$127.80
7
TOTAL:
http://my.fit.edu/senior_design/uav
$2,555.78
AURORA
Questions?
Aerial
Unmanned
Reconnaissance and
Operations
Research
Aircraft