Fall Term PowerPoint Presentation

Transcript Fall Term PowerPoint Presentation

Global UAV Market

 Global UAV Production – $3.4 to $8.8 Billion 2011-2020 3  Civil UAV Production – $296 to $498 Million 2011-2020 3 3 US International Trade Administration

Barriers to Entry

 FAA Limitations – Strict National Air Space regulations – Limited to no available certifications  High Cost – $3,234 per Hour – Low Cost Option • $3.2 Million 3

The Solution

 True Low Cost – Less than $2500 – Open Source – Targeted Payload – Minimal Training  Poised and Ready before FAA Certification 4

Stakeholders Influencing Design

     Project 41 – Airframe and gimbal design Project 45 – Communications Project 42 – Software Senior Design Advisor, Dr. Yousuff SUAS Judges 5

Concept of Operations

System Startup Autonomo us Takeoff In-Flight Re Tasking SRIC Area Search Waypoint Navigation Target Recognitio n Autonomo us Landing Target List to Judges Time Ends 6

Methodology

 No legacy to build on: use competitors’ journals  Use of COTS parts and open source software   Prioritize competition objectives Innovation to gain advantage over competitors  Reproducibility 7

Technical Areas

Project 41: Airframe, Gimbal Team Project 45: Communications Team Project 42: Software Team  Airframe  Gimbal  RF Communications  GCS Networking  Onboard Hardware  Ground Control Station 8

Project Management

    Collaboration via Dropbox, Google Docs All information is accessible Weekly meeting including all teams Early Gantt chart development 10

Gantt Chart

10.31.12

Build Prototype 1 Purchase 900 Mhz Prototype Gimbal OpenCV Dev Path Planning Dev Flight Training Purchase 5.8 Ghz Build Prototype 2 APM I&T Program Gimbal 72 Mhz dev OMAP>GCS Comms Dev Design Proto-flight 1 Test CV, Stitching OMAP>GCS Comms I&T SRIC Dev Image Stitch Dev OpenCV live testing Quad/heli full system assist Build Proto-flight 1 Des/Build Proto-flight 2 Des/Build Flight 1 Auto tracking antenna CF Gibal Design Full Systems Testing Full Systems Testing Full Systems Testing Task 12.20.12

2.8.13

3.30.13

5.19.13

   Airframe and Gimbal Communications Software 11

Budget

Remaining $30 0 Communications $50 0 Onboard Hardware $50 0  Airframe and Gimbal   Communications Software Total Budget: $2500 Airframe $50 0 $20 0 Gimbal $50 0 Camera Spent Remaining 12

Primary Needs That Influence Design

      Provide Surveillance images Provide Airspeed data Contain and carry hardware Power for components Maintain static and dynamic stable flight Follow Competition Restrictions 14

Important Technical Specifications

   Minimum of ± 60 degrees of camera roll Generate more than 25 lbs of lift  Has a C M,0 must be greater than 0 (statically balanced) Has a ∂C M,cg /∂α less than 0 (statically stable)  Minimum 40 min of endurance 15

Design Items

 Gimbal Assembly  Fuselage  Wing  Tail  Propulsion 16

Design Flow Chart

Mission Requirement s Stakeholder Needs and Specifications Equipment Requirement s Hardware Embodiment Airframe Weight Payload Weight ∑ Lift Requirement s Desired Performanc e Wing Lift/Drag Ratio Thrust Requirement s 17

Yaw-Pitch

FOR UP LBL 18

Roll-Pitch

FOR UP LBL 19

Gimbal Design Evaluation

Parameter Interface ability Simplicity Cost Weight Form Factor Pointing Capabilities Weight 2 3 3 3 4 5 Total Yaw Pitch 2 3 2 4 3 2 2.65

Roll-Pitch 2 4 3 3 4 4 3.5

Fuselage

 Contain: ~4"x4.5" Pandaboard ~4"x2" Arduino   Modular gimbal attachment method Tray system for easy removal and connection of hardware components.  Simple, lightweight construction 21

Wing

   Fixed Wing Aircraft High Wing Configuration Important to consider wing-loading – Affect wingspan and what type of airfoil we will choose 22

Wing (Cont.)

 “Summary of Low-Speed Airfoil data” by Selig Guiglielmo, Broeren, Giguere  Free Software available to design and test airfoils – Profili 2 – FoilSim  What we used for our first trainer plane – NACA 2412 23

NACA 2412 Properties

∂C l / ∂α 0.103

C m,ac -0.02

C d,o α a 0.007

-2.22

° 24

Flying Wing

  Reduced horizontal yaw control Increased lift and reduced drag 25

T-Tail

  Independent yaw and pitch controls Gets the elevators out of the downwash of the main wing 26

Conventional Tail

 Final tail design 27

Propulsion

 Motor: NTM Prop Drive 50-50 580KV / 2000W  Propeller: – Pitch: 15x8 -18x8 – Max thrust: ~10kg – Power Consumption: ~40A – Estimated battery life: ~50 min 28

Landing Gear

  Wheeled landing gear Long enough to keep the gimbal off the ground when landing. 29

FINAL DELIVERABLE

Possibilities Moving Forward

 Laser Doppler Vibrometry  UG lab wind tunnel  Varying camber airfoils – Alternate manufacturing methods  Carbon fiber fuselage 31

Questions

 Next up: Communications Team 32

Autopilot Needs

 Communication System – Primary • Long range (1 mile minimum) • Low error rate • Legal for US operation – Secondary • No licensing required • No configuration required 34

Autopilot Radio Selection

Parameter Range t Licensing Throughpu Complexity Cost Weight 7 9 4 7 9 Total Xbee Radio 1 4 2 1 4 94 3DR Radio 3 4 FDR900 Radio 5 4 4 4 3 128 4 4 -1 106 35

3DR Telemetry Kit

       900 MHz Low-Cost All hardware included 1 mile range (extendable) Open source No license required “Plug and Play” 36

Range Testing

 Completed – Serial Communication Established – Basic Test Program Constructed  In Progress – Link “Stress” test over range.

– BERT – Bit Error Rate Test 37

Autopilot Demonstration

Imagery Link Needs

   Receiving pictures from Pandaboard Constant connection High data rate – 3-10 Mb/s  Available frequency – 2.4 GHz or 5.8 GHz  Low Cost 39

Antenna on Airplane

 All antennas will need – 2-6 dBi – > 1 mi range  Omnidirectional – Horizontal plane: 360 o – Vertical plane: 5-10 o  Blade – 260 o behind antenna  Dipole in vertical stabilizer – Horizontal plane: 360 o – Vertical plane: 5-10 o Omnidirectional Blade Custom Dipole 40

At Ground Control Station

 All antennas will need – 10-14 dBi – > 1 mi range  Omnidirectional – Horizontal plane: 360 o – Vertical plane: 5-10 o Omnidirectional Yagi  Yagi antenna – Horizontal plane: 20-35 o – Vertical plane: 30-45 o  Patch antenna – Horizontal plane: 100-180 o – Vertical plane: 100-180 o – In front of antenna Patch 41

Imagery Antenna Evaluation

Parameter Gain Beam Width Size Complexity Cost Weight 6 7 4 6 8 Total Omni 3 4 2 4 3 102 Blade 4 2 4 4 0 78 Dipole 3 3 3 0 4 83 Parameter Gain Beam Width Size Complexity Cost Weight 9 7 3 6 7 Total Omni 0 4 3 3 3 76 Yagi 4 2 0 3 2 82 Patch 3 4 4 5 2 111 42

Tracking Antenna Needs Position Feedback

    Precise Accurate Fast Durable

Control Loop

    Stable Modular Automatic Control Manual Control 43

Potential Solutions

  Measured Position Devices – Encoder – Resolver – Potentiometer – Magnetic 44

Prototype Weighting

Parameter Precision Accuracy Speed Durability Complexity Cost Weight 8 9 6 4 3 7 Total Incremental Encoder 4 -1 3 4 4 0 69 Absolute Encoder 4 4 4 4 4 -2 106 Potentiometer 5 3 3 4 -2 5 130 45

Potentiometer Feedback

    Cheap Easy to Implement Multi-Turn Absolute over Entire Range 46

Scaling Solution

 Inverting Op-Amp – Works with supply – Tunable to any range – Stable Amplification 47

Future Work

      Equipment purchasing, testing and implementation. GCS networking Pandaboard and APM communication Safety link Auto tracking antenna SRIC – Simulated Remote Intelligence Center 48

Questions?

 Next up: Software Team 49

Critical Stakeholder Needs



Camera interface and control



Flight Command

 Autonomous navigation 

Characterize glyphs

 Autonomous glyph recognition 

Image stitching

Imagery Workflow

(Simplified) Autopilot Onboard Computer Flight Command In-flight retasking Computer Vision Results for Judges Imagery Manual Tagging/Inp ut 52

Onboard Computer Target Specs

    Data transfer rate: 3-10 Mbps Max package dimensions: 5x12x4 in Potential for onboard image processing Open Platform 53

Onboard Computer Concept Evaluation

Size & Weight Cost Versatility Support Performance Weight 2 3 4 5 6 Total Pandaboard 2 3 4 5 5 4.2

Beagle Board 3 4 3 4 3 3.4

Raspberry Pi 4 4 3 3 2 2.95

PandaBoard ES

   OMAP Dual Core Processor – 1.2 GHz  Memory – 1 GB RAM – SD Cards Onboard Wireless Weight: – 81.5 grams 4.0” 55

Onboard Camera Specs

  Resolution: >6 MP Adjustable settings – Exposure, shutter speeds, zoom   Ability to interface with software Meets payload capabilities 56

Camera Concept Evaluation

Size & Weight Cost Quality Parameter Control Interfacability Weight 1 3 3 5 8 Total DSLR 1 3 5 5 5 4.5

GoPro Hero3 5 3 4 Point and Shoot 3 5 4 2 3 3 3 4 3.85

Digital Single-Lens Reflex Camera

Characteristic Description Interface USB 2.0

Lens Mount Interchangeable Resolution (h x v) 18 MP (5184x3456) Shutter Progressive Dimensions H:5in W:4in L:3in Mass 400-700g 58

DSLR – PandaBoard Interface

Autopilot, Flight Command Target Specs

  Autopilot – IMU, GPS, Magnetometer, Barometer – Inputs/Outputs • PWM Outputs: 7-10 channels • PWM Inputs: 6-8 channels • Analog Inputs: 3-5 channels • Serial Tx/Rx: 2-3 channels Flight Control Software – Display critical data – In flight re-tasking capabilities 60

Autopilot Concept Evaluation

Price Weight APM 2.0 APM 2.5

4 0 -1 Telemetry GPS 3 3 0 0 0 2 Weight Ease of Use 1 3 Total 0 0 0 0 1 5 MP2128 Heli -4 1 2 -1 0 -8 Umarim Lite v2 -1 -1 -1 3 -1 -9 61

2.5

   Onboard sensors – 3-axis Accelerometer – 3-axis Gyroscope – 3-axis Magnetometer – Barometer GPS Open-Source Analog Inputs PWM Outputs PWM Out/Inputs Sensors GPS Connector 62

Flight Command Software

  Planner Load APM Firmware directly – Configure Airframe settings Easy to use interface QGroundCont     rol Waypoint Navigation In flight PID gain tuning Highly adjustable Offline Map Caching 63

Computer Vision Target Specs

 Glyph Characterization – Alphanumerics: 36 letters/numbers – Shapes: ~10 basic shapes – Colors: 6 primary/secondary colors – Orientation: Compass directions (45°) – Determine position: 2-10 pixels 64

Computer Vision System: ADCCI

 Automatic Detection/Cueing, Classification, and Identification System (ADCCI)  Semi-autonomous  False positive rate < detection rate MANUAL • No autonomy CUE • Location CLASSIFY • Location • Two traits IDENTIFY • Location • All traits 65

OpenCV Algorithm

Orthorectification Segmentation Color Detection: Histogram Shape Recognition Masking Letter Recognition 66

Image Stitching

Future Work

    Develop OpenCV Algorithms Test and integrate APM 2.5

DSLR/Pandaboard Interfacing Integrate all subsystems 68

Questions

 Project 42: Software Team  Project 41: Airframe, Gimbal Team  Project 45: Communications Team 69

References

10.

Simons, Martin. Model Aircraft Aerodynamics, Fourth Edition. Special Interest Model Books LTD., Dorset. 1999.

R/C Aircraft Design. Paul K. Johnson. Jan 2009. Airfield Models. 11 Nov 2012 Cheesebro, Jonathan. "Unmanned Aircraft Systems." .

International Trade Administration

. 3DR Radio Kit image. http://wiki.ardupilot mega.googlecode.com/git/images/3DRadio/3DR-radio-kit-dip-small.jpg

Yagi Antenna image. https://encrypted tbn3.gstatic.com/images?q=tbn:ANd9GcRjABMffh_APnJAM3FJ_VbWIxF_AVVOv2NjbyL -E0UVEsBDp3mX 2.4 GHz omni antenna image. https://encrypted tbn1.gstatic.com/images?q=tbn:ANd9GcRMjO ORizYSHzVOchInWJKPl1M4nozMb3gKyG2oEx4cLfZNAkDxA 2.4 GHz blade antenna image. https://encrypted tbn1.gstatic.com/images?q=tbn:ANd9GcQ0JoMFCxjU9 4MSbuMJWKXM1mPsAunvVJPO-7sN8ZOX3WRXkb3 2.4 GHz outdoor antenna image. https://encrypted tbn2.gstatic.com/images?q=tbn:ANd9GcTdnJTe562cz_SgJ7XPV NdhiY09LgnD_kZUlJ7hQSbLWOGgmXzbw Vertical Stabilizer image. http://www.americanflyers.net/aviationlibrary/pilots_handbook/images/chapter_1_img_32 .jpg

70 Dipole antenna image. http://www.n4lcd.com/wireantennas/12-Dipole-Antenna-Balun.jpg