Transcript Document

Introduction
Project Requirements
Abstract
The Association for Unmanned Vehicle Systems International (AUVSI) holds
an International Aerial Robotics Competition (IARC) every July at Ft. Benning,
Georgia. Collegiate teams from all over the world enter unmanned aerial
vehicles (UAVs) capable of autonomous flight into this competition where
specific mission objectives must be met. The goal of the MicroprocessorControlled Aerial Robotics Team (Micro-CART) is to enter a UAV into level-one
IARC competition by developing a fully-autonomous helicopter. This will
showcase the role of Iowa State in the field of unmanned aerial robotics and
provide valuable design experience to Micro-CART team members.
Design Objectives
• Develop an aerial vehicle capable of autonomous flight
• Compete in level-one IARC competition
Problem Statement
• Design and build an aerial vehicle capable of autonomous flight
• Develop an integrated system of sensors to control the aerial vehicle
• Enter into level-one International Aerial Robotics Competition, summer 2005
Operating Environment
• Outside in fair weather conditions
• Maneuver within 430-acre area
• Varied topography and a few man-made obstacles
Intended Users and Uses
Micro-CART team members will use the vehicle to compete in the IARC
Design Constraints
• Flexibility for future modification
• Size and weight considerations
• Cost minimization
• Low power consumption
Current Measurable Milestones
• Autonomous flight-control software testing
• GPS system implementation and testing
• Sonar array integration into flight-control
• Communications ground station development
• Test flight(s): hover, translational test flights
Primary Vehicle
X-Cell #1005-1 Gas Graphite Helicopter
Assumptions
• Continued support from Iowa State University and Lockheed Martin
• Access to test-pilots and helicopter repair technicians
Modifications
• Autonomous flight controller
• Dual on-board GPS Units
• Inertial measurement unit (pitch/roll)
• 4-direction sonar array
• Digital magnetic compass
Limitations
• Current helicopter airframe limitations (lift, weight, speed, fuel)
• Power considerations for on-board hardware
Image retrieved (2/23/2005) from http://www.rcuniverse.com
Expected End Product and Other Deliverables
• Robust autonomous flight system modifiable for various missions
• Documentation covering all aspects of accomplished tasks
• Various research activities documented for future reference
Proposed Approach and Considerations
Estimated Resources
Estimated Cost for Spring 2005
($17,300, including labor)
Functional Requirements
• Hover via autonomous flight-control
• Self-navigation to 5 global positioning system (GPS) waypoints
Estimated Personnel Hours/Group
(1,400 Total Hours)
$14,700
Proposed Approach
• X-Cell #1005-1 gas helicopter as primary vehicle
• On-board controller (PC/104+) interfaces all sensors
• PC/104+ will execute the flight control software
• Global positioning system (GPS) units used for navigation
• Inertial measurement unit (IMU) provides helicopter dynamics
• Sonar array will handle object detection
• Magnetic compass to provide vehicle heading
Technologies Considered
• Flight-controlled ability to hover
• Self-navigation to 5 global positioning system (GPS) waypoints
300
900
$1,000
$400
$1,000 $150
Sonar
Wireless comm link
IARC Entry Fee
$50
Magnetic compass
Maintenance
Labor ($10.50/hour)
100
Team Leader
Ground Station
100
Vehicle Group
Logistic
Project Schedule
Testing Considerations
• Individual hardware unit testing (GPS, IMU, Sonar)
• Integrated hardware unit test with flight-control
• Hover and translational flight tests
Closing Summary
The Micro-CART project teaches students how to familiarize themselves with a
project that they were not part of from conception to deployment. Students must
quickly come up to speed with Micro-CART at its current state and determine
how they can actively contribute to the team. This experience is useful as many
engineers may not experience projects in the workplace that they design,
implement, test, and maintain.
Team Leader
Weston Lahr (CprE)
Logistics
Greg Elliott (EE) (Leader)
Vehicle Sub-Team
Steven Walstrom (CprE) (Leader)
Ross Eisenbeis (EE)
Mitch Geistkemper (CprE)
Peter Levorson (ME)
Aaron Rothmeyer (EE)
Ryan Westbrock (AerE)
David Winfield (EE)
Ground Station Sub-Team
Andrew Riha (CprE) (Leader)
Arvin Gandha (CprE)
Ryan Jobman (EE)
Josh Kirkpatrick (CprE)
Preethi Prabhakar (EE)
Advisors
Dr. John Lamont (EE/CprE)
Dr. Ralph Patterson, III (EE/CprE)
Scott Morgan (Lockheed Martin)
Funding Provided By
Client