Top Banner
Midterm Presentation May 11-10: Autonomous UAV Competition Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) [email protected] Mathew Wymore (CprE) [email protected] Kshira Nadarajan (CprE) [email protected] Mazdee Masud (EE) [email protected] 1
14

Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) [email protected] Mathew Wymore (CprE) [email protected].

Dec 22, 2015

Download

Documents

Julian Morris
Welcome message from author
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Page 1: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

1

Midterm PresentationMay 11-10: Autonomous UAV Competition

Client: Space Systems & Controls Laboratory (SSCL)Advisor : Matthew Nelson

Anders Nelson (EE)[email protected]

Mathew Wymore (CprE)[email protected]

Kshira Nadarajan (CprE)[email protected]

Mazdee Masud (EE)[email protected]

Page 2: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

2

Problem Statement

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 completing tasks such as replacing a USB stick▪ Our specific challenge: To build a platform

capable of flying autonomously, stabilizing and avoiding obstacles

Page 3: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

3

Functional Requirements

1.5kg Maximum Total Platform Weight Battery Powered

Capable of >10 minutes of flight time (12 minute goal)

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

Page 4: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

4

Functional Requirements (continued)

Expandable Potential for navigation in a GPS-denied

environment▪ Support for laser rangefinder▪ Support 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

Page 5: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

5

Project Plan

Working with 2 other teams this semester Engr 467 – Platform team worked with last

semester Engr 466 – Newly created, are Controls team

for Project Weekly team and large group meetings

Team lead from Engr 467 leads group meeting and combines agendas from each team

Working closely with Controls to set API and sensors to their requirements

Page 6: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

6

Project Design – Full Solution Quad-Copter Sensors

6 DoF IMU Laser Range Finder Camera Vision System RF Beacons for

localization Control System

Dedicated stability controller

Remote Kill Switch and Manual Control Ability

Page 7: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

7

Project Design – Our Component

Control System PIC microcontroller dedicated to stability control Gumstix for on board processing and communication of

sensor data Software System

Determine architecture solution around navigation algorithms

Sensor System Selection of sensors to match controls team requirements▪ 6 DoF IMU, Sonar Altitude Detection, Laser Range Finder, Cameras

for Vision System, RF Beacons Power System

Selection of battery scheme to match power requirements

Page 8: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

8

Implementation Status

Control System Main controller Flight controller

Software SystemSensor System

Inertial Measurement Unit (IMU) Cameras, Range Finders, RF

BeaconsPower System

Page 9: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

9

Control System Status

Gumstix has been received Had problems getting it to boot Can now ssh to it over WiFi

PIC has been received Test I/O program successfully run

Next steps Get Gumstix and PIC to talk Get controllers to read sensors

Page 10: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

10

Software System Status

Software Architecture being created

Waiting on Gumstix boot Linux to be installed

Started working with Pic

Work on integrating software on components

Page 11: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

11

Sensor System Status

Sensors are selected and ordered Inertial Measurement Unit (IMU)

Analog ADIS 16364 High Precision IMU Laser Range Finder

Hokuyo URG-04LX Scanning Laser Range Finder Sonar

Maxbotix MB1040 LV-MaxSonar-EZ4 Cameras

Selected from Controls team to be Logitech C905 Will be ordered at time of presentation

New system – RF Beacons Working with Adviser on selection and integration Added recently from Controls team

Page 12: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

12

Power System Status

Ran into issue with requirements from platform team Platform team gave incorrect power

estimate They are reselecting the motors and

props Should have new estimate to work

with by end of the week

Page 13: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

13

Schedule

Page 14: Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu.

14

Questions?