Slide 1

enter Dept name in Title Master Comprehensive Design Review 2/16/12 AAPS Automated Aero-Painting System Team Members: Adib Khozouee Christopher Brennan Edmar Gonalves Ejiroghene Urhiafe Advisors: Csaba Andras Moritz Roderic Grupen ECE Department, UMass Amherst, Fall 2012

Slide 2

2 enter Dept name in Slide Master Review of project Problem: Slow or dangerous liquid deposition due to hard to reach surfaces or because of dangerous chemicals Solution: Quadrocopter equipped with spray nozzle Applications: Painting large factories or ships De-icing planes on the tarmac Spraying pesticides on crops / fruit trees ECE Department, UMass Amherst, Fall 2012

Slide 3

3 enter Dept name in Slide Master Progress Since MDR Ardupilot implemented on quadrocopter frame Wireless communication progress GUI further developed Working electronically controlled spraying Next Goal: Autonomous painting with manually controlled flight Ultimate Goal: Autonomous painting and flight ECE Department, UMass Amherst, Fall 2012

Slide 4

4 enter Dept name in Slide Master Team Member Contributions Adib Lead GUI programmer Installing operating system and software on Intel board Edmar Xbee communication Ardupilot programming E.J. Quadrocopter pilot Designed/built Actuator Control System Chris Team leader/coordinator Built/programmed Actuator Control System All members actively helped each other with each part ECE Department, UMass Amherst, Fall 2012

Slide 5

5 enter Dept name in Slide Master Flight: Current Status Flight achieved Can take off and land safely ECE Department, UMass Amherst, Fall 2012

Slide 6

6 enter Dept name in Slide Master Issues Throttle control needs to be better established Roll/Pitch/Yaw orientation needs to be better defined in order to better direct aircraft Future plans Adjust flight settings to achieve more stable flight Add ACS onto quadrocopter Flight: Plans ECE Department, UMass Amherst, Fall 2012

Slide 7

7 enter Dept name in Slide Master Communication Goal: Two-way telemetry via Xbee radio communication Read in-flight data from APM telemetry port Pitch, roll and yaw Battery status, altitude, etc. Write in-flight control commands from GUI editor to APM via Xbee ECE Department, UMass Amherst, Fall 2012 Ardupilot Mega (APM)

Slide 8

8 enter Dept name in Slide Master Communication: Reading Data Mission Planner logs in- flight data wirelessly to base station Next step: feed APM telemetry data into the GUI editor Java RXTX for Xbee radio ECE Department, UMass Amherst, Fall 2012 Gyro values stored and updated at between 10 and 50 Hz

Slide 9

9 enter Dept name in Slide Master Communication: Sending Data Flight command IDs Land: 0x15 Loiter time/alt: 0x19 Change altitude: 0x71 Etc Actuator Control System Use RC output pins to relay binary signal (i.e. on & off) for spray painting ECE Department, UMass Amherst, Fall 2012

Slide 10

10 enter Dept name in Slide Master Base Processing Unit (BPU) The Intel Atom board will perform the processing Working to install windows XP Graphical User Interface can now record visitation history Xbee Java code has been integrated into the GUI Packet transmission currently being tested ECE Department, UMass Amherst, Fall 2012

Slide 11

11 enter Dept name in Slide Master Actuator Control System (ACS): Design ECE Department, UMass Amherst, Fall 2012 Spray Paint Servo Spraying consists of two commands: 1.Depress the spray nozzle 2.Release the spray nozzle

Slide 12

12 enter Dept name in Slide Master ACS: Current Status Fires at a frequency of ~ 4.85 Hz Code is not optimized yet Can depress spray paint canister and silly string canister Will use silly string for demo purposes Need to fix nozzle position to prevent it form rotating between each spray Current system is a prototype A more robust, lightweight, and compact final version will be made ECE Department, UMass Amherst, Fall 2012

Slide 13

13 enter Dept name in Slide Master Timeline ECE Department, UMass Amherst, Fall 2012

Slide 14

14 enter Dept name in Slide Master Demos Actuator Control System GUI with Visitation History ECE Department, UMass Amherst, Fall 2012

Slide 15

15 enter Dept name in Slide Master Extra Information ECE Department, UMass Amherst, Fall 2012

Slide 16

16 enter Dept name in Slide Master Communication (contd) ECE Department, UMass Amherst, Fall 2012

Slide 17

17 enter Dept name in Slide Master Image Processing: Overview ECE Department, UMass Amherst, Fall 2012

Slide 18

18 enter Dept name in Slide Master Image Processing: Down sampling ECE Department, UMass Amherst, Fall 2012

Slide 19

19 enter Dept name in Slide Master Image Processing: Grayscale Normalization ECE Department, UMass Amherst, Fall 2012

Slide 20

20 enter Dept name in Slide Master The Problem Many paint jobs require painters to climb great heights. Ex: Company buildings, ships, structural fabrications, bridges, dam gates, automobiles, pipes, and transformers. Painters safety and health is a huge liability. Labor cost for multiple painters and equipment cost of scaffolding and other equipment make the job expensive. Conventional painting can last days or up to weeks. ECE Department, UMass Amherst, Fall 2012

Slide 21

21 enter Dept name in Slide Master The Solution Service: selling flying painting machines with software, and with option of rent-to-own Painting aircraft can easily reach heights of 40 stories Lowers wage costs Shorter time-to-completion Can be used for anything the customer wishes ECE Department, UMass Amherst, Fall 2012

Slide 22

22 enter Dept name in Slide Master Social Application Potential to assist in construction work Reduce labor costs Reduce liability costs Assist in painting hard to reach areas Potential to be expanded to general home improvement ECE Department, UMass Amherst, Fall 2012

Slide 23

23 enter Dept name in Slide Master Housing starts/new construction closely corresponds to painting revenue. The industry is recovering from the real estate bubble in 2008. Forecasts predict that market revenue will be $30-33 billion by 2015 10% of the approx. 4600 establishments Market Opportunity ECE Department, UMass Amherst, Fall 2012