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Final Project Review4/5/12
AAPSAutomated Aero-Painting System
Team Members:Adib Khozouee Christopher BrennanEdmar GonçalvesEjiroghene Urhiafe
Advisors: Csaba Andras Moritz Roderic Grupen
ECE Department, UMass Amherst, Fall 2012
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Review of project
Automated liquid deposition
Two major portions of project:1. Automated deposition of paint2. Motion generation to move painting system
Using software, camera, IR laser, servo motor, and spray paint for automated painting
Using quadrocopter for motion generation to move spray paint canister.
ECE Department, UMass Amherst, Fall 2012
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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 Paint 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
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PACS
ECE Department, UMass Amherst, Fall 2012
PACS integrated on Quadcopter.
Painting flow chart.
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Progress of Painting
System completed Functional when using Laptop Connecting two boards together via local area
network Connecting one board with laptop via local area
network
ECE Department, UMass Amherst, Fall 2012
Bytes/second Packets/second
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BPU Setup
ECE Department, UMass Amherst, Fall 2012
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Progress of Quadrocopter
Walkera vs Hitec Changed PID values to alter flight Board mounted at center of gravity
ECE Department, UMass Amherst, Fall 2012
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Cost AnalysisComponent PriceQuadrocopter Kit $650 Replacement frame $139 Walkera Transmitter/Receiver $170 HiTec Transmitter/Receiver $218 Ardupilot and Shield $200 Servo motor $125 New motor and motor controller $110 2 Xbees and adaptors $62 Batteries $90 Battery charger $90 Spare parts $35 Paint canisters $20 IR LEDs $10
Plugs $20 Total $1,939
ECE Department, UMass Amherst, Fall 2012
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Demos
Demonstrate Painting
Demonstrate Quadrocopter
Heading over to M5
ECE Department, UMass Amherst, Fall 2012
