Quadcopter Design: • Upgraded 4S Lipo Battery to 6S Lipo Battery • Upgraded to carbon fiber 4 axis vehicle frame • Upgraded 20A speed controllers to 40A speed controllers • Upgraded 13” carbon fiber props to 15” carbon fiber props • Added optical distance measurement with 40+ m range • Added companion computer to collect temperature readings and broadcast live video • Added optical flow smart camera and 3- axis gyro for position control and stabilized flight within GPS Denied Environments Project Requirements: • Redesign Quadcopter • Design base station • Integrate quadcopter and base station designs • Manufacture working prototype • Document system design and construction Project Support - EPRI Supporters: Rob Austin & Stephen Lopez & Faculty Mentors: Dr. James Conrad & Dr. Nabila A. BouSaba Severe Accident Mobile Investigator (SAMI) Mission Statement: The mission of this project is to create a robotic system that can assist during power plant accident scenarios by providing real-time situational information (e.g., video, temperature, pressure, radiation level, etc.) to an offsite operator for assessment and decision making purposes. Project Features: • Autonomous flight capable system • Landing pad automatically charges quadcopter • Reliable precision landing and target tracking and recognition in any lighting condition • Base station switch operated motor control system • Temperature, pressure, humidity and radiation sensing on base station • Base station communicates, charges, stores and protects quadcopter Base Station Electrical Design: • Designed charging pad that will charge 6s 6000mAh battery in 20 minutes • Designed motor control system to open bay doors on Base Station • Designed beacon system w/ 15+ meter detection range for precision landing • Integrated an uninterruptible Power Supply System for 6-12 hours of unplugged Base Station operation Communication System Design: • Wireless communication via Wifi • SSH server between base station and quadcopter • Raspberry Pi UDP video server • Communication from control station to base station via fiber optic cable Base Station Design: • 110 lbs. • 1018 steel frame material • 4’ by 4’ base station footprint • Open doors via sprocket motor mechanism • Maintenance door access to internals Future Work: • Upgrade LidarLite to 360 Lidar for Object Avoidance • Change copper tape to permanent copper tiles on landing pad • Replace .5” hollow steel square tubes with 1” hollow steel square tubes • All internal electronics move from breadboard to PCB board • With the motor controller, implement use of an Arduino to control motors to open/close remotely • Equip quadcopter companion computer with vision processing for intelligent decision making Design Requirements: • Base Station shall communicate with remote location via fiber optic cable • Base Station shall charge and store quadcopter • Base Station shall collect temperature, pressure, humidity and radiation data from the environment • Quadcopter shall collect temperature, and video data from the environment • All system software shall originate from non-proprietary sources • The duration of deployment shall Operation Station Controller Base Station Q uadcopter NuclearPowerPlantContainm ent Rem ote Location FiberOptics Wireless Concept of Operations:

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Quadcopter Design:

• Upgraded 4S Lipo Battery to 6S Lipo Battery • Upgraded to carbon fiber 4 axis vehicle frame• Upgraded 20A speed controllers to 40A speed controllers• Upgraded 13” carbon fiber props to 15” carbon fiber props• Added optical distance measurement with 40+ m range• Added companion computer to collect temperature readings

and broadcast live video • Added optical flow smart camera and 3-axis gyro for position

control and stabilized flight within GPS Denied Environments

Project Requirements:• Redesign Quadcopter• Design base station• Integrate quadcopter and base station designs• Manufacture working prototype• Document system design and construction

Project Support - EPRI Supporters: Rob Austin & Stephen Lopez & Faculty Mentors: Dr. James Conrad & Dr. Nabila A. BouSaba

Severe Accident Mobile Investigator (SAMI)

Mission Statement:The mission of this project is to create a robotic system that can assist during power plant accident scenarios by providing real-time situational information (e.g., video, temperature, pressure, radiation level, etc.) to an offsite operator for assessment and decision making purposes.

Project Features:• Autonomous flight capable system• Landing pad automatically charges quadcopter • Reliable precision landing and target tracking

and recognition in any lighting condition• Base station switch operated motor control

system• Temperature, pressure, humidity and radiation

sensing on base station• Base station communicates, charges, stores and

protects quadcopter

Base Station Electrical Design: • Designed charging pad that will charge 6s 6000mAh battery

in 20 minutes • Designed motor control system to open bay doors on Base

Station• Designed beacon system w/ 15+ meter detection range for

precision landing • Integrated an uninterruptible Power Supply System for 6-12

hours of unplugged Base Station operation

Communication System Design:• Wireless communication via Wifi • SSH server between base station and quadcopter• Raspberry Pi UDP video server• Communication from control station to base

station via fiber optic cable

Base Station Design:• 110 lbs.• 1018 steel frame material • 4’ by 4’ base station footprint• Open doors via sprocket motor mechanism• Maintenance door access to internals

Future Work:• Upgrade LidarLite to 360 Lidar for Object

Avoidance• Change copper tape to permanent copper tiles

on landing pad• Replace .5” hollow steel square tubes with 1”

hollow steel square tubes• All internal electronics move from breadboard to

PCB board• With the motor controller, implement use of an

Arduino to control motors to open/close remotely

• Equip quadcopter companion computer with vision processing for intelligent decision making during flight autonomously

Design Requirements:• Base Station shall communicate with remote

location via fiber optic cable• Base Station shall charge and store quadcopter • Base Station shall collect temperature, pressure,

humidity and radiation data from the environment

• Quadcopter shall collect temperature, and video data from the environment

• All system software shall originate from non-proprietary sources