PowerPoint Presentation

FLyNETCamden MendiolaBen HoustonMonty PrekerisDan RiceDan Klitz JohnsonTo provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond

Useful for military, police, search and rescue

Localized and self managed

Project Review

BenBASE STATIONFoundational PC Control software complete

QUADCOPTERQuadcopter Prototype 1.0 built and ready for testingBasic flight software and testing in progressHover; Landing; Heading; Directional MovementGPS and Environmental Sensors in development

GROUND MODULEPart list completeSchematic and PCB in preliminary phase

Current Status

BenMilestone 1:Basic Flight CommandsHover; Manual Landing; Heading

Basic Mesh Network CapabilitiesPreliminary Integration of Modules

Milestone 2:Advanced Flight CommandsDirectional Movement with GPS Integration, Automatic Landing

Advanced Environmental Sensor Integration through Mesh Network

EXPO:Autonomous Flight PatternsComplete Mesh Network Integration

Deliverables

Ben

Systems Diagram

BenFunctional Decomposition Hardware

Level 0: Wireless Sensing NetworkFunctional Decomposition: HardwareEnvironmental DataUser InterfaceQuadcopter PlatformTerrestrialPlatform PowerBenFunctional Decomposition: HardwareHarnessESCsMotorsCPUPower CircuitLogic ConverterAccelerometerBarometerMagnetometerGyroscopeGPSUltrasonicRadioComm.BatteryLevel 1.1: QuadcopterEnviron.Sensors5V(3.3V Signal)SPISerialPWM11.1V3.3VBenFunctional Decomposition: HardwareCPUPower CircuitADC Air QualityGas SensorBatteryLevel 1.2: Terrestrial UnitAlarm5V3.3VI2CSerialAnalogGen. I/0Heart Rate Monitor 9VRadioComm.BenSchematics and PCB

Version 1 of PCB has been completed and ordered.

A testing strategy is currently in development

PCB Progression

Cam

Motor Control CircuitMicroprocessor Schematic Overview

CamPWMPWMPWMPWMSchematic Overview

Serial Converter CircuitCam

Power CircuitSchematic Overview

Cam

Oscillator CircuitLogic Level CircuitSchematic Overview

Cam

Schematic OverviewXBee CircuitCamFlight Control HardwareGenerateInitial PulseUltra-sonicChirp Initial PulseListen for EchoBegin CountStop Count when Echo DetectedCalculate Distance

Ultrasonic Range Finder

CamPWMSpeed CommandMOSFETDriverBatteryMotor RPMElectronic Speed Controller

CamConverts DC into 3 phase ACBack EMF used to detect rotationRPM adjusted by Pulse Width to each phaseElectronic Speed Controller

HobbyWing FlyFun Brushless ESCCam

GyroAccelerometerMagnetometer9 Degrees of FreedomKlitz

ITG-3200Triple Axis3 16-bit ADCs400kHz I2C InterfaceKey element for stabilization

Gyro

KlitzADXL3453 Axis AccelerometerHigh performance g-sensor

Accelerometer

Klitz23

HMC5843Measures Strength or Direction of Magnetic Field (Compass)3 Axis1 to 2 degree range of accuracyI2C interfaceSensitivity of 0.10 TAllows heading tracking

Magnetometer

Klitz300 to 1100 hPa (atmospheric pressure)Accuracy of 0.3 hectopascalsI2C InterfaceMaintains altitude of QuadcopterBeneficial in Autonomous landing

BMP085Barometer

Klitz

Safely Converts 5V to 3.3V and 3.3V to 5VConverts 4 pins at one timeI2C InterfaceLogic Level Controller

KlitzFunctional Decomposition Software

LEVEL 1.0.0: QUADCOPTER BASIC FLIGHTTake OffHoverDirectional Movement (Left, Right, Forward, Back)LandFunctional Decomposition: Software

MontySet GPS CoordinateCheck GPSCheck HeadingSet HeadingSet DirectionFunctional Decomposition: Software

LEVEL 1.1.0: QUADCOPTER BASIC FLIGHTMontyCheck if flatCheck Accel. In Z directionDecrease Motors SpeedIncrease Motor SpeedAdjustAppropriateMotorsYESNO Z > 0 Z < 0HOVERFunctional Decomposition: Software

MontySet Pitch or RollIs Z decreasingOr increasingAdjust Appropriate MotorsFunctional Decomposition: Software

DIRECTIONAL MOVEMENTMontySet HeadingCheck MagCheck HoverSet YawAdjust MotorsNoYesFunctional Decomposition: Software

HEADINGMontyAccel. = 0Decrease Decel. to min valueKill MotorsCheck HoverRead UltrasonicCheck Alt.Above Threshold?DecreaseDecel.Increase Decel.YesYesNoNoYesNoFunctional Decomposition: Software

LANDINGMontyFunctional Decomposition: Software

Get Sensor DataHealth Readings Abnormal?Set Local AlarmNOYESWirelessAlert to Base StationSend Local Data to Base StationLevel 1.2.0 TERRESTRIAL UNIT

MontyGet PacketParseProcess:Polling BasedBuildTransmit PacketReceive PacketSendPacketFunctional Decomposition: CommunicationProcess:Commands and Data

Monty

Functional Decomposition: CommunicationIO_data_sample_RX( )parse_sample( )MontyGUI

Current user interface for Command PC is text-based. Displays information based on commands received from user.

Graphical User Interface

Dan

GUI Example

Goal: Create a user interface that uses information received from the Quadcopter to display information about flight status. Need to incorporate Google Maps with GPS data.DanTesting Analysis

Test 1: Enough Lift with given weight/propellers/motorsResult: Quadcopter had plenty of lift with plenty of motor speed to spare

Test 2: Ultrasonic sensors range and reliabilityResult: At low propeller speed ultrasonic sensors were unaffected, but had narrow beam width

Test Results

A Node Discovery(ND) command can be broadcast to discover which nodes are in the network.

On right, Quadcopter and Terrestrial unit are part of the network.Network Verification

Timing Diagram of a packet being transmitted over XBee using the Intronix Logicport

XBee Serial Command Timing

12,130 rpm maximum at 60% duty cycle

Lift occurs at 9,800 rpm (old frame)

Increasing duty cycle gives minimal rpm gain after 60%

Testing Analysis

Dan0.662 A maximum current (steady state) draw at max 12,130 rpm (no load)

Current is not dependent on PWM duty cycle

Current spikes occur when incrementing large rpm steps

Testing Analysis

DanLogisticsQuadcopter Terrestrial UnitBase Station PCB w/components XBee ZB XBee ZB Barometer Heart Rate Monitor CPU: PC Accelerometer Gas Sensor XBee Explorer Magnetometer Optical Air Quality Sensor Gyro AT89C51RC2 Frame 32 kB NVSRAM ATMEGA 2560 PCB w/ components Battery Wiring Harness 4 ESC's 4 Motors 4 Propellers + Extras Logic Level Converter Ultrasonic Range Finder XBee ZB Gas TemperatureUpdated Parts List

KlitzUpdated Division of Labor

Phase 1:BenCamdenDanielKlitzMontyPCB DesignFlight CommandFunctional DecompositionPhase 2:TestingPCB Revision and DesignEnvironmental Sensor *Hardware design *Software designXBee Mesh NetworkPhase 3: Basic Auto PatternsGPS IntegrationKlitzUpdated Schedule

KlitzQUESTIONS?