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Micro-CARTMicroprocessor-Controlled Aerial
Robotics Team
May 1, 2002
Team - Ongo03
Team Information
Team MembersSecond Semester• Eric Frana – Overall Team Leader• Matt Devries• Kirk Kolek – Flight Controls
Leader• Todd Welch – Communications
Leader• Loc Pham – System Requirements
Leader• Corey Lubahn
Advisors• Dr. John Lamont• Prof. Ralph Patterson III
First Semester• Damian N. McGrane• Kenny Nguyen-Pham • Andrew Teoh • Kelly Williams• Thomas Scanlan• Adam Horak• Justin Barrick• Raza Ali
Client• EE/CprE Department
Funded by• Lockheed Martin
Agenda• Problem Statement• Design Objectives• End Product• Assumptions/Limitations• Risks• Technical Approach
– Flight Controls– Communications– System Requirements
• Financial and Human Budgets• Lessons Learned• Conclusion
Problem Statement - Background
International Aerial Robotics Competition– Began in 1990 – Hosted annually by Georgia Institute of
Technology – Autonomous aerial vehicles are to accomplish
series of tasks in a given time– Tasks change and expand once completed (every
4 years)– Grand prize is $30,000
Problem Statement – Technical Problem
• Launch ISU into IARC competition• Modify RC helicopter to function autonomously• Create wireless base station link• Implement image recognition system
– Identify a beacon at 3km ( 2 miles)– Identify a 1 square meter figure (target building)
• Ground vehicle sensor platform (deploy from air)• Full integration among all components
Design Objectives• Modified gas powered RC helicopter
– Autonomous (PC/104 board for control)– Maximum lift: 8-12 lbs
• Sensors package– Sonar, GPS, Inertial Measuring Unit, Camera
• Autonomous ground vehicle (being researched)• Ground station
– Laptop PC– Wireless communications between ground and air– Display vital information
• Meets all criteria for IARC competition• Fair weather operating environment• Total project cost: ~$31,000
End Product
• Fully autonomous gas powered helicopter– Sensors package– Flight control algorithms
• Recognize targets and react appropriately• Collect and transmit images to the ground station• Ground vehicle• Qualified to compete in IARC
Assumptions
• Competition criteria will not change radically in the near future
• Continue to receive necessary funding• Suitable hardware available at affordable
price• Sensors will send information accurately and
reliably• Off-the-shelf image recognition software will
be suitable
Limitations• Helicopter payload (~8-12 lbs)
• Limited mounting space
• Power consumption
• Sensors accuracy (GPS, sonar)
• Lack of ME or Aero E team members
• High personnel turnover rate
Potential Risks
• Helicopter crash• Major rules change invalidates large amounts of work• Serious design flaws halt progress• Money and funding runs out
Technical Approach
Micro-CART is divided into subteams:– Flight Controls (Kirk Kolek)
• Flight algorithms, central processing
– Communications (Todd Welch)• Sensors, Communications: vehicle ground
– System Requirements (Loc Pham)• Long range planning, hardware
Flight Controls Subteam
• Create onboard computation and control system for autonomous flight– Onboard computation of sensor data– Servo position control
Flight Controls
• Past Accomplishments– Purchase Servo Motor Control, began
implementation– Researched microprocessors– Initial flight control development
Flight Controls
• Present Semester Goals and Status– Continue Research and Purchase microprocessor
• Goal 1: Determine necessary features (PC/104)
– 100% complete / successful
• Goal 2: Purchase
– 50% complete / marginally successful
– Implement Servo-Motor Controller• Goal 3: Develop software for servo-motor controller
– 100 % complete / successful
Flight Controls
• Present Semester Goals and Status (cont.)– Autonomous flight development
• Goal 4: Develop foundation and direction for flight control implementation
– 60% complete / marginally successful
• Goal 5: Design hardware interface switch to provide interface between human and computer control of helicopter.
– 25% complete / unsuccessful
Flight Controls
• Future Work– Next Semester:
• Finish design, build & implement hardware switch
• Develop control laws (diagrams)
• Integrate microprocessor into onboard embedded system
• Instrument helicopter by compiling sensor data and gain vital flight control coefficients
– Long Term:• Full development of flight control algorithms
• Integrated onboard computer
Communications Subteam
• Design and implement communications systems– Sensors to the PC/104 directly or through a microprocessor
• Current Sensor Components- Polaroid 6500 Ranging Module Altitude & Proximity
• Future Sensor Components- Inertial Measuring Unit Pitch, Yaw, Roll
Acceleration, Direction
- GPS Global Positioning System- Wireless Modem Base Station
Communication- Camera Image Capturing System
Communications
• Past Accomplishments– Purchased sensors
• Sonars• Gyro• Compass• Accelerometer
– PIC tutorial labs completed in SSOL– Initial assembly code developed for Sonar
Communications
• Present Semester Goals and Status– Sensor Requirements
• Goal 1: Determine specific sensors needs for autonomous flight
– 90% complete / successful
• Goal 2: Verify validity of previously purchased sensors
– 100% complete / successful
Communications
• Present Semester Goals and Status (Cont)– Testing Polaroid 6500 Sonar
• Goal 3: Test and improve current software– 95% complete / successful
• Goal 4: Interface the sonar with PIC microprocessor
– 100% complete / successful
Communications
• Present Semester Goals and Status (Cont)– Flight Control Integration
• Goal 5: Integrate sonar program with flight control software
– 0% complete / unsuccessful
• Goal 6: Research and purchase Inertial Measuring Unit
– 75% complete / marginally successful
Communications
• Future Work– Next Semester:
• Integrate sensor package for instrumentation• Research GPS unit• Research wireless communication
– Long Term:• Image Recognition System• Purchase GPS unit• Integrate sensor package with Flight Control system
Systems Requirements
• Oversee and act as administrative source for team– Maintain long term Strategic Plan– Insure helicopter flightworthiness– Identify design limitations – Coordinate integration of all groups– Pilot training
Systems Requirements
• Past Accomplishments– Created team handbook – Created strategic plan– Completed inventory list to track equipment– Acquired flight simulator software– Helicopter repair
Systems Requirements
• Present Semester Goals and Status– Update the long term strategic plan
• Goal 1: Identify milestones to meet competition date
• 100% / successful
– Pilot Training Program• Goal 2: Train pilots to fly helicopter
• Ongoing / marginally successful
Systems Requirements
• Present Semester Goals and Status– Information book
• Goal 3: Create book containing information to support team
• Ongoing / successful
– Security box• Goal 4: Build a security box
• 75% complete / marginally successful
Systems Requirements
• Present Semester Goals and Status cont.
– Ground vehicle research• Goal 5: Research requirements for ground vehicle
• Official rules of the IARC website
• Type of ground vehicle (walking, wheel based, track, etc.)
• Determine necessary components to perform desired tasks
• Low priority (flight first, but consider ground vehicle)
Systems Requirements
• Future Work– Next Semester:
• Continue ground vehicle research• Update Team Handbook• Maintain helicopter• Recruit AeroE and ME students
– Long Term:• Ensure team is completing needed goals to compete in
IARC competition
Financial Budget
Helicopter Sensors GPS Image Rec.Sys.
WirelessEthernet
PC/104board
Servo MotorBoard
Entry Fee Misc
Exp
ecte
d
Act
ual
0
1000
2000
3000
4000
5000
6000
Cost ($)
Items
Expected vs. Actual Expenses
Expected Actual
Human Budget Estimated(hrs) Actual(hrs)
Eric Frana 127 130Kirk Kolek 99 90Loc Pham 87 75Matt Devries 83 79Todd Welch 81 86Corey Lubahn 70 72Raza Ali 70 70Justin Barrick 111 100Adam Horak 81 87Damian McGrane 100 120Kenny Nguyen-Pham 69 80Thomas Scanlan 95 86Andrew Teoh 85 85Kelly Williams 93 89
Lessons Learned
• Non Technical– If you need to do something, it may have
been done before• GPS, aerial cameras, servos, sonars, IMU
– Right skills for the job are important– Investigation/research– Long range planning
Lessons Learned
• Technical– PIC programming – RC helicopter flight– Servo micro-controller programming– Hardware switch design– Helicopter maintenance
Summary
Goal:
Create autonomous aerial vehicle to compete in the IARC competition by 2004.
Solution:
Modify RC helicopter to fit needs, create ground vehicle, integrate with image recognition system.
Demonstrations & Questions