Project Readiness Package Rev 7/22/11
INTRODUCTION:
ADMINISTRATIVE INFORMATION:
Project Name (tentative): Quadcopter Navigation System Project Number, if known: R14902
Preferred Start/End Semester in Senior Design:
My level of interest in pursuing this project in MSD is: (low) 1 2 3 4 5 (high)
Faculty Champion: Name Dept. Email Phone
Unknown
Other Support, if known: (faculty or others willing to provide expertise in areas outside the domain of the Faculty Champion)
Name Dept. Email PhoneBryan Meyers CompE [email protected]. Jason Kolodziej MechE [email protected] Pietrantoni MechE [email protected] Southerton MechE [email protected] Sattora CompE [email protected]
Project “Guide” if known:
Primary Customer, if known (name, phone, email): Dr. Wayne Walter, [email protected]
Sponsor(s):
Name/Organization Contact Info. Type & Amount of Support Committed
Dr. Wayne Walter / ME Department
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Fall/Spring Spring/Fall
Project Readiness Package Rev 7/22/11
DETAILED PROJECT DESCRIPTION:
With the rise of recreational/hobby vehicles growing in popularity, as well as the launch of the AmazonPrime Drone delivery system, there has been a need to redefine the rights to civilian, and industrial use to aerial vehicles. The FAA has chosen several test sites across the US that allow for institutions and industry to merge concepts and ideas. Griffiss Air Force Base, in Rome, NY, has been chosen as one of these test sites. RIT has become the lead for exploring this field and will primarily lead in the “sense and detect” abilities for new waves of Unmanned Aerial Vehicles (UAV).
Currently, RIT Mechanical Engineering Project P15096, is being led by Tim Southerton (ME student), Dr. Wayne Walter, and Dr. Agamemnon Crassidis. Tim is exploring basic Obstacle Avoidance Systems using an AR.Drone 2.0 by Parrot. The AR.Drone is a commercially available quadcopter platform (4 rotor flight vehicle) that has a semi open architecture interface to it. Tim has primarily programmed in JavaScript and incorporated the use of an Arduino, Wireless Chipset, and Ultrasonic Sensors, to act as a feedback system for the AR.Drone. The Drone currently displays some basic Obstacle Avoidance routines. The current one that it is running is backing up when it has something around it.
For this Senior Design Project, a team of students will be required to finish Tim’s work, and build more abilities into his platform, or a newer platform. Abilities such as GPS navigation, which will allow the quad to fly from a starting point to its destination. The use of a User Interface will also be helpful, as one of the requirements is set-up time by college student be reduced. A final add-in will be video recording capability for use in flight debrief and calibration.
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Project Readiness Package Rev 7/22/11
Customer Needs and Objectives: Customer Need Description Examples (To Be Removed for MSD)
1 Video Capture
Use an onboard camera to capture video during flight. If this is able to be streamed to a computer or phone, it can allow the user to intervene and pilot to inspect areas of interest
2 Autonomous Flight
This means that, based on a set of initial conditions, the vehicle must be able to take off, and fly to its destination without any human intervention, unless it requires CN 1, where the human can pilot to inspect an area of interest.
3 Obstacle AvoidanceThe perceiving of an obstacle to the front of the vehicle, and the vehicle’s ability to move around it, where move around is up for discretion.
4 Safe for bystanders/users
Safety for the user and the unknowing bystander is important. Recommended use of NFPA (National Fire Protection Association) 70, also known as the NEC (National Electric Code). (cited in Engineering Reqs.)
5 Robust Setup/Fabrication
6 Battery Life Lasts for Reasonable Period Using the Parrot AR Drone as a benchmark, the flight time aim is for >15 minutes.
7 Easy Troubleshooting Hardware or Software issues should be able to be resolved by a college student/non-technical person.
8 Manageable Budget
9 Easy User Setup/Interface Able to be set up by a college student/non-technical person.
10 Flight to Specified GPS Coordinates
11 Modular (Off the Shelf components) Reduce the amount of custom fabricated components made.
12 Portability Typically constrained by weight and size13 Professional Looking Product14 Open Architecture15 Emergency Landing Capability16 Rotor Shroud (Blade Protection)
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Functional Decomposition:
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Project Readiness Package Rev 7/22/11
Potential Concepts: Use existing AR.Drone 2.0 by Parrot. Styrofoam chassis mounted to new quadcopter frame with
appropriately sized motors and props to increase vehicle payload. Builds off of the ME project, and continues work on this system.
o Limited in the “Open Source” theme. Primarily uses an Arduino Nano, with wireless capabilities to “talk” to system.
o Picture of AR-Drone 2.0
Use ArduPilot system to fly autonomously and capture video using Arduino IDE software and build in OAS. Instills the “Open Source” theme, and is a relatively user friendly interface with multiple forums online for support.
o Sample Screenshot of ArduPilot
Reverse engineer the AR Drone 2.0 GPS Flight Recorder module to incorporate OAS. Most difficult due to man-hours in reverse engineering, could run into IP issues with company if marketed.
o Picture of GPS Module
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Project Readiness Package Rev 7/22/11
Specifications (or Engineering/Functional Requirements):
Customer Requirements
Cus
tom
er W
eigh
ts
Capt
ure
Vide
o
Flig
ht T
ime
Dete
rmin
e Lo
catio
n
Fly
Belo
w F
light
Cei
ling
Dete
rmin
e O
rient
ation
% o
f Cus
tom
Fab
ricat
ed C
ompo
nent
s
Tota
l Mas
s
Mee
t NFP
A 70
(NEC
Cod
e)
Ope
ratio
nal a
fter 2
foot
Dro
p
Min
imum
Dist
ance
for O
bjec
t Det
ectio
n
Tim
e fo
r set
-up
by co
llege
stud
ent/
non-
tech
nica
l per
son
Unit
Man
ufac
turin
g Co
st
1 Video Capture 3 9 3 3 3 3 3 32 Autonomous Flight 9 9 9 3 9 93 Obstacle Avoidance 9 9 3 3 3 3 9 34 Safe for bystanders/users 9 3 3 9 3 35 Robust Setup/Fabrication 3 3 3 3 3 96 Battery Life Lasts for Reasonable Period 3 3 3 3 3 37 Easy Troubleshooting 3 3 38 Manageable Budget 3 99 Easy User Setup/Interface 3 3
10 Flight to Specified GPS Coordinates 9 3 3 311 Modular (Off the Shelf components) 1 3 312 Portability 313 Professional Looking Product 1 3 3 314 Open Architecture 9 3 3 3 315 Emergency Landing Capability 3 3 3 3 316 Rotor Shroud (Blade Protection) 3 3 3 3 3
Min
utes
Min
utes
Degr
ee/H
our/
Min
ute
Met
er
Degr
ees
Perc
enta
ge
kg
Pass
/Fai
l
Pass
/Fai
l
Met
er
Min
utes
Dolla
rs
>20
>20
0 min. 45 <2 <1
5% <2 Pass
Pass >3 <10
<150
0
36 225
135
117
108
102
57 138
81 189
54 114
3% 17%
10%
9% 8% 8% 4% 10%
6% 14%
4% 8%
Raw score
Relative Weight
Engineering Metrics
Measure of Performance
Nominal Value
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Project Readiness Package Rev 7/22/11
METRIC NUMBER
CUSTOMER NEEDS MET METRIC IMPORTANCE UNIT OF
MEASUREMARGINAL
VALUEIDEAL VALUE
ER1 1 Capture Video 3 Minutes >15 >20
ER2 2,6 Flight Time 9 Minutes >15 >20
ER3 2,10 Determine Location 9 Degree/Hour/Minute <0.1 seconds 0
seconds
ER4 2,3,4,15 Fly Below Flight Ceiling 3 Meter 60 45
ER5 2,3,10 Determine Orientation 9 Degrees (0-359°) <2° <1°
ER6 5,7,8,11,14% of Custom
Fabricated Components
3 % <25% <15%
ER7 5,6,12 Total Mass 3 kg <3 <2
ER8 4,15,16 Meet NFPA 70 (NEC Code) 3 Pass/Fail Pass Pass
ER9 5Operational after 2 foot
drop3 Pass/Fail Pass Pass
ER10 2,3,4
Minimum Distance for
Object Detection
9 Meter >1 >3
ER11 7,9
Time for set-up by college
student/non-technical person
3 Minutes <20 <10
ER12 8Unit
Manufacturing Cost
9 Dollars <2000 <1500
Constraints: 2 Semester Timeline, Student Interest/Knowledge, Budget Limitations,
Project Deliverables: Working prototype that can:o Avoid static obstacleso Be given a set of initial instructions, and traverse under own powero Provide captured video to end usero Makes decisions about its own safety (flight height, speed, etc.)o Ability to avoid dynamic obstacles (time permitting)
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Project Readiness Package Rev 7/22/11
Budget Estimate:Feasibility Analysis via Budget
Estimate In Use?
Item Name Cost Quantity Sub Total R14902 ASME Quad P15906
1 Quadcopter Frame $ 30.00 1 $ 30.002 Propellers $ 15.00 2 $ 30.003 Power Distribution Board $ 5.00 1 $ 5.004 ESC 20A $ 15.00 4 $ 60.005 Motors $ 20.00 4 $ 80.006 Arduino Nano $ 30.00 1 $ 30.007 ArduPilot System $ 30.00 1 $ 30.008 GPS Receiver $ 40.00 1 $ 40.009 Xbee Wireless Receiver $ 25.00 1 $ 25.00
10 Parrot Drone $ 250.00 1 $ 250.0011 Battery $ 40.00 1 $ 40.0012 Ping Ultrasonic $ 30.00 4 $ 120.0013 IR Sensor $ 15.00 4 $ 60.0014 Hardware $ 25.00 1 $ 25.0015 Shipping Costs $ 55.00 1 $ 55.0016 Contingency $ 200.00 1 $ 200.00
Total $ 830.00 $ 355.00 $ 505.00
I propose a budget cap of $1200 be placed on the team, where they would be given a budget of $850-900 for MSD 1 and 2. Should the need arise where the team needs more funding, a proposal, with appropriate justification should be created requesting additional funds.
Update: From a recent email from Tim Southerton, it is recommended that the initial budget should be doubled, from $900 to $1800, so a second quadcopter can be built (See Appended Email).
Intellectual Property (IP) considerations:o Not aware of any, except for code.
Other Information: None
Continuation Project Information, if appropriate: O Mechanical Engineering P15096
http://tsouthprojects.wordpress.com/category/2-quadcopter/ See Dr. Walter for detailed documentation of work
O Design Project Leadership R14902
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Project Readiness Package Rev 7/22/11
STUDENT STAFFING:
Skills Checklist: See Attached (Skills Checklist)
Anticipated Staffing Levels by Discipline:
Discipline How Many? Anticipated Skills Needed (concise descriptions)
EE 2 See Attached (Skills Checklist)
ME 1-2 See Attached (Skills Checklist)
CE 0-1 See Attached (Skills Checklist)
ISE 1 See Attached (Skills Checklist)
Other
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Project Readiness Package Rev 7/22/11
OTHER RESOURCES ANTICIPATED:Describe resources needed to support successful development, implementation, and utilization of the project. This could include specific faculty expertise, laboratory space and equipment, outside services, customer facilities, etc. Indicate if resources are available, to your knowledge.
Category Description Resource Available?
Faculty
Equipment 3D Printer
Various EE/Wiring Tools (Oscilloscope, Power Supply, Soldering Iron, Wire/Cable)
Computer
Materials Printed Circuit Board
Plastic
Aluminum
Other Electrical Engineering MSD Lab Access
Prepared by: Peter Pietrantoni Date: 05/20/14
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Project Readiness Package Rev 7/22/11
Appendix (PRP): Skills Checklist
Project Name (tentative):Quadcopter Navigation
Checklist Completed by (name):Mechanical Engineering
2 3D CAD 4 AerodynamicsMATLAB programming CFD
3 Machining (basic) Biomaterials5 Stress analysis (2D) 6 Vibrations
Statics/dynamic analysis (2D) Combustion enginesThermodynamics GD&T (geometric dimensioning &
tolerancing)Fluid dynamics (CV) 7 Linear controlsLabVIEW (data acquisition, etc.) CompositesStatistics DFM
1 Robotics (motion control)FEA CompositesHeat transfer Other:Modeling of electromechanical & fluid systems
Other:
Fatigue & static failure criteria (DME) Other:Specifying machine elements
Reviewed by (ME faculty):
Industrial & Systems Engineering
Statistical analysis of data – regression Shop floor IE – methods, time studyMaterials science Programming (C++)Materials processing – machining labFacilities planning – layout, material handling DOEProduction systems design – lean, process improvement
3 Systems design – product/process design
Ergonomics – interface of people & equipment (procedures, training, maintenance)
Data analysis, data mining
Math modeling – linear programming), simulation
Manufacturing engr.
1 Project management DFx -- Manuf., environment, sustainability
Engineering economy – ROI Other:Quality tools – SPC Other:
2 Production control – scheduling Other:Reviewed by (ISE faculty):
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Project Readiness Package Rev 7/22/11
Electrical Engineering
3 Circuit design: AC/DC converters, regulators, amplifier ckts, analog filter design, FPGA Logic design, sensor bias/support circuitry
2 Digital filter design and implementation, DSP
4 Power systems: selection, analysis, power budget determination
1 Microcontroller selection/application
3 System analysis: frequency analysis (Fourier, Laplace), stability, PID controllers, modulation schemes, VCO’s & mixers, ADC selection
5 Wireless protocol, component selection
3 Circuit build, test, debug (scopes, DMM, function generators)
5 Antenna selection (simple design)
Board layout Communication system front end design
MATLAB Algorithm design/simulation1 PSpice 2 Embedded software design/
implementationProgramming: C, Assembly Other:
4 Electromagnetics (shielding, interference) Other:Other:
Reviewed by (EE faculty):
Computer Engineering
Digital design (including HDL and FPGA) 3 Wireless networksSoftware for microcontrollers (including Linux and Windows)
1 Robotics (guidance, navigation, vision, machine learning, and control)
1 Device programming: Assembly language, C 4 Concurrent and embedded software2 Programming: Java, C++ 2 Embedded and real-time systems
Analog design 3 Digital image processingNetworking and network protocols Computer visionScientific computing (including C and MATLAB) Network securitySignal processing Other:Interfacing transducers and actuators to microcontrollers
Other:
Other:
Reviewed by (CE faculty):
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Project Readiness Package Rev 7/22/11
Chemical Engineering
Energy and material balances on chemical systems ElectrochemistryFluid dynamics and Heat transfer Inorganic chemistryThermodynamics (traditional and chemical) Environmental science and
sustainabilityMass transfer and separation process design: distillation, multistage absorption and stripping, batch and fixed-bed adsorption, liquid-liquid extraction, crystallization, membrane separations.
Advanced material science, polymer science
Chemical reactor design: chemical kinetics, equilibrium, and catalysts.
Surface tension and interfacial phenomena
Engineering lab skills: rheology (in Newtonian and non-Newtonian systems), pressure, temperature, concentration. Pilot lab systems; delivery system assembly including pumps, valves and pressure sensors.MATLAB and EXCEL: solve complex chemical engineering mathematics problemsAdvanced chemistry knowledge: general, physical, and organicMicro- and nano-scale phenomena and process designBasic chemistry-based material scienceBasic engineering economics Other:Basic Process Control Other:
Other:
Reviewed by (ChemE faculty):
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MSD 1 Project Plan
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