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FUFO project

FUFO project. Final report. Contents. Introduction. 1. Hardware & Software. 2. Algorithms. 3. Experiments and results. 4. Conclusion. 5. Introduction. FUFO team. Introduction. History. Definition: A Vertical Take-Off and Landing aircraft. Has 4 rotors. Introduction. History.

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FUFO project

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  1. FUFO project Final report

  2. Contents Introduction 1 Hardware & Software 2 Algorithms 3 Experiments and results 4 Conclusion 5

  3. Introduction FUFO team

  4. Introduction History • Definition: • A Vertical Take-Off and Landing aircraft. • Has 4 rotors.

  5. Introduction History • The first Quadrocopter was developed in 1920. • No commercialized Quadrocopter because: Limitation of technology and science at that time.

  6. Introduction History • 8 years before 2012, many institutes and companies began to research on this platform as a small UAV.

  7. Introduction Commercialized product • Airbot X600-BKPP (€ 34,500) • Radio control unit (2.4 GHz) • Live video stream • GPS waypoint navigation • CyberQuad Maxi ($ 36,000) • Radio control unit • GPS waypoint navigation • Live video stream

  8. Introduction Idea • Develop a Quadrocopter for observation purpose.

  9. Introduction Idea Why choosing Quadrocopter platform? •  Quadrocopter is more suitable for embedded Engineering students who are not familiar with aerospace issue and mechanical design.

  10. Introduction Idea Why choosing Android Phone? Has built-in camera, Wi-Fi, 3G module Phone is still usable after this Capstone project

  11. Introduction Idea Command Sensor data Bluetooth

  12. Introduction Idea Picture Picture JPEG JPEG

  13. Introduction Idea • Control Mode • Autonomous(Dynamic Stabilization) • Manual

  14. Introduction Idea Manual mode Wind

  15. Introduction Idea Go to 1m Dynamic stabilization Wind Dynamic Stablization SAFE

  16. Hard & Soft Hardware study

  17. Hard & Soft Hardware study • dsPIC30f4012 Microcontroller • Max speed: 30 MIPS • 16x16 bit working arrays • 5 timers, 3 PWM generators • Programmable by C30.

  18. Hard & Soft Hardware study • BMP085 + ADX345 + L3G4200D • All-in-one module: • 3-axis accelerometer. • 3-axis gyroscope. • -300m to 9000m altimeter.

  19. Hard & Soft Hardware study • Turnigy 3000mAh battery pack • 3000mAh x 2 • 253 grams x 2 • 11.1v • Discharge rate: 20C

  20. Hard & Soft Hardware study • Motor and ESC • 1400kv Brushless motors • 8x4” propellers • ESC PWM range: 1ms – 2ms

  21. Hard & Soft Hardware study • HTC HD2 Android 2.3 • 320x240 camera. • Has Bluetooth and Wi-Fi connection • Run on Android 2.3

  22. Hard & Soft Hardware design

  23. Hard & Soft Hardware design

  24. Hard & Soft Frame design Circuit mount 440 mm Motor mount Fiber Glass & Fiber Carbon

  25. Hard & Soft FUFO Quadrocopter

  26. Hard & Soft Software study • Iterative model:

  27. Hard & Soft Software study • Embedded system development:

  28. Hard & Soft Software study • Three software: • Software on PC • Software on Phone • Firmware

  29. Hard & Soft Software study • FSM: System initiated System connected WaitingForConnection Start Verify Power on Control method selected Start button pressed Sensor data initiated Ready SetupForFlight Pending First altitude is chosen Any error Error Hovering Altitude is set to zero Landing Motor stopped

  30. Hard & Soft Software study • PC interface:

  31. Hard & Soft Software study • Android interface:

  32. Algorithms Quadrocopter Dynamic • Inertial Frame, Body frame and Euler Angle:

  33. Algorithms Quadrocopter Dynamic • Input: • 𝜂1 = [x,y,z]; • 𝜂2 = [𝜃,𝜑,𝜓]; • x = y = 0. • Output: • [F1,F2,F3,F4] • Linear translational movement • Rotational movement

  34. Algorithms PID Control system • Open-loop feedback controller:

  35. Algorithms Signal Processing • Euler angles calculation: • Gyroscope: Integration of angular velocity over time. • Accelerometer: Multiplication with a (x,y,z) Direction Cosine Transformation Matrix.

  36. Algorithms Signal Processing • Theta angle by Accelerometer and Gyroscope: AFTER HIGH-PASS AND LOW-PASS FILTER BEFORE FILTER

  37. Algorithms Signal Processing • Theta angle by Accelerometer and Gyroscope: AFTER COMPLEMENTARY FILTER

  38. Experiment Experiments • <Show video>

  39. Experiment Results • Indoor flight:

  40. Experiment Results • Outdoor flight:

  41. Conclusion Achievement

  42. Conclusion Future Improvement • Develop a higher response system. • Hold altitude in narrow and low area with precision of +-0.1 m • Hold a specified position on map or moving on a track. • Obstacle detection and avoidance. • CMOS camera's video transmission over long distance. • Object detection based on image processing.

  43. Thank You ! www.themegallery.com From FUFO team with love

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