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The Crazyflie Nanocopter (s)

The Crazyflie Nanocopter (s). Nate Krussel Maxine Major Theora Rice. Roadmap. What is the Crazyflie ? The History of the Crazyflie Why the Crazyflie ? What We Did Alternate Controls Modifications and Hacks Swarming Future Recommendations. What is the Crazyflie ?. Nanocopter

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The Crazyflie Nanocopter (s)

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  1. The CrazyflieNanocopter(s) Nate Krussel Maxine Major Theora Rice

  2. Roadmap • What is the Crazyflie? • The History of the Crazyflie • Why the Crazyflie? • What We Did • Alternate Controls • Modifications and Hacks • Swarming • Future Recommendations

  3. What is the Crazyflie? • Nanocopter • Open-source platform • Available in a kit • Just add laptop and controller! • One of the only available on the market

  4. History • Project started in late 2009 – Swedish company Epsilon AB • 2010 – Hackaday.com • 2010-2011 – Bitcraze AB started • 2011 – Bitcraze.se launched • 2011 – Present – Crazyflieone of the top nanocopters • Sells out quickly • Fantastic for modification

  5. Why? • Open Source • Software is free and open to self modification • Small • Quad copters smaller then • Easy to fly inside when cold • Different Control Style • Makes use of a different control mechanism • Completely different method of movement • Sensor upgrades • Ability to add additional sensors • Firmware to be developed at a later date • Ongoing development • The development team is making updates at a steady rate

  6. What We Did • Assembly • Crazyfliecomes in many difference pieces • Longest part of assembly was soldering the last motor onto the Crazyflie • Total assembly time for 3 approx. 11 hours • Testing • Each motor and propeller were tested to be sure there was minimal wobble. • Software issues originally arose in initial configuration

  7. What We Did • Flight • Initial flights were hazardous • Have had two broken motors • Needed to be replaced with the included extra motors • After several hours of flight time less erratic • Flight became easier and more controlled • Were able to take off and land off a hand • Only able to attain 5 to 7 minutes un weighted flight time

  8. What We Did • Cigarette Lighter Camera • Too heavy for lift off • Was able to scoot across the floor • Video and audio quality decent • Keychain camera • Also originally too heavy for lift off • Stripped off additional battery • Soldered into Crazyfliebattery • Flight time reduced but able to fly around, slightly weighted but more stable

  9. Demonstration • UnweightedCrazyflie • Crazyflie with camera attachment • Other assorted videos

  10. Alternate Controls • Raspberry Pi • Python headless client + SD-card image • PyQT and CrazyflieGUI can be slow • udev rules needed for Crazyradio • USB battery makes system portable • Ruby version also available

  11. Alternate Controls • OpenCV • Object recognition and tracking • Most popular method: • Upward-facing camera • Identify Crazyflieby color/shape • Python script for auto-centering • Problem: vertical distance detection

  12. Alternate Controls • Kinect • Benefits: • Higher resolution than OpenCV • Depth perception • Working method • Attach an object (e.g. red ball) to Crazyflie • (x, y, z) coordinates from Kinect • User clicks screen with mouse to control Crazyflie • Additional controls developed to control thrust, roll, pitch, and yaw to guide Crazyflieto new location.

  13. Alternate Controls • Leapmotion • Leapmotion API and CrazyfliePython client • Control the Crazyfliewith hand motions • Fist: does nothing • Open palm: thrust • Hand tilt and angle: roll, pitch, yaw • Must recognize at least four fingers to engage

  14. Modifications and Hacks • 3D Printing • Quadcopter Frame • Circular is most common option • Weight and strength of 3D materials are factors

  15. Modifications and Hacks • 3D Printing • Arm Replacement • “reinforce the existing arms and allow broken arms to be used” • Includes light frame • Additional weight

  16. Modifications and Hacks • 3D Printing • Crazyradio Housing

  17. Modifications and Hacks • 3D Printing • Washer • Flip crashes can cause motor bearing depression. • Common solution is to insert something between the motor and propeller.

  18. Modifications and Hacks • Crane (A.K.A. CrazyCrane) • Crane from toy helicopter • Mount to underside of Crazyflie • Externally controlled • Hooks can pick objects up • Weight is an issue

  19. Modifications and Hacks • 4 Additional Motors & Propellers • Modify existing arms • Attach additional motors upside down to existing motor mounts • Inverse mapping for motors • Same mapping for propellers • Requires special launch platform (e.g., CD spool)

  20. Modifications and Hacks • Inductive Charging Plate • Can be charged externally with any voltage above 4.5V. • Modified Palm Touchstone charging kit • Attached receiving coil to Crazyflie • Charge with less than 500mA • Technical Issues: • Copter must be centered on charging station • Charging station has magnets to help cell phones be centered • Magnets are too strong for Crazyflietakeoff

  21. Swarming • Cameras • Transmitter • Fix transmission problem • Small enough to add on Crazyflie • Heterogeneous Swarming • One larger leading and directing the smaller • Phantom or Parrot

  22. Swarming - Problems • Balance issues • Would need balance-measuring equipment • Autonomous programming • Weight limit • Flight delicacy

  23. Future Recommendations • Get a very good soldering iron • Attempt to implement some of the modifications/hacks • Better motors and propellers • Longer life battery • Induction Charger • GPS guided flight • Higher grade cameras that are lighter and have higher resolution • Better payload carrying system • Write software for flight stabilization and possible programmable flight • Explore easily portable ways to hack or interfere with the drones • Explore swarming capabilities in-depth

  24. Works Cited • www.bitcraze.se/about/ • http://www.bitcraze.se/2012/11/Crazyflie-piloted-by-raspberry-pi/ • http://wiki.bitcraze.se/projects:Crazyflie:hacks:rasberrypi • http://staff.science.uva.nl/~arnoud/activities/IMAV/TrackingTheCrazyflie.pdf • http://www.bitcraze.se/2013/01/Crazyflie-opencv-tracking-test/ • http://www.bitcraze.se/2013/08/autopilot-using-kinect-and-a-pc/ • http://www.bitcraze.se/2013/08/flying-the-Crazyflie-with-leapmotion/ • http://www.youtube.com/watch?v=xdm1qp1BYyo • http://www.thingiverse.com/thing:95216 • http://forum.bitcraze.se/viewtopic.php?f=11&t=282 • http://www.thingiverse.com/thing:84169 • http://blog.3dhubs.com/post/64867658759/maker-tales-how-to-print-a-Crazyflie-nano-quadcopter • https://www.thingiverse.com/thing:90566 • http://paulogeraldes.blogspot.com/2013/05/Crazyflie-frame-v17.html • http://www.thingiverse.com/thing:84295 • http://www.thingiverse.com/thing:85640 • http://wiki.bitcraze.se/projects:Crazyflie:hacks:dual_motors • http://forum.bitcraze.se/viewtopic.php?f=6&t=179 • http://www.youtube.com/watch?v=gIdc3BZU2DE • http://www.bitcraze.se/2012/09/inductive-charging-hack/

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