Project ASD Aerial Surveillance Drone

1. Project ASDAerial Surveillance Drone Team Syntech Ken Hua Andy McCormick Dan Redington Travis Cartwright Ryan Le Critical Design Review

2. Project Overview • The ASD is an Aerial Surveillance Drone that is designed for use by corporate or military projects. • The ASD provides advanced reconnaissance and much needed intel on tactical locations. • Autonomous drones are expendable. Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

3. Time Budgeting Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

4. Project Gantt Chart Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

5. Milestone 1 Deliverables • Fully constructed quad-copter • with limited capability. • This includes: • Designed and constructed • frame and test area • Hover function • Balance function Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

6. Milestone 2 Deliverables • Fully constructed and functional quad-copter • This includes: • Hover and Balance functionality • Turn left/right • Ascend Descend • Wireless communication established Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

7. Expo Deliverables A completed quad-copter with mounted camera and fully autonomous functionality. Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

8. Division of Labor Ryan Software Algorithm development Software development Hardware Motor mount design Prop mounting Material testing Daniel PCB Design Core circuit design Peripheral design V1 and V2 board layout Power Systems Primary and auxiliary power design Andy Documentation and Budget CDR compilation. Resource tracking Timesheet upkeep Hardware Frame construction Test Design Construct test area Travis PCB Design Core circuit design Peripheral design Circuit construction Software Software development Test Design Test area design Test data collection Ken Software Lead software design Software development Algorithm design Hardware Frame design Material research Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

9. Monetary Budget Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

10. Monetary Budget The total Spent amount for the quad copter test and build is at $932.75 of the asked for $1100. We are finished in buying the critical components except for the printed PCB. Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright

11. Component Diagram Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

12. Microcontroller • AT32UC3B0256 • AVR32 Architecture • 32kB Program Memory • 256kB Flash Memory • USB Bootloader • Up to 66MHz Clock Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

13. Microcontroller • General Purpose IO • 44 GPIO Pins • Secondary Functions • PWM Output • SPI Bus • USB Interface • Analog to Digital Converter • USART Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

14. Wireless Module • XBee • Indoor Range – 30m • 2.4 GHz Operating frequency • TX Current – 45mA • Rx Current – 50mA • UART Interface • 3.3V Supply Required Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

15. Rangefinder • Ping))) Ultrasonic Distance Sensor • 2cm – 3m • 30mA supply current • 5V Supply • Timed Response Pulse • Only requires one IO pin Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

16. Controller Power Circuit Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

17. Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

18. Software Block Diagram Team Syntech : McCormick,KenHua, Le, Redington, Cartwright

19. Software Description • Main functions (Purple) • demo(): calls the control and led functions in a specified order to demo the capabilities of the quadcopter • patrol(): similar to demo but will follow the beacons for navigation • remote(): handles remote control input • kill(intkillSig): shuts off all operations immediately if the killSig variable is true • launch(): launch sequence • land(): landing sequence • LED functions (Red) • blink(int led): sets the selected led to blink • on(int led): turns on selected led • off(int led): turns off selected led • Motor functions (Blue) • mControl(int motor, int speed): sets the motor to the speed given by changing the corresponding mArray[] index Team Syntech : McCormick, Ken Hua, Le, Redington, Cartwright

20. Software Description • Control functions (Grey) • zMove(int alt): move to given altitude alt • xMove(int dist): move in the x direction to given distance dist • yMove(int dist): move in the y direction to given distance dist • rotate(int deg): rotate by given degree value • hover(): sets the copter into hover mode • balance(): constantly adjusts the copters set calibration variables set by the calArray[] • xAdj(): changes calArray[0] if needed • yAdj(): changes calArray[1] if needed • zAdj(): changes calArray[2] if needed • iAdj(): changes calArray[3] if needed • jAdj(): changes calArray[4] if needed Team Syntech : McCormick, Ken Hua, Le, Redington, Cartwright

21. Software Description • Sensor functions (Yellow) • altRead(): reads altitude • xRead(): reads x acceleration • yRead(): reads y acceleration • zRead(): reads z acceleration • iRead(): reads tilt in i • jRead(): reads tilt in j • Wireless Com functions (Green) • rxLED(): handles rx from LED Mode button, cycles through on, blink, and off • rxKill(): handles requests from kill switch, sets killSig to 1 (0 is no kill sig) • rxHover(): handles requests from hover, overides all commands and calls hover() • rxLR(): handles requests from Left and Right buttons • rxUD(): handles requests from Up and Down buttons • rxFB(): handles requests from Forward and Backward buttons • rxLL(): handles launch and land requests Team Syntech : McCormick, Ken Hua, Le, Redington, Cartwright

22. Frame Solidworks Team Syntech : McCormick, Hua, Ryan Le, Redington, Cartwright

23. Frame • Main body • 2 carbon fiber plates • IC board mounted to top • Mounting Hardware • 4-40 screw size • 4 standoffs (plastic) • 4 spacers (plastic) • 4 nuts (plastic) • 12 arm mount screws Team Syntech : McCormick, Hua, Ryan Le, Redington, Cartwright

24. Frame • Battery • Mounted in between plates • Arm mounts • Delrin (Acetal) • Arms • Carbon fiber tube .45” • 6“ (5” pictured) Team Syntech : McCormick, Hua, Ryan Le, Redington, Cartwright

25. Frame • Motor Mounts • Delrin (Acetal) • High strength and rigidity • Light weight • Motors mounted on inside of tube Team Syntech : McCormick, Hua, Ryan Le, Redington, Cartwright

26. Preliminary Testing • Motors • Mounted through the lid of a box • Tested the I-V characteristics • I-V graph is for unloaded motor Team Syntech : McCormick, Hua, Ryan Le, Redington, Travis Cartwright

27. Preliminary Testing • Motors • We used a tachometer to measure RPM • RPM chart for loaded motor Team Syntech : McCormick, Hua, Ryan Le, Redington, Travis Cartwright

28. Test Plans • 5’ foot cube made from PVC pipe • Cube will be surrounded by a net • Quadcopter will be tethered to the ground Team Syntech : McCormick, Hua, Ryan Le, Redington, Travis Cartwright

29. Test Plans • Balance testing • A stand will hold two opposing arms in place • The other arms are free to move. • This allows for actuation in one plane • We can use this to hone in balance control Team Syntech : McCormick, Hua, Ryan Le, Redington, Travis Cartwright

30. Risks, Delays & Contingencies • Broken components • We ordered doubles of most • Over budget • Remove camera • Structural failure • Evaluate material choices • Controller failure • Adjust schedule for revision • Arduino last resort • Controllability • Expect major delays • Test cage for safety Team Syntech : McCormick, Hua, Ryan Le, Redington, Travis Cartwright

31. Questions?

32. Inclinometer Circuit Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright

33. Accelerometer Circuit Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright