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Project ASD Aerial Surveillance Drone. Team Syntech Ken Hua Andy McCormick Dan Redington Travis Cartwright Ryan Le Critical Design Review. Project Overview. The ASD is an Aerial Surveillance Drone that is designed for use by corporate or military projects.
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Project ASDAerial Surveillance Drone Team Syntech Ken Hua Andy McCormick Dan Redington Travis Cartwright Ryan Le Critical Design Review
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
Time Budgeting Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright
Project Gantt Chart Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright
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
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
Expo Deliverables A completed quad-copter with mounted camera and fully autonomous functionality. Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright
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
Monetary Budget Team Syntech : Andy McCormick, Hua, Le, Redington, Cartwright
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
Component Diagram Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright
Microcontroller • AT32UC3B0256 • AVR32 Architecture • 32kB Program Memory • 256kB Flash Memory • USB Bootloader • Up to 66MHz Clock Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright
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
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
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
Controller Power Circuit Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright
Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright
Software Block Diagram Team Syntech : McCormick,KenHua, Le, Redington, Cartwright
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
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
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
Frame Solidworks Team Syntech : McCormick, Hua, Ryan Le, Redington, Cartwright
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
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
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
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
Preliminary Testing • Motors • We used a tachometer to measure RPM • RPM chart for loaded motor Team Syntech : McCormick, Hua, Ryan Le, Redington, Travis Cartwright
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
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
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
Inclinometer Circuit Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright
Accelerometer Circuit Team Syntech : McCormick, Hua, Le, Daniel Redington, Cartwright