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The JAviator Project

The JAviator Project. Rainer Trummer Computer Sciences Workshop '06 Department of Computer Sciences University of Salzburg, Austria. Introduction. Collaborative research project of the Computational Systems Group, Department of Computer Sciences, University of Salzburg

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The JAviator Project

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  1. The JAviator Project Rainer Trummer Computer Sciences Workshop '06 Department of Computer Sciences University of Salzburg, Austria

  2. Introduction • Collaborative research project of the • Computational Systems Group, Department of Computer Sciences, University of Salzburg • IBM T. J. Watson Research Center, Hawthorne, New York, USA • Primary project goals are to • develop high-level real-time and concurrent programming abstractions for Java • provide an infrastructure that is time-portable • verify the system on an unmanned aerial vehicle

  3. The JAviator (Java Aviator) • Self-made 4-rotor model helicopter • build of high-quality materials like carbon fiber, aluminium, and titanium • equipped with custom-made 3-phase motors • Technical data: • 1100 mm total diameter • 1600 g total weight • 4000 g maximum thrust • 1500 g maximum payload • 20 min average flight time

  4. Basic Components

  5. Machined Components

  6. 3-Phase AC Motors • Technical data: • 30 mm diameter • 30 mm height • 250 W max power (17 A at 15 V DC)

  7. Rotor Design

  8. JAviator Rotor

  9. Fuselage Design

  10. JAviator Top View

  11. Stub Frame Design

  12. JAviator Side View

  13. Control System Design • Requirements: • 4 independent controllers to stabilize roll, pitch, yaw, and altitude • Controller period in the range of milliseconds • Hard real-time software • Reliable remote connection between JAviator and ground station • Sufficient computing power for autonomous flight • Onboard navigation • Trajectory control • Obstacle recognition

  14. Embedded System

  15. Robostix Timing

  16. Gumstix Timing

  17. Control Software Design • Atmega-based C software • Time-triggered sensing and actuating • Fully deterministic controller behavior • Exotask-based Java software • Real-time software infrastructure • Each exotask has its own memory space • Each exotask has its own garbage collector • Exotask system provides time-portability • No change of original Java semantics

  18. Embedded Software

  19. Software Hierarchy

  20. First All-Java Flight • Oct 4, 2006: • Spontaneous software test • System fully operational • First Java-based flight!

  21. IBM Demo Session • Oct 5, 2006: • Official demo flights with IBM • Real-time tracing of entire system

  22. Work In Progress • Hardware: JAviator version 2 • Larger body to carry additional electronics • CNC-machined aluminium connectors • 3-dimensional laser positioning mechanics • Software: Trajectory controller • Full roll, pitch, yaw, and altitude control • Acquisition of GPS and obstacle data • Fully autonomous navigation and control

  23. Thank You!

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