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TornadoTrak

The TornadoTrak system aims to maintain contact with unmanned aerial vehicles (UAVs) during hazardous weather, ensuring continuous operation in unstable conditions. This initiative, part of the Research and Engineering Center for Unmanned Vehicles (RECUV), leverages a combination of scientific and commercial applications to enhance disaster response, security, and national defense. Key features include operating at 900 MHz, dual beam-steering modes, and GPS integration for precise navigation. The project focuses on creating a reliable and efficient communication system for UAVs, crucial for emergency situations.

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TornadoTrak

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  1. TornadoTrak Preliminary Design Review February, 2012 Kody Mallory Adam Prulhiere Bruce Deakyne Luke Tonneman Trevor McDonald

  2. RECUV Mission • The Research and Engineering Center for Unmanned Vehicles (RECUV) is a university, government, and industry partnership dedicated to the development and application of unmanned vehicle systems. RECUV research encompasses scientific experiments, commercial applications, mitigation of natural and man-made disasters, security, and national defense.

  3. Photo Courtesy of Jack Elston

  4. Photo Courtesy of Jack Elston

  5. Mission Statement • The TornadoTrak system will be capable of maintaining contact with an unmanned aerial vehicle (UAV) as it flies its route in dangerous and unstable weather conditions.

  6. Project Objectives • Operate at 900 MHz • Omni-directional and electronic beam-steering modes • Autonomous and manual input beam-steering • Interface with existing architecture • Fit on roof of chase van

  7. Goals • Primary • Receive desired angle from Mobile Control Station (MCS) and steer relative to van orientation • Secondary • Combine GPS data from UAV and MCS to determine desired angle • Tertiary • Use signal quality feedback from transceiver to finely adjust angle using control law

  8. Block Diagram

  9. Phased Array • 8 Element Uniform Circular Array • Half Wavelength Radius • Radiating Element: Monopole

  10. Radiating Element • 900 MHz Monopole Antenna • SMA Connection • Up to 10 W • 50 Ω • Cheap • Small • Light-Weight • Durable

  11. Microhard MHX-910 Transceiver

  12. Block Overview Transmit Network Transceiver Antennas Controller Receive Network

  13. Beam Forming Network Antenna Divider T/R Amplifier Phase Shifter T/R Control Block Summer Phase Shifter

  14. Transmit Network • Purpose: To relay amplitude and phase shifted signal from source to 8 separate antennas • Parts • T/R Switch • Phase Shifters • Amplifiers • Limiter Antenna Divider T/R T/R Amplifier Phase Shifter Amplifier

  15. Receive Network • Purpose: • Relay and phase shift data from antenna array to base station • Utilizes the internal amplifier of the MCS • Parts: • Isolators (if required) • T/R Switch • Phase Shifters • Summer Antenna Summer T/R T/R Phase Shifter

  16. Preliminary Component Selection • JSPHS-100 Variable Phase Shifter • 0-15V Voltage controlled • 700-1000 MHz • 180 degrees, 50 ohm • AD5582 Quad DAC • 12 bit 0-15V output voltage • Read/Write Mode

  17. Microcontroller • The microcontroller will interface with the MCS and UAV for gathering and processing the location and orientation information • GPS from UAV • Commands from MCS • Control the phase shifters to steer beam. • GPS and Magnetometer from MCS • Communicate with Transceiver

  18. Design Consideration • uC Accuracy • 32 Bit FP unit • Timing requirement- control a 1 degree margin within 0.87 seconds • Omni mode is enabled at ~1km • UAV Speed=20m/s • GPIO=~30 Pins • SCI communication

  19. MCS RF Signal Command (USB/SCI)GPS/Magnetometer Data Phased Array DAC Select [1:0] DAC Mode [3:0] uC AMP (x8) Quad DAC (x4) DAC φ Value[11:0] Voltage Phase Shifter (x8) DAC Read φ [11:0] Phase Shifter (x8) TX Signal Signal Strength Command RS232 Transceiver RX Signal Digital Signal TX Data (From MCS) Analog Signal

  20. Preliminary Component Selection • TMS320F28035 • 32 bit 60MHz with floating point arithmetic unit • SCI/SPI/I2C Interfaces • 1.8/3.3v supply • 45 GPIO pins • USB Interface • FT232RL

  21. Power System • System will be powered by the MCS • This is 120 V AC 60 Hz • Converters need to rectify AC input voltage to DC output voltage • Need 1.8 V, 3.3 V to power ICs • Also need 15 V for reference for DACs • Will also need to monitor current, as too much might damage some components

  22. Design Considerations • Will have two stages: Commercial rectifier, and then linear regulators • Linear regulators will provide the needed voltages • Outputs will need to be monitored to control current output • Outputs will additionally be fused to prevent damaging current spikes • Try to have isolation transformers between different power stages • Done to reduce interference from ground loops

  23. Design Considerations • Special attention to the layout of the PCBs with RF traces • Due to high frequency, could run into EMI and coupling into the power and ground plane. • Converters will have a separate PCB, and power will be routed to each individual system • Promotes modularity • Design for highest efficiency possible • MCS does not have unlimited power

  24. Overview 15 V reference DACs Converter system, 15 V reference and 3.3 V, 1.8 V for ICs 120 V AC from MCS Microcontroller,DACs, Amplifiers, USB Interface 3.3 V, 1.8 V supply

  25. Power System Commercial rectifier providing 15 V DC 120 V AC Linear Regulators Load

  26. Preliminary Component Selection • Capacitors– Mouser Electronics • For bypass, decoupling and various other purposes • POWER SUPPLY EXT - CENB1010A1503B01 • Supplies 12W 15V @ 0.8A • Linear Technology LTC1844 Linear Regulator • Adjustable output voltages • Coilcraft DA2303-AL Isolation Transformers • To minimize ground loops

  27. Interfacing Van Power Antenna Power Systems Magnetometer Microcontroller Amplifiers / Phase Shifters Serial Data

  28. Fixture • Requirements: • Durable • Weatherproof • Lightweight • Materials: • Plexiglass (Acrylic) • Aluminum • PVC Antenna Mount Antenna Ground Plane Shielding PCB

  29. Risks and Mitigation • Processor can’t keep up with UAV • Reduce Tracking resolution and resort to Omni mode further out • USB Interface is non communicative • Revert to module made by Sparkfun and connect • Feedback is not accurate enough • Resort to assuming correct response • DAC accuracy

  30. Risks and Mitigation • RF network error • Calibrate in chamber and modify software • Reflection • Matching network • Component noise • Calibration • Signal Delay • Transceiver settings

  31. Risks and Mitigation • Might not be able to incorporate isolation transformers • Redesign PCB to minimize ground loop size • Interference could be produced from the lines, traces on the PCBs • Shielding

  32. System Mitigation • Modular System • Easy repair in the field • Shielding between PCB and RF • Beam Steering Failure • Switched beam high gain antenna

  33. Fixture Risks and Mitigation • Very little team CAD or fabrication experience • Utilize colleagues in MechE • Adequate shielding • RF power meter • Durability & Weight • Safety margins

  34. Project Mitigation • Schedule “Troubleshoot week” • Reallocate resources as necessary • Phase project • Working individual components

  35. Budget

  36. Budget Cont.

  37. Budget Cont.

  38. Budget Cont.

  39. Anticipated Funding

  40. January 19 – March 1

  41. February 23 – April 5

  42. March 22 – May 3

  43. Acknowledgements • RECUV, Professor B. Argrow, Jack Elston and MaciejStachura • Joe Carey, Fidelity Comtech • Brandon Gilles, First RF • Professors E. Kuester, D. Filipovic • Tom Brown, Sam Siewert • Carissa Pocock, Robert Pomeroy, JeriesShihadeh

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