ICARUS AUTOMATIC LANDING PAD

PREPARED FOR DAVID GITZ AND FAST ROBOTICS COMPANY

PROJECT NUMBER: S11-63-ICARUSLPTEAM 63 MEMBERS

Cory Fulkerson (Project Manager) - Mechanical EngineerJohn Graham - Computer EngineerClayton Hooks - Electrical EngineerO’Raphael Okoro - Electrical EngineerTyler Wilson - Mechanical Engineer

Dr. Pourboghrat – Faculty Technical Advisor

PRESENTATION OUTLINE

•Executive Summary - John Graham•Literature Review Summary – Tyler Wilson•Detailed Project Description – Clayton Hooks•Completion Plan – O’Raphael Okoro•Required Items – Clayton Hooks•Summary – Cory Fulkerson

Executive Summary Automatic Landing Pad (ALP) is designed to track and

charge the ICARUS quad rotor flying craft. Designed for Fast Robotics

David Gitz

Solar panel energy collection system

Direct contact charging

Backpack carrying system

Client: Fast Robotics

Faculty Technical Advisor: Farzad Pourboghrat

Project Manager:Cory Fulkerson

Mechanical EngineeringResponsibilities:

Chassis subsystem

Tyler WilsonMechanical Engineering

Responsibilities:Transportation subsystem

Clayton HooksElectrical Engineering

Responsibilities:Control system hardware, Energy delivery

subsystem

O'Raphael OkoroElectrical Engineering

Responsibilities:Energy collection subsystem

John GrahamComputer Engineering

Repsonsibilities:Control system software

At the end of the fall semester the client will receive:Working ALP prototypeAll design schematics for boards/circuitsAll code for landing softwareSchematics for chassis system

Total expected prototype cost: $1130

LITERATURE REVIEW SUMMARY

Subsystems Power System

Energy Collection and StorageEnergy Delivery

Control SystemHardwareSoftware

Mechanical SystemChassisTransport

Energy Collection Due to the need for portability, an outside

energy source is needed. Solar Panels are main focus of collection subsystem.

Based on amount of energy delivered to the vehicle and the time required to recover energy from sun about 14 watts is needed.

Energy Storage Due to varying charging periods a storage

system must be implemented. With 1 hour flight time/charge time a 9 hour

mission would require 240 watt-hours. Thus, a battery will be used to store energy

within the ALP.

Control System In order to communicate with craft in flight, a

GPS system must be used to locate the helicopter from the pad. A small camera on the craft locates GPS and flies to location.

Switches to close range landing device once close enough to the landing pad.

In order to communicate with the craft, a controller is needed.

Control System Cont’d Many controller forms are being considered

from microcontrollers to single-board computers.

Chassis Ultimately, the chassis will house all electrical

components and provide a landing surface for the craft.

Different materials were researched on the basis of cost and how well it would hold up under different weather conditions. ABS plastic seems to be best choice.

Solar panels will be mounted on top of the chassis using drawer slides allowing the pad to be more compact for transport.

Transport Tree-Stand back pack straps proved to be able

to carry heavier weights while still giving comfort to the transporter.

Should be able to be either detached or moved off to the side to give the ALP a more level landing surface.

PROJECT DESCRIPTION

Major Systems of the ICARUSLP

System Level Diagram

Power Control Mechanical

Energy DeliverySubsystem

Energy CollectionSubsystem

CO

NT

RO

L

Chassis Structure

Control System Software

Control System Hardware

CO

NT

RO

L

POWER

PO

WE

R

TO

VE

HIC

LEB

AT

TE

RY

Transport Mechanism

SENSING ANDCOMMUNICATION

SO

LAR

EN

ER

GY

EX

TE

RN

AL

CH

AR

GE

R

Power System

Energy Collection Collect energy from solar array Store energy in battery

Energy Delivery Supply power to control system Deliver energy to vehicle battery via contacts

Photovoltaic Array

Charge Controller

Offline Charger

Rectifier

Boost Converter

Buck Converter

Equalizer

3.3v LDO Supply

5v Buck Supply

VRLA Battery

ENERGY DELIVERY SUBSYSTEM

ENERGY COLLECTION SUBSYSTEM

Vehicle Side

Pad Side

Control System

SoftwareLocationLandingSequencing

HardwareRadioGPSVision

Controlling Computer

Camera

GPS Unit

Radio

USB Hub Controller

FT232

FT232FT232

Communication Function

Main Function

CONTROL SYSTEM SOFTWARE

CONTROL SYSTEMHARDWARE GPIO

Controller

LED Array(on vehicle)

ChargingFunction

ActivationFunction

GPS TrackingFunction

TrackingFunction

Mechanical System

SU

N

DU

ST

Enclosed Electronics Systems

SLIDES

WA

TER

CHASSIS / HOUSINGASSEMBLY

IMPACT

LANDING SURFACE

TRANSPORT MECHANISM

SLIDES

Chassis ◦Encloses & protects other systems◦Provides landing & charging surface

Transport ◦Provides means to carry to & from the field

Completed up to Date Finished Preliminary CAD design drawings for Chassis Performed testing for the camera of the navigation

system All of the assemblies have been simulated for the power

systems

Action Item List Project: ICARUS: Automatic Landing Pad Sec Ref #: S11-63-ICARUSLP

Action Item List

Team Members: Hrs. Worked are on the second sheetCory Fulkerson, ME (PM) John Graham, CpE Date: 22-Feb-11Clayton Hooks, EEO'Rapheal Okoro, EETyler Wilson, ME

# Activity Person Assigned Due New Due Status Comments1 Finalize CAD Drawings CF 21-Aug 28-Aug

2Finalize Hardware Deisgn for Energy Collection OO 21-Aug 28-Aug

3Finalize Hardware Design for Energy Delivery CH 21-Aug 28-Aug

4Create C++ Code for Navigation System JG 21-Aug 28-Aug

5 Finalize Transportation Design TW 21-Aug 28-Aug

7Perform Stress Analysis/Begin Construcing Chassis CF 28-Aug 4-Sep

8Assemble Chassis Wiring Harness OO 28-Aug 4-Sep

9

Complete Schematic Capture, PCB Layout, CAM Generation/Begin Fabricating Power Delivery Prototypes CH 28-Aug 4-Sep

10Test Navigation System with Hardware to ensure compatibility JG 28-Aug 4-Sep

11Assmble Transportation System to Chassis TW 28-Aug 4-Sep

Summarized Action Item List Order Parts Finalize CAD drawings for Mechanical Systems Finalize Schematics for Electrical Systems Finalize C++ code for Navigation Systems Construct Hardware for Subsystems Troubleshoot Subsystems Combine Subsystems to build Landing Pad Troubleshoot Landing Pad Complete all required Documentation Prepare Final Presentation

Timeline Dates 21-Aug 28-Aug 4-Sep 11-Sep 18-Sep 25-Sep 2-Oct 9-Oct 16-Oct 23-Oct 30-Oct 6-Nov 13-Nov 20-NovWeek 1 2 3 4 5 6 7 8 9 10 11 12 13 14ActionDesign and Construction PhaseFinalize CAD drawings and Electical Schematics

Order Parts

Construct Chassis

Build Chargers/Controllers

Build Navigational System

Testing and Troubleshooting PhaseTest Landing Pad Charger

Test Vehicle Charger

Test Transporation System

Test Chassis

Troubleshoot/correct problems

Documentationa and Report StagePrepare All Documentaion, Poster, Final Presentation

Summarized Timeline For Fall 2011

Preparation Phase (Before Fall Semester) Order Parts

Design and Construction Phase 1 (Week 1-Week 4)Finalize all CAD drawings, Electrical Schematics and

Software Construct Hardware for Subsystems

Testing and Troubleshooting Phase 1 ( Week 5-Week 7) Test individual Subsystems Troubleshoot subsystemsBegin completing all required documentation

Summarized Timeline For Fall 2011

Design and Construction Phase 2 (Week 8)Combine Subsystems to build Landing Pad

Testing and Troubleshooting Phase 2 (Week 9 and Week 10)Test Landing PadTroubleshoot Landing Pad Complete all required documentation

Documentation and Report Stage(Week 11-Week 14)Finish Required Posters Prepare Final Presentations

Required Items

Power System Control SystemMechanical System

Fabrication ResourcesShipping

Total

$345$425$135

$70$155

$1130

OVERVIEWThe ICARUS Automatic Landing Pad (ALP) will provide a secondary recharge opportunity for the ICARUS vehicle when out in the field during missions which will extend the range of the vehicle as well as increase mission duration.

In order to finish on time we will follow the tentative timeline as closely as possible which accounts for unexpected delays and allows plenty of time for testing and troubleshooting.

THANK YOU

QUESTIONS?