P06004 Air Surveillance Platform

Preliminary Design ReviewFriday, May 19, 2006

Introductions/Acknowledgments

Team Michael Abbatte Stephen Byers Christina Ermie Daniel Irwin Brian Rowe Brian Sipos Amy Slevar

Sponsor Center for Imaging

Science Jason Faulring Don McKeown

Coordinator Dr. Alan Nye

Mentor Dr. Kevin

Kochersberger

Project Description

Unmanned Aerial Vehicle Imaging payload Base Station

Work breakdown

Team Member Engineering Major Project Focus

Michael Abbatte Mechanical Airframe/Pilot

Stephen Byers Computer AP50/Base Station

Christina Ermie Mechanical Modeling

Daniel Irwin Computer RF/Communications

Brian Rowe Computer Vision System

Brian Sipos Electrical PC104/Power

Amy Slevar Mechanical Project Leader

Overview

Project Background Questions

Payload Development Questions

Background – Airframe Prior teams supplied 2 airframes

Student design Telemaster kit-built

Current team concentrated on student design platform due to sufficient payload area

Telemaster bay too small Possible use for autonomous flight testing

Background – Airframe Airframe Modifications

Removed excess weight for Preliminary testing

Foam core / fiber reinforced rear fuselage section

Made tail adjustable / removable

Moved motor forward Changed wing attachment

method Added landing gear

Background – Airframe Flight Testing

Supplied platform gave head start for SD II testing Performed 3 preliminary flight tests after modifications to

airframe Rebalanced Airframe about ¼ chord First flight short, but encouraging Second flight with additional 3.5lbs Third flight longer with some stability / control issues

Background – Airframe Aluminum Rails

Crash Scenario ANSYS

Max Stress 2300psi<Sy

Max Deflection .001951in

Background – AP50

UAV Flight AP50

COTS Autopilot Solution

Purchased by previous team

$5000

Background - AP50 Flight and

Mission Processors

GPS Navigation Sensors

Gyros Accelerometers Altimeter Airspeed

PID Controller

Background – AP50 Software Autonomous

Flight Control and Monitoring

Upload Waypoints

Execute Commands

Real-time Monitoring

Background – AP50 Testing Initially tested

GPS functions by driving in car with AP50

GPS Antenna Failure caused project delay

AP50 RF and control testing attempted with RC Car

Simulink Modeling

AP-50 requires gain inputs for PID control algorithms

Missing UAV signal flow diagrams Need to create from scratch

Problem No controls and flight dynamics

background on team

Simulink Modeling - Justification

Improper gain values

Future expansion based on full model

Simulink Modeling - Equations Relating airspeed error

with elevator deflection

Simulink Modeling - Equations

New model2( ) 2

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t LO

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Simulink Modeling – Senior Design II

Inaccurate State Space model Digital DATCOM

FORTRAN Derivative Coefficients

Any Questions?

Morphological Chart

Relative Weight Concept Chart

R1 Sufficient student skills R R R R R R R R R 9 0 9 20%R2 Adequate knowlegde available R R R R R R R R 8 0 8 18%R3 Area available for work/testing R R R C C R R 5 0 5 11%E1 Cost of materials R C C C R R 3 0 3 7%E2 Available budget for repairs C C C R R 2 0 2 4%E3 Cost of materials do not exceed budget C C R R 2 2 4 9%S1 Ability to finish by the end of 20061 R R R 3 4 7 16%S2 Meet design review milestones R R 2 4 6 13%T1Similar technology used C 0 0 0 0%T2 Finish previous senior design team's work 0 1 1 2%

Column Total 0 0 0 0 0 2 4 4 0 1 45 100%

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Pugh Analysis

CONCEPT 1 CONCEPT 2 CONCEPT 3 CONCEPT 4 CONCEPT 5 CONCEPT 6 CONCEPT 7 CONCEPT 8Resource FeasibiltyR1 Sufficient student skills 0 + + + + + + +R2 Adequate knowlegde available 0 + + + + + + +R3 Area available for work/testing 0 + + + + + + +Economic FeasibilityE1 Cost of materials 0 + + + + + + +E2 Available budget for repairs 0 + + + + + + +E3 Cost of materials do not exceed budget 0 + + + 0 0 0 +Schedule FeasibilityS1 Ability to finish by the end of 20061 0 0 0 0 0 0 0 0S2 Meet design review milestones 0 0 0 0 0 0 0 0Technology FeasibiltiyT1 Similar technology used 0 0 0 0 0 0 0 0T2 Finish previous senior design team's work 0 + + + + + + +

+ Baseline 7 7 7 6 6 6 70 Baseline 3 3 3 4 4 4 3- Baseline 0 0 0 0 0 0 0

Weighted Concept Chart

R1 Sufficient student skills 0.20 3 4 4 4 4 4 4 4R2 Adequate knowlegde available 0.18 3 4 4 4 4 4 4 4R3 Area available for work/testing 0.11 3 5 5 5 5 5 5 5E1 Cost of materials 0.07 3 4 4 5 3 3 4 4E2 Available budget for repairs 0.09 3 4 4 4 4 3 4 4E3 Cost of materials do not exceed budget 0.13 3 4 4 5 3 3 4 4S1 Ability to finish by the end of 20061 0.16 3 4 4 4 4 4 4 4S2 Meet design review milestones 0.04 3 4 4 4 4 4 4 4T1 Similar technology used 0.00 3 3 3 3 3 3 3 3T2 Finish previous senior design team's work 0.02 3 4 5 5 4 5 4 5

Raw Score 2.993 4.102 4.122 4.322 3.902 3.833 4.102 4.122

Normalized Score 0.693 0.949 0.954 1 0.903 0.887 0.949 0.954

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Real-Time Forward Video

Concept Development Portable Black and White Television Portable Color Television Computer Monitor with TV Tuner PCI Card TV Tuner USB TV Tuner Large (40+ inches) Flat Panel Television Average (13-27inches) CRT Television

Real-Time Forward Video

Feasibility Cost

Team Decision Portable Black and White Television

Sponsor Decision USB TV Tuner

Battery Concept Development

NiCd, NiMH, LiPo, HiPo, Lead Acid

Feasibility Power Density, Charging Capability, Cost, Safety

Current Equipment: 5 cell LiPo ~8000mAh 4 cell LiPo ~2100mAh 18 cell NiMH ~3300mAh LiPo / NiMH charging capability

RF Link – Concept Development

Ethernet Off-the-shelf 2.4 GHz

Cellular Phone GMRS Radio Satellite Communications IP Over Avian Carriers

RF Link – Feasibility

Top Choice: Long-Range Ethernet Fast Cheap Low-power Small Interface with PC104

Payload Camera and Lens

Camera Requirements Progressive Scan Smallest/Lightest possible Largest Pixel Size possible

Lens Requirements C-mount Filter Ring Focal Length matched to Camera Cost: $200-$300 range

Payload Camera and Lens

Camera Concept Development & Feasibility

Sony XCL-V500 Pulnix TMC-6700CL Balser A601F●Black and White (10-bit)●Resolution: 640x480●Interface: CameraLink●Pixel Size: 7.4um●Weight: 55g●Size: 29mmX29mmX30mm●Cost: ~$900

●Color (24-bit)●Resolution: 640x480●Interface: CameraLink●Pixel Size: 9.0um●Weight: 368g●Size: 67mmX51mmX116.5mm●Cost: ~$1595

●Monochrome (8-bit) or Color (24-bit)●Resolution: 640x480●Interface: IEEE-1394●Pixel Size: 9.9um●Weight: 100g●Size: 67.3mmX44mmX29mm●Cost: ~$995

Payload Camera and Lens

Lens Concept Development & Feasibility g/a = p/f

g: Ground Sampling Distance (½ meter) a: Altitude (1000ft) p: Pixel Size (Sony XCL-V500 = 7.4um) f: Focal Length of Lens

Focal Length matched to Camera Sony XCL-V500 needs ~4.5mm

Best Option: Megapixel Fixed Focal Length Lenses, 8mm Focal Length (Edmund Optics) Focal length approved by sponsor

Software Flowchart

Telemetry Computer

PC/104+ Hardware standards

ISA bus PCI bus CompactFlash RS-232 Ethernet

Software capability

Telemetry Computer Software

High-level design Compiled libraries

and programs Interpreted programs Off-line maintenance Stand-alone

operation and maintenance

Embedded constraints Low memory

footprints Low disk usage Low-speed CPU

Power Supply

Design Linear vs. Switching Average output Peak output Efficiency Component count

Fabrication Facilities available

Testing

Senior Design II

Airframe Continuation of flight testing with no

payload Addition of payload

Rebalance CG Flight testing

Aesthetic Improvement Paint all Black Organize Payload

Senior Design II AP50 Autopilot

Log Flight Data Observe commands issued by pilot and log response

of the platform Analyze logs in Excel for purposes of adjusting the

trim Work Toward Autonomous Flight

Start with PID gains from simulation and perform iterative adjustments to tune system performance

After stable flight achieved, attempt to execute fully autonomous waypoint following with Ground Pilot Software

Pilot is always able to resume control with Futaba radio

Senior Design II

Imaging Payload Build Write software for proper picture interval Place in airframe for testing

System Block Diagram Hardware

Integration

PC104 Embedded Computer

Futaba 72MHz Receiver Servos

AP50 Autopilot

Ethernet Bridge

Payload SensorsIMU GPS

Compact Flash Storage

Payload Camera

Any Questions?