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7/30/2019 Project Proposal Edit
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Final Year Project - Proposal
German Malaysian Institute Page 2
Table of Contents
CHAPTER 1: INTRODUCTION ---------------------------------------------------------------------------------------------- 3
CHAPTER 2 PROBLEM STATEMENT---------------------------------------------------------------------------------- 5
CHAPTER 3: MAIN OBJECTIVE -------------------------------------------------------------------------------------------- 6
CHAPTER 4: FEASIBILITY STUDIES------------------------------------------------------------------------------------- 7
CHAPTER 5: PROJECT FEATURES-------------------------------------------------------------------------------------26
CHAPTER 6: PROJECT REQUIREMENTS----------------------------------------------------------------------------31
CHAPTER 7: PROJECT SPECIFICATIONS---------------------------------------------------------------------------32
CHAPTER 8: SAFETY FEATURES ---------------------------------------------------------------------------------------33
CHAPTER 9: ASSEMBLY DRAWING------------------------------------------------------------------------------------34
CHAPTER 10: LAYOUT DIAGRAM--------------------------------------------------------------------------------------39
CHAPTER 11: ELECTRONICS WIRING DIAGRAM --------------------------------------------------------------42
CHAPTER 12: PRINCIPLE OF OPERATION ------------------------------------------------------------------------48
CHAPTER 13: PLANNING AND SCHEDULING --------------------------------------------------------------------52
CHAPTER 14: PROJECT BUDGET -------------------------------------------------------------------------------------56
CHAPTER 15: CONTINGENCY PLAN ---------------------------------------------------------------------------------59
CHAPTER 16: CONCLUSION ---------------------------------------------------------------------------------------------60
APPENDIX A -------------------------------------------------------------------------------------------------------------------------61
Gantt chart -----------------------------------------------------------------------------------------------------------------------------61
References ----------------------------------------------------------------------------------------------------------------------------62
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CHAPTER 1: INTRODUCTION
The term UAV is an abbreviation of Unmanned Aerial vehicle, meaning aerial vehicles
which operate without a human pilot. UAVs are commonly used in both the military and
police forces in situations where the risk of sending a human piloted aircraft is
unacceptable, or the situation makes using a manned aircraft impractical.
One of the predecessors of todays fully autonomous UAVs were the aerial
torpedoes, designed and built during World War One. These were primitive UAVs, relying
on mechanical gyroscopes to maintain straight and level flight, and flying until they ran out
of fuel. They would then fall from the sky and deliver and explosive payload.
More advanced UAVs used radio technology for guidance, allowing them to fly
missions and return. They were constantly controlled by a human pilot, and were not
capable of flying themselves. This made them much like todays RC model airplanes whichmany people fly as a hobby. It is interesting to note that the government considers all
aircraft UAVs, if they are unmanned and used by a government or business.
After the invention of the integrated circuit, engineers were able to build sophisticated
UAVs, using electronic autopilots. It was at this stage of development that UAVs became
widely used in military applications. UAVs could be deployed, fly themselves to a target
location, and either attack the location with weapons, or survey it with cameras and other
sensor equipment.
Modern UAVs are controlled with both autopilots, and human controllers in ground
stations. This allows them to fly long, uneventfully flights under their own control, and flyunder the command of a human pilot during complicated phases of the mission.
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1.1 Function
Since their creation, UAVs have found many uses in police, military, and in
some cases, civil applications. Currently, UAVs are most often used for the
following tasks:
Aerial Reconnaissance UAVs are often used to get aerial video of a remote
location, especially where there would be unacceptable risk to the pilot of a
manned aircraft. UAVs can be equipped with high resolution still, video, and
even infrared cameras. The information obtained by the UAV can be streamed
back to the control center in real time.
Scientific Research In many cases, scientific research necessitates
obtaining data from hazardous or remote locations. A good example is
hurricane research, which often involves sending a large manned aircraft into
the center of the storm to obtain meteorological data. A UAV can be used toobtain this data, with no risk to a human pilot.
Logistics and Transportation UAVs can be used to carry and deliver a
variety of payloads. Helicopter type UAVs are well suited to this purpose,
because payloads can be suspended from the bottom of the airframe, with
little aerodynamic penalty.
1.2 The popular design of UAV
Aircraft Multirotor
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CHAPTER 2 PROBLEM STATEMENT
Risk human lives to monitoring at hazardous places
Waste human energy and time if they want to monitor/check at distant place
2.1 PROJECT BACKGROUND
Quadcopter, also known as multirotor, is a helicopter with four rotors. The rotors are
directed upwards and they are placed in a square formation with equal distance from the
center of mass of the quadcopter. The quadcopter is controlled by adjusting the angular
velocities of the rotors which are spun by electric motors. Quadcopter is a typical design for
small unmanned aerial vehicles (UAV) because of the simple structure. Quadcopters are
used in surveillance, search and rescue, construction inspections and several other
applications.
Quadcopter has received considerable attention from researchers as the complex
phenomenon of the quadcopter has generated several areas of interest. The basic
dynamical model of the quadcopter is the starting point for all of the studies but more
complex aerodynamic properties has been introduced as well. Different control methods
have been researched, including PID controllers.
GPS, acronym for Global Positioning System is a space-based global navigation
satellite system that provides reliable location and time information. UAVs armed with GPSoffer enhanced control in the air with superior observation, surveillance and monitoring
abilities.
QuadCopter run on the ATMega 2560 autopilot system. It allows the user to turn any
fixed, rotary wing or multi rotor vehicle into a fully autonomous vehicle and capable of
performing programmed GPS mission with waypoints.
Most of this project used in variety of function such as rescue, monitoring, capture
image, record video and so on.Arducopter is able to be a complete UAV solution capable
of both remote control and fully autonomous waypoint based flight.
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CHAPTER 3: MAIN OBJECTIVE
There are several main objectives that have set in term of doing the project. Generally,
by doing our group be able to complete the subject requirement for semester five and six.
Other than that, our group want to implement all the skills and knowledge that we have
learnt from semester one until semester five. By doing this project, our group will be able to
gain new knowledge and experience by researching information, drafting, producing,
presenting proposal, try to consult supervisor and so on. This will help all the members in
the group to develop the spirit of teamwork and unity during the work process.
3.1 Project objectives
To construct the mechanical parts of quadcopter
To control quadcopter move up,down,left and right
To do real live video,capture images and sent to station for processing
To develop an embedded system that can control quadcopter balancing on the air
To fly according to a set of waypoint and return back to the home position
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CHAPTER 4: FEASIBILITY STUDIES
Feasibility studies is a compulsory thing done while creating the project. It is a
research done by each members of the group according to a given task. Data collected
must be combined to analyze it to produce a results and conclusion.
4.1 Interview (Primary source)
4.1.1 Interviewer 1: Mr Azmi
We had interview Mr. Azmi for two times 3/11/2012 and 13/11/2012 in Shah Alam at
his office. We choose him as an interviewer because he is expert and knowledgeable about
my project. Other than that, he also sells parts that I need to construct my project. From the
conversation, he told important things to study and understand first because it will be easier
to construct the project if I know the basic.Beside that, he shows the tools, software, and
the real components that I will use later. I also got the specification of each parts such as
dimension, weight, quantity, measurement, price and so on.
4.1.2 Interviewer 2: Mr Suhaimi
On 25 November 2012, we had an interview session with Mr. Suhaimi at his house in
Sungai Kantan, Kajang. We interview him because he was interested in UAVs. Many types
of UAVs has he created himself and operated. So, lot of information we got from him in
terms of how to handle UAV, safety features when installing the parts, the selection of
appropriate components according to specifications and more. He is obsessed with gadgets
and experienced. He also made great idea for us to make a slight change of existing
products.
We could see him fly his UAV and at the same time teaching us a bit about the
operation and our action in case of emergency or lost.
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4.2 Internet (Secondary source)
From internet, I got much information about my project. I can download the guidelines,
image, software, and simulator. There are many web pages about my project. So, I canmake comparison between each and build something that can give more benefits and
improve the older projects.
4.3 Arduino
Arduino is an open-source electronics prototyping platform based on flexible, easy-to-
use hardware and software. It's intended for artists, designers, hobbyists, and anyoneinterested in creating interactive objects or environments.
Arduino can sense the environment by receiving input from a variety of sensors and
can affect its surroundings by controlling lights, motors, and other actuators. The
microcontroller on the board is programmed using the Arduino programming
language (based on Wiring) and the Arduino development environment (based
on Processing). Arduino projects can be stand-alone or they can communicate with
software running on a computer (e.g. Flash Processing, Max MSP).
The boards can be built by hand orpurchased pre-assembled; the software can
be downloaded for free. The hardware reference designs (CAD files) are available under an
open-source license; you are free to adapt them to your needs.
Figure 1: Arduino Logo
http://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://wiring.org.co/http://www.processing.org/http://arduino.cc/en/Main/ArduinoBoardSerialSingleSided3http://arduino.cc/en/Main/Buyhttp://arduino.cc/en/Main/Softwarehttp://arduino.cc/en/Main/Hardwarehttp://arduino.cc/en/Main/Policyhttp://arduino.cc/en/Main/Policyhttp://arduino.cc/en/Main/Hardwarehttp://arduino.cc/en/Main/Softwarehttp://arduino.cc/en/Main/Buyhttp://arduino.cc/en/Main/ArduinoBoardSerialSingleSided3http://www.processing.org/http://wiring.org.co/http://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePage7/30/2019 Project Proposal Edit
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4.3.1 Hardware
An Arduino board consists of an 8-bit Atmel AVR microcontrollerwith complementary
components to facilitate programming and incorporation into other circuits. An important
aspect of the Arduino is the standard way that connectors are exposed, allowing the CPU
board to be connected to a variety of interchangeable add-on modules known as shields.
Some shields communicate with the Arduino board directly over various pins, but many
shields are individually addressable via an IC serial bus, allowing many shields to be
stacked and used in parallel. Official Arduinos have used the mega AVR series of chips,
specifically the ATmega8, ATmega168, ATmega328, ATmega1280, and ATmega2560. A
handful of other processors have been used by Arduino compatibles. Most boards include a
5 volt linear regulatorand a 16 MHz crystal oscillator(orceramic resonatorin some
variants), although some designs such as the LilyPad run at 8 MHz and dispense with the
onboard voltage regulator due to specific form-factor restrictions. An Arduino's
microcontroller is also pre-programmed with a boot loader that simplifies uploading ofprograms to the on-chip flash memory, compared with other devices that typically need an
external programmer.
At a conceptual level, when using the Arduino software stack, all boards are
programmed over an RS-232 serial connection, but the way this is implemented varies by
hardware version. Serial Arduino boards contain a simple inverter circuit to convert between
RS-232-level and TTL-level signals. Current Arduino boards are programmed via USB,
implemented using USB-to-serial adapter chips such as the FTDI FT232. Some variants,
such as the Arduino Mini and the unofficial Boarduino, use a detachable USB-to-serial
adapter board or cable, Bluetooth or other methods. (When used with traditionalmicrocontroller tools instead of the Arduino IDE, standard AVR ISP programming is used.)
The Arduino board exposes most of the microcontroller's I/O pins for use by other
circuits. The Diecimila, Duemilanove, and current Uno provide 14 digital I/O pins, six of
which can produce pulse-width modulated signals, and six analog inputs. These pins are on
the top of the board, via female 0.1 inch headers. Several plug-in application shields are
also commercially available.
http://en.wikipedia.org/wiki/Microcontrollerhttp://en.wikipedia.org/wiki/I%C2%B2Chttp://en.wikipedia.org/wiki/Serial_bushttp://en.wikipedia.org/wiki/MegaAVRhttp://en.wikipedia.org/wiki/Linear_regulatorhttp://en.wikipedia.org/wiki/Crystal_oscillatorhttp://en.wikipedia.org/wiki/Ceramic_resonatorhttp://en.wikipedia.org/wiki/Flash_memoryhttp://en.wikipedia.org/wiki/Programmer_(hardware)http://en.wikipedia.org/wiki/RS-232http://en.wikipedia.org/wiki/Transistor%E2%80%93transistor_logichttp://en.wikipedia.org/wiki/Universal_Serial_Bushttp://en.wikipedia.org/wiki/FTDIhttp://en.wikipedia.org/wiki/Bluetoothhttp://en.wikipedia.org/wiki/Integrated_development_environmenthttp://en.wikipedia.org/wiki/In-system_programminghttp://en.wikipedia.org/wiki/Pulse-width_modulationhttp://en.wikipedia.org/wiki/Pulse-width_modulationhttp://en.wikipedia.org/wiki/In-system_programminghttp://en.wikipedia.org/wiki/Integrated_development_environmenthttp://en.wikipedia.org/wiki/Bluetoothhttp://en.wikipedia.org/wiki/FTDIhttp://en.wikipedia.org/wiki/Universal_Serial_Bushttp://en.wikipedia.org/wiki/Transistor%E2%80%93transistor_logichttp://en.wikipedia.org/wiki/RS-232http://en.wikipedia.org/wiki/Programmer_(hardware)http://en.wikipedia.org/wiki/Flash_memoryhttp://en.wikipedia.org/wiki/Ceramic_resonatorhttp://en.wikipedia.org/wiki/Crystal_oscillatorhttp://en.wikipedia.org/wiki/Linear_regulatorhttp://en.wikipedia.org/wiki/MegaAVRhttp://en.wikipedia.org/wiki/Serial_bushttp://en.wikipedia.org/wiki/I%C2%B2Chttp://en.wikipedia.org/wiki/Microcontroller7/30/2019 Project Proposal Edit
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Arduino Mega Nano Uno Atmega 2560
Processor Atmega 1280 Atmega 168 or
Atmega 328
Atmega
328p
Atmega 2560
Frequency(MHz) 16 16 16 16
Voltage(V) 5 5 5 5EEPROM kb 4 1 1 4
SRAM kb 8 2 8
Digital i/o pins 54 14 14 54
Analog Input pin 16 8 6 16
Dimension 4inx2.1in
101.6mm x 53.3
mm
1.70 in 0.73 in
43.18 mm
18.54 mm
2.7 in
2.1 in
68.6 mm
53.3 mm
4inchx2.1inch
101.6mmx53.3
Mm
Table 1 Comparison between ATMega 2560 and other types
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Controller PIC 16F87xA Atmega 2560
Frequency (MHz) 20 16
SRAM 368bytes 8kb
EEPROM 256bytes 4kb
Flash Memory 8kb 256kb
4.3.2 Software
The open-source Arduino environment makes it easy to write code and upload it to the
i/o board. It runs on Windows, Mac OS X, and Linux. The environment is written in Java
and based on Processing, avr-gcc, and other open source software.
The Arduino IDE is a cross-platform application written in Java, and is derived from
the IDE for the Processing programming language and the wiring project. It is designed tointroduce programming to artists and other newcomers unfamiliar with software
development. It includes a code editor with features such as syntax highlighting, brace
matching, and automatic indentation, and is also capable of compiling and uploading
programs to the board with a single click. There is typically no need to edit make files or run
programs on a command-line interface. Although building on command-line is possible if
required with some third-party tools such as Ino.
The Arduino IDE comes with a C/C++ library called "Wiring" (from the project of the
same name), which makes many common input/output operations much easier. Arduino
programs are written in C/C++, although users only need define two functions to make arun able program:
setup() a function run once at the start of a program that can initialize settings
loop() a function called repeatedly until the board powers off
http://en.wikipedia.org/wiki/Java_(programming_language)http://en.wikipedia.org/wiki/Processing_(programming_language)http://en.wikipedia.org/wiki/Wiring_(development_platform)http://en.wikipedia.org/wiki/Syntax_highlightinghttp://en.wikipedia.org/wiki/Brace_matchinghttp://en.wikipedia.org/wiki/Brace_matchinghttp://en.wikipedia.org/wiki/Makefileshttp://en.wikipedia.org/wiki/Command-line_interfacehttp://inotool.org/http://en.wikipedia.org/wiki/C_(programming_language)http://en.wikipedia.org/wiki/C%2B%2Bhttp://en.wikipedia.org/wiki/Wiring_(development_platform)http://en.wikipedia.org/wiki/Wiring_(development_platform)http://en.wikipedia.org/wiki/C%2B%2Bhttp://en.wikipedia.org/wiki/C_(programming_language)http://inotool.org/http://en.wikipedia.org/wiki/Command-line_interfacehttp://en.wikipedia.org/wiki/Makefileshttp://en.wikipedia.org/wiki/Brace_matchinghttp://en.wikipedia.org/wiki/Brace_matchinghttp://en.wikipedia.org/wiki/Syntax_highlightinghttp://en.wikipedia.org/wiki/Wiring_(development_platform)http://en.wikipedia.org/wiki/Processing_(programming_language)http://en.wikipedia.org/wiki/Java_(programming_language)7/30/2019 Project Proposal Edit
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Figure 2: A screenshot of the simple beginner program of Arduino IDE
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4.4 Arduino ATMega 2560
The Arduino Mega 2560 is a microcontroller board based on the ATmega2560 .It has
54 digital input/output pins (of which 14 can be used as PWM outputs), 16 analog inputs,
4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection, a power
jack, an ICSP header, and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-
DC adapter or battery to get started. The Mega is compatible with most shields designed for
the Arduino Duemilanove or Diecimila.
The Mega 2560 is an update to the Arduino Mega, which it replaces.
The Mega2560 differs from all preceding boards in that it does not use the FTDI USB-to-
serial driver chip. Instead, it features the ATmega16U2 (ATmega8U2 in the revision 1 and
revision 2 boards) programmed as a USB-to-serial converter.
4.4.1 Power
The Arduino Mega can be powered via the USB connection or with an external power
supply. The power source is selected automatically.
External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or
battery. The adapter can be connected by plugging a 2.1mm center-positive plug into the
board's power jack. Leads from a battery can be inserted in the Gnd and Vin pin headers of
the POWER connector.
The board can operate on an external supply of 6 to 20 volts. If supplied with less than
7V, however, the 5V pin may supply less than five volts and the board may be unstable. If
using more than 12V, the voltage regulator may overheat and damage the board. The
recommended range is 7 to 12 volts.
The power pins are as follows:
VIN = The input voltage to the Arduino board when it's using an external powersource (as opposed to 5 volts from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if supplying voltage via the
power jack, access it through this pin.
5V = This pin outputs a regulated 5V from the regulator on the board. The board can
be supplied with power either from the DC power jack (7 - 12V), the USB connector
(5V), or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins
bypasses the regulator, and can damage your board. We don't advise it.
3V3 =A 3.3 volt supply generated by the on-board regulator. Maximum current draw
is 50 mA. GND = Ground pins.
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4.4.2 Memory
The ATmega2560 has 256 KB of flash memory for storing code (of which 8 KB is used
for the boot loader), 8 KB of SRAM and 4 KB of EEPROM (which can be read and written
with the EEPROM library).
4.4.3 Input and Output
Each of the 54 digital pins on the Mega can be used as an input or output,
using pinMode(), digitalWrite(), anddigitalRead() functions. They operate at 5 volts. Each
pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor
(disconnected by default) of 20-50 kOhms
.
4.4.4 Communication
The Arduino Mega2560 has a number of facilities for communicating with a computer,
another Arduino, or other microcontrollers. The ATmega2560 provides four
hardware UARTs for TTL (5V) serial communication. AnATmega16U2 (ATmega 8U2 on the
revision 1 and revision 2 boards) on the board channels one of these over USB and
provides a virtual com port to software on the computer (Windows machines will need a .inf
file, but OSX and Linux machines will recognize the board as a COM port automatically.
The Arduino software includes a serial monitor which allows simple textual data to be sent
to and from the board. The RX and TX LEDs on the board will flash when data is being
transmitted via the ATmega8U2/ATmega16U2 chip and USB connection to the computer(but not for serial communication on pins 0 and 1).
Figure 3: Top view of ATMega 2560
http://www.arduino.cc/en/Reference/EEPROMhttp://arduino.cc/en/Reference/PinModehttp://arduino.cc/en/Reference/DigitalWritehttp://arduino.cc/en/Reference/DigitalReadhttp://arduino.cc/en/Reference/DigitalReadhttp://arduino.cc/en/Reference/DigitalWritehttp://arduino.cc/en/Reference/PinModehttp://www.arduino.cc/en/Reference/EEPROM7/30/2019 Project Proposal Edit
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Figure 4: Bottom view of ATMega 2560
Models
Rating
Walkera QR
LadyBird
QuadCopter
Karbonic KX-CB
QuadCopter
Turbo Ace x830-S
QuadCopter DEVO10
5300mAhRotor format 4 4 4
Stability 9 8 LDA 8+
Payload 0 2 8+
Flight time 8-10 min 8-10 min 20-25 min
Wind
resistance
7 4 9
Motor BR BL BL
Propellers
inches
2.25 7 12
GPS NO NO YES
ESC NA 10 Ampere 35 Ampere
Table 2 Comparison existing products
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4.5 PID Controller
A proportionalintegralderivative controller (PID controller) is a generic control
loop feedback mechanism (controller) widely used in industrial control systems a PID is
the most commonly used feedback controller. A PID controller calculates an "error" value
as the difference between a measured process variable and a desired set point. The
controller attempts to minimize the error by adjusting the process control inputs.
The PID controller calculation (algorithm) involves three separate constant
parameters, and Is accordingly sometimes called three-term control: the proportional,
the integral and derivative values, denoted P, I, and D. Heuristically, these values can be
interpreted in terms of time: P depends on the present error, I on the accumulation
of past errors, and D is a prediction of future errors, based on current rate of change. The
weighted sum of these three actions is used to adjust the process via a control element
such as the position of a control valve, or the power supplied to a heating element.
In the absence of knowledge of the underlying process, a PID controller has
historically been considered to be the best controller. By tuning the three parameters in the
PID controller algorithm, the controller can provide control action designed for specific
process requirements. The response of the controller can be described in terms of the
responsiveness of the controller to an error, the degree to which the
controllerovershoots the set point and the degree of system oscillation. Note that the use of
the PID algorithm for control does not guarantee optimal control of the system or system
stability.
Some applications may require using only one or two actions to provide theappropriate system control. This is achieved by setting the other parameters to zero. A PID
controller will be called a PI, PD, P or I controller in the absence of the respective control
actions. PI controllers are fairly common, since derivative action is sensitive to
measurement noise, whereas the absence of an integral term may prevent the system from
reaching its target value due to the control action.
Figure 5: PID Controller
http://en.wikipedia.org/wiki/Control_loophttp://en.wikipedia.org/wiki/Control_loophttp://en.wikipedia.org/wiki/Feedback_mechanismhttp://en.wikipedia.org/wiki/Controller_(control_theory)http://en.wikipedia.org/wiki/Industrial_control_systemhttp://en.wikipedia.org/wiki/Process_variablehttp://en.wikipedia.org/wiki/Setpoint_(control_system)http://en.wikipedia.org/wiki/Algorithmhttp://en.wikipedia.org/wiki/Proportionality_(mathematics)http://en.wikipedia.org/wiki/Integralhttp://en.wikipedia.org/wiki/Derivativehttp://en.wikipedia.org/wiki/Heuristichttp://en.wikipedia.org/wiki/Control_valvehttp://en.wikipedia.org/wiki/Overshoot_(signal)http://en.wikipedia.org/wiki/Optimal_controlhttp://en.wikipedia.org/wiki/Optimal_controlhttp://en.wikipedia.org/wiki/Overshoot_(signal)http://en.wikipedia.org/wiki/Control_valvehttp://en.wikipedia.org/wiki/Heuristichttp://en.wikipedia.org/wiki/Derivativehttp://en.wikipedia.org/wiki/Integralhttp://en.wikipedia.org/wiki/Proportionality_(mathematics)http://en.wikipedia.org/wiki/Algorithmhttp://en.wikipedia.org/wiki/Setpoint_(control_system)http://en.wikipedia.org/wiki/Process_variablehttp://en.wikipedia.org/wiki/Industrial_control_systemhttp://en.wikipedia.org/wiki/Controller_(control_theory)http://en.wikipedia.org/wiki/Feedback_mechanismhttp://en.wikipedia.org/wiki/Control_loophttp://en.wikipedia.org/wiki/Control_loop7/30/2019 Project Proposal Edit
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4.5.1 Proportional term
The proportional term produces an output value that is proportional to the current error
value. The proportional response can be adjusted by multiplying the error by a constant Kp,
called the proportional gain constant.
The proportional term is given by:
4.5.2 Integral term
The contribution from the integral term is proportional to both the magnitude of the
error and the duration of the error. The integral in a PID controller is the sum of theinstantaneous error over time and gives the accumulated offset that should have been
corrected previously. The accumulated error is then multiplied by the integral gain ( ) and
added to the controller output.
The integral term is given by:
The integral term accelerates the movement of the process towards set point andeliminates the residual steady-state error that occurs with a pure proportional controller.
However, since the integral term responds to accumulated errors from the past, it can
cause the present value to overshoot the set point value (see the section on loop tuning).
4.5.3 Derivative term
The derivative of the process error is calculated by determining the slope of the error
over time and multiplying this rate of change by the derivative gain . The magnitude of
the contribution of the derivative term to the overall control action is termed the derivative
gain, .
The derivative term is given by:
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The derivative term slows the rate of change of the controller output. Derivative control
is used to reduce the magnitude of the overshoot produced by the integral component and
improve the combined controller-process stability. However, the derivative term slows the
transient response of the controller. Also, differentiation of a signal amplifies noise and thus
this term in the controller is highly sensitive to noise in the error term, and can cause aprocess to become unstable if the noise and the derivative gain are sufficiently large. Hence
an approximation to a differentiator with a limited bandwidth is more commonly used. Such
a circuit is known as a phase-lead compensator.
http://en.wikipedia.org/wiki/Transient_responsehttp://en.wikipedia.org/wiki/Lead%E2%80%93lag_compensatorhttp://en.wikipedia.org/wiki/Lead%E2%80%93lag_compensatorhttp://en.wikipedia.org/wiki/Transient_response7/30/2019 Project Proposal Edit
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4.6 Inertial Measurement Unit
An inertial measurement unit, or IMU, is the main component of inertial guidance
systems used in air space, and watercraft, including guided missiles. An IMU works by
sensing motion including the type, rate, and direction of that motion using a combination of
accelerometers and gyroscopes. Accelerometers are placed such that their measuring axesare orthogonal to each other.
An IMU works by detecting the current rate of acceleration, as well as it changes in
rotational attributes, including pitch, roll and yaw. This data is then fed into a computer,
which calculates the current speed and position, given a known initial speed and position.
IMU available in market now are in various types and shape. So, user can select what
type, size and shape. The IMU can be selected from its degrees of freedom (DOF) that
being developed by manufacturer. User can select from three DOF, five DOF and six DOF.
For three DOF, the sensors configurations are two accelerometers and a gyroscope thatmeasures yaw. For five DOF, the sensors configurations are three accelerometers and two
gyroscopes that measure pitch and roll. For six DOF, all axes for accelerometer and
gyroscope for measurement are available.
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Figure 6: Inertial Measurement Unit
4.6.1 Accelerometer
An accelerometer is a device that measures proper acceleration. The proper
acceleration measured by an accelerometer is not necessarily the coordinate acceleration(rate of change of velocity). For example, an accelerometer at rest of the surface of the
earth will measure an acceleration g= 9.81 m/s2straight upwards, due to its weight. By
contrast, accelerometers in free fall or at rest in outer space will measure zero. Another
term for the type of acceleration that accelerometers can measure is g-force acceleration.
Accelerometers have multiple applications in industry and science. Highly sensitive
accelerometers are components ofinertial navigation systems for aircraft and missiles.
Accelerometers are used to detect and monitor vibration in rotating machinery.
Accelerometers are used in tablet computers and digital cameras so that images on
screens are always displayed upright.
http://en.wikipedia.org/wiki/Proper_accelerationhttp://en.wikipedia.org/wiki/Standard_gravityhttp://en.wikipedia.org/wiki/Standard_gravityhttp://en.wikipedia.org/wiki/Standard_gravityhttp://en.wikipedia.org/wiki/Weighthttp://en.wikipedia.org/wiki/G-forcehttp://en.wikipedia.org/wiki/Inertial_navigationhttp://en.wikipedia.org/wiki/Inertial_navigationhttp://en.wikipedia.org/wiki/G-forcehttp://en.wikipedia.org/wiki/Weighthttp://en.wikipedia.org/wiki/Standard_gravityhttp://en.wikipedia.org/wiki/Proper_acceleration7/30/2019 Project Proposal Edit
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4.6.1.1 Application of Accelerometer
Accelerometers can be used to measure vehicle acceleration. They allow for
evaluation of overall vehicle performance and response.[4]
This information can then beused to make adjustments to various vehicle subsystems as needed.
Accelerometers can be used to measure vibration on cars, machines, buildings,
process control systems and safety installations. They can also be used to measure
seismic activity, inclination, machine vibration, dynamic distance and speed with or without
the influence of gravity. Applications for accelerometers that measure gravity, wherein an
accelerometer is specifically configured for use in gravimetry, are called gravimeters.
4.6.2 Gyroscope
A gyroscope is a device for measuring or maintaining orientation, based on the
principles ofangular momentum. Mechanically, a gyroscope is a spinning wheel or disk in
which the axle is free to assume any orientation. Although this orientation does not remain
fixed, it changes in response to an external torque much less and in a different direction
than it would without the large angular momentum associated with the disk's high rate of
spin and moment of inertia. Since external torque is minimized by mounting the device
in gimbals, its orientation remains nearly fixed, regardless of any motion of the platform onwhich it is mounted.
Gyroscopes based on other operating principles also exist, such as the electronic,
microchip-packaged MEMS gyroscope devices found in consumer electronic devices, solid-
state ring lasers, fibre optic gyroscopes, and the extremely sensitive quantum gyroscope.
Applications of gyroscopes include inertial navigation systems where magnetic
compasses would not work (as in the Hubble telescope) or would not be precise enough
(as in ICBMs), or for the stabilization of flying vehicles like radio-controlled helicopters
orunmanned aerial vehicles. Due to their precision, gyroscopes are also used to maintain
direction in tunnel mining.
Gyros are the most useful sensor for this task, because of the following reasons:
Its response is very fast compared to other sensors such as accelerometer.
It measures angular velocity fast and accurately.
http://en.wikipedia.org/wiki/Accelerometer#cite_note-4http://en.wikipedia.org/wiki/Accelerometer#cite_note-4http://en.wikipedia.org/wiki/Accelerometer#cite_note-4http://en.wikipedia.org/wiki/Vibrationhttp://en.wikipedia.org/wiki/Gravimetryhttp://en.wikipedia.org/wiki/Gravimeterhttp://en.wikipedia.org/wiki/Orientation_(rigid_body)http://en.wikipedia.org/wiki/Angular_momentumhttp://en.wikipedia.org/wiki/Torquehttp://en.wikipedia.org/wiki/Rotationhttp://en.wikipedia.org/wiki/Moment_of_inertiahttp://en.wikipedia.org/wiki/Gimbalhttp://en.wikipedia.org/wiki/Vibrating_structure_gyroscope#MEMS_gyroscopehttp://en.wikipedia.org/wiki/Ring_laser_gyroscopehttp://en.wikipedia.org/wiki/Fibre_optic_gyroscopehttp://en.wikipedia.org/wiki/Quantum_gyroscopehttp://en.wikipedia.org/wiki/Inertial_navigation_systemhttp://en.wikipedia.org/wiki/Hubble_telescopehttp://en.wikipedia.org/wiki/ICBMhttp://en.wikipedia.org/wiki/Unmanned_aerial_vehiclehttp://en.wikipedia.org/wiki/Unmanned_aerial_vehiclehttp://en.wikipedia.org/wiki/ICBMhttp://en.wikipedia.org/wiki/Hubble_telescopehttp://en.wikipedia.org/wiki/Inertial_navigation_systemhttp://en.wikipedia.org/wiki/Quantum_gyroscopehttp://en.wikipedia.org/wiki/Fibre_optic_gyroscopehttp://en.wikipedia.org/wiki/Ring_laser_gyroscopehttp://en.wikipedia.org/wiki/Vibrating_structure_gyroscope#MEMS_gyroscopehttp://en.wikipedia.org/wiki/Gimbalhttp://en.wikipedia.org/wiki/Moment_of_inertiahttp://en.wikipedia.org/wiki/Rotationhttp://en.wikipedia.org/wiki/Torquehttp://en.wikipedia.org/wiki/Angular_momentumhttp://en.wikipedia.org/wiki/Orientation_(rigid_body)http://en.wikipedia.org/wiki/Gravimeterhttp://en.wikipedia.org/wiki/Gravimetryhttp://en.wikipedia.org/wiki/Vibrationhttp://en.wikipedia.org/wiki/Accelerometer#cite_note-47/30/2019 Project Proposal Edit
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For sure the major drawback of these sensors is drifting, and this is an embedded
feature, so you cannot use them to make your quadcopter angle-aware. So using gyros can
make quadcopter balanced but completely not aware of external environment.
Figure 7: Gyroscopes
4.7 Image Processing
Digital image processing is the use of computeralgorithms to perform imageprocessing on digital images. As a subcategory or field ofdigital signal processing, digital
image processing has many advantages overanalog image processing. It allows a much
wider range of algorithms to be applied to the input data and can avoid problems such as
the build-up of noise and signal distortion during processing. Since images are defined over
two dimensions (perhaps more) digital image processing may be modeled in the form
ofmultidimensional systems.
4.7.1 HOW IT WORKS?
The processing of digital Image Processing (DIP) carried out following sequences:
ImageAcquisition: This is the first process of imge processing. It involves pre-processing
like scalling, translating or rotating.
Image Enhancement: It is simplest form of image processing. For example when we
increase contrast of image then it looks like better.it is very subjective area of image
processing.
Image Restoration: Image restoration deals with improving appearance of
image. Restoration is objective rather than subjective.it is based on mathematical model ofimage degradation.
http://en.wikipedia.org/wiki/Algorithmhttp://en.wikipedia.org/wiki/Image_processinghttp://en.wikipedia.org/wiki/Image_processinghttp://en.wikipedia.org/wiki/Digital_imagehttp://en.wikipedia.org/wiki/Digital_signal_processinghttp://en.wikipedia.org/wiki/Analog_image_processinghttp://en.wikipedia.org/wiki/Multidimensional_systemshttp://en.wikipedia.org/wiki/Multidimensional_systemshttp://en.wikipedia.org/wiki/Analog_image_processinghttp://en.wikipedia.org/wiki/Digital_signal_processinghttp://en.wikipedia.org/wiki/Digital_imagehttp://en.wikipedia.org/wiki/Image_processinghttp://en.wikipedia.org/wiki/Image_processinghttp://en.wikipedia.org/wiki/Algorithm7/30/2019 Project Proposal Edit
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Color Image Processing: This is very extracting feature of interest in an image.
Wavelets and Multiresolution Processing: These are the basic foundation to represent
image. It represent image in various degree of resolution.
Compression: This technique is used to reduce the storage required to save an image as
well as the bandwidth which require to be transmit image.
Morphological Processing Deals: MP deals with various tools for extracting image
component. This is very useful for representation and description of various shape of
image.
Segmentation: This involves with the partition of an image into various objects. it is very
difficult task or work in digital image processing. in some case it is used to extract character
and word from the background.
The final step involves representation, description and recognition of the image.
4.8 Monitor and recognize fire using image processing
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4.9 Monitoring System
The system mission computing image processing capabilities designed to improve
control and command functions, increase situational awareness, and integrate ground-imaging computations for aerial remote sensing applications such as oil and gas pipeline
monitoring, border surveillance, forest fire detection and monitoring, precision agriculture,
and more.
Using quadcopter, it can save manpower and not costly. This is example of complex
monitoring system:
Figure 8: Monitoring System
At least the quadcopter and Ground Control Station (GSC) would be present. The
GCS sends commands to the air vehicle and receives data on the operation of the vehicle.
It also can receive data from any sensors on board. The data may be relayed from the GCS
to a data processing center, or the center may receive data directly from the UAV.
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4.10 Material selection
Selection of a suitable material is very important to create a quadcopter. It is able to
save costs and improve quadcopters performance too.
To make the assessment, we have to do research. Among them are interviewing
people who have experience created it and people who sell related products. Research
from the internet also gives us the opportunity to make a comparison between existing
products and components used. From there, we can assess which one is more suitable for
our project.
4.10.1 Aluminium arms
From our study, we know that an aluminium arm is havier than carbon fibre
arms. But, by choosing suitable brushless motor and propellers we believe
that our quadcopter able to fly. If we use carbon fibre, logically it would fly
better but too light will cause it easy to lose control if the wind resistance is too
strong in the air. The major problem of the carbon is that it transmits all the
vibrations. As it's nonsense to make holes everywhere in carbon (loosing the
stiffness, the vibrations is transmitted along the structure with no dampening).
In addition, by using aluminium it can reduce damages because it stronger
and harsh than carbon fibre.
4.10.2 GPS
GPS selection is very important because it requires accurate flight. For
example, we will set within 5 meter landing. If GPS used have good
specification, of course it would have landed in the area. While, if the GPS is
poor in specification, landing may be far away from the range specified.
From the research we did, uBlox GPS is more appropriate. It has good
specification at important parts such as antenna, voltage regulator and
compatible with our controller.
4.10.3 Battery
Flight duration determined from the battery. To achieve our objectives and do
some flight modes later, Lipo (Lithium Polymer) battery with 4000mAh 14.8volt
is enough to fly around 12minutes. Advantage using LiPo battery is it has a
high discharge rate which means it can deliver large amounts of power at
once.
From another point of view, this battery is not too heavy and easy to install on
our quadcopter.
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CHAPTER 5: PROJECT FEATURES
Able to switch to autopilot if radio is not working while controlling
Gyro stabilized flight mode enabling acrobatics
GPS for position hold
Magnetometer for heading determination
Barometer for altitude hold
Sonar sensor for automated takeoff and landing capability
Automated waypoint navigation
Motor control using low cost standard PWM Electronics Speed Controllers (ESC's)
Camera installed to capture image and real live video
Wireless command & telemetry for long distance communication
Capability to use any R/C receiver
GUI for configuration of PID and other flight parameters
Image processing for fire reorganization
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5.1 Movement of Quadcopter
Take-off motion
Landing motion
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Forward motion
Backward motion
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Turn Right motion
Turn Left motion
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CHAPTER 6: PROJECT REQUIREMENTS
For this project, we should have a precise planning. This is because the project is a
combination of hardware and software. In mechanical, we need to consider in terms of
component requirements, costs, equipment and installation. It must be studied carefully to
avoid mistakes, loss budget and out of our planning date.
6.1 Components required
No Components Quantity
1 AT Mega 2560 with connectors & GPS unit(uBlox) 1
2 Motors (750KV) 4
3 Propellers (10x4.5) 4
4 Electronic Speed Controller (ESC) 20Ampere 4
5 Aluminium arms 4
6 Aluminium legs 8
7 Stack-up 2
8 Main controller carrier plate 1
9 Top plate 1
10 Bottom plate 1
11 LiPo Battery 3
12 HD Camera 1
13 Battery charger 1
14 Radio transmitter 1
15 Radio receiver 1
16 Battery alarm 1
Table 3: Component Required
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CHAPTER 7: PROJECT SPECIFICATIONS
Weight 1100 gram
Size of propeller 10x4.5
Design X-shapeBody Frame Aluminium
Type of GPS uBlox
Simulation system of IMU 6DOF(Degree of Freedom)
Flight Time Average 12minutes
Camera Resolution 720x480 (520 TVL)
Table 4: Project Specifications
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CHAPTER 8: SAFETY FEATURES
No Components Description
1 Battery alarm The battery alarm is a very
important accessory, it will warn by
flashing the sensor when the
battery is low so that we can land
as soon as possible.
2 Warning Sign Warnes not to touch the propellers
3 Insulator(Covered wire) Covered ESC because position isnear aluminium arms.
4 Caution sign Do not touch the motor after itoperates
Table 5: Safety Features
http://unmannedtechshop.co.uk/Multi-Rotor/Multi-Rotor-Accessories/Battery-Alarm-Monitorhttp://unmannedtechshop.co.uk/Multi-Rotor/Multi-Rotor-Accessories/Battery-Alarm-Monitor7/30/2019 Project Proposal Edit
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CHAPTER 9: ASSEMBLY DRAWING
9.1 Arm Assembly X4
Figure 9: Arm Assembly x4
1. Attach the motor to the arm using two M3x5mm screws (Blue) and two M3 lock
Washers (Orange) making sure the screws go into the threaded holes in the motor
and not the ventilation holes. (If the motor is screwed using the ventilation holes, it will
not spin freely) Route the motor cables through the hole on the side of the arm.
2. Use two M3x25mm screws (Green) and two M3 metal nuts (Pink) to fasten the legs to
the arm using the indicated holes. To provide rigidity to the legs attach two M3x18mm
spacers in between the legs and secure with four M3x5mm metal screws (Blue).
3. Repeat for all 4 arms
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9.2 Main Frame Assembly
Figure 10: Main Frame Assembly
1. Attach the bottom and top plates to one of the arm assemblies using an M3x30mm
screw (Blue) and an M3x25mm screw (Green), secure with two M3 metal nuts (Pink).
2. Repeat for the other three arms.
3. Attach four M3x08mm spacers as indicated in the figure above and fasten using four
M3x5mm nylon screws (Red).
4. Slide the Velcro straps through the two slots on the bottom plate. The velcro straps will
be used to fasten the flight battery bellow the vehicle.
5. Slide four rubber washers (Orange) onto the M3x30mm screws (Blue) that stick out of
the top plate.
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9.3 Assembling Stack-Up
Figure 11: Assembly Stack-Up
1. Place the APM carrier plate with the front of your APM pointing in between the blue
arms (for X mode) onto the four M3x30mm screws sticking out of the top plate.
2. Secure the APM carrier plate with four M3x30mm nylon spacers.
3. Place a stack-up plate on top of the M3X30mm spacers and secure using four
M3x18mm spacers.
4. Place a second stack-up plate on top of the M3x18mm spacers and secure using four
M3x5mm nylon screws.
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9.4 Attaching Propellers
There are two ways to install the propellers. It depends on the comfort of creator.
The figure below is examples of ways of installation.
Figure 12: Attaching Propellers
To attach the propellers use the collets included. Cut the plastic ring included with the
propellers that fits snug around the threaded collect and insert it into the slot in the back of
the propeller. Place the collect on the motor shaft and tighten to keep the propeller in place.
Make sure the writing on the propeller is facing up. Refer to the diagram above for correct
prop rotation direction.
The law of physics will make the QuadCopter spin around itself if all the propellerswere rotating the same way, without any chance of stabilizing it. By making the propeller
pairs spin in each direction, but also having opposite tilting, all of them will provide lifting
thrust without spinning in the same direction. This makes it possible for the QuadCopter to
stabilize the yaw rotation, which is the rotation around itself.
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CHAPTER 10: LAYOUT DIAGRAM
10.1 Isometric Drawing
10.2 Side View Layout Diagram
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10.3 Top View Layout Diagram
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CHAPTER 11: ELECTRONICS WIRING DIAGRAM
11.1 AT Mega 2560
Figure 17: AT Mega 2560
11.2 MS5611-01BA03 Barometric Pressure Sensor
Figure 18: Barometric Pressure Sensor
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11.3 MPU-6000/Pressure
Figure 19: Pressure
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11.4 GPS uBlox LEA-6
Figure 20: Circuit diagram GPS Ublox
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11.5 Direction of set waypoints
11.6 GUI Design
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11.7 Flight Time
11.7.1 Battery 2200mAh
Current motor = P/V
= 590W/750KV
=0.8mA ------1 motor
if 4 motor =0.8mA x 4
=3.2mA
ESC Average Current =11.5A
Total current = 11.5A + 3.2mA
= 11.5A
Flight time = Batterys capacity / average amp draw x 60s
= 2200mAh / 11.5A x 60s
= 11.5 minutes.
11.7.2 Battery 4000mAh
Current motor = P/V
= 590W/750KV
=0.8mA ------1 motor
if 4 motor =0.8mA x 4
=3.2mA
ESC Average Current =11.5A
Total current = 11.5A + 3.2mA
= 11.5A
Flight time = Batterys capacity / average amp draw x 60s
= 4000mAh / 11.5A x 60s
= 20.9 minutes.
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11.8 RPM Calculation
RPM = supply voltage * motor kV * suppy by 90% of motor propeller rpm
= 16.8V * 750kV * 0.9
=11340rpm
11.9 Motor thrust Calculation
T = [ (eta * p)2 * 2r2 * ] ^ 0.3333
T = Thrust (in Newton)
eta = popellers hover efficiency (0.7~0.8)
p = shaft power (voltage*current ESC*motor efficiency)
= 3.14159
r = propeller radius
= air density (1.22kg/m3
)
T = [ (0.75 * (16.8*20*0.75))2 * 2**0.11432 * 1.22 ] 0.333
=15.289N
1N = 101gram
15N = 1.5kg for 1 motor
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CHAPTER 12: PRINCIPLE OF OPERATION
Principle of operation describes the whole of the operations of the project. Starting
from the start until end of the operation. Various operations that happen in this project.
Usually it is explained through block diagram, flowchart and machine sequences.
12.1 System sequences
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12.2 Block Diagram
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12.3 Flowchart
12.3.1 Image Processing
No
Yes
Start
Fly for
monitoring
Capture Image
Sent to
station
Processing
Object
Recognization
If color >=50%
Fire
detection
End
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12.3.2 Flight
No
Yes
Start
Check
battery level
Turn On Radio
Controller
Arm the
system
If Red LED
solid for 5
Quadcopter in
armed
condition
Ready to be
flight
End
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CHAPTER 13: PLANNING AND SCHEDULING
To achieve our project can be complete on time; we are planning and create a
schedule using Gantt chart. Beside that, Gantt chart will indicate the list of the task
performed. Actually task performance can be described to show the individual task andactivities follow the planning that has been set to complete on time. Time scheduling
allowed for each individual task and task bar for better visualization of the individual activity.
Basically we have been using the Microsoft Project Software for the project scheduling. We
are use Microsoft Project software to indicate the time schedule of each individual task for
better visualization of the individual activities.
13.1 Task content
This project is conducted by four students of Diploma in Electronic Information
Technology (Diploma) in EIT which are Syamsul Fakhri bin Abdul Munim, Muhd Zulfadli Bin
Anuwer, Khairul Hakim bin Ishak and Dayang, under supervision of a supervisor Mr. Mohd
Faizal Bin Ismail. In order to complete the project within time frame given which is 6 month
period of 1 semester, group organization is made to assigned tasks involved in this project.
Below shows the tasks assigned for the students in accomplishing the project.
In order to ensure of our projects run in progress, we have prepared a schedule for
each individual task so that every job entrusted to be completed within the stipulated time.
In connection with that, we are very concerned with the concept of understanding betweeneach other so that no conflicts occur where it may affect the planning task. Thus, each
member need to considerate and focus on each task given because each stage will affect
the entire of the project implementation.
Task Content
Project concepts and feasibility studies
Project analysis
Project planning and scheduling
Project design
Equipment purchasing
Mechanical assembly
Firmware and software development
Documentation and presentation report
Presentation
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13.2 Task sequences
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13.3 Gantt Chart (See Appendix A)
Each team members is given their own task. It must be completed on time. It is
intended to have no problems running out of time while creating this project. To make it
easier, the task given to them according to their expertise.
13.4 Group member task distribution
In order to make the project completed on time, the group leader should make sure all
members are following the task schedule that has been provided. All team members need
to contribute to complete it within the given period.
Syamsul Fakhri Bin Abdul Munim Mohd Zulfadli Bin Anuwer
Feasibility studies Develop the main firmware program Quadcopter flight tester Internal presentation External presentation
Feasibility Studies Construct mechanical parts Analyze & develop of balancing
algorithm and PID control VB programming Documentation Internal presentation External presentation
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Khairul Hakim Bin Ishak Dayang Norliza
Feasibility studies CCD camera setup & configuration Matlab programming & image
processing development Mechanical frame and quadcopter
designer
Internal presentation External presentation
Analyze sonar and pressure sensor Matlab programming & image
processing development Purchasing and budget control Documentation Internal presentation
External presentation
Table 7: Task distribution
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CHAPTER 14: PROJECT BUDGET
14.1 Budget
Industry Engineering department provides RM4000 for our group. This budget should
be fully utilized for expenses during the construction project. This budget also includes the
purchase of components, tools and payment if do outsourcing.
14.2 Costing of recycled components
No Item Quantity Price per
unit(RM)
Total(RM)
1 Personal Computer 1 500.00 500.00
2 Embedded PC 1 500.00 500.00
Total 1000.00
Table 8: Costing Of Recycled Components
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14.3 Costing of required components
No Description Price per
Unit(RM)
Quantity Total(RM)
1 Body Frame 450.00 1 450.00
2 750Kv Brushless Motor 90.00 4 360.00
320amp Electronic Speed
Controller75.00
4300.00
4 10x4.5 Propeller 30.00 4 120.00
5ATMega 2560 Main
Controller650.00
1650.00
6 uBlox GPS 400.001
400.00
7 9 Channel 2.4Ghz Radio 450.00 1 450.00
82200mAh 11.1V Lipo
Battery
60.001
60.00
94000mAh 14.8V Lipo
Battery140.00
1140.00
10500mW 5.8G Video
Transmitter320.00
1320.00
11 5.8G Video Receiver 180.001
180.00
12 Main Controller Casing 30.001
30.00
13 520TVL CCD Camera 280.001
280.00
14IMAX B6 LIPO Battery
Charger120.00
1120.00
15 CCD Camera Battery 40.00
1
40.00
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16 Parachute 30.001
30.00
17 Battery alarm 25.001
25.00
Total 4000.00
Table 9: Costing of Required Components
14.4 Percentage Of Recycled And Requirement Components
20%
80%
Quotation of recycled & requirement
components
Recycled
Required
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CHAPTER 15: CONTINGENCY PLAN
No Problem Planning
1 System failure Reset the system
2 Battery backup Exchange with the backup battery
3 Lost control Use RTL switch to return to homeposition
Table 10: Contingency Plan
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CHAPTER 16: CONCLUSION
We can conclude that by using radio transmitter 9 channels, 2.4GHz able to control
quadcopter to move up,down,left and right. The signal that send to receiver at will fully
control the movement as long as quadcopter is in the range specified. We also can capture
image from the camera installed.other than that, it able to do real live camera. Anything that
camera recorded will be display directly to monitor.
Quadcopter able to fly according to the set waypoints and back to the home position.
Using APM 2.5 sotware, we can set the waypoints, set tuning and do configuration. Besides
that, quadcopter can balance it position at the fixed position. We develop an embedded
system with accelarometer and gyroscope.
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APPENDIX A
Gantt chart
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References
http://diydrones.com/profiles/blogs/full-auto-auto-landing-tests-with-the-arducopter-v2-4xp1
https://sites.google.com/site/ssuetquadmav/hardware/transmitter-reciever
http://code.google.com/p/ardupilot-mega/wiki/MPWaypoint
http://oddcopter.com/2012/02/06/choosing-quadcopter-motors-and-props/
http://www.rcgroups.com/forums/showthread.php?t=731680
http://quinxy.com/guides/guide-to-rc-flying-quadcopters-helicopters-and-planes/
http://blog.rc-fever.com/2012/10/how-to-choose-a-suitable-esc-for-quadcopter/
http://www.radicalrc.com/category/Props-34
http://aeroquad.com/showthread.php?6182-Lipo-Batteries-Choosing-and-Maintaining
http://code.google.com/p/gentlenav/wiki/WayPoints
http://code.google.com/p/arducopter/wiki/AC2_attitude_PID
http://code.google.com/p/arducopter/wiki/AC2_alt_hold_PID
http://code.google.com/p/ardupilot-mega/wiki/MAVParam
http://arduino.cc/en/Main/ArduinoBoardMega2560
http://www.robotshop.com/gorobotics/articles/microcontrollers/arduino-5-minute-tutorials-lesson-4-ir-
distance-sensor-push-button
http://diydrones.com/forum/topics/quadcopter-control-function-layers
http://www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA538509
http://technicaladventure.blogspot.com/
http://diydrones.com/profiles/blogs/full-auto-auto-landing-tests-with-the-arducopter-v2-4xp1
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