UTAT UAV PDR 2015.pptx

University of Toronto Aerospace TeamUAV [email protected]

DateLocationSpeakers


Preliminary Design Review

University of Toronto Aerospace TeamUAV Division

November 21, 2015BA3116UAV Division

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Agenda• Competition Overview• System Level Design• Payload• Computer Vision• Communications• Airframe• Fabrication• Mechanical• Avionics• Ground Control Station• Systems Testing and Risk Analysis

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~12.30-13.00 Lunch Break



COMPETITIONS OVERVIEW

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Unmanned Systems Canada 2016

UAV agricultural application:• Estimate crop surface

area• Determine crop geo-

location• Read QR code inside

each crop area• Detect 940 nm IR

Target• Deploy (3) probes into

designated crop areas4


AUVSI SUAS 2016

5

UAV primary mission tasks: • Fully autonomous UAV

operation• Telemetry

interoperability with competition server

• Determine alphanumeric target characteristics and geo-location

• Read QR Code• Secondary: ADLC,

Actionable Intelligence, Emergent Task, Air-Drop


UAV Challenge Medical Express

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UAV blood sample return: • Fly 20-30 km from

base to remote landing site

• Estimate dummy geo-location at remote landing site

• Land 30 – 80 m from dummy

• Retrieve the blood sample and return to base


MedEx Justification

• Well proven USC/AUVSI airframe that meets performance specifications of these competition– Requires no major airframe design

modifications• No PWF SAE AeroDesign competition

– No other aircraft design within UTAT• No registration fee• Veteran members

7


USC/AUVSI Schedule

PDRNov 21

Detailed DesignNov - Dec

USC Repo

rtJan 15 USC Full

Sys TestingMar - Apr

USC FlightApr 27 – May 1

AUVSI Full Sys TestingMay - Jun

AUVSI ReportMay 18

AUVSI Flight Jun

15 – 18

System Integrati

onJan - Feb

8


Medical Express Schedule

PDRNov 21

Detailed Design

Nov - Dec

Retrieval A/C

TestingMar - Apr

MedEx D2 Flight Proof

Apr 13

Full Systems TestingAug - Sep

MedEx D3Aug 10

MedEx Flight Sep

27 – 30

System Integrati

onJan - Mar Full

Systems TestingApr - Aug

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SYSTEM ENGINEERINGLead: Oliver Wu (ECE 1T7)

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MEDICAL EXPRESSFUNCTIONAL FLOW BLOCK DIAGRAM

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MEDICAL EXPRESSBLOCK DIAGRAM

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MedEx Configuration Justification• Long distance >10KM• No LOS• Constant telemetry required• Unpredictable landing site (VTOL

only)

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USC AND AUVSI BLOCK DIAGRAM

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PAYLOAD SUBSYSTEMWINSTON LIU

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Unmanned Systems Canada (April 29th - May 1st)

• Calculate crop areas - delineated on corners by 40-inch colored ribbons, and give GPS coordinates of centroid

• Read QR codes located within crop area• No points for automatic detection• Processing time = 1 hour post-flight

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Competition Requirements-USC


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Competition Requirements-AUVSI (1)

AUVSI (June 15th - 19th)Primary task: localize and classify targets

and QR codesSecondary tasks:

– ADLC: classify 3 characteristics autonomously; decode QR code; 67% classification rate. 6 targets will be scored.

– Actionable Intelligence: perform ADLC on 1 target while airborne

– Off-axis target: capture and characterize– Emergent target: in-flight re-tasking– Air-drop: take pictures of the target


• Characterize targets:1. Location (lat, lon)2. Letter orientation (N, NE, E, SE, S, SW, W,

NW)3. Shape, 13 possibilities4. Alphanumeric character5. Color of character6. Color of shape

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Competition Requirements-AUVSI (2)


Medical Express (Sep 19th-22nd)• Locate Outback Joe in 1 km diameter circle• Find landing spot, and land. Requires VTOL• Using two aircraft, 1 to relay, 1 to land• Recent rules update stated grass runways are

available for takeoff• Support aircraft (relay) will be extended range

version of UT-X2, tentatively called UT-X2E• Retrieval aircraft will be new airframe,

tentatively called UT-X3

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Competition Requirements-MedEx


Configuration A (USC and AUVSI):• Primary camera: Genie TS-C4096• Secondary: Genie Nano C1940 or GmbH

VCSBC360• Communications: Rocket M5• UT-X2 airframe

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Competition Specific Configurations


Configuration B (MedEx):Support Aircraft (S.A.)

• Primary camera: Genie Nano C1940 or GmbH VCSBC360

• Communications: standard transceiver - communicates with R.A. when R.A. is out of L.O.S. of PCS/GCS

• UT-X2E airframeRetrieval Aircraft (R.A.)

• Communications: standard transceiver• UT-X3 airframe

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Competition Specific Configurations


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Primary CameraGenie TS-C4096

Secondary Camera

Payload Computer

Odroid XU4

Flight Transceiver

Rocket M5

Ground TransceiverNanostation M5

Flight Payload

Ground StationGround GUI, additional

processing

Ground Control

DATA LINK

Configuration A


• Genie TS-C4096:– Resolution: 4096 x 3072– Max 12 fps, 200 g

• Genie Nano C1940:– Resolution: 1920 x 1200– Max 52 fps, 46 g

• GmbH VCSBC360:– Resolution: 4 x 752 x 480– Max 55 fps, 4 cameras for panoramic view

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Configuration A Rationale & Specs (1)


• Primary camera takes high resolution images less frequently, secondary takes lower resolution images continuously

• High res. images for accurate image characterization

• Low res. images for localization and temporal classification algorithms

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Configuration A Rationale & Specs (2)


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Primary CameraGenie Nano C1940

Payload Computer

Odroid XU4

Flight TransceiverPayload Data and

Telemetry

Ground Transceiver

Airgrid M5

Flight Payload

Ground StationGround GUI, additional

processing

Ground Control

DATA LINKS

TO R.A.

Configuration B - Support


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Flight Telemetry

Ground Transceiver

Xtend 900

Flight Payload

Ground Station

Ground Control

WHILE AIRCRAFT IN L.O.S.

TO S.A.

Configuration B - Retrieval


• Mission critical payload carried on support aircraft

• Lower resolution requirements, need to find Joe and land

• Genie Nano is four times lighter, better for range requirements (> 12 km)

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Configuration B Rationale & Specs


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Progress

Phase A Phase B Phase C

JANUARY

MARCH

MAY

USC AUVSI

Phase D

SEPTEMBER

AUVSI MEDEX


• Phase A: Initial development and prototyping• Phase B: Integration for USC and AUVSI• Phase C: Validation and testing & Integration for

MedEx• Phase D: Validation and testing for MedEx

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Progress


Computer Vision:• New member training complete• Feature identification - 75% complete• Classification - 60% complete• Next steps: integration with onboard systems

Communications:• Training complete• Theoretical and Preliminary design - 85%

complete• Next steps: antenna tracker design,

validation/range-testing and integration with onboard systems

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Phase A Progress


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Questions?



COMPUTER VISION SUBDIVISIONLEAD: DAVIS WU (ECE 1T8)

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• Identification/Cropping–To be sent to ground station via

communications

• Classification–Exploring Shape Context, Tesseract,

and Tensorflow

• User Interface–Built in Qt–Runs vision scripts from the ground

station 51

Tasks


• QR Code Reader–Implemented in User Interface

• Segmentation–Required for some methods of

classification

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Tasks


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Identification


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Identification Ini Output[Date]Date Analyzed = 2015-11-21 01:41:52

[Analysis Parameters]HAS_BLUR = 1MAX_AREA = 38000ACTIVE_CHANNEL = [1, 2]MIN_POINTS_IN_CLUSTER = 5BKS = 6MIN_AREA = 3500CROP_PADDING = 6IMAGE = IMG_0496.jpgSIZE_OF_ROI = 300USE_TREE_FILTER = 1Width = 3648Height = 2736FD Type = MSER

[Channel Keypoints]Channel 0 = 7Channel 5 = 5Channel 8 = 8

[Crop Info]Number of Crops = 9

[Crop 1]Image Name = IMG_0496 roi0.jpgX = 129Y = 1368Size = 192.0










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Segmentation

● Differentiates between different regions of the image (Background, Letter, Shape)

● Required/Preferred for Shape Context and OCR methods


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Classification

● Soon…● In addition to our own experimentation, we

have Tom


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User Interface



COMMUNICATIONS SUBDIVISIONLEAD: HARRY LIANG (ECE 1T8)

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Gains [dBi]• Transmit Antenna:

2.1• Receiving

Antenna: 2.1Transmit Power [dBm]

• EZUHF: 28

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Losses [-dBi]Transmit Loss:

0.44Receiving Loss:

0.44Max Polarization:

3Free Space (1km):

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Link Budget: EZUHF

Received Power: -58.8 dBmMinimum Power: -112 dBm



2• Receiving

Antenna: 5.4Transmit Power [dBm]

• Xtend 900: 30

• Xtend 900: 30

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Losses [-dBi]Transmit Loss:

0.44Receiving Loss:

0.37Max Polarization:

3Free Space (1km):

91.5

Link Budget: Xtend 900

Received Power: -58 dBmMinimum Power: -100 dBm


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5.8GHz Payload• Currently Owned Choices

– AirGrid (27dBi)

– NanostationM5 (16dBi)



16• Receiving

Antenna: 2Transmit Power [dBm]

• Nanostation: 27

• Rocket: 27

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Losses [-dBi]• Transmit Loss:

0.24• Receiving Loss:

0.44• Max Polarization:

3• Free Space (1km):

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Link Budget: NanostationM5 and RocketM5




• USC and AUVSI: Only Nanostation M5

–Beamwidth of 10°–High Rotation Speed

• MedEx–AirGrid: Beamwidth of 4°–Low Rotation Speed

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Antenna Tracker Specifications



Airframe Subsystem

Kevin Dong & Nathan Curiale


Medical Express Competition Requirements

Retrieval aircraft must have • VTOL capability• flight range of 60 km • speed that enables

the mission to be completed within 1 hour

• ability and capacity to carry a cylindrical payload (20mm diameter, 100mm length, 100g weight)


Selected Configuration

• Gasoline engine as the primary mode of propulsion

• Electric motors used only for takeoff and landing


Weight Comparison and Goal

Need: • additional electric motors/batteries for VTOL• Gas engine/fuel for long-range flight• 30% reduction of aircraft weight (includes quad mod)• Reasonable since past Powered Flight/Western Aero

aircrafts all under 9lbs


Initial Power Curves

Based on: • Estimated weight savings• Estimated aircraft drag values• Theoretical thrust relation


Batteries and Motors

Selected motors with 5000 mAh batteries provide ~3 minutes of hover time at max throttle


Proposed Structural Changes: Wing

• Full carbon fiber wing is quite heavy on this scale

• Use old techniques but keep in mind reliability and ease manufacture

• Concept – keep simple


Proposed Structural Changes: Fuselage

• No nose landing gear is required

• No structural fuselage front is needed

• Weight savings from strength reduction

• Not fully decided yet – two options so far

• Full balsa truss • Non-structural

shell


Proposed Structural Changes: Quad Frame

Carbon fiber rods connected with machined/premade/3D printed clamps with addition layers of carbon fiber


Proposed Structural Changes: Motor Mounts

• Aluminum clamps with square platform

• Screws will be used for tightening clamp as well as securing the motor



FABRICATIONKEVIN XU

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• Fixed up UTX-2• Stronger wing• Multi-payload support.• New OS motor.• Pitch downed H-stab

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Airframes for USC and AUVSI


• New refined UTX-2A Block 2• Weight saving design• (Experimental) Flap• Space for USC payload drop

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• Back up• One front fuselage ready to swap• Another front fuselage in parts (can be

assembled in 3hours)• Other small parts around the aircraft

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• Under designing……• VTOL transitioning aircraft• Two similar airframes

• Retrieval and support• Weight saving• Reparability• New fabrication techniques will be

used• CNCed foam• ……

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MedEx Airframes


• Nose ski gear• PixHawk wiring mount• Primary payload mount• Secondary payload mount• And more ……

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More stuff to fabricate


• UTX-2 is flight ready

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Progress

Replace the broken parts of fuselage 3D printed strake

New 3D printed H-stab V-stab

joint

New OS

motor

Front FPV window Fixing EZUHF antenna

Replace all

broken servos


• ‘New’ wing• We are fixing the UTX-1 wing• And it is almost good to go.

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Progress

Up coming week

Open the wing up

Replace the broken strap Layer up new patch Patch

upRe-wire


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Progress


• UTX-2A Block 2• Under construction.

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Progress

Next week

End of the month

As soon as we have carbon

fiber

Before end of this year

Assemble

Wiring

V-stab

Wing closing

Bottom wing layer up

H-stab closing

Fuselage assemble

Fuselage parts layer up

Fuselage parts cut

Top wing layer up

H-stab layer up


• PixHawk wiring mount• All ready have a first version of product• Expecting a second iteration

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Progress

Design 3D printed product

2ed iteration design

Print out 2ed iteration


• Payload mount• Primary payload mount is done.

• It is a fixed mount• Secondary payload is gimballed

• Set to finish before winter break

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Progress


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And more

3D printed strakes

H-stab washer

Antenna enclosure

Ski gear

More to come……



MECHANICAL

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Tracking Antenna• Orient antenna array in direction of

support aircraft

Requirements• Operate for full mission time (roughly 1.5

hours)• Set up takes less than 15 minutes• Maximum positioning error of ±2°• Effective range of 12 km• Must comply with radio regulations (ACMA

in Australia and CRTS in Canada)– if used in US must comply with FCC

regulations

Objectives1. Weather resistant (snow, light rain, wind)2. Quick adjustment speed

GCS

Support Aircraft

2°

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System Overview

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Payload Drop

• Carry payloads and drop them on specific coordinates

USC Payload:Royale Velour 2 ply toilet paper roll (75 g)Image credit "Toiletpapier (Gobran111)" by Brandon Blinkenberg. Licensed under CC BY 2.5 via Commons - https://commons.wikimedia.org/wiki/File:Toiletpapier_(Gobran111).jpg#/media/File:Toiletpapier_(Gobran111).jpg

AUVSI Payload:8 oz. water bottle(226.8 g)Image credit 2016 Rules for AUVSI Seafarer Chapter’s 14th Annual Student UAS (SUAS) Competition DRAFT Revision 0.9X 91


Payload DropRequirements1. Securely contain payload(s) during flight

– Three 90 g crop probe or– One 227 g water bottle

2. Quickly release payloads3. Fail Safe (Ex: power failure, ejection failure)

Objectives• Low complexity• Low weight• Use the same system for both competitions

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System OverviewCommand from GCS

Microcontroller

Servo 1

Servo 2

Servo 3

Door 1

Hinge

Fuselage Underside

1

2

3

Forward

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Section View (Front)

Torsion Spring

Servo Lockin

g Pin

Fixed Support

Door

Support Beam

Fixed Support

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AVIONICS SUBSYSTEMERIK CHAU

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Avionics Subsystem:

Ground Control Station

Flight Controller (Autopilot)

UAV Propulsion and Servo Motors

RC Transmitter

RC Receiv

er

Telemetry

ESC

Waypoint Data

UAV Health &

Performance

Sensors GPS

Airspeed

PID Controller



FLIGHT TERMINATION SYSTEM (FTS)

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FTS Overview• The Flight Termination System

(FTS): Our UAV’s new and improved failsafe system

• Motivation: Make our system compliant with the rules of the Medical Express UAV Challenge

• Abstract: Design of an independent on board diagnostic and flight termination system to ensure safety compliance with the MedEx rules.


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FTS Design Specification• Key requirements:

– Must automatically terminate flight upon:

• Crossing a Geofence boundary• Failure of any HW or SW implementing Geofence

breach detection• Failure of the autopilot when in autopilot control• Pressing of the kill switch

– Must be an independent onboard system

– Must activate in all operating modes – Cannot be overridden after activation


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FTS Diagnostics• The FTS will allow us to:

– Automatically diagnose our UAV for several faults

– Asses the validity of sensor data– Modify the UAV’s behavior based on

any detected faults• All diagnostics are categorized into 3

classes based on fault severity and remedial action

• All diagnostics can be disabled*


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Type I Diagnostics•Detect critical system failures•A failure will result in immediate flight termination•The system cannot recover after failure

• Diagnostics: (All competition requirements)– Flight Termination Switch Active– Horizontal Geofence Breach– Vertical Geofence Breach– FTS Controller State of Health– Autopilot State of Health


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Type II Diagnostics•Detect potentially critical system failures•Ensure the system’s ability to perform Type I Diagnostics•A failure will result in a controlled VTOL landing•The system will not recover after a failure unless it is manually overridden

• Diagnostics: (Not competition requirements)– Auto-Land Active– Horizontal & Vertical Soft Geofence Breach– GPS Performance, Rationality & Erratic– FTS, Avionics & Propulsion Voltage Low


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Type III Diagnostics•Detect non critical system failures•A failure will result in the UAV hovering •The system will attempt to recover after a failure•If the system cannot recover, the UAV will auto-land

• Diagnostics: (Not competition requirements)– Hover Mode Active– GPS Connection Lost– Telemetry Connection to GCS Lost– Inter UAV Connection Lost (Retrieval

Only)


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Diagnostic Logic FlowchartNormal

Operation

Flight Termination HoverAuto - Land

Type I Diagnostics

Type II DiagnosticsPass

Fail

Type III DiagnosticsPassTelemetry &

Sensor Data

Fail Fail

Pass

Timeout

FTS Diagnostics

FTS Control


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Why include all of these extra safety features?• Medical Express D2 Point

Breakdown:– 5/15 Points for Safety Approach– 4/15 Points for Innovative Features – 3/15 Points for Systems Design– 3/15 Points for Learnings from the

Project• After passing D3, only the top 20

teams from D2 qualify for the competition

• Free $400 Lidar for the top 20 teams from D2


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FTS Hardware System RC Transmi

tterRC

ReceiverPPM

EncoderServo Motors (X6)

FTSGPS

Pixhawk GPS

FTS Controller

TelemetryGCS

LED

Buzzer

Switch

Battery

Avionics Battery

Airspeed Sensor

Lidar or Sonar

I2C Splitter

Pixhawk Flight Controller


• Implemented in a MATLAB Simulink model

• Consumes MAVlink telemetry data from the Pixhawk to make diagnostic determinations

• Modifies the control system based on the fault determination(s)

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FTS Logic Model


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FTS Geofence Breach Detection• Geofence Breach Detection Algorithm

– Separate Horizontal and Vertical Geofence Diagnostics

– Vertical: Simple out of range high check.– Horizontal:

• Implemented in MATLAB (Code)• Makes extensive use of the “inpolygon”

function


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FTS Software Implementation Strategy

Arduino Mega 2560

MATLAB

Simulink

MATLAB

Code MATLAB Function

Block

Arduino

Block Set

FTS Controller

Geofence Breach

Detection Algorithm

FTS Diagnostic

Logic Software

UART

C++

Pixhawk

Support

PixhawkFlight

Controller



VTOL CONTROL

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• Controller: Pixhawk (1)• Platform: PX4• Based off of the Standard VTOL

configuration • Includes a Transition Mode Switch

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Flight Mode Transition Software


• Independently tune the rotary and then fixed wing configurations

• Then tune transition parameters:– Transition Throttle– Blending Airspeed– Forward Transition Duration (Time)– Transition Airspeed

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Autopilot Controller Tuning Strategy



PROJECT MANAGEMENT

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Gantt ChartNov. Dec. Jan. Feb.

March April

Detailed Design

Programming

Ordering Parts

Design Validation

AssemblySystem

Integration

System Calibration

System Testing

Current

Progress



GCS SUBDIVISIONLEAD: JESSE WANG

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• Software system based around Mission Planner

• Serves as autopilot control center– Monitor aircraft

telemetry data– Control aircraft

via waypoints– Send and receive

data to/from competition server

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• Ground Control Station


• Interoperability is (partially) mandatory this year

• Primary task: no-fly zone, aircraft position, aircraft IAS, and aircraft altitude are to be displayed by GCS and sent to competition server as telemetry data

• Secondary task: download and display server time and obstacle data, each at 1 Hz (threshold) or 10 Hz (objective); upload target data to server

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GCS/Interoperability (AUVSI)


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Sense, Detect, and Avoid (AUVSI)

• Avoid stationary/moving virtual obstacles manually (threshold) or autonomously (objective)


• Interoperability task to be completed using Mission Planner plugin

–Access to telemetry data, waypoints• Test server provided by SUAS organizers

–Runs on Linux• SDA will likely be a standalone program

–More processing power available–Communicates with Mission Planner

via interoperability plugin119

Implementation


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Progress so far

• Test server successfully deployed and accessible from host machine

• Simple test plugin runs successfully

• Next steps:–Send/receive HTTP requests to server

from plugin–Add capability to display obstacles and

boundaries–Evaluate performance during real test

flight



SYSTEMS TESTINGLEAD: LU CHEN (INDY 1T8T1)

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• 7ft by 7ft tangram mock target–One side painted red–One side painted green

• Can make:–Triangle–Square–Hexagon–Trapezoid–Rectangle

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Mock Targets


• Alphanumeric text overlay on top of shape:

–Made of Bristol board–5 colours

»Can make all capital letters with:▪M, O, E, B, S

»Can make all lower case letters with:▪m, o, e, b, s, w

• Infrared Target for USC needed

Mock Targets

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Other possible targets:• Made of large tarp painted in different

colours– Folded into shapes and pinned into place– Strips of coloured duct tape as

alphanumerical charactersQR Code

• Possible options:– Print at a shop (~$5 per square foot,

extremely expensive)– Make

» Figure out dimensions and print it on several different sheets of paper

» Use tape on a tarp (probably inaccurate)

Mock Targets

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Major Dates:• April 13: Proof of flight video for MedEx

• April 22: Proof of flight video for USC• April 29 - May 1: USC competition• May 18: Proof of flight video, telemetry data, pilot safety log for AUVSI

• June 15: AUVSI competition• August 3: Documentary of 5 hours of autonomous flight for MedEx

High Level Testing Schedule

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• Full USC Systems test late-March, early-April

–Video can be used for MedEx and USC video deliverables

–Need full autonomous takeoff and landing of all aircraft used in MedEx by this time

• Full AUVSI Systems test early to mid-May–AUVSI video deliverable, ensure UAV can

successfully complete all primary tasks in AUVSI

• Full MedEx Systems test late-August, early-September

–Need 5 hours of autonomous flight time by August 3

»30 minutes autonomous in one flight»>20km track distance in one flight


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USC deliverable specifics:• USC Full Systems Test:

–Accurate telemetry data and computer vision: estimate crop surface area

–Computer vision: Read QR Code, determine crop geolocation

–Payload: detecting infrared target–Mechanical: Drop probes


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AUVSI deliverable specifics• Fully autonomous flight, emergent task

–Max 3 manual takeovers/3 minutes of manual flight

–Re-tasking objective• Computer vision/comms/telemetry data: ID of targets, actionable intelligence, ADLC

–Real time autonomous identification• Mechanical: Air drop


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MedEx deliverable specifics• Fully autonomous takeoff and landing

• Comms: Long distance/time flights• Telemetry: Landing distance


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Test Flight Priorities:• Data for computer vision - before winter break

–Images of targets»Corner cases

–Border targets for USC–Combine target imagery with

telemetry data• Autonomous flight

–Autonomous takeoffs and landings • Communications

–Range–Consistency of signal


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Test Flight Priorities • Combine telemetry, communications, computer vision data to perform necessary objectives (January to March)

–Estimate surface area–Location of targets–Real time autonomous target

identification• Combine telemetry, communications, computer vision, mechanical (January to March)

–Air drops


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Documents

UTAT UAV PDR 2015.pptx