ECE 477 Final Presentation ECE 477 Final Presentation Team 9 Team 9 Spring 2011 Spring 2011

Above (Left to Right): Nick Gentry, Oliver Staton, Vineet Ahuja, and Vinayak Gokhale

OutlineOutline

• Project overviewProject overview

• Block diagramBlock diagram

• Design challengesDesign challenges

• Individual contributionsIndividual contributions

• Project demonstrationProject demonstration

• Questions / discussionQuestions / discussion

Project OverviewProject Overview• Quad-rotor helicopterQuad-rotor helicopter

– Autonomously self-stabilizesAutonomously self-stabilizes• PID Control TheoryPID Control Theory

– Sensor FusionSensor Fusion• Triple Axis AccelerometerTriple Axis Accelerometer• Triple Axis GyroscopeTriple Axis Gyroscope• Triple Axis MagnetometerTriple Axis Magnetometer• Barometric PressureBarometric Pressure• Ultrasonic Range FindersUltrasonic Range Finders• GPSGPS

– Communicates with ground station using XbeePro 900 Communicates with ground station using XbeePro 900 wireless (6 Mile Range)wireless (6 Mile Range)

Block DiagramBlock Diagram

Design ChallengesDesign Challenges

• I2C Communication ProtocolI2C Communication Protocol• Floating Point ArithmeticFloating Point Arithmetic• Wireless CommunicationsWireless Communications• PID Control Theory and ApplicationPID Control Theory and Application• Huge amount of code Huge amount of code Debugging Debugging • High RAM usageHigh RAM usage

Individual ContributionsIndividual Contributions

• Team Leader – Nick GentryTeam Leader – Nick Gentry• Team Member 2 – Vinayak GokhaleTeam Member 2 – Vinayak Gokhale• Team Member 3 – Vineet AhujaTeam Member 3 – Vineet Ahuja• Team Member 4 – Oliver StatonTeam Member 4 – Oliver Staton

Team Leader – Nick GentryTeam Leader – Nick Gentry• Concept formulationConcept formulation

• Research components and compatibilityResearch components and compatibility

• CAD ModelsCAD Models

• Prototyping / Debugging (I2C Sensors)Prototyping / Debugging (I2C Sensors)

• Control System Control System

– System IdentificationSystem Identification

– Simulations for controller verificationSimulations for controller verification

– Implementation and debugging of PID Stability Implementation and debugging of PID Stability AlgorithmAlgorithm

• Ground Station / Xbee / TelemetryGround Station / Xbee / Telemetry

• Battery Monitor DebuggingBattery Monitor Debugging

Member 2 – Vinayak GokhaleMember 2 – Vinayak Gokhale

• Designed the PCBDesigned the PCB• Initial (finally scrapped) base station Initial (finally scrapped) base station

software and final software debuggingsoftware and final software debugging• Basic hardware debuggingBasic hardware debugging• Battery monitorBattery monitor

Member 3 – Vineet AhujaMember 3 – Vineet Ahuja

• Research components, especially microResearch components, especially micro• Block diagram, schematic and PCB Block diagram, schematic and PCB

contributioncontribution• Interfaced with Ultrasonic sensor, Gyro, Interfaced with Ultrasonic sensor, Gyro,

Accelerometer and MagnetometerAccelerometer and Magnetometer• Code for UART communicationCode for UART communication• Contributed to Battery Monitor, Ultrasonic Contributed to Battery Monitor, Ultrasonic

sensorsensor

Member 4 – Oliver StatonMember 4 – Oliver Staton

• Research Components and CompatibilityResearch Components and Compatibility• Initial Base Station (scrapped)Initial Base Station (scrapped)• Theory of PID OptimizationTheory of PID Optimization• Implementation and DebuggingImplementation and Debugging

– PID Stability AlgorithmPID Stability Algorithm– Quad ControllerQuad Controller– Motor MixerMotor Mixer

Project DemonstrationProject Demonstration

1.1. An ability to individually control motors via PWM - demoAn ability to individually control motors via PWM - demo

2.2. An ability to receive and interpret control data - demoAn ability to receive and interpret control data - demo

3.3. An ability to interpret sensor data and send to external An ability to interpret sensor data and send to external source - demosource - demo

4.4. An ability to autonomously hold stable attitude- demoAn ability to autonomously hold stable attitude- demo

5.5. An ability to monitor battery level remotely - demoAn ability to monitor battery level remotely - demo

(Video on next slide)

Project Demonstration [Cont’d]Project Demonstration [Cont’d]

<<Optional YouTube Link>>

Questions / DiscussionQuestions / Discussion