Group 11 Kaleb Bastart Lauren Gutierrez Mike Popoloski P. Brian Tagalog
34
Group 11 Kaleb Bastart Lauren Gutierrez Mike Popoloski P. Brian Tagalog Adviser: Professor Bruce McNair SIT UAV December 2011
description
Group 11 Kaleb Bastart Lauren Gutierrez Mike Popoloski P. Brian Tagalog Adviser: Professor Bruce McNair. Outline. Who We Are Our Idea Objectives and Goals System Overview Requirements Velocity Measurement Explanation of Equations. Overview of Components Design Alternatives - PowerPoint PPT Presentation
Transcript of Group 11 Kaleb Bastart Lauren Gutierrez Mike Popoloski P. Brian Tagalog
Group 11Kaleb Bastart
Lauren GutierrezMike Popoloski
P. Brian Tagalog Adviser: Professor Bruce McNair
SIT UAV December 2011
SIT UAV December 2011
Who We Are Our Idea Objectives and Goals System Overview Requirements Velocity Measurement Explanation of Equations
Outline Overview of Components Design Alternatives Weight Considerations Requirements Parts List Financial Budget Schedule
SIT UAV December 2011
Kaleb Bastart◦ Major: Computer Engineering
Lauren Gutierrez◦ Major: Electrical Engineering
Mike Popoloski◦ Major: Computer Engineering
P. Brian Tagalog◦ Major: Electrical Engineering
Who We Are
SIT UAV December 2011
Objectives and Goals Build an Unmanned Aerial Vehicle (UAV) to find
survivors of disasters. Use a dirigible for stability and longevity. Allow the UAV to be controlled by an operator or
follow a predetermined flight plan. Transmit imagery of the scene to assist in spotting
trapped victims.
System Overview
Arduino
Motor Motor
Power Supply
Camera Transceiver
Gyroscope
Pressure Sensor
Laser Pointer
Motor
Dirigible Ground Station
System Overview
Operator
Dirigible
Trapped Survivor
Video Camera
Ground Station
Dirigible was chosen over other designs:◦ Less power to stay aloft◦ Stable motion for camera
Needs to cruise at an altitude of 20 ft at a speed of 2 ft/s.
Should stay aloft for at least 10 minutes. Will allow manual control or autonomous movement
via waypoints.
Design Requirements
Platform will transmit heading, height, and video to ground station.
Ground station will perform image processing to determine range and velocity.
Ground station will send control commands to direct motion of the platform.
Operator will use GUI software to control all aspects of flight.
Design Requirements
Using a laser and camera, software can find distance.
Velocity Measurement
Source: http://sites.google.com/site/todddanko/home/webcam_laser_ranger
Once distance is known, velocity can be found from change in pixel positions between time steps.
Velocity Measurement
Equations
Needed to answer questions such as:
1. What’s the minimum Lift Force
2. How much helium?
3. How big this dirigible will be?
4. What’s the maximum velocity?
5. Which motors to buy?
6. What’s the maximum velocity it will go?
EquationsIndependent Variables
Total Mass (g) = 200Air Density (kg/m^3) = 1.2041
Helium Density (kg/m^3) = 0.1787
Total Thrust Force (g Force) = 80Coefficient of Drag = 0.05
Thrust
Lift
Weight
Drag
EquationsGoing Up
Minimum Lift Force = Weight
EquationsHow much Helium?
How big this dirigible will be?
http://www.calculateme.com/cVolume/VolumeOfSphere.htm
EquationsGoing Forward
Thrust Drag
Thrust Force = Drag Force
We obtain Maximum Velocity
EquationsGoing Forward
Drag Force:
Surface Area facing the stream of Air:
EquationsGoing Forward
Thrust for Force:
Sometimes given In grams force
EquationsGoing Forward
What's our maximum velocity?
Solving for velocity:
Weight Price Accuracy Functionality
UAV Component Considerations
Filled with helium (to be provided by school) Mylar
UAV Component: Blimp
UAV Component: Motors and Propellers Thrust: 31, 36, 38g Voltage: 3.3, 3.8, 4V Weight: 3.3g
CMOS Transmission Range: 450 ft Very lightweight
UAV Component: Camera
Measure distance Requires no interaction with the rest of the system.
UAV Component: Laser Pointer Module
Microprocessor Arduino Nano v3.0
◦ 14 I/O pins◦ 16 MHz◦ 16 KB Flash memory
UAV Component: Arduino
Measure acceleration:◦ 3-Axis angular rate sensor (yaw, pitch, and roll)◦ Three selectable scales: 250/500/2000 degrees/sec (dps)
UAV Component: Gyroscope
Measure height via pressure◦ Digital two wire (I2C) interface◦ 300 to 1100 hPa range
UAV Component: Barometric Pressure Sensor
Communicate sensor readings to and from base station Transmission Range: 300 ft
UAV Component: Transceiver and Adapter
Platform for control circuit◦ Can be replaced with a soldered circuit board later
UAV Component: Breadboard
Alternatives to dirigible:◦ Airplane and helicopter – both too complex / unstable
Alternatives for motors:◦ More powerful but heavier motors, more expensive
Alternative ways to measure velocity:◦ Accelerometers◦ Pitot Tube◦ GPS
Alternative Design Considerations
Total UAV Weight
SIT UAV December 2011
Parts & Budget
SIT UAV December 2011
Project Schedule Regular meetings
Group meetings Meetings with advisor
Weekly goals Complete weekly tasks by
Friday Plans made up through end
of spring semester Group is on track to hit
target for senior design day
Search and Rescue UAV Built using a dirigible Transmits video imagery Allows autonomous movement via waypoints Final design plan is done and ready to be built
SIT UAV December 2011
Summary
SIT UAV December 2011
Any Questions?
