Project Proposal Edit

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/HomePage


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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/Microcontroller


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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)


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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.
http://arduino.cc/en/Main/ArduinoBoardMegahttp://arduino.cc/en/Main/ArduinoBoardMega


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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/EEPROM


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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_loop


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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:
http://en.wikipedia.org/wiki/Integralhttp://en.wikipedia.org/wiki/Overshoot_(signal)http://en.wikipedia.org/wiki/PID_controller#Loop_tuninghttp://en.wikipedia.org/wiki/Derivativehttp://en.wikipedia.org/wiki/Derivativehttp://en.wikipedia.org/wiki/PID_controller#Loop_tuninghttp://en.wikipedia.org/wiki/Overshoot_(signal)http://en.wikipedia.org/wiki/Integral


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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_response


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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_acceleration


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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-4


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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/Algorithm


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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-Monitor


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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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Project Proposal Edit

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