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Design_ Construction and Control of a Quadrotor - College of

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Design_ Construction and Control of a Quadrotor - College of Powered By Docstoc
					  United Arab Emirates University
       College of Engineering
 Department of Electrical Engineering
       Graduation Projects Unit




       Group Members:
Sanad Al-Radayda         200440189
 Taher Shqairat          200440083
  Raeed Harbi            200304496
Ahmed Al-Alawi           200412104

    Advisor: Prof. Hassan Noura
Contents:

     Introduction.                 Detailed Design.
        Objectives.                   Data Acquisition Circuit.
        Applications.                 Wireless Camera.
        General Overview.             Graphical User Interface.
                                       ArduPilot.

     Summary of Achievements in
      GP I.                         Performance Optimization.
        AscTec Quadrotor.          Safety Consideration.
        Xbee Pro 2.5 Series.
                                    Cost Summary.
        ArduPilot.
        DraganFly Eye Cam II.




2
Introduction:

     Quadrotors are aerial vehicles that can be lifted and
     propelled by four mechanically independent rotors.
     Quadrotors are capable of:

         VTOL.
         Hovering.




3
Project Objectives:

     To do the following:

       Add a wireless video camera.

       Add a GPS Navigation.

       Establish a Data Link.

       Develop a Ground Station Interface.




4
Applications:

     Aerial Photography.

     Covering Crime Scenes.

     Controlling road traffics.

     Reaching dangerous areas.

     Inspection for suspicious objects.

     Conduct site measurements and monitoring buildings,
      bridges, electric tours, roads, etc.

5
General Overview:




6
Summary of Achievements in GP I:

           AscTec Pelican[1]

    •   GPS Navigation.
    •   500 grams Payload.
    •    Max. Speed 50 km/h.
    •    Min. Speed 0 km/h.
    •    Launch Type VTOL.
    •    Max. wind Speed 36 km/h.
    •    Max. Altitude 50 m.
    •    Max. Flight Time 20 min.

7
Summary of Achievements in GP I:

             ArduPilot

     Weight:
        15 g.
     Power:
        5 V @ 100 mA.
     Price:
        $ 300.
     Mobile Ground Station.

         Open Source !!

8
Summary of Achievements in GP I:

       XBee Pro 50mW 2.5 [2]

     Data Rate:
        250 Kbps.
     Power:
        3.3V @ 295mA.
     Range:
        Up to 1.6 Km.
     Price:
        $ 40.95.



9
     Summary of Achievements in GP I:

      Draganfly Eyecam II [3]
     • Weight: 9 grams.

     • Size: 15 x 22 x 32 mm.

     • Range: 300 m.

     • Resolution: 365K PAL.

     • Power: 5 V @ 100 mA.




10
     Detailed Design:
     Data Acquisition Circuit:




11
     Detailed Design:
     Data Acquisition Circuit: (LM35)
                          Microcontroller Code
                      DEFINE ADC_BITS 10
                      DEFINE ADC_SAMPLEUS 50
                      Temp VAR word
                      result VAR word
                      ref CON 1024
                      ADCIN 0, Temp ' Read the first
                       ADC channel
                      result = (Temp*10)*/ ref



12
     Detailed Design:
     Data Acquisition Circuit: (MQ - 7)
                           Microcontroller Code
                       DEFINE ADC_BITS 10
                       DEFINE ADC_SAMPLEUS 50
                       Gas VAR word
                       ref CON 1024
                       ADCIN 1, Gas
                       result = (Gas)*/ ref




13
     Detailed Design:
     Data Acquisition Circuit: (GPS)
     NMEA PROTOCOL:

     $GPRMC,105408.000,A,2414.2860,N,05544.4821,E,0.21,130.81,190510,,*0F

     105408.000 : the GMT time when this sentence was received.
     A: Data is valid ( V means data is not valid).
     2414.2860: Latitude ( ddmm.mmmm).
     N: North or south indicator ( in this case this is north).
     05544.4821: Longitude (dddmm.mmmm).
     E: East or West indicator ( In this case, this is East).
     0.21: Speed over gorund ( knots).
     130.81: Course over gorund ( degrees).
     190510: Date ( 19th- May – 2010 ).
     *0F: Checksum.


14
     Detailed Design:
     Wireless Camera:
QUADROTOR

       Transmitter      Camera




 2.4 GHz VIDEO LINK




        Receiver        TV CARD


 GROUND STATION
15
     Detailed Design:
     Graphical User Interface:




16
     Detailed Design:
     ArduPilot:

                                Parts come separated




        Assembled in the lab.



17
     Detailed Design:
     Mobile Ground Station:

                              Atmel Processor.




      Can be used anywhere.
        (Battery operated)



18
     Performance Optimization:




        Propellers Protection   Base Protection



19
     Performance Optimization:
     • Power Optimization:




             Microcontroller Code
       serin2 PORTB.7, 188, char
      If char = "1" then
        high camera
        endif
        if char = "0" then
        low camera
         endif


20
 Safety Considerations:

     o Training.


     o Testing Area.


     o LiPo Batteries.


     o Maintenance.



21
 Cost Summary:
                                                                Total
        Item           Brand        Price       Shipping Cost             Total Cost
                                                                Cost
                      AscTec
      Quadrotor                    9,750 €           750 €      10500 €   47,750 AED
                      Pelican

      Autopilot      ArduPilot      300 $            50 $        350 $    1,300 AED
     Communicat      XBee Pro
                                    160 $            25 $        185 $     700 AED
      ion System.    Series 2.5
                     Draganfly
       Camera                       460 $            134 $       594 $    2,200 AED
                     Eyecam II

         GPS         EM 406A         60 $            25 $        85 $      300 AED
        Other       Temperature,
                                    150 $            50 $        200 $     750 AED
       Sensors         Gas
      Additional
                                   Customs and Accessories                17,000 AED
        Costs
                                                                 Total    70,000 AED




22
     References:

     1.   http://www.asctec.de/asctec-pelican/

     2. http://www.sparkfun.com/commerce/product_info.php?products_id=9111

     3.   http://www.robotshop.ca/draganfly-eyecam-extreme-video-system.html




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