aurora a aerial u unmanned r reconnaissance and o operations r research a aircraft
TRANSCRIPT
AURORAAURORA
AAerial UUnmanned RReconnaissance and OOperations RResearch AAircraft
http://my.fit.edu/senior_design/uav
OverviewOverview – – What, Why, and What, Why, and How…How…
• Attempt to design and build the first successful UAV at Florida Tech
• 4th Annual AUVSI Student UAV Competition in St. Inigoes, Maryland– Navigate a pre-determined course– Search and recognize targets– Process images autonomously
http://my.fit.edu/senior_design/uav
Organizational ChartOrganizational Chart
Justin OliveiraTEAM LEADER
Julie WiketeSTRUCTURES
Lori SchwartzELECTRICAL
Amit PatelTania Gay Rakesh Gupta Mark Campbell
Zack Brimhall Omari Sarjeant
Kyle Flynn Adam Linsenbardt
Shagun Kumar Tim Buker
Chelsea Whitten Robyn Evans
Saranya Raghavan David Kincaid
Tim Pelletier Chris Cease
Art Rozenbaum Dustin ClauserJames Muehlen
Sadiq Bashir
Dave WickersNiroshen
Divitotawela
Louis Nucci Megan Kramer
Christopher Jojola Michael Harris
Todd Rausch
http://my.fit.edu/senior_design/uav
Overview – Overview – Sub-TeamsSub-Teams
• Structures– Design airframe independently– All mounting points on the plane
• Electrical– Using off-the-shelf products– Autonomous flight or remote flight pattern recognition– Payload
• Image and data storage• Ground-to-air communications• Autonomous control unit• Ideally air-to-ground communications also
http://my.fit.edu/senior_design/uav
Team AURORATeam AURORA
• Aspires to create a smaller, more efficient and cost-effective product
• Alternative to current products
• Off-the-shelf electrical components– Cheaper product– Commerical applications possible
http://my.fit.edu/senior_design/uav
Block DiagramBlock Diagram
Jaguar PC 104 board
Program will acquire GPS data and send signal to ake picture mapped with current
data.
Camera
USB capture device connected to a digital
camera.
USB
Micropilot MP028g
Autopilot with sensors and GPS system.
Serial RS232
Servo Board
Servos run through the UAV
to control it
Cirronet Wireless TX/RX
Seria
l RS2
32
Power Board
Power board will distribute regulated power to each part
CirronetWireless TX/RX
Ground Station
http://my.fit.edu/senior_design/uav
Software – Software – Ground Flight Ground Flight ControlsControls
Horizon Autopilot software
Handles course, airspeed, position and all necessay correction
Aircraft
Manual overide Initiate if necessary
Tra
nsm
it &
Rec
eive
Flig
ht d
ata
http://my.fit.edu/senior_design/uav
Software – Software – Image Image ProcessingProcessing
Possible matches to search shape
are highlighted on Landscape
Location, Time, Altitude, Direction,
Velocity for all times
Pictures and data matched
by Time
Output:Area Map with
Landmarks Highlighted from
backround Topograghy
Image Data, time stamped
Using Labview, Picture data is
overlayed into one large landscape
Search Data ShapeUsing I-Vision
http://my.fit.edu/senior_design/uav
Interface Specifications & Interface Specifications & RequirementsRequirements
• Data– Raw Images taken from image– GPS location of each image– Heading and altitude of UAV for each image
• Image Manipulation– Images are overlaid together using GPS– Images are matched to digital landscape for elevation info– Output is converted to grayscale
• Image Processing– Given patterns are matched to locations on the landscape– Pattern matches are highlighed– GPS location is outputted
http://my.fit.edu/senior_design/uav
Code for regulating power board
• Set-up circuit in PSpice and make sure voltages and currents are correct at each output terminal.
• Set up different test cases where it creates simulated spikes to see how the devices respond.
• Breadboard and test actual voltages and currents correspond to the theoretical values with generic loads before connecting equipment to prevent damage.
Testing Procedures: Testing Procedures: Module 0Module 0
http://my.fit.edu/senior_design/uav
Testing Procedures: Testing Procedures: Module 1Module 1
Code for taking and storing pictures
• Run the program that takes in GPS data and takes pictures saving the data and pictures to compact flash.
• Send in generic data where the GPS will connect serially and check if the USB output captures a picture.
• Finally check whether the data and picture was saved correctly. Test some outlying data to input as simulated GPS data and check to see if the code functions correctly.
http://my.fit.edu/senior_design/uav
Testing Procedures: Testing Procedures: Module 2Module 2
Code for converting images from 3-D to 2-D
• Run the program that takes the data from the compact flash.
• Use generic input to test whether the system is successful converting the image from 3-D into 2-D.
• Once the software has completed this process, a test should be conducted to determine whether the converted was saved correctly into memory.
http://my.fit.edu/senior_design/uav
Testing Procedures: Testing Procedures: Module 3Module 3Code for image recognition
• Run the program which uses the previously converted image to look for specified objects.
• Using the sample input, test whether the system is able to locate for the objects.
• Lastly, check to see if the information on the recognized objects is stored correctly into memory.
http://my.fit.edu/senior_design/uav
Risks & Solutions - Risks & Solutions - TechnicalTechnical
• Power Board Development may take more time than anticipated due to limited resources and knowledge of power boards– Solution:
• More in-depth research is required• More collaboration with structures team is required
in order to determine the voltage requirements and also determine a feasible layout for the power board
http://my.fit.edu/senior_design/uav
Risks & Solutions - Risks & Solutions - ScheduleSchedule
• Time delay due to technical risks resulting in:– Time delay in ordering the necessary parts– Possibility of not receiving parts on time to
build prototype – Time delay in ordering new parts, if necessary
• Solution:– Resolve technical risks immediately– Overestimate possible man hours in order to consider
time delays
http://my.fit.edu/senior_design/uav
Status – Status – ScheduleSchedule
http://my.fit.edu/senior_design/uav
Status – Status – LaborLabor
0
5
10
15
20
25
30
35
40
45
03.2
1.20
05
04.0
4.20
05
04.1
8.20
05
05.0
2.20
05
05.1
6.20
05
05.3
0.20
05
06.1
3.20
05
06.2
7.20
05
07.1
1.20
05
07.2
5.20
05
08.0
8.20
05
08.2
2.20
05
09.0
5.20
05
09.1
9.20
05
Planned (Hours)
Actual (Hours)
AURORAAURORA
AAerial UUnmanned RReconnaissance and OOperations RResearch AAircraft
Questions?Questions?