by: eric backman advisor: dr. malinowski. introduction goals project overview and changes work...
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![Page 1: By: Eric Backman Advisor: Dr. Malinowski. Introduction Goals Project Overview and Changes Work Completed Updated Schedule](https://reader036.vdocuments.net/reader036/viewer/2022081519/56649f1b5503460f94c30668/html5/thumbnails/1.jpg)
By: Eric BackmanAdvisor: Dr. Malinowski
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Introduction Goals Project Overview and Changes Work Completed Updated Schedule
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Introduction
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Stable Hovering Autonomous take offs and landings Manual control using joystick Collision Avoidance Color Recognition
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Removed use of camera and color recognition due to time constraints
Will focus on more accurate distance measurements
Be able to quickly stop within 5 cm of a specific distance from wall
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Overall System Requirements◦ Quadrocopter can take off and land autonomously◦ Limit power to maximize time of flight◦ Able to maintain distance from wall with error +/-
5 cm Infrared Sensor Requirements
◦ Sense distance to all objects within at least 1 meter with accuracy of 1 cm
◦ Distance sent to microprocessor from 6 sensors at least every millisecond
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Atmega168 Microprocessor Requirements◦ Read the distance sensor voltage with accuracy
equivalent to at least 1 cm◦ Send distance sensor data to BeagleBoard at least
every 10 ms using serial port◦ Create Pulse Width Modulation signal of 50 Hz
that has at least 10 us resolution BeagleBoard Requirements
◦ Update command PWM settings every 20 ms using sensor and joystick inputs
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Due to the angle of the Quadrocopter, sensors will give longer distances
This will be fixed by using the command to estimate angle
Will use this to accurately stop at a specific distance from the wall going at varying speeds
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If a 1.25 ms pulse corresponds to a 22.5° angle and it has been running a 25% duty cycle for a certain amount of time
This method depends on accuracy of angle measurements
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Design Atmega168 processor programming:
◦ 6 analog channels to ADC w/ sensor resolution .98 cm
◦ 4 channels of PWM w/ 10 us resolution @ 50Hz◦ UART Serial Communication
Beagleboard programming◦ Serial communication◦ UDP network connection
Remote controller programming◦ UDP network connection
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Software took much longer than expected◦ Analog to digital converter on Atmega 168 needs
capacitor for accuracy, not well documented◦ Various serial port issues
Removal of camera means the project is still on track to be finished
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Mount hardware Atmega168 processor programming:
◦ Revising code after integration with quadrocopter Beagleboard programming
◦ Mapping joystick to PWM control Revising code after integration with quadrocopter
◦ Collision avoidance◦ Autonomous emergency landing
Remote controller programming◦ Joystick
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March 7 – Mount hardware March – Final software debugging and initial
flight testing April – Work on getting accurate distances
and collision avoidance Late April – Project analysis and Final report
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