By: David Gitz, EE, Robo-Chopper Lead Engineer

System DescriptionCapabilities and Applications

Development ProgressRequest

Quad-Rotor design – Offers simpler control system with less moving parts than a normal helicopter and minor reduction in lift capacity

Primary Controller

Compass DriverCompass

Gyroscope

Accelerometer

INU

Main Program:Mission PlannerMode Selection

Object Avoidance

GPS

Auto/Manual Commands

Secondary Controller

Main Program

Motor Commands > Motor Output Mapping

ESC (4) Motor (4)

Status Indicator

Throttle CommandAngle Command:Yaw, Pitch, Roll

Φ: Y,P,R

D: 1-5

Encoder (4)

Ultrasonic (5)

TTY TTY TTY

DO

Pulse

ECCP

PWM

V+

Ω:1-4

Radio

TTY

Altimeter Altimeter Driver

γ:Y

Displacement: R:x,y,z

Angle: Ωγ:P,R

Altitude

Compass

Gyroscope

Accelerometer

Compass Driver

Secondary-INUKalman Filter(2-Axis Tilt)

Free-Fall Control

Encoder Driver

Ultrasonic Driver

ω:1-4

D:1-5

φ:Y

φ:P,R

Zero-G Indicator

2 “Brains”, 1 SoM Board and 1 Parallax Propeller

SoM handles waypoint navigation, mission planning, vehicle health.

Propeller handles PWM generation, Kalman Filter.

In the event of an in-air mishap, Propeller Controller can take over Vehicle land safely.

Custom PCB inside Xbox-360 Controller

Features Mode and Error Display, Vehicle Battery Indicator, Force-Feedback and 5 hours of continuous operation.

Used for Vehicle Calibration and Capacity measurements

Able to Pivot vertically and rotate continuously

Power applied to Vehicle via Slip-Ring – No tangled wires

GCS offers extended range – up to 3 km

Interface designed in LabView

With Internet connection, Google Earth integration

Vehicle

RCUGCS

Using Xbee API Mode, Vehicle, GCS and RCU all talk to each other

RCU or GCS can extend flight range of Vehicle due to API mesh network.

Capabilities - Planned

Manual Control via RCU or GCS Simple Calibration and Testing via Test-Stand

Limited Autonomous Navigation via RCU

Error Display on RCU and GCS

Waypoint Navigation Force-Feedback on RCU

Automatic Takeoff, Hover and Landing

Vehicle Health Reporting

Capabilities - Future

Real-Time Video Transmission to GCS

Image Capture

Wireless airborne programming Advanced Hover modes

Vehicle Status Audio via RCU Extended System Duration

Configurable Payloads Terrain Following

Industry Applications

Home Inspecting Roof and Exterior Surveying

Civil Engineering Bridge Inspection

Law Enforcement Search, Crime Scene Investigation

Military Reconnaissance

Hobbyists Development Platform – Completely Open Source

Environmental Nature Surveying and Data Collection

Phase 5Phase 4Phase 3Phase 2

InterfaceP1GCS

Remote ControlP1RC

Test-StandP1TS

VehicleP1V

Ground StationP1GS

Testing and Validation

P1T

InterfaceP2GCS

Remote ControlP2RC

Test-StandP2TS

VehicleP2V

Testing and Validation

P2T

VehicleP3V

Testing and Validation

P3T

VehicleP4V

Testing and Validation

P4T

VehicleP5V

Testing and Validation

P5T

Phase 1

Cost: 30% of material/part cost invested. Tasks: 23% of defined tasks completed. Currently in Phase 1 with limited

development in Phase 2.

System System Total: Un-Funded: Funded: # Tasks # Completed % Complete

RCU: $265.55 $58.96 $206.59 18 8 44%Test-Stand: $881.72 $881.72 $0.00 15 3 20%GCS: $153.75 $0.00 $153.75 12 4 33%Vehicle: $889.95 $599.65 $290.30 34 3 9%Total: $2,190.97 $1,540.33 $650.64 79 18 23%

Need People! Computer Engineer Mechanical Engineer Project Manager Technical Writer Marketing/PR Aerospace Engineer

Contact: davidgitz@gmail.com www.thesciencedude.com