Group 11Kaleb Bastart

Lauren GutierrezMike Popoloski

P. Brian Tagalog Adviser: Professor Bruce McNair

SIT UAV December 2011

SIT UAV December 2011

Who We Are Our Idea Objectives and Goals System Overview Requirements Velocity Measurement Explanation of Equations

Outline Overview of Components Design Alternatives Weight Considerations Requirements Parts List Financial Budget Schedule

SIT UAV December 2011

Kaleb Bastart◦ Major: Computer Engineering

Lauren Gutierrez◦ Major: Electrical Engineering

Mike Popoloski◦ Major: Computer Engineering

P. Brian Tagalog◦ Major: Electrical Engineering

Who We Are

SIT UAV December 2011

Objectives and Goals Build an Unmanned Aerial Vehicle (UAV) to find

survivors of disasters. Use a dirigible for stability and longevity. Allow the UAV to be controlled by an operator or

follow a predetermined flight plan. Transmit imagery of the scene to assist in spotting

trapped victims.

System Overview

Arduino

Motor Motor

Power Supply

Camera Transceiver

Gyroscope

Pressure Sensor

Laser Pointer

Motor

Dirigible Ground Station

System Overview

Operator

Dirigible

Trapped Survivor

Video Camera

Ground Station

Dirigible was chosen over other designs:◦ Less power to stay aloft◦ Stable motion for camera

Needs to cruise at an altitude of 20 ft at a speed of 2 ft/s.

Should stay aloft for at least 10 minutes. Will allow manual control or autonomous movement

via waypoints.

Design Requirements

Platform will transmit heading, height, and video to ground station.

Ground station will perform image processing to determine range and velocity.

Ground station will send control commands to direct motion of the platform.

Operator will use GUI software to control all aspects of flight.

Design Requirements

Using a laser and camera, software can find distance.

Velocity Measurement

Source: http://sites.google.com/site/todddanko/home/webcam_laser_ranger

Once distance is known, velocity can be found from change in pixel positions between time steps.

Velocity Measurement

Equations

Needed to answer questions such as:

1. What’s the minimum Lift Force

2. How much helium?

3. How big this dirigible will be?

4. What’s the maximum velocity?

5. Which motors to buy?

6. What’s the maximum velocity it will go?

EquationsIndependent Variables

Total Mass (g) = 200Air Density (kg/m^3) = 1.2041

Helium Density (kg/m^3) = 0.1787

Total Thrust Force (g Force) = 80Coefficient of Drag = 0.05

Thrust

Lift

Weight

Drag

EquationsGoing Up

Minimum Lift Force = Weight

EquationsHow much Helium?

How big this dirigible will be?

http://www.calculateme.com/cVolume/VolumeOfSphere.htm

EquationsGoing Forward

Thrust Drag

Thrust Force = Drag Force

We obtain Maximum Velocity

EquationsGoing Forward

Drag Force:

Surface Area facing the stream of Air:

EquationsGoing Forward

Thrust for Force:

Sometimes given In grams force

EquationsGoing Forward

What's our maximum velocity?

Solving for velocity:

Weight Price Accuracy Functionality

UAV Component Considerations

Filled with helium (to be provided by school) Mylar

UAV Component: Blimp

UAV Component: Motors and Propellers Thrust: 31, 36, 38g Voltage: 3.3, 3.8, 4V Weight: 3.3g

CMOS Transmission Range: 450 ft Very lightweight

UAV Component: Camera

Measure distance Requires no interaction with the rest of the system.

UAV Component: Laser Pointer Module

Microprocessor Arduino Nano v3.0

◦ 14 I/O pins◦ 16 MHz◦ 16 KB Flash memory

UAV Component: Arduino

Measure acceleration:◦ 3-Axis angular rate sensor (yaw, pitch, and roll)◦ Three selectable scales: 250/500/2000 degrees/sec (dps)

UAV Component: Gyroscope

Measure height via pressure◦ Digital two wire (I2C) interface◦ 300 to 1100 hPa range

UAV Component: Barometric Pressure Sensor

Communicate sensor readings to and from base station Transmission Range: 300 ft

UAV Component: Transceiver and Adapter

Platform for control circuit◦ Can be replaced with a soldered circuit board later

UAV Component: Breadboard

Alternatives to dirigible:◦ Airplane and helicopter – both too complex / unstable

Alternatives for motors:◦ More powerful but heavier motors, more expensive

Alternative ways to measure velocity:◦ Accelerometers◦ Pitot Tube◦ GPS

Alternative Design Considerations

Total UAV Weight

SIT UAV December 2011

Parts & Budget

SIT UAV December 2011

Project Schedule Regular meetings

Group meetings Meetings with advisor

Weekly goals Complete weekly tasks by

Friday Plans made up through end

of spring semester Group is on track to hit

target for senior design day

Search and Rescue UAV Built using a dirigible Transmits video imagery Allows autonomous movement via waypoints Final design plan is done and ready to be built

SIT UAV December 2011

Summary

SIT UAV December 2011

Any Questions?