1 ECE Department Thermal Mapping Drone FPR Team 17 Jamyang Tenzin Stefan Totino Dylan Fallon Jason...

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1 ECE Department Thermal Mapping Drone FPR Team 17 Jamyang Tenzin Stefan Totino Dylan Fallon Jason Fellow Advisor: Joseph Bardin

Transcript of 1 ECE Department Thermal Mapping Drone FPR Team 17 Jamyang Tenzin Stefan Totino Dylan Fallon Jason...

1ECE Department

Thermal Mapping DroneFPRTeam 17

Jamyang TenzinStefan TotinoDylan FallonJason Fellow

Advisor: Joseph Bardin

2ECE Department

Team 17

Jamyang TenzinEE

Jason FellowsEE

Dylan FallonEE

Stefan TotinoCSE

Advisor: Joseph Bardin

3ECE Department

Overall Block Diagram

4ECE Department

System – Drone

Arduino Mega

Pin A9 from flight controller generating Pulse signal to arduino

Power Module

Flight Controller Motor Unit

IR- Sensor Unit

Rx Tx

Radio Controller

Power Distribution

signal

signal

5ECE Department

Flight Controller – Stability methods

1. PID Tuning2. Radio Controller Tuning

6ECE Department

PID tuning

7ECE Department

Radio Controller Tuning

1. Aileron Trim : Roll tuning2. Elevon Trim : Pitch Tuning3. Throttle Trim: Throttle Tuning4. Rudder Trim: yaw Tuning

Aileron Trim

Elevon Trim

Throttle Trim

Rudder Trim

8ECE Department

New Sensing Process

Pilot navigates to scan the roof.• Trying to maintain uniform height of 3ft.

If temp difference of 5˚C with respect to average is found.• Signal pilot to stop• Send temp readings and distance from drone to

receiver. Picture is taken and transmitted

• Pilot signaled to continue scanning

9ECE Department

Sensing Process Code

Temperatures scanned, stored in 64 value arrayCalculate average temp in arrayIf one temp is the specified range above or below average..• Send temps to base• Send distance to base• Signal camera to take the picture• Camera sends picture to base 32 bytes at a time

Go back to scanning temps

10ECE Department

Receiving Process

Data transmitted over radio link from Arduino on drone to receiving Arduino

Data streamed from receiving Arduino to computer via serial link

Text File is created from incoming serial data and passed to web application

Web application processes data to render a jpeg image overlaid with a grid of temperature

11ECE Department

Newly Found Bottlenecks

Baud Rate of Camera (38400 bps)• Baud Rate governs how fast any serial transmission can

happen• Cannot be increased• Highest resolution image is about 42K bytes

Unreliable data transmission over USB from Arduino to PC• Costly because this is causing web application to

processes data from receiver further

12ECE Department

New Screenshot

13ECE Department

All Subsystems functionality/specifications

Drone:Stable Flight: YesAutonomous: No

Flight Time: 5 minTotal Weight: 1360g

Power supply: 11.1V, 1800mAhMax height ~ 50 ft

Radio Link:Data Rate: 1Mbps @2.4GHz

Range:300 ftData Transmission: Yes

Sensing unit:16x4 pixel array

Temp range: -50C to 300CW/0.1C accuracy

60 Degree FOV

Base-station App:Creates an image from bytes

serial communication w/ arduinooverlays image with IR grid

14ECE Department

Proposed FPR Deliverables

Improve Radio Link Solve interface problem between drone and base

station computer Might do autonomous capability depending on

time restrictions

15ECE Department

Problems

Camera Malfunctioning• Only outputting highest resolution (640x480)

• Limiting transmission speed of image Autonomous Flight Sacrificed Data from receiving Arduino is unreliable

• HTTP request times out sometimes before image can be rendered

16ECE Department

Accomplishments

Flight stable with good altitude hold Integrated receiving Arduino on Web App on

same computer IR data is correctly displayed over jpeg image Soldered Circuit Board Transmission time cut down

• Previously 12K bytes in 16 seconds, now 42K bytes in 20 seconds

3D printed enclosure