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

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

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

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  • 1 ECE Department Thermal Mapping Drone MDR Team 17 Jamyang Tenzin Stefan Totino Dylan Fallon Jason Fellow Advisor: Joseph Bardin
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  • 2 ECE Department Team 17 Jamyang Tenzin EE Jason Fellows EE Dylan Fallon EE Stefan Totino CSE Advisor: Joseph Bardin
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  • 3 ECE Department Whats the purpose? RC Drone survey house Collects thermal data Allows user to analyze data Provides insight into buildings energy waste
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  • 4 ECE Department Our previous block diagram
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  • 5 ECE Department Our proposed solution GPS Ardupilot 2.6 IR Sensor Transmitter uART To USB Rx CC USER INTERFACE Remote Control Camera DroneMemory Stick
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  • 6 ECE Department How are we going to do this? Pilot will fly drone with RC Drone continuously analyzes thermal data If significant temperature variation is detected drone will hover over spot Once hovering, drone will take a picture of leaking point and transmit back to database for analysis Application will process incoming thermal/image/altitude data to produce a map
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  • 7 ECE Department Mission Requirements? Trained pilot operating drone with RC Flight time of approximately 5 minutes Transmission of a radio link from drone to PC operating at 2.4GHz Sending and receiving data at 1.78Mbps Detect temperature variation of approximately 3 degree Celsius to determine energy waste
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  • 8 ECE Department Application/User Interface Requirements Easy to analyze data Displays picture location of energy loss Relatively accurate Challenges Different pitch of roof Trained pilot Acknowledgement of depth from drone to point of interest Interfacing motor controller and data link Data transmission error
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  • 9 ECE Department Transmitter/Receiver Nordic NRF24L01transciever
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  • 10 ECE Department About transceiver 11.3 mA for transmission, 12.3 mA for receiving 1.78 Mbps data transmission Operates at 3.3 V max Power is 60 mW Transmitter and receiver are controlled on both ends by arduino Operates at 2.4GHz on ISM band
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  • 11 ECE Department Reciever Data
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  • 12 ECE Department IR Sensor Field of View = 40 degrees Frame Size = 16x4 pixels D = distance from target in meters Frame Width (m) = (tan(FOV/2)*2) * D Frame Height (m) = ((tan(FOV/2)*2)/4) * D
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  • 13 ECE Department Camera (Toshiba TCM8230MD) Field of View = 57.4 degrees (horizontal) Field of View = 44.5 degrees (vertical) Frame Size = 660x492 pixels D = distance from target in meters Frame Width (m) = (tan(57.4/2)*2) * D Frame Height (m) = ((tan(44.5/2)*2) * D
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  • 14 ECE Department Ratio (IR:Camera) Width = Frame Width (IR)/Frame Width (Cam) = 2/3 Height = Frame Height (IR)/Frame Height (Cam) = 1/(4.5) Assuming distances from targets are equal
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  • 15 ECE Department App Flow Read text file containing IR bits and Camera bits Scale bits according to previous equations Color bits IR temperature dependent Camera given in RGB Position and display bits to generate a map
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  • 16 ECE Department App Screen Shot
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  • 17 ECE Department IR Sensor Specifications Store temperature array in Arduino memory for data link to access Maintain uniform values in array in isothermal environment Be able to signal copter to stop when seeing a temperature difference of 5 degrees Celsius
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  • 18 ECE Department IR Sensor Challenges Temperature fluctuations in uncontrolled environment Long duration use heats sensor skewing accuracy Larger distances increases area each pixel sees Value is average temp of seen area
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  • 19 ECE Department IR Sensor Experiments: Isothermal
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  • 20 ECE Department IR Sensor Wiring
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  • 21 ECE Department IR Sensor Experiments: Body Temp
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  • 22 ECE Department Drone Controller ArduPilot APM 2.6 Barometer Sensor Image Source: http://copter.ardupilot.com/wiki/common-apm25-and-26-overview/
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  • 23 ECE Department Key Electronics Specifications Ardupilot APM 2.6 flight controller: Power Supply: 5.37V 2.25A On Board Accelerometer, Gyro & Barometer Sensor Attachable Magnetometer & GPS module Programmable Using Arduino Codes NTM 28-26 Brushless motors: Max power 176W @ 11.1V Max Current: 15A 1000 KV = 1000 RPM/volt 3DR Electronic Speed Controller: Converts DC power to AC current with help of onboard microprocessor Continous current: 20 Amp Burst Current: 25 Amp, 10 Sec
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  • 24 ECE Department Drone Parts Frame 1800mAh Li-po Battery 1000KV Brushless motor 2.4 GHz Tx-Rx Controller Electronic Speed Controller Power Distribution Telemetry Kit Power Supply Cable 8x4 Propellers GPS/Magnetometer Image Source: http://www.hobbyking.com/hobbyking/store/index.asp, https://store.3drobotics.com/http://www.hobbyking.com/hobbyking/store/index.asp
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  • 25 ECE Department Wirings Telemetry Rx
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  • 26 ECE Department Flight Time Motor ThrustDrone Weight 2480g~700g General Rules: Required Thrust per motor = (Weightx2)/4 Max Current Draw from Battery = [Battery Cap(mAh)/1000] * C-rate Max Current Supply Time = 60(min)/C-rate Flight Time = Battery Capacity(mAh)*60/total Current(mA) Battery Cap. C-Rate Max Current Supply Time Max Power 1800mAh30 C54 A2 min599.4 W Tot. Avg Current Draw by Drone Power 22.87 A239.5 W Est. Flight time 4.72 min LengthWidthheight 330mm ~55mm
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  • 27 ECE Department Motor Configuration Image Source: http://www.hobbyking.com/hobbyking/store/index.asp, https://store.3drobotics.com/http://www.hobbyking.com/hobbyking/store/index.asp
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  • 28 ECE Department Successful First Flight Test
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  • 29 ECE Department FAA Regulations on Drones Dont fly above 400 ft Dont fly within 3 mi of airport Maintain visual line of sight while airborn Dont fly above populated areas
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  • 30 ECE Department Accomplishments Motors and ESC are responding properly and Drone is able to fly Data communication link Web App that reads test data from a file and processes it to draw a map
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  • 31 ECE Department Proposed MDR Deliverables Web Application (core algorithms) Stefan Totino Arduino code for I/O of the IR sensor working -Dylan Fallon Data Transmission from Radio -Jason Fellows Motor control using electronic speed controller(ESC) and 9DoF sensor working -Jamyang Tenzin
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  • 32 ECE Department CDR Deliverables Will optimize PID values for more stability Communications with the IR sensor for autopilot trigger will be added After autopilot trigger, the drone will hover at certain altitude to take the picture and thermal image App will be fully functional with actual data from systems components i.e. pixels and altitude readings Camera Integration
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  • 33 ECE Department References http://copter.ardupilot.com/ http://copter.ardupilot.com/ http://store.3drobotics.com/?utm_source=www&utm_medium=corporate+site&utm _term=store&utm_campaign=store+click+on+corporate+site http://store.3drobotics.com/?utm_source=www&utm_medium=corporate+site&utm _term=store&utm_campaign=store+click+on+corporate+site http://www.hobbyking.com/hobbyking/store/index.asp http://www.hobbyking.com/hobbyking/store/index.asp http://www.youtube.com/watch?v=rwHojrTwq9k http://www.youtube.com/watch?v=rwHojrTwq9k https://www.commonsenserc.com/page.php?page=c_ratings_explained.html https://www.commonsenserc.com/page.php?page=c_ratings_explained.html http://multicopter.forestblue.nl/lipo_need_calculator.html http://multicopter.forestblue.nl/lipo_need_calculator.html https://ghowen.me/build-your-own-quadcopter-autopilot/ https://ghowen.me/build-your-own-quadcopter-autopilot/ http://diydrones.com/forum/topics/question-regarding-battery-pack-for-turnigy-9x- 2-4-ghz- 8ch?page=1&commentId=705844%3AComment%3A773869&x=1#705844Commen t773869 https://www.hobbyking.com/hobbyking/store/__21478__NTM_Prop_Drive_28_26_1 000KV_235W.html https://www.hobbyking.com/hobbyking/store/__21478__NTM_Prop_Drive_28_26_1 000KV_235W.html http://www.hobbyking.com/hobbyking/store/__9369__Turnigy_1800mAh_3S_30C_ Lipo_Pack.html http://www.hobbyking.com/hobbyking/store/__9369__Turnigy_1800mAh_3S_30C_ Lipo_Pack.html https://www.hobbyking.com/hobbyking/store/__28172__F330_Glass_Fiber_Mini_Qu adcopter_Frame_330mm.html https://www.hobbyking.com/hobbyking/store/__28172__F330_Glass_Fiber_Mini_Qu adcopter_Frame_330mm.html
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  • 34 ECE Department References