Transcript ppt
Preliminary Design Review Anthony Calce Gordon Klein Vince Wu Kyle Watters Overview • • • • • • • • Background Calculations Difficulties Risk Management Progress to Date Modifications to Specifications Current Budget Pictures Background • Flight Constraints – Fast reaction time • Onboard vision processing • Dedicated real-time flight controller Calculations • Passive RC low-pass filtering Difficulties • Accelerometer/Gyroscope – Outputs depend on a stable input voltage – Range of 270 – 330mv/g – Noise filter for output • Limited analog input pins on Arduino – Need to multiplex inputs, speed suffers • Communication protocol between Arduino, BeagleBoard and base station Risk Management • Limited budget does not allow for replacement parts – Safety systems to be used for helicopter testing and operation • Limited precision of sensors can make flight algorithms unstable – Expensive in-kind sensors may be available • Time is getting limited Progress to Date Modifications to Specs • Arduino controller for flight control – Multiplexers used for sensor input – Time sensitive operations done on Arduino • Voltage regulators for filtered 3.3V and 5V • IR Sensors for ground detection Component Proposed Expenditure Current Expenditure Difference Electrical Beagleboard Microcontroller $150 $160 $50 - $5 In-Kind ($5.00) Voltage Regulators - In-Kind - SD Card - In-Kind - Multiplexers - $10 $10 $470 - - $30 - - $100 - - $90 $95.43 $5.43 - $20.10 $20.10 GPS Controller $90 $63.60 ($26.40) IR Sensors x 2 - In-Kind - $100 - - $8 $8 - $30 - - Shipping - $31.00 $31.00 Programming Cable - $20 $20- Pins - In-Kind - PSU - In-Kind - Total $1,123 $370.13 $60.32 LAN USB Adapter USB Hub $10 Helicopter Helicopter Other Materials Sensors 2.0MP Camera IMU 6DOF Acc/Gyro Arduino Microcontroller Other Presentation Materials Webhosting Other Materials Currently $60.32 Over Proposed Expenditure Pictures Deliverable A fully autonomous helicopter capable of advanced image processing and navigation.