Project Readiness Package Rev 7/22/11

INTRODUCTION:

ADMINISTRATIVE INFORMATION:

Project Name (tentative): Quadcopter Navigation System Project Number, if known: R14902

Preferred Start/End Semester in Senior Design:

My level of interest in pursuing this project in MSD is: (low) 1 2 3 4 5 (high)

Faculty Champion: Name Dept. Email Phone

Unknown

Other Support, if known: (faculty or others willing to provide expertise in areas outside the domain of the Faculty Champion)

Name Dept. Email PhoneBryan Meyers CompE bpm4127@rit.eduDr. Jason Kolodziej MechE jrkeme@rit.eduPeter Pietrantoni MechE pap7763@rit.eduTim Southerton MechE tgs5800@rit.eduBeau Sattora CompE bas4359@rit.edu

Project “Guide” if known:

Primary Customer, if known (name, phone, email): Dr. Wayne Walter, wwweme@rit.edu

Sponsor(s):

Name/Organization Contact Info. Type & Amount of Support Committed

Dr. Wayne Walter / ME Department

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Fall/Spring Spring/Fall

Project Readiness Package Rev 7/22/11

DETAILED PROJECT DESCRIPTION:

With the rise of recreational/hobby vehicles growing in popularity, as well as the launch of the AmazonPrime Drone delivery system, there has been a need to redefine the rights to civilian, and industrial use to aerial vehicles. The FAA has chosen several test sites across the US that allow for institutions and industry to merge concepts and ideas. Griffiss Air Force Base, in Rome, NY, has been chosen as one of these test sites. RIT has become the lead for exploring this field and will primarily lead in the “sense and detect” abilities for new waves of Unmanned Aerial Vehicles (UAV).

Currently, RIT Mechanical Engineering Project P15096, is being led by Tim Southerton (ME student), Dr. Wayne Walter, and Dr. Agamemnon Crassidis. Tim is exploring basic Obstacle Avoidance Systems using an AR.Drone 2.0 by Parrot. The AR.Drone is a commercially available quadcopter platform (4 rotor flight vehicle) that has a semi open architecture interface to it. Tim has primarily programmed in JavaScript and incorporated the use of an Arduino, Wireless Chipset, and Ultrasonic Sensors, to act as a feedback system for the AR.Drone. The Drone currently displays some basic Obstacle Avoidance routines. The current one that it is running is backing up when it has something around it.

For this Senior Design Project, a team of students will be required to finish Tim’s work, and build more abilities into his platform, or a newer platform. Abilities such as GPS navigation, which will allow the quad to fly from a starting point to its destination. The use of a User Interface will also be helpful, as one of the requirements is set-up time by college student be reduced. A final add-in will be video recording capability for use in flight debrief and calibration.

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Project Readiness Package Rev 7/22/11

Customer Needs and Objectives: Customer Need Description Examples (To Be Removed for MSD)

1 Video Capture

Use an onboard camera to capture video during flight. If this is able to be streamed to a computer or phone, it can allow the user to intervene and pilot to inspect areas of interest

2 Autonomous Flight

This means that, based on a set of initial conditions, the vehicle must be able to take off, and fly to its destination without any human intervention, unless it requires CN 1, where the human can pilot to inspect an area of interest.

3 Obstacle AvoidanceThe perceiving of an obstacle to the front of the vehicle, and the vehicle’s ability to move around it, where move around is up for discretion.

4 Safe for bystanders/users

Safety for the user and the unknowing bystander is important. Recommended use of NFPA (National Fire Protection Association) 70, also known as the NEC (National Electric Code). (cited in Engineering Reqs.)

5 Robust Setup/Fabrication

6 Battery Life Lasts for Reasonable Period Using the Parrot AR Drone as a benchmark, the flight time aim is for >15 minutes.

7 Easy Troubleshooting Hardware or Software issues should be able to be resolved by a college student/non-technical person.

8 Manageable Budget

9 Easy User Setup/Interface Able to be set up by a college student/non-technical person.

10 Flight to Specified GPS Coordinates

11 Modular (Off the Shelf components) Reduce the amount of custom fabricated components made.

12 Portability Typically constrained by weight and size13 Professional Looking Product14 Open Architecture15 Emergency Landing Capability16 Rotor Shroud (Blade Protection)

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Functional Decomposition:

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Project Readiness Package Rev 7/22/11

Potential Concepts: Use existing AR.Drone 2.0 by Parrot. Styrofoam chassis mounted to new quadcopter frame with

appropriately sized motors and props to increase vehicle payload. Builds off of the ME project, and continues work on this system.

o Limited in the “Open Source” theme. Primarily uses an Arduino Nano, with wireless capabilities to “talk” to system.

o Picture of AR-Drone 2.0

Use ArduPilot system to fly autonomously and capture video using Arduino IDE software and build in OAS. Instills the “Open Source” theme, and is a relatively user friendly interface with multiple forums online for support.

o Sample Screenshot of ArduPilot

Reverse engineer the AR Drone 2.0 GPS Flight Recorder module to incorporate OAS. Most difficult due to man-hours in reverse engineering, could run into IP issues with company if marketed.

o Picture of GPS Module

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Project Readiness Package Rev 7/22/11

Specifications (or Engineering/Functional Requirements):

Customer Requirements

Cus

tom

er W

eigh

ts

Capt

ure

Vide

o

Flig

ht T

ime

Dete

rmin

e Lo

catio

n

Fly

Belo

w F

light

Cei

ling

Dete

rmin

e O

rient

ation

% o

f Cus

tom

Fab

ricat

ed C

ompo

nent

s

Tota

l Mas

s

Mee

t NFP

A 70

(NEC

Cod

e)

Ope

ratio

nal a

fter 2

foot

Dro

p

Min

imum

Dist

ance

for O

bjec

t Det

ectio

n

Tim

e fo

r set

-up

by co

llege

stud

ent/

non-

tech

nica

l per

son

Unit

Man

ufac

turin

g Co

st

1 Video Capture 3 9 3 3 3 3 3 32 Autonomous Flight 9 9 9 3 9 93 Obstacle Avoidance 9 9 3 3 3 3 9 34 Safe for bystanders/users 9 3 3 9 3 35 Robust Setup/Fabrication 3 3 3 3 3 96 Battery Life Lasts for Reasonable Period 3 3 3 3 3 37 Easy Troubleshooting 3 3 38 Manageable Budget 3 99 Easy User Setup/Interface 3 3

10 Flight to Specified GPS Coordinates 9 3 3 311 Modular (Off the Shelf components) 1 3 312 Portability 313 Professional Looking Product 1 3 3 314 Open Architecture 9 3 3 3 315 Emergency Landing Capability 3 3 3 3 316 Rotor Shroud (Blade Protection) 3 3 3 3 3

Min

utes

Min

utes

Degr

ee/H

our/

Min

ute

Met

er

Degr

ees

Perc

enta

ge

kg

Pass

/Fai

l

Pass

/Fai

l

Met

er

Min

utes

Dolla

rs

>20

>20

0 min. 45 <2 <1

5% <2 Pass

Pass >3 <10

<150

0

36 225

135

117

108

102

57 138

81 189

54 114

3% 17%

10%

9% 8% 8% 4% 10%

6% 14%

4% 8%

Raw score

Relative Weight

Engineering Metrics

Measure of Performance

Nominal Value

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Project Readiness Package Rev 7/22/11

METRIC NUMBER

CUSTOMER NEEDS MET METRIC IMPORTANCE UNIT OF

MEASUREMARGINAL

VALUEIDEAL VALUE

ER1 1 Capture Video 3 Minutes >15 >20

ER2 2,6 Flight Time 9 Minutes >15 >20

ER3 2,10 Determine Location 9 Degree/Hour/Minute <0.1 seconds 0

seconds

ER4 2,3,4,15 Fly Below Flight Ceiling 3 Meter 60 45

ER5 2,3,10 Determine Orientation 9 Degrees (0-359°) <2° <1°

ER6 5,7,8,11,14% of Custom

Fabricated Components

3 % <25% <15%

ER7 5,6,12 Total Mass 3 kg <3 <2

ER8 4,15,16 Meet NFPA 70 (NEC Code) 3 Pass/Fail Pass Pass

ER9 5Operational after 2 foot

drop3 Pass/Fail Pass Pass

ER10 2,3,4

Minimum Distance for

Object Detection

9 Meter >1 >3

ER11 7,9

Time for set-up by college

student/non-technical person

3 Minutes <20 <10

ER12 8Unit

Manufacturing Cost

9 Dollars <2000 <1500

Constraints: 2 Semester Timeline, Student Interest/Knowledge, Budget Limitations,

Project Deliverables: Working prototype that can:o Avoid static obstacleso Be given a set of initial instructions, and traverse under own powero Provide captured video to end usero Makes decisions about its own safety (flight height, speed, etc.)o Ability to avoid dynamic obstacles (time permitting)

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Project Readiness Package Rev 7/22/11

Budget Estimate:Feasibility Analysis via Budget

Estimate In Use?

Item Name Cost Quantity Sub Total R14902 ASME Quad P15906

1 Quadcopter Frame $ 30.00 1 $ 30.002 Propellers $ 15.00 2 $ 30.003 Power Distribution Board $ 5.00 1 $ 5.004 ESC 20A $ 15.00 4 $ 60.005 Motors $ 20.00 4 $ 80.006 Arduino Nano $ 30.00 1 $ 30.007 ArduPilot System $ 30.00 1 $ 30.008 GPS Receiver $ 40.00 1 $ 40.009 Xbee Wireless Receiver $ 25.00 1 $ 25.00

10 Parrot Drone $ 250.00 1 $ 250.0011 Battery $ 40.00 1 $ 40.0012 Ping Ultrasonic $ 30.00 4 $ 120.0013 IR Sensor $ 15.00 4 $ 60.0014 Hardware $ 25.00 1 $ 25.0015 Shipping Costs $ 55.00 1 $ 55.0016 Contingency $ 200.00 1 $ 200.00

Total $ 830.00 $ 355.00 $ 505.00

I propose a budget cap of $1200 be placed on the team, where they would be given a budget of $850-900 for MSD 1 and 2. Should the need arise where the team needs more funding, a proposal, with appropriate justification should be created requesting additional funds.

Update: From a recent email from Tim Southerton, it is recommended that the initial budget should be doubled, from $900 to $1800, so a second quadcopter can be built (See Appended Email).

Intellectual Property (IP) considerations:o Not aware of any, except for code.

Other Information: None

Continuation Project Information, if appropriate: O Mechanical Engineering P15096

http://tsouthprojects.wordpress.com/category/2-quadcopter/ See Dr. Walter for detailed documentation of work

O Design Project Leadership R14902

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Project Readiness Package Rev 7/22/11

STUDENT STAFFING:

Skills Checklist: See Attached (Skills Checklist)

Anticipated Staffing Levels by Discipline:

Discipline How Many? Anticipated Skills Needed (concise descriptions)

EE 2 See Attached (Skills Checklist)

ME 1-2 See Attached (Skills Checklist)

CE 0-1 See Attached (Skills Checklist)

ISE 1 See Attached (Skills Checklist)

Other

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Project Readiness Package Rev 7/22/11

OTHER RESOURCES ANTICIPATED:Describe resources needed to support successful development, implementation, and utilization of the project. This could include specific faculty expertise, laboratory space and equipment, outside services, customer facilities, etc. Indicate if resources are available, to your knowledge.

Category Description Resource Available?

Faculty

Equipment 3D Printer

Various EE/Wiring Tools (Oscilloscope, Power Supply, Soldering Iron, Wire/Cable)

Computer

Materials Printed Circuit Board

Plastic

Aluminum

Other Electrical Engineering MSD Lab Access

Prepared by: Peter Pietrantoni Date: 05/20/14

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Project Readiness Package Rev 7/22/11

Appendix (PRP): Skills Checklist

Project Name (tentative):Quadcopter Navigation

Checklist Completed by (name):Mechanical Engineering

2 3D CAD 4 AerodynamicsMATLAB programming CFD

3 Machining (basic) Biomaterials5 Stress analysis (2D) 6 Vibrations

Statics/dynamic analysis (2D) Combustion enginesThermodynamics GD&T (geometric dimensioning &

tolerancing)Fluid dynamics (CV) 7 Linear controlsLabVIEW (data acquisition, etc.) CompositesStatistics DFM

1 Robotics (motion control)FEA CompositesHeat transfer Other:Modeling of electromechanical & fluid systems

Other:

Fatigue & static failure criteria (DME) Other:Specifying machine elements

Reviewed by (ME faculty):

Industrial & Systems Engineering

Statistical analysis of data – regression Shop floor IE – methods, time studyMaterials science Programming (C++)Materials processing – machining labFacilities planning – layout, material handling DOEProduction systems design – lean, process improvement

3 Systems design – product/process design

Ergonomics – interface of people & equipment (procedures, training, maintenance)

Data analysis, data mining

Math modeling – linear programming), simulation

Manufacturing engr.

1 Project management DFx -- Manuf., environment, sustainability

Engineering economy – ROI Other:Quality tools – SPC Other:

2 Production control – scheduling Other:Reviewed by (ISE faculty):

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Project Readiness Package Rev 7/22/11

Electrical Engineering

3 Circuit design: AC/DC converters, regulators, amplifier ckts, analog filter design, FPGA Logic design, sensor bias/support circuitry

2 Digital filter design and implementation, DSP

4 Power systems: selection, analysis, power budget determination

1 Microcontroller selection/application

3 System analysis: frequency analysis (Fourier, Laplace), stability, PID controllers, modulation schemes, VCO’s & mixers, ADC selection

5 Wireless protocol, component selection

3 Circuit build, test, debug (scopes, DMM, function generators)

5 Antenna selection (simple design)

Board layout Communication system front end design

MATLAB Algorithm design/simulation1 PSpice 2 Embedded software design/

implementationProgramming: C, Assembly Other:

4 Electromagnetics (shielding, interference) Other:Other:

Reviewed by (EE faculty):

Computer Engineering

Digital design (including HDL and FPGA) 3 Wireless networksSoftware for microcontrollers (including Linux and Windows)

1 Robotics (guidance, navigation, vision, machine learning, and control)

1 Device programming: Assembly language, C 4 Concurrent and embedded software2 Programming: Java, C++ 2 Embedded and real-time systems

Analog design 3 Digital image processingNetworking and network protocols Computer visionScientific computing (including C and MATLAB) Network securitySignal processing Other:Interfacing transducers and actuators to microcontrollers

Other:

Other:

Reviewed by (CE faculty):

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Project Readiness Package Rev 7/22/11

Chemical Engineering

Energy and material balances on chemical systems ElectrochemistryFluid dynamics and Heat transfer Inorganic chemistryThermodynamics (traditional and chemical) Environmental science and

sustainabilityMass transfer and separation process design: distillation, multistage absorption and stripping, batch and fixed-bed adsorption, liquid-liquid extraction, crystallization, membrane separations.

Advanced material science, polymer science

Chemical reactor design: chemical kinetics, equilibrium, and catalysts.

Surface tension and interfacial phenomena

Engineering lab skills: rheology (in Newtonian and non-Newtonian systems), pressure, temperature, concentration. Pilot lab systems; delivery system assembly including pumps, valves and pressure sensors.MATLAB and EXCEL: solve complex chemical engineering mathematics problemsAdvanced chemistry knowledge: general, physical, and organicMicro- and nano-scale phenomena and process designBasic chemistry-based material scienceBasic engineering economics Other:Basic Process Control Other:

Other:

Reviewed by (ChemE faculty):

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MSD 1 Project Plan

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