ECE 4901 Fall 2017 Group 1829 - Unmanned Air Vehicles Final Semester I Presentation Tony Chen (EE) David Kay (EE) Ravi Patel (CSE/EE) Sponsor: UConn ECE Dept. (Prof. Shalabh Gupta)
Agenda Our Task ● ● Component Selection ○ Flight Controller ○ Drift Minimizer Imaging ○ ● Current Progress ○ Hardware ○ Software Timeline ● ● Budget
Our Task To create an autonomous drone that can: ● Take off, find, and land on flat surfaces ● Identify, pickup, and stack boxes ● Avoid obstacles
Our Task (cont.)
Basic Components DJI Flamewheel F450 ● Robust ● Modular ● Affordable frame
Flight Controller Pixhawk Autopilot ● Open source autopilot ● All-in-one unit Sensors: ● 3-axis 16-bit gyroscope ● ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer ● MEAS MS5611 barometer Interfaces: ● UART ● CAN I 2 C ● ● MicroSD
Flight Controller Alternatives ArduPilot: Eagle Tree Vector: ● Pros ● Pros ○ Supports all kinds of sensors and has ○ Supports many different flight telemetry and flight logging capabilities configurations, including fixed wing ○ Excellent software, easy to setup ○ Controls a craft very well, even with ● Cons minimum tuning ○ Getting obsolete with little to no support. ● Cons ○ Poor performance ○ Costs more than Pixhawk
Drift Minimizer PX4Flow Sensor: ● Optical flow smart camera ● Uses ground texture and visible features to determine aircraft ground velocity ○ Works where GPS can’t reach ● Indoors and outdoor, including low light conditions (no need for external illumination) ● 3 axis gyro allows for compensation of vehicle tilt and heading relative to the ground ● Designed to work with Pixhawk FC
Drone Sensor Alternative LeddarTech – Vu8 Lidar Sensor: ● Detection range up to 215 m (≈ 700 ft) ● Compact and lightweight (≈ 75 g) ● 20°, 48° and 100° beam width options, for optimized field of view ● Immune to ambient light, no moving parts, for ultimate robustness ● Limited Compatibility
Laser and Imaging Kinect: ● Specifications: ○ 0.8 to 4 meter ○ 57° FOV (horizontal) ○ 43° FOV (vertical) ● Limited to indoor use
Identification Makers Alternatives: Downsides: High Contrast Color Combinations: QR Codes Requires Very Clear Image Retroreflective Material Expensive / Single Color Shapes Requires Very Stable Image Text Computation Heavy ● Easily Detected ● Limited Interference
Target Detection ● Need method to identify objects & locations ● Pixy sensor (CMUcam5): ○ Affordable ○ Open Source ○ One-touch button to learn objects ○ Identification of pre-programmable color codes (2+ colors from 7 readable colors) ○ Detects object shape and orientation (angle)
Pixy Pros ● Able to use color as object detection ● Pixy can learn up to seven color signatures. ○ Red, Orange, Yellow, Green, Cyan, Blue, Violet ● Multiple color combination are possible ● Can detect angle, width, height Cons ● White balance ● Incandescent vs Fluorescent lighting can affect color signature ○ Can be easily recalibrated for each lighting
Onboard Computer Odroid XU4 ODROID XU4 Alternative: ● 2GHz octa-core CPU Raspberry Pi3 ● 2GB LPDDR2 RAM ● 1.2 GHz Quad-core CPU ● Micro SD slots ● 1GB RAM ● Linux 16.04 or Android ● Micro SD slot Raspberry Pi3 ● Better for onboard flight computations ● Raspbian (Debian branch-off) ● $61 ● $35
Signal Flow Diagram Gripper Camera Sensor Electronic Speed Controller Flow Sensor
Current Progress: Hardware Placement: Design Concept: ● Underneath the CENTER of Drone ● Flat Vise Grip Style ● 3D Printed ● Landing Gear / Base of Drone ● IN FRONT of the Drone ○ Heavy objects throw off balance
Current Progress: Software XU4 CMUCam5 Sensor Sensor Data Gripper Switch Data Commands
Timeline November: January-February: Complete Hardware Software Development Assembly (Integration) October: December: March-April: Finalize Designs and Software Development Test, Verify, and Order Components Familiarization (Prototype) Validate Results
Component Cost Items Cost $110.00 Pixhawk Flight controller $150.00 PX4 Flow Sensor $61.00 Odroid XU4 $69.00 CMUcam5 (Pixy) $50.00 Kinect Sensor $20.00 Gripper
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