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The JAviator: A High-Payload Quadrotor UAV with High-Level Programming Capabilities

The JAviator: A High-Payload Quadrotor UAV with High-Level Programming Capabilities. Silviu S. Craciunas, Christoph M. Kirsch, Harald R öck, and Rainer Trummer Department of Computer Sciences University of Salzburg, Austria Presented by Rainer Trummer August 21, 2008.

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The JAviator: A High-Payload Quadrotor UAV with High-Level Programming Capabilities

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  1. The JAviator: A High-Payload Quadrotor UAV with High-Level Programming Capabilities Silviu S. Craciunas, Christoph M. Kirsch, Harald Röck, and Rainer Trummer Department of Computer Sciences University of Salzburg, Austria Presented by Rainer Trummer August 21, 2008

  2. The JAviator Project: javiator.cs.uni-salzburg.at • Project goals: • Develop high-payload quadrotor model helicopters • Develop high-level real-time programming abstractions • JAviator helicopters are our software laboratories • Real-time programming in Java: • Write-once-run-anywhere also for real time (time portability) • Exotasks vs. Java threads (collaboration with IBM Research) • Real-time programming in C: • Time-portable software processes (CPU, I/O, Memory) • Real-time operating system Tiptoe: tiptoe.cs.uni-salzburg.at

  3. JAviator Design Evolution • Jan 2006 – Aug 2007: JAviator V1 • Entirely hand-fabricated CF, AL, and TI components • Total diameter (over spinning rotors): 1.1 m • Empty weight (including all electronics): 1.9 kg

  4. JAviator Design Evolution

  5. JAviator Design Evolution

  6. JAviator Design Evolution • Since February 2007: JAviator V2 • CNC-fabricated, flow-jet-, and laser-cut components • Total diameter (over spinning rotors): 1.3 m • Empty weight (including all electronics): 2.2 kg

  7. Side-Arm Details

  8. Side-Arm Details

  9. Side-Arm Details

  10. Frame Construction

  11. Frame Construction

  12. Frame Construction

  13. Frame Construction

  14. Frame Construction

  15. Propulsion Capacity • Maximum lift capacity: 5.4 kg • 2.2 kg empty weight + 3.2 kg maximum payload • Maximum flight time: 40 min • 40 min without payload down to 8 min with 3.2 kg

  16. Power Board Design • Need for central board containing ... • four AC motor controllers • R/C emergency shutdown • high-current circuit breaker • signal-lights mechanism • low-voltage power supply

  17. Power Board Design

  18. Power Board Design

  19. Power Board Design

  20. Power Board Design

  21. Computer System

  22. Computer System

  23. Computer System

  24. Software System • Real JAviator or MockJAviator • Four interchangeable controllers • Java-based Control Terminal

  25. Software System • JControl: Thread-based Java controller (runs on top of any JVM) • EControl: Exotask-based Java controller (runs on IBM’s WSRT JVM) • CControl: Linux-based C controller (runs as single-threaded process) • TControl: Tiptoe-based C controller (runs bare-metal on Gumstix)

  26. Software System

  27. JAviator Impressions

  28. Thank You! Questions?

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