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FLyNET

Ben Houston Camden Mendiola Dan “ Klitz ” Johnson Dan Rice Monty Prekeris. FLyNET. To provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond. Useful for military, police, search and rescue, and/or back country navigation

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FLyNET

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  1. Ben Houston Camden Mendiola Dan “Klitz” Johnson Dan Rice Monty Prekeris FLyNET

  2. To provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond. • Useful for military, police, search and rescue, and/or back country navigation • Localized and self managed. Mission Statement Camden

  3. OBJECTIVE • To design and implement an autonomous quad-copter platform that can remotely sense and relay data to a base station • To utilize the IEEE 802.15.4 protocol to create a low power mesh network Camden

  4. Team GOALS • Primary: • Manual flight through keyboard remote control. • Basic autonomous flight pattern. • Wireless Zigbee Comm. Bridge Station • Secondary: • Autonomous flight with mesh network integration. • Advanced sensor integration. • Elevated: • GPS navigation and obstacle avoidance. • Integration of more sensors. Camden

  5. Block Diagram Overview Third Comm Module Quad-copter ATMega 2560 Command Station PC Command Station XBee Environmental Sensors Environmental Sensors Motors XBee XBee Motors Flight Sensors & GPS Flight Sensors & GPS Camden

  6. SECONDARY GOAL Autonomous Flight Functionality ELEVATED GOAL Camden

  7. Systems Overview

  8. XBee PRO ZB • 2.4GHz RF • 3.2 km range • 250 Kbps data throughput • XBee Explorer USB Command Station WINDOWS OS PC USB IEEE 802.15.4 Zigbee Protocol Command Station Block Diagram Dan J.

  9. Copter ATMEGA 2560 ESC • Motors • E-Flight Brushless • 1020Kv • 22A max continuous • 2lb nominal • payload/motor • Flight Sensors: • Barometer – BMP085 • Magnetometer – HMC5843 • Accelerometer – ADXL345 • Gyro – ITG3200 • Ultrasonic range finder – Daventech SFR10 • GPS – USGlobalSatEM-408 • I2C Motors XBee (Serial) Flight Sensors Env. Sensors ZigBee • Environmental Sensors (tentative): • Temperature • Gas • CMOS Camera - TCM8230MD • 30A ESC’s: • Allows 35,000 rpm • 40A for 10s Burst • PWM Dan J.

  10. Terrestrial Unit • Temperature • Chemical Sensing • Person • Heart Rate • Second Quad Copter • Mirror functionality of former Quad-Copters Dan J.

  11. Battery – 11.1 V, 8000mAh High Discharge Li-Po Battery • Power Rails – 5V rail for the ATMega 2560, 3.3V for Sensors and XBee • MC33269 Voltage Regulator – takes 12V to 5V • Logic Level converter – converts 5V to 3.3V for input to XBee and 3.3V to 5V for signals output from XBee • Battery Monitor – checks the status of the battery voltage and signals a warning if it is too low. If the battery supply voltage drops even further, the Quadcopter will begin to land. • ESCs (Electronic Speed Controller) – Convert PWM signals from the ATMega2560 into signals for the brushless motors. Power System Dan J.

  12. Flight Sensors(Primary): • Barometer – Used to measure atmospheric pressure. Allows the flight control to determine height of the Quadcopter and attempt to increase power to motors in order to maintain altitude. • Magnetometer – Measures the strength of the Earth’s magnet field to get the heading of the Quadcopter • Accelerometer – Measures acceleration of the Quadcopter along the x, y, z axes. • Gyro – Measures radial velocity in terms of roll, pitch, and yaw. • Flight Sensors(Secondary): • Ultrasonic range finder – Determines distance objects are away from the sensor. Can be used to avoid objects that come within range of the Quadcopter. Can also be used to aid in landing. • GPS – Gets longitude and latitude coordinates from a satellite which allows the Quadcopter to determine a flight path to its desired location Flight Sensors Dan J.

  13. Temperature Sensor– Analog output. (Primary) • Gas Sensors – CO, Methane, Hydrogen gas. Analog Output. (Elevated) • CMOS Camera – Communicates using I2C. (Elevated) • Heart rate monitor – Uses a Polar transmitter and communicates through I2C. (Elevated) Environmental Sensors Dan R.

  14. Sensor Risk and contingency Plan • Ultrasonic • Multiple Ultrasonic sensors may cause interference with one another • Alternate sets of opposing sensors to fire at different times. • Wide beam width may cause unexpected detection • Size down the beam width and use more sensors • Motor interference • Relocate sensors • Barometer • Propeller interfering with air pressure • Encapsulate barometer or shield it from motors • CMOS Camera • Exceed XBee bandwidth • Use high compression • Stream at lower frames per second • Store images locally Dan R.

  15. Wireless Communication Ben

  16. Xbee Communication Platform • Ad hoc On-demand Distance Vector (AODV) Mesh Routing • Allows data packets to traverse multiple nodes (hops) from source to destination • Does not necessarily have to be routed through the coordinator • AODV Routing Algorithm dictates ever changing and locally stored look up table of nearest one hop neighbors Ben

  17. Drop-In Networks • Digi International has designed the Xbees in a way that allows a PAN to include up to 40 drop-in radio devices in an Ad Hoc configuration. • Ease of use when building a large self healing network. Ben

  18. Advanced Xbee Features • ZB Pro RF data throughput: 250 kbps • Line of site range: 3.2 km • Serial Flow Control via RTS and CTS pins • Encryption (adds latency) • Sleep Mode(s) • Ability to self manage digital and analog sensors • Application Program Interface Ben

  19. XBee API(application program interface) • The API specifies how commands, command responses and module status messages are sent and received from the module using a UART Data Frame. • Follows IEEE 802.15.4 standard • Useful for software design • 84 byte payload • Multiple command features Ben

  20. Xbee Software • Software drivers contain algorithms that can build or parse API packets • Payloads can contain the following data: • Radio Addresses • 12 bits of analog sensor data converted to digital at the XBee hardware level • Command Status bytes • AT commands • Embedded System Experience Ben

  21. XBee Risk and Contingencies • Risks • Signal Interference • Range • Power Consumption • Bandwidth • Contingency • XBee-PRO® ZB Wall Routers • Extends signal strength and range of an XBee ZB mesh network • Creates additional network pathways for more reliable mesh networking • Adjust Sleep Mode settings via XBee firmware • Limit amount of simultaneous data output Ben

  22. Flight Control System

  23. MicroproCessor overview ATmega2560 • Operating Voltage: 5V • JTAG Interface • Digital I/O Pins: 54 (of which 14 provide PWM output) • ADC Pins: 16 • UART Ports: 4 • SPI Interface • I2C Interface • 2 External Interrupt Pins • DC Current per I/O Pin 40 mA • DC Current for 3.3V Pin 50 mA • Flash Memory: 256 KB of which 8 KB used by bootloader • SRAM: 8 KB • EEPROM: 4 KB • Clock Speed: 16 MHz Monty

  24. Development Environment • Eclipse C/C++ Dev environment for Arduino Mega • Allows for parallel development of flight programs and control during PCB development • ATMEL Professional Dev Suite intended for low level debugging though JTAG • Need access to JTAG pin outs which the Arduino Mega does not give access to • Emulator AVR JTAG ICE device will be used Monty

  25. Software Task Scheduler • 200Hz • Read Gyro • Read Accelerometer • 100Hz • Flight Controls (Stabilization routines) • 50Hz • Process Telemetry • 25Hz • Read Barometer • 10Hz • Read Battery • Process Compass Monty

  26. Change of Position ATmega PID MOTORS MOTOR Control System SENSOR RESPONSE Monty

  27. Task Scheduling – Addition of sensors consumes clock cycles • Scheduling sensors in order of priority • Circumvent processer and straight to XBee • Co-Processor • Hard Real Time System – Sam Monty

  28. Logistics

  29. Prototype Frame: • Made from Balsa, Poplar and Oak. • Aluminum Frame: • Aeroquad frame that is more robust. • Future Frames: • A Carbon Fiber or Fiberglass • frame could be used, as these are lightweight at the risk of durability Flynet Quad Frame Dan R.

  30. Indoor net and pulley apparatus • Emergency Shutoff via firmware watchdog timer • Manual Emergency shutoff via a serial command Dan R.

  31. Division of Labor Dan R.

  32. SCHEDULE Dan R.

  33. Risk and Contingency plan • Frame • Plan to buy Aluminum frame in the future. If it is not available, we may have to make it ourselves. • Schedule uncertainty • Current timeline does not incorporate weekends. • Availability of components • Utilize multiple distributers • Code Sharing • Tortoise SVN with revision control • Broken Parts • Backup Parts on hand (Propellers) Dan R.

  34. BUDGET Dan R.

  35. BUDGET Funding: -UROP -EEF (possible) -Sponsorship through Elintrix Dan R.

  36. Questions?

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