Hacking and controlling toy flyers

1. Mid-term presentation Hacking and controlling toy flyers Student : Frédéric Blanc Assistant : Rico Möckel Professor : Auke Jan Ijspeert

2. Motivations • Personal motivations • Electronic, mechanic and programming project • PCB design • Working on Flapping flyer • Global motivation • Hacking vs designing complete flyers

3. Outline • Flyer’s description • Possible improvement • Mechanical constraints • Global schematic • Future works

4. Flyer’s description Two degrees of freedom: Yaw control Thrust control

5. Possible improvement • Increase the number of DOF • Additional propeller for pitch control

6. Possible improvement • Extend time of flight • Additional battery • Stabilisation (Hovering) • New sensors (accelerometers, gyroscope, magnetometer) • Complete autonomous control • Out of the field of this project but still possible with a camera and optic flow algorithms

7. Mechanical constraints • Air vehicles implies light embodiment • Total weight of the original dragonfly : 22 g • Light embodiment implies small PCB • Limited in the choice of components

9. Global schematic Batteries Power converter 3-Axis Accelerometer DsPic H-Bridges I2C PWM Motors 3-Axis Gyroscope UART 3-Axis Magnetometer Bluetooth Module

10. Future work Layout of the PCB Soldering Programming Test • Placing components • Routing

11. Future work Layout of the PCB Soldering Programming Test

12. Future work Layout of the PCB Soldering Programming Test • Main steps : • Motor control • Communication with digital sensors (I2C) • Communication with the bluetooth module (UART)

13. Future work Layout of the PCB Soldering Programming Test • Mechanical tests • Programming tests

14. Future work

15. Thanks for you attention !