UAV Automated Flight & Seeded Fault Control Detailed Design Review

1. Scott Neuman Dennis Vega Stephen Wess UAV Automated Flight & Seeded Fault Control Detailed Design Review Aurora Kiehl Jeremie Snyder

2. Agenda • Project Goals • Aircraft Selection • ArduPilot Overview • Data Acquisition • Data Logging Capabilities • Seeded Fault Design • Mechanical Implementation • Electrical Implementation • Video System Cost Analysis • Imaging System • System Integration • Preliminary Test Plans • Bill of Materials • Risks • Future Plan of Action

3. Project Goals UAV project consists of three overarching goals: • Demonstrate the capability of automated flight between GPS waypoints for future use with proposed Imaging Science project • Incorporate ability to initiate seeded faults and detect that they have occurred • Log flight data, fault status, & on board accelerometer data • Display live video feed to users on the ground and allow user to capture still images in flight and store these images for viewing after landing

4. RC Aircraft Selection Hobbico Nexstar Mini EP Price: $170.00 Wingspan: 3.7ft (Meets spec: wingspan < 5ft) Electric Powered Balsa Wood Construction (Easier to modify than foam construction) Independent Aileron Control (Meets spec allowing for loss of control for one aileron only) Image Credit: modelairplanenews.com

5. ArduPilot Overview 3DRobotics ArduPilot w/ ArduPlane Software Price: $310.00 Allows for automated flight via GPS waypoints (Meets need for automated flight capabilities) Includes instrumentation for measuring roll, pitch, yaw, altitude, and ground speed (3-axis gyros/accelerometers/magnetometers, barometer, GPS unit) Collects measurements at either 10Hz or 50Hz (GPS data @ 5Hz)(Meets data refresh rate spec) Automatic data logging w/ 4MB of onboard memory

7. Relay for aileron fault ArduPilot

8. Cross Section Top View

9. ArduPilot Simulation By using X-Plane Flight Simulator, a hardware-in-the-loop (HIL) simulation can be performed on ArduPilot. X-Plane provides ArduPilot with GPS and sensor data similar to a realistic flight and ArduPilot flies the plane.

10. ArduPilot Simulation

11. ArduPilot Simulation

12. ArduPilot Simulation

13. Data Acquisition 3-axis accelerometer x3 Sensitivity Range: Selectable ±1.5 or ±6 g Analog output

14. Data Logging Capabilities 12 Channels of 10-bit ADC15ksps ADC capability, >50 Hz sampling based on available CPU time~330kB accelerometer data for 10 minute flight@ 50 Hz

15. Rudder Failure Servo pulls pin connecting upper and lower sections of rudder Loss of control of upper rudder section Open circuit indicates fault has been successfully seeded Fault Detection Circuit

17. Wing Section Failure Servo released spring loaded portion of wing section Lower section of wing protrudes into the airflow Broken electrical connection pulls down fault line Fault Detection Circuit

18. Fault door

19. Wing Fault - Door

20. Aileron Failure Relay allows aileron to be deactivated, thus limiting the aircraft to using a single aileron for roll control.

21. Video System Analysis CMOS 26N/P - Less risk in integration than Keychain #16 - Bandwidth 5.8 GHz Tx/Rx Kit - Lower risk of signal loss beyond "line of sight" ArduPilot Mega MinimOSD R1.1 Goggles too costly for current scope (~ $250) Separate battery pack for video system - 11.1V, 1250 mAh Source: 3D Robotics

22. Imaging System Camera capable of capturing still images to be installed on aircraft Command sent through ArduPilot will trigger camera to take image Low mass, high resolution camera desirable Option #1 HD Mini Camera Cost: $30 Image Resolution: 12Mp? USB Charger Micro SD card storage Ships from China Image Credit: www.k-ding.cn

23. Imaging System Option #2 Smile Button Hidden Camera Cost: $60 Image Resolution: 3Mp USB Charger Micro SD card storage Camera to be reversed engineered, allowing a voltage signal to emulate user action to capture image Image Credit: www.internetsiao.com

24. Remote Camera Trigger Circuit The Switch on the camera can be replaced with an NMOS pass transistor, which acts like an open circuit when the input is 'low' and a short circuit when the input is 'high.'

25. System Integration

26. Testing: Ardupilot Ensure signals pass through Ardupilot in Manual Mode Ensure all data of interest is collected and stored properly. Manually fly UAV to certain altitude, switch to fly-by-wire A mode and verify it flies to waypoints Datalogging Capabilities can be tested by running Ardupilot and collecting data for 10 minutes and determining if it fills up the 4MB onboard flash memory.

27. Testing: Ground Station Ensure that ground station can communicate necessary information with the UAV remotely on ground Verify that all servos can be controlled either using the laptop or controller Modify Ardupilot Mission GUI to add fault and imaging features, verify that these features perform as required on ground

28. Testing: Fault Seeding/Detection Test that all faults can be triggered on the ground and occur as expected Run vibration test on fault detection system and make sure the accelerometer data is stored and looks as expected Create a circuit that "open circuits" when a fault occurs, obtain timestamp when this occurs for correlation with accelerometer data by future groups

29. Testing: Video/Imaging System Use the video transmitter to verify that video is sentto laptop remotely on the ground. Verify remote triggering of ‘Take Photo’ command works and saves the photo on the UAV.

30. Testing: Power Subsystems To ensure our ideal flight time of 10 minutes, All batteries should last at least this long The current draw for all components can be thoroughly tested on the ground: the battery life will be equal to the strength of the battery (mAh) divided by the total current draw

31. Bill of Materials

32. Updated Risks

33. Future Plan of Action