AAPS Automated Aero-Painting System

1. AAPS Automated Aero-Painting System Preliminary Design Review Advisors: Csaba Andras Moritz  Roderic Grupen Team Members: Adib Khozouee Chris Brennan Edmar Gonçalves Ejiroghene Urhiafe

2. Background and Motivation • Unmanned Aerial Vehicles (UAV) revolutionizing aviation technology • Do not require qualified pilot on board • Reduces exposure risk of the aircraft operator • Flight time of up to 30 hours, performing raster scan of a region, in darkness or fog, under computer control • Can enter environments that are dangerous to human life • Can be programmed to complete a mission autonomously • Automation reduces inspection and maintenance costs, and improves flight readiness Source: http://www.uavs.org/advantages ECE Department, UMass Amherst, Fall 2011

3. Background and Motivation (cont’d) UAV usage: • Military operations • Espionage • Sabotage • Combat • Agriculture: spray fertilizer and pesticide over large fields • NASA’s planetary science planning on using UAVs for space missions • Weather research • Coast watch • Search and rescue • Hobbyist activities • Newest application: Painting ECE Department, UMass Amherst, Fall 2011

4. Challenge and Requirements • UAV automation reliability • Prioritize potential concerns and take preemptive action • Make real time decisions based on input sensors • Communicate with base processing unit • Adjust flight goals to functional and environmental limitations • Graffiti Copter system • Flight guidance • Painting surface recognition • Feedback on its functional state • Assess task performance ECE Department, UMass Amherst, Fall 2011

5. General System Flowchart ECE Department, UMass Amherst, Fall 2011

6. System ProcessInitial set-up Canvas IR camera Quadrocopter Base station Base processing unit ECE Department, UMass Amherst, Fall 2011

7. System Process Step 1: Wall Calibration Canvas IR camera Quadrocopter Base station Base processing unit ECE Department, UMass Amherst, Fall 2011

8. System Process Step 2: Quadrocopter Take-off Canvas IR camera Base station Base processing unit ECE Department, UMass Amherst, Fall 2011

9. System ProcessStep 3: Reaching Canvas Canvas IR camera Base station Base processing unit ECE Department, UMass Amherst, Fall 2011

10. System ProcessStep 4: Painting Canvas IR camera Base station Base processing unit ECE Department, UMass Amherst, Fall 2011

11. System ProcessStep 5: Image Comparison Canvas IR camera Base station Base processing unit ECE Department, UMass Amherst, Fall 2011

12. System ProcessStep 6: Landing Canvas IR camera Quadrocopter Base station Base processing unit ECE Department, UMass Amherst, Fall 2011

13. Function Flow Chart - Quadrocopter ECE Department, UMass Amherst, Fall 2011

14. Function Flow Chart - Base Processing Unit ECE Department, UMass Amherst, Fall 2011

15. Nozzle placement ECE Department, UMass Amherst, Fall 2011

16. Performance Measures • Accuracy • Complexity • Real-time Position Awareness Algorithm (RPAA) • Canvas Calibration ECE Department, UMass Amherst, Fall 2011

17. Parts • Quadrocopter kit: 670g, $529 • Xbee Receiver / transmitter: (3g, free from M5) • Aduino microcontroller ATmega 328 (~227g free from M5) • Or Intel Atom processor if finalist in Cornell Cup (free) ECE Department, UMass Amherst, Fall 2011

18. Parts • Battery • Option 1: 14.8V, 5000mAh, 545 g, $81 • Option 2: 14.8V, 3200mAh, 386 g, $63 • Spray Cans 245 g, $7 • Spray Can holster (parts from SDP lab) • Camera: ps3 camera (free from m5) ECE Department, UMass Amherst, Fall 2011

19. Costs • Quadrocopter kit $529 • Battery $81 • Spray Can $7 • Spray Can Holster Free • Xbee Receiver/Transmitter Free • Aduino Free • Camera Free • --------------------------------------------- • Total $617 ECE Department, UMass Amherst, Fall 2011

20. Funding Ideas • Cornell Cup Competition • Embedded design competition presented by Intel • If we become finalists we will receive: • $2,500 • Intel Atom Processors • Ask companies for donations if we advertise that we used their products • Personal investments ECE Department, UMass Amherst, Fall 2011

21. Weight Calculation Battery 1 Battery 2 • Quadrocopter kit 670 g 670 g • Battery 545 g 386 g • Spray Can 247 g 247 g • Xbee Receiver/Transmitter 3 g 3 g • Aduino 227 g 227 g • Spray Can Holster 0-508 g 0-767 g ---------------------------------------------------------------------- • Total 1692-2200 g 1433-2200 g ECE Department, UMass Amherst, Fall 2011

22. Timeline • First Semester ECE Department, UMass Amherst, Fall 2011

23. MDR Deliverables • Quadrocopter capable of achieving flight • Camera able to virtualize physical canvas ECE Department, UMass Amherst, Fall 2011