Team Chopper Subterranean Mapping performed by co-operative helicopters

1. Team ChopperSubterranean Mapping performed by co-operativehelicopters Shirley Choi Bejan Hafezzadeh Joseph Kaiser Sean Norwood Itay Tenne

2. Introduction • Subterranean Mapping • Autonomous Co-operative Helicopters • Avionics System • Can Avionics Interface Board (CAIN)

3. Interface Board Interface Board Interface Board Interface Board Interface Board Interface Board Flight Computer System Overview Satellites INS Pressure Sensors IMU GPS Magnetometer RS232 RS644 RS232 RS232 RS232 Power Generator CAN Multi-Drop Bus Power Board All Boards Interface Board Interface Board Servo Isolation Servo battery RS232 PWM signals On board Radio Servos RC receiver For test and debug RS232 Ground Radio RC Transmitter Host PC for COM and configuration USB Error Correcting GPS Multi-Drop Bus To GPS

4. Helicopter’s On-board Devices • CAIN Boards • 586-Engine-P (Flight computer) • Servos • IMU • RC receiver • GPS

5. CAIN BOARD • Chopper Avionic Interface Node • Interfaces between the CAN bus and the individual devices. • Built around an Atmel Processor • Contains UARTs(RS-232), PWM generators, Digital Output and Inputs • Individually programmable

6. CAIN Board Block Layout TWI/SPI ADC addr ISP JTAG Addr/data RS232 CAN transceiver / CAN bus NV RAM RS232 Atmel AT90CAN128 RS644 LEDs EEPPOM PWM (6 channels) Jumpers/Selectors

7. 586-Engine-P • Main processing unit for the helicopter • Based around an AMD 586 processor • On board CF memory card reader • Will read the sensor inputs from on-board devices and RC controller and send corrected signals to the servos • Will include the control law to perform the augmented control on the helicopter

8. Servo • A servo is used to mechanically control the helicopter • It is controlled by PWM signals produced by error-corrected signals from the remote-controller unit

9. IMU • An Inertial Measurement Unit gives 6 key measurements of the helicopter • These measurements are sent to the flight computer via the CAN bus • The flight computer processes this information for error correction

10. RC receiver • A remote controller (RC) is used to control the orientation of the helicopter • The RC receiver receives human input signal • Signal decoded through CAIN board • Sent to servos for full manual control • Or, dispatched on CAN bus to be processed by augmented control system

11. GPS • GPS unit on helicopter provides flight computer with latitude, longitude, and altitude measurements • The GPS used for fully autonomous flight

12. Risk Analysis • Power consumption on board • Control loop (simulation) • Noise • EMI, Cross-Talk, ESD • Physical vibration • Time delay (transmission)

13. Contingency Plan • Shopping cart • Powered by batteries • No control loop (manually driven) • PCBs spaced out – less noise • Minimized physical vibration

14. Part List Provided by Prof. Meyer: Total: $2373

15. Schedule

16. Future Development • CAIN is versatile, it is capable of interfacing with unknown devices. • More modules • Pressure sensor • Magnetometer … etc • pre-filtering data on CAIN • Development of the multi-master model • Implement advance control system • Path finding ability