Comprehensive Design Review 2/16/12

1. AAPSAutomated Aero-Painting System Comprehensive Design Review 2/16/12 Advisors: Csaba Andras Moritz  Roderic Grupen Team Members: Adib Khozouee Christopher Brennan Edmar Gonçalves Ejiroghene Urhiafe ECE Department, UMass Amherst, Fall 2012

2. Review of project • Problem: Slow or dangerous liquid deposition due to hard to reach surfaces or because of dangerous chemicals • Solution: Quadrocopter equipped with spray nozzle • Applications: · Painting large factories or ships · De-icing planes on the tarmac ·Spraying pesticides on crops / fruit trees ECE Department, UMass Amherst, Fall 2012

3. Progress Since MDR • Ardupilot implemented on quadrocopter frame • Wireless communication progress • GUI further developed • Working electronically controlled spraying • Next Goal: Autonomous painting with manually controlled flight • Ultimate Goal: Autonomous painting and flight ECE Department, UMass Amherst, Fall 2012

4. Team Member Contributions • Adib • Lead GUI programmer • Installing operating system and software on Intel board • Edmar • Xbee communication • Ardupilot programming • E.J. • Quadrocopter pilot • Designed/built Actuator Control System • Chris • Team leader/coordinator • Built/programmed Actuator Control System • All members actively helped each other with each part ECE Department, UMass Amherst, Fall 2012

5. Flight: Current Status • Flight achieved • Can take off and land safely ECE Department, UMass Amherst, Fall 2012

6. Flight: Plans Issues Future plans Adjust flight settings to achieve more stable flight Add ACS onto quadrocopter • Throttle control needs to be better established • Roll/Pitch/Yaw orientation needs to be better defined in order to better direct aircraft ECE Department, UMass Amherst, Fall 2012

7. Communication • Goal: Two-way telemetry via Xbee radio communication • Read in-flight data from APM telemetry port • Pitch, roll and yaw • Battery status, altitude, etc. • Write in-flight control commands from GUI editor to APM via Xbee Ardupilot Mega (APM) ECE Department, UMass Amherst, Fall 2012

8. Communication: Reading Data • Mission Planner logs in-flight data wirelessly to base station • Next step: feed APM telemetry data into the GUI editor • Java RXTX for Xbee radio Gyro values stored and updated at between 10 and 50 Hz ECE Department, UMass Amherst, Fall 2012

9. Communication: Sending Data • Flight command IDs • Land: 0x15 • Loiter time/alt: 0x19 • Change altitude: 0x71 • Etc… • Actuator Control System • Use RC output pins to relay binary signal (i.e. ‘on’ & ‘off’) for spray painting ECE Department, UMass Amherst, Fall 2012

10. Base Processing Unit (BPU) • The Intel Atom board will perform the processing • Working to install windows XP • Graphical User Interface can now record visitation history • Xbee Java code has been integrated into the GUI • Packet transmission currently being tested ECE Department, UMass Amherst, Fall 2012

11. Actuator Control System (ACS): Design Spraying consists of two commands: Depress the spray nozzle Release the spray nozzle Servo Spray Paint ECE Department, UMass Amherst, Fall 2012

12. ACS: Current Status • Fires at a frequency of ~ 4.85 Hz • Code is not optimized yet • Can depress spray paint canister and silly string canister • Will use silly string for demo purposes • Need to fix nozzle position to prevent it form rotating between each spray • Current system is a prototype • A more robust, lightweight, and compact final version will be made ECE Department, UMass Amherst, Fall 2012

13. Timeline ECE Department, UMass Amherst, Fall 2012

14. Demos • Actuator Control System • GUI with Visitation History ECE Department, UMass Amherst, Fall 2012

15. Extra Information ECE Department, UMass Amherst, Fall 2012

16. Communication (cont’d) ECE Department, UMass Amherst, Fall 2012

17. Image Processing: Overview ECE Department, UMass Amherst, Fall 2012

18. Image Processing: Down sampling ECE Department, UMass Amherst, Fall 2012

19. Image Processing: Grayscale Normalization ECE Department, UMass Amherst, Fall 2012

20. The Problem • Many paint jobs require painters to climb great heights. Ex: Company buildings, ships, structural fabrications, bridges, dam gates, automobiles, pipes, and transformers. • Painter’s safety and health is a huge liability. • Labor cost for multiple painters and equipment cost of scaffolding and other equipment make the job expensive. • Conventional painting can last days or up to weeks. ECE Department, UMass Amherst, Fall 2012

21. The Solution • Service: selling flying painting machines with software, and with option of rent-to-own • Painting aircraft can easily reach heights of 40 stories • Lowers wage costs • Shorter time-to-completion • Can be used for anything the customer wishes ECE Department, UMass Amherst, Fall 2012

22. Social Application • Potential to assist in construction work • Reduce labor costs • Reduce liability costs • Assist in painting hard to reach areas • Potential to be expanded to general home improvement ECE Department, UMass Amherst, Fall 2012

23. Market Opportunity • Housing starts/new construction closely corresponds to painting revenue. • The industry is recovering from the real estate bubble in 2008. • Forecasts predict that market revenue will be $30-33 billion by 2015 • 10% of the approx. 4600 establishments ECE Department, UMass Amherst, Fall 2012