Project P09122: MAV Control System

1. Project P09122:MAV Control System Erik Bellandi

2. Contents • Background • Planning • Concept Development • Risk Assessment • Future Plan

3. Background • Past projects focused on obtaining small size • MAV rules have changed so focus is on autonomy with small size being secondary. • Fly autonomously indoors and out MIT Autonomous UAV Aerobatics Project

4. Planning

5. ProjectMission Statement Product Description /Project Overview To design and build a flight control system for the Micro Aerial Vehicle, that will most quickly lead to a fully autonomous system. Key Business Goals/Project Deliverables Primary Business Goals: Make the MAV as autonomous as possible. A control system able to stabilize and control the flight of the MAV based on inputs. A control system that can be adapted for flight conditions, payloads and platform characteristics. A fully tested control system capable of integrating to the MAV platform. Secondary Business Goal: Compete in the 2009 MAV Competition. Primary Customers Dr. Jeffrey Kozak Advisor to MAV Teams MAV Team Other Stakeholders Other 2009 MAV projects Vendors Funding Projects RIT

6. Staffing Requirements

7. Intellectual Property Considerations All work to be released to the public domain. The intent of the project is for it to be used for future projects and to give students knowledge and experience in the area of aeronautics and controls. All work completed by students in this project is expected to be released to the public domain. Students, Faculty, Staff, and other participants in the project will be expected to release rights to their designs, documents, drawings, etc., to the public domain, so that others may freely build upon the results and findings without constraint. Students, Faculty, and Staff associated with the project are encouraged to publish findings, data, and results openly.

8. Work Breakdown Structure

9. Preliminary Schedule

10. Team Values and Norms Punctual Each team member will be prompt and arrive at the team meetings on time. If an unexpected conflict comes up, the absent team member will notify at least one team-mate prior to the expected absence. The absent team-member should confirm that a team-mate has received their message (in person, voice mail, email, etc). Thorough Each team member will complete their tasks thoroughly and completely, so that the work does not have to be re-done by a peer on the team. If a member does not know how to complete a task, feels overwhelmed, or needs assistance then the member notifies peers, and seeks assistance either from a peer, the faculty guide, a faculty consultant, or another person. Accurate Each team member completes their work accurately and in a way that can be easily checked for accuracy by peers and the faculty guide. All work is fully documented and easy to follow. Professional and Ethical Each team member gives credit where credit is due. All work completed includes citations to appropriate literature, or sources of assistance. If a team member has gotten assistance from a publication or individual, then that assistance or guidance is fully documented in the reports prepared. Each team member is honest and trustworthy in their dealings with their peers. Committed Each team member will contribute an equal share to the success of the project. Vision Focused Each team member should continually be focused on achieving the mission statement: To design and build a flight control system for the Micro Aerial Vehicle, that will most quickly lead to a fully autonomous system. All decisions and efforts should reflect this and lead to progress towards the mission.

11. Grading Assessment Scheme Deliverables Develop a system that will stabilize flight and will recover if disturbed and be able to adjust to mild or moderate wind gusts and maneuvers. System can be configured for any various platform characteristics. System is fully tested according to testing matrices to be defined during MSD I. System will be integrated into MAV platform at the end of MSD II.

12. Required Resources Faculty Space Equipment

13. Concept Development

14. Identify Customer Needs Needs Hierarchy Control Capability Be as autonomous as possible. Create a stable flight. Command the control surfaces appropriately. Have a video relay system. Process data from all inputs.. Adaptability Calibrated for the platform characteristics. Compensate for environmental conditions. Compensate for various payloads. Have interchangeable sensors. Receive Inputs Work simultaneously with remote input. Measure the current conditions. Have GPS capability. Weight Be light weight Independence Be independent of the platform.

15. Identify Customer Needs Relative Importance of Needs (1=Highest)

16. Establish Target Specifications List of Metrics

17. Risk Assessment

18. Future PlanWhere do we go from here? Outstanding Items • Obtain Funding • Look into additional work space and equipment depending on size of MAV Team(s). • Refine Schedule at beginning of SD I according to Team skills. Recommendation • Recommend to run the project. Staffing and goals are very obtainable and project would greatly benefit RIT’s Aerospace program and future MAV Teams. Funding is only uncertainty but is low risk because of equipment from previous teams.