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Mission Details AA241x - Design , Construction, and Testing of Autonomous Aircraft

Mission Details AA241x - Design , Construction, and Testing of Autonomous Aircraft. Lecture 3 April 8, 2013 Juan J. Alonso Roberto Bunge Wade Spurlock Department of Aero & Astro Stanford University Stanford, CA 94305, U.S.A. Personnel. Instructor:

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Mission Details AA241x - Design , Construction, and Testing of Autonomous Aircraft

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  1. Mission DetailsAA241x - Design, Construction, and Testing of Autonomous Aircraft Lecture 3 April 8, 2013 Juan J. Alonso Roberto Bunge Wade Spurlock Department of Aero & Astro Stanford University Stanford, CA 94305, U.S.A.

  2. Personnel • Instructor: • Prof. Juan J. Alonso, Durand 252, x3-9954, jjalonso@stanford.edu • Course Assistants (CAs): • Robbie Bunge (lead CA), Durand 464 / 353 / 055, rbunge@stanford.edu • Wade Spurlock, Durand 353 / 055, wadespur@stanford.edu

  3. Communications • General announcements: • aa241x-class@lists.stanford.edu • Course website for lecture notes, rosters, useful links, code.google.com, etc: • http://adl.stanford.edu/groups/aa241x • All Q&A through Piazza site • Each team must have its own website by the Due Date of PS1

  4. Team Websites • You will be required to have a team website that contains: • Team members, contact information, responsibilities • All technical details of your design, controls, mission planning (it is up to you how you want to organize it…but it must be kept current: we will check it regularly to gauge progress) • Presentations / data • Pictures, videos, etc. documenting work

  5. 5 Teams • Game of Drones • Pegasus • Planet Express • Infinity Eye • Chimera

  6. Mission – Search & Rescue • This year’s mission is inspired by search & rescue missions • As every year, this is a competition: one winner. Which team will it be? There is a prize for the top 2 teams… • “Find” and “locate” three targets (stranded people) in Lake Lagunita • Two components for “mission score”: • Time to first “sight” all 3 targets: tsightin seconds • Reported location of each target: (distances in meters) • Total score, J, with a = 300 m, b=2,000 sec, g = 3 m: i

  7. Lake Lagunita – Aerial View Allowable area ✖ Target ✖ ✖ Camera Field of View (FOV) = f(h) ✖ Target position estimate, R = g(h) Estimated location

  8. Important Parameters • Total score, J, with a = 300 m, b=2,000 sec, g = 3 m: • FOV: • Diameter = 100 m @ 400 ft altitude (max altitude permitted) • Diameter = 50 m @ 100 ft altitude (min altitude permitted) • Linear variation in between • Target position estimate (TPE), R: • Diameter = 25 m @ 400 ft altitude • Diameter = 10 m @ 100 ft altitude • Battery life is not unlimited! Target 600 mAh, 2 cell LiPo, but can vary!

  9. “Camera” API • snapshot mySnapShot= takeASnapShot(); will return: • booltargetInPic[3] with True/False for each of the targets 0, 1, and 2 • float targetLat[3], targetLong[3], targetRadius[3] containing (for targetInPic[i] == True) the latitude and longitude of the center of the TPE, and its radius • TPE has its center at the location of the actual target + noise • Noise in center of TPE is drawn from a uniform distribution (in lat and long) between –R/2 and R/2 • Remember, R(h)

  10. Tentative Syllabus • April 1: Introduction, team make-up discussion • April 3: Teams finalized, Performance Estimation, hardware handed out • April 8: Introduction to ArduPilot Mega 2.5 • April 10: Electric propulsion, propeller performance, motor/propeller matching. • April 15: Performance estimation, PS1 Due • April 17: Airfoil and Wing analysis / design • April 22: Intro to S&C, aircraft stability & control • April 24: S&C, basic PID control ideas, other • April 29: Vortex Lattice program/s intro & capabilities • May 1: Lab time, PS2 Due

  11. Tentative Syllabus (II) • May 6: Mission planning • May 8: Mission planning continued (if needed) • May 13: Lab time • May 15: Lab time • May 20: Lab time, PS3 Due • May 22: Final flight discussions • May 27: Lab time • May 29: Lab time • Jun 3 & 5: FLIGHT TRIALS!!!! • Jun 10: Possible flight trials. • June 12: Final reports due • Jun 13: Grades due

  12. Some Final Thoughts • Flight test procedures • See “Do & Do Nots” on course webpage • Please be careful, exercise judgment, and minimize risks! • Damaged, broken, missing equipment: • Your team is responsible for the equipment you are issued • Your team is responsible for replacing the equipment that has been damaged • We may have spare parts that you can borrow immediately, but your team is responsible for ordering and re-stocking the damage parts • We want you to think about what you are doing, before you are doing it.

  13. Some Help… • Sign up for Stanford AA’s very own UAV club for help with flying R/C and others goodies • Mailing list can be found at: uav-students@lists.stanford.edu

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