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Internet Piloted Blimp

This project aims to create a control system to remotely pilot an RC blimp over the internet and stream real-time video to the pilot. The system includes a web interface, wireless camera, microcontroller, and RC transmitter. The blimp can be controlled from anywhere using the internet and has a payload capacity of 7 oz. The host PC captures video images from the blimp and sends motor control data to the pilot. The blimp's maneuverability is limited by the camera's delay. Future work includes adding more features and controlling different devices.

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Internet Piloted Blimp

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  1. Internet Piloted Blimp Alfredo Guevara, Jr. Advisor: Professor Spinelli March 1, 2008

  2. Goals • Create a control system to remotely pilot an RC blimp over the internet • Show real time video images to the ‘pilot’. • Maneuverability: Internet control as close as possible to remote control

  3. Control System Pilot sends Motor Control Data to the host Host PC sends video image to the pilot Wireless Camera Images to Host PPM Signals Motor Controls

  4. Web Interface

  5. System Components • Physical System • PC (Host and Pilot) • Microcontroller • RC Transmitter • Wireless Camera

  6. Design Criteria • The blimp max payload capacity was 7 oz. • The blimp can be controlled from anywhere using the Internet. • The blimp should be in operation for at least 30 minutes.

  7. Communication to Blimp

  8. Host • The host was a laptop due to its easy mobility. • The host computer contains the web server. • It captured the video image from the blimp and streamed it to the Web page. • It has a stand alone program that read the desired motor control from a Socket and sent it through the Serial Port

  9. Microcontroller • A Basic Stamp 2sx was used to send motor control signals to the transmitter. • A Voltage conversion circuit was created to produce the appropriate voltage for the motor control signal. • Each signal sent had information for 3 channels. • Ch1: The speed and direction of the tail motor • Ch2: The direction of the rotation of the motors attached to the gondola • Ch3: The position of the motors attached to the gondola.

  10. Pulse Position Modulation CH1: Left/Right CH2: Up/Down/Front/Back CH3: Motor Position

  11. Interface Circuit 10V from Control Pulse into R/C Pulse from BS

  12. Wireless Camera Communication

  13. Video Capture • The wireless camera was used as a webcam. • Frame Rate: 297 Kbps • Image 320 X 240 • Color Camera • It sent real time images to the Host.

  14. Software System Web Interface: HTML JAVA Applet Host PC: JAVA Stand alone program Microsoft Encoder. Microcontroller: PBASIC

  15. Software Design • PBASIC: Basic Stamp sent pulses to the Remote Control • Web Interface: sent motor control to the host by the click of a button. • Host: The host received information from the web interface and sent it to the Serial Port

  16. PBASIC • This code was used to send time pulses ranging from 1ms to 2 ms to the interface circuit. • The PPM signal has to have a 20 ms duration • The PBASIC received information from the Host’s Serial Port.

  17. Sample Code Vertical Direction PULSOUT 2, 18037 ' Sync send a clean slate. OUT2=POL2 ' return for .3 milliseconds OUT2=POL2 PULSOUT 2, 1500 ' Ch1 The direction and speed of the tail fin OUT2=POL2 OUT2=POL2 PULSOUT 2, 1013 ' Ch2 The direction of the spin and its speed OUT2=POL2 OUT2=POL2 PULSOUT 2, 1100 'Ch3 The position of the motors OUT2=POL2 OUT2=POL2 PULSOUT 2, 1475 ' Ch 4 Unused OUT2=POL2 OUT2=POL2

  18. Web Interface • The basic user friendly Interface was designed in HTML. • Buttons for the direction were placed in the Interface using a Java Applet • Up, Down, Front, Back, Left, Right • The interface also shows the image from the wireless camera.

  19. Java within the Host • The Host had a Stand Alone Java program that read the Motor Control data in from a socket • Socket 3333. • After the data is read, the program sends the information to the Serial Port in form of numbers with the use of the RXTX library.

  20. Results • The payload is 6.7 oz. • Motor Control data was successfully sent from ‘pilot’ PC to Host PC • Host PC successfully sent information to the Microcontroller • The Microcontroller sent PPM signals to the Remote Control. • Maneuverability: The Blimp was controlled over the Internet but with a delay due to the camera.

  21. Future Work • With a larger payload capacity Blimp more features can be added: • Tilt camera or sensors to collect any type of data such as height and speed • A different device can be controlled such as a helicopter, an RC plane or even a micro device. • Different type of transmitters can be added to allow for use anywhere on campus by using relay stations.

  22. THANK YOU • Professor Spinelli • Professor Burns • Professor Hedrick • Professor Spallholz • Chemistry Department

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