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FLyNET

FLyNET. Camden Mendiola Ben Houston Monty Prekeris Dan Rice Dan “ Klitz ” Johnson. Project Review. To provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond Useful for military, police, search and rescue

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FLyNET

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  1. FLyNET Camden Mendiola Ben Houston Monty Prekeris Dan Rice Dan “Klitz” Johnson

  2. Project Review • To provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond • Useful for military, police, search and rescue • Localized and self managed Ben

  3. Current Status • BASE STATION • Foundational PC Control software complete • QUADCOPTER • Quadcopter Prototype 1.0 built and ready for testing • Basic flight software and testing in progress • Hover; Landing; Heading; Directional Movement • GPS and Environmental Sensors in development • GROUND MODULE • Part list complete • Schematic and PCB in preliminary phase Ben

  4. Deliverables • Milestone 1: • Basic Flight Commands • Hover; Manual Landing; Heading • Basic Mesh Network Capabilities • Preliminary Integration of Modules • Milestone 2: • Advanced Flight Commands • Directional Movement with GPS Integration, Automatic Landing • Advanced Environmental Sensor Integration through Mesh Network • EXPO: • Autonomous Flight Patterns • Complete Mesh Network Integration Ben

  5. Systems Diagram Ben

  6. Functional Decomposition Hardware

  7. Functional Decomposition: Hardware Quadcopter Platform User Interface Environmental Data Terrestrial Platform Power Ben Level 0: Wireless Sensing Network

  8. Functional Decomposition: Hardware Level 1.1: Quadcopter Battery Harness ESC’s Motors Power Circuit CPU Ultrasonic Radio Comm. Logic Converter Environ. Sensors Accelerometer 11.1V 5V Barometer GPS 3.3V Magnetometer PWM Serial Gyroscope SPI Ben (3.3V Signal)

  9. Functional Decomposition: Hardware Level 1.2: Terrestrial Unit Gen. I/0 Serial 9V Analog I2C 5V 3.3V Alarm Battery Power Circuit CPU Radio Comm. ADC Air Quality Gas Sensor Heart Rate Monitor Ben

  10. Schematics and PCB

  11. PCB Progression • Version 1 of PCB has been completed and ordered. • A testing strategy is currently in development Cam

  12. Schematic Overview Motor Control Circuit Microprocessor PWM PWM PWM PWM Cam

  13. Schematic Overview Serial Converter Circuit Cam

  14. Schematic Overview Power Circuit Cam

  15. Schematic Overview Oscillator Circuit Logic Level Circuit Cam

  16. Schematic Overview XBee Circuit Cam

  17. Flight Control Hardware

  18. Ultrasonic Range Finder Calculate Distance Chirp Initial Pulse Generate Initial Pulse Listen for Echo Begin Count Ultra-sonic Stop Count when Echo Detected Cam

  19. Electronic Speed Controller Speed Command PWM Motor RPM Battery MOSFETDriver Cam

  20. Electronic Speed Controller • Converts DC into 3 phase AC • Back EMF used to detect rotation • RPM adjusted by Pulse Width • to each phase HobbyWingFlyFun Brushless ESC Cam

  21. 9 Degrees of Freedom • Gyro • Accelerometer • Magnetometer Klitz

  22. Gyro ITG-3200 • Triple Axis • 3 16-bit ADC’s • 400kHz I2C Interface • Key element for stabilization Klitz

  23. Accelerometer ADXL345 • 3 Axis Accelerometer • High performance g-sensor Klitz

  24. Magnetometer HMC5843 • Measures Strength or Direction of Magnetic Field (Compass) • 3 Axis • 1 to 2 degree range of accuracy • I2C interface • Sensitivity of 0.10 μT • Allows heading tracking Klitz

  25. Barometer BMP085 • 300 to 1100 hPa(atmospheric pressure) • Accuracy of 0.3 hectopascals • I2C Interface • Maintains altitude of Quadcopter • Beneficial in Autonomous landing Klitz

  26. Logic Level Controller • Safely Converts 5V to 3.3V and 3.3V to 5V • Converts 4 pins at one time • I2C Interface Klitz

  27. Functional Decomposition Software

  28. Functional Decomposition: Software LEVEL 1.0.0: QUADCOPTER BASIC FLIGHT Take Off Hover Directional Movement (Left, Right, Forward, Back) Land Monty

  29. Functional Decomposition: Software LEVEL 1.1.0: QUADCOPTER BASIC FLIGHT Check Heading Set GPS Coordinate Set Direction Set Heading Check GPS Monty

  30. Functional Decomposition: Software Adjust Appropriate Motors HOVER NO Z > 0 Decrease Motors Speed YES Check if flat Check Accel. In Z direction Z < 0 Increase Motor Speed Monty

  31. Functional Decomposition: Software DIRECTIONAL MOVEMENT Is Z decreasing Or increasing Adjust Appropriate Motors Set Pitch or Roll Monty

  32. Functional Decomposition: Software No HEADING Set Heading Check Mag Check Hover Yes Set Yaw Adjust Motors Monty

  33. Functional Decomposition: Software Check Hover LANDING No Decrease Decel. to min value Read Ultrasonic Yes Accel. = 0 Yes No Check Alt. Above Threshold? Increase Decel. Decrease Decel. Kill Motors No Yes Monty

  34. Functional Decomposition: Software Level 1.2.0 TERRESTRIAL UNIT Get Sensor Data Set Local Alarm YES Health Readings Abnormal? NO Wireless Alert to Base Station Send Local Data to Base Station Monty

  35. Functional Decomposition: Communication Receive Packet Process: Commands and Data Get Packet Parse Send Packet Process: Polling Based Transmit Packet Build Monty

  36. Functional Decomposition: Communication parse_sample( ) IO_data_sample_RX( ) Monty

  37. GUI

  38. Graphical User Interface Current user interface for Command PC is text-based. Displays information based on commands received from user. Dan

  39. GUI Example • Goal: Create a user interface that uses information received from the Quadcopter to display information about flight status. • Need to incorporate Google Maps with GPS data. Dan

  40. Testing Analysis

  41. Test Results • Test 1: • Enough Lift with given weight/propellers/motors Result: • Quadcopter had plenty of lift with plenty of motor speed to spare • Test 2: • Ultrasonic sensors range and reliability Result: • At low propeller speed ultrasonic sensors were unaffected, but had narrow beam width

  42. Network Verification • A Node Discovery(ND) command can be broadcast to discover which nodes are in the network. • On right, Quadcopter and Terrestrial unit are part of the network.

  43. XBee Serial Command Timing Timing Diagram of a packet being transmitted over XBeeusing the IntronixLogicport

  44. Testing Analysis 12,130 rpm maximum at 60% duty cycle Lift occurs at 9,800 rpm (old frame) Increasing duty cycle gives minimal rpm gain after 60% Dan

  45. Testing Analysis 0.662 A maximum current (steady state) draw at max 12,130 rpm (no load) Current is not dependent on PWM duty cycle Current spikes occur when incrementing large rpm steps Dan

  46. Logistics

  47. Updated Parts List Klitz

  48. Updated Division of Labor Klitz

  49. Updated Schedule Klitz

  50. QUESTIONS?

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