P06004 Air Surveillance Platform

1. P06004 Air Surveillance Platform Preliminary Design Review Friday, May 19, 2006

2. Team Michael Abbatte Stephen Byers Christina Ermie Daniel Irwin Brian Rowe Brian Sipos Amy Slevar Sponsor Center for Imaging Science Jason Faulring Don McKeown Coordinator Dr. Alan Nye Mentor Dr. Kevin Kochersberger Introductions/Acknowledgments

3. Project Description • Unmanned Aerial Vehicle • Imaging payload • Base Station

4. Work breakdown

5. Overview • Project Background • Questions • Payload Development • Questions

6. Background – Airframe • Prior teams supplied 2 airframes • Student design • Telemaster kit-built • Current team concentrated on student design platform due to sufficient payload area • Telemaster bay too small • Possible use for autonomous flight testing

7. Background – Airframe • Airframe Modifications • Removed excess weight for Preliminary testing • Foam core / fiber reinforced rear fuselage section • Made tail adjustable / removable • Moved motor forward • Changed wing attachment method • Added landing gear

8. Background – Airframe • Flight Testing • Supplied platform gave head start for SD II testing • Performed 3 preliminary flight tests after modifications to airframe • Rebalanced Airframe about ¼ chord • First flight short, but encouraging • Second flight with additional 3.5lbs • Third flight longer with some stability / control issues

9. Aluminum Rails Crash Scenario ANSYS Max Stress 2300psi<Sy Max Deflection .001951in Background – Airframe

10. Background – AP50 • UAV Flight AP50 • COTS Autopilot Solution • Purchased by previous team • $5000

11. Background - AP50 • Flight and Mission Processors • GPS Navigation • Sensors • Gyros • Accelerometers • Altimeter • Airspeed • PID Controller

12. Background – AP50 Software • Autonomous Flight Control and Monitoring • Upload Waypoints • Execute Commands • Real-time Monitoring

13. Background – AP50 Testing • Initially tested GPS functions by driving in car with AP50 • GPS Antenna Failure caused project delay • AP50 RF and control testing attempted with RC Car

14. Simulink Modeling • AP-50 requires gain inputs for PID control algorithms • Missing UAV signal flow diagrams • Need to create from scratch • Problem • No controls and flight dynamics background on team

15. Simulink Modeling - Justification • Improper gain values • Future expansion based on full model

16. Simulink Modeling - Equations • Relating airspeed error with elevator deflection

17. Simulink Modeling - Equations • New model

18. Simulink Modeling – Senior Design II • Inaccurate • State Space model • Digital DATCOM • FORTRAN • Derivative Coefficients

19. Any Questions?

20. Morphological Chart

21. Relative Weight Concept Chart

22. Pugh Analysis

23. Weighted Concept Chart

24. Real-Time Forward Video • Concept Development • Portable Black and White Television • Portable Color Television • Computer Monitor with TV Tuner • PCI Card TV Tuner • USB TV Tuner • Large (40+ inches) Flat Panel Television • Average (13-27inches) CRT Television

25. Real-Time Forward Video • Feasibility • Cost • Team Decision • Portable Black and White Television • Sponsor Decision • USB TV Tuner

26. Battery • Concept Development • NiCd, NiMH, LiPo, HiPo, Lead Acid • Feasibility • Power Density, Charging Capability, Cost, Safety • Current Equipment: • 5 cell LiPo ~8000mAh • 4 cell LiPo ~2100mAh • 18 cell NiMH ~3300mAh • LiPo / NiMH charging capability

27. RF Link – Concept Development • Ethernet • Off-the-shelf 2.4 GHz • Cellular Phone • GMRS Radio • Satellite Communications • IP Over Avian Carriers

28. RF Link – Feasibility • Top Choice: Long-Range Ethernet • Fast • Cheap • Low-power • Small • Interface with PC104

29. Payload Camera and Lens • Camera Requirements • Progressive Scan • Smallest/Lightest possible • Largest Pixel Size possible • Lens Requirements • C-mount • Filter Ring • Focal Length matched to Camera • Cost: $200-$300 range

30. Payload Camera and Lens • Camera Concept Development & Feasibility Sony XCL-V500 Pulnix TMC-6700CL Balser A601F • Black and White (10-bit) • Resolution: 640x480 • Interface: CameraLink • Pixel Size: 7.4um • Weight: 55g • Size: 29mmX29mmX30mm • Cost: ~$900 • Color (24-bit) • Resolution: 640x480 • Interface: CameraLink • Pixel Size: 9.0um • Weight: 368g • Size: 67mmX51mmX116.5mm • Cost: ~$1595 • Monochrome (8-bit) or Color (24-bit) • Resolution: 640x480 • Interface: IEEE-1394 • Pixel Size: 9.9um • Weight: 100g • Size: 67.3mmX44mmX29mm • Cost: ~$995

31. Payload Camera and Lens • Lens Concept Development & Feasibility • g/a = p/f • g: Ground Sampling Distance (½ meter) • a: Altitude (1000ft) • p: Pixel Size (Sony XCL-V500 = 7.4um) • f: Focal Length of Lens • Focal Length matched to Camera • Sony XCL-V500 needs ~4.5mm • Best Option: Megapixel Fixed Focal Length Lenses, 8mm Focal Length (Edmund Optics) • Focal length approved by sponsor

32. Software Flowchart

33. Telemetry Computer • PC/104+ • Hardware standards • ISA bus • PCI bus • CompactFlash • RS-232 • Ethernet • Software capability

34. Telemetry Computer Software • High-level design • Compiled libraries and programs • Interpreted programs • Off-line maintenance • Stand-alone operation and maintenance • Embedded constraints • Low memory footprints • Low disk usage • Low-speed CPU

35. Design Linear vs. Switching Average output Peak output Efficiency Component count Fabrication Facilities available Testing Power Supply

36. Senior Design II • Airframe • Continuation of flight testing with no payload • Addition of payload • Rebalance CG • Flight testing • Aesthetic Improvement • Paint all Black • Organize Payload

37. Senior Design II • AP50 Autopilot • Log Flight Data • Observe commands issued by pilot and log response of the platform • Analyze logs in Excel for purposes of adjusting the trim • Work Toward Autonomous Flight • Start with PID gains from simulation and perform iterative adjustments to tune system performance • After stable flight achieved, attempt to execute fully autonomous waypoint following with Ground Pilot Software • Pilot is always able to resume control with Futaba radio

38. Senior Design II • Imaging Payload • Build • Write software for proper picture interval • Place in airframe for testing

39. System Block Diagram • Hardware Integration

40. Any Questions?