P07122: Autonomous Quadcopter Jason Enslin – EE: Team Leader, Circuit Design/Testing Glenn Kitchell – CE: Programming, Software Design Richard Nichols – EE: Controls, Sensors, Hardware Interfacing Courtney Walsh – ME: Flight Dynamics, Propulsion Jeff Welch – ME: Mechanical Design & Analysis Dr. Vincent J. Amuso – Team Guide Sponsors: RIT Honors Program, RIT EE Department

Project Description Student initiated project - $1000 budget Summary of customer needs: –Carry at least a 1 kg load –Ability to fly and hover ft off ground –Active communication between aircraft and ground station within at least 0.25 mi radius –Flight time of at least 10 minutes

Concept to Design Model Concept SketchSolidWorks Model

Quadcopter Overview 4 Gasoline (glow fuel) engines 4 Eight-inch radius rotors Aluminum frame On-board microprocessor, GPS unit, gyroscope, accelerometer, digital compass, & wireless modem. 3.6 V and 5 V battery supplies

MSD I Summary Concept selection Research and preliminary design/testing –Lift calculations using Blade Element Theory –Frame Design #1 –Electronic component testing –Initial software design

Key Design Decisions Week 9 MSD I: Complete frame re-design –Reduced weight, simplified design Week 2 MSD II: New power supply system –3.6 V Lithium battery, dual power supplies Week 5 MSD II: Revised deliverables list –Everything but actual machine, including comprehensive design and test plan package

Design Features – Mechanical Rigid but lightweight frame Vertically mounted engines Several custom designed parts –Servo/throttle linkage –Rotor attachment

Design Features - Electrical Several on board sensors –Tri-axis accelerometer –Digital compass, etc. On board GPU Use optical switches for RPM sensors Power consumption analysis yields a battery life of 5 hours 61 x 47 mm 25 x 25 mm25.4 x 25.4 mm

Electrical System Block Diagram

Design Features - Software “FlightRabbit” Java PC application –Modes: Engine start-up, manual flight, retrieve flight plan, autonomous flight, abort & land GPU software –Uses a cooperative multi- tasking scheme –High precision timing interrupt –Error correction wireless protocol “FlightRabbit” Retrieve Flight Plan Interface

Control System – Top Level

Electrical & Software Testing Verified readings from all sensors Wireless range verified Servos can be manually controlled using USB game pad Control system produces expected results in simulation

Lift Test Attempt Test fixture designed to have rotors about 3 feet off ground Design failed in startup due to the weight of the rotor attachment – led to redesign Lift test now included in test plan

Complete Design & Test Plan Intended for use by subsequent teams 150+ page document that includes: –All 3D part models with 2D dimensioned drawings as well as assembly instructions –Complete control system and radar altimeter design –Contains a comprehensive test plan beginning from the smallest individual system all the way to flying the quadcopter autonomously

Design & Customer Specifications Design & Test Plan package accounts for all customer specifications to be met

What needs to be done? Purchase remaining materials Construct radar altimeter Machine parts & assemble quadcopter Complete test plan  All necessary documentation, models & software to complete these tasks is available in the Design & Test Package or on the P07122 website

Questions?