R09560 – Open Architecture, Open Source Aerial Imaging Systems Faculty Advisors: Dr. Carl Salvaggio Dr. Marcos Esterman Group Members: Kenneth Mcloud Aditi Khare Stewart Wadsworth David Holland David Lewis Brian Russell whoever

Mission Statement Mission Statement Primary Market Secondary Market To build a modular, open source, open architecture, aerial imaging system for implementation on the RIT UAV. Primary Market Data collection for imaging scientists Secondary Market Public Safety Stakeholders RIT UAV: R09230 Imaging Scientists Brian

Previous Work Past Senior design Teams P07521 – Imaging system which locked onto GPS coordinates to measure BDRF P06004 – Basic imaging payload and UAV P07301 – Designed basic DAQ system P07302 – Motor control system Stewart

Customer Interview: Imaging Scientists Imaging Scientists are always starved for data Current manned aircraft are expensive and logistically complex No one camera system could meet the needs of all missions System needs to be modular System needs to be robust Current systems are very Large Much heavier than our entire UAV Ken

Customer Interview: Law Enforcement Primary Uses Marijuana eradication Missing persons / Fugitive searches Aerial Crime scene photos Camera Modules Needed Real time visible spectrum video Real time infrared video Marijuana detecting spectrometer “Wish list for system” Inexpensive Simple to implement Simple to use Ken

Customer Needs 1.1 1.2 2.1 2.2 3.1 Infrared system Need The Product Needs To Importance Measure of Effectiveness Min Nom Max 1.1 Wildfire Flame Localization Assist fire fighters in locating forest fire flame front Firefighters, Public Safety Detection Of Proper Wavelengths 1.7μm 1.2 Marijuana detection See the specific wavelength given off by marijuana plants Law Enforcement TBD 2.1 Infrared system Heat and Temperature measurement 750nm 1mm 2.2 Remote Temperature Sensing Accuracy Measurements 3.1 Bidrectional reflectance measurement Measure reflectance of a target from many angles Reflectance Characterization of large objects 380nm Stewart

Structural Attributes Product Characteristics Affinity Diagram Functionality Project Desire Flexible Swappable Platform Gathering Data Logistics Data collection Wireless communication Gimbaling Sensors Calibration Multiple Spectrums (visible to infrared) Thermal stability Less Vibration Smallest size possible Reduced Power consumption Reduced weight Increased Accuracy Increased Stability Robust Design Ergonomics Easy User Interface Aditi Structural Attributes Product Characteristics Modular Platform Big Memory Cameras Multiple filters Power Unit Data collecting System Controller Vibration Stable Working for at least 4 hrs Control Wide Spectrum Range Weight Thermally Stable

Objective Tree UAV Imaging System Constraints Resources Economics Scope Technology Low Product Cost Capability of available Cameras Power Reduction Design Objective Critical Swappable Platform Module RIT Faculty Low Application Cost Aditi Need to take Images RIT Students Vibration System Non- Critical Gimbal System Wireless Data Transfer Sensors and controls Minimum size Wireless Data Transfer Minimum Weight Multiple Spectrum

Function Tree UAV Imaging System Data Collection Target Locking Imaging Systems Power Supply Modular Platform Gimbaled mounting Hardware System Software System Long Wave IR Visible Med. Wave IR Short Wave IR Vibration Damping Wireless Comm’s Real time data feed Sensors and Calibration Easily interchangeable parts On ground calibration Provide Power for total flight time Dave L

House of Quality Dave H

Concept Drawings Gimbal Platform Vibe Control Cameras Stewart

Interface Diagram UAV Team Gimbal Cameras Vibe Control Platform Ken

Preliminary Roadmap Aerial Imaging System Platform Control Vibe Gimbal Cameras Aluminum Platform (includes DAQ + power) Passive Vibration Control 1-D Gimbal Basic Camera module Composite Platform (includes DAQ + power) Active Vibration control 2-D Gimbal Infrared Camera module Integration with Control System Cost and Mass Reduction RIT Open Source Cameras PHASE I PHASE II PHASE III PHASE IV Cost reduction of platform and improved UI Combined Gimbal Active Vibration Control Spectrometer module Ken

Phase I: Platform Objective Interfaces Resources Budget Design an aluminum platform Data acquisition Power supply Interfaces Gimbal mounting Gimbal power consumption Camera mounting Camera power consumption and data Packaging within fuselage Resources ~2 ME – Gimbal mounting, Camera mounting, Electronics mounting ~2 CE – Data acquisition ~2 EE – Power supply Budget ~$4000 Dave H

Phase I: Vibe Control Objective Interfaces Resources Budget Design passive vibration damping system Design basic vibration testing setup Interfaces Mount to fuselage Provide mounting for gimbal Meet vibration specs for electronics and camera Resources ~4 ME – Vibration damping, System modeling, Testing, Gimbal mounting ~2 EE – Vibe testing control system Budget ~$6000 Brian

Phase I: Gimbal Objective Interfaces Resources Budget One dimensional gimbaling system along the roll axis Interfaces Mount to vibe control Mount to platform Resources ~4 ME – Gimbal mounting, Camera mounting, Electronics mounting ~1 CE – Software system ~1 EE – Motor controllers Budget ~$4000 Dave L

Phase I: Cameras Objective Interfaces Resources Budget Design a camera module using an off the shelf camera to gather still and video images Interfaces Mount to platform Get power from platform Send data to platform DAQ Provide vibration specifications Resources ~2 ME – Platform mounting, Modularity specifications ~1 IE – Interface management ~1 CE – Data acquisition interfacing Budget ~$2000 Aditi

Future Projects Aerial Imaging System Platform Control Vibe Gimbal Cameras Aluminum Platform (includes DAQ + power) Passive Vibration Control 1-D Gimbal Basic Camera module Composite Platform (includes DAQ + power) Active Vibration control 2-D Gimbal Infrared Camera module Integration with Control System Cost and Mass Reduction RIT Open Source Cameras PHASE I PHASE II PHASE III PHASE IV Cost reduction of platform and improved UI Combined Gimbal Active Vibration Control Spectrometer module Stewart

Staffing Predictions Number of Students ME IE CE EE CIS Total Platform Phase I 2 6 Phase II 3 1 Phase III Phase IV Vibration Control 4 Gimbal Camera 7 5 13 Stewart

Future Plan Continue to narrow down phase I projects Move forward with current roadmap Continue to Interface with UAV team Dave H