Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR) Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll

Outline Project Summary Previous Work Preliminary Work Quadcopter Investigation Equipment and Parts List Block Diagram Ultrasonic Sensor GPS Schedule Overview

Project Summary Human Tracking Gesture Recognition Live Video Feed & Data Readings via Wifi Obstacle Avoidance and Auto-Stabilization R/C Manual Override The goal of this project is to create a quadcopter that can autonomously track and follow a particular human as well as respond to gesture-based commands. The human tracking will rely on sensor data such as video images and GPS coordinates. The quadcopter will also have a wifi connection, allowing live video feeds and data to be streamed over the internet. Autonomous flight will include auto-stabilization, and obstacle avoidance. As an added safety measure, there will be a radio control (R/C)-based manual override.

Human Tracking GPS Image Processing

Gesture Recognition BeagleBone Black I2C Communication Camera Bicycle Hand Signal Increase Following Distance Decrease Following Distance Land

Live Video Feed & Data Readings via Wifi Video Captured by Camera GPS Data

Obstacle Avoidance and Auto-Stabilization Ultrasonic Sensing Image Processing Inertial Measurement Unit

R/C Manual Override Required by FFA Turnigy Power System 9X 2.4G 9 Channel Controller R/C MUX Circuit Manual override - There shall be a manual override, in the form of a standard R/C system, to switch from autonomous control to manual R/C control. The Turnigy Power System 9X 2.4G 9 Channel controller will be the initial platform and will be upgraded as needed.

Previous Work Junior Project Introduction to NMEA Messages GPS Receiver ATmega Based Microcontroller Introduction to NMEA Messages Serial Communication via UART for GPS Data

Previous Work Junior Project Roboboat Senior Project Sharp Infrared Sensors for Edge Detection ATmega128 Microcontroller Roboboat Senior Project Moving Average Low-Pass Filter

Preliminary Work Quadcopter Investigation Equipment and Parts List Block Diagram Ultrasonic Sensor GPS

Quadcopter Investigation Two ESC Failures Lack of Information/Poor Documentation Black Box Controllers FC1212-S (Flight Controller) AHRS-S (IMU)

Considered Alternative Options Option 1 - Repair X650CF, New XAircraft Parts Option 2 - Keep X650CF Frame, New Generic Parts Option 3 - Purchase a New Quadcopter APM:Copter ELEV-8 Parallax Parrot AR Drone DJI Phantom

Summary of Considerations

Platform Chosen Current XAircraft Quadcopter Most Cost Effective Assembled RTF Platform Minor Tests Required for Flying Condition

Equipment and Parts List ATmega Microprocessor Beagle Bone Black XL-MaxSonar-EZ3 (MB1230) Ultrasonic Sensor Adafruit 66 Channel MTK3339 GPS Breakout Board V3

Block Diagram

Ultrasonic Sensor Specifications XL-MaxSonar-EZ3 Ultrasonic Sensor Size: 2.2cm x 2.0cm x 2.5cm (6.1g) Range: 20cm - 750cm (datasheet) Lab Test: Max Distance = About 500cm Reading rate: 10 Hz Travel Limitation w/ Six Ultrasonic Sensor = 8.3m/s Travel Limitation is calculated by taking 500cm max distance reading and dividing it by 0.6s for its refresh rate across six ultrasonic sensors in a low noise chaining configuration.

Preliminary Work - Ultrasonic Sensor PWM Signal Output Low Pass Filter of Signal Analog Signal Output and ADC Low Noise Chaining of Multiple Sensors

Low Noise Chaining Diagram Pin 5 on each sensor fires off a 100ms pulse when pin 1 is tied to ground.

Adafruit GPS Specifications Sensitivity: -165dBm Typically around -160 or -165dBm Update Rate: 10Hz Max Standard ≥ 1Hz Position Accuracy: 1.8m Velocity Accuracy: 0.1m/s Travel Limitation is calculated by taking 500cm max distance reading and dividing it by 0.6s for its refresh rate across six ultrasonic sensors in a low noise chaining configuration.

Preliminary Work - Adafruit GPS Program for ATmega328P Shift to BeagleBone Black Travel Limitation is calculated by taking 500cm max distance reading and dividing it by 0.6s for its refresh rate across six ultrasonic sensors in a low noise chaining configuration.

Schedule Overview Ultrasonic Sensor Testing - 12/07/2013 Quadcopter Manual R/C Flight - 12/10/2013 Quadcopter Autonomous Flight - 2/6/2014 GPS Waypoint Implementation - 2/20/2014 Obstacle Avoidance - 4/08/2014 Gesture Recognition - 05/06/2014

Questions?