M OBILE D EFENSE SYSTEM WITH AUGMENTED AIR ROVER Project Adviser: Dr. Muhammad Tahir Group Members: Adnan Chaudhary (2009-EE-103) Zeeshan Mahmood (2009-EE-108) Muhammad Akram Karimi (2009-EE-110) Kashif Hassan (2009-EE-134)

M OTIVATION Diversity Embedded System, Control System, Wireless System Automation in Industry Replacement of man-power,High Accuracy Finding enormous applications in modern world including  Defense  Rescue

P ROJECT D ESCRIPTION : An Air Rover capable of taking stable flight and transmitting image frames to ground base station wirelessly. Appropriate action taken based upon the extracted intelligence by the image frames through image processing Key Components Air Rover Wireless link between air- rover and Base Station Image Processing On Base Station

Accelerometer Gyroscope STM32-F407 SPI I2C Remote control Receiver PWM ESC Motors BLOCK DIAGRAM OF QUAD COPTER

B LOCK D IAGRAM OF PID C ONTROLLER + Gain(Kp) Differentiator Integrator - Switch On (if) Copter about to fly Input Reference + e(t) PWM generation for Motors From Accelerometer and Gyro Complementary Filter

Initialize all interfaces Start scheduling and capture interrupts Flag Armed Set? Blink Led No yesyes Acquire sensor data, call control loop and update motor PWM’s Workflow

A CQUIRING U SER R EFERENCE FM remote provides throttle, roll, pitch and yaw reference FM receiver demodulates and outputs four PWM’s Trigger 4 interrupts in micro controller Update user reference Update flag armed

“A IR R OVER (Q UAD -C OPTER )” Mechanical Structure Development of Quad-Copter Quad-Copter Application porting on an efficient platform STM32F407 Stabilization of Quad-Copter on 3axis Roll, Pitch, Yaw Light Weight Vibration Absorbent Ease provision for testing Communication: I2C,SPI,UART Motors Control: PWM, Timer System Control: Central Interrupt Tuning of PID Controller Control Algorithm Reference Input Capture

W IRELESS LINK DEVELOPMENT Choice of Appropriate Wireless Transmitter and Receiver PAN Development Appropriate Memory on Embedded Platform & proper mgmt. of wireless payloads Frequency Range Power Consumption Mech. to save image frames Crucial info detection mech. Handling trans. rate Range Frequency band Modulation Scheme

I NTELLIGENCE EXTRACTION Adaption to Environment Image compilation Shape of Interest. Detection Dynamics Transformation to actual Quad. Contraction Technique Compilation Algorithm Severity Level Security Level