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

Introductions/Acknowledgments 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

Project Description Unmanned Aerial Vehicle Imaging payload Base Station

Work breakdown Team Member Engineering Major Project Focus Michael Abbatte Mechanical Airframe/Pilot Stephen Byers Computer AP50/Base Station Christina Ermie Modeling Daniel Irwin RF/Communications Brian Rowe Vision System Brian Sipos Electrical PC104/Power Amy Slevar Project Leader

Overview Project Background Questions Payload Development

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

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

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

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

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

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

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

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

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

Simulink Modeling - Justification Improper gain values Future expansion based on full model Future SD teams could get rid of the AP50 using the Simulink Full Model as a basis for their work.

Simulink Modeling - Equations Relating airspeed error with elevator deflection

Simulink Modeling - Equations New model

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

Any Questions?

Morphological Chart

Relative Weight Concept Chart

Pugh Analysis

Weighted Concept Chart

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 DON’T ADD A PICTURE OF THE TV!!! We’re now starting the payload part of the presentation.

Real-Time Forward Video Feasibility Cost Team Decision Portable Black and White Television Sponsor Decision USB TV Tuner Student Skills, knowledge, working space, ability to finish, technology do not apply RTFV The camera is Black and white, no need for color. Camera is only for reference no need for large screen or high cost. Sponsor wanted ability to watch on computer monitor and already owns a USB TV Tuner.

Battery Concept Development Feasibility Current Equipment: 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

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

RF Link – Feasibility Top Choice: Long-Range Ethernet Fast Cheap Low-power Small Interface with PC104 900 MHz 125 mW 1.5 Mbit 128-bit encryption ~5.5 oz

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

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

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

Software Flowchart

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

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

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

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

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

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

System Block Diagram Hardware Integration

Any Questions?