enter Dept name in Title Master Final Project Review 4/5/12 AAPS Automated Aero-Painting System Team Members: Adib Khozouee Christopher Brennan Edmar Gonçalves Ejiroghene Urhiafe Advisors: Csaba Andras Moritz Roderic Grupen ECE Department, UMass Amherst, Fall 2012

2 enter Dept name in Slide Master Review of project  Automated liquid deposition  Two major portions of project: 1.Automated deposition of paint 2.Motion generation to move painting system  Using software, camera, IR laser, servo motor, and spray paint for automated painting  Using quadrocopter for motion generation to move spray paint canister. ECE Department, UMass Amherst, Fall 2012

3 enter Dept name in Slide Master Team Member Contributions  Adib Lead GUI programmer Installing operating system and software on Intel board  Edmar Xbee communication Ardupilot programming  E.J. Quadrocopter pilot Designed/built Paint Actuator Control System  Chris Team leader/coordinator Built/programmed Actuator Control System  All members actively helped each other with each part ECE Department, UMass Amherst, Fall 2012

4 enter Dept name in Slide Master PACS ECE Department, UMass Amherst, Fall 2012 PACS integrated on Quadcopter. Painting flow chart.

5 enter Dept name in Slide Master Progress of Painting  System completed  Functional when using Laptop  Connecting two boards together via local area network  Connecting one board with laptop via local area network ECE Department, UMass Amherst, Fall 2012 Bytes/secondPackets/second

6 enter Dept name in Slide Master BPU Setup ECE Department, UMass Amherst, Fall 2012

7 enter Dept name in Slide Master Progress of Quadrocopter  Walkera vs Hitec  Changed PID values to alter flight  Board mounted at center of gravity ECE Department, UMass Amherst, Fall 2012

8 enter Dept name in Slide Master Cost Analysis ComponentPrice Quadrocopter Kit$650 Replacement frame$139 Walkera Transmitter/Receiver$170 HiTec Transmitter/Receiver$218 Ardupilot and Shield$200 Servo motor$125 New motor and motor controller$110 2 Xbees and adaptors$62 Batteries$90 Battery charger$90 Spare parts$35 Paint canisters$20 IR LEDs$10 Plugs$20 Total$1,939 ECE Department, UMass Amherst, Fall 2012

9 enter Dept name in Slide Master Demos  Demonstrate Painting  Demonstrate Quadrocopter  Heading over to M5 ECE Department, UMass Amherst, Fall 2012