Presents: THE XR-82 PROJECT

Team Members James Flora Power Point Christopher Ho Report Editor Jonathan Hammer Parts Manager Kyle Tam Web Design Edel Marcelino Project Manager

Problem Definition Military Research Disaster zones

Proposed Product A multi-purpose robotic vehicle with the following attributes:  Aerial  Inexpensive  Expandable Quadrotor design

Our task Take off Autonomously Fly to the end of the hallway Retrieve data input Return to take off location and land Output data Teams will be judged by time, collisions, and data capture

Simplicity of design Few moving parts Good payload capacity Why a Quadrotor?

Flight Control

Functionality

Power Supply +3.3V +5V

Low Voltage Indicator + Battery

Infrared Sensors

Accelerometer

Gyroscope

Signal Amplifier

Embedded System

Pulse Width Modulation

ESC and Motors

Error Measurement Accelerometer Tilt

Error Measurement Gyroscope Axial Rotation

Complementary Filter

PID Controller

Proportional Control

Proportional + Integral

PID Controller

Single Axis PID

Start Up Sequence

Manual Override

Infrared Data

IR Beacon Detection

Progress

Mechanical Design Low center of gravity Rotor Protection Lightweight

Cost DescriptionPrice/ItemQtyPrice(design)Price(prod.) Microcontroller$0.001 $5.23 Accelerometer (3-axis)$0.001 $1.88 Gyroscope (2-axis)$0.001 $35.00 IR Sensor (100cm-550cm)$19.504$78.00 IR Sensor (20-150cm)$ $ Cell Li 11.1V 2100mAh$ Propellers (counter rotating pair)$4.002$8.00 Brushless Motor$13.994$55.96 Speed Control$18.604$74.40 Carbon Fiber Tubing 40in$15.004$60.00$48.00 PCB Material$0.001 $10.50 Misc (hardware, wire, etc.)$ $5.00 Total$339.86$366.88

Single Axis Testing

Tethered Testing

Custom Quadrotor design Complementary filter to combine signals Implemented PID stabilization algorithm Infrared data collection Results

Competition: Thursday, December 11, 2008 Design Day: Friday, December 12, 2008 Visit us at aerobotics.sdsu.edu