“DATA ACQUISITION SYSTEM USING AERIAL VEHICLE” Presented by: 1.Iliyas A. Shaikh 2.Nikhil R. Patil 3.Dattatraya M. Paul 4.Aniruddha S. Joshi Guided by: Prof. D. K. Shedge

L ITERATURE SURVEY Few years ago in robotic system we use to do data acquisition using manual wheel robot or autonomous wheel robots in commercial & military application or some remote disaster area. So it was difficult for wheel robots to rome & take survey for required given location. Also it was difficult for wheel robots to go in building to climb steps & also in destructed zone. Aerial robots have much advantages compared to other wheel robots or other robots. It can find path easily & can travel as fast possible as it can also move along Z plane compared to other robot which travels only in X & Y plane only. So, we have chosen to build Aerial Vehicle(i.e. Quad copter) to gather environmental information from remote areas.

I NTRODUCTION What is the project? Quad copter platform Controlled by radio or autonomously Can carry payload Makes good robotic platform Upgradeable in the future

I NTRODUCTION (C ONTINUED.) In recent times there have been numerous natural disasters that have left cities in ruins. The restoration process can be a very dangerous job due to toxic waste and objects inaccessible to humans which may require machines to do the work. Our group offers an advanced solution to this problem through the design of a quad copters. Using this approach, quad copters can reach places that are inaccessible to humans because of health risks & can continuously send the information about the environmental situation at those places.

A BOUT THE QUAD COPTER The Quad copter is a flying object, which flies with the help of 4 propellers at the end of arm. Two opposite propellers rotates in one direction for take-off. First pair of opposite propellers rotates in clockwise direction for keeping balance in X-axis. Second pair of opposite propellers rotates in anti- clockwise direction for balancing in Y-axis. The reason of opposite direction of rotation of opposite pair is the elimination of rotation of quad copter in Z-axis

PRINCIPLE OF OPERATION OF QUAD COPTER Opposite propellers rotates in same direction One pair of propeller rotates in clockwise direction and other pair of Propeller rotates in anti-clockwise direction for take-off operation of the Quad copter

P RINCIPLE OF OPERATION ( CONTD.) High torque & high rpm is required to lift the quad copter. So, Brushless DC motor is used as it satisfies both the requirements. To move Quad copter in forward direction, the speed of rotation of left & right motor is kept constant. The speed of front motor is reduced & that of rear motor is increased to some extend. Similarly, for movement in left & right direction, the respective motor speed is reduced & the speed of motor that is opposite to it is increased

BLOCK DIAGRAM

C OMPONENTS REQUIRED ARM 7 Radio trans-receiver Electronic speed controller BLDC motor Temperature sensor Humidity sensor Zigbee module trans-receiver Gyroscope Li-Po battery Wireless Camera transmitter & receiver LCD at monitoring system for displaying various parameters like (temp., humidity, etc.)

1. A RM 7 Features: 16-bit/32-bit ARM7TDMI-S microcontroller in a tiny LQFP64 package. 8 kB to 40 kB of on-chip static RAM and 32 kB to 512 kB of on-chip flash memory One or two (LPC2141/42 vs. LPC2144/46/48) 10-bit ADCs provide a total of 6/14 analog inputs, with conversion times as low as 2.44 μs per channel. Two 32-bit timers/external event counters (with four capture and four compare. Low power Real-Time Clock (RTC) with independent power and 32 kHz clock input channels each), PWM unit (six outputs) and watchdog. Power saving modes include Idle and Power-down. CPU operating voltage range of 3.0 V to 3.6 V (3.3 V ± 10 %) with 5 V tolerant I/O pads.

2. R ADIO TRANS - RECEIVER Transmitter Specifications: Channels: 6 Frequency band: 2.4GHz Program type :GFSK RF power:19db Support programmable channel output. Receiver Specification: Channel: 6 Frequency band: 2.4GHz Size: 45*23*13.5mm Weight: 12g

3. E LECTRONIC SPEED CONTROLLER Specifications: Output: Continuous 25A, burst 35A up to 10 seconds. Input Voltage: 2-4 cells lithium battery or 5-12 cells NIMH battery. BEC: Linear 5V Max Speed: 2 Pole: 210,000rpm

4. B LDC MOTOR Specifications: Battery: 2~4 Cell /7.4~14.8V RPM: 1100/v Max current: 18A No load current: 1A Max power: 336W Weight: 70g (including connectors) Max thrust: 1130g

5. T EMPERATURE SENSOR LM 35 Specifications: Calibrated directly in ° Celsius (Centigrade) Linear mV/°C scale factor 0.5°C accuracy (at +25°C) Rated for full −55° to +150°C range Suitable for remote applications Operates from 4 to 30 volts Less than 60μA current drain

6. H UMIDITY SENSOR Specifications: Rated Voltage: DC 5.0V Current Consumption <-3.0mA Operating Temperature Range : 0-60°C Operating Humidity Range : 30-90%RH Storable Humidity Range within 95%RH Standard Output Range : DC mV (at 25°C, 60%RH)

7. Z IGBEE MODULE Specifications: Incorporates High-Performance 32-bit ARM Processor Integrated Standard IEEE PHY and MAC Layer Frequency GHz Operating Voltage - 2.1V to 3.6 Vdc Memory - 192Kb Flash and 12kB RAM A/D Input - Six Channels 14-bit Digital I/O - Up to Kbps Data Rate

9. LI - PO BATTERY Specifications: Minimum Capacity: 2200mAh (True 100% Capacity) Constant Discharge: 20C Peak Discharge (10sec): 30C Pack Weight: 185g

R EFERENCES & BIBLIOGRAPHY Books: Robotics and control-by Nagrath & Mittal

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