1. Guide: Dr. Marcos Esterman
P07521
Will Casolara
Matthew Harris
Robert Jaromin
Richard Andol
Kathryn Berens
Ross Strebig
Guide: Dr. Marcos Esterman

2. Subsystems BASIC Stamp: Input=Analog, Output=Digital Functions
Altimeter (Elevation for Tilt Motor)
Hall-Effect Sensors (Stabilization Orientation – Post Processing)
Inclinometer (Platform Orientation – Post Processing)
Motor Movement (Signal from PC104)
Power On\Off (Signal to PC104)
Power-Save mode

3. Subsystems PC104+: The Brain Functions
Input from GPS Module (Control for Pan & Tilt Motor)
Process GPS coordinates into angles
Store as data points for post-processing
Store data from Basic Stamp
Hall-Effect sensors, Inclinometer,
Altimeter
Process altimeter data for motor control
Frame Grabber and Picture Storage – Every 2 sec.
Stored to CF card in easy-access location

4. Subsystems Camera Stabilization: Passive weight system Functions
Interface servos with pan/tilt camera movement
Dampened passive orientation correction
Oil filled hobby shocks
~20° swing correction capability
Rotational wire management system

5. Subsystems GPS w/ WAAS: Motor orientation and location logging
Functions
Coordinates to PC104 for processing
Antenna port w/ easy access
Power Conditioning – 14.8V 12V & 5V
High-Efficiency DC-DC converters
Low Noise and Tolerance
Fuse-Protected w/ easy access
Self-contained battery bay w/ easy access
Wide area augmentation system

6. Performance Pan Motor Tilt Motor Update System 3-1 gearing
360° in < 1 second
Foam dampened to prevent overshoot and gear slip
Tilt Motor
Direct drive
90° in < 1 second
Camera-Lock system
Update System
GPS update, motor movement, altimeter, hall effect, and inclinometer storage every 1 second
Picture capture every 2 seconds

7. Accuracy Test setup/cycle Tilt Motor Pan Motor
0-90° in 5° increments, full sweep back
8 hour test
Tilt Motor
< 0.5° variation over range of test
Pan Motor
Same variation amplified through gears
~ 1° variation over range of test

8. Durability Impact resistant dome system
Padded foam shock ring
Polycarbonate (bulletproof) dome material
Four latch points for safety and easy access
Fully welded ¼ inch Aluminum frame
Sealed Polycarbonate window panels
6 supporting cross-members

9. Durability Isolated & padded battery bay 15 threaded fasteners
In case of battery failure
Heat management
15 threaded fasteners
Loctite and rubber washers
Desiccated dome area to prevent fog
Can be used in wide range of atmospheric conditions

10. User Interface Operations Manual Description Operating checklist
Maintenance
Operating parameters
Flight Plan
Flight Speed
Elevation
Max bank angle
Max operating time

11. User Interface Inputs to system Done remotely via removable CF card
Target GPS coordinates and altitude
Airport elevation
Done remotely via removable CF card
Position verification
User verifies camera is at zero point before turning on

12. Final Development Step
Inclinometer Interface
Sensor outputs 11 bytes
BASIC Stamp only reads 2 at a time
Working on a work-around
Recent Development: Debug PC104 Operating System

13. Functionality Review
Vehicle Test Video …