1. 1 ECE Department Thermal Mapping Drone MDR Team 17 Jamyang Tenzin Stefan Totino Dylan Fallon Jason Fellow Advisor: Joseph Bardin

2. 2 ECE Department Team 17 Jamyang Tenzin EE Jason Fellows EE Dylan Fallon EE Stefan Totino CSE Advisor: Joseph Bardin

3. 3 ECE Department What’s the purpose?  RC Drone survey house  Collects thermal data  Allows user to analyze data  Provides insight into buildings energy waste

4. 4 ECE Department Our previous block diagram

5. 5 ECE Department Our proposed solution GPS Ardupilot 2.6 IR Sensor Transmitter uART To USB Rx μCμC USER INTERFACE Remote Control Camera DroneMemory Stick

6. 6 ECE Department How are we going to do this?  Pilot will fly drone with RC  Drone continuously analyzes thermal data If significant temperature variation is detected drone will hover over spot Once hovering, drone will take a picture of leaking point and transmit back to database for analysis  Application will process incoming thermal/image/altitude data to produce a map

7. 7 ECE Department Mission Requirements?  Trained pilot operating drone with RC  Flight time of approximately 5 minutes  Transmission of a radio link from drone to PC operating at 2.4GHz Sending and receiving data at 1.78Mbps  Detect temperature variation of approximately 3 degree Celsius to determine energy waste

8. 8 ECE Department Application/User Interface  Requirements Easy to analyze data Displays picture location of energy loss Relatively accurate  Challenges Different pitch of roof Trained pilot Acknowledgement of depth from drone to point of interest Interfacing motor controller and data link Data transmission error

9. 9 ECE Department Transmitter/Receiver Nordic NRF24L01transciever

10. 10 ECE Department About transceiver  11.3 mA for transmission, 12.3 mA for receiving  1.78 Mbps data transmission  Operates at 3.3 V max Power is 60 mW  Transmitter and receiver are controlled on both ends by arduino  Operates at 2.4GHz on ISM band

11. 11 ECE Department Reciever Data

12. 12 ECE Department IR Sensor  Field of View = 40 degrees  Frame Size = 16x4 pixels  D = distance from target in meters  Frame Width (m) = (tan(FOV/2)*2) * D  Frame Height (m) = ((tan(FOV/2)*2)/4) * D

13. 13 ECE Department Camera (Toshiba TCM8230MD)  Field of View = 57.4 degrees (horizontal)  Field of View = 44.5 degrees (vertical)  Frame Size = 660x492 pixels  D = distance from target in meters  Frame Width (m) = (tan(57.4/2)*2) * D  Frame Height (m) = ((tan(44.5/2)*2) * D

14. 14 ECE Department Ratio (IR:Camera)  Width = Frame Width (IR)/Frame Width (Cam) = 2/3  Height = Frame Height (IR)/Frame Height (Cam) = 1/(4.5) Assuming distances from targets are equal

15. 15 ECE Department App Flow  Read text file containing IR bits and Camera bits  Scale bits according to previous equations  Color bits IR temperature dependent Camera given in RGB  Position and display bits to generate a map

16. 16 ECE Department App Screen Shot

17. 17 ECE Department IR Sensor Specifications  Store temperature array in Arduino memory for data link to access  Maintain uniform values in array in isothermal environment  Be able to signal copter to stop when seeing a temperature difference of 5 degrees Celsius

18. 18 ECE Department IR Sensor Challenges  Temperature fluctuations in uncontrolled environment  Long duration use heats sensor skewing accuracy  Larger distances increases area each pixel sees Value is average temp of seen area

19. 19 ECE Department IR Sensor Experiments: Isothermal

20. 20 ECE Department IR Sensor Wiring

21. 21 ECE Department IR Sensor Experiments: Body Temp

22. 22 ECE Department Drone Controller ArduPilot APM 2.6 Barometer Sensor Image Source: http://copter.ardupilot.com/wiki/common-apm25-and-26-overview/

23. 23 ECE Department Key Electronics Specifications  Ardupilot APM 2.6 flight controller: Power Supply: 5.37V 2.25A On Board Accelerometer, Gyro & Barometer Sensor Attachable Magnetometer & GPS module Programmable Using Arduino Codes  NTM 28-26 Brushless motors: Max power 176W @ 11.1V Max Current: 15A 1000 KV = 1000 RPM/volt  3DR Electronic Speed Controller: Converts DC power to AC current with help of onboard microprocessor Continous current: 20 Amp Burst Current: 25 Amp, 10 Sec

24. 24 ECE Department Drone Parts Frame 1800mAh Li-po Battery 1000KV Brushless motor 2.4 GHz Tx-Rx Controller Electronic Speed Controller Power Distribution Telemetry Kit Power Supply Cable 8x4 Propellers GPS/Magnetometer Image Source: http://www.hobbyking.com/hobbyking/store/index.asp, https://store.3drobotics.com/http://www.hobbyking.com/hobbyking/store/index.asp

25. 25 ECE Department Wirings Telemetry Rx

26. 26 ECE Department Flight Time Motor ThrustDrone Weight 2480g~700g General Rules: Required Thrust per motor = (Weightx2)/4 Max Current Draw from Battery = [Battery Cap(mAh)/1000] * C-rate Max Current Supply Time = 60(min)/C-rate Flight Time = Battery Capacity(mAh)*60/total Current(mA) Battery Cap. C-Rate Max Current Supply Time Max Power 1800mAh30 C54 A2 min599.4 W Tot. Avg Current Draw by Drone Power 22.87 A239.5 W Est. Flight time 4.72 min LengthWidthheight 330mm ~55mm

27. 27 ECE Department Motor Configuration Image Source: http://www.hobbyking.com/hobbyking/store/index.asp, https://store.3drobotics.com/http://www.hobbyking.com/hobbyking/store/index.asp

28. 28 ECE Department Successful First Flight Test

29. 29 ECE Department FAA Regulations on Drones  Don’t fly above 400 ft  Don’t fly within 3 mi of airport  Maintain visual line of sight while airborn  Don’t fly above populated areas

30. 30 ECE Department Accomplishments  Motors and ESC are responding properly and Drone is able to fly  Data communication link  Web App that reads test data from a file and processes it to draw a map

31. 31 ECE Department Proposed MDR Deliverables  Web Application (core algorithms) –Stefan Totino  Arduino code for I/O of the IR sensor working -Dylan Fallon  Data Transmission from Radio -Jason Fellows  Motor control using electronic speed controller(ESC) and 9DoF sensor working -Jamyang Tenzin

32. 32 ECE Department CDR Deliverables  Will optimize PID values for more stability  Communications with the IR sensor for autopilot trigger will be added  After autopilot trigger, the drone will hover at certain altitude to take the picture and thermal image  App will be fully functional with actual data from systems components i.e. pixels and altitude readings  Camera Integration

33. 33 ECE Department References  http://copter.ardupilot.com/ http://copter.ardupilot.com/  http://store.3drobotics.com/?utm_source=www&utm_medium=corporate+site&utm _term=store&utm_campaign=store+click+on+corporate+site http://store.3drobotics.com/?utm_source=www&utm_medium=corporate+site&utm _term=store&utm_campaign=store+click+on+corporate+site  http://www.hobbyking.com/hobbyking/store/index.asp http://www.hobbyking.com/hobbyking/store/index.asp  http://www.youtube.com/watch?v=rwHojrTwq9k http://www.youtube.com/watch?v=rwHojrTwq9k  https://www.commonsenserc.com/page.php?page=c_ratings_explained.html https://www.commonsenserc.com/page.php?page=c_ratings_explained.html  http://multicopter.forestblue.nl/lipo_need_calculator.html http://multicopter.forestblue.nl/lipo_need_calculator.html  https://ghowen.me/build-your-own-quadcopter-autopilot/ https://ghowen.me/build-your-own-quadcopter-autopilot/  http://diydrones.com/forum/topics/question-regarding-battery-pack-for-turnigy-9x- 2-4-ghz- 8ch?page=1&commentId=705844%3AComment%3A773869&x=1#705844Commen t773869  https://www.hobbyking.com/hobbyking/store/__21478__NTM_Prop_Drive_28_26_1 000KV_235W.html https://www.hobbyking.com/hobbyking/store/__21478__NTM_Prop_Drive_28_26_1 000KV_235W.html  http://www.hobbyking.com/hobbyking/store/__9369__Turnigy_1800mAh_3S_30C_ Lipo_Pack.html http://www.hobbyking.com/hobbyking/store/__9369__Turnigy_1800mAh_3S_30C_ Lipo_Pack.html  https://www.hobbyking.com/hobbyking/store/__28172__F330_Glass_Fiber_Mini_Qu adcopter_Frame_330mm.html https://www.hobbyking.com/hobbyking/store/__28172__F330_Glass_Fiber_Mini_Qu adcopter_Frame_330mm.html

34. 34 ECE Department References