1. Blimpage General-Purpose Controller Blimpage Team: Joseph Brannan Philip Grippi Daniel McCabe Nguyen Trinh David Wolpoff Preliminary Design Review

2. Modular general-purpose drone controller Navigation, collision-detection, general motor interfaces, data collection Zero-impact on system performance Lightweight, independently powered What is The Blimpage Blimpage

3. Composed of six main modules: General-purpose microcontroller network Motor / servo controller Position and heading monitoring Collision-detection / alarm Data collection Off-module communication What is The Blimpage Blimpage

4. Functional Block Diagram

5. Master (Yoda) Carries out high level tasks Master of the I2C bus Passes data between modules. Handle user-input objectives

6. Collision Detection Collision uC slave cycles through 6 channels on Mux/Demux Vcc multiplexed to 6 peripheral IR collision sensor’s (limit power) outputs of sensors de-multiplexed into low pass filter Low pass filter output sampled by uC ADC10 Collision status register visible to master controller updated continuously

7. Collision Detection Collision uC Slave Collision Sensor (x6) >--------  ---------- <------- ------ >---- ---------------- | | | | ---Vcc | | ^ ||| | ^^ | | ----------------------- | | -< ---  LP Filter Mux/Demux -< | <-------- ---- output power Channel select | | |

8. Motor Control Motor uC receives direction instruction from Master Controller 4 uC outputs are optically isolated from H-Bridges –control 2 motors’ behavior PWM signal is optically isolated from Servo Two fans operate in forward or reverse Servo controls position of fans (up or straight)

9. Motor Control Motor uC x2 H-Bridge Motor Drivers Micro Servo --------  -----  x4 optical isolators optical isolator | | | PWM signal -----  ---- | | | ------------------------- | | | | <---

10. Position / Heading Position detection from using a Digital Compass (HMR3100)

11. Position / Heading Velocity detection from using an analog accelerometer (ADXL311)

12. Position / Heading Heading detection from the sampled outputs from HMR3100 and ADXL311 -- -- Pos/Heading uC ------------------------------------------------- I2C BUS || Motor uC Master uC

13. Communications “Standard” RS-232 serial communication. Connects to a host utilizing a MAX3232 interface. All necessary components are kept with the host to reduce weight.

14. Communications Provides I/O pathway to host printf()-style debug messages. Command/program input Collected data output Potential In-flight uses Course change/correction

15. Data Acquisition Control sensors for collecting data Audio or Image data Store data for later transmission or retrieval Do nothing until a “target” waypoint Dropping eggs on Tom from 30’ IS data acquisition.

16. Data Acquisition Possible data collection sources JamCam or other RS232 enabled camera. ISD1200 voice record chip Analog sampling to external RAM chip Mechanically actuated egg dropping device. ;-)

17. Division of Labor Master / Slave system (i 2 c) Dave, Dan Communication Module Dave, Phil Motor Control, Collision Detection Joe Position / Heading Nguyen Data Collection Module Phil, Dan

18. Division of Labor Group Tasks Documentation PCB Population Systems Integration Review and Testing

19. Project Timeline Blimpage

20. Risks and Contingencies oMisreads from tilting  Gyro-mounted POS / HEAD Sensors o Inaccurate velocities and position  Multiple systems oCannot function on a Blimp (lift, motor control, etc.)  Alternative Blimp designs  Modularity allows for control of R/C car, etc.

21. Blimpage ANY QUESTIONS??