1. Team Chopper Subterranean Mapping performed by co-operative helicopters Shirley Choi Bejan Hafezzadeh Joseph Kaiser Sean Norwood Itay Tenne

2. Introduction Subterranean Mapping Autonomous Co- operative Helicopters Avionics System Can Avionics Interface Board (CAIN)

3. System Overview RS232 Host PC for COM and configuration Servos Servo Isolation RC receiver RC Transmitter PWM signals RS232 Power Board Power Generator Servo battery On board Radio RS644 CAN Multi-Drop Bus USB Error Correcting GPS All Boards Flight Computer Interface Board IMU Interface Board GPS Interface Board Pressure Sensors Interface Board Magnetometer Interface Board INS Satellites RS232 Interface Board Interface Board For test and debug Ground Radio Multi-Drop Bus To GPS Interface Board

4. Helicopter’s On-board Devices CAIN Boards 586-Engine-P (Flight computer) Servos IMU RC receiver GPS

5. CAIN BOARD Chopper Avionic Interface Node Interfaces between the CAN bus and the individual devices. Built around an Atmel Processor Contains UARTs(RS-232), PWM generators, Digital Output and Inputs Individually programmable

6. CAIN Board Block Layout ISP TWI/SPIADC JTAG addr Addr/data Atmel AT90CAN128 CAN transceiver / CAN bus LEDs Jumpers/Selectors PWM (6 channels) RS232 RS644 NV RAM EEPPOM

7. 586-Engine-P Main processing unit for the helicopter Based around an AMD 586 processor On board CF memory card reader Will read the sensor inputs from on-board devices and RC controller and send corrected signals to the servos Will include the control law to perform the augmented control on the helicopter

8. Servo A servo is used to mechanically control the helicopter It is controlled by PWM signals produced by error- corrected signals from the remote-controller unit

9. IMU An Inertial Measurement Unit gives 6 key measurements of the helicopter These measurements are sent to the flight computer via the CAN bus The flight computer processes this information for error correction

10. RC receiver A remote controller (RC) is used to control the orientation of the helicopter The RC receiver receives human input signal Signal decoded through CAIN board –Sent to servos for full manual control –Or, dispatched on CAN bus to be processed by augmented control system

11. GPS GPS unit on helicopter provides flight computer with latitude, longitude, and altitude measurements The GPS used for fully autonomous flight

12. Risk Analysis Power consumption on board Control loop (simulation) Noise –EMI, Cross-Talk, ESD Physical vibration Time delay (transmission)

13. Contingency Plan Shopping cart Powered by batteries No control loop (manually driven) PCBs spaced out – less noise Minimized physical vibration

14. Part List Partsquantity Chopper1 Digital Servos1 586-Engine-P1 GPS1 STK500 development board 2 RC receiver1 Shopping Cart1 12V battery2 Provided by Prof. Meyer: PartsquantityTotal Cost RC helicopter1$500.00 AT90CAN1286$100.00 CAN Transceiver6$11.00 EEPROM4$40.00 SRAM4$16.00 12 MHz oscillator4$16.00 R/C components/$100.00 6 layer PCB Fabrication (4 boards) /$730.00 PCB population (4 boards)/$560.00 Flight box1$300.00 Total: $2373

15. Schedule

16. Future Development CAIN is versatile, it is capable of interfacing with unknown devices. More modules –Pressure sensor –Magnetometer … etc pre-filtering data on CAIN Development of the multi-master model Implement advance control system Path finding ability