1. µ - CART Microprocessor – Controlled Aerial Robotics Team (Ongo03) An Ongoing Senior Design Project Department of Electrical and Computer Engineering Iowa State University November 7, 2002

2. Team Team Leader: Adam Horak Flight Controls: Kelly Williams Andrew Teoh Miguel Riezu Ryan Lagneaux Brian Thola Stephen Collins Communications: Thomas Scanlan Justin Barrick Kenny Nguyen-Pham Lutz Engmann Jason Kirchhoff Byron Kooima Thai Thach System Requirements: Damian McGrane Raza Ali Todd Wadsworth Devin Riles Advisors: John Lamont Ralph Patterson III Client: Iowa State University Department of Electrical and Computer Engineering Sponsors:

3. Agenda Objective Current Mission Solution and Design Objectives Final Product Description Technical Approach / Subgroups Financial and Effort Budgets Lessons Learned

4. Objective July 2004 enrollment into the International Aerial Robotics Competition (IARC) IARC History Founded in 1990 by Georgia Tech Professor Annual Event (Location Varies) Goal: Invent the Future of Autonomous Flight Tests Participants Autonomous Aerial Vehicles

5. Current Mission Level 1 (2001): 3km Flight (Hovering at 3 waypoints) Level 2 (2002): Identify Target Building and Open Portal Level 3 (2003): Enter and Return Reconnaissance Data Level 4 (2004): Complete Levels 1 – 3 in under 15 min.

6. µ - CART’s Solution Modify RC Helicopter for Autonomous Flight Maintain Hover Fly to 4 GPS Locations Safely Land Integrate Camera and Image Recognition Software Identify Target Building Locate an Open Portal Develop and Integrate Sub-Vehicle for Reconnaissance Enter Structure (by own propulsion or launched) Locate Target Object Return Visual Confirmation

7. Design Objectives Our solution requires implementing hardware and software for the following systems: Flight control Sensor array Wireless communication Power Imaging

8. Final Product Micro-CART will produce an autonomous helicopter that will: Take GPS coordinates as inputs and fly to those coordinates Send images of the site back to a ground base station The base station will identify points of interest via image recognition

9. Assumptions Continue to receive necessary funding Suitable hardware available at affordable price IARC mission rules will change after 2004

10. Risks & Limitations Physical limitations of helicopter Power limitations Lack of skilled R/C helicopter pilots Loss of funding Lack of expertise in aerospace systems Student turnover

11. Technical Approach System Requirements - Mechanical upkeep of the RC helicopter - Managerial issues Micro-CART has divided itself into three subgroups to better facilitate system design: Flight Controls - Flight Algorithm - Central Processing Communications - Sensor Communication - Base Station Communication

12. System Requirements Accomplishments: R/C Helicopter purchase and maintenance Drafted team handbook and strategic plan Researched subvehicle Built security cabinet Developed pilot training program

13. System Requirements Current Semester: Updating handbook and strategic plan Researching helicopters physical parameters Measure helicopter physical parameters Continue pilot training

14. System Requirements Future Work: Design sensor mountings Integrate and test sensor package Integrate image recognition package Design and integrate subvehicle

15. Flight Controls Accomplishments: Purchased servo control board Developed servo control demonstration software Researched and purchased PC/104 board Researched flight control algorithms and established contacts

16. Flight Controls Current Semester: Purchase microprocessor and options needed Implement servo control software Design and implement manual over-ride switch Choose OS, integrate hardware and software Test PC/104 with existing sensors and servo control software

17. Flight Controls Future Work: Hardwire manual over-ride switch Debug code Implement flight control equations Test and adjust flight control coefficients Developed pilot training program

18. Communications Accomplishments: Researched and purchased sensors Sonar system complete

19. Communications Current Semester: IMU integration Servo position verification Purchase and integrate power supply

20. Communications Future Work: Research and purchase GPS Research and purchase wireless data link Research and develop image recognition system Integrate sensors with Flight Control systems

21. Financial Budget

22. Human Budget To DateSemester Estimate Raza Ali8095 Justin Barrick6095 Stephen Collins32101 Lutz Engmann70107 Adam Horak70116 Jason Kirchoff4399 Byron Kooima4091 Ryan Lagneaux3898 Damian McGrane57138 Kenny Nguyen-Pham8573 Miguel Riezu4592 Devin Riles5588 Tom Scanlan70137 Andrew Teoh5588 Thai Thach60101 Brian Thola2298 Todd Wadsworth24106

23. Lessons Learned Communication is key Document!! Modularized tasks Long range planning

24. Summary Goal: Design and create an autonomous aerial vehicle for competition in the 2004 IARC Solution: Design sensor and control systems to augment a R/C helicopter. Off the shelf components will be used whenever possible to minimize design time and maximize reliability.

25. Open Forum