1. Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu Kale Brockman kaleb@iastate.edu Stockli Manuel stockli@iastate.edu Kshira Nadarajan (CprE) kshira90@iastate.edu Mazdee Masud (EE) mmasud@iastate.edu Andy Jordan andyjobo@iastate.edu Karolina Soppela soppela@iastate.edu 491 Team Component 466 Team Component 1

2. 1. International Aerial robotics Competition – AUVSI 2. Autonomous flying robot 3. Stability, obstacle avoidance 4. Extensible for future development – SLAM, vision etc. Source: AUVSI. International Aerial Robotics Competition. Retrieved on 11/14/2010 from http://iarc.angel-strike.com/index.php. 2

3.  Control System  Main controller  Motor controller  Sensor System  Inertial Measurement Unit (IMU)  Cameras, Range Finders  Will not be selected by us.  Communications System  Software System  Power System 3

4.  Main Controller (Gumstix Overo)  USB Host stack (laser)  I2C (motor controller)  Linux (ease of use)  Motor controller (16-bit PIC)  Serial I/O (IMU)  PWM out (ESCs)  I2C (main controller) 4

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7.  Positioning System  Issues commands to motion controller  Motion Control and Heading*:  Acquires commands from positioning system  Translates commands to motor signals  Obstacle avoidance module:  Reads current sensor data  Identifies immediate obstacles and avoids them 7*Process marked in Red indicates implementation in motor controller rather than main controller

8.  Inertial Measurement Unit (IMU)  Takes in 9 DOF measurements  Outputs to Motor Microcontroller through serial interface  External Sensors  IR/sonar sensors ▪ For basic obstacle avoidance ▪ Used as a fail safe for navigation system  Range Finders and Vision Systems ▪ To be selected by later teams for SLAM 8

9.  RF System  WiFi integrated into main controller  Base station communication  RC Hobby System  Allows manual control  Comes into motor controller 9

10.  LiPo Battery  11.1V  6000 ~ 6500 mAh  20 C Maximum (Continuous Discharging)  3 Cell  Serial Connection  11.1V (Combination of three single cell/one single & one 2 cell battery)  6000 ~ 6500 mAh/cell  20 C Maximum  Parallel Connection  11.1 V/cell  6000 ~ 6500 mAh (Combination of three single cell/one single & one 2 cell battery)  20 C Maximum 10

11.  Stability  Test motor stability control with varying degrees of external disturbance and record response  Communication  Test distance and speed of communication between platform and remote base  Flight Control  Determine accuracy of movement from various control commands  Obstacle Avoidance  Determine reliability and accuracy of obstacle avoidance from movement in various directions  Endurance (Power)  Will run the battery under expected load while monitoring voltage over time 11

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