1. ECE 477 Final Presentation Team 9  Spring 2011 Above (Left to Right): Nick Gentry, Oliver Staton, Vineet Ahuja, and Vinayak Gokhale

2. Outline Project overviewProject overview Block diagramBlock diagram Design challengesDesign challenges Individual contributionsIndividual contributions Project demonstrationProject demonstration Questions / discussionQuestions / discussion

3. Project Overview Quad-rotor helicopterQuad-rotor helicopter –Autonomously self-stabilizes PID Control TheoryPID Control Theory –Sensor Fusion Triple Axis AccelerometerTriple Axis Accelerometer Triple Axis GyroscopeTriple Axis Gyroscope Triple Axis MagnetometerTriple Axis Magnetometer Barometric PressureBarometric Pressure Ultrasonic Range FindersUltrasonic Range Finders GPSGPS –Communicates with ground station using XbeePro 900 wireless (6 Mile Range)

4. Block Diagram

5. Design Challenges I2C Communication ProtocolI2C Communication Protocol Floating Point ArithmeticFloating Point Arithmetic Wireless CommunicationsWireless Communications PID Control Theory and ApplicationPID Control Theory and Application Huge amount of code  DebuggingHuge amount of code  Debugging High RAM usageHigh RAM usage

6. Individual Contributions Team Leader – Nick GentryTeam Leader – Nick Gentry Team Member 2 – Vinayak GokhaleTeam Member 2 – Vinayak Gokhale Team Member 3 – Vineet AhujaTeam Member 3 – Vineet Ahuja Team Member 4 – Oliver StatonTeam Member 4 – Oliver Staton

7. Team Leader – Nick Gentry Concept formulationConcept formulation Research components and compatibilityResearch components and compatibility CAD ModelsCAD Models Prototyping / Debugging (I2C Sensors)Prototyping / Debugging (I2C Sensors) Control SystemControl System –System Identification –Simulations for controller verification –Implementation and debugging of PID Stability Algorithm Ground Station / Xbee / TelemetryGround Station / Xbee / Telemetry Battery Monitor DebuggingBattery Monitor Debugging

8. Member 2 – Vinayak Gokhale Designed the PCBDesigned the PCB Initial (finally scrapped) base station software and final software debuggingInitial (finally scrapped) base station software and final software debugging Basic hardware debuggingBasic hardware debugging Battery monitorBattery monitor

9. Member 3 – Vineet Ahuja Research components, especially microResearch components, especially micro Block diagram, schematic and PCB contributionBlock diagram, schematic and PCB contribution Interfaced with Ultrasonic sensor, Gyro, Accelerometer and MagnetometerInterfaced with Ultrasonic sensor, Gyro, Accelerometer and Magnetometer Code for UART communication Code for UART communication Contributed to Battery Monitor, Ultrasonic sensorContributed to Battery Monitor, Ultrasonic sensor

10. Member 4 – Oliver Staton Research Components and CompatibilityResearch Components and Compatibility Initial Base Station (scrapped)Initial Base Station (scrapped) Theory of PID OptimizationTheory of PID Optimization Implementation and DebuggingImplementation and Debugging –PID Stability Algorithm –Quad Controller –Motor Mixer

11. Project Demonstration 1.An ability to individually control motors via PWM - demo demo 2.An ability to receive and interpret control data - demo demo 3.An ability to interpret sensor data and send to external source - demo demo 4.An ability to autonomously hold stable attitude- demo demo 5.An ability to monitor battery level remotely - demo demo (Video on next slide)

12. Project Demonstration [Cont’d] >Optional YouTube Link

13. Questions / Discussion