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Preliminary Design Review
Anthony Calce
Gordon Klein
Vince Wu
Kyle Watters
Overview
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Background
Calculations
Difficulties
Risk Management
Progress to Date
Modifications to Specifications
Current Budget
Pictures
Background
• Flight Constraints
– Fast reaction time
• Onboard vision processing
• Dedicated real-time flight controller
Calculations
• Passive RC low-pass filtering
Difficulties
• Accelerometer/Gyroscope
– Outputs depend on a stable input voltage
– Range of 270 – 330mv/g
– Noise filter for output
• Limited analog input pins on Arduino
– Need to multiplex inputs, speed suffers
• Communication protocol between Arduino,
BeagleBoard and base station
Risk Management
• Limited budget does not allow for
replacement parts
– Safety systems to be used for helicopter
testing and operation
• Limited precision of sensors can make
flight algorithms unstable
– Expensive in-kind sensors may be available
• Time is getting limited
Progress to Date
Modifications to Specs
• Arduino controller for flight control
– Multiplexers used for sensor input
– Time sensitive operations done on Arduino
• Voltage regulators for filtered 3.3V and 5V
• IR Sensors for ground detection
Component
Proposed Expenditure
Current Expenditure
Difference
Electrical
Beagleboard Microcontroller
$150
$160
$50
-
$5
In-Kind
($5.00)
Voltage Regulators
-
In-Kind
-
SD Card
-
In-Kind
-
Multiplexers
-
$10
$10
$470
-
-
$30
-
-
$100
-
-
$90
$95.43
$5.43
-
$20.10
$20.10
GPS Controller
$90
$63.60
($26.40)
IR Sensors x 2
-
In-Kind
-
$100
-
-
$8
$8
-
$30
-
-
Shipping
-
$31.00
$31.00
Programming Cable
-
$20
$20-
Pins
-
In-Kind
-
PSU
-
In-Kind
-
Total
$1,123
$370.13
$60.32
LAN USB Adapter
USB Hub
$10
Helicopter
Helicopter
Other Materials
Sensors
2.0MP Camera
IMU 6DOF Acc/Gyro
Arduino Microcontroller
Other
Presentation Materials
Webhosting
Other Materials
Currently $60.32 Over Proposed Expenditure
Pictures
Deliverable
A fully autonomous helicopter capable of
advanced image processing and navigation.