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Camera Dataflow Camera feed is composite (analog) Enters system via USB Stream passed through WinVDig Identified as video input device Filtered Passed into OpenCV library Blobs detected
Conceptualizing Emu How to control a 3-DOF platform. Hmm… Parameters Lift F-R Thrust L-R Turning Moment
Conceptualizing Emu How to control a 3-DOF platform. Parameters Lift F-R Thrust L-R Turning Moment Altitude Priority Control Software GUI/Dashboard Intuitive controls
Hardware and Software Interface Under Remote Control WASD/RF Direction & Rise/Fall Number keys Mode toggle In Autonomous Mode Cruise altitude pre-programmed Computer vision determines turning and moving forward
Flight Dynamics Two propellers can be rotated independently Thrusting Down = Lift Thrusting Same Direction = Forward/Reverse Opposing Thrust = Turning Combination of above = effective motion How do you mathematically define “turn right, while moving forward and going up”?
Flight Dynamics Lifting force is a function of servo angle. To compensate for loss of lift at non-zero angles, engine power should be multiplied by 1/cos() θ Lift = Thrust * cos(θ) ThrustAdjusted = LiftDesired / cos(θ) Note: Positive θ points the propellers forward, generates forward thrust.
Flight Dynamics LiftDesired is adjusted dynamically F-R thrust and turning moments are also functions of θ θ if (alt < desired) LiftDesired ++; else if (alt > desired) LiftDesired - - ; FF-R Thrust = ThrustAdj * sin(θ) MTurning = ± ThrustAdj * sin(θ) * L
Flight Dynamics Total F-R thrust: Total Turning Moment: F-R Thrust and Moments are known User Defined or Autonomously Set θ FF-R Total = ThrustAdj * sin(θL ) + ThrustAdj * sin(θR ) MTotal = - L*ThrustAdj * sin(θL ) + L*ThrustAdj * sin(θR )
State of the Emu Frame is complete. Servos and motors function properly Last minute weight/balance shifting T.B.D. Electronics All systems fully functional. R/F interference not catastrophic… ideally. R/C code done. Autonomous is 70% done* Control requires fine-tuning.
Budgetary Concerns Parrot AR Drone is $300 Reused as many items as possible from last year’s failed vehicle (the Eagle) Primary Costs (2011):
Future Directions Structure Camber angle with motors Minimize balsa structure more Feedback Accelerometer & Gyroscope More sensors w/ serial comm. Re-spec. Propellers, ESC’s, and Servos Digital communication Wi-fi or a non 2.4 GHz protocol If I had more time, money, & people…
Special thanks to… For contributions large and small… Dr. Wang – Support as advisor. Dr. Grega – Letting me steal Aero Design supplies. TCNJ Chemistry – Helium. Brian Geuther – Tools, help, brain-storming. Brian Carrigan – Circuit board prototyping supplies. Steve Turner – Windows XP Pro.