ARLISS2016 keio Team Wolve'z

1. Keio University Takahashi Lab.
KeioTeam Wolve’Z
ARLISS MTG 2016/09/16

2. Our Success Criteria
Runback competition
Minimum
success
To run 1 m after landing
Full success To reach the area within 10 m from the goal
Advanced
success
To reach the area within 5 m from the goal

3. Characteristics of the CanSat
 Slim body
makes large space
→Does not stuck
 Tough Wheel
→Strong in shock
 Sensor fusion
→Practical system
→Can be used everywhere
 Printing circuit all by ourselves Gyro
Acc.
Compass
GPS
Photo

4. Sensor Fusion
・Using the sensors in all sequences!
Detects stored
with photosensor
Detects released
with photosensor
Detects landing
with gyrosensor
GPS
(Position)
Digiral Compass
(Heading)
Gyro
Acc.
sensor
Compensates
with complementary filter
Noise
Guidance
Compensates
with Kalman filter

5. Guidance and Control
・Calculates an angle from the goal using the sensor values
・Changes the duty rate of the wheels with PWM according to the angle
GOAL
CanSat’s
heading
Θ
GOAL
CanSat’s
heading
Θ

6. 1st Flight
Mr. Seth’s rocket

7. 1st Result
• Started Running
• Reached minimum success !
• The software hung up…
& digital compass did not work…
because of the noise from the motors

8. 2nd Flight
Mr. Dave’s rocket

9. 2nd Result
• Landed on the point of 1.8 km
from the goal
• Ran to the goal for 1.4 km
• Well controlled!!
–Heading straight to the goal
Conclusion
• We have to improve our circuit because
handmade circuits are difficult to reduce
the influence of noise
Hung up…
Flying Dropping
Running
GOAL
400 m

10. Thank you for your attentieon!
Thank you for AeroPac members!