2. Quad Works
Project Final Review
EG461 Capstone Design Project
May 2, 2015
Oliver Bateman
Nathaniel Burr
Juan Cataño
James Choy
Cory Clark
Tim Graham
Daniel Lopez
Joshua Ricci
Instructors:
Prof. D. Guo
Prof. L. Marquis
Prof. P. Rosner
3. Overview
• Problem Statement and Approach
• Objectives
• Conceive
• Design
• Implement
• Operate
• Budget
• Lessons Learned
• Future Development
3
4. Problem Statement
• High-altitude structures corrode and deteriorate
over time
• Construction and maintenance workers risk injury
or death
• Heat loss of large buildings costs money
• Manual inspections are inefficient and time-
consuming
4
5. Approach
• QuadCopter Surveillance Platform
Highly stable and maneuverable
Adaptable to various camera types
Live video and telemetry feeds
Requires minimal training
• Other applications
Search and rescue
Law enforcement
Military operations
Relief efforts
5
6. 6
Unpack
quadcopter
Turn on
controller
Connect
battery, wait
to initialize
Place in
launch area
Complete pre-
flight check
Power up,
ascend to
operating
altitude
Move between
observation
points
Capture images
and transmit
Return to
launch area
and land
Disconnect
battery
Turn off
controller
Collapse and
pack
quadcopter
Approach
7. Objectives
• Design and manufacture a semi-autonomous UAV
• Modify hobbyist’s product to meet commercial applications
• Eliminate tedious tasks and hazardous situations
7
8. Conceive
Initial design goals
• Maximize flight time
• High-resolution camera
• Collapsible frame
• Retractable landing gear
• Capable of carrying larger cameras or sensors
8
9. Technical System Breakdown
9
Quad
Works
Airframe
D. Lopez
Propulsion
N. Burr
Gimbal & Camera
O. Bateman
Stability & Control
J. Catano
Video & Telemetry
T. Graham
J. Ricci
O. Bateman
J. Ricci
C. Clark
D. Lopez
C. Clark
T. Graham
J. Choy
J. Catano
J. Choy
11. System Requirements
11
Attribute Requirement Units
Climb rate 15 ft/s
Traverse rate 40 ft/s
Signal range 0.25 mi
Max. AGL 400 ft
Max. altitude (density) 6,000 ft
Max. take-off weight 10 lb
Ground station weight 5 lb
Endurance 15 min
Size, main diagonal 36 in
Drop survivability 3 ft
Assembly time 4 min
Operable temperatures 32 – 90 °F
16. Test Bed
• Built a test bed for flight testing and
data collection
• Flamewheel f450 frame customized with
electronics
GPS and compass
Live video feed (FPV)
On-screen telemetry
Camera gimbal
• Tested stability and control of a common
quadcopter
16
21. On-Board Electronics
21
Component Name Rationale
Flight controller Ardupilot 2.7 Open source, inexpensive
Gimbal controller AlexMos 32-bit 3-axis Top-of-the-line, two IMUs
Video camera Luminier 600TVL Good resolution, small and compact
Video switch 3CH Video Switch Inexpensive and good reputation
Telemetry overlay TinnyOSD Ardupilot compatible
22. On-Board Electronics
22
Component Name Rationale
Video transmitter 1.3Ghz 400mW video transmitter
Signal penetration and legal frequency
transmission
Video antenna LHCP 1.3Ghz antenna
Less prone to interference, good signal
spread
Telemetry transmitter Ardupilot Telemetry Radio
Frequency and flight controller
compatible
24V to 12V convertor N/A Low noise, capable of high current
24V to 5V convertor N/A Low noise, capable of high current
23. Design Evolution
23
Feature Design Changes from Initial Concept
Boom arm locking method
Fixed shaft and collars insure tight fit
Thumb screws for collapsibility
Gimbal-to-airframe attachment
Binding post instead of adhesives
Withstands higher loads
Ground station design
Utilizes fiberglass and Lexan
Matches quadcopter aesthetically
31. Ground Testing
*At 50% throttle
31
Test Performed Requirement Result
Max. thrust (per motor) 3.3 lb 4.5 lb
Battery endurance* 15 min 20 min
Control signal range 0.25 mi 0.27 mi
Telemetry OSD N/A Achieved
Flight controller N/A Achieved
Signal loss protocol Safe return Achieved
Live video feed Continuous Achieved
Assembly time Airborne in 4 min 1:18
Gimbal control Pitch and yaw Not met
Max. take-off weight 10 lb 7.2 lb
Ground station weight 5 lb 4.5 lb
33. Flight Testing
33
Test Performed Requirement Result
Maiden flight N/A Achieved
Endurance 15 min 15 min 45 s
Maximum altitude 400 ft AG Achieved
Climb rate 15 ft/s 30 ft/s
Traverse rate 40 ft/s 49 ft/s
Operable wind Light & variable Achieved
Spatial lock r5 ft, ↑10 ft Achieved
Signal loss protocol Land safely Achieved
34. Mission Test – First Attempt
• Location: DWC courtyard
• Pilot: Cory Clark
• Wind: Greater than “light and variable”
• Visibility: 10+ mi
• Outcome: Failed
• Results:
Operable in greater than “light and
variable” winds
Retractable landing gear functioning
Ground station functioning
34
DWH
ERC 2
1
Home
Crash Site
Actual
Planned
36. Failure Analysis
36
• Signal loss caused failsafe to activate
Bad connection in controller
Signal loss protocol malfunctioned
• Solution
Re-soldered connection
Reconfigured flight controller to land when
signal is lost
38. Mission Test – Second Attempt
• Location: DWC courtyard
• Pilot: Juan
• Wind: Greater than “light and variable”
• Visibility: 10+ mi
• Outcome: SUCCESS
• Results:
Stable video recording
Stable quadcopter
38
DWH
ERC
1
Home
Actual
Planned
42. Lessons Learned
• Have a backup plan
• Have spares
• Assume nothing works the first time
42
43. Future Development
• Improve the gimbal stability
• Change video frequency
• Improve video signal quality
• Reduce EMI
• Reinforce the landing gear
43
44. Summary
• Problem Statement and Approach
• Objectives
• Conceive
• Design
• Implement
• Operate
• Budget
• Lessons Learned
• Future Development
44
45. Thank You
Dean Bertozzi
Professor Rosner
Professor Guo
Professor Carlstrom
SAE First Gen Supermile
Professor Kostar
Professor Sadreay
Professor Marquis
RC Buyers Warehouse
DWC Facilities
45
