Semester 7 Electronics and Communication Main Project Presented by : Alwin Thomas, Brolwin Thankachan, Dileep Kadavarath, Hebin V Aloor, Job J Pulikkottile Guided By: Mahesh K

1. ARM BASED AERIAL AND
ALL TERRAIN NAVIGATOR
SEMESTER 7 ELECTRONICS AND COMMUNICATION A
MAIN PROJECT
PRESENTED BY : ALWIN THOMAS, BROLWIN THANKACHAN, DILEEP KADAVARATH,
HEBIN V ALOOR, JOB J PULIKKOTTILE
GUIDED BY: MAHESH K

2. ABSTRACT
• We are presenting an ARM based robot, that has the ability
to fly, as well as tackle terrain navigation.
• The bot would be able to facilitate visual communication
between those present on site and the control station.
• Terrain navigation helps improve efficiency and range,
whenever flight capability is not necessary.
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3. INTRODUCTION
• Common situations that employ rescue robots are mining
accidents, urban disasters, hostage situations, and
explosions
• It’s a merger of unmanned aerial vehicle(UAV) & Unmanned
ground vehicle(UGV), Controlled by remote control of a
pilot on the ground
• The system is designed with abilities such as searching,
rescuing people, reconnaissance and mapping, delivery of
supplies and medication for the wounded.
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4. INTRODUCTION
• The vehicle have a set of sensors to observe the
environment
• System autonomously make decisions about its behaviour
or pass the information to a human operator at a different
location
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5. LITERATURE SURVEY
Radiation Mapping in Post-Disaster Environments Using an
Autonomous Helicopter
• This is a remote sensing system for radiation detection and
aerial imaging using a 90 kg autonomous helicopter and
sensing payloads for the radiation detection and imaging
operations.
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6. LITERATURE SURVEY
Radiation Mapping in Post-Disaster Environments Using an
Autonomous Helicopter
• The radiation payload consists of a scintillating type
detector with associated software to rapidly and effectively
map and locate sources of high radiation intensity.
• The system described here is too complex. This robot cannot
navigate the terrain, which reduces efficiency and range
severely
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7. LITERATURE SURVEY
Autonomous Vision-based Micro Air Vehicle for Indoor and
Outdoor Navigation
• This is a quad copter that performs autonomous navigation
in complex indoor and outdoor environments.
• Highlights of the implementation are the field-programmable-
gate-array-based dense stereo matching of
0.5 Mega- pixel images at a rate of 14.6 Hz using semi
global matching
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8. LITERATURE SURVEY
Autonomous Vision-based Micro Air Vehicle for Indoor and
Outdoor Navigation
• This system too cannot travel on the surface, though very
capable, is unable to carry any extra significant payload.
Automation, while bettering results, can also expand the
included costs significantly.
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9. LITERATURE SURVEY
Sandia's Gemini-Scout: A Rescue Robot Optimized for Mining
Disasters
• This is a rolling robot designed specifically to lead search
and rescue efforts in the event of a mining disaster.
• Mining accidents generally bring about a buffet of
dangerous conditions: structural weaknesses within the
shafts themselves, poisonous vapours, explosive gases,
flooded tunnels, etc..
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10. LITERATURE SURVEY
Sandia's Gemini-Scout: A Rescue Robot Optimized for Mining
Disasters
• This robot is designed to cope with all of these, so it can go
down a mine quickly, searching for survivors and threats, so
human searchers can get into place as quickly as possible.
• This robot is oriented towards underground applications. A
dead end block with tight overhead gaps can prove our
system advantageous over this one.
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11. BLOCK DIAGRAM
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12. MECHANISM
• Each rotor produces a thrust and a torque about its centre
of rotation and these forces are used to fly and move Quad
copter.
• Two rotors mounted on opposite arms of quad copter are
set into clockwise and another two anticlockwise.
• These orientation of motors and their direction of rotation
cancels all the torque generated given the speed of the
motors are same.
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13. MECHANISM
• If we change the speed of the motors attached on the
left and right of quad keeping the speed of the other
two same, creates 'Yaw' motion.
• Similarly, 'Pitch' and 'Roll' movements are gained by
changing the speed of different motors.
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14. QUAD COPTER FLIGHT CONTROL
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15. ELECTRONIC SPEED CONTROLLER
(ESC)
• An electronic speed
control (ESC) is an
electronic circuit which
used to vary an
electric motor's speed,
its direction and it also
act as a dynamic
brake.
+
-
To Motor DC Power
Throttle
signal
(receiver)
ESC
BEC
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16. ELECTRONIC SPEED CONTROLLER
(ESC)
• providing an electronically-generated three phase electric
power low voltage source of energy for the motor.
• Brushless ESC systems basically drive tri-phase brushless
motors by sending a sequence of signals for rotation.
• It have three sets of wiring, on one side you would have two
wires, black and red which go to the battery (Red +ve /
Black –ve).
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17. ELECTRONIC SPEED CONTROLLER
(ESC)
• On the same side receiver cable, which goes into the
throttle channel of Receiver.
• The other side would have three wires, which go to
the motor.
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18. POWER SUPPLY
• Lithium polymer batteries are the preferred for power. They
offer high discharge rates and a high energy storage/weight
ratio.
• Li-Po has a low internal resistance.
• This low IR means Li-Po doesn't waste energy getting hot
like Ni-MH does and this translates to longer run times.
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19. POWER SUPPLY
• Lower IR also means Li-Po holds higher voltage under load
than Ni-MH does. This means motor gets
higher voltage longer and runs faster.
• Li-Po also weights physically less than Ni-MH.
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20. BRUSHLESS DC ELECTRIC MOTOR
• A typical brushless motor has permanent magnets which
rotate around a fixed armature, eliminating problems
associated with connecting current to the moving armature.
• An electronic controller replaces the brush/commutator
assembly of the brushed DC motor, which continually
switches the phase to the windings to keep the motor
turning.
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21. BRUSHLESS DC ELECTRIC MOTOR
• Brushless motors offer several advantages over brushed DC
motors,
• More torque per weight;
• More torque per watt thus, increased efficiency;
• reduced noise and improved reliability;
• longer lifetime (no brush and commutator erosion);
• elimination of ionizing sparks from the commutator, and
overall reduction of electromagnetic interference (EMI).
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22. BRUSHLESS DC ELECTRIC MOTOR
• With no windings on the rotor, they are not subjected to
centrifugal forces
• The windings are supported by the housing, they can be
cooled by conduction, requiring no airflow inside the motor
for cooling.
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23. REST OF THE BLOCKS
• Remote Control Centre - It consists of PC, RC Transmitter
• ARM Processor - Handles audio and video signals.
• Sensors - Ultrasonic Distance Measurement System
• Camera - Use to capture images and video recording
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24. APPLICATION
• They are usually used for military and special operation
applications
• Also preferred for missions that are too ‘dull, dirty or
dangerous’.
• Providing first aid for people in situations like mining
accidents, urban disasters, hostage situations and
explosions, reconnaissance and mapping.
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25. APPLICATION
• Minor industrial lifting - getting a wrench to the workers on
the top of a tower, passing optic fibre wires from one roof to
the other
• Aerial photography service
• Surveillance of pipelines
• Delivery of supplies
• Recreational performances and air shows - lights, fireworks,
aerobatics
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26. THANK YOU