The document discusses the design and development of quadcopter unmanned aerial vehicles (UAVs). It describes the prototypes created, including improvements made to reduce weight and increase lift. Sensors and controllers are discussed, including sensors for position, proximity, and navigation. The final prototype achieved stable hovering with a weight of 43 grams and incorporated an inertial measurement unit, ultrasonic sensors, GPS, and radio frequency transmission for control and data transmission.

1. Unmanned Aerial Vehicle ((UAV))

2. UAV Presented By: Alexander Mohamed Osman Riyad Ahmed El-laithy Ruyyan Ahmed El-laithy Peter Raouf Zaki

3. Introduction What are UVs ? What are UAVs ? Types of UAVs Fixed wing UAV Helicopter UAV Quadroter UAV

4. Quadrotor Advantage Over Fixed-Wing Vehicle Less design complexity. Minimal space for take-off and landing. A VTOL vehicle.

5. Quadrotor Advantage Over Helicopter Quadrotors do not require mechanical linkages. T he use of four rotors allows each individual rotor to have a smaller diameter than the equivalent helicopter rotor .

6. Conventional Design

7. Control Scheme Direction ∆ Motor 1 ∆ Motor 2 ∆ Motor 3 ∆ Motor 4 Z+ (Up) + + + + Z- (Down) - - - - X+ (Left) + 0 0 + X- (Right) 0 + + 0 Y+ (Forward) + + 0 0 Y- (Backward) 0 0 + +

8. Materials used in building the Prototypes Balsa wood planks Super glue

9. The First Prototype: Disadvantages It was too heavy to lift 197 grams. The spacing between the motors Picture of 1st Prototype

10. The Second Prototype What is improved in that prototype ? The weight decreased 93 grams. The motors are closer to each other The result Light lift Picture of 2 nd Prototype

11. The Second Prototype Disadvantages Still heavy to hover Disturbance in the rotor wind vortex Not aerodynamic Picture of 2nd Prototype

12. The First Prototype Vs The Second Prototype

13. - Starting the X design - Reduced air resistance. - More lift gained . - Lightweight . 45 Grams. Picture of the 3 rd Prototype What is improved in this prototype ? The Third Prototype

14. Problems with the new design: Too fragile. The reduced air resistance was still not enough. What can be done ? The Third Prototype

15. The Fourth and Final Prototype Isometric: Top: Front: Side:

16. The Fourth and Final Prototype Achievements: - Rigid and Lightweight. (43 Grams). - Great lift. - Highly reduced air resistance. Picture of Final Prototype

17. Specifications: -Total Weight (with all components) = 990 Grams (0.99 Kg) - Acceleration at Full Power = 4.061m/s 2 - Vertical Force at Full Power = 4.021N (Assuming Differential Torque = 0) - Lateral thrust beyond Hover Thrust = 0.4141g - Power – to – Weight Ratio = 1.5 : 1 The Fourth and Final Prototype

18. Controller Design Design Objectives Stability Obstacle Avoidance Determining Position Communication

19. Controller Design To achieve these objectives we need IMU (Inertial Measurement Unit) 5 Ultrasonic Sensors GPS Receiver RF Transceiver

20. Controller Design MicroController requirements 4 PWM Outputs 11 Analog to Digital Channels High speed crystal PIC18F4431 4 14-bit Power PWM modules  9 10-bit 200Ksps ADC channels  40 MHz Crystal Max 

21. Controller Design Problems with 18F4431 Programmer/PIC incompatibilities PIC16F777 3 10-bit PWM modules  14 10-bit ADC Modules  20 MHz Crystal Max  2 Connected together

22. Controller Design Problems with PICxxFxxxx IMU and RF work at 3.3V Logic GPS messages are TTL 0 – 2.85V Ultrasonic readings range from 0 – 2.54 PIC16LF777 3 10-bit PWM modules 14 10-bit ADC channels 10 MHz Crystal max Operating voltage range from 2V – 5.5V 2 Connected together

23. Controller Design 2 communicating 3.3V Microcontrollers Stability & Proximity sensors IMU 5 Ultrasonic sensors 2 communication devices 2.4 GHz Transceiver GPS Receiver

24. Controller Design

25. Controller Implementation Small & compact design Easily modified Modify subparts only Protect components from repetitive exposure to welding temperatures Sub boards Interface PCBs (Printed Circuit Boards)

26. Controller Design First Main board Replaced Photo-couplers were used later on

27. Controller Design First Main board

28. Controller Design Second Main board Photo-couplers were implemented Sub-boards implemented Interface boards Smaller design

29. Controller Design Second Main board

30. Controller Design Last Main Board Photo-couplers Interface boards Sub-boards 90 ° Interface connections Even smaller design ICSP (In Circuit Serial Programming) wires were added onto the circuit later on LEDs for easier debugging without the need for expensive hardware such as ICDs (In Circuit Debuggers)

31. Controller Design Last Main board

32. Controller PCB Implementation Last Main board

33. Interface Boards Easier error correction. Reduction of surface area.

34. GPS Interface Board

35. IMU Interface Board

36. RF Interface Board

37. PCB Production Procedures What do you need to make a PCB Laser printer Glossy paper Acetone Clothing iron Acid Steel sponge

38. PCB Production Clean the surface of the board Print the circuit Start folding Start ironing Put it in hot water Start chemical etching Finalize with drilling

40. Analog-To-Digital Converter ADCs: - Importance of Data Acquisition in our UAV. - V ref set on 3 Volts. - Ultrasonic sensors. - Gyrometer. - Accelerometer.

41. ADC Reading = (V in /V ref ) X (2 N ) ; where V in : is the Voltage input. V ref : is the reference voltage. N : is the resolution of the ADC Conversion. ADCs

42. Ultrasonic Sensors Ultrasonic Sensors: - Maximum Range: 254 inches (6.45m) - Minimum Range: 6 inches (15cm) (Blind Spot) - New Readings every 49 Milliseconds. - Has Serial/Analog/Pulse Width Modulation output. - Every 0.01V represents 1 inch.

43. Calculating Distance inside ADC: - Distance = (V in /V ref ) X (2 N ) ; For example: 50cm = 0.20 Volts shown on Ultrasonic Sensor. (0.20/3.30)*1024 = 62.061 To calculate backwards to know accuracy: (62/1024)*3.3 = 0.1998 Volts on input pin. Therefore, the Error = (1-(0.1998/0.20))*100 = 0.1% Ultrasonic Sensors

45. PWM Pulse Width Modulation: - Processing after Data Acquisition for scenarios. - Implementing the data acquired as output on Motors. - Frequency for Motor Output (750Hz).

46. PWM How It works? Obtains Average of On/Off Intervals within period. V AV = 1.65 Volts since half the time is ON and the other half is OFF.

47. Testing Sensors A great way to test the sensors is using an LCD. Tangible. Used to test all sensor outputs after processing: - Ultrasonic. - Accelerometer. - Gyrometer. - GPS Receiver. - RF Transceiver units.

48. LCDs

50. GPS Applications GPS has become a widely used aid to navigation worldwide . A useful tool for Map making. Land surveying. Scientific uses.

51. NAVSTAR Constellation There is a constellation of 30 earth orbiting satellites transmitting precise radio signals. Orbits are set up so that at any given point and time on the earth’s surface there are at least six of these satellites in reach.

52. GPS Messages Almanac contains orbital data Ephemeris contains the satellites precise orbit.

53. Pseudorange Estimated distance calculated by the receiver between the satellite and receiver.

54. Trilateration Pseudoranges intersect at a point . This point is the receiver location.

55. Overlapping Pseudoranges

56. Latitude & Longitude

57. NMEA Protocol NMEA preferred to SiRF. Simply works with input and output messages.

58. Input Messages

59. Input messages are used for initialization. Selected input messages were: Set Serial Port Query/Rate Control Development Data On/Off CRC required for input message. Input Messages

60. Output Message

61. Message of choice was RMC, it contained all we needed which was: Latitude & Longitude Course Heading Velocity Output Message

62. USART The GPS communicates with the PIC through USART. Communicates at 4800 bps Asynchronous

63. Validating Message When the message is validated: The latitude, longitude and heading are ready to be extracted to the Main PIC. RF function is called to transmit data, to the simulator.

65. Inertial Measurement Unit Gyro Measures angular velocity on the x and y axes Can also be used to calculate displacement angle Sensitivity of 2mV/ °/sec

66. Inertial Measurement Unit Accelerometer Measures acceleration on the x,y and z axes Sensitivity of 300mV/ g Can also measure angles

67. Inertial Measurement Unit IMU Gyrometer & Accelerometer Transform acceleration readings onto the 3 original axes. Velocity & Displacement can be calculated from accelerometer readings on 3 main axes.

68. Inertial Measurement Unit

70. Microcontroller Communication SPI Communication Master/Slave Configuration 3 pin connection Synchronous Serial Transmission 8-bit at a time Control Messages, & Sensor Values

72. Laipac RF Haw the transmitter works ? Data input to the to the encoder. transmitting the data

73. Laipac RF The transmission unit

74. Laipac RF How it receives? Data receiving Data decoding

75. Laipac RF Receiving unit

76. Laipac RF Conclusion after testing Too slow. Big size . Very small payload. Very short range. Need an external antenna.

77. RF-24G transceiver Specification Very small size Long range 280 meter Built in antenna 29 byte payload Fast transmission & reception Up to 1Mbps Shock burst mode

78. RF transceiver States of Shock burst Active mode Configurations mode Standby mode Power down mode

79. RF transceiver Configuration mode Configuring Transmitter Clocking data Delay Standby Mode

80. RF transceiver Active mode Transmitting

81. RF transceiver Active mode Receiving

82. RC Unit

84. Data Acquisition What is Data Acquisition? Why?

85. Data Presentation What is Data Presentation? Why?

86. Problems Serial Port Signed Byte Graph Origin Converting Longitude and Latitude to Pixels

87. Solutions Javax.comm -CommPortIdentifier -Streams -SerialEvent -Converting any data to String then to Bytes Convert to short add 256 if negative -( ( (Height - 90 ) / Range ) * Actual ) + Separation ((width /|(difference between top left longitude and bottom right longitude)|)*|(acquired longitude-top left longitude)|)

88. Data Presentation Platform

89. Data Presentation Platform (cont.)

90. Map

91. Map (cont.)

92. Remote Control

93. Remote Control (cont.)

94. Tester

95. Object detection

96. Introduction What is an object ? What is object detection ? How to make it ? What is image processing ?

97. Challenges & solutions Acquisition problems Developing imaging application in a flexible environment Why not use c/c++ ? Time consuming , handling Used language, Why ?

98. Imaging tasks

99. Imaging circumstances Type of the acquistion The properties of the target object? The environment The objective

100. Challenges Colored image Variance in lighting Uninformed background The target is colored The target’s shape is not defined

101. Our program Acquisition phase Visualization phase Estimate the degree of the color Processing phase Applying Median filter

102. Analysis phase Make a binary image showing the blue pixels If there is other blue objects it will be shown as white objects

103. Pixel connectivity The use of the labeling function [label,num]=bwlabel(y,4); stats=regionprops(label,'Area','BoundingBox','PixelList'); What are the importance of those functions

104. Finding the object with the largest area Locating its position Making a bounding box around Send the target position to the UAV

105. Screen shots Idle mode

106. Screen shots Running mode

107. Screen shots Running mode(object not found)

108. FUTURE IMPLEMENTATIONS Gyrometer & Accelerometer drift correction Ultrasonic sensors attached to servos. High powered brushless motors. A long range high resolution camera. Magnetometer Chassis redesign

109. CONCLUSION Local market restrictions inhibited time. Bottom down programming was the best approach. Data presentation helps in detecting errors faster and avoiding problems. Placing UAV on a map helps discovering its location. Tester helps in testing the response of the RF and the pic programs