This document provides details about an autonomous micro aerial vehicle developed by Team Aeolus at PES University that is capable of tracking and guiding multiple randomly moving ground robots while avoiding obstacles. It uses an optical flow sensor and Intel RealSense camera for localization and navigation in GPS-denied environments. The quadcopter determines the positions of ground robots and obstacles using these sensors and a LIDAR, then plans paths to guide the ground robots toward a goal using priority assignment and dynamic path planning that minimizes interaction risks.
1) The document describes the development of a single camera depth control system for a micro remotely operated vehicle (ROV) called the Fitoplankton SAS ROV.
2) The depth control system uses a PID controller with input from a camera-based depth sensor. Depth is measured using triangle similarity by detecting a marker in camera images.
3) Experiments show the ROV was able to maintain depth accurately with an average error of 95.74% compared to the setpoint depth when tested in an aquarium from 0-40cm depth.
This document describes a project to develop a quadrotor drone capable of autonomous navigation in GPS-denied environments using visual sensors. The drone is equipped with an optical flow sensor for velocity and altitude control, an IMU, and cameras for visual SLAM. Software runs ROS and uses a monocular visual odometry algorithm. Initial flight tests show the drone can hold position and velocity with wind. Future work will integrate the visual SLAM for full position control and add safety features.
Waypoint Flight Parameter Comparison of an Autonomous Uavijaia
The present paper compares the effect of different waypoint parameters on the flight performance of a
special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical
sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for
reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters
on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the
acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus
influence the performance of the presented autonomous quadrocopter under real indoor navigation
circumstances. Furthermore the paper demonstrates a drawback of the standard potential field method for
navigation of such autonomous quadrocopters and points to an improvement
We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board.
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
This document describes a land survey robot that is designed to automatically measure land areas and divide plots of land into subplots. The survey robot uses a microcontroller and ZigBee wireless module to receive movement commands and transmit distance measurements to a PC. It moves around the plot on its own to calculate the total distance traveled, which is then used by an area measurement module on the PC to determine the area of the plot. The robot is able to divide plots into subplots by placing markers as it moves according to a programmed path. The system aims to automate the land survey process for more efficient area measurement compared to conventional surveying techniques.
This document is a project report submitted by three students for their Bachelor of Technology degree. It outlines the design and implementation of an unmanned aerial vehicle (UAV) in the form of a quadcopter for campus surveillance. The quadcopter will house a camera and use a wireless transmission system to provide live video feed from the camera to a ground station. Sensors such as an IMU and GPS will be used to help stabilize and navigate the quadcopter. An onboard processor and flight controller using Arduino will control the quadcopter. The project aims to develop a low-cost and lightweight surveillance drone.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
1) The document describes the development of a single camera depth control system for a micro remotely operated vehicle (ROV) called the Fitoplankton SAS ROV.
2) The depth control system uses a PID controller with input from a camera-based depth sensor. Depth is measured using triangle similarity by detecting a marker in camera images.
3) Experiments show the ROV was able to maintain depth accurately with an average error of 95.74% compared to the setpoint depth when tested in an aquarium from 0-40cm depth.
This document describes a project to develop a quadrotor drone capable of autonomous navigation in GPS-denied environments using visual sensors. The drone is equipped with an optical flow sensor for velocity and altitude control, an IMU, and cameras for visual SLAM. Software runs ROS and uses a monocular visual odometry algorithm. Initial flight tests show the drone can hold position and velocity with wind. Future work will integrate the visual SLAM for full position control and add safety features.
Waypoint Flight Parameter Comparison of an Autonomous Uavijaia
The present paper compares the effect of different waypoint parameters on the flight performance of a
special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical
sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for
reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters
on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the
acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus
influence the performance of the presented autonomous quadrocopter under real indoor navigation
circumstances. Furthermore the paper demonstrates a drawback of the standard potential field method for
navigation of such autonomous quadrocopters and points to an improvement
We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board.
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
This document describes a land survey robot that is designed to automatically measure land areas and divide plots of land into subplots. The survey robot uses a microcontroller and ZigBee wireless module to receive movement commands and transmit distance measurements to a PC. It moves around the plot on its own to calculate the total distance traveled, which is then used by an area measurement module on the PC to determine the area of the plot. The robot is able to divide plots into subplots by placing markers as it moves according to a programmed path. The system aims to automate the land survey process for more efficient area measurement compared to conventional surveying techniques.
This document is a project report submitted by three students for their Bachelor of Technology degree. It outlines the design and implementation of an unmanned aerial vehicle (UAV) in the form of a quadcopter for campus surveillance. The quadcopter will house a camera and use a wireless transmission system to provide live video feed from the camera to a ground station. Sensors such as an IMU and GPS will be used to help stabilize and navigate the quadcopter. An onboard processor and flight controller using Arduino will control the quadcopter. The project aims to develop a low-cost and lightweight surveillance drone.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Multirotor control ua vs based on fuzzy logicAntonio Chica
This document discusses the use of fuzzy logic control for unmanned aerial vehicles (UAVs), specifically quadrotors. It provides background on UAVs and quadrotors, including their components and degrees of freedom. Fuzzy logic control is described as an effective method for controlling nonlinear systems like quadrotors. Several previous studies applying fuzzy logic control to UAVs, robotics, and quadrotor trajectory tracking are summarized. The key components of UAV control - perception, localization, planning and navigation - are also overviewed.
The document describes a solar-powered robotic vehicle called PENTRON that uses a single tiltable solar panel and smart microcontroller to optimally charge its batteries. It reduces weight and power consumption compared to previous models by using a single microcontroller rather than multiple ones, and having two wheels rather than four. The microcontroller monitors power usage and controls the solar panel to obtain maximum charging. It interprets sensor data to efficiently manage charging the two battery packs from the solar panel. The robotic vehicle uses various sensors and a wireless camera that relay environmental data to a PC using ZigBee technology for remote monitoring.
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
The document describes the design of a mission control software to control a semi-autonomous Mars rover prototype. The software allows wireless control of the rover via a joystick and receives telemetry data through a UART communication module. It includes a map display to track the rover's position from GPS data, a rover visualization to show its orientation from IMU feedback, and graphs to plot telemetry parameters. The design uses C++ and the QT framework for the user interface and modular components like serial communication, 2D graphics, and data plotting.
This document provides details on the design and development of an autonomous quadcopter. It begins with an introduction to quadcopters and their potential uses. The document then outlines the goals of the project, which are to build, modify and improve an existing quadcopter kit to enable stable flight, GPS data gathering/storage, and auto-landing. Several chapters then describe the individual components, circuit connections, setup of the onboard flight controller, calibration processes, and flight testing procedures. Figures and diagrams are provided to illustrate key aspects. The conclusion discusses the future potential for drone technology.
Drone (Unmanned aerial vehicle) is an electronic device which is remote controlled based aircraft used to achieve vertical flight with stability using KK2.1.5 board and it can be used for live streaming and also for capturing images using camera and as technology advances increase the performance and reduces the cost of microcontroller so that general public can design their own drone . The main aim of this project is for live streaming and collecting images. This drone includes a frame, flight control board, motors, electronic speed controllers, a transmitter, a receiver, a Lipo battery and a camera interfaced with the kit. Individual components were tested and verified. The tuning and calibration of the PID controller were done to obtain stabilization on each axis. Currently, the drone can properly stabilize itself. The aim of the project has been achieved, resulting in stable and capturing images.
Quadcopters are the rotorcraft which have become the catch of the eye in the UAVs, both for electronic hobbyists as well as various application based real time solutions.
This document discusses using an inertial navigation system (INS) for autonomous mobile robot position estimation. It describes some problems with traditional INS, including inability to directly measure speed and yaw. The document then introduces a solution using a dodecahedron-shaped device containing IMU modules on each facet. This design can directly measure speed and yaw through gyroscopic torque measurements and advanced compassing. It is also less dependent on temperature. The document provides details on the hardware design and complexity of the dodecahedron INS.
1) The document presents a prototype for an air ambulance drone to assist traditional ambulances in saving lives faster by reaching emergencies earlier and monitoring multiple health parameters of patients.
2) The hexacopter drone design is described, which uses 6 motors and propellers for stability and thrust to carry a first aid kit and measure patient temperature, heart rate, and heartbeat to provide doctors vital signs information.
3) The construction of the hexacopter drone is explained, including its frame, motors, batteries, flight controller and other components to enable it to fly and carry medical supplies to emergencies more quickly than road-bound ambulances.
anaFLY01-05: A MULTIPURPOSE QUADCOPTER WITH DUALITY FEATURESNathaniel A. ADEWOLE
This document proposes a multipurpose quadcopter drone with dual power sources and remote control capabilities. The drone would be used for surveillance, cargo delivery, scientific research, emergency response, and recreational activities. It aims to have a small, quiet design that can carry adjustable cameras, storage, and transmit footage in real-time. While similar drones exist, past models have issues with size, stability, noise, and unreliable power. This project hopes to address those limitations with a versatile yet cost-effective design. Further research is recommended to expand its range and capabilities in various weather conditions.
This document describes a project report for a quadcopter that uses an ATmega 328 microcontroller. It includes a title page, certificate of authenticity signed by the student and advisor, acknowledgements, abstract, list of figures, and table of contents. The project aims to design and build a stable quadcopter capable of autonomous flight and GPS data logging. Various components of the quadcopter are discussed including the frame, motors, electronic speed controllers, batteries, and remote control system. The control and programming of the flight controller is also outlined.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
The document describes a project report submitted by Stuti Vyas, Drashti Sheth, and Jay Vala for their Bachelor of Engineering degree. It outlines the development of a quadcopter surveillance system, including the components used, methods for designing and assembling the frame and circuits, and testing procedures. The quadcopter is intended to be remotely operated and carry a wireless camera for surveillance applications.
This file contains the matter of fabrication of drones, you can use it to create a drone. This is very useful file for those who are interested in quadcopters or drones. This is written and created by me. You can use as your projetct.
This document provides information about a remote control quad copter. It lists the copter's features such as a 6-axis gyroscope, Wi-Fi and GPS capabilities, and an HD camera. It describes the aircraft, propellers, remote controller, intelligent battery, and drone flight. Safety tips are provided for propeller handling, battery use, and flight. Troubleshooting advice addresses issues like unresponsiveness, inability to lift off, and drifting. Maintenance instructions involve regular cleaning to prevent dirt buildup on the rotors.
This power point presentation summarizes the key components and functioning of a quadcopter drone. It describes the main parts which include four brushless motors, electronic speed controllers, a CC3D flight controller, Li-Po battery, power distribution board, and transmitter and receiver. The presentation discusses the advantages of quadcopters like stability, flexibility for indoor use, and ability to enter any environment without a pilot. Applications mentioned include use in agriculture, delivery services, military, videography, and civil purposes. Disadvantages include hardware complexity, short flight duration, and need for frequent battery replacement.
This document summarizes a paper about space robots. It discusses the applications of space robots, which include in-orbit positioning and assembly, operation, maintenance, and resupply. An example of a space robot called Tessellator is provided, which was developed to autonomously rewaterproof space shuttle tiles. The objectives and constraints of the travelling workstation problem that Tessellator aims to solve are outlined. Robotic refueling of satellites is discussed as a way to extend satellite lifespan. Finally, some of the key challenges in designing and testing space robots are mentioned, such as dealing with zero-gravity effects, the vacuum environment, and communication delays.
This document summarizes the implementation of a quadcopter with live video monitoring. It discusses the structure of the quadcopter, including its mechanical and electronic components. It also describes the SolidWorks design, MATLAB simulation, control theory using PID controllers, and sensor fusion techniques. The goal is to develop a stable quadcopter that can be flown wirelessly from a distance while transmitting live video footage. Future work may focus on more complex autonomous flight routines and swarm coordination.
The document provides details of a student team's project to design and build a quadcopter with vertical take-off and landing capabilities (VTOL) for a competition hosted by Boeing. The team designed a pickup mechanism using a 3D-printed hopper to collect tennis balls of varying weights from 50 feet away and drop them in a designated zone. They tested different pickup mechanism designs and motor thrust levels. The final design successfully collected 17 points worth of tennis balls during the 15-minute competition but only scored 5 points by accurately dropping balls in the collection area. The team also iteratively designed landing gear to protect components from impact, settling on a design using fiberglass legs with 3D-printed rounded extensions.
Este documento describe el procedimiento de biometría para registrar la entrada y salida de empleados en una empresa. Explica que el administrador configura el acceso biométrico de los empleados en las áreas autorizadas usando sus huellas digitales. Esto permite registrar las horas de trabajo y restringir el acceso solo a personal autorizado, mejorando la seguridad.
Manufacturers, exporters and suppliers of WESWOX make Microscope, Microtomes, imaging softwares and physical instruments, Digital Photomicrographic Equipment, WESWOX Double Demonstration Eyepiece, WESWOX Projection Microscope
Multirotor control ua vs based on fuzzy logicAntonio Chica
This document discusses the use of fuzzy logic control for unmanned aerial vehicles (UAVs), specifically quadrotors. It provides background on UAVs and quadrotors, including their components and degrees of freedom. Fuzzy logic control is described as an effective method for controlling nonlinear systems like quadrotors. Several previous studies applying fuzzy logic control to UAVs, robotics, and quadrotor trajectory tracking are summarized. The key components of UAV control - perception, localization, planning and navigation - are also overviewed.
The document describes a solar-powered robotic vehicle called PENTRON that uses a single tiltable solar panel and smart microcontroller to optimally charge its batteries. It reduces weight and power consumption compared to previous models by using a single microcontroller rather than multiple ones, and having two wheels rather than four. The microcontroller monitors power usage and controls the solar panel to obtain maximum charging. It interprets sensor data to efficiently manage charging the two battery packs from the solar panel. The robotic vehicle uses various sensors and a wireless camera that relay environmental data to a PC using ZigBee technology for remote monitoring.
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
The document describes the design of a mission control software to control a semi-autonomous Mars rover prototype. The software allows wireless control of the rover via a joystick and receives telemetry data through a UART communication module. It includes a map display to track the rover's position from GPS data, a rover visualization to show its orientation from IMU feedback, and graphs to plot telemetry parameters. The design uses C++ and the QT framework for the user interface and modular components like serial communication, 2D graphics, and data plotting.
This document provides details on the design and development of an autonomous quadcopter. It begins with an introduction to quadcopters and their potential uses. The document then outlines the goals of the project, which are to build, modify and improve an existing quadcopter kit to enable stable flight, GPS data gathering/storage, and auto-landing. Several chapters then describe the individual components, circuit connections, setup of the onboard flight controller, calibration processes, and flight testing procedures. Figures and diagrams are provided to illustrate key aspects. The conclusion discusses the future potential for drone technology.
Drone (Unmanned aerial vehicle) is an electronic device which is remote controlled based aircraft used to achieve vertical flight with stability using KK2.1.5 board and it can be used for live streaming and also for capturing images using camera and as technology advances increase the performance and reduces the cost of microcontroller so that general public can design their own drone . The main aim of this project is for live streaming and collecting images. This drone includes a frame, flight control board, motors, electronic speed controllers, a transmitter, a receiver, a Lipo battery and a camera interfaced with the kit. Individual components were tested and verified. The tuning and calibration of the PID controller were done to obtain stabilization on each axis. Currently, the drone can properly stabilize itself. The aim of the project has been achieved, resulting in stable and capturing images.
Quadcopters are the rotorcraft which have become the catch of the eye in the UAVs, both for electronic hobbyists as well as various application based real time solutions.
This document discusses using an inertial navigation system (INS) for autonomous mobile robot position estimation. It describes some problems with traditional INS, including inability to directly measure speed and yaw. The document then introduces a solution using a dodecahedron-shaped device containing IMU modules on each facet. This design can directly measure speed and yaw through gyroscopic torque measurements and advanced compassing. It is also less dependent on temperature. The document provides details on the hardware design and complexity of the dodecahedron INS.
1) The document presents a prototype for an air ambulance drone to assist traditional ambulances in saving lives faster by reaching emergencies earlier and monitoring multiple health parameters of patients.
2) The hexacopter drone design is described, which uses 6 motors and propellers for stability and thrust to carry a first aid kit and measure patient temperature, heart rate, and heartbeat to provide doctors vital signs information.
3) The construction of the hexacopter drone is explained, including its frame, motors, batteries, flight controller and other components to enable it to fly and carry medical supplies to emergencies more quickly than road-bound ambulances.
anaFLY01-05: A MULTIPURPOSE QUADCOPTER WITH DUALITY FEATURESNathaniel A. ADEWOLE
This document proposes a multipurpose quadcopter drone with dual power sources and remote control capabilities. The drone would be used for surveillance, cargo delivery, scientific research, emergency response, and recreational activities. It aims to have a small, quiet design that can carry adjustable cameras, storage, and transmit footage in real-time. While similar drones exist, past models have issues with size, stability, noise, and unreliable power. This project hopes to address those limitations with a versatile yet cost-effective design. Further research is recommended to expand its range and capabilities in various weather conditions.
This document describes a project report for a quadcopter that uses an ATmega 328 microcontroller. It includes a title page, certificate of authenticity signed by the student and advisor, acknowledgements, abstract, list of figures, and table of contents. The project aims to design and build a stable quadcopter capable of autonomous flight and GPS data logging. Various components of the quadcopter are discussed including the frame, motors, electronic speed controllers, batteries, and remote control system. The control and programming of the flight controller is also outlined.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
The document describes a project report submitted by Stuti Vyas, Drashti Sheth, and Jay Vala for their Bachelor of Engineering degree. It outlines the development of a quadcopter surveillance system, including the components used, methods for designing and assembling the frame and circuits, and testing procedures. The quadcopter is intended to be remotely operated and carry a wireless camera for surveillance applications.
This file contains the matter of fabrication of drones, you can use it to create a drone. This is very useful file for those who are interested in quadcopters or drones. This is written and created by me. You can use as your projetct.
This document provides information about a remote control quad copter. It lists the copter's features such as a 6-axis gyroscope, Wi-Fi and GPS capabilities, and an HD camera. It describes the aircraft, propellers, remote controller, intelligent battery, and drone flight. Safety tips are provided for propeller handling, battery use, and flight. Troubleshooting advice addresses issues like unresponsiveness, inability to lift off, and drifting. Maintenance instructions involve regular cleaning to prevent dirt buildup on the rotors.
This power point presentation summarizes the key components and functioning of a quadcopter drone. It describes the main parts which include four brushless motors, electronic speed controllers, a CC3D flight controller, Li-Po battery, power distribution board, and transmitter and receiver. The presentation discusses the advantages of quadcopters like stability, flexibility for indoor use, and ability to enter any environment without a pilot. Applications mentioned include use in agriculture, delivery services, military, videography, and civil purposes. Disadvantages include hardware complexity, short flight duration, and need for frequent battery replacement.
This document summarizes a paper about space robots. It discusses the applications of space robots, which include in-orbit positioning and assembly, operation, maintenance, and resupply. An example of a space robot called Tessellator is provided, which was developed to autonomously rewaterproof space shuttle tiles. The objectives and constraints of the travelling workstation problem that Tessellator aims to solve are outlined. Robotic refueling of satellites is discussed as a way to extend satellite lifespan. Finally, some of the key challenges in designing and testing space robots are mentioned, such as dealing with zero-gravity effects, the vacuum environment, and communication delays.
This document summarizes the implementation of a quadcopter with live video monitoring. It discusses the structure of the quadcopter, including its mechanical and electronic components. It also describes the SolidWorks design, MATLAB simulation, control theory using PID controllers, and sensor fusion techniques. The goal is to develop a stable quadcopter that can be flown wirelessly from a distance while transmitting live video footage. Future work may focus on more complex autonomous flight routines and swarm coordination.
The document provides details of a student team's project to design and build a quadcopter with vertical take-off and landing capabilities (VTOL) for a competition hosted by Boeing. The team designed a pickup mechanism using a 3D-printed hopper to collect tennis balls of varying weights from 50 feet away and drop them in a designated zone. They tested different pickup mechanism designs and motor thrust levels. The final design successfully collected 17 points worth of tennis balls during the 15-minute competition but only scored 5 points by accurately dropping balls in the collection area. The team also iteratively designed landing gear to protect components from impact, settling on a design using fiberglass legs with 3D-printed rounded extensions.
Este documento describe el procedimiento de biometría para registrar la entrada y salida de empleados en una empresa. Explica que el administrador configura el acceso biométrico de los empleados en las áreas autorizadas usando sus huellas digitales. Esto permite registrar las horas de trabajo y restringir el acceso solo a personal autorizado, mejorando la seguridad.
Manufacturers, exporters and suppliers of WESWOX make Microscope, Microtomes, imaging softwares and physical instruments, Digital Photomicrographic Equipment, WESWOX Double Demonstration Eyepiece, WESWOX Projection Microscope
La música medieval se clasifica en tres repertorios: canto llano o gregoriano, música profana de trovadores y polifonía. El canto llano era monódico y religioso, mientras que la música profana de trovadores era también monódica pero con textos seculares. La polifonía surgió luego como música a varias voces. La música escrita de la época era escasa debido a las duras condiciones de vida y al monopolio cultural de la Iglesia.
Silicon is the second most abundant element in the Earth's crust. It was discovered in 1824 by Swedish chemist Jons Jacob Berzelius and gets its name from the Latin word for flint. At room temperature, silicon exists in both amorphous and crystalline forms, with the crystalline form having a metallic luster and grayish color. In addition to being a component of sand and quartz, silicon has many important uses including in soaps, adhesives, lubricants, polishing agents, electrical insulators, and medical implants.
The document provides a detailed summary of Book IV of Virgil's Aeneid. It describes how Dido, queen of Carthage, falls in love with Aeneas after hearing his story. Though she is still mourning her late husband Sychaeus, her sister Anna convinces her to pursue a relationship with Aeneas. However, Mercury later informs Aeneas that he must leave Carthage to fulfill his destiny of founding Rome. When Dido discovers Aeneas plans to depart secretly, she curses him before committing suicide out of despair.
Guarujá festeja a virada do ano com queima de fogos em sete pontos e Cidade marca presença na São Silvestre com 40 atletas. Prefeitura cria mecanismo para pagamento de precatórios com fundo de reserva.
The Niti Valley lies in the Joshimath subdivision of Chamoli district in the state of Uttarakhand (formerly Uttaranchal in the state of Uttar Pradesh), India, at an altitude of between 2,100 and 7,817 meters. The valley’s major river is the Dhauliganga which flows south-southwest and has two main tributaries – the west-southwest flowing Rishiganga and the west flowing Girthiganga – with a confluence near the villages of Reni and Kailashpur. Upstream of Reni, the area is inhabited by a substantial tribal population, the Bhotiyas, with two main sub-tribes, the Marchha and Tolchha. The area falls within the buffer zone of the Nanda Devi Biosphere Reserve (NDBR). The core of the reserve is adjacent to the villages of Lata, Reni, Paing, and Tolma.
http://farbound.net/sunshine-himalayan-adventures/
This document provides an overview and introduction to developing PL/SQL program units such as procedures, functions, packages, and triggers in Oracle Database 10g. It discusses modularizing development with PL/SQL blocks and anonymous blocks. It also covers PL/SQL execution environments and development environments like iSQL*Plus and SQL*Plus. The document contains copyright information and disclaimers.
Two wheeled self balancing robot for autonomous navigationIAEME Publication
This document summarizes a research paper on the design and testing of a two-wheeled self-balancing robot capable of autonomous navigation. The robot balances using a PID control loop applied to data from an inertial measurement unit. A complementary filter fuses gyroscope and accelerometer readings to estimate the robot's tilt angle in real-time. Autonomous navigation is achieved using an ultrasonic distance sensor and image processing system to detect obstacles and determine the robot's path. The stability of the balancing system is analyzed using real-time data plotting in MATLAB, allowing tuning of the PID controller constants.
IRJET- Simultaneous Localization and Mapping for Automatic Chair Re-Arran...IRJET Journal
This document describes a simultaneous localization and mapping (SLAM) technique implemented in an automatic chair re-arrangement system. The system uses an overhead camera and image processing to track a chair's position and orientation. It determines the angle between the chair and its original location, represented by a red dot. The chair has a magnetometer to determine its heading relative to a defined north. The system calculates needed rotations and movements to maneuver the chair back to its original position when displaced. This demonstrates a SLAM solution to automate returning objects like chairs to their proper locations.
Lecture 1,2 of Motion Control Technologies.pptxAthar Baig
This document provides an overview of motion control technologies and concepts. It discusses common industrial motion applications like indexing, flying shears, and pick and place machines. It also covers motion system layouts, relationships of motion using equations, specifying feedback devices for motors, and examples of single and 1.5 axis interpolation motion profiles. Feedback device characteristics like accuracy, resolution, pulses/revolutions are explained.
Deployable low cost outdoor system - NORTHERN INDIA ENGINEERING COLLEGE NEW D...Mohit Kumar
The document proposes a design for a low-cost outdoor surveillance system using an unmanned aerial vehicle (UAV). The system would use a quadcopter mini-UAV equipped with an onboard camera and autopilot system. Video from the camera would be transmitted to a ground control station via an FM link. The ground station would process the video for viewing in real-time. Key components of the design include the quadcopter MAV for aerial surveillance, onboard hardware like the autopilot and camera, and a ground station for receiving and displaying the video feed.
AUTO LANDING PROCESS FOR AUTONOMOUS FLYING ROBOT BY USING IMAGE PROCESSING BA...csandit
In today’s technological life, everyone is quite familiar with the importance of security
measures in our lives. So in this regard, many attempts have been made by researchers and one
of them is flying robots technology. One well-known usage of flying robot, perhaps, is its
capability in security and care measurements which made this device extremely practical, not
only for its unmanned movement, but also for the unique manoeuvre during flight over the
arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The
system is based on the frequent interruptions that is sent from main microcontroller to camera
module in order to take images; these images have been distinguished by image processing
system based on edge detection, after analysing the image the system can tell whether or not to
land on the ground. This method shows better performance in terms of precision as well as
experimentally.
The document describes the design and construction of an autonomous mobile mini-sumo robot. Key components of the robot include an Arduino Uno board for control, line and distance sensors for navigation, and two DC motors powered by a motor driver shield. The robot was designed using Fritzing software and programmed using the Arduino language to follow the regulations of sumo robot competitions.
Design and Implementation of a Real Time Obstacle Avoiding Subsumption Contro...ijsrd.com
in Reactive robotic system, behaviors serves as the basic building block for robotic actions. A reactive control system tightly couples perception to action without the use of intervening abstract representations or time history. A simple wheeled vehicle is easy in mechanical design, controlling, and the construction part. But it doesn't work efficiently in all kind of surface. On a rough terrain, it performs poorly. The radius of a wheel could pass only a certain height of obstacle. To pass most of the obstacle that it meets, larger wheel radius need to be designed. In this paper the design & implementation of Subsumption based architecture, a reactive control system for real time obstacle avoidance which is compatible with low cost ultrasonic sensor, infrared sensors and fast enough to be implemented using microcontroller based development board is introduced with a legged robot.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
Abstract: An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Keywords- Autonomous control, Characteristics, Linux, Master / Slave Aerial Vehicles, NX 8.0 Nastran, Surveillance.
Design of a Low-cost Autonomous Mobile RobotWaqas Tariq
Detection of obstacles during navigation of a mobile robot is considered difficult due to varying nature in terms of size, shape and location of the obstacle as well as ambient light that interferes with infra-red (IR) signals of the robot. In this paper, we propose a novel low-cost method that successfully guides a robot along a path using image processing and IR sensor circuits. A high continuous IR signal is converted into a low continuous IR signal by means of a demodulation circuit that enables a peripheral interface controller to receive this low continuous IR signal and take relevant decisions based on the signal. The images taken from a web camera are preprocessed to remove noise and detect edges. Subsequently, an image processing routine effectively calculates the angle to be rotated of the front wheels using a scan line algorithm. A minimum mean distance error of 2.45 was observed in tracking the path at a signal-to-nose ratio of 26.50. The accuracy of speech recognition was 92% for two voice training sessions.
SIMULTANEOUS MAPPING AND NAVIGATION FOR RENDEZVOUS IN SPACE APPLICATIONS Nandakishor Jahagirdar
The project is to develop a autonomous navigation system along with mapping of the path.
A robot which senses the edges of the object in the path and move without colliding the object. This application equipped with camera as main component which captures the images and transmitted to workstation through wireless antenna.
The processing of the image is done on a workstation or computer using MATLAB-2013a. An IR ranging device, which senses any objects ahead of it and accordingly the robot change its direction to avoid any collision.
Thus we ensure that even in cases of circumstances leading to errors in the output of the image processing algorithm, a decision can be made using the input from the IR sensors.
International Journal of Computational Engineering Research (IJCER)ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
The document describes an autonomous eye-controlled wheelchair system for paralyzed persons. The system uses a webcam to capture images of the user's eye movements. MATLAB software analyzes the eye images to detect iris movement and determine the direction the wheelchair should move. An ATmega328 microcontroller receives the movement commands via an RF modem and controls the wheelchair motors. Ultrasonic sensors are also used for obstacle detection to stop the wheelchair if needed. The system allows paralyzed users to move independently through eye control of the wheelchair's direction.
Complete Coverage Navigation for Autonomous Clay Roller in Salt-Farming Appli...Norawit Nangsue`
This document summarizes a presentation about developing complete coverage navigation for an autonomous clay roller used in salt farming. It describes:
1) The basic salt farming process in Thailand and why smoothing fields is important.
2) How a clay roller is currently used manually to smooth fields.
3) The development of path planning and tracking algorithms to allow the clay roller to autonomously smooth fields with complete coverage. This includes algorithms for rear-steering bicycle kinematics, global path planning, local path tracking, and velocity control.
4) Test results showing the autonomous system achieved 97.3% coverage planning and 95.8% coverage in testing over 34 minutes.
Tri-Rotor UAV Stabilisation and ControlIRJET Journal
This document summarizes a research project on developing a tri-rotor unmanned aerial vehicle (UAV) for remote aerial surveillance. The project involves designing a tri-rotor UAV with vertical take-off and landing capability along with a control system to stabilize and direct its flight. A wireless camera attached to the UAV transmits live video to a ground station for monitoring purposes. The ground station allows an operator to view the video and generate control signals to adjust the camera position and direct the UAV's path of flight. The document describes the hardware components of the UAV and ground station as well as the communication system and flight control algorithms used to control the tri-rotor UAV.
This document describes a project using unmanned aerial vehicles (UAVs) and the concept of swarm robotics to detect landmines. The key points are:
1. UAVs equipped with sensors like metal detectors and cameras will work together to detect landmines over large areas.
2. Once detected, the locations of landmines will be mapped using high-resolution 360-degree cameras.
3. The goal is to reduce costs and risks to human lives by automating landmine detection and mapping operations. This system could save lives by eliminating dangerous manual detection methods.
The document proposes a space-based solar power system using a 15 km long satellite that focuses sunlight onto a photovoltaic array to generate 3 GW of power. The power would be transmitted to Earth via a microwave beam to a receiving "rectenna". Robots on the satellite would assemble and repair components. Economic analysis suggests generation costs could be less than 5 cents per kWh.
IRJET- Robust and Fast Detection of Moving Vechiles in Aerial Videos usin...IRJET Journal
This document discusses a method for detecting moving vehicles in aerial videos using sliding windows in MATLAB. It first performs foreground motion segmentation and trajectory accumulation to build a dynamic scene motion heat map. It then introduces a novel saliency-based background model that enhances moving objects to segment vehicles in high-heat areas. Key steps include compensating for camera motion, detecting independent motion via tracking image corners, and applying a sliding window classifier with optimized parameters like window size and orientation. Evaluation on urban videos shows the approach achieves 88% detection rates with only 2% false positives, outperforming alternative segmentation-based methods in processing time and accuracy. The goal is robust, real-time vehicle detection from aerial videos for applications like traffic monitoring.
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
Necessity of GPS-based 'Proximity Warning System' in mining industry – a tool...
IARC2016_TeamAeolus
1. Page 1 of 10
Autonomous Object Tracking and Obstacle Avoiding
Multirotor of Team Aeolus, PES University
Sovan Dasa
, Akshay Kalkunte Suresha
Department of Telecommunication Engineering
Siddharth R Na
Department of Mechanical Engineering
Anush S Kumarb
Department of Computer Science & Engineering
Pranav Singhaniaa
Department of Information Science & Engineering
a
PES Institute of Technology, Bengaluru, India
b
PES University, Bengaluru, India
ABSTRACT
This paper details the design and assembly of an autonomous micro aerial vehicle
with navigation capabilities in GPS denied environment developed by Team
Aeolus, PES University. It uses a downward facing optical flow sensor for state
estimation and computer vision using an Intel®
RealSense™ (R200) [3] camera for
localisation. It is capable of tracking and guiding multiple randomly moving ground
robots by priority assignment programming while actively making use of dynamic
path planning to avoid ground based and aerial obstacles observed by a rotating
LIDAR [10] Sensor.
1. INTRODUCTION
1.1 Problem Statement
The 7th
mission of International Aerial Robotics Challenge involves interaction of the aerial robots
with the constantly moving ground robots, navigation in futile, unsupportive environment with no
external aids or stationary point of references which is followed by the interaction of one aerial
robot with other aerial robots. In the first mission, the ground robots are to be herd towards the
green line in a 20x20m2
arena by the aerial vehicle while dodging the obstacle robots. The aerial
robot changes the direction of the ground robots by touching the tactile switch present on top of
each ground robot. When the switch is tapped once the robot turns 450
clockwise & when landed
in the front it will turn 1800
. Mission completion is achieved when at least seven ground robots
cross the green line in the given time limit. [1]
1.2 Conceptual Approach
1.2.1 Stabilize
The dynamic state of the multirotor is defined by the following parameters:
1) Individual Motor speeds
2) Attitude
2. Page 2 of 10
3) Pitch, Roll and Yaw rates.
To stabilize the multirotor, the manipulation of these parameters is imperative. PID (Proportional–
Integral–Derivative) tuning of different state affecting systems is done to stabilize the multirotor.
The on-board inertial measurement unit (IMU) and optical flow sensors provide real time
information and feedback on the state of the multirotor. The optical flow sensor provides the
position of the multirotor on the projected Cartesian plane along with the Pitch, Roll and Yaw
rates. The noise generated by the stabilizing sensors is minimized by use of an Extended Kalman
Filter [7].
Ground effect on the multirotor- As per one of the competition objective, the multirotor is required
to touch the top of the ground robots to result in different forms of movements for the ground
robot. In other words the multirotor is required to fly close to the ground. This results in the
development of a high pressure region under the multirotor that leads to wobbling. This has been
avoided by increasing the height of the landing gear attached to the multirotor.
Optical flow [2]
sensor- The X, Y distances calculated by integrating the X, Y velocities reported
by the optical flow sensor were quite different from the actual ground distance values measured.
Hence to overcome this we performed a custom calibration of the sensor, by comparing the
returned values with the actual values, and developed a mathematical corrective correlation. The
SONAR rangefinder on the optical flow also generates a lot of noise leading to numerous junk
values, in order to decrease this, an Extended Kalman Filter [7] and Histogram Filter [8] are used.
The SONAR also has a minimum height for operation, which is 30cm. In order to negate this
aspect, tall landing gears are used.
On-board IMU- The on-board accelerometer and gyros are all MEMS and these sensors are highly
susceptible to magnetic interferences. When the NUC and buzzer were in close proximity to the
board, junk values were generated by these sensors, leading to serious stability issues. To avoid
this, the NUC is mounted on a glass fibre plate and the buzzer is kept as far as possible.
1.2.2 Navigation
Navigation is performed using a vision based system comprising of Intel®
RealSense™ (R200) [3]
3D camera and PX4flow [4] optical flow camera.
The arena is navigated with the aid of computer vision algorithms in detecting visual landmarks
on the arena floor. Canny Edge Detection [5] is employed in detecting the edges and Hough
transform [6] is used to filter out only the lines corresponding to the arena grids. This allows us to
accurately pin point the quadrotor's location in the arena and allows it to interact with the ground
bots and obstacles.
1.2.3 Object Detection
Two Intel®
RealSense™ (R200) [3] cameras are mounted on the quadrotor so as to provide a FOV
(Field Of View) of the arena. By analysing the point cloud of the RealSense™ cameras, the RGB
and depth streams are correlated and the positions of all objects in the arena relative to the
quadrotor are obtained. The PX4flow [4] camera allows for optical flow calculations which are
used to perform position estimation thereby working in unison with the RealSense™ cameras.
3. Page 3 of 10
As there are multiple objects in motion all over the arena which might enter the cameras' frame of
view at any point of time, and the camera itself being in motion subjected to varying lighting
conditions, there is a need for a visual system that can learn, detect and track moving obstacles
quickly and accurately. A HOG (Histogram of Oriented Gradients) based SVM (Support Vector
Machine) is used to achieve this. The network is trained offline with positive images of the ground
bot shot at different angles, elevations and varying light conditions along with negative samples
without the ground bot. The negative samples to positive samples are in the ratio 5:1.
1.2.4 Planning
Identification of the ground bots and obstacles is of primary importance in the competition, which
is done using the on-board Intel®
RealSense™ (R200) [3] cameras and a LIDAR [10] rangefinder.
When the ground robots and obstacles are identified by the on-board image processing, their
respective distances from the multirotor are calculated. Each square on the arena serves as a
reference point. Each square has two sides which are parallel to the green line. The side closer to
the green line is chosen. Each of these sides has two edges. These edges on the square containing
the closest ground bot free from close obstacles are identified. The peripheral green line square
edges are identified. The algorithm plots straight lines between the two edges from the ground bot
square to the peripheral green line edges. In the first iteration, the on board processor uses ground
bot and obstacle distances to compute all the lines of least resistance. In the second iteration it
chooses one line out of all the lines of zero resistance which has the greatest perpendicular distance
from the closest ground bot or obstacle. The ground bot is then rotated into an orientation which
is parallel to the chosen line. By using the above algorithm, the margin for obstacle interaction
between the ground bot and multirotor is greatly reduced.
Figure 1. Path Planning
4. Page 4 of 10
1.3 System Architecture
Figure 2. System Block Diagram
1.4 Yearly Milestone
This is the first time team Aeolus is entering IARC. Based on our own understanding of the
problem statement while also taking lessons from the experience of past competitors, we have
tried to build a stable and robust multirotor with autonomous capabilities. We have been
developing the quadrotor since January, 2015.
2. AERIAL VEHICLE
2.1 Propulsion System
The multirotor used by us is a quadcopter. It consists of four brushless motors which are used to
primarily generate lift. An X configuration is used to allow for a larger FOV (Field of View for
the Multirotor). Navigator series Tiger MN4010 [9] motors are used. These are pancake motors as
they have a low aspect ratio, the motors work at high 6 cell voltages i.e. 22.2 V using very little
current since they work at high voltages. The consumption of low amount of current allows us to
reduce the battery pack weight since the charge required is low, and also for a given charge rating
of a battery these motors give higher flight times. Usage of low amount of current also leads to
minimal heat generation, which is an indication of high efficiency.
5. Page 5 of 10
Figure 3. Tiger Motors MN4010 370KV
Propellers- 15*5.5 Carbon fibre propellers are used to generate lift. Large propellers are used since
the motors running are low KV motors. Carbon fibre propellers do not undergo flexing during
rotation, hence there is minimal loss of lift. The propellers are mounted on T style mounts.
ESC- the Electronic Speed Controllers used on the multirotor are the primary controllers of motor
speed. The ESC work on the Simon K software and help generate different motor speed by an
input PWM signal. The ESC's used on the multirotor are Afro 20A ESC's. They were chosen as
they work at high voltages (6 cell- 8 cell LiPo) and have a current rating of 20A which is 5% higher
than the maximum current used by the motor at maximum throttle. This ensures that the ESC and
motor don't overheat and burn.
2.2 Guidance & Navigation
The micro aerial vehicle needs to know its target so as to plan its path.
Initially, the relative position and velocity of every ground robot that is present in the RGB and
depth frame of RealSense™with respect to the multirotor is calculated. From this information, the
relative velocity & position in the corresponding NED (North-East-Down) coordinates are
generated with respect to the quadrotor’s inertial frame and fed to the flight control unit to enable
it to follow the ground robots.
Using a feed forward neural network the bot which is moving towards the green line or the bot
which requires least manipulation to make it move towards the green line is selected.
With respective to the aerial obstructions, the rotating LIDAR [10] provides the distance of the
obstructions at a step size of 10
in all directions which is analysed to predict any collision and avoid
it.
2.3 Control
The Autonomous Multirotor consists of two main control systems:
1. Flight controller- This system is mainly responsible for the stability of the multirotor.
We use the PIXHAWK [11] as our flight controller, and the on-board gyros and
accelerometer are used to determine the attitude and automatically stabilize the
multirotor by the usage of stock system programs. It is also used to control the motion
of the multirotor by converting the input values produced by the on-board processor to
PWM values read by the Electronic Speed Controllers (ESC).
2. On-board processor- The multirotor uses the Intel®
NUC for all dynamic and static
computations. This system commands the flight controller based on the sensor data it
receives from the state determining sensors as well as the obstacle and ground robot
detection sensors and cameras. The processor communicates with the PIXHAWK [11]
6. Page 6 of 10
through commands sent through MAV protocols. These commands are compiled and
executed on a Robot Operating System and result in the movement of the multirotor.
As per section 1.2.2, 1.2.3 and 2.2 the data obtained is sent to the NUC which with the help of a
custom algorithm solves the dynamic maze which is then processed as MAVLink messages
understood by PIXHAWK [11] to manipulate multirotor movement. The response of the
PIXHAWK [11] is tuned to an acceptable level by PID tuning.
PID tuning- As mentioned earlier in section 1.2.1, it is a method used by control engineers to
manipulate the response of a closed loop control system by using a PID transfer function. PID
tuning was done on the multirotor to manipulate the response of the body to a published ROS topic
related to position and velocity generated by the bot-tracking algorithm. For doing so, the PID
gains on the three control axes must be set respectively.
This was done by running a test code which would take the multirotor to a suitable height and
perform impulsive positive and negative roll, pitch maneuvers. The response of the code for a
given roll, pitch, yaw angle was observed. When the response of the multirotor within close
tolerances of the input movements, the multirotor was said to be tuned.
For each axis maneuver, initially the P gain was increased from zero keeping I and D gains at zero.
The P gain was done up to a value, where the response was almost equal to the input angle. The
attitude of the multirotor was observed from the GCS-Q Ground Control. When the P gain was set,
the D gain was increased from zero to a point where the speed of response of the multirotor was
acceptable. It was seen to that the multirotor was neither too aggressive nor too slow in the response.
Finally I gains were set so that the steady value of the response was within close tolerances of the
input.
Figure 4. Flow of Control
2.4 Flight Termination System
The vehicle is equipped with three safety switches to terminate the flight in case of emergency.
The first one is a RC switch which kills the power supplied to the motor when appropriate PWM
is generated from the set channel from the transmitter. A PPM signal sensitive switching circuit is
used to perform the above said function. The next switch is a mechanical switch between the power
distribution board and the batteries which can be used to completely cut-off the supply to the flight.
Another pulse button switch is implemented in between the flight control board and the ESCs
which helps in killing the signal sent to the ESCs resulting in flight termination.
7. Page 7 of 10
3. PAYLOAD
3.1 Sensor on-board
LIDAR [10] – This device has a distance range of (0.2m-6m) with a distance resolution of
<0.5mm and angular range of 3600
with resolution of <10
. The sampling frequency is
>=2000Hz and the laser used has a wavelength of 785nm and 3mW power which is human-
safe.
Optical flow – Manufactured by 3DR robotics, PX4flow [4] sensor uses a camera with
focal length of 16mm to provide the flow data from which relative velocity and position of
the quadrotor in X-Y direction is estimated. It has a MAXBotix Sonar attached to it which
provides the distance of the vehicle from the ground when in the air. The sonar has a lower
range limit of 0.3m and the optical flow readings are only valid for certain maximum speeds
with respect to the ground distance, for example when flying at a height of 1m, the
horizontal velocity cannot be more than 2.4m/S so that the position can be estimated
accurately.
3D Camera – Intel®
RealSenseTM
R200 is the 3D camera which has maximum depth
perception of 4m, FOV of (770
x430
x700
) cone for RGB frame & (700
x460
x590
) cone for
depth frame and the pictures are taken at a frame rate of 60fps. It is connected to the
processing unit using USB 3.0.
3.2 Communication Systems
The micro aerial vehicle uses all low power communication systems. First, the system which
connects the on-board processing unit to ground unit is WiFi 802.11b/g/n. Second the system
which connects the flight controller unit to the ground unit is 915MHz telemetry, which uses
different bandwidths for uplink and downlink. The radio transmitter connected to flight controller
unit for manual control uses radio link over 2.4GHz with 8 channels which is demodulated by the
receiver. Flight controller unit accepts PPM (Pulse Position Modulation) hence the PWM (Pulse
Width Modulation) signals given out by the receiver is again encoded into PPM signals. The
processing unit is connected to the flight controller through USB and uses RS232 protocol hence
a USB-TTL circuit is used.
3.3 Processing Unit
This on-board processing unit on the vehicle is Intel®
NUC which takes input from the 3D camera
and LIDAR [10] connected via USB 3.0 and controls the flight controller unit. The specification
of the unit is as follows
Processor: Intel®
CoreTM
-i3-5010U CPU @ 2.10GHz x 4
Memory: 8GB RAM
Secondary Memory: 120GB SSD Hard Drive
Graphics: Intel®
HD Graphics 5500 (Broadwell GT2)
3.4 Flight Controller Unit
The 3DR PIXHAWK [11] is the multirotor flight control unit consisting of IMU and input/output
module for the multirotor. It houses 168 MHz / 252 MIPS Cortex-M4F processor running NuttX
Real-Time Operating System. Over the operating system there exists two main layers: PX4 flight
stack, an autopilot software solution and the PX4 middleware, a general robotics middleware
which can support any type of autonomous control of the multirotor. The position hold function is
8. Page 8 of 10
an application which is used in the mission with the help of an optical flow sensor. All the sensors
and processing unit communicate through I2C and serial data communication (3.3V TTL)
protocols respectively.
3.5 Power Management System
The vehicle is powered by Nano-tech Turnigy 6-cell 8000mAh LiPo. The battery is connected to
the power module which supplies power to the PIXHAWK [11] (flight controller board) & power
distribution board. The power module enables the flight controller board to monitor the current
and voltage of the battery during the flight time. All the four ESCs and a DC-DC voltage step
down circuit is connected to the power distribution board. As the supply voltage of the battery is
22.2V and the processing unit requires constant supply of only 11.1V, the DC-DC voltage step
down circuit performs this operation. The rest of the sensors and devices are powered by the
secondary supplies of the flight controller board and processing unit for e.g. USB ports. As per the
theoretical calculations with the current configuration of the battery, the vehicle can sustain a flight
time of 27minutes.
4. OPERATIONS
4.1 Machine Interface
4.1.1 Robotic Operating System (ROS) [12]
Robotic Operating System (ROS) [12] is a framework for developing robotics software. It helps
integrate sensors and their data using high level programming languages. ROS [12] is compatible
with around 2000+ software libraries and with various popular robots and sensors. In our integrated
system, ROS [12] plays a pivotal role in retrieving the data and publishing values back to
respective systems. Every ROS [12] package is considered as a node. ROS [12] nodes use a ROS
[12] client library to communicate with other nodes, they can publish or subscribe to a topic (data
stream).
MAVLink extendable communication node for ROS [12] with proxy for Ground Control Station
(MAVROS) [13] is one such package that helps communicate with PX4 for controlling the
multirotor.
Using MAVROS [13] we can subscribe to a particular sensor value (or parameters) located on
PX4. MAVROS [13] uses Micro Air Vehicle Communication Protocol (MAVLink) to
communicate with PIXHAWK [11], for example, to send commands for arming, changing
direction and so on. MAVROS [13] comes with additional packages that can communicate with
other sensors which can interface with PIXHAWK [11], like the optical flow sensor.
ROS package for RealSenseTM
camera (R200) helps us extract separate RGB and depth frames
from the cameras. From the frames obtained, further analysis and processing is done using Open
Source Computer Vision library (OpenCV).
OpenCV is a library used widely for real-time computer vision. Its enhanced multicore processing
helps us to compute faster. Its application in the competition is mainly for object tracking, edge
detection and colour detection.
9. Page 9 of 10
Using vision_opencv [14] and its subpackages namely cv_bridge which is used to brigde between
ROS messages and OpenCVand image_geometry which helps to work on the geometry of the
image.
Figure 5. ROS Image conversion
5. RISK MANAGEMENT
5.1 EMI/RCI
As discussed earlier, the multirotor has MEMS gyroscopic & magneto sensors in the IMU, they
can be affected by the DC current in the wires around them. As operations of ESCs involve very
high current, they generate enough electro-magnetic interference to misguide the sensors. The
solution to this is to keep the IMU and ESC’s wiring and also placing the ESCs in a plane
perpendicular to the IMU plane.
As mentioned earlier, in communication the radio uses 2.4GHz and the telemetry uses 915MHz
which will not interfere with each other. Also the 915MHz for telemetry is accepted in the country
where the venue is located. The processing unit is connected to the ground unit through WiFi
802.11b/g/n. Hence while setting up the WiFi 802.11b/g/n link care has to be taken as to which
channel band the communication is to be configured with so as to avoid interference from the other
local WiFi 802.11b/g/n signals. The radio communication interference is taken care of as far as
possible.
5.2 Vibration
Rotating motors are the primary source of vibration on a multirotor. When the multirotor is
modeled as a 6 DOF (Degree of Freedom) System, the system can resonate at 6 different
frequencies. The theoretical values of these frequencies are found by solving the differential
equation of motion of the multirotor using MATLAB. It is essential that the frequency of the motor
induced vibration should not be equal to any one of these six frequencies. At resonance the
multirotor shall vibrate with a theoretically infinite amplitude exhibiting different modes of
vibrations. This shall ultimately result in loss of stability of the multirotor. As an effective method
to reduce this risk of inflight resonance, the multirotor arms are made of hollow square tubes, since
they offer a higher moment of inertia and also higher rigidity when subjected to bending. Use of
10. Page 10 of 10
longer tubes reduces the frequency of vibration. These methods ensure that the frequency of
vibrations are really low and below the resonant frequencies.
The PIXHAWK [11], NUC and all sensors are mounted on foam vibration damping pads, ensuring
that the vibrations are not transmitted. Vibrations hamper the sensing, producing junk values
therefore it is imperative that the vibrations are nullified.
5.3 Propeller Safety
To protect the propeller from external bodies, the periphery of the propeller must be contained in
a ducted fan casing, which serves two purposes. Firstly, it secures and protects the propeller.
Secondly, it reduces the formation of tip vortices and thereby reducing the vortex drag and
increasing the lift.
Figure 6. Ducted Propeller
6. REFERENCES
[1] www.aerialroboticscompetition.org/rules.php
[2] en.wikipedia.org/wiki/Optical_flow
[3] www.intel.com/content/www/us/en/architecture-and-technology/realsense-overview.html
[4] https://pixhawk.org/modules/px4flow
[5] docs.opencv.org/2.4/doc/tutorials/imgproc/imgtrans/canny_ddetector/canny_detector.html
[6] http://homepages.inf.ed.ac.uk/rbf/HIPR2/hough.htm
[7] http://www.cs.unc.edu/~welch/kalman/
[8] http://liu.diva-portal.org/smash/get/diva2:360818/FULLTEXT01.pdf
[9] http://www.rctigermotor.com/html/2013/Navigator_0910/38.html
[10] http://www.robotshop.com/media/files/pdf/datasheet-rpLIDAR.pdf
[11] https://pixhawk.org
[12] wiki.ros.org
[13] wiki.ros.org/mavros
[14] wiki.ros.org/vision_opencv