UAV (Thesis Project) Power Point Presentation

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.
• The 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 Picture of 2nd Prototype
– Light lift

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

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

15. The Fourth and Final Prototype
Top: Isometric:
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. The Fourth and Final Prototype
• Specifications:
-Total Weight (with all components) = 990 Grams
(0.99 Kg)
- Acceleration at Full Power = 4.061m/s2
- 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

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.
- Vref set on 3 Volts.
- Ultrasonic sensors.
- Gyrometer.
- Accelerometer.

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

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. Ultrasonic Sensors
• Calculating Distance inside ADC:
- Distance = (Vin/Vref) X (2N);
• 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%

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.
• VAV = 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
• 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.

60. Output Message

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

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