![• 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](https://image.slidesharecdn.com/megafileuploaduavpresentation-121202145618-phpapp01/85/UAV-Presentation-103-320.jpg)
More Related Content
UAV 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 areUVs ? • What are UAVs ? • Types of UAVs – Fixed wing UAV – Helicopter UAV – Quadroter UAV
- 4. Quadrotor Advantage OverFixed- 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.
- 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 inbuilding 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 andFinal Prototype Top: Isometric: Front: Side:
- 16. The Fourth andFinal Prototype • Achievements: - Rigid and Lightweight. (43 Grams). - Great lift. - Highly reduced air resistance. Picture of Final Prototype
- 17. The Fourth andFinal 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 • DesignObjectives – Stability – Obstacle Avoidance – Determining Position – Communication
- 19. Controller Design • Toachieve these objectives we need – IMU (Inertial Measurement Unit) – 5 Ultrasonic Sensors – GPS Receiver – RF Transceiver
- 20. Controller Design • MicroControllerrequirements – 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 • Problemswith 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 • Problemswith 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 • 2communicating 3.3V Microcontrollers • Stability & Proximity sensors – IMU – 5 Ultrasonic sensors • 2 communication devices – 2.4 GHz Transceiver – GPS Receiver
- 24.
- 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 • FirstMain board – Replaced – Photo-couplers were used later on
- 27. Controller Design First Main board
- 28. Controller Design • SecondMain board – Photo-couplers were implemented – Sub-boards implemented – Interface boards – Smaller design
- 29. Controller Design SecondMain board
- 30. Controller Design • LastMain 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 LastMain board
- 32. Controller PCB Implementation Last Main board
- 33. Interface Boards • Easiererror correction. • Reduction of surface area.
- 34.
- 35.
- 36.
- 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 • Cleanthe 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 • UltrasonicSensors: - 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 • CalculatingDistance 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 WidthModulation: - Processing after Data Acquisition for scenarios. - Implementing the data acquired as output on Motors. - Frequency for Motor Output (750Hz).
- 46. PWM • How Itworks? 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 • Agreat 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.
- 50. GPS Applications • GPShas become a widely used aid to navigation worldwide. • A useful tool for – Map making. – Land surveying. – Scientific uses.
- 51. NAVSTAR Constellation • Thereis 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 • Almanaccontains orbital data • Ephemeris contains the satellites precise orbit.
- 53. Pseudorange • Estimated distancecalculated by the receiver between the satellite and receiver.
- 54. Trilateration • Pseudoranges intersect at a point. • This point is the receiver location.
- 55.
- 56.
- 57. NMEA Protocol • NMEApreferred to SiRF. • Simply works with input and output messages.
- 58.
- 59. Input Messages • Inputmessages are used for initialization. • Selected input messages were: – Set Serial Port – Query/Rate Control – Development Data On/Off • CRC required for input message.
- 60.
- 61. Output Message • Messageof choice was RMC, it contained all we needed which was: – Latitude & Longitude – Course Heading – Velocity
- 62. USART • The GPScommunicates with the PIC through USART. • Communicates at 4800 bps • Asynchronous
- 63. Validating Message • Whenthe 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.
- 70. Microcontroller Communication • SPICommunication – Master/Slave Configuration – 3 pin connection – Synchronous Serial Transmission – 8-bit at a time – Control Messages, & Sensor Values
- 72. Laipac RF • Hawthe transmitter works ? – Data input to the to the encoder. – transmitting the data
- 73. Laipac RF • Thetransmission unit
- 74. Laipac RF • Howit receives? – Data receiving – Data decoding
- 75.
- 76. Laipac RF • Conclusionafter 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 • Statesof Shock burst – Active mode – Configurations mode – Standby mode – Power down mode
- 79. RF transceiver • Configurationmode • Configuring Transmitter – Clocking data – Delay – Standby Mode
- 80. RF transceiver • Activemode • Transmitting
- 81. RF transceiver • Activemode • Receiving
- 82.
- 84. Data Acquisition • Whatis Data Acquisition? • Why?
- 85. Data Presentation • Whatis 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.
- 89. Data Presentation Platform(cont.)
- 90.
- 91.
- 92.
- 93.
- 94.
- 95.
- 96. Introduction • What isan 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.
- 99. Imaging circumstances • Typeof 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 • Acquisitionphase • Visualization phase – Estimate the degree of the color • Processing phase – Applying Median filter
- 102. Analysis phase • Makea 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.
- 106.
- 107. Screen shots • Runningmode(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 marketrestrictions 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