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ECE 477 Final Presentation Team 9  Spring 2011

ECE 477 Final Presentation Team 9  Spring 2011. Above (Left to Right): Nick Gentry, Oliver Staton, Vineet Ahuja, and Vinayak Gokhale. Outline. Project overview Block diagram Design challenges Individual contributions Project demonstration Questions / discussion. Project Overview.

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ECE 477 Final Presentation Team 9  Spring 2011

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  1. ECE 477 Final Presentation Team 9  Spring 2011 Above (Left to Right): Nick Gentry, Oliver Staton, Vineet Ahuja, and Vinayak Gokhale

  2. Outline • Project overview • Block diagram • Design challenges • Individual contributions • Project demonstration • Questions / discussion

  3. Project Overview • Quad-rotor helicopter • Autonomously self-stabilizes • PID Control Theory • Sensor Fusion • Triple Axis Accelerometer • Triple Axis Gyroscope • Triple Axis Magnetometer • Barometric Pressure • Ultrasonic Range Finders • GPS • Communicates with ground station using XbeePro 900 wireless (6 Mile Range)

  4. Block Diagram

  5. Design Challenges • I2C Communication Protocol • Floating Point Arithmetic • Wireless Communications • PID Control Theory and Application • Huge amount of code  Debugging • High RAM usage

  6. Individual Contributions • Team Leader – Nick Gentry • Team Member 2 – VinayakGokhale • Team Member 3 – VineetAhuja • Team Member 4 – Oliver Staton

  7. Team Leader – Nick Gentry • Concept formulation • Research components and compatibility • CAD Models • Prototyping / Debugging (I2C Sensors) • Control System • System Identification • Simulations for controller verification • Implementation and debugging of PID Stability Algorithm • Ground Station / Xbee / Telemetry • Battery Monitor Debugging

  8. Member 2 – VinayakGokhale • Designed the PCB • Initial (finally scrapped) base station software and final software debugging • Basic hardware debugging • Battery monitor

  9. Member 3 – VineetAhuja • Research components, especially micro • Block diagram, schematic and PCB contribution • Interfaced with Ultrasonic sensor, Gyro, Accelerometer and Magnetometer • Code for UART communication • Contributed to Battery Monitor, Ultrasonic sensor

  10. Member 4 – Oliver Staton • Research Components and Compatibility • Initial Base Station (scrapped) • Theory of PID Optimization • Implementation and Debugging • PID Stability Algorithm • Quad Controller • Motor Mixer

  11. Project Demonstration • An ability to individually control motors via PWM - demo • An ability to receive and interpret control data - demo • An ability to interpret sensor data and send to external source - demo • An ability to autonomously hold stable attitude- demo • An ability to monitor battery level remotely - demo (Video on next slide)

  12. Project Demonstration [Cont’d] <<Optional YouTube Link>>

  13. Questions / Discussion

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