Arseny DolgovNick Driver

Galina Dvorkina Kevin EberhartMatt Edwards

Johnny JannettoEric Kohut

John Shelton

Interim Review #1ASEN 4028: Senior Projects II

2/7/06Professor Dale LawrenceProfessor James Maslanik

SOARSSelf Organizing Aerial Reconnaissance System

Presentation Outline

• Resolution of Items from CDR/Final Report• Design Summary• Integration & Test Plan• Current Issues to Be Resolved• Budget Progress• Schedule Progress• Appendix

2

Resolved Issues

3

Design: Hardware & Software Interfaces

• Addressed software/hardware interfacing and definition concerns, Slave:

4

5

Design: Hardware & Software Interfaces

• Addressed software/hardware interfacing and definition concerns, Master:

5

Controls – Resolutions

• “Black Hole”/Sink behavior improvement

Before: After:

6

Controls - Resolutions• Looping Concern

7

Imaging - Resolutions• Vibration isolation

• Foam will be used to dampen vibrations• Image processing can still be used to make up the difference

• Camera choice• A trade study conducted during the Fall lead to our current imager choice

(see Appendix)

• Determination of the picture capture time• Two pictures instead of one

• Relative motion during imaging• Blur and skew are well

within tolerances as calculated last Fall

8

Design Summary

9

Design Summary• Finalized Master & Slave vehicles, component layout:

• Slave:• Miglet Ducted Fan – houses autopilot & camera• No major changes since CDR• Might need to shield camera interface, leave room in dome

• Master• No need to demonstrate deployment, so reduce payload requirements

• Payload < 5 oz for Comm. board• Piper Cub Electric ARF – manually piloted• Ease of transportation, simple to fly,

crashable• Inexpensive

10

Current Issues

11

Electronics Issues

• High-Risk Issues – Bandwidth & Noise• Need to ensure communications integrity

• Camera PIC: 115 kbps off board• Radios PIC: up to 250 kbps over PCB• PC Radio: up to 800 kbps over USB

• Resolution plans• Reduce data rate

• Radio interfaces have about 50% margin to meet requirements• Camera interface is critical – has the lowest margin

• PIC interface tests early on• Shielded wiring, minimizing cable length• Shielded connector?

• Fallback: PCB & cable enclosure – RF shield

12

Electronics Issues• Critical untested signal path: camera to Autopilot

• Autopilot itself has been tested in realistic operating conditions

13

Potential interference problems

Electronics - Current Issues• Preliminary interface tests performed

• PIC PC via Serial-to-USB cable• Reliable communications up to 800 kbps

• Zig-Bee Radio PC via Serial-to-USB cable• Reliable communications up to 250 kbps• No dropped packets in 100 kbyte test

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Ground Station Master Vehicle Slave Vehicle

800 kbps 250 kbps

Camera Module

MCU

115 kbps

Radio 1

250 kbps

MCU

Radio 2Radio 3

250 kbps800 kbps

Graphical User Interface

MCU

250 kbps

Radio 4

800 kbps

Partially Tested Components

Controls - Current Issues

• Current Tasks• Field Switching• Slave Modeling• GPS test• Simulink• Evaluate and iterate

model, controller, field switching

15

Imaging - Current Issues• Preliminary interface tests performed

• Foam mount design

• Foam glued to the airplane, with camera mounted on foam center in bracket

• Camera dome?• With the addition of the foam mount and a possible lens, the

camera may extend beneath the underside of the wing.

• Testing• Data handling• Flight

16

Integration & Test Plan

1717

Integration & Test Overview

• Integration Plan• Test List• Testing Conditions• Completed Testing• Future Testing

18

Systems Integration and ValidationIntegration and Testing Progression

Level 1: Isolated Component TestingPerformance verification of individual components

Level 2: Subsystems Integration and TestingAircraft, Control System (slave vehicle), Imaging, Communications

Level 3: Systems Integration and TestingTest systems functionality

Level 4: System Validation and VerificationValidate integrated system performance and verify mission objectives met

Subsystems IntegrationIntegrate isolated components into relevant subsystems

Systems IntegrationIntegrate individual subsystems into complete system

Integrated System ValidationValidate complete integrated system performance

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Systems Integration Flow ChartAircraft

-Slave avionics/propulsion-Slave battery discharge

-Slave stability-Master/Slave flight test

Communications-Master/slave comm. link verification-Ground station com. link verification-Verify GUI display

Autopilot-Particle vector field sim.-Simulink vector field simulation (Stryker)-Simulink vector field simulation (Miglet)-Autonomous control flight test (Miglet)

Imaging-High frequency motor vibration-Verify camera resolution-Rotational blur test-Camera data output rate-Camera JPEG compression pixel error

Autopilot-Generate target vector fields -Command of elevon servos-Instruct camera to take image-Receive image data from camera and pass to comm. link

Aircraft-Slave controllability (RC from ground)-Master flight capability with slaves-Slave deployment (simulated)

Communications-Verify air-to-air/ air-to-ground comm. links-Verify transceiver ranges-Determine bit error in data transmission -Determine data transmission times

Imaging-Take image per autopilot instruction-Compress image to JPEG-Pass image to slave transceiver

Aircraft/Comm.-Ground station to master comm. link -Master to ground station comm. -Slave to master comm. link

Aircraft/Comm./Autopilot

-GPS coordinate received by autopilot (Zigbee radio)

Aircraft/Comm./Autopilot/Imaging

-Autopilot instructs camera to capture image-Camera compresses image and passes to autopilot (RS232-to-Zig-bee) -Image relayed to master

Aircraft-3 targets imaged in under 8 -99% probability of detection

Communications-Image data received by GUI within 2 sec of time captured

Autopilot-3 target locations navigated to and over flown with 99% probability of detection

Imaging-Image 3 targets - Images have sufficient resolution that a human can discern 1 x 0.5 x 1.5m object

Time

Level 1: Component Testing

Level 2: Subsystems Integration

Level 3: Systems Integration

Level 4: System verification

2020

Major Test List• System Level

• Mission Profile• System Communications Test

• Major Component Level• Ground Station Operations Test• Slave Vehicle Operations Test• Master Vehicle Operations Test

• Subsystem Level• Ground Communications Test• Autopilot Verification• Ground Station Software Verification• Aircraft Oscillation Test

• Individual Components Level• *Battery Discharge Tests• *High Frequency Imaging Verification• Low Frequency Imaging Verification• *Autopilot Particle Simulation• GPS Positioning Verification• *Image Resolution Test• Miglet Simulink Test• Master Transceiver Tests• Slave Transceiver Tests• Camera Interface Test• Master Power Tests * Completed Testing 21

General Battery Discharge Tests

Controls Autopilot Particle Simulation GPS Positioning Verification Miglet Simulink Test

Imaging Slave Camera Interface Test Image Resolution Test

Communications Master Long-Range Radio Range Test Master Long-Range Radio BER (Bit Error Rate) Test Master Long-Range Radio Throughput Test Master Communications PCB Power Test Slave Short-Range Transceiver Range Test Slave Short-Range Transceiver BER (Bit Error Rate) Test Slave Short-Range Transceiver Throughput Test

22

Level 1: Component Testing

Level 2: Subsystems Testing

2323

Ground Station Software/Hardware Communications Verification Software displays images Software communications with transceiver and transmits commands

Master Interface to transceiver

Slave/Autopilot Verification Navigation to pre-programmed GPS coordinates Generation of target vector field Altitude hold Interface to transceiver

Ground Station Master Vehicle Slave Vehicle

800 kbps 250 kbps

Camera Module

MCU

115 kbps

Radio 1

250 kbps

MCU

Radio 2Radio 3

250 kbps800 kbps

Graphical User Interface

MCU

250 kbps

Radio 4

800 kbps

Major Subsystems

Level 3: Integrated System ValidationGround/ Master Ground station to master comm. link

Ground station sends GPS coordinate to master/ master receives GPS coordinate Master to ground station comm.

Master sends picture and telemetry data to ground station and

Master/Slave Master sends GPS coordinate and is received by slave Slave sends picture and telemetry data to master

Slave/Autopilot GPS coordinate received by autopilot (ZigBee)

Autopilot generates flight path and target vector fields Autopilot communicates with elevons and ESC to actively control slave to follow flight path

Autopilot/Camera Autopilot instructs camera to capture image Camera compresses image and passes to autopilot (RS232-to-Zig-bee) Image relayed to master

2424

Level 4: System Requirements Verification

Aircraft 3 targets imaged in under 8 minutes from acquisition of first GPS coordinate

99% probability of detection (Johnson Criteria)

Communications Image and telemetry data received by GUI within 2 sec of time captured

Autopilot 3 target locations navigated to and over flown with 99% probability of detection (Johnson Criteria)

< 15 degree heading error at time of imaging< +/- 6 m deviation from intended altitude< +/- 5 m/s derivation from intended flight speed at time of imaging

Imaging Image 3 targets each with 99% probability of detection (Johnson Criteria) Images have sufficient resolution that a human can discern 1 x 0.5 x 1.5m object

2525

Outdoor Testing Conditions• Duration

• 64-80 hours to completion• 16 hours of testing

• Locations• Table Mountain RC Field• Arvada Associated Modelers (AAM)

• Environmental Conditions• Snow Reduction• Temperatures above 0°C• Low Wind Conditions (Less than 15

mph)

AAM Site26

Critical Testing: Camera Jitter• Test performed again with the aid of low density foam for vibration

damping.• Tests with foam added show decreased blur

• 30% Reduction on “Long Grid” Axis• 60% Reduction on “Vertical Grid” Axis

• Blur will not be an issue during mission profile

No Foam Test

Foam Test – Blur Reduced

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Future Testing

Test Duration Location

Miglet Simulink Test 4 hours ITLL

Image Resolution Test 1 hour ITLL

GPS Positioning Verification 1 hour E Center

Autopilot Particle Simulation 2 hours ITLL

Low Frequency Imaging Verification 5 hours ITLL

Battery Discharge Test 1 hour ITLL

Aircraft Oscillation Test 1 hour ITLL

Ground Station Software Verification 2 hours E Center

Autopilot Verification 4 hours Arvada AssociatedModelers RC Field

Ground Communications Test 2 hours Arvada AssociatedModelers RC Field

System Communications Test 4 hours Table Mountain RC field

Mission Profile 5 hours Table Mountain RC field

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Budget Progress

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BudgetCategory Name/Item Description Unit Price ($) # Total Cost ($) Purchased # Total Price

VehiclesMaster Airframe - Piper Cub 200.00 2 400.00      

  Slave Airframe - Miglet 180.00 3 540.00 11/3/2006 2 $ 300.00

RC Equipment RC Radio (6-Ch) 180.00 1 180.00 11/3/2006 1 $ 180.00

  Micro Servo 15.00 8 120.00 11/3/2006 2 $ 159.99

  Receiver 60.00 3 180.00 11/3/2006 1 $ 60.00

  Battery 60.00 3 180.00 11/4/2006 2 $ 79.98

  Battery Charger 100.00 1 100.00 11/3/2006 2 $ 72.96

  Electronic Speed Control 40.00 2 80.00 11/3/2006 1 $ 40.00

  Motor 40.00 3 120.00      

Electronics CU Autopilot 500.00 2 1,000.00 12/10/2006 1 $ 500.00

  Microcontroller Unit 20.00 3 60.00      

  GPS Receiver 75.00 1 75.00      

  PCB Manufacturing 100.00 3 300.00      

  Misc. IC's 50.00 1 50.00      

Communications Development Kit ZigBee 220.00 1 220.00  1/5/2007  1  $ 220.00

 Development Kit Aerocomm 200.00 1 200.00    1  $ 200.00

  Comm modules 90.00 3 270.00 1/23/2007 1 $ 110.00

Imaging Camera 100.00 3 300.00 11/3/2006 1 $ 100.00

Subtotal $4,375.00 Total $ 2,022.93

Total with 25% Margin $5,468.75 Total Left $ 3,877.07 30

Schedule Progress

31

Schedule Overview

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Schedule Progress

• On-time Progress & Developments:• Camera interfacing • Vector field simulation• Transceiver testing

• Set-backs• Manual Test Flights

• Cause: Weather• Fall-back: Simulators

• Communications Development Board Procurement• Cause: Product backorder/2 week lead time• Fall-back: Continue other subsystems

• PCB Procurement• Cause: Ensuring no issues with RF interference• Fall-back: Testing software using manual wiring

33

Appendix

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Appendix: Schedule 1

35

Appendix: Schedule 2

36

Appendix: Schedule 3

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Appendix: Wiring Diagram - Master

38

Appendix: Wiring Diagram - Slave

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Critical Testing: Camera Jitter (Pre-CDR)

40

• Image blur/distortion due to engine jitter and vibrations is unpredictable and must be tested

• High-frequency (kHz range) vibrations cause CCD to move while rows of pixels are read – resulting image gets shifted between row reads

• Further testing required - attempt to damp out vibrations

Engine OFF

Engine ON, 80% Throttle Engine ON, Camera Rotated 90°

CCDScan Direction

Current Read Row

Camera Movement Direction

Blur – Shutter too slow:

Rolling Shutter Distortion:

Fast Global Shutter:

[1] Electronic Shuttering for High-Speed CMOS. - Dalsa Corp. 40

Critical Testing: Power System (Pre-CDR)• Wingless ducted fan tested at 56mph (manufacturer’s optimal speed) in

the wind tunnel to simulated actual load conditions

• Measured battery discharge voltage and current• ElectriFly: 3 Li-Polymer Cells• 11.1 Volts• 910 mAhr• Ran for 5.5 minutes

• Larger capacity battery required

41

Battery CapacityMass

(g)Volume

(mm)

ElictriFlyGPMP0815

910 mAh 79 20 x 34 x 62

Pro LiteTP20003

2000 mAh

12019 x 47.6 x

63.5

Stock Battery vs. Higher Capacity Battery

41

Critical Testing: Camera Resolution (Pre-CDR)

• JPEG compression might cause loss of effective camera resolution: must be verified experimentally

• Resolution test pattern used to verify actual resolution• Test indicates no noticeable loss in camera resolution• Camera meets design-to specification of >300 lines

42

Lines become indistinguishable at approximately 400 lines of resolution marker

42

Appendix: Camera Choice

43

Aircraft- Outstanding IssuesIssues:

• Current inability of group members to effectively pilot slave vehicle• Determination of approximate roll/pitch angles and rates at which

slave vehicle looses GPS downlink• Insufficient time and experience to build Sig. Rascal

Resolutions:• Utilize experienced RC pilot (James Mack) to assist group in piloting

slave vehicle• Visual inspection of telemetry of slave vehicle to determine maximum

allowable turning angles and rates at which GPS signal is retained• Substitute Hobby Zone Super Cub RTF for Sig Rascal

44