BlimpageGeneral-Purpose Controller

Blimpage Team:

Joseph Brannan

Philip Grippi

Daniel McCabe

Nguyen Trinh

David Wolpoff

PreliminaryDesignReview

Modular general-purpose drone controller

Navigation, collision-detection, general motor interfaces, data collection

Zero-impact on system performance Lightweight, independently powered

What is The Blimpage

Blimpage

Composed of six main modules: General-purpose microcontroller

network Motor / servo controller Position and heading monitoring Collision-detection / alarm Data collection Off-module communication

What is The Blimpage

Blimpage

Functional Block Diagram

Master (Yoda)

Carries out high level tasks Master of the I2C bus Passes data between modules. Handle user-input objectives

Collision Detection

Collision uC slave cycles through 6 channels on Mux/Demux

Vcc multiplexed to 6 peripheral IR collision sensor’s (limit power)

outputs of sensors de-multiplexed into low pass filter

Low pass filter output sampled by uC ADC10

Collision status register visible to master controller updated continuously

Collision Detection

Collision uC Slave

Collision Sensor (x6)

>--------

----------

<-------

------

>----

----------------

|

|

|

|---Vcc

||

^ || |

|

^^

|

|

-----------------------

||

-<

---

LP Filter

Mux/Demux

-<|

<--------

----

output

power

Channel select

|||

Motor Control• Motor uC receives direction instruction

from Master Controller• 4 uC outputs are optically isolated from H-

Bridges –control 2 motors’ behavior• PWM signal is optically isolated from

Servo• Two fans operate in forward or reverse• Servo controls position of fans (up or

straight)

Motor Control

Motor uC x2 H-Bridge Motor Drivers

Micro Servo

-------- -----

----------

x4 optical isolators

optical isolator

|

|

|PWM signal

-----

----------

----|||

-------------------------

||

||

<---

Position / Heading Position detection from using a Digital Compass

(HMR3100)

Position / Heading Velocity detection from using an analog

accelerometer (ADXL311)

Position / Heading Heading detection from the sampled

outputs from HMR3100 and ADXL311

-

-

Pos/Heading uC

--------------------------------------------------------------------------------------------------

I2C BUS||

||

||

Motor uC

Master uC

Communications “Standard” RS-232 serial

communication. Connects to a host utilizing a

MAX3232 interface. All necessary components are kept

with the host to reduce weight.

Communications Provides I/O pathway to host

printf()-style debug messages. Command/program input Collected data output

Potential In-flight uses Course change/correction

Data Acquisition Control sensors for collecting data

Audio or Image data Store data for later transmission or

retrieval Do nothing until a “target” waypoint Dropping eggs on Tom from 30’ IS

data acquisition.

Data Acquisition Possible data collection sources

JamCam or other RS232 enabled camera.

ISD1200 voice record chip Analog sampling to external RAM chip Mechanically actuated egg dropping

device. ;-)

Division of Labor Master / Slave system (i2c)

Dave, Dan Communication Module

Dave, Phil Motor Control, Collision Detection

Joe Position / Heading

Nguyen Data Collection Module

Phil, Dan

Division of Labor Group Tasks

Documentation

PCB Population

Systems Integration

Review and Testing

Project TimelineBlimpage

Risks and Contingencies

oMisreads from tiltingGyro-mounted POS / HEAD Sensors

o Inaccurate velocities and positionMultiple systems

oCannot function on a Blimp (lift, motor control, etc.)

Alternative Blimp designsModularity allows for control of R/C car, etc.

Blimpage ANY QUESTIONS??