Objective Planning

Objective Planning is defined as the Quadrotor is capable of locating a specified object and taking the proper action. This stage is expected to take 8 to 12 weeks.

Stage Considerations

  This stage will require more research before planning can begin. As most microcontrollers lack the computation power necessary to complete complex imaging algorithms, this will likely be done on an external ground station that uses the existing XBee communication network. A preliminary proposed system consists of a live video feed, transmitted over a separate frequency.

 The ground station would then analyze the video, looking for specific objects.

In the case of the IARC, this includes door entrances, specific patterns and a blue light source. This video system will not need to be of a high resolution until the final object is located. A low cost CMOS or CCD camera may be used for the lower resolution, and a high end HD camera for the object of interest.

Verification of Stage Completion

  The Quadrotor can be said to have achieved the third stage when it is capable of reaching the following goals.

1. Capable of locating objects of interest 

2. Capable of controlling the movement of the Quadrotor  3. Capable of relaying HD images to the ground station

I. Finances

 This section details the cost of the proposed project, broken down by stages. The majority of the costs are related to the electronic systems. The physical design of  the Quadcopter is expected to cost roughly $70, including the carbon fiber frame, center chassis, and landing gear. The motor/ESC/prop combination will be around

$25 per arm. The transmitter/receiver for manual control contributes an additional

$170 to the cost. The controller and sensors contribute the remaining amount, in excess of $500. As mentioned in the IMU discussion, the proposed IMU could be replaced by building one, reducing the price by around $275.

In all, the first two stages have an expected combined cost of no more than $1500.

 The costs of the final two stages have yet to be determined. It can be expected that if the project is to be completed in its entirety, the budget requirements would be in excess of $5000. It also would represent a significant breakthrough in aerial robotics and result in several published works.

Stage 1

Stage 1 consists of the construction of the Quadrotor, and the IMU which will be integrated into the INS. An extra motor, ESC, and battery were added to the list for spare parts. Two extra sets of blades were added because these are the most likely to need replacing. The cost listed does not included taxes or shipping and handling.

A vendor for the miscellaneous pieces of metal, that will form the center chassis, motor connectors to the arms, landing gear apparatus, and the motor thrust test-bench, has not yet been determined. This metal, likely aluminum, and additional miscellaneous parts such as screws, plastic, epoxy will likely add an additional $50 to the cost.

Item Vendor sku Price Req. Total

Spektrum Dx6i Mode 2 w/ 6200 Rx Hobbycity Online DX6i-mode2 $169.99 1 $ 169.99   TowerPro Brushless Outrunner 2410-09 Hobbycity Online TP2410-09 $6.39 5 $ 31.95 Turnigy Plush 18 amp Speed Controller Hobbycity Online TR_P18A $15.95 5 $ 79.75 Turnigy 4000mAh 3S1P 20C Hobbycity Online T4000.3S.20 $27.73 2 $ 55.46 Maxpro Battery Monitor Hobbycity Online Maxpro-3S $4.95 1 $ 4.95 Carbon Fiber Square Tube Hobbycity Online CFS-10 $4.26 5 $ 21.30 Arduino Mega Sparkfun Electronics DEV-09152 $64.95 1 $ 64.95 IMU 6 DOF v4 with Bluetooth Sparkfun Electronics SEN-08454 $449.95 1 $ 449.95 Maxbotic LV-EZ1 Sparkfun Electronics SNE-00639 $24.95 1 $ 24.95 FC22 Compression Load Cell Digi-Key.com MSP6948-ND $55.64 1 $ 55.64 Contra-Rotating Prop Set 10x4.5 Maxx Products Int EPP1045 $4.49 4 $ 17.96

Additional Material TBD TBD $50.00 1 $ 50.00

1,026.85

$ Total Price Figure 30: Stage 1 Costs

Stage 2

Stage 2 consists of adding the XBee communication system. Additional work on the chassis may be needed, though it is unlikely to be a significant factor. A conservative estimate of an additional $25 worth of materials has been added to the cost.

Item Vendor sku Price Req. Total

Xbee Pro 50mW Series 2.5 RPSMA Sparkfun Electronics WRL008768 $44.95 2 $ 89.90 Xbee Shield Empty Sparkfun Electronics DEV-09063 $24.95 1 $ 24.95 Xbee Explorer USB Sparkfun Electronics WRL-08687 $24.95 1 $ 24.95

Additional Material TBD TBD $25.00 1 $ 25.00

164.80

$ Total Price

Figure 31: Stage 2 Costs

Stage 3 and 4

  The costs of these stages have not yet been determined. Depending on the implementation used, the costs could be relatively low, or extremely expensive if  the scanning laser range finding system is used. A proposed sensor array of sonic range finders would require at least five sensors at $30 each. A scanning laser rangefinder often costs upwards of $2000. For image capture, a decent camera or camcorder system will likely cost around $300. The mobile ground station, accomplished with a laptop, would likely cost at least $1000.

II.Timeline

 This is a long-term project where each state is dependent on the success of the previous. As such, it is prone to complications and delays. This is the proposed timeline with the expectation that it will be completed before June 2010. Under the current timeline, the proposed project will take around 30 weeks, approximately two semesters. Stages 1 and 2 are expected to be completed before the end of the first semester. With proper time management, Stages 3 and 4 can be accomplished in the second semester.

Figure 32: Proposed Timeline

III.Conclusion

  The Quadrotor described in this paper represents a significant undertaking.

However, the rewards of success are great. In this proposal, several topics lend themselves to publishable work. The field of UAVs is a rapidly growing sector, especially with the military. This project hopes to continue to create advances in control theory, flight aerodynamics, sensor arrays and algorithms, and intelligent robotics while it accomplishes something that was previously thought impossible.

  This is a very ambitious project. It will require countless hours of research and work. There’s no denying that it may be beyond my abilities to complete this project. But if I decided on a project that I knew I could do, it wouldn’t have been worth the time. The goal of this project, just like the IARC, is to strive for the impossible.

IV.Works Cited

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