P17231: System-Level Design Review

Transcription

1 P7: System-Level Design Review Leah Bartnik Gavin Bailey Ben McFadden Ryan Moore Stephen Depot Arthur Svec Jeremy Sardella

2 Agenda Team Goals for System-Level Design Phase Functional Decomposition Benchmarking Morphological Chart Concept Development and Selection Selection Criteria Concept Selection Systems Architecture Feasibility Analysis Budget Risk Assessment Plans for Subsystem Design Phase

3 Team Goals for System-Level Design Phase Create documentation outlining our functional decomposition and risk assessment. Develop and select our project concept. Create initial system design and corresponding flowcharts.

4 Functional Decomposition 4

5 Benchmarking Flight Controller Hardware/Software Manufacturer Model Supported Software Supported Multi-Rotor Supports Autonomy Range Finder Compatibility Dimensions Weight Cost DR Pixhawk Mission Planner, open source software Quad, Hex, Octo Yes Yes 50x8.5x5.5mm 8g $99.00 DJI A UGCS Quad, Hex, Octo Yes No 54x9x4.9mm 4g (including peripherals) $59.00 ArduPilot Mega (APM).8 Mission Planner, open source software Quad, Hex, Octo Yes Yes 70.5x45..5mm 90g (including peripherals) $96.00 Range Finder Manufacturer Model Max Range Resolution Update Rate Accuracy Power Supply Voltage Outputs & Interfaces Dimensions Lightware Optoelectronics SF0-F 50m cm readings/second ±0.m Lightware Optoelectronics SF-F 0m cm 6 readings/second Lightware Optoelectronics SF0-C 00m 5cm readings/second Weight Laser Wavelength Cost 6.5V, 9V, or 5.0V ± 0.5V Serial, analog, digital 7x59x85mm 69g 850nm $49.00 ±0.m 5.0V ± 0.5V Serial, IC 0x56.6x50mm 5g 905nm $79.00 ±0.m 5.0V ± 0.5V Serial, analog 0x56.6x50mm 5g 905nm $

6 Benchmarking Data Collection Hardware Manufacturer Model Processor RAM Supported Operating Systems Power Draw GPIO Capability Peripherals Weight Cost Raspberry Pi Foundation Raspberry Pi.GHz 64-bit quad-core ARM Cortex-A5 GB Windows 0 IoT, Linux, RISC OS 5V 7 pins 4 USB, Ethernet 45g $5 Beaglebone Black GHz -bit dual-core ARM Cortex-A8 5MB Linux, RISC OS 5V 65 pins USB, Mini-USB, Ethernet 40g $45 Texas Instruments MSP40.MHz 6-bit RISC 5B N/A 0,6,4, pins N/A 8g $9.99 (w/ dev board) Imaging Sensors Manufacturer Model # Channels Weight Resolution Power Consumption Output Format Other Notes Tetracam MCA-6 Global Snap 6, including RGB 50g. MP.8W.RAW image file Video out, used by UAS lab Liteye Systems -MCT-0-4 Aquila Micro, 7.5mm IR Thermal 95g 0x40. W GoPro Hero Session RGB 75g 440p Internal Battery H64.mp4 Good RGB, but only RGB Tetracam ADC, RG and NIR 50g.MP Internal Battery.RAW image file Heavy NTSC/PAL Analog Video Good distance, very light and low power 6

7 Morphological Chart 7

8 Concept Development and Selection 8

9 Selection Criteria Bounds for flight height: 0m-0m Resolution vs. flight time: Allowing for lower resolutions increases flight time To get better resolution, flight time is sacrificed 9

10 0

11 Feasibility: Flight Area Coverage (Multispectral)

12 Feasibility: Flight Area Coverage (D)

13 Feasibility: Flight Area Coverage (Thermal Sensor)

14 User Interface Pugh Chart User Interface Selection Criteria Concept Concept Concept (-Best, -Good, -Poor) Automated Flight Manual Flight Automated Flight with Manual Override Cost Reliability Ease of Implementation Ease of Use Drone Safety Efficiency Total 4

15 Microcontroller/ Data Storage Pugh Chart Microcontroller/ Data Storage Selection Criteria Concept Concept Concept (-Best, -Good, -Poor) Raspberry Pi MSP40 Raspberry Pi & MSP40 Cost Reliability User Accessibility Ease of Implementation Storage Total 0 8 5

16 Modular Sensor Interface Pugh Chart Modular Sensor Interface Selection Criteria Concept Concept Concept (-Best, -Good, -Poor) Universal Bolt Pattern Custom Mounts for Each Sensor Hard Mount Each Sensor Cost Reliability User Accessibility Ease of Implementation Maintenance Total 8 0 6

17 Flight Controller/ Software Pugh Chart Flight Controller/ Software Selection Criteria Concept Concept Concept (-Best, -Good, -Poor) A/UGCS Pixhawk/ Mission Planner APM.8/ Mission Planner Cost User Accessibility IO Capabilities Ease of Implementation Reliability Total 8 4 7

18 Gimbal Pugh Chart Gimbal Selection Criteria Concept Concept Concept (-Best, -Good, -Poor) Carbon Fiber D Printed Plastic Aluminum Cost Reliability Weight Ease of Implementation Material Accessibility Total 9 8

19 Gimbal Concept 9

20 Preliminary Budget Component Model Price Availability Vendor Flight Controller & GPS Pixhawk 00 w/o GPS 00 with Available DR/Amazon Data Collection Controller MSP40 0 Available Amazon Range Finder SF-C (0m) 6Hz 00 Available Parallax Data Storage Raspberry Pi 50 Available Amazon Gimbal Controller Storm 40 Available Gimbal with Motors Grouse House 400 Conditionally Available Grouse House Redundant GPS Tracker Garmin/Other 80 Available Amazon Total $

21 System Block Diagram

22 Risk Assessment ID Category Risk Item Effect Cause Running over budget Inability to purchase necessary components or materials Improper assessment of necessary project components Financial Technical Technical Technical Saturation of thermal data during the daytime Useless thermal Restriction to data daytime flying Interference in Contaminated Tetracam data data by range finder Improper sync between camera capture and range finder power Inability to Lack of thermal Inability to use record thermal video proprietary video software on board the drone Likelihood Severity Importance Action to Minimize Risk Owner Take time to thoroughly research materials and parts 9 Test day versus night capture ImSci Thoroughly test range 4 finder and Tetracam together ImSci Thoroughly research 6 capabilities of onboard storage device Team Team

23 Plans for Subsystem Design Phase - Prototyping, analysis, and simulation - - Purchase Flight Controller and Range Finder for testing Construct first platform Assemble data collection system Test drone in lab Budget Bill of Materials Test plans - Thermal Camera: must get it working Controls: interfacing range finder with the rest of the system Cycling rangefinder power with Tetracam image capture sequence Fly for first time in cage Pick a flight site to collect

24 Questions? 4