Project Readiness Package
- Project Name
- Autonomous Quadcopter
- Project Number
- Project Family
- P07120 Micro Air Vehicle
- Aerospace Systems and Technology
- Start Term
- End Term
- Faculty Guide
- Dr. Vincent J. Amuso (EE)
- Faculty Consultant
- Graduate Teaching Assistant
- Primary Customer
- Dr. Vincent J. Amuso (EE Dept. Head)
- Secondary Customers
- RIT Honors Program - Dr. David Mathiason, Director
- Customer contact information
- Dr. Vincent J. Amuso,
- Associate Professor and Electrical Engineering Deparment Head
The mission of this student team is to develop a modular, scalable flight vehicle that can be operated autonomously. The vehicle should be able to control its own flight based on information gathered by sensors aboard the aircraft. The vehicle should also be able to carry interchangeable payloads to meet the needs of various potential customers. The team must provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this subsystem to a level of detail that a subsequent team can build upon their work with no more than one week of background research.
|Team Member||Discipline||Role / Skills||email address|
|Vincent J. Amuso||EE||Faculty Guide, Will work closely with the team on an on-going basis to facilitate firstname.lastname@example.org|
|Jason Enslin||EE||Project Manager, Circuit Designemail@example.com|
|Richard Nichols||EE||Controls, Sensor Selection and Interfacingfirstname.lastname@example.org|
|Courtney Walsh||ME||Flight Dynamics and Propulsionemail@example.com|
|Jeff Welch||ME||Mechanical Design and Analysisfirstname.lastname@example.org|
|Glenn Kitchell||CE||GPU Programming & Interfacingemail@example.com|
Continuation, Platform, or Building Block Project Information
The mission of the Aerospace Systems and Technology Track of projects is to develop the stands, platforms, propulsion systems, vehicles, and controls to be integrated as complete aeronautical and aerospace projects for use in a variety of education, research & development, and outreach applications within and beyond the RIT KGCOE. The collection of projects should use an engineering design process to develop modules and subsystems that can be integrated by subsequent senior design teams. This project, P07122, is the first senior design project to attempt an autonomous flying vehicle. The project will serve as a platform for future teams to build upon.
The mission of each student team contributing to this track is to develop or enhance either a subsystem for the METEOR family of projects or an Air Vehicle for the Micro Air Vehicle family of projects. Teams must also provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of each subsystem and vehicle to a level of detail that a subsequent team can build upon their work with no more than one week of background research.
This roadmap will be initiated during the Fall Quarter, 2006-1, with nine related projects. Projects will have much stronger relationshps within the same family (P07100 or P07120). However, there is still expected to be significant overlap for all projects in the Aerospace Systems and Technology Track (P07100).
P07122 is a project within the Aerospace Systems and Technology Track, to develop a modular, scalable, autonomous flight vehicle. The focus of the students on this team is to design a mechanically innovative, autonomously controlled flight vehcile. The overall goal of this project is to be able to support multiple customers by designing for flexible and scalable payloads.
A number of other projects are intimately related to this project, as summarized in the list below.
|Related Project||Title||Start Term||End Term|
|P07102||METEOR Space Environment Test Stand||2006-1||2006-2|
|P07103||METEOR Instrumentation Platform||2006-1||2006-3|
|P07104||METEOR RITSAT1 Satellite||2006-1||2006-3|
|P07105||METEOR Launch Vehicle||2006-2||2006-3|
|P07106||METEOR Inertial Navigation and Guidance||2006-2||2006-3|
|P07107||METEOR Mission Control Procedures||2006-2||2006-3|
|P07108||METEOR Gliding Instrumentation Platform||2006-2||2006-3|
|P07120||Micro Air Vehicle Family||2006-1||on-going|
|P07121||Kozak MAV Project||2006-1||2006-3|
|P08140||Modular, Open Architecture Unmanned Air Vehicle Platform (UAV) Family||2006-1||on-going|
Principle Sponsor or Sponsoring Organization
This project is supported by two different organizations. The RIT Honors Program has generously awarded an Interdisciplinary Research Grant to the honors students participating in this project. The intent of the RIT Honors Program is to enrich student's academic endeavors, further their personal growth through leadership, foster a sense of unity, promote service in the community, and develop skills lasting beyond their time at RIT. The RIT Electrical Engineering department will also be sponsoring this project with the aspiration of using the autonomous flight vechile for Ground Penetrating Radar (GPR) research.
Detailed Project Description
- First Sponsor Interview
- Interviewer: Jason Enslin
- Sponsor: Dr. Vincent J. Amuso
- Date 15 September 2006, EE Conference Room
Dr. Vincent J. Amuso is a co-sponsor of senior design project P07122 as the electrical engineering department head. A one-hour interview was conducted with him on Friday, September 15 2006. Below is a transcript of the main aspects of the interview. Please note that Dr. Amuso is not a traditional customer in this case. He has agreed to sponsor a project that a senior design team presented to him. Consequently, the questions asked in this interview are adapted for his role in the project.
- Interviewer: What does the electrical engineering department hope to gain from this project?
Dr. Amuso: I would like a piece of hardware that was designed and implemented by RIT students. I would like to be able to showcase the final product at RIT functions as well as take it with me to conferences, high school visits, etc. I would also like a detailed report of the design process to serve as a model for other students.
- Interviewer: Is there a particular need that could be satisfied by the project or is there a certain function that you would like the final product to perform?
Dr. Amuso: The main thing is that I would like this project to serve as a platform for other students to build off of in the future. Also, if possible, it would be nice to have on board sensors aboard the aircraft to gather data. The project could possibly benefit my GPR work or maybe the METEOR project.
- Interviewer: Are there any time constraints that you would like the team to meet?
Dr. Amuso: I would just like it completed by graduation 2007.
- Interviewer: Are there certain checkpoints to be met during the course of the design?
Dr. Amuso: I would like bi-weekly status reports, including where you are in regards to your schedule and how much money has been spent relative to your budget.
- Interviewer: Are there any particular components/systems that you would like to see us collaborate with or integrate with?
Dr. Amuso: Other senior design students have developed the PC104 microprocessor and I would like it if you could use it as the processor in your flight vehicle. This would be a great integration between two senior design projects.
- Interviewer: Are there any intellectual property rights that the EE department will claim as a result of this project?
Dr. Amuso: No, this project will be open source. All information should be available to the public.
- Interviewer: Are there any engineering specifications that the EE department would like met?
Dr. Amuso: The flight vehicle should have a half-mile radius range and fly at a minimum of 100 feet. There should be two-way communication between the ground and the aircraft. The aircraft should be autonomous with a pre-defined flight path that can be altered by real-time measurements gathered by the platform. There should also be a retrieval system on board the platform.
End of Interview
|2||Ability to carry a picosat load||****|
|5||Establish a platform||***|
|7||Emergency retrieval system||***|
|8||Working piece of hardware for showcase||****|
|10||Integrate PC104 microprocessor||*|
|11||Two-way communication capability||***|
|12||Complete a test course with waypoints assigned by the customer||***|
Design and build a flight vehicle that can be controlled autonomously and carry a payload consisting of at least one picosatellite. This project should establish a platform that future students can build upon in subsequent quarters.
Customer and Sponsor Involvement
The team will be expected to carry out the vast majority of their interactions with the Team Guide (Dr. Amuso). Dr. Amuso will also be functioning as the sponsor and customer in this project as well, so he will be recieving scheduling and budget updates throughout Senior Design I and II as well. An undetermined faculty consultant specializing in aerodynamics or fluids from the mechanical engineering department will also be available for the team.
- The design shall comply with all applicable federal, state, and local laws and regulations. The team's design project report should include references to, and compliance with all applicable federal, state, and local laws and regulations.
- The design shall comply with all applicable RIT
Policies and Procedures. The team's design project report
should include references to, and compliance with all
applicable RIT Policies and Procedures.
- When the design is complete and flight testing is ready to be commenced, the team shall contact the RIT Risk Managment office for an assesment. The risk management office will deem an appropriate flying zone on campus, if any. Contact: Candice Fischbach, Ph:(585) 475-6135 Email: firstname.lastname@example.org
- Wherever practical, the design should follow industry standard codes and standards (e.g. Restriction of Hazardous Substances (RoHS), FCC regulations, IEEE standards, and relevant safety standards as prescribed by IEC, including IEC60601). The team's design project report should include references to, and compliance with industry codes or standards.
Project Budget and Special Procurement Processes
- This project has been allocated $1,000 from the RIT Honors Program as an Interdisciplinary research grant. The team shall document all expenses and provide the RIT Honors Program (contact: Tynell Stewart - email@example.com) with reciepts for reimbursement.
- The RIT electrical engineering department as agreed to allocate up to $1,000 for the development of this project. The team shall contact Dr. Amuso directly for their expenses if and when the primary source of funding is exhausted.
Intellectual Property Considerations
All work to be completed by students in this track is expected to be released to the public domain. Students, Faculty, Staff, and other participants in the project will be expected to release rights to their designs, documents, drawings, etc., to the public domain, so that others may freely build upon the results and findings without constraint.
Students, Faculty, and Staff associated with the project are encouraged to publish findings, data, and results openly.
The mission of this project is to successfully develop a modular, scalable, autonomous flight vehicle. The long-term goal of this project is to be able to support multiple customers by designing for flexible and scalable payloads. One application that this vehicle could be used for is to carry a bowtie antenna and perform ground penetrating radar measurements while flying autonomously.
The primary customer, Dr. Vincent J. Amuso, representing the Electrical Engineering Deparment of RIT, has expressed his technical objectives for the design project as outlined by the following engineering requirements.
|1||Performance||Ability to fly to and hover 75-125 feet off the ground|
|2||Performance||Controllable within 0.25 mi radius, max 125 ft line of sight|
|3||Performance||Communication between aircraft and ground station - 1 channel, bi-directional, 1kb/sec data rate|
|4||Performance||Flight time between 10-30 minutes|
|5||Budget||Stay within estimated budget of $2000|
|6||Budget||Use a PC104 based processor|
|7||Schedule||Bi-weekly status reports, including budget updates|
|8||Schedule||Main parts ordered/obtained by winter break|
|9||Schedule||Functional product & test flight demonstration by the end of Senior Design II|
In order to measure how well the senior design team is meeting the customer needs and requirements, the following table of engineering metrics will be used.
List of Metrics
The table below presents the metrics that will be used by the team to design against. NOTE: the "Need Nos" column refers to the Customer Needs table presented in the Customer Needs section of the PRP.
|Metric No.||Need Nos.||Metric||Importance||Units||Target Value|
|1||1,3,4,12||Track position in x,y,z||****||m||+/- 10|
|4||2,3,4,5,6||Payload capability||***||kg||min load: 1|
|5||1,4,6,7,10,12||Power supply duration||***||min||min:10 max:30|
|6||2,3,4,5,6,12||Vertical acceleration||****||m/s^2||down: 4 up: 1|
|7||1,4,7,9,11,12||Max transmitting distance||****||m||500|
Needs Related to the Metrics Using a Matrix
|Needs and Metrics||Metric 1||Metric 2||Metric 3||Metric 4||Metric 5||Metric 6||Metric 7|
- The autonomous flight vehicle shall be operated in an environment void of objects that it could have potential to damage or the potential to damage the vehicle itself.
- There shall be a remote "kill switch".
- Human safety takes precedence over all other design objectives.
- Building and facilities safety takes precedence over vehicle damage.
- A retrieval system shall be implemented.
- Adhere to the constraints determined by RIT Risk Managment
Detailed Course Deliverables
Note that this level describes an absolute level of expectation for the design itself, and for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.
See Senior Design I Course Deliverables for detail.
- The following tasks should be completed by the end of SD1:
- A basic flight dynamics characterization
- Design the control system for the autonomous flight and have preliminary testing.
- Design the flight vehicle
- The following tasks should be completed by the end of SD2:
- Deliver a functional flight vehicle that can be controlled autonomously.
Preliminary Work Breakdown
The following is a general outline of the tasks that should be completed by each discipline through the first three weeks of SD1. The student team is expected to develop their own individual work breakdown structure, consistent with the general work outline presented in the workshop series at the beginning of SD1. However, the customer requests a level of detail NO GREATER than weekly tasks to be completed by each student team member for the benefit of the other team members. The customer DOES NOT request any level of detail finer than one-week intervals, but will assist the team members if they wish to develop a finer level of detail to support their own efforts.
Week 0->1 Tasks
(8 Dec 06)
Week 1->2 Tasks
(15 Dec 06)
Week 2->3 Tasks
(22 Dec 06)
|ME Student 1||Research propeller based vehicles and determine appropriate size propeller for the engineering requirements||Research gas vs. electric motors and determine appropriate size/power required||Begin a preliminary design of propulsion system|
|ME Student 2||Research frame materials and determine weight requirements for components||Gather information on picosat load and consider parts needed for mechanical drivetrain system||Begin a preliminary design of basic frame|
|EE Student 1||Research propeller-based flight vehicle and investigate control/stability issues||Determine appropriate electrical components required for control system||Begin a prelminary design of the control system|
|EE Student 2||Research flight vehicles & wireless communication and determine options for a tracking system||Determine appropriate electrical components required for tracking/communication systems||Begin a prelminary design of the control system|
|CE Student 1||Review the literature on the PC104 Microprocessor & determine advantages/disadvantages||Become familiar with the PC104 Software||Work closely with the EE students on design of control system and advise on processor capabilities|
Grading and Assessment Scheme
Grading of students in this project will be fully consistent with grading policies established for the SD1 and SD2 courses. The following level describes an absolute level of expectation for the design itself, and for the milestones reached. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.
|Grade Level||SD1 Accomplishments||SD2 Accomplishments|
|Level D||Specifies components for frame and control systems with little design||Low-level design of flight vehicle & control system|
|Level C||Level D plus||Level D plus the vehicle will have the ability to communicate with ground station in mid-flight and carry a picosat load|
|Level B||Level C plus completed design for control and propulsion systems with an outlined test plan||Level C plus the ability to fly a test course with minimal input from ground control along with a partially scaleable design|
|Level A||Level B plus integration of control and propulsion systems with preliminary testing results and a complete test plan||Level B plus the ability to fly a test course completely autonomously along with a fully scaleable design|
|Dr. Amuso||EE||Faculty Guide/Coordinator/Mentor||Yes|
|Sr Design Lab||EE 09-3xxx||Work Space||Yes|
|Machine Shop||ME 09-xxxx||Work Space||Yes|
The team members will be expected to procure the materials needed for the project, excluding the following:
|PC104 Microprocessor software||EDGE||Microcontroller software||Yes|