The Micro-CART project will develop a fully autonomous UAV for the 2007 International Aerial Robotics Competition. The industry-sponsored project is funded by a Lockheed-Martin grant. Results of the project may contribute to future industrial or government products. The project provides an opportunity for students to participate in a relatively large multi-disciplinary project and compete with design engineering teams from around the world.

MMICROICRO--CARTCART U N M A N N E D A E R I A L

V E H I C L E

Closing Summary

ONGO - 03http://seniord.ece.iastate.edu/ongo03

Estimated Cost for Spring 2007(total expenses $2,308)

300 112

356

675

535

Documentation ResearchMeetings DevelopmentAdministrative

AbstractThe Association for Unmanned Vehicle Systems International (AUVSI) holds an International Aerial Robotics Competition (IARC) every July at Ft. Benning, Georgia. Collegiate teams from around the world enter unmanned aerial vehicles (UAVs) capable of autonomous flight into this competition where specific mission objectives must be met. The goal of the Microprocessor-Controlled Aerial Robotics Team (Micro-CART) is to submit a UAV for the entry level of IARC by developing a fully-autonomous helicopter. This will showcase the role of Iowa State in the field of unmanned aerial robotics and provide valuable design experience to Micro-CART team members.

• Continued support from Iowa State University and Lockheed Martin

• Sensor system will provide all necessary flight software inputs

• Current helicopter airframe limitations (lift, weight, speed, fuel)

• Power considerations for on-board hardware

• Robust autonomous flight system modifiable for various missions

• Documentation covering all aspects of research and accomplished tasks

• Design and build a primary aerial vehicle capable of autonomous flight

• Develop an integrated system of sensors to control the aerial vehicle

• Enter entry-level IARC, Summer 2007

• Varied topography and a few man-made obstacles

• Fair weather conditions with possible light rain or wind

• Maneuver within a 430-acre area

• Micro-CART team members will use the vehicle to compete in the IARC

• Future use for researchers, industry representatives, or hobbyists

Problem Statement

Operating Environment

Intended Users and Uses

Assumptions

Limitations

Expected End Product

Client

Funding Provided By

Design Objectives• Develop an aerial vehicle to compete in entry-level IARC

Functional Requirements• Hover via autonomous flight control• Self navigation to global positioning

system (GPS) waypoints• Communication between ground station and helicopter

Design Constraints• Size and weight considerations• Cost minimization• Low power consumption• Protect electronics from environment

Measurable Milestones• Sensor implementation and testing• Autonomous flight-control software testing• Communications and ground station development• Test flights: hover, forward movement, hold position

Proposed Approach• Vehicle – X-cell #1005-1 gas helicopter• Computation – On-board controller (PC/104) to provide sensor interfaces and

processing resources for flight control software• Navigation – GPS and magnetic compass• Communication – RF Modem• Dynamics – Inertial measurement unit (IMU)• Object Detection – Sonar transducer

Technologies Considered• Software controlled basic stability• Self-navigation to GPS waypoints

Testing Considerations• Individual hardware unit testing (GPS, IMU, Compass, Sonar)• Integrated hardware unit test with flight-control• Hover, forward movement, and hold position flight tests

M i c r o p r o c e s s o r – C o n t r o l l e d A e r I a l R o b o t I c s T e a m

PC-104 Processor

Board

PC-104 Power Supply (UPS)

Board

PC-104 ISA/PCI Bus

PC

-104

Sta

ck

Processing Unit

RF Modem

Inertial Measuring Unit (IMU)

Magnetic Compass

Global Positioning

System (GPS)

Sonar Transducer

A/D Conversion Board

Son

ar A

ssem

bly

RS-232

RS-232

RS-232

RS-232

RS-232

Sensors

Communications

Battery

Flight Control Software

Sensor Data

Control Commands

Gasoline Engine

Servo Interface

Servos

Emergency Kill Switch

Human PilotRadio

Receiver (Controls)

Manual Override

RS-232

Control Input

Control Output

Transmitter/Receiver

Ground Station

Introduction Approach and Considerations

Estimated Resources

Project Schedule

Closing Summary

Project Requirements

Power and Payload SubteamPankaj MakhijaJim ChristgauBill HughesHassan Javed

Ground Station SubteamGuillermo Hernandez CprERicardo Fonseca CprE

AdvisorsDr. Gregory C. Smith EE/CprE Dr. John Lamont EE/CprE Prof. Ralph Patterson, III EE/CprE Scott Morgan (Lockheed Martin)

Team LeadersKito Berg-Taylor AeroEBryan Baumhover CprE

Controls SubteamKito Berg-TaylorBryan Baumhover Todd KreykesPriyanka Singh

Sensors SubteamAlyson YoungBai ShenMatt LichtiBret Staehling

Estimated Personnel Hours/Category(1978 Total Hours)

Primary Vehicle

EE LeaderEEEEEE Communications Coordinator

AeroE LeaderCprECprEEE

Entry level functionality

CprE LeaderCprEEEEE