CHIMERA. Spring Final Review. CHIld drone deployment MEchanism and Retrieval Apparatus

Transcription

1 CHIMERA CHIld drone deployment MEchanism and Retrieval Apparats Spring Final Review Team: Adam St. Amand, Christopher Chamberlain, Griffin Esposito, Shannon Floyd, Jstice Mack, Azalee Rafii, Christopher Row, Mitchell Smith, Amanda Trk, Alexander Walker Cstomer: Barbara Streiffert, Jet Proplsion Laboratory Advisor: Jelliffe Jackson

2 Agenda Prpose and Objectives Atonomos Landing Design Description Test Test Reslts Secring Design Description Atomatic Charging Design Description Test Test Reslts Systems Engineering Management Test Test Reslts Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 2

3 Prpose and Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 3

4 Mission Statement Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 4

5 Mission Objectives Contribte to the overall Fire Tracker mission by designing and bilding a child drone platform capable of integration with a ftre mother rover. Modify the child drone sing hardware and software to atonomosly land on the platform. Design a platform capable of secring and charging the child drone after atonomos landing. Design a commnication system that facilitates transfer of commands and data between the child drone, platform, and grond station, will be discssed within other project elements. Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 5

6 Inherited INFERNO INtegrated Flight Enabled Rover for Natral disaster Observation JPL sponsored senior design project Semi-atonomos drone capable of delivering temperatre-sensing package to wildfire area of interest CHIMERA will tilize existing INFERNO hardware Nominal mission time 12.5 mintes Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 6

7 7 CHIMERA System CONOPS Release Child Drone Operator Command Deploy Child Drone Atomated Child Drone Mission (12.5 Mintes) Land Child Drone Atomated Secre Child Drone Operator Command Recharge Child Drone Operator Command End CHIMERA Mission Grond Station

8 Critical Elements Atonomos Landing of Child Drone Implements image recognition software for command and control of child drone to land on platform Challenge: Presents a difficlt software challenge, high risk of child drone damage Secring of Child Drone Platform shall captre the child drone and restrict movement over rogh terrain Challenge: Complex mechanical hardware reqiring precision machining Atomatic Child Drone Recharging Utilizes condctive contacts to transfer power from platform battery bank to child drone for extended mission dration Challenge: Complex circitry, open copper presents risk to team members and eqipment Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 8

9 Fnctional Block Diagram: System Level Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 9

10 Atonomos Landing System Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 10

11 Landing Sbsystem CONOPS Grond Station initiates Land seqence drone Retrns to home sing GPS (5 meter error) Image Recognition locks on Platform Algorithm Commands Flight Controller If child drone is within decent threshold, it descends If not, child drone re-centers At 1 meter, child drone switches to small markers Same descent threshold At 32 cm, drone switches to land mode and lands If lock is lost, child drone exectes sqare search pattern 10 meters 1 meter 32 cm *Not to scale Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 11

12 Image Recognition Objective: Transform an image into a velocity vector and yaw rotation that can be sed to navigate the child drone to a landing platform Atonomos Landing Image Recognition Soltion: Robst lighting variation immnity, i.e. does not get washed ot in snlight Nmeros pattern combinations Lock only reqires one target Landing Platform with AR Tags Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 12

13 System Design Atonomos Landing Attribte Vale Raspberry Pi Camera Board Modle.98 in. Camera Resoltion Camera Field of View Mass Added to Child Drone - 5 Megapixels x1944 pixels - Horizontal: 53.5 o - Vertical: 41.4 o Raspberry Pi: 45 g Camera: 3 g Xbee: 6 g 3.41 in. XBee Pro Wire Antenna - Series GHz 2.31 in. Raspberry Pi 2 Model B.96 in. Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 13

14 Atonomos Landing - Software START Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 14

15 Atonomos Landing Sbsystem Image Recognition System with AR Tags Attribte Refresh Rate Command Rate Inpts Vale 5-8 FPS Hz AR Tag Dimensions Otpts - Velocity Command - Yaw Command Image recognition camera Image recognition Raspberry Pi Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 15

16 Atonomos Landing Sbsystem Test Prpose: Determine the sccess of the atonomos landing sbsystem Reqirement Verified Description FR 1.0 Atonomosly land on platform DR 1.1 DR 1.2 DR 1.3 DR 1.4 DR 1.5 DR 1.6 Land sing an image recognition system Platform landing area of 0.8 m by 0.8 m Platform commnicates with child drone Grond station receives video from child drone Child drone sends telemetry to the platform Child drone receives commands from the platform Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 16

17 Atonomos Landing Test Reslts Nmber of trials completed: 10 Nmber of sccessfl landings: 2 Mean distance from center: 15.9 cm Nmber of indeterminate trials: 8 De to pilot take over Ftre Work: Additional trials to increase confidence levels Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 17

18 Flight Simlator Simlated Flight Path: IRS Error Incorporated Assmptions: Simlator estimates for error: In Image Recognition De to environmental conditions Assmes Image Rec always has lock Path IRS Otpt Start End Differences from Physical System: Control à How it affects dynamics not exact Throttle to thrst that the motors and propellers spply Second order fit to online data tables Flight software logic not flly captred in simlator Hyperbolic descent threshold Sqare search algorithm when loss of lock Distance Z (meters) Distance Y (meters) Distance X (meters) 18

19 IRS Estimated Error +/- 10 cm in horizontal plane e = meters σ = meters Sccess Rate = 96% Monte Carlo Simlation 100 Landing simlations rn for each case IRS Estimated Error +/- 25 cm in horizontal plane e = meters σ = meters Sccess Rate = 46% 19

20 Levels of Sccess Atonomos Landing Level 1 Command child drone with onboard Raspberry Pi Ftre Work: Condct more trials in order to qantify confidence of atonomos landing system Level 2 Atonomosly lands on platform in incorrect orientation Legend Level 3 Atonomosly lands on platform Fll Sccess Partial Sccess Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 20

21 Secring System Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 21

22 Secring Sbsystem CONOPS Step 1: Landing is verified Step 2: Operator sends command to begin secrement Step 3: Platform PCB provides power to DC motor and C- channels psh drone to center Step 4: C-channel reorient drone to correct for yaw error Step 5: C-channels trigger limit switch and power to motor is ct Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 22

23 Secring Sbsystem Objective Secring System Objective: To spport and secre the Child Drone throgh defined tilt, shock, and vibration environments. Soltion: 91cm x 91cm Alminm platform with strctral spports 80cm x 80cm available landing area DC motor to drive a ball screw secring system Retractable Alminm c-channels with rbber grips to prevent Child Drone movement in all axes Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 23

24 Secring Sbsystem Design Rbber grips Child Drone Landing Gear Linear bearing C-channel Attribte Vale Limit switches Size of platform 91.44cm x 91.44cm x 23.70cm Added mass to Child Drone 239 g Time to Secre ~ 1 minte Maximm tested tilt angle 90 Drive gears Ball screw nt Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 24

25 System Design Secring x2.5 speed Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 25

26 Changes Since TRR Changes made for safety Powder coated brackets connecting C-channel to ball screw system Delrin spacers added between bearing bracket and C-channel Nylon fasteners and washers add PVC gard added to C-channel Grip tape added to C-channel to aid in child drone secrement Delrin Spacer Grip Tape PVC Gards Powder Coated Brackets Nylon Fasteners Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 26

27 Reqirement Verified FR 3.0 DR 3.1 DR 3.3 DR 3.4 DR 3.5 FR 5.0 Secring Sbsystem Test Prpose: Ensre drone stays secred to platform over rogh terrain specified in reqirements Description Platform secres the child drone Platform secres child drone nder rogh terrain specified in sample environment Platform secres the child drone pon command Platform releases the child drone pon command Platform secres the child drone at an angle of 3.5 degrees The platform shall commnicate with the grond station at 500 m distance y-axis z-axis x-axis Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 27

28 Secring Test Reslts Tilt Testing Shock Testing Vibration Testing Reqirement: 3.5 Degrees Test: 50 Degrees Confidence: 99% Test: 6.3g Confidence: 99% Test: 3.5g Confidence: 99% Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 28

29 Secring Test Reslts Shock Testing Reqirements: Secre over rogh terrain sample environment Reslts: Withstand shock load of 6.3 g Rogh Terrain: Drop off 3 inch ledge, packed dirt and ½ inch gravel Vibration Testing Reqirements: Secre over rogh terrain sample environment Reslts: Withstand sstained vibration load of 3.5 g Rogh Terrain: Cobblestone Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 29

30 Levels of Sccess Secring Level 1 Level 2 Level 3 Restricts child drone movement and does not allow tipping Secres child drone in sample rogh terrain environment Secring system works at a distance of 500m (Commnication link strong at 100 m, partial connection at 200 m.) Ftre Work: Will raise antenna in order to determine if grond interference cased interconnectivity Install a higher gain antenna on grond station and platform(next Year) Legend Fll Sccess Partial Sccess Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 30

31 Atomatic Charging System Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 31

32 Atomatic Recharging CONOPS Step 1: Secrement is verified Drone Battery Step 2: Operator command sent to being charging Step 3: Platform PCB enables charging of C- channel Operator Sends Command Drone PCB Step 4: Drone PCB reglates power to drone battery Platform PCB Platform Battery Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 32

33 Child Drone Recharging Recharge System Objective: To provide additional power to the Child Drone battery after landing, creating the opportnity for mltiple flights. Soltion: Cstom child drone PCB Battery manager Balancing port Cstom platform PCB Battery manager 3D printed brackets with contact points on the child drone s landing gear Retractable copper plates on the platform which tilize the secring system Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 33

34 Atomatic Recharging Design Attribte Vale Attribte Vale Drone LiPo 4s1p 10 AH 1C Charging Levels 26 mv 215 ma Drone Battery Manager Platform LiPo BQ40Z60 6s1p 10AH 1C Added Mass to Child Drone 239 g Platform Battery Manager BQ78350 Electrical Attribtes Otpt Commands Physical Attribtes Amperage, Time Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 34

35 Atomatic Charging Test Step 1: Secre child drone Step 2: Command atomatic recharging from platform Step 3: Monitor child drone battery health and stats Step 4: Command off atomatic charging Child drone battery and PCB manager Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 35

36 Atomatic Charging Test Reslts Charging: No Applied Load Constant Crrent: ~215 ma Voltage Increase: 26 mv Time: ~ 40 min All reqirements satisfied Legend: Crrent Voltage Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 36

37 Levels of Sccess Atomatic Recharging Level 1 Level 2 Cstom PCB components and safety featres work Can charge LiPo with LiPo otside physical interfaces Ftre Work: Will raise antenna in order to determine if grond interference cased interconnectivity Install a higher gain antenna on grond station and platform(next Year) Legend Level 3 Fll recharging system sccessfl (Transferred power to drone) Fll Sccess Partial Sccess Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 37

38 Systems Engineering Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 38

39 Systems Engineering V Concept Exploration Operations and Maintenance CONOPS System Reqirements High-Level Design System Validation Plan System Verification Plan (System Acceptance) Sbsystem Verification Plan (Sbsystem Acceptance) System Validation System Verification & Deployment Sbsystem Verification Detailed Design Unit/Device Test Plan Unit/Device Testing Software/Hardware Development Field Installation Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 39

40 Planning Concept Exploration CONOPS System Reqirements High-Level Design Detailed Design CONOPS critical to project definition Clear Scope Reqirements Development Design choices Trade spaces Derived reqirements Challenges Defining project scope Writing verifiable reqirements Lessons Learned Time, money and personnel planning Scope Management Stakeholder inpt and concrrence Design Description Test Test Reslts Systems Engineering Management 40

41 Implementation Software/ Hardware Development Manfactring Verifying sbsystem fnctionality Integration Challenges Software Testing Weather, Team member availability Pixhawk Control Crashes, RPi commnicating with Pixhawk Hardware breaking PCB components breaking Lessons Learned Have spares ordered ahead of time Unit/Device Testing Software/Hardware Development Field Installation System Validation System Verification & Deployment Sbsystem Verification Operations and Maintenance Design Description Test Test Reslts Systems Engineering Management 41

42 Risk Analysis Severity Risk Description Soltion 5 4 (18) (2) (9,12) (6,15) (3,8,19) (5,10,20,21) 3 4 (1) (4,16,22) Child drone loses lock on platform Piloting error reslting in drone damage Search pattern/vibration isolators Static testing and order replacements Manfactring Electrically isolate errors in child drone charge bars charge bars 2 15, 20, 23,24 (17,24) (14) 5, 10, 21, , 14 6, 17 (11) (13) 8, 16 3, 9, 11, 12, 19 (7,23) 1, 2, 7, Platform doesn t fit in CNC machine Commnication failre Inclement weather dring testing Ct into 4 pieces Decrease distance Mltiple test windows Design Description Test Test Reslts Systems Engineering Management 42

43 Management Design Description Test Test Reslts Systems Engineering Management 43

44 Management Approach Management Approach Three sb teams: Management Electrical & Software Mechanical Weekly Stats Meetings Allocate work Tracking deadlines Individal responsibility Taking ownership Design Description Test Test Reslts Systems Engineering Management 44

45 Management Sccess and Challenges Sccess Challenges Finished work early to allow for PAB edits Met all class deliverable deadlines Start early Had fn along the way Enjoy the jorney Coordinating efforts across a team for large deliverables Agreeing on path forward Mltiple soltion options Was a long ardos year Design Description Test Test Reslts Systems Engineering Management 45

46 Lessons Learned Atonomos Landing Necessary to have mltiple testing days Weather Dead batteries Software glitches Atomatic Recharging Order spare parts from the start Acqire PAB help Secring Understand tolerances Ordering vs. Making tradeoff Design Description Test Test Reslts Systems Engineering Management 46

47 Bdget Comparison CHANGES FROM TRR - EEF fnding reqest accepted - Did not need additional PCB revisions - Unexpected costs incrred dring charging bar integration - $90 remaining for child drone spare parts Design Description Test Test Reslts Systems Engineering Management 47

48 Indstry Cost of Item Hors Rate Total Cost Engineering Work $ 31.25/hor $ 147, Materials $ 5, $ 5, Table Montain Flight Space Access $ 5, for 1 year $ 5, Drone Pilot 50 $ 40.00/hor $ 2, Sbtotal $ 159, Overhead 200% of sbtotal $ 318, Total Cost $ 478, Design Description Test Test Reslts Systems Engineering Management 48

49 Conclsion Fll sccess for atonomos landing Partial sccess for secring Fll sccess for atomatic recharging Ftre work: Additional trials for atonomos landing Grond station to platform commnication link improvement 49

50 REFERENCES First semester content. INFERNO Archive 50

51 Backp Slides - Sbsystems 51

52 Decomposition and Definition Concept Exploration CONOPS System Reqirements High-Level Design Lessons Learned Manage team, cstomer and faclty expectations (watch for scope creep) Reqirements flow from established CONOPS Clear project definition Detailed Design Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 52

53 Decomposition and Definition Concept Exploration CONOPS System Reqirements High-Level Design Detailed Design System Reqirements Development: Atomatic charging expectations Operational Environments established constraints defined based pon previos year s project and this year s primary objectives Secring definitions: What defines a secred child drone? Challenges: Managing cstomer/pab expectations and Scope Writing verifiable reqirements that gide project development Writing reqirements that don t restrict the design space Lessons Learned: Expect to make mltiple revisions of the reqirements Use the CONOPS to define what the project MUST accomplish and write reqirements based on these tasks Don t write reqirements that constrain design or add complexity Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 53

54 Decomposition and Definition Concept Exploration CONOPS System Reqirements High-Level Design Key Trade Stdies: Atonomos Landing: 1) Sonar Highly complex, intensive algorithm development, qestionable reliability 2) Image Recognition Affordable, reliable, complex control problem, IR software available 3) Differential GPS Poor accracy, nreliable in remote coverage areas, simple to execte 4) Lidar Complex for object detection, expensive, time-intensive image processing reqired Ato Charging: 1) Condctive Inexpensive, needs high landing accracy, hardware easily monted 2) Electromagnetic Indction Expensive, cmbersome, inefficient High-Level Design Detailed Design Challenges: Minimize added weight to INFERNO IR pattern wash-ot in snlight LiPo to LiPo Battery Charging Interfacing with the Pixhawk Lessons Learned: Don t over-design and create nnecessary additional work Manage team and cstomer expectations, especially when they conflict Choose design soltions that allow for bdget and time constraints Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 54

55 Software/Hardware Development System Development: Clear commnication between sb-system teams is a mst Well-developed integration plan is helpfl to ensre component manfactring is completed on schedle Schedle margin allows for last-minte hardware modifications (charging bar copper trimming and nylon bolt install) Challenges: Pixhawk/Rasp. Pi Commnication PCB testing with LiPo transient effects/nknown risks Unexpected INFERNO flight anomalies (eg: GPS isses indoors, drift) Safely testing with LiPo batteries Charging hardware continity isses Ball-screw system binding Lessons Learned: Tethered/static test flights are a good idea when testing new software Ample time margin is key dring testing of hardware and software Bdget extra fnds for spare parts development can be (nintentionally) destrctive Check twice, gle ONCE! System Verification & Deployment Sbsystem Verification Unit/Device Testing Operations and Maintenance System Validation Software/Hardware Development Field Installation Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 55

56 Integration and Recomposition Unit/Device Testing: Flight testing IRS Software IRS/Rasp. Pi Commnication Pixhawk Commanding Whole landing seqence Charging Battery managers PCB fnctionality (individal) Secring Motor fnctionality Ball-screw system PCB integration Limit switches Commnication Xbee short-range testing Xbee long-range testing Challenges: Fried PCB components when LiPos were attached GPS/Compass calibration errors dring flight testing Ball-screw binding dring secring Xbee antenna isses over desired range Lessons Learned: Bdget for spare parts Bdget extra time to trobleshoot nexpected isses Develop a well-formlated test plan to maximize team and hardware resorces Docment all nit tests thoroghly for ftre reference Sbsystem Verification Unit/Device Testing Software/Hardware Development Field Installation System Validation System Verification & Deployment Operations and Maintenance Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 56

57 Integration and Recomposition Sbsystem & System Verification: Verified secring system fnctionality Verified Commnication fnctionality at short range distances Verified atonomos landing fnctionality pon command from grond station Verified charging system can charge the CDS LiPo battery pon command Challenges: Long-range Xbee commanding of the platform secring system over 200m Loss of lock on AR tag pattern at abot 12 in (?) above platform srface Slgging command rates to the Pixhawk from IR software Lessons Learned: Efficient team resorce management prevents wasted time in the lab Develop test plan with contingency and margin to accont for nforeseen isses System Verification & Deployment Sbsystem Verification Unit/Device Testing Software/Hardware Development Field Installation Operations and Maintenance System Validation Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 57

58 Integration and Recomposition Fll System Validation: Atonomos landing completed Command sent from grond station from 500m INFERNO landed on platform Secring system Secred INFERNO nder defined environmental conditions Secred pon command from 200m Charging system Charged INFERNO LiPo pon command All platform charging circitry performed as expected Commnication system Telemetry received at 500m distance Difficlties with commanding from 500m Risk Mitigated Occrred System Verification & Deployment Sbsystem Verification Unit/Device Testing Software/Hardware Development Field Installation Operations and Maintenance System Validation Atonomos Landing Secring Atomatic Recharging Systems Engineering Management 58

59 Secring Sbsystem Flowchart Design Description Test Test Reslts Systems Engineering Management 59

60 Backp Slides Flight Simlator Backp 60

61 Flight Simlator - Model Cascading control system To emlate Pixhawk Flly configrable gains Utilizes Simscape Mltibody Simlink add-in Provided kinetics, calclates kinematics Import Solidworks model of INFERNO for mass and inertia properties 61

62 BACK UP SLIDES SUBSYSTEM TESTS 62

63 Landing Sbsystem Test - Motivation Reqirements Verified: FR 1.0, DR 1.1, DR 1.2, DR 1.3, DR 1.4 DR 1.5, DR 1.6 Eqipment Needed: Platform, Child Drone, Grond Station Measring Tape, Protractor Facilities: Soth Camps Risks Redced With Testing: 8, 9, 10, 11, 12 Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 63

64 Landing Sbsystem Test - Procedres Nmber of Trials: 20 Procedre: Grond Station initiates Land seqence drone Retrns to home sing GPS Image Recognition locks on Platform Algorithm Commands Flight Controller Flight Controller Commands Child Drone to land Measrements Taken: Distance From Center of Platform Yaw Angle Related Models: Flight Simlator *Not to scale Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 64

65 Charging Sbsystem Test - Motivation Reqirements Verified: FR 2.0, DR 2.1, DR 2.1.1, DR 2.2, DR 2.3 Motivation: Fll Sb-system test to verify that atonomos charging can be completed pon command with LiPos in the loop Component testing in progress Eqipment: All CHIMERA platform and charging hardware INFERNO Analog Grond station compter Fire Extingisher/Ammo Can Facilities: Electronics Lab Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 65

66 Charging Sbsystem Test - Procedres 7 Trials Procedre: Connect all charging circitry Connect analog evalation modle to record voltage and crrent levels throghot the circit Send command to begin charging seqence to Platform Pi Confirm that voltage on CDS LiPo has increased and then terminate test Measrements Taken: Voltage and Crrent Expect to see the CDS battery voltage increase by incremental amont and platform LiPo decrease in voltage e - e - Platform LiPo INFERNO LiPo Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 66

67 Bdget Back Up 67

68 COM Sbsystem Test - Motivation Reqirements Verified: FR 4.0, DR 4.1, DR FR 5.0, DR 5.1, DR 5.1.1, DR Eqipment Needed: 3 Xbee Antennas Crazy Crosshair Antennas MapMyWalk App to measre distance Facilities: Soth Camps Risks Redced With Testing: 20 Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 68

69 COM Sbsystem Test - Procedres Nmber of Trials Procedre: Send data between components at 700 m Related Models: Link Bdget What do we Expect? The antennas are rated for these distances, so we expect the antennas to send and receive the information Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 69

70 Secring Sbsystem - Motivation Reqirements Verified: FR 3.0, DR 3.1, DR 3.3, DR 3.4 Eqipment: Accelerometer Iphone 6+ VibeSensor Application Hard Rbber Castor Wheel Cart Platform with INFERNO monted Facilities: Engineering Center: Cobblestone and Cortyard Risks Redced With Testing: 13, 14, 15, 16 Hard Rbber Castor Wheels Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 70

71 Secring Sbsystem - Procedres Nmber of Trials: Min. 4 Procedre: Install accelerometer onto cart Install Platform onto cart Secre INFERNO on Platform Traverse rogh terrain corse Measrements Taken: PSD, tilt angle, vibration g level Related Models: Bracket Analysis Expect: Visal Confirmation Shock Event Cortyard Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 71

72 Platform Tilt - Motivation Reqirements Verified: FR 3.0, DR 3.5 Eqipment: Accelerometer Iphone 6+ VibeSensor Application Platform secring INFERNO Facilities: Engineering Center Cortyard Risks Redced With Testing: 13, 14, 15, 16 α Test Plan Created Test Schedled Test Condcted Test Analyzed 72

73 Nmber of Trials: Min. 4 Platform Tilt - Procedres Procedre: Install accelerometer onto cart Install Platform onto cart Secre INFERNO on Platform Traverse rogh terrain corse Measrements Taken: Tilt angle α Related Models: Bracket Analysis Expect: Visal Confirmation Test Plan Created Test Schedled Test Condcted Test Analyzed 73

74 PCB Safety Verification - Motivation Reqirements Verified: DR 2.2.1, DR Motivation: Test PCB Safety Featres Eqipment: CDS and Platform PCBs Power spply, Mltimeter, Variable Load Resistor, Analog Evalation Modle Facilities: Electronics Lab Risks Redced With Testing: Damage to INFERNO/Eqipment Electrical Fires Shock hazards of eqipment or team members Brn hazards/chemical Fires/LiPo combstion Test Setp Platform PCB Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 74

75 PCB Safety Verification - Procedres 9 Trials Procedre: Under-Voltage: Static load of 100 Ohms. Initial voltage of 25 V. Cell nder-volt set point: 19.2V (3.2V/cell) Over-Crrent: Initial Voltage: 20V, Amp limit: 1 A, decreased load resistance ntil crrent achieved 1A limit Over-Temperatre: Heat gn aimed at thermistor. Over-tem limit: 140F (60C) 2 Measrements Taken: V 1, A 1, T 1 Related Models:???? Reslts: Battery manager broke the circit when preprogrammed limits were achieved. T 1 Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 75

76 CDS PCB Charging Test - Motivation Reqirements Verified: FR 2.0, DR 2.1, DR 2.1.1, DR 2.2, DR 2.3 Motivation: Test charging fnctionality of CDS PCB and reprodce expected charging profile (see figre) Eqipment: CDS PCB 2 Power spplies, Analog evalation modle Mltimeter, Desktop compter Facilities: Electronics Lab Risks Redced With Testing: Charging circitry malfnctions Characterizes charging capabilities to prevent eqipment damage Demonstrates charging profile to redce fire risks Expected Charge Profile Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 76

77 CDS PCB Charging Test - Procedres 10 Trials Procedre: Connect CDS PCB to two power spplies Power Spply 1 (Simlated CDS LiPo) Power Spply 2 (Simlated Platform LiPo) Increase voltage on PS 1 incrementally p to max voltage of battery (16.8V) 1 2 Observe crrent redction on PS 2 as max voltage on PS 1 is achieved Measrements Taken: 1 CDS Battery Manager 2 V 1, A 1, V 2, A 2, Charge Profile Related Models:??? Expect to see charge profile described in previos slide as voltage is increased on PS 1 Test Plan Created Test Schedled Test Condcted Test Analyzed Schedle Bdget Testing Conclsion 77

78 Charging Backp 78

79 Charging Backp 79

80 Charging Backp 80

81 Charging Backp 81

82 Charging Backp 82

83 Charging Backp 83

84 Atomatic Charging Test Reslts Charging: Applied Load Applied Loads: Pixhawk and Rasp. Pi Charging not crrently possible with Pi and Pixhawk powered Once a load is applied, crrent is drawn from child drone battery preventing charging Not a reqirement to charge child drone battery while drone is powered 84

85 Image Recognition Errors GPS error +/- 5 m No knowledge of platform location Image Recognition Algorithm Error difficlt to characterize Loses data when platform is ot of sight of the camera Why compare sensors? While the GPS has known errors, it is the best way to safely validate the image recognition algorithm. 85

86 Reqirements Backp 86

87 Fnctional Reqirements Fnctional Reqirement FR 1.0 FR 2.0 FR 3.0 FR 4.0 FR 5.0 Description The child drone shall atonomosly land on the platform pon command in the environment specified by ENVI.1.2. The platform shall charge the child drone. The platform shall secre the child drone by preventing motion according to CONST 1.1 and ENVI 1.1 The grond station shall commnicate with the sensor package according to ENVI1.5 and CONST1.3.3 The platform shall commnicate with the grond station according to ENVI1.5 and CONST

88 FR 1.0 FR 1.0 The child drone shall atonomosly land on the platform pon command in the environment specified by ENVI.1.2. Motivation: Cstomer Reqirement Verification: Flight test DR 1.1 The child drone shall atonomosly land sing an image recognition system Motivation: Trade stdy reslt Verification: Demonstration DR The child drone shall have a camera with a minimm resoltion of 5 MP Motivation: IRS system reqirements to achieve specified landing accracy Verification: Visal Inspection DR The camera shall not interfere with the deployment of the sensor package DR The camera shall have a minimm field of view of 41 degrees DR The platform shall have a pattern with maximm dimensions of 0.8 m by 0.8 m DR The image recognition system shall land the child drone on the platform from a maximm horizontal distance of 5 m from the geometric center of the platform DR The child drone shall have a maximm descent rate of 1 m/s DR The image recognition system shall send position commands to the child drone flight controller at a minimm rate of 2 Hz 88

89 FR 1.0 DR The platform shall commnicate with the child drone according to CONST1.3.1 and ENVI1.5 Motivation: Commnication system mst be in place to send/receive commands and data Verification: Demonstration DR The platform shall wirelessly send commands to the child drone DR The platform shall wirelessly receive data from the child drone DR The child drone shall wirelessly transmit video at 720p and 30fps to the grond station according to CONS1.3.1 and ENVI1.5 Motivation: Inherited capability to be incorporated in CHIMERA design Verification: Test DR The child drone shall have a transmitter capable of transmitting 600 mw of power DR 1.4 The child drone shall wirelessly transmit telemetry to platform DR 1.5 The child drone shall wirelessly receive commands from the platform DR The child drone shall have a receiver gain of 2.1 db 89

90 FR 2.0 FR The platform shall charge the child drone. Motivation: Enable ftre capability to re-deploy the child drone Verification: Test and Demonstration DR The platform shall demonstrate charging capability pon command by providing visal confirmation that the charging circit is complete nder conditions specified by ENVI1.3. Motivation: Indicate charging capability Verification: Test and Demonstration DR The platform shall visally indicate charging capability by illminating an LED when the circit is completed and crrent is flowing. DR 2.2 The platform shall charge the child drone battery with a child drone analog pon command nder conditions specified by ENVI1.4. DR A cell balancer shall be sed to ensre LiPo battery cells are evenly charge DR A battery manager shall be sed dring all circitry testing to ensre LiPo battery is operating within COTS safety limits DR 2.3 The platform shall inclde a circit breaker capable of interrpting the flow of crrent from the platform to the LiPo battery pon command. 90

91 FR 3.0 FR The platform shall secre the child drone by preventing motion according to CONST 1.1 and ENVI 1.1 Sorce: Cstomer Reqirement Verification: Test and Demonstration DR The secring system shall prevent motion of the child drone nder vibrational loading specified by CHIMERA-TEST1. Motivation: Ensre that child drone does not fall off of platform nder specified conditions Verification: Demonstration DR The secring system shall not obstrct the child drone landing platform srface or interfere with landing operations Motivation: Image recognition landing reqirement Verification: Test DR 3.3 The secring system shall secre the child drone pon command DR 3.4 The secring system shall release the child drone pon command 91

92 FR 4.0 FR The grond station shall commnicate with the sensor package according to ENVI1.5 and CONST1.3.3 Motivation: Inherited capability to be incorporated in CHIMERA design Verification: Test and Demonstration DR The grond station shall receive data from the sensor package. Motivation: Mst receive sensor package temperatre data at the grond station Verification: Demonstration DR The grond station shall have a receiver gain of 2.1 db. DR 4.2 The grond station shall command the platform and child drone while retaining the ability to land the child drone via manal piloting. Motivation: Piloted capability ensres drone safety in the event of a software failre Verification: Demonstration 92

93 FR 5.0 FR The platform shall commnicate with the grond station according to ENVI1.5 and CONST1.3.2 Motivation: Cstomer Reqirement Verification: Test and Demonstration DR The platform shall wirelessly receive commands from the grond station. Motivation: Mst receive commands in order to command/secre child drone Verification: Test and Demonstration DR The platform shall have a receiver antenna gain of TBD db. Motivation: Needs this gain in order to receive commands across reqired distance Verification: Visal Inspection DR 5.2 The platform shall wirelessly transmit data to the grond station. Motivation: Transmit telemetry in order to interpret heath and stats of system Verification: Test and Demonstration DR The platform shall have a transmitter capable of transmitting X watts of power Motivation: Needs this transmitter power in order to transmit across reqired distance Verification: Test and Demonstration 93

94 Risk Backp 94

95 Risk Smmary 95

96 Risk Smmary contined 96

97 Risk Analysis Risk 1: Lithim polymer battery damage Severity: 5 Likelihood: 4 TOTAL: 20 Description: LiPo batteries are known to swell and explode if damaged or if sed or stored improperly. Mitigation options: Use a cell balancer to ensre even charge distribtion between LiPo battery cells Seek PAB expertise when designing and testing charging circitry Rn simlation tests withot the LiPo battery in the circit and gradally incorporate more risk once previos steps are verified Response if risk occrs: Contact fire department Attempt to extingish with CO2 fire extingisher Attempt to place in ammnition can or LiPo sack Evacate lab and make sre everyone is safe Post-Mitigation Risk Analysis Severity: 5 Likelihood: 1 TOTAL: 5 97

98 Risk Analysis Risk 2: High crrent draw throgh exposed copper plates cold harm team members Severity: 5 Likelihood: 3 TOTAL: Description: While charging, crrent is flowing throgh exposed copper plates that cold pose a potential shock risk to team members. Mitigation options: Design Delrin overhangs on copper plates to prevent inadvertent contact Smaller copper plates on the child drone brackets Master kill switch to immediately break the circit in case of emergency Response if risk occrs: Power off the system Ensre team safety Call 911 if necessary Post-Mitigation Risk Analysis Severity: 5 Likelihood: 1 TOTAL:

99 Risk Analysis Risk 3: High crrent draw from sorce battery cold damage platform electronics or child Severity: 4 Likelihood: 3 TOTAL: Description: While charging, a power srge cold case damage to the sensitive electrical hardware on both the platform and the child drone Mitigation options: Use battery manager while testing Incremental sb-system testing Final system test with batteries in the circit Response if risk occrs: drone Unplg circit and test components individally for damage Replace components with discretionary bdget fnds if necessary Post-Mitigation Risk Analysis Severity: 4 Likelihood: 1 TOTAL:

100 Risk Analysis Risk 4: Inadeqate charging contact between charging plates and circit is not completed Severity: 3 Likelihood: 4 TOTAL: Description: Charging contact is insfficient between the child drone charging brackets and the secring system charging bars to allow charging to commence. This wold reslt in failing to meet reqirement FR Mitigation options: Spring/copper design to ensre adeqate contact Response if risk occrs: Adjst materials selected and positioning Re-design Post-Mitigation Risk Analysis Severity: 3 Likelihood: 3 TOTAL: 9 10

101 Risk Analysis Risk 5: Child drone lands in poor landing configration and prevents charging Severity: 3 Likelihood: 3 TOTAL: Description: Child drone cold potentially land perpendiclar to the charging bars and therefore prevent the charging bars from making contact with the brackets on child drone. Does not flfill FR 2.0. Mitigation options: Pixhawk yaw gain adjstment Improve IRS landing accracy Modeling from PDR proved this risk is negligible Response if risk occrs: Re-attempt landing seqence and tweak software parameters Post-Mitigation Risk Analysis Severity: 3 Likelihood: 2 TOTAL:

102 Risk Analysis Risk 6: PCB manfactring defects that prevent charging circit completion Severity: 3 Likelihood: 2 TOTAL: Description: Manfactring defects cold prevent charging circitry from working as intended, not flfilling FR Mitigation options: Find reptable vendors Test circit board components prior to PCB integration Response if risk occrs: Diagnose broken component and attempt to fix Retrn to manfactrer Post-Mitigation Risk Analysis Severity: 3 Likelihood: 1 TOTAL: 3 10

103 Risk Analysis Risk 7: Battery manager malfnctions casing damage to child drone or harming team members Severity: 5 Likelihood: 2 TOTAL: Description: The battery manager sed to ensre that charging is being completely properly cold malfnction casing the LiPo to explode, potentially damaging hardware or injring team members. Mitigation options: Sb-system incremental testing with components Use component only after testing that it will reglate voltage properly Response if risk occrs: Power system off Ensre no team members are injred Place LiPo in LiPo sack or ammo can Test circit components to ensre they still fnction properly Severity: 5 Likelihood: 1 TOTAL: Post-Mitigation Risk Analysis

104 Risk Analysis Risk 8: Raspberry Pi loses commnication with Pixhawk Severity: 4 Likelihood: 3 TOTAL: Description: The Raspberry Pi onboard the child drone cold lose commnications with the onboard flight controller, ltimately preventing landing on the platform and not flfilling FR Mitigation options: Commnication testing prior to flight Implement system redndancy to have a back-p system if loss of commnication occrs Response if risk occrs: Switch Pixhawk to manal flight mode from Grond Station if possible Post-Mitigation Risk Analysis Severity: 4 Likelihood: 2 TOTAL: 8 10

105 Risk Analysis Risk 9: Poor landing accracy cases child drone to fall off platform reslting in damage Severity: 4 Likelihood: 2 TOTAL: 8 Description: Child drone cold potentially land with 2 or more legs off of the platform, casing it to topple and fall of the platform and casing damage. Mitigation options: Use AR tags instead of color recognition for increased landing accracy Indoor flight testing with mats/nets beneath platform to catch drone if it falls off the platform Response if risk occrs: Ct throttle Assess child drone for damage Replace damaged parts from discretionary spending bdget Post-Mitigation Risk Analysis Severity: 4 Likelihood: 1 TOTAL: 4 10

106 Risk Analysis Risk 10: Child drone loses lock on platform before it can make final descent Severity: 4 Likelihood: 3 TOTAL: Description: Child drone image recognition system cold lose a lock on the platform image and be nable to land on the platform reslting in failre to meet FR Mitigation options: Software algorithms that command the drone to start landing seqence over again if image is lost Use AR codes to assist with landing accracy Response if risk occrs: Switch to manal mode and piloted landing Post-Mitigation Risk Analysis Severity: 3 Likelihood: 2 TOTAL: 6 10

107 Risk Analysis Risk 11: Piloting error cold reslt in child drone damage Severity: 4 Likelihood: 2 TOTAL: Description: In order to verify varios software capabilities, the child drone mst be flown by a pilot in some test flights. A piloting error cold lead to costly and even irreparable damage. Mitigation options: Pilot training and certification Response if risk occrs: Assess environmental factors Review flight data Reqire that pilot receive additional training Post-Mitigation Risk Analysis Severity: 4 Likelihood: 1 TOTAL:

108 Risk Analysis Risk 12: Position lag time between commands Severity: 4 Likelihood: 2 TOTAL: Description: The refresh rate between the Pixhawk and the Raspberry Pi camera cold lead to a significant lag time between commands reslting in nstable flight conditions. 8 Mitigation options: Do not send position vector data faster than the Pixhawk can process Response if risk occrs: Adjst command freqency Post-Mitigation Risk Analysis Severity: 4 Likelihood: 1 TOTAL: 4 10

109 Risk Analysis Risk # 13: Child drone legs disengage pon hard landing Severity: 2 Likelihood: 2 TOTAL: Description: The child drone is eqipped with a leg-detaching featre to prevent splintering. This wold prevent the drone from re-charging and ths wold not meet fnctional reqirement 3.0. Mitigation options: Adjst the descent rate of the drone to safe levels to ensre the legs wold not splinter and epoxy the legs to the child drone frame Response if risk occrs: Retry the mission after reattaching and adjsting the descent rate Post Mitigation Analysis Severity: 2 Likelihood: 1 TOTAL:

110 Risk Analysis Risk # 14: Charging/secrement bars fail to disengage and damage the child drone Severity: 3 Likelihood: 1 TOTAL: 3 Description: The bars cold damage the drone by sqeezing it and bending the legs. Mitigation options: Use a motor controller to stop the bars once they have completed a specific nmber of RPMs correlating to a safe distance Design a mechanical fail-safe, sch as a barrier, to ensre that the bars cannot harm the child drone Response if risk occrs: Stop the test immediately and administer necessary repairs Post Mitigation Analysis Severity: 2 Likelihood: 1 TOTAL: 2 11

111 Risk Analysis Risk # 15: Manfactring errors in child drone charging/secrement bars Severity: 2 Likelihood: 3 TOTAL: Description: If the copper and delrin are not manfactred to the necessary tolerances, the additions to child drone will not fit into the bars. Charging can not occr and fnctional reqirement 3.0 is not met 6 Mitigation options: Allow for a design margin of 1/10 inch on either side of the delrin additions to child drone Response if risk occrs: Stop the test to prevent damage and sand down the delrin before testing again Post Mitigation Analysis Severity: 2 Likelihood: 2 TOTAL: 4 11

112 Risk Analysis Risk # 16: Secrement system does not secre child drone in specified environment Severity: 4 Likelihood: 3 TOTAL: 12 Description: If the secrement system cannot secre the child drone in environment 1.1, fnctional reqirement 1.0 is not met. The child drone cold also be damaged if it falls off of the platform. Mitigation options: Characterize the environment and design the secrement system for the worst case with a safety factor Create a restraining system sch that if the child drone becomes nsecred it will not fall and incr damage Response if risk occrs: Add a mild adhesive to the delrin sides of the charging/secrement panels on the child drone Post Mitigation Analysis Severity: 4 Likelihood: 2 TOTAL: 8 11

113 Risk Analysis Risk # 17: Mass added to child drone prevents it from completing its mission Severity: 3 Likelihood: 2 TOTAL: Description: The INFERNO mission is inherited and the additions made this year are not to infer with the child drone mission. The charging/secrement panels and the image recognition system will both add mass to the child drone and cold impede its mission dration. Mitigation options: Analyze the mass specifications provided in INFERNO s spring final report. Design arond these specs and do not exceed the mass detailed for a 13.5 minte mission. Response if risk occrs: Redesign the components added to the child drone to make them more mass efficient. Post Mitigation Analysis Severity: 3 Likelihood: 1 TOTAL:

114 Risk Analysis Severity: 5 Likelihood: 2 TOTAL: Description: The ball screw drives the charging/secrement bars. If this mechanism fails reqirements # and # will not be met. Mitigation options: By a commercial off the shelf ball screw to minimize manfactring error Response if risk occrs: Risk # 18: The ball screw on the platform fails Explore other commercial retailers Post Mitigation Analysis Severity: 5 Likelihood: 1 TOTAL:

115 Risk Analysis Severity: 4 Likelihood: 3 TOTAL: Risk # 19: Platform does not fit into University CNC machine 12 Description: If the platform material does not fit into the University CNC machine, manfactring will take mch longer than anticipated and set back the project schedle. Mitigation options: Discss platform dimensions with machine shop staff Otsorce the machining to Colorado Waterjet Company for $150 Response if risk occrs: Otsorce the machining Post Mitigation Analysis Severity: 4 Likelihood: 1 TOTAL: 4 11

116 Risk Analysis Severity: 3 Likelihood: 3 TOTAL: Risk # 20: Commnication system failre Description: If a commnication link between the grond station, platform, or child drone breaks, fnctional reqirements 4 and/or 5 are not met. 9 Mitigation options: Condct link bdget analysis to determine the strength of components that is needed Response if risk occrs: Prchase higher powered antennas Post Mitigation Analysis Severity: 2 Likelihood: 2 TOTAL: 4 11

117 Risk Analysis Risk # 21: Platform has too high a coefficient of friction for the child drone to slide Severity: 3 Likelihood: 3 TOTAL: 9 Description: If the child drone does not land exactly centered on the platform, the charging/secrement bars will need to psh it into place. If the coefficient of friction is too high, the drone cold topple and wold not be able to charge, not flfilling fnctional reqirement 3.0. Mitigation options: Grease the platform Response if risk occrs Change/polish the rbber material on the child drone feet Post Mitigation Analysis Severity: 3 Likelihood: 2 TOTAL: 6 11

118 Risk Analysis Severity: 3 Likelihood: 4 TOTAL: Risk # 22: High lead time on otsorced parts Description: Some parts, in particlar the platform ball screw have a known high lead time. If this gets pshed back any frther than anticipated it cold impede the spring semester schedle. 12 Mitigation options: Begin ordering parts after CDR Do not by from any sorce otside the US Response if risk occrs: Investigate alternate prchasing sorces Post Mitigation Analysis Severity: 3 Likelihood: 2 TOTAL: 6 11

119 Risk Analysis Severity: 2 Likelihood: 5 TOTAL: Risk # 23: Inclement weather dring spring testing 10 Description: Several of the tests need to occr otdoors. If there is inclement weather the tests cannot be completed and it will psh back the schedle. Mitigation options: Have indoor spaces booked as a back p, plan for alternate testing dates Design tests that can still prove fnctionality bt can be completed indoors Response if risk occrs: Test indoors. If this is not a viable option (test needs GPS location) the test mst fall on an alternate date Post Mitigation Analysis Severity: 1 Likelihood: 5 TOTAL: 5 11