ABHYAST

PHASE V
Team Members
Ujjwal Katiyar
Aditya Shankar
Sai Krishna
Suyash Dwivedi

Terrain Mapping
Wireless
Communication

Wireless
Communication
It has the following features:

Flight Control

Live feed streaming for First Person View

Live feed streaming for Terrain Mapping and
Data transmission such as coordinates and
Orientation Parameters

First Person View

Gives

real time video through on-board

camera as if the person is sitting on the
plane.
Camera connected with On-Screen
Display(OSD) to give flight parameters
to the controller.
OSD plugged into Video Transmitter
which send video to the receiver.
Video Receiver is connected to computer
which displays the video.

First Person View

We will get view somewhat like this:

Video transmission for Terrain

Mapping

A high resolution Camera will be located at the bottom of

the plane which will constantly send live images to the
ground station.
Camera will be connected to 2-Channel Video Transmitter
which will transmit the images to Receiver located at the
ground station
To generate a map of the locality we would require six
Extrinsic Orientation Parameters (X,Y and Z-coordinate and
the angular displacement of the camera around the X,Y and
the Z axis respectively).

Wireless Communication
Components used:
TBS69 FPV Camera
Orientation and G-Force Module (OSD)
Boscam FPV 5.8G 200mW 8 Channel Audio Video
Transmitter and Receiver
Nikon7900 for Terrain Mapping
Arduino Mega 2560
FY31ap --flight stabilisation system

Flowchart showing communication

Terrain Mapping

Terrain mapping would be done by the Ground Station. It will

constantly receive live images of the area to be mapped form
Camera on-board the Aerial Vehicle and will arrange them
accordingly to generate a 2-D map.

The GPS/INS Sensors will provide six Extrinsic

Orientation Parameters (EOP) which are latitude,
longitude, altitude and angular displacement vector of
the aircraft around the X,Y and the Z axis respectively
as shown in the figure.

Algorithms for Terrain Mapping

Algorithm 1(2D)

Using angular rotation data from the GPS/INS Sensors,

the angle formed by the velocity vector of the plane with
the coordinate axis could be easily found. So we could
calculate the centre of the image which is currently
being taken with respect to our main reference frame.
Now since the centre of the image has been calculated,
so we could uniquely determine the real time coordinate
of each pixel. So we expect that the map which will be
generated should have each pixel at its correct place as
we were able to predict its coordinates correctly.

Diagram showing image taken by the Camera and

calculation of coordinates of its centre

Calculation of the coordinates of the

centre of the image

- angle between the projection of velocity vector ( V )

of the plane on the X-Y plane and the X-axis.
, and are the angle made by the velocity vector
( V ) with the X,Y and the Z axis respectively. They are
given by the INS.
X and Y are the coordinates of the centre of the image.
So now we could uniquely determine the coordinate of
each pixel.
Since the length of V is constant, so
Vsincos=Vcos
So = cos-1(cot)
X= X + Rcos
Y= Y+ Rsin
R= Zcot

Algorithm 2(2D)

we could use the traditional Aerial Triangulation Algorithm for

real time georeferencing of image sequences acquired by
the plane.
Whenever a new image is added, the proposed algorithm
uses Extrinsic Orientation Parameters (EOP) and rapidly
performs AT with minimal computation at the current stage
and places that image onto the map.
This algorithm may be used for applications requiring realtime image georeferencing such as disaster monitoring and
image-based navigation.

A brief overview of the algorithm:

For real time georeferencing, the inputs such as controlled

information and tie points must be determined in real time
whenever a new image is captured.

o A Tie point is the image coordination position of an

appearing in 2 or more images.

object

Sufficient number of Tie points among the successive images will

be calculated using an efficient real-time matching algorithm .

o Controlled information consists of image and six

Extrinsic Orientation Parameters (EOP).
The new image will be joined with the previous image after
appropriate scaling and orientation with respect to the
previous image. This is achieved through Tie points which
uniquely determines the position of new image.
There will be three parameters A, B and C. A will contain
information about the map which has been generated and
controlled information and Tie point coordinates of the latest
image that has been added. B will contain information about
the previous and the new image whereas C will contain
information only about the new image.
All these procedures will be adopted in the Aerial Triangulation
Algorithm to generate the map.

Diagram showing the process through which

the images will be mapped

3D Mapping

3D Mapping
Done

by Bundle Adjustment Algorithm

Requires image, its ID, and six
Orientation Parameters
Need to establish 6 Ground Control
Points for Goereferencing

AERIAL BOT
and path
navigation

Details of Bot
The aerial bot will be a fixed wing aircraft with
a high payload capacity. The main body will
include wing, fuselage and stabilizers. It will
comprise of three control surfaces namely,
1) Ailerons
2)Rudder
3)Elevator

Payload
Electrical Components : It includes a
pair of battery , brushless motor,
reciever,servo motors, electronic speed
controller.
Communication Components: It
includes a pair of camera (one for FPV &
other for live streaming) ,FY-31AP(Flight
stabilizer),OSD(On Screen Display),GPS,
Arduino,Transmitter.

Fuselage
The

fuselage will be hollow to

accommodate electrical components
and other payload.
It is made of balsa wood or foam.

Wing

The airfoil used is NACA 4415 . It is a flat bottom

wing with more curve on top than bottom i.e.
cambered. Hence, it will generate more lift as
compared to other airfoil.
It has a Lift coefficient of 0.78 at 4.5 degree
angle of attack.
The wing can be made of styrofoam or by
connecting a series of balsa airfoil cross sections
in parallel with amonocote coating over them.

Weight approximation
The

estimated payload is around 1.3kg .

Weight of landing gear and camera stand = 200g.
Thus we have to design the aerial bot as light as
possible to carry maximum payload.
Assume that the bot has maximum empty weight
of 1.5 kg.
Hence

maximum flying weight of bot = 3.0 kg

Static Thrust Calculation

Propeller

size : 11 * 4
Propeller type : APC
RPM
: 7500-12000
Using Static Thrust calculator ,we get
Static Thrust = 1.04 - 2.67 kgf
Engine power = 130 535 watt
Flying speed = 12 20 m/sec
Generally , (static thrust /weight )> 0.33
As the assumed weight of uav =3 kgf
hence , static thrust > 1 kgf.

Wing Area
Lift

force(L) = 3.5 kgf (Lift > =weight of

UAV)
Lift coefficient (Cl)= 0.78
at 4.5
degree
Density of air(d) = 1.1 kg/m3
Velocity (as calculated above) = 13
m/sec
Using Lift Formula ,

L=0.5* Cl*d*v2*A

we get A = 0.46 m2
Hence area of wing should be = 0.46 m2

UAV Dimensions
Wing Area (S)= 0.46 m2
Generally ,aspect ratio of a rc plane is
between 5 and 8.
Higher aspect ratios result in long thin
wings.
Lower aspect ratios result in short stubby
wings.
Hence, we took an
aspect ratio of
around 7 going
with long wings.

 Aspect

Ratio (AR) = b2/S

where b is length of wing and S is surface
area of wing.
From the above relation we get b=190 cm
For a rectangular wing S= b*c,where c is
the chord length of the wing.
Thus c= 24 cm
Fuselage is generally 65-70% of wingspan.
Thus length of Fuselage = 123 cm

Stabilizers
Area

of horizontal stabilizer =20 25 % of

wing area = 920 cm2.
12.5 cm
20 cm

35 cm
Area of vertical stabilizer =
50 % of horizontal stabilizer

15

25
= 460 cm2

Motor
1100

kv (rpm/v)
Max RPM with a 3s battery = 1100*11.1
= 12000
Power max = 640 watt
Max current = 50 A
ESC = 80 A
NTMProp Drive Series
35-48A 1100kv

Battery
Capacity

: 2200 MAH
3 cell (11.1 V)
Discharge : 30 C
Max current discharge = (2200*30)/1000 = 66 A
Hence

the current which can be discharged from

battery is greater than max. current needed by motor
Theoretical Min discharge time =(2200*30)/
(50*1000)
= 80 minutes
Turnigy 2200mAh 3S 30C Lipo

Flight Stabilization System

FY-31AP

provides autonomous control of

aerial bot.

It has two main features :

1) Auto balance When stabilization is
activated, the FY31AP will automatically
control the aircraft for smooth easy flying.
2) Path navigation flight with the
GPS module the autonomous flight system
of the FY31AP will enable up to 20
waypoints settings on the FY Ground
Control Station software.The data radio
will send the coordinates of the way points
and the bot wiil fly over the desired path.

Aerial Navigation

ABHYAST
PHASE V
GROUND ROBOT

Problem Statement
To

build a robot capable of

Maneuvering
Picking, Grabbing and Placing
Wirelessly controlled
Live Camera feed to the Ground station

Main Concern
Maneuvering
Picking

and Placing a LARGE and HEAVY

object (40x40x40 cm and 10kg)
Long range wireless communication
Live Wireless Camera Feed

Ground Vehicle
FPV camera

GPS

Motor
Motor Driver

Video
Transmitter
Ground
Station

arduino
Xbee Xplorer

Receiver

Lattitude /
longitude

Xbee Dongle

Display - PC

OSD

Pc Control

GROUND BOT

The ground bot is a four wheeled chassis driven by 4 High Torque DCmotors.

We are Planning to use HDPE sheets for Chassis so that the vehicle is
featherweight. HDPE sheets are very tough and also light weight.
Plus, they can be cut easily into desired shapes.

Basically there are two main objectives of the ground bot

1. Manoeuvring
2. Lifting objects

For the Manoeuvring part, we are considering 4 high torque motors

and 3inch wheels for the vehicle so that it can withstand various
terrain.

How to Tackle Rough terrain ?

We will incoporporate a double

wishbone suspension system
in the chassis so that it could
tackle the rough terrain

Lifting

As we have to build a robot which is capable of lifting

any object of weight 10kg. After a lot of discussions
regarding mechanisms we decided to choose Screw
and Nut mechanism for the purpose of lifting the
object.

We will use 2x2cm Angle sections into two lifter arms.

This will involve starting with the right length, Bending
it at those points to form the shape and Finally
Welding the Joints.

BASIC CHASSIS
As you can see from the figure, we will
be making this type of chassis in which
we would be using 4 high torque motors
for manoeuvring and one 14.4V Drilling
Motor for Lifting mechanism in the
middle of the chassis.
There would a lot of sufficient space in
the sides for putting up the batteries
and electronics components. The
Middle layout will be somewhat Tshaped so as to provide a better lifting
space.

Img source : http://www.teamexpat.co.uk

 LIFTING

MECHANISM

Img source : http://www.teamexpat.co.uk

LIFTING MECHANISM description

Construction

This includes two lifter arms made of mild steel box sections in desired shape by bending and
welding. These are connected to two lifter plates which are pivoted to the side walls.
The lifter motor is fitted with a threaded m10 rod. This is passed through a pivoting nut joined to
the two lifter plates.
This includes two lifter arms made of mild steel box sections in desired shape by bending and
welding. These are connected to two lifter plates which are pivoted to the side walls.
The lifter motor is fitted with a threaded m10 rod. This is passed through a pivoting nut joined to
the two lifter plates.

Mechanism

The working of this mechanism uses the principle of screw and nut. As the lifter
motor is started , the threaded m10 rod starts rotating. As the motor is fixed
radially the pivoting nut through which it passes starts to move along the rod. As
it is connected to lifter plates, it starts to rotate about its pivoting point allowing
the lifter arms to lift the object.

HENCE OUR PURPOSE OF LIFTING THE OBJECT GETS COMPLETED.

ALTERNATE
MECHANISM

USE OF PNEUMATIC Piston

instead of 14.4 V drill motor

Use of Pneumatics will ease our purpose of Lifting much heavy

objects.
As u can see, when the pneumatic piston goes out and it
pushes the lifter plates as a result the whole assembly lifts up
with much ease.

Pneumatics description and

calculations

The cylinders are Double Acting, meaning they use air

pressure to extend the piston, and an internal spring to allow
the piston to retract.

The force exerted on Outstroke can be expressed as

F = p (d 2)/ 4
where
d= piston rod diameter (m)
F=68.9 kPa x x (0.015 2) / 4
F=12.2 N
Max force= 54 N (12 lb force)

Instroke force calculation

The force exerted on instroke can be expressed as

F = p (d12- d22) / 4

Where

d1= full bore piston diameter (m)

d2= piston rod diameter (m)

F=68.9kPa x x(0.502- 0.152) / 4

F=123 N

Gripping mechanism

Rack and Pinion mechanism

One arm will be fixed on one end of the

rack. One the other end, there will be a
motor attached to the pinion and to he
pinion there will be an another arm
attached through it.
When the motor rotates, pinion moves
as a result the result arm moves
towards the fixed arm and grips the
object. The whole set up can be
attached to lifting part of the Bot.

Pneumatics
Another proposed mechanism is that, we can use a pneumatic piston in place of
rack and pinion which can serve our purpose
Fastly and smoothly

Path Plotting
Optical

Shaft Encoder Kit

distance = (circumference) x
(number of revolutions)

The Optical Shaft Encoder

uses an infrared light
sensor to detect
illumination from an
infrared LED passing
through slots cut in the
circumference of a rotating
wheel.

Mounting

90 tick marks (pulses) = 1 complete

revolution

Algorithm for direction

With the Quadrature Encoder, you will use both outputs

(Channel 1 and Channel 2) to determine of the direction of
rotation. The channels are separated in phase by 90 degrees
as shown below.
For example, if channel 1 leads channel 2, the wheel is
rotating clockwise.
Likewise, if channel 2 leads channel 1, the wheel is rotating
counterclockwise.
By monitoring the relative phase and number of pulses of
channel 1 and 2, you can determine how fast, how far, and
what direction our robot is traveling.

Determining Direction and Distance

At time, t , relation equation of rotation angle of wheel of robot,

() and moving distance of robot, d(cm) is as follows:
d = R/360 .
d(t+1) = d(t) + d .
(t+1) = (t)+ .

Here are the dead reckoning equations for the coordinates

(xandy), and heading( )for a differential drive robot with
encoders on both drives:

where T1are the encoder ticks recorded on drive one,T2 are

the encoder ticks recorded on drive two, Rwis the radius of each
drive wheel,D is the separation between the wheels, andT r is
the number of encoder ticks recorded in a full rotation of a
wheel.

WIRELESS COMMUNICATION
Xbee

S2 pro

Xbee modules are embedded solutions providing wireless

end-point connectivity to devices.These modules use the
IEEE 802.15.4 networking protocol for fast point-tomultipoint or peer-to-peer networking.They are designed for
high-throughput applications requiring low latency and
predictable communication timing.XBee modules are ideal
for low-power, low-cost applications. XBee-PRO modules are
power-amplified versions of XBee modules for extendedrange applications
Features:
3.3V @ 295mA
250kbps Max data rate
1 mile (1600m) range
Wire Antenna
8 digital IO pins
128-bit encryption
Local or over-air configuration

Wireless control

One Xbee S2 Pro will be integrated with the Robot through

Arduino Mega
The other receiver Xbee module will be connected to the Host
Computer through USB XBEE MODULE.
Xbees work on the principle of serial communication and
character sending. So, the robot will be controlled by the user
on the computer very easily by sending movement
characters.

WIRELESS CONTROL FLOWCHART

Live Camera Feed

TBS 69 FPV Camera

It has a Super high resolution with the
newest generation PIXIM sensor, factoryequipped with a plug-in OSD remote with
various settings important to the FPV
professional.

Resolution
Focal Width

690 TVL (color) / 800 TVL (b&w)

3.8mm

Supply voltage

12 VDC

Dimensions
Sensor

32mm x 32mm
PIXIM Seawolf

Video standard

PAL or NTSC (configurable in the menu)

Weight

44g (with heatsink)

GPS and Coordinate Location

We are using GPS Reciver MT3329

GPS Receiver MT3329 is based on the MediaTek MTK MT3329

chipset. It has active internal antenna and comes in SMD
package. It can support 66 channel simultaneously. This GPS
receiver gives data output in standard NMEA format with
update rate of 1 second at 9600 bps.
Position Accuracy : 3 m
PS Receiver MT3329 data logging
on GUI (PC):

CONNECTIONS

AV TRANSMITTER AND
RECEIVER

For the Audio/Video transmission and receiving, we are using

Boscam 5.8Ghz FPV System (TS352 TX + RX305 RX /
500mw)

Camera Connections

XBee Connections
SOFTWARE: X-CTU

GPS module connections with the

Microconroller

ENABLE pin : Logic High: Power ON, Logic Low: Shutdown.

Connect Rx & Tx GPS Receiver to Tx & Rx of
microcontroller.

Xbee connections Description

XBee

Connections:

RX

pin is connected to the ZEROTH

digital pin(i.e. RX pin) of the Arduino.

TX

pin is connected to the 1st digital

pin(i.e. TX pin) of the Arduino.

Arduino and Motor driver connections

Motor Driver connections

description
The ENABLE pins of the Motor driver are connected to PWM pins of
the Arduino.
INP1 INP2 INP3 INP4 are connected to the digital pins as shown in the
diagram.
Ground pin is connected with the ground pin of the Arduino
And 5v pin is connected with the VCC of the 7805.

We have used Arduino UNO and L298D motor driver in the above
schematic.

But, we can also use better Arduinos like Arduino mega and better
motor drivers like Hercules motor driver for high performance.

Software to be used : Arduino

Calculations
Proposal 1 ( 14.4 V drill motor )
No of turns per cm, n ( of threaded M10 rod)
Distance/ p revolution = 10-2 p/n
Radius of lifter plate = r
r

Angle turned =

Sin /2 = x/2r
/2 = sin -1 (x/2r)
= 2sin -1 (x/2r)
= 2sin -1 (10-2p/2nr)

Angle turned by lifter arms= /2

= sin -1 (10-2p/2nr)

x/2

Pneumatic piston calculations

The force exerted on Outstroke can be expressed as

F = p (d 2)/ 4
where
d= piston rod diameter (m)
F=68.9 kPa x x (0.015 2) / 4
F=12.2 N
Max force= 54 N (12 lb force)
The force exerted on Instroke can be expressed as
F = p (d12- d22) / 4

Where

d1= full bore piston diameter (m)

d2= piston rod diameter (m)
F=68.9kPa x x(0.502- 0.152) / 4
F=123 N

Components Description:
HDPE sheets
12 V high torque DC Wiper Motors
Lipo batteries 12V
Steel Angles, metal plates
14.4 V drill motor ( Proposal 1)
Double acting Pneumatic Cylinder
4 Dia wheels
Arduino Mega 2560 ADK R3
XBee S2 pro
XBee USB dongle
Hercules Motor Driver
Boscam 5.8Ghz FPV System (TS352 TX + RX305 RX / 500mw)
TBS 69 FPV Camera
GPS Receiver MT3329
Rotary Encoders (optional)