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LAPPEENRANTA UNIVERSITY OF TECHNOLOGY LUT School of

1. 1s known with different names that are categorized according the function size and weight UAV Uninhabited aerial vehicle ROA remotely operated aircraft RPV remotely piloted vehicle AAV autonomous aerial vehicle MAV micro aerial vehicle are some of the names given to Quadcopter One of the common name given to quadcopter is UAV However drone is the general term used for all unmanned aerial vehicles and the basic difference between the terms Drone and Quadcopter is one of characterization Norris 2014 pp 25 33 An air craft with ability of hovering is termed as drone Freeman amp Freeland 2015 Boucher 2014 For the simplicity of work the word Quadcopter is used in this thesis Quadcopter belongs to a particular group of drones with four motors brushless DC Direct current motor that make lift for vertical take off through their propellers The quadcopter Inspire 1 is used in this research work which is shown in below figure see the figure 1 There are two possible combination and x for all quadcopter as shown in figure see the figure 2 According to figure see the figure 2 Inspire 1 falls under the category x configuration Two clockwise and two counterclockwise motors rotate in order to cancel the effect of torque Norris 2014 p 37 Figure 1 DJI Inspire 1 Quadcopter DJI 2015 Figure 2 Configuration of Quadcopters Norris 2014 p 37 Researches are carried out in the
2. Use AT command to configure the Bluno Nano ee ee ee NORM For normal Serial Communication V1 0 gt E m T l TX amp RX Blink while data transmits viaUART i T Pe Light on if Bluno Nano connected PAIR Light on if Bluno Nano paired 1 Figure 20 Bluno Nano Arduino BLE Bluetooth Microcontroller Dfrobot 2015 Table 8 below summarize some specifications of different microcontroller it can be observed from the table that the processing speed vary from size to size and memory becomes the main factor for selecting a microcontroller The generated code on C language are uploaded to the microcontroller through the USB port If the code exceed the maximum size of memory then the uploading process will be failed The digital input pins can be used to perform multiple actions in parallel or sequence manner pins are the way of communication for actuator relay switches and sensors Pins are used for both input and output feedback Purdum 2012 40 Table 8 List of different microcontrollers in market Arduino 2015 B Arduino Leonardo 5 1 1 Programming of the microcontroller The programming in Arduino is different as compared to the normal C language Arduino is based on open source programming which is subset of normal C language and a different compiler also distinguish it from normal C language there are four basic statement for all languages expression statement statement block and function b
3. robots Unmanned Aerial Vehicles and Micro Aerial Vehicles Tokyo Springer 329 p Norris D 2014 Build your own quadcopter Power up Your Designs with the Parallax Elev 8 New York USA McGraw Hill 368 p OSDC 2015 OKLI ZTfoCX Online Accessed 16 November 2015 Available at http www osdc co jp en data pdf databook en 2010 pdf 62 Parrot 2015 Parrot Bebop Drone Lightweight yet robust quadcopter 14 megapixel Full HD 1080p Fisheye Camera Skycontroller 3 axes image stabilization Online Accessed 18 November 2015 Available at http www parrot com products bebop drone Patel N Patel A Faldu M amp Dave R 2013 Quadcopter for Agricultural Surveillance Advance in Electronic and Electric Engineering 3 4 pp 427 432 Phidgets 2015 3051 User Guide Phidgets Support Online Accessed 16 November 2015 Available at http www phidgets com docs 305 1_User_Guide Precision 2015 Drones for Construction Precision Drone Online Accessed 16 November 2015 Available at http www precisiondrone com construction Purdum J 2012 Beginning C for Arduino 2nd ed New York Apress 280 p Rajin R amp Shawn M 2015 Miniature Wireless Quadcopter Bridgeport CT USA University of Hartford UAV Team pp 1 3 Robotshop 2015 LM78MOSCT 5V 0 5A Voltage Regulator Online Accessed 16 November 2015 Available at http www robotshop com en Im78m05 voltage regulator html Saska M Von s
4. 2014 Design and Development of Remote Controlled Autonomous Synchronic Hexarotor Aerial ASHA Robot Procedia Technology Volume 14 pp 51 58 Hanafi D Qetkeaw M Ghazali R Than M Utomo W amp Omar R 2013 Simple GUI Wireless Controller of Quadcopter International Journal of Communications Network and System 06 01 pp 52 59 61 Hubsan 2015 Hubsan X4Pro Quadcopter with HD Camera Online Accessed 18 November 2015 Available at http www hubsanx4pro com Jeremia S Kuantama E amp Pangaribuan J 2015 Design and construction of remote controlled quad copter based on STCI2C5624AD Bandung Indonesia International Conference on System Engineering and Technology ICSET 2012 pp 1 6 Li D Shan J amp Gong J 2009 Geospatial technology for earth observation New York Springer 556 p Lily 2015 Lily Camera Reinvented Online Accessed 16 November 2015 Available at https www lily camera L pez Nicol s G amp Mezouar Y 2014 Visual control of mobile robots Robotics and Autonomous Systems 62 11 pp 1611 1612 Linko M 2014 Multirotor use Limiter and Problems Undergraduate Thesis from Aalto University Online document Accessed 20 November 2015 Available http cse aalto fi en midcom serveattachmentguid 1e48788e3abc28a8788 1 Le4b7decfbOebbf4 b1d4b1d sci_2014_linko_mikael pdf Nonami K Kendoul F Suzuki S Wang W amp Nakazawa D 2010 Autonomous flying
5. Figure 17 Controller with operation numbers DJI 2015 The list see table 6 correspond to the figure see the figure 17 which describes the remote control function Since DJI Inspire is a professional quadcopter therefore practice and training are needed to become an expert flyer and also to have a safe flight These options are necessary part of work to know and get expertise in flying the quadcopter Inspire 1 Table 6 List of operation for controller DJI 2015 Powertuton CO m _ camerseningcr D munit 2 fis video recordingouton CD Reumnomebwon CU fra Pigu modeswien CO Cows CO is smerno bueyeenms fr pompon JO bees D hs Menus 9 Mobie deveetoer CS fo wee O em Doo un O Puente CD mo omatus JO 1 OOOO CIC s uc 1 Gimbal c E 24 5 COMPONENTS OF CHARGING STATION To develop an automatic charging station information was collected about the equipment Detailed study was done for each single component including their specifications and working After study of components a suitable model of each component was selected below table see table 7 1s generated that will help in developing an automatic charging station for Inspire 1 Table 7 List of components to develop charging station Microcontroller with Bluetooth module Power Relay a S e 4 Fuse y Wememkh 7000090007 W Cmerae O O po 5 1 Microcontrollers Arduino is a cus
6. Incident command support e Aerial mapping e Aerial photography e Severe weather telemetry e University research projects e Search and rescue operation Quadcopter has wide range of benefits at military and civilian level The below graph see graph 1 summarize how the number of quadcopter reference has been increasing from the year of 2005 to 2013 There are several uses and applications of quadcopters that still need to be developed in the near future Colomina amp Molina 2014 Pie chart 1 illustrate the several usages of UAV beside military usage the quadcopters are used in these following areas while some of them are discussed in detail Nonami 2010 p 21 13 Number of reference of quadcopter application in civil and commercial use 300 250 200 150 100 50 0 2004 2005 2006 2007 2008 02009 2010 2011 02012 2013 2014 Graph 1 Number of reference of quadcopter applications in civil and commercial use mod Colomina amp Molina 2014 p 3 19 Pie chart 1 Several usages of UAV Nonami 2010 p 22 348 1 3 1 Social Using quadcopter in sports that has the capability to follow the desired target at a certain distance has become a common practice A quadcopter named Lily can maintain the distance from the user from 1 75 meter to 30 meter maximum Sportsmen use this technology while recording their activities and to closely look if something mishap happened Only one camera Quadcopter is used instead of u
7. Inspire 1 comes with two transmitter or remote controller Master controller is set to control the movements pitch roll and yaw of the quadcopter while the slave controller is set for controlling the camera and gimbal Remote controllers are equipped with a smart tablet for FPV first person view The controller telecast the FPV to the monitor through HDMI High definition multimedia interface in the control 10 room of the mobile robot Therefore selection of suitable quadcopter and development of automatic charging station 1s the core purpose of this research work 1 2 Requirements and limitations of the work The top tier goal for the project was to achieve completely autonomous take off accurate landing live video streaming development of automatic charging station and follow the mobile robot indoor without GPS Global positioning system These requirements are given in table see table 1 these requirements and limitations are totally based on the discussion and meeting with the team of mobile robot project Following list provide the requirement and limitation of the work Table 1 Requirement and Limitation of the work Size of drone should not be more than 50 The Quadcopter size is under 50cm cm Indoor follow me e amen waion anda merce teed ia eon ete seaming HDsemmpese 70007 eon netbe more tan 4000 Eu Cor is under eee Complicated turn off on system of This problem has been solved battery ul Landing
8. auto follow 7 2 Auto charging station The result obtained from the test is a working automatic charging station The test was performed in the Lab and after landing the quadcopter accurately on marked position for the charging pad Figure shows component of charging station see the figure 39 57 Figure 39 Components of charging for test As a result of this work a charging station see the figure 40 1s developed which is capable of charging the quadcopter battery automatically after 1t lands on the mobile robot platform The charging time takes one hour to fully charge a battery After charging quadcopter is ready to fly again to provide the assistance to the mobile robot through its live video streaming The charging pad 1s equipped with proximity sensors which can detect small amount of change in weight and send the command to the microcontroller The microcontroller are programmed in such a way that it can turn off the battery and connects the terminal of battery to the charging unit For testing purpose this was done successfully program on C language turn the battery off and connect the terminals of battery to the charging unit Below figure shows how charging can be done through connecting the positive and negative terminals of the battery Figure 40 Automatic charging through external charger 58 8 CONCLUSION In this work Inspire 1 was selected for the assistant of mobile robot assembly It is very stable one
9. codes on C language for customized microcontroller 56 7 RESULT As a result of this work two main targets are achieved First target is DJI inspire 1 is selected after comparing it different models in the market Second target is functional automatic charging station is designed and developed 7 Quadcopter selected for work Quadcopter selected for this work has automatic take off live video streaming HDMI port provides addition of extra screen to the control room of the mobile robot Camera can rotate 360 and tilt 30 to 90 this 360 rotation is only available in Inspire 1 model Inspire 1 meets all the required specifications of the work that make it unique and perfect for this work and also for future research as well During the work it was concluded that GPS does not work indoor radio signal of GPS are not quite strong to penetrate through the wall of buildings houses Vision based positioning system will help in the future work to make an auto follow that will follow the mobile robot indoor SLAM simultaneous localization and mapping is an algorithm used to make an indoor follow quadcopter Other option for indoor auto follow are Option 1 Write a firmware that support indoor follow and develop a software for controller which has the option of follow indoor Option 2 Replace the Flight controller search a suitable FC that support Indoor follow option and develop a transmitter that sends the command for
10. with camera and magnetometer DJI 2015 26 3 MOBILE ASSEMBLY ROBOT Typically mobile robots are able to move from one place to another autonomously without assistance from external human operators Unlike the majority of industrial robots that can move only in a specific workspace mobile robots have the special ability of moving around freely within a predefined workspace to achieve their desired goals This moving capability makes them suitable for a large repertory of applications in structured and unstructured environments Ground mobile robots are distinguished as wheeled mobile robots and legged mobile robot Tzafestas 2014 p 24 The mobile robot in this project work belongs to the wheeled mobile robot Mecanum wheels are used in order to get high stability and maneuverability Wheel is shown in below figure see the figure 11 Mecanum wheel capability is called Omni directionality Tzafestas 2014 p 35 Mecanum wheels have three degree of mobility and three degree of steer ability Tzafestas 2014 p 46 Mecanum wheel Tapered bearing Bevel gearbox Figure 11 Mecanum wheels used for mobile robot CAD model 3 Overview Design of the mobile without plastic cover is shown in figure see the figure 12 The mobile robot consist of Mecanum wheels UR10 robotic hands manipulator gripper LIDAR light detection and ranging cameras hearing aids and a Quadcopter Ideal model is presented in figure see th
11. zone should be accurate Accurate landing zone can be achieved by manual landing operation 2j Battery changing process involve human Auto charging station developed So far automatic charging station automatic take off and selection of suitable quadcopter for this work are the goals which have been achieved in this work Auto landing on the mobile 11 robot platform auto follow indoor are the goals that are not achieved due to time constraint and quadcopter s closed loop system Size cost camera pan and tilt option auto take off and auto landing are the main constraint in selection of the suitable quadcopter for this project The complicated turning on off process of power button of battery is the main problem in creating an automatic charging process because the battery should not be charged while the battery is in on condition Three solutions are proposed to solve the problem of power button while only one is selected and practically applied after finding and comparing the best alternatives among these three options Three alternatives are as follows 1 Remove the Main PCB circuit from Batter The PCB Printed circuit board circuit from the battery can be removed and connects the positive and negative terminal of the battery to the charging platform The removal of PCB circuit causes loss of information from the quadcopter to the remote controller The PCB circuit transfer battery information to the controller If circ
12. 0 model The dimension 101x53mm and capable of holding data of 256 KB kilobytes with processor speed of 16Mhz 54 I O digital pin and 16 analog inputs serial port and USB universal serial bus connection Grimmett 2014 p 47 This model was used to give the demonstration of the automatic charging station but 1t was not considered for further work due to its large dimension size em z Ainsaeee 3 P LIT oe oe ne rA 22 ee E E ae ee BRRREEAS 36 COML IC 77 7 o 3o 32 34 36 Ta vara Rx MEN s ow X oXd WX oX oux wx wX X owxXxXxx Figure 19 Arduino Mega 2560 Grimmett 2014 p 47 39 Bluno Nano Arduino BLE Bluetooth Microcontroller This model of Arduino is selected see the figure 20 for this work because of its small size 53x19x12mm light weight 20g blue tooth communication model transparent communication through serial port DC supply of 7V 12V DC or USB powered or external pin Atmega328 processor and compatible with the Arduino Uno pin Dfrobot 2015 This Arduino allows to develop customized hardware and software need less energy to operate During the flight of Inspire 1 this Arduino is not powered off and will take the power from the battery so selecting a low power consumable Arduino is the best option for this work If the Arduino will dissipate large amount of power from the battery it will results in lowering the total flight time r i BOOT used for updata BLE Firmware AT
13. 008 21 research paper related to the UAS was presented in Beijing In 2012 in International Society for Photogrammetry and Remote Sensing ISPRS nine session for UAS was presented Numerous research have been made on quadcopter by overall analysts worldwide Impact of UAS can be observed when important conference are including paper journals and research work in their own domain The below 16 graph see graph 2 summarize how the number of quadcopter reference has been increasing from the year of 2005 to 2013 for research purpose Colomina amp Molina 2014 Research UAS 78 m 73 66 66 60 54 50 46 40 35 i 0 i d 2005 2006 2007 2008 2009 2010 2011 2012 2013 e N W O O O Graph 2 Research on UAS Mod Colomina amp Molina 2014 1 4 International and local laws for Drone The international laws for the drone are made in a UN organization the ICAO International Civil Aviation Organization headquarter is located in Montreal ICAO is concerned with the safety issues of drone throughout the world The section of the law set by ICAO stated in 1 1 is that Authorization and permission is needed from the state s aviation authorities to fly a remotely piloted aircraft RPA for example if the aircraft is flying from the one state to other then authorization is needed from the host country Clarke amp Moses 2014 p 272 So according to this section the individual Laws are made to operate the drone with in a specific c
14. 1 Design and implementation of fully integrated inductive DC DC converters in standard CMOS Dordrecht Springer 282 p Zhang Q Chen J Yang L Dong W Sheng X amp Zhu X 2015 Structure Optimization and Implementation of a Lightweight Sandwiched Quadcopter Intelligent Robotics and Applications pp 220 229
15. 5 volts 5 volts Figure 31 Circuit diagram for power button 49 The testing of the Arduino is done through a set code generated on C language as shown in figure see the figure 32 Battery was successfully turned off furthermore the battery terminals was successfully connected to the charging terminal as shown in the circuit diagram above see the figure 31 The following experiment was done manually by connecting the contact switches which shows that this system really works and can be used to develop an actual model of auto charging station using Arduino relay and switches The actual model is developed and discussed in next part of this report in Chapter 6 2 File Edit Sketch Tools Help test inn int negWire 36 int posWire 38 int button 40 int sensor 50 int userCommand 48 void setup I put your setup code here to run once pinMode button OUIEUI pinMode posWire OUTPUT pinMode negWire OUTPUT pinMode sensor INPUT pinMode userCommand INPUT void loop i ArduinofGenuina Wega or Miega 2560 ATmegazS60 Mega 2560 on COMES Figure 32 Code for turning off battery on C language 50 6 2 Working model Overview of auto charging station is presented in figure see the figure 33 Arduino 1 is attached with the quadcopter while Arduino 2 is attached with mobile robot which serves as the base station for the quadcopter The microcontrollers are equipped with blue tooth modu
16. 6 7 1 Ouadcopter selected TOK WOLK 9 anita oret eteb to a dud Reg edebat E 56 JL Auto chasms SCION MERDA Cate o ME Qu bedi ce ME eee q MM Ded dU 56 9 CONCLUSION iiicitisites eii titel Leodii ioa a Liberi io Fra Cosi Ee Fa anaa aaaea raaa 58 REFERENCES uprana ansuasaccaasueceansessascacnscssasavovasanssecseacivsvaseaveedsaasesseaeseuvogassesesens 59 LIST OF SYMBOLS AND ABBREVIATIONS mAh NO NC Vout Vin Wh AAV BL DC DC ESC EASA FPV FPS GPS HDMI HD ISR ICAO IMU LiPo LiDAR MAV PaRS PVDF PCB ROA Milli Ampere Hours Normally Open Normally Connected Output Voltage Input Voltage Watt Hours Autonomous Aerial Vehicle Brushless Direct Current Direct Current Electronic Speed Controller European Aviation Safety Agency First Person View Frame per Second Global Positioning System High Definition Multimedia Interface High Definition Intelligence Surveillance Reconnaissance International Civil Aviation Organization Inertial Measurement Unit Lithium Polymer Light Detection and Ranging Micro Aerial Vehicle Photogrammetry and Remote Sensing Polyvinyl dine fluoride Printed Circuit Board Remotely Operated Aircraft RPV RPAS RPA SLAM UAV UAV UDP Remotely Piloted Vehicle Remotely Piloted Aircraft System Remotely Piloted Aircraft Simultaneous Localization and Mapping Unmanned Air Vehicle Uninhabited Aerial Vehicle User Datagram Protocol 1 INTRODUCTION The UAV unmanned air vehicle
17. I 2015 Table 2 Battery and charger specifications of Inspire 1 DJI 2015 S pews oo s pwm O OOO O Opting Temper Range TOES X NN N X N f Figure 9 DJI Inspire 1 battery DJI 2015 According to Warne 2005 p 377 Considerable efforts have been made to commercialize lithium polymer batteries utilizing a polymer such as polyethylene oxide instead of an organic solvent to dissolve the lithium salt in the electrolyte Such systems would be able to safely utilize lithium metal as an electrode which would considerably increase capacity Unfortunately the electrical resistance of the polymer is still slightly too high for wide scale commercialization but some important advances have been made A slightly different compound based on a gel electrolyte has been more successful and most commercial polymer lithium batteries are of this type Here a liquid non aqueous electrolyte is encapsulated in a polymer gel typically PVDF polyvinyl dine fluoride or Apart from the immobilized electrolyte such gel based polymer batteries are very similar to more conventional lithium ion batteries The polymer construction facilitates a range of innovative concepts based upon winding and folding to the various elements LiPo batteries Lithium polymer are mostly used 1n quadcopter because they are light weight allow maximum fight time compact density as compared to other batteries They have short charging time durability a
18. LAPPEENRANTA UNIVERSITY OF TECHNOLOGY LUT School of Energy Systems LUT Mechanical Engineering Syed Azad Chowdhery QUADCOPTER ASSISTANT FOR A MOBILE ASSEMBLY ROBOT Examiners Professor Heikki Handroos D Sc Lauri Luostarinen ABSTRACT Lappeenranta University of Technology LUT School of Energy Systems LUT Mechanical Engineering Syed Azad Chowdhery Quadcopter assistant for a mobile assembly robot Master s thesis 2015 63 pages 40 figures 8 tables 2 graphs and 1 pie chart Examiners Professor Heikki Handroos D Sc Lauri Luostarinen Keywords Quadcopter accurate landing automatic charging station microcontrollers Science has revolutionized the human life The advance progress in science and research is making human life easier and more comfortable The new and emerging technology of micro drone is penetrating and widening the scientific research This thesis 1s a part of work in which a unique work is carried out although related research paper and journal are available Design and development of automatic charging station for a ready to fly quadcopter is rare and unusual work The work is carried out as an standard engineering process that include requirements gathering creating the required document this thesis is a part of required document as well selection of suitable hardware configuring the hardware generate the code for software uploading code to the microcontroller troubleshooting and rectification finaliz
19. Po 10 000 mAh 102cm diameter 24 eight diameter 72 5cm Height Draganfly Canada Guardian il SPUR N A N A 25 5cm 33 The table below see table 4 information were gathered during the research work all these data are gathered using official website of the manufacturer In this table different features are compared Pan tilt live video streaming cost overall sizes auto landing options and flight times are compared Some companies provide built in screen on the remote controller while some company does not produce compatible remote controller Some of the companies gives additional feature of using tablet or smart phones that are compatible with remote controller Table 4 Comparison of different features E On screen S n 1m Video Pan amp Auto Automatic video Flight resolution High Density 1 iod 370 mm pA 1080p yes yes yes yes yes 30 min 3S 11 1V ibi Hubsan 3 E 7000mAh ieee pee tlt yes No 18 min 5700 mAh 2 749 DII 1 mm 360 Typhoon 5 5 LCD 5400mAh 3S Y horizon hobby 9 US 949 SCOUT Transmitter 753 WALKER mmm HD mmm li uu n 5 LCD 29 6V Voyager 473 x 463 1080P 60FPS 1838 WALKER yes screen 640 x 6000mAh Li 3 x 300mm IHD Euro A 480P pa 332 ae ie Qus m 1099 video Live video Euro 4 2 Cost and feature comparison of several drones A comparison of three most suitable quadcopters is presented in table see table 5 Comparison is made for size price features and uses The offici
20. al price of Skyranger was not available some suppliers proposed the cost more than 10 000 US Dollar for SkyRanger Phantom does not have vision based position system and it 1s the previous model of DJI Company That is why Inspire 1 was preferred for this work Inspire has vision positioning system and its remote control has extra HDMI port to add another screen for FPV 34 Table 5 Cost and feature comparison of best three alternatives DJI 2015 Aeryon 2015 Tactical situational awareness amp 3 axis gimbal stabilized 4K camera The controller has an HDMI and targeting Perimeter amp convoy security HD wireless video transmission USB port allowing you to connect Covert Intelligence surveillance and Full remote camera control capability mobile devices or compatible Reconnaissance ISR Anti piracy App controlled manual camera settings screens tactical ship boarding De mining GPS free indoor stabilisation Vision based position system Emergency amp disaster response Camera display in 720p HD on mobile device https aeryon conyaeryon hdzoom30 Photos 12 Megapixels 3 axis 360 rotating gimbal FLIGHT TELEMETRY Military and governmnent Application Research and professional 4 3 Features and specification of selected quadcopter Specifications of DJI Inspire 1 meets major requirements of this work including over all dimensions 44 x 30 x 45cm 17 3 x 11 8 x 17 7in vision based positioning system arms are made of strong car
21. arging Figure below shows see the figure 34 the separate units for battery The quadcopter battery should be connected to the quadcopter during flying After landing the quadcopter battery connection should be disconnected from the quadcopter After disconnecting the battery from the quadcopter the battery is ready to communicate with the battery charging circuit to start the charging process it is worth mentioning here that the disconnection does not mean to remove the battery from the quadcopter Auto Charging external charger Quad Battery copter Auto Battery Charging Unit Figure 34 Component of charging process A secondary circuit diagram is shown in figure see the figure 35 Arduino 1 three relays voltage regulator and fuse are attached to the battery of the quadcopter This Arduino takes 5volts of power from the battery A step down voltage regulator LM78MOSCT 5V specification is mention in section 6 4 is used to convert 22VDC of battery into 5VDC for Arduino In 52 between the connection of Arduino and battery a fuse 1s used to avoid any short circuit due the variation of current as shown in figure see the figure 35 The ground terminal of the battery 1s connected to separate two relays as shown in figure see the figure 35 Third relay is also connected to the battery One terminal one end of each relay is connected to the ground of the battery as shown in the figure see the figure 35 with black color
22. arrillo 2013 22 2 4 Brushless DC motors Light weight high efficiency high torque and small size are the main cause of using Brushless DC motor in quadcopters They use electronic communication instead of the mechanical system produce less noise as compared to DC motor and are economic to maintain Synchronization of these motor take place over an integrated power supply switch or inverter These motors are manufactured in such a way that the wire is wounded on stator and rotor part is consist of permanent magnet Norris 2014 p 126 Below figure shows see the figure 8 an example of wire wounded stator and permanent magnet rotor Figure 8 Brushless DC motor BL DC Carrillo 2013 p 54 2 5 Battery LiPo Lithium polymer battery 1s used in commercially available quadcopters consist of multiple batteries in single unit for example DJI Inspire has six LiPo battery in a single unit The status of each single cell can be seen on the tablet screen Table see table 2 provide specifications of DJI Inspire battery and charger Inspire 1 battery is shown in figure see the figure 9 It is recommended in user manual guide to use only DJI made battery These batteries have internal PCB circuit board that are used to transfer data from aircraft to the controller these 23 data are very useful and complementary part of the flight use of any other battery will only make the aircraft on but flying is not possible DJ
23. bon fiber and these arms lift upward after takeoff to provide a full 360 view from 4K camera at 30FPS frame per second camera has the capability of shooting HD video and 12 megapixel photos the camera lens consists of 9 separate lenses Secondary remote control used for camera during flight system with a compatible mobile smart phone or tablet Tablet or mobile can give full Flight telemetry including height and battery status etc Hovering and stabilization of Inspire 1 1s possible due to IMU Inertial Measurement Unit The IMU also provide steady and stable motion of Inspire 1 taking into account of 6 axis gyroscope Gimbal motion is controlled by BL DC motor Mobile and tablet System Requirements Apple tablet of mobile GOS 8 0 or later Android 4 1 2 or later Pan and tilt Range of Camera tilt 90 to 30 and rotate 320 DJI 2015 35 Modification of quadcopter battery The basic purpose of this work 1s to select a suitable quadcopter and to develop an automatic charging station The quadcopter is supposed to be landed on the robot platform The landing of quadcopter on the accurate position was the main challenge without damaging and touching any part of robot Since the robot 1s intended to operate indoor so the GPS system of craft does not work The charging process is developed using microcontroller Arduino the process begins after the quadcopter lands on the platform of robot The legs of the quadcopter are modif
24. ch published law is available in Finland to operate quadcopter because it highly depends on the weight and type of quadcopter Linko 2014 pp 11 13 Since Inspire is intended to operate indoor where human entrance into the room is restricted therefore these laws are not considered very deeply in this research work Flying in highly populated area would be totally different as flying the quadcopter indoor 19 2 COMPONENTS OF QUADCOPTERS Quadcopters have variation in size shape function feature and weight However weight is the main concern for the engineers and researcher for the moving objects Reduction of weight is possible through the usage of light weight material like plastics carbon fiber aluminum alloys and sandwiched structure The selection of material highly effects on the efficiency battery consumption and flight time of quadcopters Zhang et al 2015 A quadcopter has following parts 1 Frame body material and properties 2 Arm length of arm and material 3 Centre plate size and weight 4 Landing skid 5 BL DC Brushless DC motor 6 Flight controller Brain of quadcopter 7 Electronic speed control 8 Propeller material and size 9 Battery Lithium polymer battery 2 1 Frame body arm and center plate The main body of the quadcopter is known as frame four arms four brushless DC Direct current motors flight controller and camera are mounted on the frame The frame consists of four arms as shown
25. d by Finnish Transport Safety Agency is Trafi The laws obeys all the sections of EASA with further modification that vary from region to region EASA 2015 Following are the main points the consideration of the point 1s only important for the outdoor flight e UAV should be less than 20Kg exceeding 20Kg will need a license this law also obey EASA and ICAO e The altitude of the flying drone is limited to 150 Meters This is set according to the region and not mentioned in EASA and ICAO e The maximum possible distance of operating area is 500 meter e The weather should be appropriate rainy and snow weather are not considered as favorable along with high speed of wind however the speed limit of the wind is not set because it highly depend on the UAV weight as well e Should not make a flight near airport zone 18 e The aircraft should be controlled and seen by the controller throughout the flight operation and should not be leave unattended at any point and the age of the pilot the person operated the controller should be minimum 18 years old e The aircraft should not be operated in dense populated area and the distance between the populated area and the aircraft should be kept 150 meters at least Linko 2014 The above points are based on the Bachelor thesis of Aalto University an email based conversations between the writer and Trafi as the writer emailed the Trafi to inquire about limitations of flying As there is no su
26. de fast way of looking after the crops It also provide warning of different temperature zone in the field Industries are building special quadcopter that are intended to operate only on crop fields Patel et al 2013 In Japan quadcopters are considered to be an integral part of farm equipment Li Shan amp Gong 2009 p 38 These two figures see the figure 3 and figure 4 show the quality of bad and good crops by analyzing the quality of image ey Figure 3 Processed Image of bad crop Patel et al 2013 15 Figure 4 Processed Image of good crop Patel et al 2013 1 3 4 Military Quadcopter are used as distant weapon without using human interaction The first use of drone in the military as weapon was in 1930 during the World War I There are 49 countries involved in the research work for the development of quadcopter for military purpose Wang Wu amp Li 2011 p 37 In military quadcopters are usually used for monitoring ISR intelligence surveillance reconnaissance and inspection in critical and dangerous location Due to the sound of the moving propeller and light weight use of quadcopters are still avoided by the military application However future research will bring some window to use the quadcopter for the military use Nonami 2010 p 22 1 3 5 Research In 2004 PaRS Photogrammetry and Remote Sensing conference first research paper related to UAS was presented that was held in Istanbul In 2
27. e Bras Mess DEO MOOL 6 eo testem ti dn dates escent tesa ecu dm da ace s oe RS NEG Du EU UD ende 2 2 5 DUlteb TE EENE E AE Pane EE A S PA TEA E A Pd tater E EEEo 22 20 FOP CCI ane teak a a E NE LEM Loss en a 24 3 MOBILE ASSEMBLY ROBOT oiae neenaka aaa aeaaea iaaa aiaia 26 24 OVerVIe Wed nd nt EI EM EM E 26 3 2 Quadcopter ASSISTANCE sso cared oiode t EU rotated a ote db sete tae R ed dub pati aca eise dust us 28 4 SELECTION OF QUADCOP DEG 55i iioi dii dori Periit 3l 4 AUN IM E ERE 3l 4 2 Cost and feature comparison of several drones eeeessssssssoerrssssssssseerrssssssseeeeees 33 4 3 Features and specification of selected quadcopter eeeeesseeeeeeeeee 34 5 COMPONENTS OF CHARGING STATIQGON ecce eee eee eee eee ee eee een o eee ee eooo 37 5 1 Microcontroller Sognin e da ptus us tuendo cela deitas iate tds adem een aaa 37 5 1 1 Programming of the microcontroller eeeesssseseeeemmeeen 40 I2 POWT Re mmc TT 4 5 3 INCEG SWC DE Saias aaan E ttem a s MM tuu 43 D4 VOe RECUO eiie tee a iere ela onere tap pde e UR NN 44 2 5 lai rc MP 45 6 DEVELOPMENT OF AUTOMATIC CHARGING STATION 46 6 1 Prototype testing and demonstration esssssesesesseeeeeeeeeen nennen eene 46 G22 WORKING Mode lesers enter b oed E vd weal Secs inane pq tush wna tuu t ahaa 50 6 3 rip 55 T RESUL esos c 5
28. e figure 13 an idea how the final robot will looks like The control room for the Z7 robot consist of seven screen for monitoring the robot activity quadcopter will go through the area which the mobile robot cannot access the live video streaming of quadcopter in one of the seven screen there are seven individual monitor screen in the control room serves better working and guidance for the robot LiDAR 1s used to scan 3D point cloud information and sent to the control room Wang et al 2011 Figure 12 Model of mobile robot without cover CAD model Figure 13 Mobile robot ideal model of mobile robot 28 The purpose of the mobile robot project 1s to create a robot that can perform a desired task for this purpose robot planning is considered robot planning means how the mobile robot achieve its desired task and complete the task efficiently with zero error Three step are involved in robot planning are path planning motion planning and task planning Tzafestas 2014 p 439 Path planning It is related to the programming of all types of locomotive robot path planning tells a robot how it is going to move around an environment The robot should know its overall structure of the environment to move freely and safely without damaging the property or damaging itself Path planning can be done both the way either before the movement start or during the movement as well Tzafestas 2014 p 446 Motion planning Mot
29. ecurity Review 30 3 pp 263 285 Colomina I amp Molina P 2014 Unmanned aerial systems for photogrammetry and remote sensing ISPRS Journal of Photogrammetry and Remote Sensing Volume 92 pp 79 97 60 DJI 2015 Inspire 1 Features DJI Online Accessed 16 November 2015 Available at http www dji com product inspire 1 feature Daly J Ma Y amp Waslander S 2014 Coordinated landing of a quadrotor on a skid steered ground vehicle in the presence of time delays Autonomous Robots 38 2 pp 179 191 Dfrobot 2015 Bluno Nano Online Accessed 16 November 2015 Available at http www dfrobot com index php route product product amp product_id 1 122 VkUO9LcrLcc Draganfly 2015 Draganflyer Guardian Four Rotor UAV Helicopter Aerial Video Platform Online Accessed 18 November 2015 Available at https www draganfly com uav helicopter draganflyer guardian EASA 2015 EASA European Aviation Safety Agency Online Accessed 16 November 2015 Available at https www easa europa eu Freeman P amp Freeland R 2015 Agricultural UAVs in the U S Potential Policy and Hype Remote Sensing Applications Volume 2 pp 35 43 Fujitsu 2015 Product detail Fujitsu UK Online Accessed 18 November 2015 Available at http www fujitsu com uk pdut detail 1 184935 relays FTR F1 Grimmett R 2014 Arduino robotic projects Birmingham UK Packt Pub 230 p Gupta A Jha V amp Kumar V
30. ed prototype and testing Thesis describe how mechatronics engineering is useful in generating a customized and unique project At the starting phase of this project before purchasing a ready to fly quadcopter every single aspect of this work was known The only unknown alternatives was a battery and charger Several task was achieved including design and development of automatic charging station accurate landing and telecast a live video on additional screen At starting it was decided that quadcopter should follow the mobile robot during study it was concluded there 1s no such quadcopter available in market to auto follow a robot indoor This works starts with a market survey and comparing the different brands of quadcopter that meets all the requirements and specifications of the mobile robot assembly Selection of quadcopter 1s a result of discussion and meeting with the team members supervisor professor and project manage ACKNOWLEDGMENTS This project was carried out under the support of laboratory of intelligent machine at LUT I would like to serve my thanks to Professor Heikki Handroos for providing me this great opportunity as a paid thesis work thesis supervisor Lauri Luostarinen D Sc Juha Koivisto laboratory technician and Hamid Roozbahani project manager who provided me opportunity to take part in the research and development of this work My honest anticipation with the member of mobile robot assembly team including Samra
31. ed wire Other one end of these three relays are connected to the digital input of Arduino named as d11 d12 and d10 These three relays are in state of normally connected when there is no input The first two relays relay and relay are for the charging the positive and negative wire of the battery common terminals of these two relays terminal C is connected to the positive and negative terminal of the battery In normally connected status these terminals are supplying power to the quadcopter when no input is entered through the Arduino Third relay also have the same function in normally open status it keeps the battery on to be used for the quadcopter during flying stage After landing and receiving the signal from the Arduino on the base station Arduino can change the state of the relay from connected to open and vice versa which means the supply of the power from the batter to the quadcopter is disengaged and connected to the charger while the third relay turn off the quadcopter battery to start the charging process Secondary Circuit Arduino Battery Relay Relay Relay SW ew ES Vin Fuse a Voltage Regulator Battery Arduino 1 Quadcopter Figure 35 Secondary circuit 95 Now consider the below figure see the figure 36 Relay is connected to the main power of the battery the power button of the battery 1s by passed by using very thin wire in order to send the command for turning off the battery The battery sh
32. ek V amp P eu il L 2013 Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs Journal of Intelligent amp Robotic Systems 72 2 pp 239 261 Shah N Dutt J amp Modh H 2014 Quadrotor An Unmanned Aerial Vehicle International Journal of Engineering Development and Research IJDER 2 1 pp 1299 1303 Siebert S amp Teizer J 2014 Mobile 3D mapping for surveying earthwork projects using an Unmanned Aerial Vehicle UAV system Automation in Construction Volume 41 pp 1 14 63 Tzafestas S 2014 Introduction to mobile robot control London Elsevier 750 p TurboAce 2015 Turbo Ace Matrix G Devo 10 Online Accessed 18 November 2015 Available at http www turboace com turbo ace matrix g devo10 gyrox3 aspx Valavanis K amp Vachtsevanos G 2015 Handbook of Unmanned Aerial Vehicles Dordrecht Springer 3022 p Walkera 2015 QR X350 Premium Walkera The world s most professional consumer UAV of racing Online Accessed 18 November 2015 Available at http www walkera com En Products AerialDrones QR X350Premium Wang Z Wu L amp Li H 2011 Key technology of mine underground mobile positioning based on LiDAR and coded sequence pattern Transactions of Nonferrous Metals Society of China Volume 21 pp 570 576 Warne D 2005 Newnes electrical power engineer s handbook 2nd ed Amsterdam Newnes 480 p Wens M amp Steyaert M 201
33. field of quadcopter for the efficient use in practical life Research includes both at academic robotics and controls research and industrial or commercial level While working on this project the internet is surveyed for the selection of suitable quadcopter and it was concluded that quadcopter has growing market Norris 2014 Companies are providing quadcopters and each company have their unique feature and technology Gupta Jha amp Kumar 2014 p 15 1 1 Background of the work The work is carried out in Laboratory of intelligent machines at LUT Lappeenranta University of Technology Several quadcopters are taken under consideration for the best option Inspire 1 from DJI product Chinese company product is chosen after comparing with different quadcopters in the market The scope of the work related to this project is based on the mobile robot project In this project the quadcopter becomes the peripheral part of mobile robot The quadcopter is supposed to assist the mobile robot by providing a live video streaming When the quadcopter is discharged it lands on the robot s platform to get an automatic charging process and fly again for assisting the robot Inspire 1 quadcopter is a ready to fly quadcopter manufactured by DJI For charging process the battery should be retrieved from quadcopter and should be charged separately Inspire 1 comes with two batteries and each battery has the capability of twenty two minutes of flight time
34. gure see the figure 29 shows how quadcopter land on the platform and circuit get complete as a response of contact switch This model is just an overview of the process practically it is done manually by pressing switch S1 and S2 Below figure see the figure 29 shows the contact area and how force will create to enable the contact switch S1 and S2 Contact area Contact switches 1 amp S2 on Switches are given 5 Volts from Main Battery MB Figure 29 Contact switch complete the circuit created on Pro e wildfire 5 Circuit Diagram for demonstration of work The below figure see the figure 30 describe how the arduino is connected to the relay The arduino is connected to the 5 volts of battery swicht SI and S2 are connected to the digital input of the arduino when the cicuit is complete due to the weight S1 and S2 the digital pins d11 and d12 will send the command and arduino will 48 start to process the fuction as written in c command Turn of the power of battery and connect the relay port to the charging terminal ARDUINO 5 volts Figure 30 Circuit diagram for charging When switches S1 and 52 complete the circuit as shown in figure see the figure 31 which shows that the power button of battery is by passed and connected to relay By sending a simple set of command as shown in the testing section see the figure 33 the Arduino turns off the battery to start the charging process ARDUINO
35. he help of magnetic switches and reed switches These reed witches behaves as the proximity sensor when magnetic field 1s applied The proximity sensor can detect very small amount of change in weight which comes across as a result of quadcopter landing The mobile robot is manufactured with a platform consisted of two platform Each platform has copper plate which serves as positive and negative terminal platform and platform as shown in figure see the figure 37 From the battery two wires of positive and negative terminals are coming out at the landing skid of the quadcopter After landing the relay will disconnect the power from battery to quadcopter and change the state to normally open as discussed earlier in section 6 2 The variation in distance between the magnet and reed switch completes the circuit four magnets for each reed switches are used if any one of the reed switch comes in contact with the magnet the proximity sensor responds and complete the circuit these proximity sensors are connected to the Arduino 2 digital input d9 d10 d11 and d12 while the other end of the reed switch is connected to the 5volts of DC supply Arduino 2 on the base station is connected to the 5volts power through the main battery of mobile robot Completion of circuit command from the proximity is received on Arduino 2 base station Arduino 2 is programmed in following way if pin d9 or d10 or d11 or d12 is high then active the Arduino 1 on the quadcop
36. ied with copper plates copper plates are connected to the battery main terminals positive and negative terminal through wires e Development of automatic charging station is carried out in engineering way proceed according to the engineering process which involves e Gathering information for the automatic charging station e Creating the required document for each of the component and specify their functions e Hardware needed for the development of station and check the compatibility of each hardware e Code generation for the process e oading debugging the code to the micro controller e Troubleshooting and rectification e Finalized the model after successful result from the test Remote Controller DJI Inspire 1 remote controller is shown in the figure below see the figure 18 Tablet is attached to the controller to get the FPV first person view In aviation industry FPV define as the watching on the screen what the aircraft sees Live HD high definition video streaming is possible on tablet and controller has a HDMI High Definition Multimedia Interface port to add another screen to get a live streaming Two controller sets are ordered to get separate control of camera on the secondary or slave remote while primary or master remote 36 only serves for controlling the quadcopter Following list see table 6 describes the features of the controller The features listed in table below are shown in figure see the figure 17
37. in the figure see the figure 5 The motor are mounted at the end of the arm equidistance from the center of the quadcopter while the flight controller is assembled in the center plate Rajin amp Shawn 2015 Siebert amp Teizer 2014 Factors considered while selecting the material for the quadcopter s frame are rigidity stiffness and strength However material inspection testing and analysis static and dynamic are done to select the suitable material for the frame Gupta et al 2014 During market study it was observed that each quadcopter 1s identical while proper balance between strength of material and weight are ignored by the manufacturers Still this area needs to be dig into detail to optimize the use of material for arms Zhang et al 2015 20 Figure 5 Quadcopter Body Frame and Inertial Frame Zhang et al 2015 p 224 2 2 Flight controller The quadcopters are controlled by the radio signal called carrier These signals are transferred through controller transmitter to the flight controller receiver of the quadcopter The flight controller acts as the brain of the quadcopter it tells each of the motors how fast it should rotate to control the given command Norris 2014 p 150 The ultrasonic based flight controller 1s able to measure the distance between the quadcopter and the controller Hanafi et al 2013 The flight controller controls three types of motion in the quadcopter that are defined a
38. ion of robot according to the given command the motion planning is followed by the path planning to respond a certain input and execute the command safely it 1s consider as the sub goal or a subset of main goal or subset of path planning Tzafestas 2014 p 446 Task planning Task planning includes world modelling task specification and robot program synthesis World modelling is related to generation of CAD computer aided designing of objects and surrounding The sequence of change in world modelling is known as task specification The final part of the task planning include task specifications that is to perform a certain action successfully the command include picking a certain object feedback error or sensing the objects Tzafestas 2014 p 447 3 2 Quadcopter assistance The use of quadcopter in the robotic environment is increasing in these day In this report some examples are given about related research works to integrate a quadcopter with mobile robot system The camera of quadcopter has the ability due to hovering and flying capability of quadcopter to go to the area where mobile robot camera is not accessible furthermore the quadcopter camera provide good quality picture and sometime a live video of the entire problem L pez Nicol s amp Mezouar 2014 In this perspective it 1s concluded that developing the specific purpose quadcopter can have more customized option rather than buying a readymade 20 quadc
39. le The quadcopter microcontroller named as Arduino 1 while the microcontroller on the mobile robot named as Arduino2 base station Both the Arduino should be turn on all the time because Arduino have their own on off button if the Arduino is turned off then it should be turn on manually which will fade the whole process as the actual purpose of this work is to make a process that is human free So the Arduino 1 will take the power from the quadcopter Battery and Arduino 2 is connected to the main battery of the mobile robot Arduino needs 7 12volts and the size is 53x19x12mm which can be easy be adjusted in the quadcopter s battery Following steps are included in the whole process 1 Landing of quadcopter 2 Activation of proximity sensor due the increase of weight on the platform 3 Microcontroller on the platform Arduino 2 receives command from the proximity sensor 4 Arduino 2 will send the command to Arduino 1 to turn off the quadcopter 5 The Quadcopter get turn off and the relays disconnect the supply of the power from battery to the quadcopter 6 After few second of turning off the positive and negative relay will connect the quadcopter battery terminal to the charger 7 After charging relay disconnect the power from charger and connect the power from battery to the quadcopter to fly again 51 Auto Charging Overview Bluetooth Communication quu HER PURISUPENUANS Figure 33 Overview of auto ch
40. lock Purdum 2012 pp 23 292 41 Expression operand and operator are used to make an expression operand are the data while operator are the mathematical or logical agents For example a b 1s an expression in which a and b are operand and is the operator Operands are the any variable assign and operator performs the certain action on the operand The expression is known as binary expression binary expression always need two operand while x and are the binary operator the unary operant consist of only one operand and a ternary operator consist of three operands Purdum 2012 Statement A complete instruction is known as statement the statement ends on semicolon Examples 1s j 50 Equal sign 1s called assignment operator the equal sign assign the operand j a variable a particular value to the right side of the statement Purdum 2012 5 2 Power Relays Relays are electromagnetic devices can respond when an input is given and connects the terminal to the desired terminal and when the input is disengaged they can regain the initial status of electrical circuits Relays are used in many electrical and electronic appliance home appliances robot communication devices automobiles and electrical circuits Figure below see the figure 21 presents the block diagram of relay working Blackburn amp Domin 2007 p 35 single or Integration Single o ng d ngle or multiple timing etc Pim
41. nd long discharge time Shah et al 2014 2 6 Propeller Propellers see the figure 10 are used to lift the quadcopter two clockwise and two anticlockwise rotating propellers cancel the gyroscope effect of each motor and making quadcopter more stable The propeller material used by most of the manufacturer are carbon fiber while size depends on the lift force and power of the motor Shah et al 2014 Clockwise Anti Clockwise Figure 10 Propellers mod Norris 2014 p 86 Other Component Optional components are also available from the manufacturers of quadcopters Additional features can be obtained using these components Following list of parts are developed by reviewing different manufacturer s official websites For example DJI Inspire 1 is equipped with some of these addition parts as well Some examples are given below and can be found also on Carrillo 2013 p 50 1 Gimbal for camera if camera tilt and rotation are needed 2 Camera in some Quadcopter camera are fixed and does not tilt or rotate 3 Vision based positioning system 22 Sonar Gyroscope 4 5 6 Metal detector 7 Sensors for temperature 8 Thermal camera 9 Night vision system 10 LED light to operate the Quadcopter in dark 11 Infrared camera 12 Accelerometer 13 Magnetometer Compass 14 Inertial Measurement Unit DJI inspire 1 is equipped with IMU accelerometer lights vision based positioning system GPS gyroscope gimbal
42. nnected to the base of platform below the copperplates these four reed switches become activated when the quadcopter land and the magnetic field generates due to magnet attached to the base platform The reason of using four switches are to make the system more reliable if any one of the reed switch detect the weight of the quadcopter first the auto charging process immediately starts These switches are connected to the Arduino on the base station that will be discussed in later part of the report in section Development of automatic charging station 44 5 Pj OPEN 5 N Figure 25 Working of Reed Switch OSDC 2015 5 4 Voltage Regulators A simple DC DC converter see the figure 26 1s used for the purpose of applying voltage to the Arduino on the quadcopter the voltage regulator works on the principle of dissipating the extra amount of power that pass through the resistor convert the input voltage Vin into a required small output voltage Vout Wens amp Steyaert 2011 p 25 Ground Output Ground Input Figure 26 DC DC Voltage regulator mod Robotshop 2015 Figure above shows see the figure 26 a three terminal voltage regulator used in this work According to the quadcopter manufacturer it is not recommended to carry any kind of pay load to the Inspire 1 Since this work is based on research work therefore it was decided that small amount of weight can be carried out by the quadco
43. nt position to the satellite and GPS respond to that position accordingly Further detail can be found in Daly Ma and Waslander 2014 pp 187 188 30 Figure 15 Example of quadcopter assisting robot outdoor Daly et al 2014 p 188 3 4 SELECTION OF QUADCOPTER First part of this project started with the market survey it took around four month to select a suitable and professional quadcopter to meet all the requirements of the work However due to built in operation and several constraints some target are still uncompleted At the starting phase of this project these nine quadcopters shown in figure see the figure 16 are considered Study was conducted in detail to find the suitable one among these quadcopters Te Bebop Drone Turbo Ace Matrix H1098S X4 Pro z Guardian Inspire 1 SkyRanger Figure 16 Few available quadcopters in market Names are mentioned for each quadcopter These pictures are taken from the respective manufacturer s official websites DJI 2015 TurboAce 2015 Parrot 2015 Walkera 2015 3DRDrone 2015 Hubsan 2015 Aeryon 2015 Draganfly 2015 4 Market review The global unmanned aerial systems Quadcopter market revenue 1s worth 5400 0 M as of in 2013 and is expected to grow up to 6350 0 M by 2018 Colomina amp Molina 2014 It has been estimated that the worldwide UAV business sector will be worth up to 80 billion by 2020 Valavanis amp Vach
44. of the professional quadcopter available in the market for the research work During the research it was founded that GPS does not work indoor Researches are ongoing to make an auto follow quadcopter indoor Mapping is the technique that is done through visual positioning system Inspire has vision positioning system this is why Inspire was selected Due to time limitation the work was only concluded to the selection of the quadcopter and then making of an automatic charging station Automatic charging station was developed with the help of microcontrollers relay and switches Microcontroller with Bluetooth module was used to avoid minimum number of wire from the quadcopter to the main platform There were only two wires for the charging that comes out from the quadcopter while all the functions are made with Bluetooth communication that s was the main reason of using two microcontroller Arduino 1 and Arduino 2 as mention in section 6 development of charging station Use of relay made it easy to control the whole system programming in C language also make it possible to make the changes in the program as needed customized C language The future work related to this quadcopter is to check the reliability and repeatability of the automatic charging station along with study of factor of safety Vision based position system will help in the future work to make an automatic follow option that will follow the mobile robot where ever it goes
45. opter from the manufacturer The problem with the ready to fly quadcopter is that each company has their own version of programming any interpretation or modification in readymade program increases the risk of accident But somehow in this work a working automatic charging station was developed because the quadcopter programming 1s not being interpreted or modified This quadcopter will help the mobile robot to achieve it desired task through live video streaming Example of similar work In Czech republic Technical University in Prague department of Intelligent and Mobile Robotics Group developed a mobile robot with a quadcopter assisting it as shown in figure see the figure 14 Another work is carried out in which Aeryon scout is programmed and modified in such a way that it s follow a robot outdoor i3 2 OC VE T rs n AU he ns d cre gt S F ANR Y 1 NT oc Meare ase BS sa a eS aule fun tee tomba N WIL Due Figure 14 Example of quadcopter assisting robot indoor Saska Von sek and P eu il 2013 Figure 15 below presents a related work A quadcopter 1s following a mobile robot outdoor as the GPS signal only works outdoor To achieve this target of auto follow the robot shown below is programmed with C software that is integrated with the GPS system of quadcopter and the communication took place through Wi Fi signal by a UDP user datagram protocol UDP communication sends the raw data of its curre
46. ould not be in running status while charging that is why turning off the battery was the main task for charging The turning off the battery process comprises of three stages which are as follows 1 Press the power button for one second 2 Release the power button for one second 3 Again press the power button for two or three seconds However the battery is not turned off with the help of actuator rather than it was done by sending the signal through Arduino 1 after it lands on the mobile robot When Arduino 1 on the quadcopter receives the signal from the Arduino 2 from the base station Arduino 1 is programmed to perform the following operation If Arduino 2 is high then Arduino 1 on the battery performs following commands Turning off the battery Pin d12 high for one second d12 low for one second and d12 high for three seconds These steps will turn of the quadcopter Connect to the charger After 5 second of d12 last high d10 and d11 are high for 1 hour This step will disconnect the power of battery from quadcopter and connects the battery terminals to the charger Primary Circuit Relay gt Battery Auto Charging Bronk 5 Tue c Mer C TW Quad copter SW Signal Jump Arduino Power Relay Relay Relay SW Figure 36 Primary circuit 54 How the mobile robot knows the Landing Figure below shows see the figure 37 the mechanism of sensing the quadcopter landing process This is done with t
47. ountry and region and local laws should be followed for drone operation ICAO is still unable to include all the constraint and limitation of using UAV many countries has not yet developed the regional laws for using UAV because they are looking forward towards ICAO to develop a complete set of laws that can easily be adopted and implemented to their own aviation rules Clarke amp Moses 2014 p 272 Some research companies are helping in the development of the Laws for quadcopter by providing their inputs to air traffic authorities these companies also 17 want to develop certified and authorized UAS to launch their product in the market Colomina amp Molina 2014 1 4 1 European Aviation Safety Agency The EASA European Aviation Safety Agency set the rules and regulation for the Drones within the Europe the rules are set according to the weight of the drone for example the drone exceeding the weight of 150Kg are treated as commercial drone EASA categorized the drone in three categories according to weight distributions EASA 2015 1 Above 150Kg 2 Between 20kg to 150kg 3 Below 20kg According to the above the list category one and two are eliminated only option three is taken under consideration The weight of quadcopter used in this work is around 4Kg approximately Therefore only third category law is considered The aircraft below 20 Kg does not need to be licensed Finnish legislation concerning the UAV are controlle
48. piiication multiple inputs Figure 21 Logic representation of an electric relay Blackburn amp Domin 2007 p 35 Reliability selectivity and speed are the factors that are considered when selecting a relay for a specific purpose Blackburn amp Domin 2007 pp 48 50 The relay used in this work is 1 POLE 5A Medium Load Control manufactured by FUJITSU see the figure 22 It is an electromagnetic relay when power is supplied the switch changes its position from normally connected NC to normally open NO and these relays are widely used in microprocessor control system Warne 2005 p 254 42 Watasheetcli Figure 22 Power Relay Fujitsu 2015 Working principle of electromagnetic relay The internal circuit diagram is presented in the below figure see the figure 23 The two free ends end A and B of the relays are used to send the signal this signal is used to activate the electromagnetic system When no signal is received that relay common C is connected to the normally connected terminal NC When power is supplied the electromagnetic system activates and switch 1s connected to the normally open NO terminal The electromagnetic relays are used where isolation 1s needed from other components if the contact is corroded then the connection is not so effective so selecting a suitable and better brand of relay also provides a better performance Warne 2005 p 254 While selecting a relay five factor are im
49. portant namely reliability selectivity speed of operation simplicity and economic Blackburn amp Domin 2007 p 48 6 Figure 23 Circuit diagram of relay mod Phidgets 2015 43 5 3 Reed switches Reed switches see the figure 24 are used to complete the circuit fast response and light weight are the main characteristics of these type of switches it has the ability to response to small amount of change in weight and widely used in communication control home appliances measurement and automotive electronic devices This fast way of communication enables it to select for this project in charging station the two microcontrollers are communicating themselves and therefore this communication must be fast stable efficient and reliable Reed switches are widely used in automobile industry because of their light weight small size reduced cost and long life It can be converted into proximity switch when a magnet is attached OSDC 2015 pp 13 20 Glass Tube Inert Gas BN Reed Contact Lead Make Type Figure 24 Reed switches OSDC 2015 Working principle of reed switch Working principle of reed switches are shown in figure see the figure 25 1s based on the mechanism two ferrous metallic small pins are enclosed in inert eas glass tube when a magnetic field 1s applied the ferrous metallic pins attached to each other to complete a circuit OSDC 2015 In this project four reed switches are used and are co
50. pter Voltage regulator of model name LM78MOSCT 5V 0 5A Voltage Regulator is selected for this work due to its small size 19x10x4 5 mm and weight 20 grams Input voltage ranges from 7 35 volts battery of 45 quadcopter will provide 22 6 volts that s is suitable for this regulator while the output of 5 volts will be connected to Arduino 5 volts 1s required voltage demand of Arduino 5 5 Fuse Fuse see the figure 27 is a safety electrical device it is widely used in most electronic and electrical devices to minimize chances of accident due to variation of current voltage and overheating These variations are caused due the extra heat up of the device As the variation increases the fuse breaks the circuit and prevents the device from further damage The fuse 1s connected in the device in such a location position so that the replacement process could be easy Fuse are used with fuse holder that can easy be replaced Warne 2005 p 242 S Figure 27 Fuse Robotshop 2015 46 6 DEVELOPMENT OF AUTOMATIC CHARGING STATION For making an automatic charging station data collection is important to understand the basic process of charging To verify the hypothesis of this work a test is carried out with one Arduino the test was performed manually after bypassing the battery s main on off switch The Inspire 1 battery has a special method of charging the battery should be retrieved take out from the quadcopter in o
51. rder to start the charging process The technical part of this work is to charge the battery within the quadcopter after it lands on the robot platform The battery should turn off before starting the charging process Turing on off battery procedure involves 1 Pressing the power button for one second 2 Releasing the button for one second 3 Again press the button for two to three seconds 6 1 Prototype testing and demonstration Arduino is used as a microcontroller to make charging process After landing the quadcopter the Arduino will turn off the battery and the charging process starts Figure shows see the figure 28 how the quadcopter lands on the platform Parts needed for making the automatic charging station has already been discussed above Process include the following steps 1 Landing of Quadcopter on the platform 2 Contact switch complete the circuit due to the weight of the copter that land on the platform as shown in Figure see the figure 28 3 Contact switch sends the command to the microcontroller board on the platform 4 Microcontroller receives the complete circuit command and it will turn off the quadcopter by sending the command to the relay 5 This command will also transferred to start the charging process 6 After the battery get charged for example one hour of elapsed time sending the command to turn on the quadcopter 47 Figure 28 Platform with Quadcopter created on Pro e wildfire 5 The above fi
52. s roll pitch and yaw see the figure 6 Roll is the rotation of quadcopter around its longitudinal axis Pitch is defines as the upward and downward motion of quadcopter Yaw is the forward and backward or left and right motion of quadcopter Clarke 2014 21 Longitudinal Axis Forward Figure 6 Quadcopter principal axes and respective rotational motions Norris 2014 p 37 2 3 Electronic Speed Controller Speed ESC or Electronic speed Controller See the figure 7 is the controller that receives the signal from the flight controller The purpose of ESC is to control the speed of each individual motor Each motor has its own ESC circuit all the four ESC are connected to the flight controller Jeremia Kuantama and Pangaribuan 2015 The ESC receives its input signal from the flight controller This input signal often termed as servo signal is transferred to the BL DC motor The difference between receiving and delivering the signal is known as delay the delay is between Imillisecond to 2 millisecond The motor response time should be minimum to get a stable flight of quadcopter Different manufacturers are available in the market to produce ESC Some experiment on ESC was performed connecting all four individual ESC with four BL DC motors and it was found that the behavior of each motor was not same with single command of input to those four ESC Carrillo 2013 p 55 Figure 7 ESC a top view b bottom view C
53. sing multiple cameras Auto follow option making it easy and cost effective to use just one quadcopter camera instead of using multiple camera at multiple sites That saves time cost and extra labor Lily 2015 Beside sports purpose quadcopter are widely used in construction industries for measuring the area of the sites to determine uneven surface and for three dimensional 3D volumetric 14 analysis Quadcopter are becoming a compulsory tools for the constructions work Precision 2015 On March 2011 a nuclear power plant in Japan was under the tidal wave attack the condition of the entire location was contaminated with radiation and quadcopters were used to survey the situation of the entire scenario above the ground sending many information like radiation percentage temperature and live videos Shah Dutt amp Modh 2014 1 3 2 Agriculture Human have been always looking for the easiest and the most efficient way to carry out difficult and tedious job The advanced technology and involvement of sensor and controller in the robotic quadcopter are enabling the use of quadcopters in the field of agriculture for crop surveillance Infrared camera and sensor based quadcopter are being used to survey over the crop field to observe the real time quality of crops and their leaves Using image processing the field is surveyed and goods are transported to the desired location that save extra movement of human being and provi
54. t Sameer Andres Weiting who work in a determined way and support me through their knowledge and information regarding their own topic This work is part of group work so every individual worked on this project need to be considered to accept my gratitude and thanks Syed Azad Chowdhery Lappeenranta University of Technology 8 of November 2015 TABLE OF CONTENTS ABSTRACT ACKNOWLEDGEMENTS TABLE OF CONTENTS LIST OF SYMBOLS AND ABBREVIATIONS I ENTRODUG TION 455255 m rieieebset ipe edu oa pne deup resa eua a 8 1 1 Background or Ine WOLK oio RU Rd E 9 1 2 Requirements and limitations of the work ssseeeeeeeeeeeeeeeeen n 10 1 3 Applications or QuadCo pters ssis icta et ed Eie Pee Pen deae Eee DR nie rada Pee Pus pads 12 LBS US unie illii ERR RM Cp E 14 kA MI HE i coii NE I OE Qaod i oe ME Dici sacar E arouse E 15 1 50 INC SE ANC oo Reece esha heuer icem Rp RCM Ele LIES EN Sed 15 1 4 International and local laws for Drone eeessssssseeeeeeeeenen nn 16 Ll Europ an Aviation Safety vAPOFCY x eei Egi odere tpa EE a o ce E peto EodcUS 17 2 COMPONENTS OF QUADCOPTERS 2 2 21 223 12i ooo icis aia odo oo ios dta a ides sce iaia 19 2 1 Frame body arm and center plate iie ex pr ge ote AU ERE een poa ovas ebd 19 2 2 JphelitoobttolleE sen mci ee ree ue Cut ioa dote hu eit a tma us CU dbi tq ette 20 2 3 Electronic Speed Controller 22 5 er rece eed stahinand Ud OI Eo eiu aer ub itee eius 21 Z
55. ter battery Primary Circuit Relay Battery Auto Charging Variation in i distance 5VDC Arduino 2 Base Station Figure 37 Primary circuit for relays 55 6 3 Testing Testing start when all the connections are made as shown in section 6 2 Statement is made of each digital input as mentioned in Chapter 5 1 1 A working model with successful test has already been discussed in Chapter 6 1 This model is somehow similar to the testing model except here two Arduino with Bluetooth modules used see the figure 38 of wire and to make an efficient way of communication between the microcontrollers The difference 1s only the use of proximity sensor The sensor send the command to the Arduino 2 on the base station to activate the Arduino 1 on the battery and all set of command is same as discussed in Chapters 6 1 and 6 2 File Edit Sketch Tools Help void setup I put your setup code here to run once pinMode button OUTEUT pinMode posWire OUIPUT pinMode negWire OUTPUT pinMode sensor INPUT pinMode userCommand INEUT void loop while sensor HIGH put your main code here to run repeatedly digitalWrite button HIGH delay 1000 digitalWrite button LOW delay 10D digitalWrite button HIGH delay 4000 f wire switching OR charging mod digitalWrite posWire HIGH delay 8000 digitalWrite negWire HIGH delay 8000 Figure 38 Testing of working model
56. tomizable microcontroller with microprocessor board are based on C programming has the capability to perform certain action as per given command Arduino can be programmed using C C languages Different sized Arduinos are available with different features see the figure 18 User can select the desired processor based on the memory size and dimension of the Arduino Arduino are able to integrate with sensor actuators and GPS systems They have been part of robotic projects since 2005 The use of Arduino does not need high level of programming skills writing a program on C language is not much difficult Purdum 2012 Arduinos can be used to make mini robots in which Arduino act as the brain of the robot in many application like quadcopter ships and transport agents Grimmett 2014 p 26 38 Figure 18 Different Arduino available in market Purdum 2012 p 33 Selection of Microcontroller Selection of suitable and compatible microcontroller was one of the difficult task for the development of automatic charging station Several microcontrollers are studied and compared in order to find out the suitable controller The selection was based on many constraints that come during the practical performance of the quadcopter Inspire 1 Some of these constraints are dimension memory of microcontroller and processing speed Purdum 2012 Grimmett 2014 Arduino MEGA 2560 The figure shows see the figure 19 the simple Arduino mega 256
57. tsevanos 2015 p 171 Table compares the different quadcopters in the market a summary is presented for the comparison between different model with origin size and flight time see table 3 The flight 32 time depends on the number of Lithium polymer batteries used and weight of the quadcopter One of the professional quadcopter available in market is Skyranger by a company in Canada named Aeryon due the high cost this option was eliminated for the study The SkyRanger camera has the capability of zoom 30 times of an image with high definition moreover built in several sensors for multi tasking Aeryon 2015 All these information and data are gathered from the official website of the manufacturer While considering the alternative the origin of the quadcopter played an important role in the selection Preference was given to the European region but unfortunately there is only one professional drone manufacturer available in France due the fixed camera absent of tilt and rotate option in bebop quadcopter this option was expelled Table 3 Comparison of model and with different origin DJI 2015 Turbo 2015 Parrot 2015 TR 2015 3DRDrone 2015 Hubsan 2015 Aeryon 2015 3 x 2015 del DJI Innovations 590 mm Diagonal Size 4480 mAh 15 2 V 1200 mAh Lithium Parrot France Bebop Drone 33x38x3 6cm 11 min Polymer Blade BLADE 3000 mAh 11 1V R X350 3000 mAh 29 6V Walkera China Q i 303 x 303 x 176mm 25 min i j Premium Li
58. uit is removed several flights information from the quadcopter that are transmitting through the battery are lost The battery transfers the following information to the controller e Battery level to the controller e Total flight time remain e Battery discharge rate e Charging and discharging status during charging process 2 Using actuators for on off operation on battery Actuators are mechanical this actuator must be placed at the top of the battery s switch to perform the function of On Off These actuators need to be connected to the micro controller to send the command and signal however these function can be achieved using relay that s was the main reason that this option was not considered 3 Using Micro controllers relay and contact switches This option was selected for developing an automatic charging station for Inspire 1 The detail about this option is discussed in the later part of this work in Chapter 6 12 1 3 Applications of Quadcopters The use of quadcopter has been drastically increased in the recent year and the quadcopter application seems continuously to grow in the near future The reason behind the growth is huge amount of research are carried out in the control mechatronics and automation at both industrial and academic level Colomina amp Molina 2014 Some of the applications are e Law enforcement e Security patrols on private property e Agricultural surveying e Communications relay e
59. with a certain maintained distance Another future work that can be carried out is a light sensor placed on the battery that senses about the battery on off status When the battery is turned off the sensor sends the command to the Arduino This work was carried out in a six month of limited time and due to tough time schedule these options ware only theoretically presented 59 REFERENCES 3DRDrone 2015 X8 3DR Drone amp UAV Technology Online Accessed 18 November 2015 Available at https 3drobotics com x8 Aeryon 2015 Aeryon SkyRanger the benchmark for VTOL s UAS Aeryon Labs Inc Online Accessed 18 November 2015 Available at http aeryon com aeryon skyranger Arduino 2015 Arduino Products Online Accessed 19 November 2015 Available at https www arduino cc en Main Products Boucher P 2014 Domesticating the Drone The Demilitarization of Unmanned Aircraft for Civil Markets Science and Engineering Ethics pp 1 20 Blackburn J amp Domin T 2007 Protective relaying 3rd ed Boca Raton FL CRC Press 664 p Carrillo L R G Lopez A E D Lozano R amp P gard C 2013 Quad rotorcraft control Vision based hovering and navigation London Springer 179 p Clarke R 2014 Understanding the drone epidemic Computer Law amp Security Review 30 3 pp 230 246 Clarke R amp Moses L 2014 The regulation of civilian drones impacts on public safety Computer Law amp S

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