MOBILE DEFENSE SYSTEM WITH AUGMENTED AIR ROVER

Project Adviser:

Dr. Muhammad Tahir

Group Members: Adnan Chaudhary (2009-EE-103)

Zeeshan Mahmood (2009-EE-108)

Muhammad Akram Karimi (2009-EE-110)

Kashif Hassan (2009-EE-134)

MOTIVATION

Diversity Embedded System, Control System, Wireless

System Automation in Industry

Replacement of man-power ,High Accuracy Finding enormous applications in modern

world including

Defense Rescue

PROJECT DESCRIPTION:

An Air Rover capable of taking stable flight and transmitting image frames to ground base station wirelessly.

Appropriate action taken based upon the extracted intelligence by the image frames through image processing

Key Components

Air Rover Wireless link between air-rover and Base Station

Image ProcessingOn Base Station

Accelerometer

Gyroscope

STM32-F407SPI

I2C

Remote control

ReceiverPWM

PWM ESC Motors

BLOCK DIAGRAM OF QUAD COPTER

BLOCK DIAGRAM OF PID CONTROLLER

+

Gain(Kp)

Differentiator

Integrator

-Switch On (if)

Copter about to fly

InputReferenc

e

+ e(t)

PWM generation for Motors

From Acceleromete

r and Gyro

Complementary Filter

Initialize all interfaces

Start scheduling and capture interrupts

Flag Armed Set?

Blink LedNo

yes

Acquire sensor data , call

control loop and update

motor PWM’s

Workflow

ACQUIRING USER REFERENCE

FM remote provides throttle, roll, pitch and yaw reference

FM receiver demodulates and outputs four PWM’s

Trigger 4 interrupts in micro controller

Update user reference

Update flag armed

“AIR ROVER(QUAD-COPTER)”

Mechanical Structure Development of

Quad-Copter

Quad-Copter Application porting on an efficient platform STM32F407

Stabilization of Quad-Copter on 3axis Roll, Pitch, Yaw

Light Weight

Vibration Absorbent

Ease provision for testing

Communication: I2C,SPI,UART

Motors Control: PWM, Timer

System Control: Central Interrupt

Tuning of PID Controller

Control Algorithm

Reference Input Capture

WIRELESS LINK DEVELOPMENT

Choice of Appropriate Wireless Transmitter and Receiver

PAN Development

Appropriate Memory on Embedded Platform & proper mgmt. of wireless

payloads

Frequency

Range

Power Consumption

Mech. to save image frames

Crucial info detection mech. Handling trans. rate

Range

Frequency band

Modulation Scheme

INTELLIGENCE EXTRACTION

Adaption to Environment

Image compilation

Shape of Interest .

Detection

Dynamics

Transformation to actual Quad.

Contraction TechniqueCompilation Algorithm

Severity Level

Security Level