R 09560 Open Architecture Open Source Aerial Imaging

R 09560 – Open Architecture, Open Source Aerial Imaging Systems Group Members: Kenneth Mcloud Aditi Khare Stewart Wadsworth David Holland David Lewis Brian Russell Faculty Advisors: Dr. Carl Salvaggio Dr. Marcos Esterman

Mission Statement n Mission Statement • To build a modular, open source, open architecture, aerial imaging system for implementation on the RIT UAV. n Primary Market • Data collection for imaging scientists n Secondary Market • Public Safety n Stakeholders • RIT UAV: R 09230 • Imaging Scientists

Previous Work n Past Senior design Teams • P 07521 – Imaging system which locked onto GPS coordinates to measure BDRF • P 06004 – Basic imaging payload and UAV • P 07301 – Designed basic DAQ system • P 07302 – Motor control system

Customer Interview: Imaging Scientists n Imaging Scientists are always starved for data • Current manned aircraft are expensive and logistically complex n No one camera system could meet the needs of all missions • System needs to be modular n n System needs to be robust Current systems are very Large • Much heavier than our entire UAV

Customer Interview: Law Enforcement n Primary Uses • Marijuana eradication • Missing persons / Fugitive searches • Aerial Crime scene photos n Camera Modules Needed • • • n Real time visible spectrum video Real time infrared video Marijuana detecting spectrometer “Wish list for system” • • • Inexpensive Simple to implement Simple to use

Customer Needs Need 1. 1 1. 2 The Product Wildfire Flame Localization Assist fire fighters in locating forest fire flame front Marijuana detection See the specific wavelength given off by marijuana plants 2. 1 2. 2 Needs To Importance Infrared system Heat and Temperature measurement Firefighters, Public Safety Measure of Effectiveness Min Nom Max 1. 7μm Detection Of TBD Law Proper Enforcement Wavelengths Remote Temperature Sensing 750 nm 1 mm 380 nm 750 nm Accuracy Of 3. 1 Bidrectional reflectance measurement Measure reflectance of a target from many angles Reflectance Characterization of large objects Measurements

Affinity Diagram Project Desire Functionality Flexible Swappable Platform Gimbaling Multiple Spectrums (visible to infrared) Sensors Calibration Data collection Gathering Data Logistics Robust Design Reduced Power consumption Wireless communication Weight Vibration Stable Smallest size possible Easy User Interface Increased Accuracy Increased Stability Less Vibration Reduced weight Product Characteristics Wide Spectrum Range Working for at least 4 hrs Ergonomics Thermal stability Structural Attributes Cameras Control Thermally Stable Data collecting System Multiple filters Controller Modular Platform Power Unit Big Memory

Objective Tree UAV Imaging System Constraints Design Objective Resources Economics Capability of available Cameras Swappable Platform Module RIT Faculty RIT Students Vibration System Scope Technology Low Product Cost Power Reduction Critical Low Application Cost Need to take Images Non- Critical Gimbal System Sensors and controls Minimum size Wireless Data Transfer Minimum Weight Multiple Spectrum Wireless Data Transfer

Function Tree UAV Imaging System Data Collection Imaging Systems Visible Hardware System Vibration Damping Software System Long Wave IR Med. Wave IR Short Wave IR Modular Platform Target Locking Easily interchangeable parts Gimbaled mounting Power Supply Provide Power for total flight time Wireless Comm’s Sensors and Calibration On ground calibration Real time data feed

House of Quality

Concept Drawings Cameras Platform Gimbal Vibe Control

Interface Diagram UAV Team Vibe Control Gimbal Cameras Platform

PHASE III PHASE IV Platform Aluminum Platform (includes DAQ + power) Composite Platform (includes DAQ + power) Cost reduction of platform and improved UI Integration with Control System Vibe Control Passive Vibration Control Active Vibration control Gimbal 1 -D Gimbal 2 -D Gimbal Combined Gimbal Active Vibration Control Cameras Aerial Imaging System Preliminary Roadmap Basic Camera module Infrared Camera module Spectrometer module Cost and Mass Reduction RIT Open Source Cameras

Phase I: Platform n n Objective • • • Design an aluminum platform Data acquisition Power supply • • • Gimbal mounting Gimbal power consumption Camera mounting Camera power consumption and data Packaging within fuselage • • • ~2 ME – Gimbal mounting, Camera mounting, Electronics mounting ~2 CE – Data acquisition ~2 EE – Power supply Interfaces Resources Budget • ~$4000

Phase I: Vibe Control n Objective • Design passive vibration damping system • Design basic vibration testing setup n Interfaces • Mount to fuselage • Provide mounting for gimbal • Meet vibration specs for electronics and camera n Resources • ~4 ME – Vibration damping, System modeling, Testing, Gimbal mounting • ~2 EE – Vibe testing control system n Budget • ~$6000

Phase I: Gimbal n Objective • One dimensional gimbaling system along the roll axis n Interfaces • • n Mount to vibe control Mount to platform Resources • ~4 ME – Gimbal mounting, Camera mounting, Electronics mounting • ~1 CE – Software system • ~1 EE – Motor controllers n Budget • ~$4000

Phase I: Cameras n Objective • Design a camera module using an off the shelf camera to gather still and video images n Interfaces • • n Resources • • • n Mount to platform Get power from platform Send data to platform DAQ Provide vibration specifications ~2 ME – Platform mounting, Modularity specifications ~1 IE – Interface management ~1 CE – Data acquisition interfacing Budget • ~$2000

PHASE III PHASE IV Platform Aluminum Platform (includes DAQ + power) Composite Platform (includes DAQ + power) Cost reduction of platform and improved UI Integration with Control System Vibe Control Passive Vibration Control Active Vibration control Gimbal 1 -D Gimbal 2 -D Gimbal Combined Gimbal Active Vibration Control Cameras Aerial Imaging System Future Projects Basic Camera module Infrared Camera module Spectrometer module Cost and Mass Reduction RIT Open Source Cameras

Staffing Predictions Number of Students ME IE CE EE CIS Total Phase I 2 0 2 2 0 6 Phase II 3 0 2 1 0 6 Phase III 1 2 2 1 0 6 Phase IV 1 1 3 1 0 6 Phase I 4 0 0 2 0 6 Vibration Phase II Control Phase III 3 0 1 2 0 6 3 0 2 1 0 6 Phase IV 2 2 1 1 0 6 Phase I 4 0 1 1 0 6 Phase II 3 1 1 1 0 6 Phase I 2 1 1 0 0 4 Phase II 2 0 1 1 2 6 Phase III 2 0 2 1 2 7 Phase IV 2 1 2 3 5 13 Platform Gimbal Camera

Future Plan n Continue to narrow down phase I projects Move forward with current roadmap Continue to Interface with UAV team