EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work
FAMU-FSU College of Engineering Department of Electrical and Computer Engineering
PROJECT PROPOSAL AND STATEMENT OF WORK
VOICE CONTROLLER OCTOCOPTER
Team #: E9 Student team members: Ruben Marlowe III, Computer Engineering (Email: [email protected]) Kevin Powell, Electrical Engineering (Email: [email protected]) Ludger Denis, Electrical Engineering (Email: [email protected]) Nandi Servillian, Electrical Engineering (Email: [email protected]) Senior Design Project Advisor: Dr. Shonda Bernadin Senior Design Project Reviewer: Dr. Linda Debrunner Senior Design Project Reviewer: Dr. Michael Frank
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Project Executive Summary
The purpose of this project is the continual scholastic engagement of bright talented young engineers through research, collection, and execution of well collaborated ideas. These talented individuals will utilize their critical thinking skills to implement and deploy a voice controlled octocopter with an aiding visual signal processing system. The octocopter main focus is in the aiding and assisting emergency response units during search and research missions. The copter will give rescuers an advantage of understanding the environment they’re encountering, minimizing human error by being voice controlled without the use of manual actions, being cost efficient and more efficient to alternative methods, and ultimately helping save a live of someone in eminent danger.
Search and rescue missions are coming more common today than ever before from natural disasters, missing children, and nuclear meltdowns of a neighboring power plant. Many emergency response units put themselves in danger without understanding the entire scope of the rescue. They sometime put the victim at risk by not having a more kin sense of the victim’s physical state, their actual location, the type of terrain or barrier or contraption the victim be in or trapped under. The copter gives rescuers the ability to assess the scene and locate the victim before anything further happens. They give themselves the advantage by having an ally in the sky that can give an initial and continual visual of the victim or location the rescuer needs to respond to. In addition, giving pin point conditions the quadcopter is more precise than the human eye. Prime example, Guillermo DeVencia 82, went missing in Wisconsin on July 24, 2014. The police was dispatch, hundreds of volunteers looked, and there were search dog on the trail but each of their efforts were in vein. David Lesh a local hobbyist used his camera on his quadcopter to find the disoriented man stumbling in a field. The copter founded the elder man within twenty minutes and Mr., DeVencia was able to hug his wife once again. This is evidence this new technology has the potential to aid and improve the way of life.
This anticipated development will focus on three different aspects of the search and rescue mission: human error, visual detection, and localization. The copter will have the ability to be controlled by voice commands that give precise task to be completed to minimize the use of human error through physical interaction. The commands would be simple with words that are easily pronounced and understood by the microcontroller onboard the copter. The copter would send visual data to the base station for the operator to examine through wireless communication. The operator then could use that data to minimize the area of search for the copter could be more efficient in a minute time frame. The camera onboard the copter will have the ability to locate an object and response the location of that object to the base station where google maps would show the GSP coordinates of that objects location.
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Table of Contents
Project Executive Summary ……….………………………………………………………....… 2 Table of Contents …………………………………………………………………………...……3 1 Introduction ………………………………………………………………………………...….4 1.1 Acknowledgements …………………………………………………………… 1.2 Problem Statement …………………………………………………………… 1.3 Operating Environment ……………………………………………………… 1.4 Intended Use(s) and Intended User(s) ………………………………………… 1.5 Assumptions and Limitations ………………………………………………… 1.5.1 Assumptions ……………………………………………………… 1.5.2 Limitations ………………………………………………………… 2 Concept Generation & Selection ………………………………………………………….....10 2.1 Battery Charger …………………………………………………………… 2.1.1 SKYRC 6X80 + Charger ………………………………………… 2.1.1.1 Specifications ……………………………………………… 2.1.1.2 Benefits …………………………………………………………… 2.1.2 T6755 Charger …………………………………………………………… 2.1.2.1 Specifications ………………………………………………… 2.1.2.2 Benefits ………………………………………………………… 2.1.3 SKYRC E4 Balance Charger ……………………………………………… 2.1.3.1 Specifications ………………………………………………… 2.1.3.2 Benefits …………………………………………………… 2.1.3.3 Drawbacks ………………………………………………… 2.1.4 Battery Charger Selection ………………………………………… 2.2 Camera ………………………………………………………………… 2.2.1 GoPro Hero3+ Silver Edition ……………………………………… 2.2.1.1 Specifications …………………………………………… 2.2.1.2 Benefits ………………………………………………… 2.2.1.3 Drawbacks ……………………………………………… 2.2.2 ⅓” Sony Super HAD CCD ………………………………………… 2.2.2.1 Specifications………………………………………. 2.2.2.2 Benefits ………………………………………………… 2.2.2.3 Drawbacks……………………………………………… 2.3 Camera Gimbal …………………………………………………………… 2.3.1 Tarot T-2D Brushless Gimbal Kit ………………………………… 2.3.1.1 Specifications …………………………………………… 2.3.1.2 Benefits ………………………………………………… 2.3.1.3 Drawbacks ……………………………………………… 2.3.2 2-Axis Carbon Fiber Brushless Camera Mount Gimbal……………… 2.3.2.1 Specifications…………………………………….…………. 2.3.2.2 Benefits …………………………………………………… 2.3.2.3 Drawbacks ……………………………………………… 2.3.3 Quanum GoPro Brushless Gimbal …………………………… 2.3.3.1 Specifications ……………………………………………
Team #E9 (Team Pursuit) Page 3 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 2.3.3.2 Benefits ………………………………………………… 2.3.3.3 Drawbacks ……………………………………………… 2.3.4 Camera Gimbal Selection ………………………………………… 2.4 Blades ………………………………………………………………… 2.4.1 APC Propellers Push-Pull Set ………………………………………… 2.4.1.1 Specifications …………………………………………… 2.4.1.2 Benefits ………………………………………………… 2.4.1.3 Drawbacks ……………………………………………… 2.4.2 Carbon Fiber Propellers …………………………………………… 2.4.2.1 Specifications ………………………………………… 2.4.2.2 Benefits ………………………………………………. 2.4.2.3 Drawbacks ………………………………………………… 2.4.3 Blade Selection …………………………………………………… 2.5 Bluetooth Headset ……………………………………………………… 2.5.1 Plantronics M50 Bluetooth Headset ………………………………… 2.5.1.1 Specifications …………………………………………… 2.5.1.2 Benefits ………………………………………………… 2.5.2 Blue Parrot Bluetooth Headset ……………………………………… 2.5.2.1 Specifications …………………………………………… 2.5.2.2 Benefits ………………………………………………… 2.5.2.3 Drawbacks ……………………………………………… 2.5.3 Plantronics M95 Bluetooth Headset …………………………………… 2.5.3.1 Specifications …………………………………………… 2.5.3.2 Benefits ………………………………………………… 2.5.4 Bluetooth Headset Selection ………………………………………… 2.6 Power Consumption ……………………………………………………… 2.6.1 Better Battery …………………………………………………… 2.6.2 Voltage Regulator / Capacitor ……………………………………… 2.6.3 Solar Cell ………………………………………………………… 2.7 Microphone Device ………………………………………………………… 2.7.1 Off The Shelf Microphone ………………………………………… 2.7.2 Mobile Phone …………………………………………………… 2.7.3 Laptop Base Station ……………………………………………… 2.7.4 Microphone Device Decision ……………………………………… 2.8 Speech Recognition Tool …………………………………………………… 2.8.1 uSpeech ………………………………………………………… 2.8.2 BitVoicer ………………………………………………………… 2.8.3 Speech Recognition Tool Decision ………………………………… 2.9 Quadcopter Communication Method ………………………………………… 2.9.1 Existing Pilot Software …………………………………………… 2.9.2 New Pilot Software ………………………………………………… 2.9.3 Quadcopter Communication Method Decision……………………… 3. Proposed Design …………………………………………………………………….27
Team #E9 (Team Pursuit) Page 4 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 3.1 Hardware Overview ………………………………………………………… 3.1.1 Hardware System Design ………………………………………… 3.1.2 Blade Protection Design …………………………………………… 3.1.2.1 Overall Design Methodology………………………………… 3.1.2.2 Outcomes ……………………………………………… 3.1.2.3 Contingency Plan …………………………………………… 3.1.2.4 Summary ………………………………………………… 3.1.3 Hardware System Conclusion ………………………………………… 3.2 Image Processing Overview ………………………………………………… 3.2.A Camera ………………………………………………………………… 3.2.B Buffer ………………………………………………………………… 3.2.C SLAM Module ………………………………………………………… 3.2.D Location Logic ………………………………………………………… 3.2.E Tracking Module ……………………………………………………… 3.2.F KPCA ……………………………………………………………… 3.2.G Description Module …………………………………………………… 3.2.H Motion Module ………………………………………………………… 3.2.1 S.L.A.M. ………………………………………………………… 3.2.2 Sensors ………………………………………………………… 3.2.2.1 Pros of the Usage of Sensors ……………………………… 3.2.2.2 Cons of the Implementing Sensor……………………… 3.2.2.3 Test Plan 3.2.3 Microcontrollers ………………………………………………… 3.2.3.1 Pros of Extra Microcontrollers ………………………… 3.2.3.2 Cons of Extra Microcontrollers ………………………… 3.3 Software Overview ……………………………………………………… 3.3.1 Software System Design …………………………………………… 3.3.1.1 PC MIC ………………………………………………… 3.3.1.2 Speech Recongnition Software …………………………… 3.3.1.3 PC Port ………………………………………………… 3.3.1.4 Proccess Application …………………………………… 3.3.1.5 Access File ……………………………………………… 3.3.1.6 Online Server …………………………………………… 3.3.1.7 Mobile Application ………………………………………… 3.3.1.8 Device MIC ……………………………………………… 3.3.2 Test Plan: Software ……………………………………………… 3.3.2.1 Phase 1: Voice Recognition ……………………………… 3.3.2.2 Phase 2: Integretion Part I…………………………………… 3.3.2.3 Phase 3: Integretion Part II ………………………………… 4 Statement of Work (SOW) ……………………………………………………………37 4.1 Task 1: Project Manager ………………………………………………………
Team #E9 (Team Pursuit) Page 5 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 4.1.1 Objective ………………………………………………………… 4.1.2 Approach ………………………………………………………… 4.2 Task 1: Test Verification ……………………………………………………… 4.1.1 Objective …………………………………………………………… 4.1.2 Approach …………………………………………………………… 4.3 Task 3: Power System Analysis…………………………………………………… 4.3.1 Objective…………………………………………… 4.3.2 Approach…………………………………………………… 4.4 Task 4: Hardware Selection……………………………………………… 4.4.1 Objective……………………………………………………… 4.5.2 Approach…………………………………………………… 4.5 Task 5: Blade Protection Design and Implementation……………… 4.5.1 Objective……………………………………………………… 4.5.2 Approach…………………………………………………… 4.6 Task 6: Software Selection / Quality Assurance……………………… 4.6.1 Objective……………………………………………………… 4.6.2 Approach…………………………………………………… 4.7 Task 7: Speech Recognition…………………………………………… 4.7.1 Objective……………………………………………………… 4.7.2 Approach…………………………………………………… 4.8 Task 8: API (Application Programming Interface)…………………… 4.8.1 Objective………………………………………………………… 4.8.2 Approach…………………………………………………… 4.9 Task 9: Image Processing - Slam (Simultaneous Localization And Mapping)……… 4.9.1 Objective…………………………………………………… 4.9.2 Approach………………………………………………… 5 Risk Assessment ……………………………………………………………………39 5.1 Budget Control ……………………………………………………………… 5.2 Software Interfacing ………………………………………………………… 5.3 Hardware Failure …………………………………………………………… 5.4 Member Absenteeism ………………………………………………………… 6 Qualifications and Responsibilities of Project Team……………………………………40 6.1 Ruben Marlowe …………………………………………………………… 6.2 Ludger Denis ……………………………………………………………… 6.3 Kevin Powell ……………………………………………………………… 6.4 Nandi Sevillian ……………………………………………………………… 6.5 Qualification Resumes ………………………………………………………… 6.5.1 Ruben Marlowe III ………………………………………………… 6.5.2 Nandi Sevillian ……………………………………………………… 6.5.3 Kevin Powell ……………………………………………………… 6.5.4 Ludger Denis ……………………………………………………… 7 Schedule ……………………………………………………………………………46 7.1 Flight Control……………………………………………………………… 7.1.1 Manuel ……………………………………………………………
Team #E9 (Team Pursuit) Page 6 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 7.1.2 Autonomous ………………………………………………………… 7.1.3 Milestone………………………………………………………… 7.2 Voice Control………………………………………………………………… 7.2.1 Research…………………………………………………………… 7.2.2 Test Prototype……………………………………………………… 7.3 Image Processing……………………………………………………………… 7.4 Energy Storage…………………………………………………………… 7.5 Blade Protection……………………………………………………………… 8 Budget Estimate ……………………………………………………………………50 9 Deliverables ……………………………………………………...…………………51 9.1 Hardware …………………………………………………………………… 9.2 Software …………………………………………………………………… 9.3 Publications ………………………………………………………………… 9.4 Presentations ………………………………………………………………… 10 References …………………………………………………………….……………52
1. Introduction
1.1 Acknowledgements
Team Pursuit would like to acknowledge our main advisor Dr. Shonda Bernadin for the opportunity to be challenge in this ambitious project; thanks for the time and financial investment and insight on each milestone. We would also like to commend Dr. Michael Frank and Dr. Linda Debrunner for their valuable direction and counsel thus for in the projection. We would also like to acknowledge all sponsors for the financial investment and the continue opportunity to pursue life-long learning. We hope our work can be a testament to the education and knowledge pertain here at FAMU-FSU College of Engineering.
1.2 Problem Statement
The objective of the project is to develop a voice controlled octocopter that perform search and rescue missions. The octocopter should have the ability to fly autonomous without a human
Team #E9 (Team Pursuit) Page 7 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work operator to minimize human interface of emotions and mishaps. The system should be flawless in the terms of interfacing voice commands to achievable physical tasks. The octocopter will have the ability to scan a vast environment and record and send the live feed back to the base station for data analysis. It should also be able to locate a particular object on the ground and respond those coordinates to the base station and proceed to flying to that particular location.
The main subsets of the octocopter are the speech and visual processing systems. The speech system will accept a vocal input from the speaker/operator and convert that signal into a preprogrammed command that the octocopter recognizes. There will be a delay in the signal so the octocopter response will be a fraction later. The copter then would respond to the operator commands and preform the desired task. The visual processing system is a little more complex. The octocopter will have an onboard camera will infrared capabilities along with a gimbal to be able to scan vertically and horizontally. The camera would send a live feed back to the base station and scan the terrain in search of an object like a missing person. Once the desired image is located the camera would send a signal back to the base station that would then in turn record the coordinates of that object. The copter then would proceed to that location until the target is reached.
1.3 Operating Environment
The target area of operation is in wide open terrain with desirable weather conditions and penetrable forestry. Large cities, deserts, crop fields, warehouses, abandon buildings, parking structures, and military installations are all ideal areas. There are many more environments the octocopter would be viable in depending on the task needed by the end user. So, the operating environment has endless possibilities.
1.4 Intended Use(s) and Intended User(s)
The intended use of this project is for emergency response for search and rescue. The octocopter purpose is to track and locate objects over a vast terrain that can’t be obtain by the naked eye. It would help in pinpointing target areas of concern and minimize the risk to rescuers by giving them an ideal of the terrain or a more detail orientated goal at hand. The prototype we will design have the capability of pin point planning of a particular location and send and receive information that it could utilize to narrow its search window to find its target.
The expected user of this prototype is someone with search and rescue and technical experiences. Any law enforcement agency, government installation, fire department, local and global search and rescue campaign, National Guard disaster respondent, and other trained teams should be the target users of this product. These agencies would be able to understand the importance of this type of system and gravity to its practicality. This octocopter prototype will be design and implement with these ends user in mind.
Team #E9 (Team Pursuit) Page 8 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 1.5 Assumptions and Limitations
1.5.1 Assumptions
The octocopter will have some basic commands that it will understand and respond. We’re going to eventually by pass mission planner all together and calibrate the copter once and utilize that setting throughout the design phase. There would be communication issues between the camera and base station and it would extremely hard to implement the slam algorithm with a scripted application that already exist that we could utilize to accomplish the track and response portion of the project. The deadline of the project would change several times throughout the semester and tempers would flame because of the pressure and level of difficulty that wasn’t realize before the initiation of the project. These assumptions are geared towards the reality of the ambitious nature of this project and the design scope of things we don’t understand just yet.
1.5.2 Limitations
The octocopter is limited to the amount of time it could fly because of the high energy consumption. It’s limited in its ability to fly in less than stable weather conditions and in and around dense forest. The initial phase of the prototype the copter won’t have the ability to avoid obstacles and due to the limited funds the copter won’t have the ability to do aerial maneuvers or carry a heavier payload then the additions hardware components that’s essential to the completion of the project. A major limitation is the hardware components already obtain are the only one used through the interaction of the project with the only addition to the add-on components.
2. Concept Generation & Selection
2.1. Battery Charger
A battery charger is essential to our project because the octo-copter cannot be flown without batteries. The Lithium Polymer (LiPo) battery charger that is currently in our possession is broken. This broken LiPo battery charger got the job done but was very basic and cheaply made thus easy to break. If this were to happen in the future, our whole project will come to a halt and we may not has the time or money to order and wait for a replacement. To prevent this from happening again our team must find a charger that is dependable and the important features below.
2.1.1. SKYRC 6X80 + CHARGER
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2.1.1.1. Specifications
• 11 – 18V DC Input/100 – 240V AC Input
• LiPo/LiFe Battery Cell Count: 1 – 6 Cells
2.1.1.2. Benefits
• Cost: This charger has the protection needed for under $100.
• Optimized Operation: The feeding current can be set during the process of charging and discharging.
• Battery Balancer: Can monitor and balance each cell of the battery individual.
• Terminal Voltage Control: The charger allows user to set the charge/discharge end voltage.
• Battery Meter: The user can check battery’s total voltage, highest voltage, lowest voltage and each cell’s voltage.
• Maximum Safety Protection: Automatic charging current limit, capacity limit, temperature threshold and processing time limit.
• PC Control Software: The free "Charge Master" software gives user supreme ability to operate the charger through the computer.
2.1.2. T6755 CHARGER
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2.1.2.1. Specifications
• 11 – 18V DC Input/100 – 240V AC Input
• Color LCD Touch Screen
• One built in fans
• LiPo/LiFe Battery Cell Count: 1 – 6 Cells
• 20 – 80 Degree Celsius Charge Cutoff Temperture
• 100 – 20,000mAh Batter Capacity Range
• 1 – 720 minutes Safety Timer
• Balance up to 6 cells
• 5 different charge/discharge profiles
2.1.2.2. Benefits
• Cost: This charger has the protection needed and more for under $100
• Charging Status Monitor: Charging capacity, cell voltage, charging time, external temperature and internal temperature can be displayed on the LCD screen.
• Terminal Voltage Control: The charger allows user to set the charge/discharge end voltage.
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• Maximum Safety Protection: Automatic charging current limit, capacity limit, temperature threshold and processing time limit.
• PC Control Software: The free "Charge Master" software gives user supreme ability to operate the charger through the computer.
2.1.3. SKYRC E4 BALANCE CHARGER
2.1.3.1. Specifications • 11 – 18V DC Input/100 – 240V AC Input
• LiPo/LiFe Battery Cell Count: 2 – 4 Cells
• Charging Current Switch: 1A, 2A or 3A
• 4 LEDs for Balancing Indicator
• 1 LED for Charging Status
2.1.3.2. Benefits • Low Cost
• Very Simple
• Balance Mode: The voltage in each cell will be balanced.
2.1.3.3. Drawbacks • No battery safety protection.
Team #E9 (Team Pursuit) Page 12 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work • Charger has to be watched so that battery is not over-charged.
2.1.4. Battery Charger Selection
The team has the T6755 Charger because the maximum safety protection. Everyone can be fully involved with the projected without having to monitor a battery being charged. This charger was also because it is very user friendly and displays important information on the LCD screen.
2.2. Camera
To perform simultaneous localization and mapping (SLAM) a camera is needed to scan the environment.
2.2.1. GoPro HERO3+ Silver Edition
2.2.1.1. Specifications
• 1080p60 video
• .mp4 file format
• 10MP photos up to 10 frames per second
• Built-in Wi-Fi
• Ultra wide-angle lens
• Waterproof to 131’
Team #E9 (Team Pursuit) Page 13 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work • 74 g (2.6 oz) = 0.16 lbs
2.2.1.2. Benefits
• High-performance audio
• Small and light weight
2.2.1.3. Drawbacks
• Wi-fi will shorten battery life.
• Cost: A liitle over a third of the budget will be used obtain the item.
2.2.2. 1/3" Sony Super HAD CCD
2.2.2.1. Specifications
• 520 TV line
• Auto white balance
• More than 48Db S/N ration
• -10 to 50 degree Celsius operation temperature
• 1.1 oz = 0.07 lbs
2.2.2.2. Benefits • Low cost
Team #E9 (Team Pursuit) Page 14 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work • Small and light weight
2.2.2.3. Drawbacks
• Will attach to any gimbal.
2.3. Camera Gimbal
A camera cannot be placed on the octo-copter without a camera gimbal. The camera gimbal will attach the camera to the quadcopter and allow the camera to scan the environment during flight.
2.3.1. Tarot T-2D Brushless Gimbal Kit
2.3.1.1. Specifications
• 7.4 ~ 14.8 V working voltage
• Dual 32-bit high-speed ARM core processor
• Three axis gyroscope and accelerometers
• 2000 Hz control frequency
• 20kHz motor drive frequency
• 200 g = 0.44 lbs
2.3.1.2. Benefits
• Mounting plate is compatible with already owned copter model
• Comes with motor and control
2.3.1.3. Drawbacks
• Should only be powered by 2S or 3S LiPo battery.
• 4S battery of higher would require a voltage regulator.
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• Cost: Everything to perform slam and object tracking but very Expensive gimbal.
2.3.2. 2-Axis Carbon Fiber Brushless Camera Mount Gimbal
2.3.2.1. Specifications
• Simple structure
• Carbon fiber manufactured
• Anti-vibration rubber balls
• 2 motors and gimbal control
2.3.2.2. Benefits
• Comes with motors
• Already assembled and debugged
2.3.2.3. Drawbacks
• Only compatible with GoPro 3
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• Cost: Everything to perform slam and object tracking but still over $100.
2.3.3. Quanum GoPro Brushless Gimbal
2.3.3.1. Specifications
• 198g = 0.44 lbs
• 2208 motor size
2.3.3.2. Benefits
• Comes with motors
• Compression style vibration isolation
• Quick release GoPro mounting
• Pre-tuned and set up
• CNC aluminum frame
• Lightweight
• Dual mounting option
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• Adjustable pitch via a RC channel
2.3.3.3. Drawbacks
• Only compatible with GoPro 3 series
• Cost: Closer to our price range but would still like something a little cheaper.
2.3.4. Camera Gimbal Selection
As of right now, our team will continue with the Quanum GoPro Brushless Gimbal until a cheaper solution is found.
2.4. Blades
There are a few blades on the octo-copter that are currently broken because of a crash landing. Replacement 10x4.7 blades are needed to replace the blade that are broken on the top. Longer or higher pitch blades are needed to replace all the blades on the bottom to make the octo-copter more efficient. Our team would also like to have a small surplus of blades for the top and bottom.
2.4.1. APC Propellers Push-Pull Set
2.4.1.1. Specifications
• 10 inch Diameter
• 4.7 inch Pitch
• Used for quad, hexa and octo copters
Team #E9 (Team Pursuit) Page 18 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work • Packet includes one Pusher and one normal plus adapter ring for each.
2.4.1.2. Benefits
• Low cost
2.4.1.3. Drawbacks
• Material: Would like the blades to be able to absorb impact even with blade protection
• Easy to break
2.4.2. Carbon Fiber Propellers
2.4.2.1. Specifications
• 10 inch Diameter
• 4.7 inch Pitch]
• 8mm Hub Thickness
• 5~6mm Shaft Diameter
• 10g each propeller
2.4.2.2. Benefits
Team #E9 (Team Pursuit) Page 19 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work • Rigid
• lightweight
• Ideal for all multi-rotor projects
• Very efficient
• Increase power with less current draw
2.4.2.3. Drawbacks
• Cost: Much more for each set. Buying a surplus of these blades will cost a lot more money.
2.4.2.4. Blade Selection
The team has chosen the inexpensive APC Propellers Push-Pull Set because they are identical to the blades that are already on the octocopter. This makes both easier and allows the team to save money. On the bottom, a slightly longer APC Propellers Push-Pull Set will make the octocopter more efficient as stated above. 11x4.7 will do just fine. Blade protection should hinder blades from breaking.
2.5. Bluetooth Headset
Once the octocopter is controlled by voice using the base station, our team would like to use a Bluetooth headset. This will allow a user to communicate with the octocopter without having to stand anywhere near the base station.
2.5.1. Plantronics M50 Bluetooth Headset
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2.5.1.1. Specifications
• Blocks noise and wind
• Extend battery life
• Voice alerts: Talk time, volume, connection and more
• Allow you to pair with 2 phones
2.5.1.2. Benefits
• Low cost
2.5.2. Blue Parrot Bluetooth Headset
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2.5.2.1. Specifications
• Extended talk time
• 66’ receiving range
• Bluetooth enabled device
• Noise-canceling microphone
• Up to 16 talk time or 150 hours standby
2.5.2.2. Benefits • Ideal for telecommuting
• Offers clear and high-quality voice as it features a flexible "gooseneck" boom
2.5.2.3. Drawbacks • Cost: Almost twice the cost of the M50 and M95 2.5.3. Plantronics M95 Bluetooth Headset
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2.5.3.1. Specifications
• Up to 11 hours talk time
• Up to 16 day standby time
• Up to 180 day deep sleep standby time
• 2 hour charge time
• Reduces noise, wind and echo
• Allow you to pair with 2 phones
• Voice alerts: Talk time, volume, connection and more
2.5.3.2. Benefits
• HD audio enhanced clarity
• Low cost
2.5.4. Bluetooth Headset Selection
The “gooseneck” would be great to have but the best option is the Plantronics M95 Bluetooth Headset. This headset is in the same price range as the Plantronics M50 Bluetooth Headset but has more features.
2.6. Power Consumption
Team #E9 (Team Pursuit) Page 23 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work Our team has repeated multiple times that power consumption is a huge issues. A flight of under 15 minutes is unacceptable. We are still quite sure how this problem will be solved here are some of the option our team has looked into.
2.6.1. Better Battery
As stated in our first presentation, the octo-copter given is supposed to flown with a 4 cell 6000mAh battery pack. The three battery that we have received from the company is much less than this. Obtained the correct battery pack or one much larger will definitely increase the flight time. The question is how much will it be increase and will this increase be enough to not waste our time on other options.
2.6.2. Voltage Regulator\Capacitor
Without a voltage regulator or capacitor the voltage drawn the battery will not remain constant. The voltage drawn will be either above or below the correct supply voltage which allows the battery to discharge quicker and the flight time to vary. What we must do as a team is find that the correct supply voltage that will supply each component of the octo-copter with enough power to operate properly then use a voltage regulator or capacitor to keep this voltage constant. This will in turn the battery discharge and allows our team to find a more constant flight time.
2.6.3. Solar Cell
A few member of our time are currently taking photovoltaics, which is a class that teaches students the science of converting sunlight into current electricity. Our team will most likely be flying the octocopter during the day and thought is be a great idea to maybe incorporate a photovoltaic system to our project.
2.7 Microphone Device
The microphone device will be the interface used to receive the spoken commands from the user. This is the first stage in the communication process. This stage is especially important as it dictates how the message will be relayed throughout the rest of the system and also the type of speech recognition tool that can be used to process the message. Three different devices have been examined and compared: an off-the-shelf microphone, a mobile phone(running Android), and the laptop (base station). To complete our tasks it was possible to use either of these options for oral communication from the user.
2.7.1 Off-The-Shelf Microphone The off-the-shelf microphone option would require us to obtain a small standard microphone. Because the total end product would be a handheld device, additional electronics would also be needed such as a transmitter, microcontroller, and battery. Commands
Team #E9 (Team Pursuit) Page 24 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work would be spoken to the device and then transmitted back to the base station for processing. Having the microphone device "portable" presents the user with the convenience of easily being mobile while communicating with the quadcopter. However, the operating range of the transmitter alone places limitations on the user's mobility. In addition to the extra cost associated with the additional electronics needed, this option would require an additional bulk of designing and planning and therefore heightens the complexity of the project, significantly.
2.7.2 Mobile Phone Phones are already built with microphones. This option would give the user the capability of voicing commands using their cell phone. Cell phone networks broadly cover the globe, which would give the user the ability to communicate with the base station and quadcopter from virtually anywhere. Android's operating system supports speech recognition processes and has libraries designated for facilitating speech to text queries. An application would have to be developed to utilize those speech tools to process and send commands over the phones network. This option is cost friendly as it requires no additional purchasing to the user or the developer and it also devalues the previous option. Conversely, this option would only be usable on android running devices, and also, developing the application will moderately add
further complexity to the project.
2.7.3 Laptop Base Station Laptops are also built with microphones. If not it is very really simple to obtain an off-shelf PC mic. For this option the voiced command will directly be received and processed by the PC. A separate speech recognition tool will also be needed to interpret the speech. There are numerous speech recognition tools that allow for easy installation and configuration on the PC. Being only able to speak to the quadcopter via the laptop somewhat handicaps the user mobility while communicating with the quadcopter. Also, a PC will typically need more resources(power source, wifi, desk) to operate than handheld devices. On the upside, this option will be the simplest to implement and will require no additional physical components.
Team #E9 (Team Pursuit) Page 25 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 2.7.4 Microphone Device Decision All options are able to carry out the needed task, but only one is needed. After careful examination and consideration, the decision has been made to use the laptop (base station) as the microphone device. It will be the interface used to receive the spoken commands from the user. This option demonstrated the lowest complexity and cost. It's downsides are heavily outweighed with comparisons to the other two options. Furthermore, as a secondary goal, we will further extend usability to the mobile phone, as this was also a good option. This will present the user an alternative for communicating with the quadcopter. Depending on the user's location and situation, they can have the convenience switching between devices. Because the laptop option is more developable, this will be the primary goal.
2.8 Speech Recognition Tool The octocopter's primary goal is to obtain speech control capability. Speech recognition software will be needed to analyze and process articulated commands given to the base station. These processed voice commands will then need to be passed onto the Mission Planner program. Choosing speech recognition software that is most suitable for these fixed functions, will be a crucial part to this project. Two software options have come to the attention of the project: uSpeech, and BitVoicer.
2.8.1 uSpeech uSpeech is an Arduino based library package that recognizes the phonemes of words. The algorithm used is based on classifying words by their wavelength complexity. Because there are many words that have the same phoneme (same sound) and hence share similar wavelength complexities, this software is extremely imprecise in identifying distinct words and would be limited to a small number of commands. While commands like "LEFT" and "RIGHT" hold little phoneme similarity, commands like "START" and "STOP" would not be able to be distinguished from each other. The upside to this imprecise word identification is its instant like response time. Unlike traditional speech processing software, far less time is burned comprehensively analyzing wavelengths. uSpeech is an open source tool that endorses development and user customizability. Weaknesses can directly be addressed by further developing the software.
2.8.2 BitVoicer BitVoicer is a speech recognition software tool that supports complex speech processing on virtually any microcontroller. It is advertised as having an unlimited number of command and sentence recognition capabilities along with supporting various languages. BitVoicer features a graphic user interface that includes elements such as processing statuses, voice schemas, and defined commands. BitVoicer is more of a "finished product" and it would require much more of an effort to customize certain functions. Also, the cost to use BitVoicer is $5.
2.8.3 Speech Recognition Tool Decision These software tools have been assessed and both are practical options. Because there are more up front limitations with uSpeech (which can actually be improved upon through further development of the tool), we chose to use BitVoicer. This option will enable us to immediately and easily configure the speech processing protocols needed for operating the quadcopter.
Team #E9 (Team Pursuit) Page 26 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 2.9 Quadcopter Communication Method To communicate with the quadcopter we examined two different methods. The first is to use the octocopter's default auto pilot system, ArduPilot in conjunction with Mission Planner. The second method would be to exclude Mission Planner entirely and develop our own auto-pilot system using an off-the-shelf prototyping board.
2.9.1 Existing Pilot Software The quadcopter already utilizes an auto-pilot system which allows for simple communication between Mission Planner and the ArduPilot controller. Mission Planner commands are generated using the pre-set way-point options for the quadcopter. Not only does this option complicate receiving communications from the speech recognition software, but it limits the flight control flexibility of the quadcopter.
2.9.2 New Pilot Software Developing new pilot software will give us the freedom of fully customizing the flight control and protocols used. By eliminating Mission Planner, this option would also be easier to integrate with the speech recognition because all aspects of the pilot system would be engineered from the ground up. The downside to this option is the tremendous complexity of developing an auto-pilot system. A bulk of programming and flight testing will be required, in addition to obtaining a prototyping board.
2.9.3 Quadcopter Communication Method Decision The decision has been made to use the existing software. By using this option the overall complexity of the project will be lowered, enabling us to commit more time and resources to the completion of this project with more quality and accuracy. Also, by choosing this option, more attention can be given to the pursuit of secondary goals of this project.
3. Proposed Design
3.1. Hardware Overview
The main objective of this research project is to develop a hardware platform that can have many applications in the future. The primary targeted application for this design is in aiding emergency response teams with natural disaster search and rescue missions. Understanding the major factors and highlighting the specific needs of the project are essential to developing a design that can effectively incorporate intelligence.
3.1.1. Hardware System Design
The hardware system is composed of a Pixhawk autopilot system, base station, GoPro camera, lithium polymer battery, GPS module, telemetry radio set, transceiver, 2 axis gimbal, 8 electric speed controllers, 8 brushless motors, 8 propellers Cost and weight were also major factors in the hardware design. The diagram shown below shows all the hardware our team believes is needed
Team #E9 (Team Pursuit) Page 27 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work to complete the project. This may need to be revised in the future because of new discovers while performing research.
3.1.2. Blade Protection Design
Research is being conducted still on the design of blade protection. Report will be update once all specifications and findings have been resolved along with a detail image.
3.1.2.1. Overall Design Methodology
Blade protection is a must because our time does not want waste time and money replacing blades after each crash or failed landing. The small surplus of blades should only last until the blade protection is finally built and tested.
3.1.2.2. Outcomes
Protect blades from breaking after unexpected crash, failed landing or hitting obstacles while flying.
3.1.2.3. Contingency Plan
If for any reason we are not able to produce blade protection for the octo-copter, more rigid propellers can be purchased in its place. The more rigid propellers such as carbon fiber has a
Team #E9 (Team Pursuit) Page 28 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work great chance of staying intact of after a crash which means replacement blade will not have to be purchased.
3.1.2.4. Summary
Designing blade protection may be a problem because our have little experience using AutoCAD. We understand that once the drawing is created correctly in AutoCAD the design can be produced at the FAMU-FSU College of Engineering.
3.1.3. Hardware System Conclusion
There is a lot more hardware research that needs to develop a hardware platform that can aid emergency response teams with natural disaster search and rescue missions. Once this research is complete and tested, the octocopter flight control will be optimized, the intelligence such as voice commands and object tracking algorithms will be incorporated onto the system and further performance analyses will be done.
3.2 Image Processing Overview
Within the project requirements the group had to develop a special feature for the quadcopter to be able to use a attached camera to follow or search objects while in the air. The route the group would want to proceed with is a efficient plan. The plan has to stay within the budget and doesn’t drain the battery life on the quadcopter.
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3.2.A Camera
The block diagram above expresses the pathway from the camera to the microcontroller. a camera inputs a video stream of its surroundings. The camera can provide monocular or stereo views. For example, a robot eye, a verification camera, a surveillance camera, or any camera capable of generating the sequence of images.
3.2.B Buffer
The video stream is input to an input/output buffer for storage during image processing. The input/output buffer can be any memory device or portion thereof such as a RAM, a hard drive with a flash memory.
3.2.C SLAM Module
A SLAM module performs localization to determine the system's location and/or mapping to build a three-dimensional (3-D) model of the scene. The SLAM module generates a multiple view feature descriptor for an image's scene based on multiple images in the input video stream. The SLAM module efficiently generates feature descriptors from data already available during localization and map building. Instead of discarding this data like conventional systems, the SLAM module improves the system performance by continually enhancing feature descriptors with additional views. In the SLAM module, it determines which points to track in individual images of the video stream. The red section of the block diagram is describing SLAM module.
3.2.D Location Logic
Location logic makes location-based decisions. For example, the location logic can stop motion in response to the system approaching a ledge, or can perform other interactive and/or autonomous actions.
3.2.E Tracking Module
The tracking module generates image patches based on the tracked points. Since the features have small baseline changes between individual images, the feature tracking module is able to reliably correlate tracked points.
3.2.F KPCA
Kernel Principal Component Analysis (KPCA) in high dimensional space that provides non- linear feature extraction. Linear functions can be applied to data that has been mapped from an input space to a feature space.
3.2.G Description Module
Team #E9 (Team Pursuit) Page 30 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work The description module generates and/or enhances a feature descriptor including a multiple view image description of the tracked points. It matches the image patterns within a new image to existing descriptors.
3.2.H Motion Module
The motion module develops a 3-D map from the 2-D images of the video stream using mapping can include position information for feature descriptors.
3.2.1 S.L.A.M. A method for simultaneous localization and mapping of a position of a camera, comprising the steps of 1. Acquire sensor data 2. Discern from the data any landmarks (walls, chair legs, etc.) 3. Compare found landmarks with known ones via data association 4. Update location and map
3.2.2 Sensors Within the interfacing the copter would have to have a sensor or quality camera with sound that would pick up objects movement.
3.2.2.1 Pros of the usage of the Sensors The sensor provides an easy method of distance measurement. It is perfect for any number of applications that require you to perform measurements between moving or stationary objects. Interfacing to a microcontroller is a snap. It "listen" for the echo return pulse, then measures the time required for the echo return, and returns this value to the microcontroller as a variable-width pulse. We can use that pulse to match with the pulse we preprogrammed within the microcontroller.
3.2.2.2 Cons of the implementing the sensors The only problem would be that it would drain the battery life of the copter because we would have to provide multiple to correspond with the Arduino to pick up every angle of the copter while it was flying. We also have to think about memory within the controller and see if it would be able to withhold multiple sensors.
3.2.2.3 Test Plan
Team #E9 (Team Pursuit) Page 31 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work
To test if the sensors are correctly picking up data we would connect the Microcontroller to the breadboard and attach the sensor with LED lights. When we place our hand up to the sensor the red light should light and which would indicate the program that it was coming close to an object. While it is a clean path it would keep the green light on. 3.2.3 Microcontrollers Within the plan of building the image processing you will have to focus on the input and output buffer that would hold each frame of the live video or picture that the camera takes.
3.2.3.1 Pros of Extra Microcontrollers By doing the calculation this would be the cheaper or cost efficient for the project. This by having another microcontroller would add more memory or storage space. The extra room would let us use sensors instead of high tech camera and blade protection because the sensors can communicate directly to the microcontroller to stop the quadcopter and change it direction because it is coming to close to the object.
3.2.3.2 Cons of Extra Microcontrollers The Arduino can be used as memory device, but because we have other features, this may affect the room for the ultimate goal of the project. This would have to implement another microcontroller, for an example like the Raspberry Pi. Adding another memory device or microcontroller would affect the battery life; and this is one of the situations we don’t want to come across because the flight time is crucial.
3.3 Software Overview The software objective is to plan, execute, and develop several applications that has the ability to control and operate all hardware functions and protocols. The programs utilized and establish should have the complexity to preform visual and speech signal processing. These applications would be at the forefront of this project and imminent for future progress in this technology.
3.3.1 Software System Design
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Figure 3.2.1 Block Diagram of Software Interface
Team #E9 (Team Pursuit) Page 33 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work
3.3.1.1 PC MIC The PC Microphone, included with the laptop (base station), is the primary interface for receiving voiced commands from the user. This is the first stage in the communication process. The voiced command will directly be received and processed by the laptop. A separate speech recognition tool will be needed to interpret the speech.
3.3.1.2 SPEECH RECOGNITION SOFTWARE The Speech recognition software will be needed to analyze and process articulated commands received by the laptop microphone. These processed voice commands are sent serially to a designated port on the laptop to be read by the interconnection application.
3.3.1.3 PC PORT A vacant port on the PC used for transmitting and receiving the message data between the speech recognition software and the interconnection application . 3.3.1.4 PROCCESS APPLICATION The interconnection application is the center of the entire software system. It has multiple jobs that include repetitively reading PC PORT for messages originating from the PC microphone and reading the ACCESS FILE for messages originating from the DEVICE microphone. Once a message is read it is converted into Mission Planner lingo and a corresponding Way Point file is generated and loaded unto Mission Planner.
3.3.1.5 ACCESS FILE The access file is analogous to the PC PORT. It is used for transmission of messages between the online server and the interconnection application.
3.3.1.6 ONLINE SERVER The online server will handle messages transmitted from the MOBILE application and write them to the ACCESS FILE stored on the laptop base station. This server will remain online and can be connected with the MOBILE application from anywhere with an internet connection.
3.3.1.7 MOBILE APPLICATION This application developed with Java will utilize Android's speech processing libraries and resources. Once successfully processed the application will connect with the ONLINE SERVER to send the message.
3.3.1.7 DEVICE MIC The device microphone is the default microphone that a mobile phone utilizes. The microphone will record messages spoken by the user and then will be processed by the MOBILE application.
3.3.2. Test Plan: SOFTWARE
3.3.2.1 Phase 1: Voice Recognition For the first phase of testing, the speech recognition software will be trialed for its ability to recognize and process several commands. Voice schemas will be built with several commands("fly 5 ft to left", "fly 10 yards north", "fly to destination 1" , etc). A prototype board
Team #E9 (Team Pursuit) Page 34 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work with LEDS (simulator for octocopter) will then be connected to the PC PORT to test the software for successfully command recognition.
Figure 3.2.2.1 Image of Voice Recognition Test Confriguration
3.3.2.2 Phase 2: Integration Part I This 2nd testing phase will include testing for successful communication between the interconnection application and the speech recognition software. The interconnection will be first set up to display received messages to an output terminal. These messages should correctly correspond to the spoken commands.
3.3.2.3 Phase 3: Integration Part II Once successful communication is ensured between the speech software and application, the next step will be to test the connection between the application and Mission Planner. To do this we will program the application to generate way point files based on the messages given. The way point files will be loaded unto Mission Planner. Mission Planner will display the file. If the fie is displayed correctly on the Mission Planner interface then the message was sent successfully. If not, we will analyzing the problem and debug correspondingly.
4. Statement of Work (SOW)
4.1 Task 1: Project Manager Team Member Responsibility: Ruben Marlowe III Duration: Completion of Project
To ensure the success of the project the team needs a manager and facilitator that will take the extra effort to coordinate ideals, manage various task, set logical goals through each phase, and be a helping liaison through software, hardware, and research interfacing. This member would be
Team #E9 (Team Pursuit) Page 35 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work responsible for the outcome of the project. The production of a working prototype will be the main goal. The member will make use each function of the octocopter is fully operational and all hardware and software component are efficient and effective enough to meet the minimum required goals.
4.1.1 Objective The objective of the project manager is to facilitate work, be the central hub of communication in the group, and ensure each task is completed before crucial deadlines. The member will also determine if each design, implementation, and production meets the need of the end user or necessary for the completion of each various task. He will also have the ability to adapt to different ideals and create opportunities for each member to be successful. The manager would be overall responsible for the key issues of cost, time, development, and end user gratification.
4.1.2 Approach To accomplish this task the project manager will be fully engaged in each aspect of the project. He will conduct preliminary research before assigning tasks, give each member technical help when needed, verify if a solution is the best fit its duty, and approach each task with professionalism and significance.
4.2 Task 2: Test Verification Planning Team Member Responsibility: Ruben Marlowe III Duration: Completion of Project
4.2.1 Objective The aim is to verify each function works properly and ensure that it is the best possible solution for that task. The purpose of this task is to maintain progress, maximize benefits, reduce rework, restrict non-essential hardware or software platforms, and reduce cost when necessary. The member would record data to be analyzed and use to conclude a pass or failed verification for that giving test.
4.2.2 Approach To accomplish this task team member would development a test plan for each task assign and give the design member his or her focus or goal for that particular task. During the design phase various assumption must be made for each giving task for instance: power consumption when adding new parts how would it affect flight time so a test would be derive to understand that fully.
4.3 Task 3: Power System Analysis (Energy Solution) Team Member Responsibility: Ludger Denis Duration: Completion of Project
4.3.1 Objective
The focus is to implement and maintain an energy sufficient solution for the power system on board the octocopter. Each parameter of the copter power system should be analyze, calculated, verified, and compared to industry standards. The energy solution should account for the pay allow, the power consumption of each electronic device onboard and in contact with the copter.
Team #E9 (Team Pursuit) Page 36 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 4.3.2 Approach
To deliver an energy device with longer flight times the power system has to be affective and cost efficient. The transmission of power should exceed the capacity of the electrical over a giving period of time. The team member responsible for this task should design and develop a real time system that regulates the real reactive power flows and take account for the transmission loses, energy exchanges, and cost analysis.
4.4 Task 4: Hardware Selection Team Member Responsibility: Ludger Denis Duration: Completion of Project
4.4.1 Objective
The objective is to select the best components to develop a physical system that dependable and stable. The quality of each component would be considered and researched. The hardware already available will be analyze and determine if they’re suitable for the most efficient solution possible.
4.4.2 Approach
To accomplish this task the team member would develop a system to compare and contrast components by performance, preference, durability, cost, and company customer service. If a component is discovered to be unfit or less than desirable an appropriate alternative would be replace with it if it’s within the project budget.
4.5 Task 5: Blade Protection Design/Implementation Team Member Responsibility: Ludger Denis Duration: Completion of Project
4.5.1 Objective
The goal is to protect the blades and the other components on the octocopter by develop a protective shell that damping the kinetic energy absorbed in case of a crash. It’s paramount that the system is light, with quality material, and rigid enough to be able to dissipate enough energy to safeguard the essential components on the copter to keep the team from having to purchase more hardware in the future.
4.5.2 Approach
To achieve this goal the team member would research existing blade protection designs. From full inspection of his research he would devise an initial design through a cad drawing for analysis and inspection. A third party involvement would be included to determine the material type, weight distribution, cost, and if the proposed design is possible.
4.7 Task 7: Software Selector / Quality Assurance Team Member Responsibility: Kevin Powell Duration: Completion of Project
Team #E9 (Team Pursuit) Page 37 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 4.7.1 Objective My objectives of this project are to ensure successfully software integration while maintaining a high level of design quality. Major decisions will be made on the software tools and the software tools developed. As the software selector and quality assurance engineer I ensure 100% compatibility and proper communication across the entire system. To transmit commands to the quadcopter the correct set and applicable commands have to be transmitted.
4.7.2 Approach To carry out this objective, a number of efforts will be made. Research is among the biggest and is the first step in selecting the most appropriate software for our mission. Several software options will be studied and compared. If decisions cannot be made based on this research and review, we will go ahead and trial and test some of the software to measure it’s actually capability and get a feel for its environment.
4.8 Speech Recognition (Speech Training) 4.8.1 Objective The Speech recognition software will have to configured for accepting applicable commands. When a user wants to give the quadcopter a command that command will first have to be registered and configured in the speech processing voice schema. To build an extensive and powerful voice schema so that quadcopter has a full range of voice control capability is the primary objective. Successfully interpretation of all registered commands will demonstrate the speech software’s readiness for the next steps in the project.
4.8.2 Approach Voice schemas will be built based on the quadcopter’s flight and control capabilities. Once the voice configurations are built the software will be tested on its ability to successfully interpret given commands. Following, system and configuration settings of the software may be changed based on results.
4.9 Task 9: API (Application Programming Interface)
Team Member Responsibility: Kevin Powel Duration: Completion of Project
4.9.1 Objective All software tools will have to be successfully integrated to ensure correct and quick communication. There will be several interfaces and phases that have to be crafted to work with each other. The main objective here is to ensure successfully communication among the several software phases of this project.
4.9.2 Approach To carry out these objectives, efforts will be made in first designing a detailed blueprint of the software interaction flow. This whole system will be split into phases and each phase will
Team #E9 (Team Pursuit) Page 38 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work involve designing, programing, testing, and debugging. Upon successful completion of one phase, the designing, programming, testing, and debugging of the next phase will begin.
4.10 Task 10: Image Processing - Slam (Simultaneous Localization And Mapping)
Team Member Responsibility: Nandi Sevillian Duration: Completion of Project
4.10.1 Objective Trying to map an environment and at the same time pinpoint the robot's location within said map. The difficulty with SLAM is that it produces sort of a catch-22. In order to know where you are within an environment, you must first have a map of your environment to compare what your sensor data shows. However, you do not have a map and must build one, but in order to build one you must first know where you are within the map you are building. Towards presentation we would like to present a vision based control strategy for tracking and following objects using the quadcopter Idea we have is to developed an image based visual method that uses only a forward looking camera for tracking and following objects
4.10.2 Approach A method for simultaneous localization and mapping of a position of a camera, comprising the steps of: Receiving a sequence of images from the camera having an incremental baseline change between two images, the sequence of images describing a three-dimensional environment surrounding the camera;
Generating, using a feature tracking module included in a computing device, one or more training feature descriptors using a training feature descriptor that is based on the incremental baseline change between the two images in the sequence of images received from the camera, and the training feature vector associated with position information describing a location of an object within the three dimensional environment relative to the camera;
Creating, using a structure-from-motion module included in the computing device, a three-dimensional map of the three dimensional environment captured by the sequence of images using an extended Kalman Filter.
Receiving a recognition image containing a wide baseline appearance variation relative to at least a last image from the sequence of images;
Extracting a recognition feature descriptor from the recognition image using the feature tracking module
Determining a position of the camera within the three-dimensional map, using the feature tracking module, by matching the recognition feature descriptor to a training feature descriptor from the one or more training feature descriptors and identifying a position information associated with the training feature descriptor from the one or more training
Team #E9 (Team Pursuit) Page 39 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work feature descriptors which describes a location of an identified object within the three dimensional environment relative to the camera.
5. Risk Assessment
This section of the paper will include problematic issues that may arise throughout the life cycle of the project. Some of these issues are beyond the scope of the project and maybe our expertise but others are within our reach with more research and exploration in depth we planned on overcoming each risk and achieving a precise outcome. Risks as follows:
5.1 Budget Control
The $1000 budget can conclude in the quality, time, and complexity of the project. The components purchase might not be the best hardware on the market to complete the task needed and could result in the quality of the solution. Also, the time constraint of rush delivery not being able to afford any expedited shipping or in a instance where a component just isn’t suitable to get the task done has to be return to the vendor for something more desirable and effective could take days, weeks, or even months depending on the supply and demand of that particular component.
5.2 Software Interfacing
The most problematic issue of the project is getting two applications to interface with the same machine. The calibrations and command bank of the octocopter is performed through the software application of Mission Planner and the voice recognition application is through the Bitvoicer software which is a separate application in itself. The problem is there isn’t an avenue to pipeline the communication between the two applications and the team is going to have to develop an API (application programming interface) which will allow the two applications to communicate with one another. This interfacing might not be in the scope of any of our expertise but the challenge will be to assess each component and create a reasonable solution to resolve the issue.
5.3 Hardware Failure
In the complexity of the project a lot of components will be used to complete different tasks and a variety of tests will be commenced. Throughout the process of the development of the voice controller octocopter many of the hardware components will be subject to vibrations, weather, electrical energy, and kinetic energy from shock absorption. In each of these instances the hardware is prone to failure when things vibrate they break, when electrical components get moist they short circuit, when electrical systems spike things burn, and when things land hard without a damping system things break.
5.4 Member Absenteeism
Team #E9 (Team Pursuit) Page 40 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work Each member is responsible for being professional and communicating within the team. Yet, there are things unexpected that happen where a member might have to miss an extended time within the life cycle of the project. In this event, other members of the group is expected to meet the need of the group and absorb more responsibilities. This could affect the complexity and deadline of the project. The completion of the project could be push back further as a result and the functionality of some functions could be simplified to meet the needs of the project. 6. Qualifications and Responsibilities of Project Team
6.1 Ruben Marlowe Project Manager
Team member is responsible for the tasking, execution, and completion of the project. He will be responsible for the overall performance of the team. He will assign achievable objectives to each team member, delegate meeting times, and provide technical support in both software and hardware analysis. The project manager will also, pipeline the communication between sponsors, faculty, and team members ensuring vital information is receive by each party. He will provide a professional work environment by promoting teamwork, leading by example, settling disputes, and instilling a quite work setting. In addition, he is tasked with the direction and structure of presentations, detailed records (minute record), and compliance of the team guidelines.
6.2 Ludger Denis Hardware and Finance Analyst
Team member is responsible for designing detail financial strategies and researching the market value of each component and providing the most efficient and effective solution that fits within the project’s budget. He will negotiate sales targets, conduct in-depth financial provisions for current and future objectives, and is the permanent correspondent between vendor, faculty, and team. His maintain target as a finance analyst is to provide the team will a strict budget that’s best suited for the requirements of the project. His role as the hardware analyst is apply his technical and mathematical skills to improve the existing system, detect flaws, and formulate theoretical recommendations and modifications for optimum results. He will create a prototype to be tested, maintain all test equipment, and offer any other technical support to the team. His maintain target as a hardware analyst to develop a more efficient energy management system, design and implement a blade protection barrier around the octocopter, and select the additional components needed to complete the project.
6.3 Kevin Powell Software Developer
Team member is accountable with the interfacing of the hardware, developing software solutions, analyzing and saving essential data, studying system flow, establishing reliable communication, investigating problematic regions, and adhering to the software development life cycle. He will code scripts will detailed comments, appoint installations
Team #E9 (Team Pursuit) Page 41 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work of the proper software needed, design and develop documentation that interpolate the flow and layout of the developed solution, and determine the target software best suited for the project. Team member main focus is to encrypt a program language to interpret speech into flight commands the octocopter will respond and ultimately perform. He is also task will the development of a possible API (application programming interface) between mission planner and the target software application.
6.4 Nandi Sevillian Administrator and Project Planner
Team member is responsible for creating and maintaining a filing system that is organized and professional. She will post and arrange documentation throughout the project that detail daily and weekly work and procedures followed. She will schedule and confirm appointments with faculty and vendors. She will compose, type, and distribute meeting notes as needed. She will get familiar with each aspect of the project to efficiently come up with a tentative schedule that feature the description of various objectives and a time table of when those tasks will be completed and in some variations whom is responsible for the completion of those tasks. Team member will also, be responsible for the research and implementation of the slam (simultaneous localization and mapping) algorithm to develop a search and respond system needed for the image processing portion of the octocopter.
6.5 Qualification Resumes 6.5.1 Ruben Marlowe III
RUBEN MARLOWE III 5001 Lakefront Drive # A15 Tallahassee, FL 32303 850-570-0374 [email protected]
OBJECTIVE To secure a position with an established organization that expands my growth in engineering and that will enable me to use my organization skills, leadership ability, and critical thinking. I would like to work in a comfortable environment that would challenge my technical capabilities and help me develop the necessary skills to be successful.
EDUCATION Florida Agricultural & Mechanical University, Tallahassee, FL Bachelors of Science in Computer Engineering, 2015 (GPA 2.9) Grossmont College, El Cajon, CA Associate of Arts in General Studies, (2009) (GPA 3.5)
RELEVANT COURSEWORK & TECHNICAL SKILLS Courses: FPLD, Object-Oriented Programming, Fundamentals of C Programming with Lab, Advanced Circuits with Computers , Data Structures, Digital Logic with Lab, Computer Architecture, Microprocessor with Lab, Electronics with Lab Technical Skills: Linux, Visual Basic, Microsoft Office Applications, Macromedia/Adobe products (Photoshop), ICT tester, X-ray inspection, Flying Probe operator, Assembly Language, C++ Language, Java, Matlab, VHDL, among others
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EXPERIENCE Datamaxx Corp, Tallahassee Software QA Automation Engineer (Intern) 09/2014- Present Develop software testing automation for javascript. C#, SQL, Visual, and Web based environments Performed quality assurances protocol on government regulated software and web based applications Test and implemented source code in Visual Studios, Selenium, and Accuver Integrate Developmental Environment
FAMU-FSU College of Engineering Researcher & Controls Engineer 01/2014- Present Performed scientific research to develop an autonomous aerial vehicle for search and rescue Implemented autonomous and manual flight functions for aerial vehicle through signal processing Served on a research team as Project Manager that succeeded on each deliverable and on schedule to add voice recognition software
Engineering Concepts Institute, FAMU Tutor & Mentor 01/2014-Present Mentored and maintained positive relationships with first-year engineering students Tutored students in advanced mathematics, analytic sciences, fundamental programming, and circuit analysis Aided in the enhancement of time management skills, critical thinking, study habits, and team building
Telligent, EMS, Havana, FL Electronic Tester 07/2012-11/2012 Operated Flying probe, X-ray inspection, and ICT full system test Reported and made preventive maintenance schedules for equipment on a daily basis Constructed circuits and verified theoretical relationships involving differentiation and integration Trained junior personnel on electronic troubleshooting, signal flow, and proper use of all electronic test equipment
U.S. Navy, San Diego, CA Fuel Filter/Purifier Operator & Electrician 07/2003-07/2007 Observed and enforced handling safety precautions and maintained fuel quality surveillance in nuclear spaces Supervised the operation and servicing of fuel farms and equipment associated with the fueling of aircraft afloat Maintained, operated, and performed organizational maintenance on aviation fueling and lubricating mechanical systems onboard nuclear powered aircraft carrier Trained, directed, and supervised firefighting crews, fire rescue teams, and damage control parties in assigned fuel and lubricating oil spaces Generated energy-efficient solutions resulting in stable energy sources Installed, maintained, repaired, and tested equipment including transformers, circuit breakers, and relays for utilization and generation of electrical energy
AWARDS & AFFILIATION FAMU Transfer Scholarship [2011-2013] Member of IEEE & NSBE [2012-present]
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NANDI ELIZABETH SEVILLIAN |215 Burnsdale Rd, Louisville, Kentucky 40243 ||2915 Sharer Rd Apt 722, Tallahassee, Florida 32312| Email: [email protected] Cell: 716-390-0960 http://www.linkedin.com/in/nandisevillian
Objective Intelligent-Enthusiastic Engineer student interested in finding an entry-level position utilizing education and training in Electrical Engineering, offering creativity and critical thinking skills to help generate supportive ideas and gain industry experience.
Education Florida Agricultural & Mechanical University Tallahassee, FL Major: Electrical Engineering Minor: Mathematics & Statistics Concentration: Controls & Automation Engineering Graduation Date: December 2015 Eng. GPA: 3.2 Applicable Experience Florida Agricultural & Mechanical University – Senior Deign Project Tallahassee, FL Research and Production: Autonomous and Voice Recognition Embedding a program for a Quadcopter to register and understand voice command controls Programs: Matlab, Mission Planner, Bit-Voicer, Sphinx, & U-speech August 2014 – Current Carrol’s Burger King Louisville, KY Management Level: Shift Supervisor and Coordinator Direct efficient and accurate preparation of products and ensure customers satisfaction Provide Guidance and training to crew members during shift May 2012 - Current Shareef’s Contracting Buffalo, NY & Louisville, KY Internship Level: Electrician Assistant & Organizer Conducted research and performed data analysis, gaining a good perspective on an Electrician job requirements. Assisted with administrative tasks such placing & cutting electrical wires Improving the organization of the house’s electric layout by rewiring the Circuit Breaker & Panels Dec 2006 - Current Volunteer Activities Florida Agricultural & Mechanical University Recreational Center – Assistant and Referee September 2010 Young & Ambitious Magazine – Writer and Collaborator with Scared of Nothing November 2013
Skills and Aptitudes Verbal and Writing Communication: Spanish & English Programming Language and Software: C++, C, Logic, VHDL, Python, Matlab, Multisim, & Quartus Visual Software: Adobe & VIDLE Professional Association Society of Women Engineers – Collegiate National Society of Black Engineers – Collegiate Institute of Electrical and Electronics Engineers - Collegiate
6.2.3 Kevin Powell
Kevin A. Powell
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OBJECTIVE To distinguishingly graduate college and one day become a prominent and versatile Engineer. While working on my B.S. degree, I am continually seeking part-time employment and internship opportunities to offer and exercise my time and skills. SUMMARY Born and raised in the Bronx, NY, I decided to move to FL after graduating high school. I currently study Electrical Engineering at Florida A&M University and have a passion for solving challenging problems. Skills Technical Skills Application Development [C++, Java, Unix] Web Development [PHP, JavaScript] Database Management [MySQL]
Others Eager to learn Excellent with numbers Strong work ethic
EDUCATION Florida A & M University Bachelors of Science — 2010 - 2015 Electrical Engineering -- Major Computer Science -- Minor
EXPERIENCE Volunteer Programmer, Center for Intelligent Systems, Control, and Robotics (CISCOR) Tallahassee, Florida — Nov, 2013 - Present Working on Sampling Based Model Predictive Control (SBMPC) algorithm for a variety of applications. Tasks include re-writing C code with parallel thread implementations to increase performance.
Research Intern, Fermi National Accelerator Laboratory Batavia, Illinois — Summer, 2014 Developed web tools used for studying radiation environments of high energy particle detectors (CMS detector at CERN in particular).
Research Intern, Brookhaven National Laboratory (SULI Program) Upton, New York — Summer, 2013 Participated in writing, testing, and maintaining C++/ROOT programs for calibration & characterization of imaging devices to be used for the Large Synoptic Survey Telescope (LSST).
ORGANIZATIONS National Society of Black Engineers (NSBE) Institute of Electrical and Electronics Engineers (IEEE)
Team #E9 (Team Pursuit) Page 45 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work Phi Sigma Theta National Honor Society
6.2.4 Ludger Denis
Ludger Denis [email protected]
Current Address: Permanent Address: 1001 Ocala Rd Apt. 231 2301 S. Wellesley Dr. Tallahassee, Florida 32304 Bradenton, Florida 34207 Mobile: (941) 448-7573
OBJECTIVE: Seeking an internship or full-time position that will utilize my full potential and knowledge with the opportunity to gain additional skills and experience.
EDUCATION: Florida State University, Tallahassee, Florida GPA 3.42 Bachelor of Science in Electrical Engineering Minor in Physics Expected graduation date: May 2015
RELEVANT COURSES: Electronics w/ Lab Advanced Circuits with Intro Circuit Analysis w/ Lab Electromagnetic Fields I Computers w/ Lab Digital Logic Design w/ Lab Photovoltaics Microprocessor-Based Signals & Linear System Energy Storage System Design w/ Lab Analysis Intro to Field Programmable Solid-State Electronic Devices Logic Devices Analysis and Design of Control Systems
ENGINEERING EXPERIENCE: FAMU-FSU College of Engineering, Tallahassee, FL Researcher Dec 2013 – Present Design and build an autonomous quad-copter capable of speech recognition and object tracking. Research include performance verifications, software interfacing and speech recognition system implementation. Responsible for constructing and testing of the hardware system.
Lawrence Livermore National Laboratory, Livermore, CA Electrical Engineering Intern June 2014 – August 2014 Designed radio frequency electrical circuit to support radio work. Gathered data and analyzed datasheets, published research papers in support of scientific research. Participated in research planning and evaluation discussions.
G5 Engineering Solutions, Tallahassee, FL Electrical Engineering Technician April 2014 – May 2014 Constructed symbols and footprints for schematic and circuit card assembly design using OrCad software. Tested board and system on modules features and created testing procedure worksheet for customers. Troubleshot hardware by reading schematics and analyzed electronic components to meet requirements.
Team #E9 (Team Pursuit) Page 46 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work LABORTORY EXPERIENCE: Software: MATLAB, Multism, Visio, C, C++, VHDL, Assembly, Word, Excel, Quartus II and CodeWarrior. Equipment: Multimeter, Oscilloscope, Function generator, DC power supply and AC transformer. PROJECTS: Electronics Team Member Fall 2013 Designed an audio amplifier using my knowledge of circuit design and analysis. Constructed and evaluated electronic circuit in lab and using Multism.
Digital Logic Design Team Member Spring 2012 Created a four digit display driver using VHDL coding. Designed, simulated and implemented logic circuits using CAD software and programmable logic devices.
Microprocessors-Based Design Hardware Engineer Fall 2012 Wrote and revised C and Assembly language coding to implement electronic lock system design. Assembled, coded, debugged and tested application module board and microcontroller to meet all requirements.
MEMBERSHIPS: Tau Beta Pi Profession Engineering Fraternity Member Fall 2014 – Present National Society of Black Engineers Member Fall 2013 – Present Eta Kappa Nu Lambda Delta Honor Society Member Fall 2013 – Present Institute of Electrical and Electronics Engineers Member Fall 2013 – Present
7. Schedule
Within the schedule we had separated the section into personal tasks. The subtitle on each section is place under with every team member. We are the group teachers so each member is under a topic of the project in the beginning and later come together with the research we found so we can come to an agreement on which decision if most efficient for the groups flight time and budget. If someone finishes a task or their project we will be able to help each other on the other and tag team the hardest goals of the project which is Voice and Image Processing. As a group we need to make sure that we follow the milestones that are given to our advisors and makes sure that we are under the requirements within a timely matter. By November we need to have finalize all research on each feature of the quadcopter so we can present what the plan is to bring a success to the objective of the group Assignment from Dr. Bernadin.
7.1 Flight Control Ruben and Ludger has the most background on the project they will start to finalize the Manual and Autonomous Flight.
7.1.1 Manuel With the Manual flight their responsibility is to make sure that everyone in the group is able to fly the copter just in case someone is unable to present for the advisors, audience or sponsors. With this every member will know how to control the controller and know every component on the quadcopter throughout the duration of the project.
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7.1.2 Autonomous With the Autonomous flight as a group we would know how to understand control mission planner so we can set coordinates on the program for the copter to be able to fly in the sequence that we give the microcontroller GPS.
7.1.3 Milestone: Dr. Bernadin would like the Flight control to be finished before the Fall semester finish and be able to idea on what our plan is for the voice control and image processing. We plan to have this finalized by the end of November right before the Milestone 3 for Dr. Frank is due.
7.2 Voice Control Voice Control will be under Kevin responsibility, not fully but as the head programmer he would be able to research the Bitvoicer program and be able to explain it to the group so we are able to work on it at home or even work together as a group whenever a roadblock comes across.
7.2.1 Research First, need to understand the program and how to interface with the base station and what components we would need to perform the task
7.2.2 Test Prototype
Once the confidence of the research is towards the max then the next step is hands on work. There is multiple test that we research already to test is the voice is going towards the microcontroller, not listening to what we say but hearing the voice in the microphone. Later test one command at a time throughout the semester to see if the it will be able to interface with the quadcopter.
7.3 Image Processing
Image Processing will be the most time consuming, so we decided to start early so it won’t be a big situation towards the end so we can have time to perfect each feature on the Quadcopter before the final presentation and senior design fair in April. Nandi will be on this project to make sure that she has a working prototype to be able to place on the copter towards the end of the spring semester
7.4 Energy
Ludger was placed under this project to make sure that flight time on the copter would be able to expand or double. One of the conflicts of the project that it won’t be in the air for the time period we want it perform all the features. So the design is to come up with energy storage device to save the battery life
7.5 Blade Protection
Team #E9 (Team Pursuit) Page 48 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work We discussed with the previous group from last year and try to get ideas on the blade protection. Nandi had background on working on CAD program was going to design a visual for the next presentation in November for the 3rd Milestone for Dr. Frank. Idea was to have a simple protection to go on the circumference of the blades so if it crash into anything the blades won’t break and stop the stability of the quadcopter.
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8. Budget Estimate
The estimated budget for the project included the following assumptions: • Every engineer works 12-hour per week for both semesters.
• There are 16 weeks in each semester.
• The fringe rate is 29%.
• The overhead rate is 45% of the direct costs.
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This project has four primary deliverables: software, hardware, publications, and presentations. These primaries will be produced throughout the duration of the project to ensure and demonstrate the overall outcome of developing a voice controlled octocopter with search and rescue capabilities. Each deliverable has a great importance towards the progression of the project and intended to provide sponsors and end users will evidence on this technology and its significance.
9.1 Hardware
The hardware is the tangible items of the octocopter. It’s the physical components that make up the copter’s exterior and interior framework from the outer arms to the electronic circuit board that’s encased in the hull of the copter frame. The hardware will be the evidence of the project and the progress made within the design and simulation phase of the project. It’s will be the main physical indication of proof and support of the substantial ideology of this project.
9.2 Software
The software is the essential element of this project. The different software application developed and utilized will make the copter complete each necessary task. These application will be the determining factor of a working prototype. The visual and speech processing systems will be controlled and implemented through these application to verify the success of this project.
9.3 Publications
During the duration of the design, test, simulate, and production phase of the project detailed reports will be constructed to acknowledge and inform others of our progress. The content will be made available to the general public, faculty, and sponsors through our team website, milestone papers, owner’s manual, and team and individual lab journals. The publications will date our progress and get a detail description of how the prototype was derived and how it can be reproduce in the future if necessary.
9.4 Presentations
Another avenue of communication will come from the presentations completed throughout the project. The purpose of this deliverable is to inform, instruct, entertain, inspire, and stimulate the public, faculty, and fellow colleagues on the technical specifics and progress made through ever iteration of the project. The presentation helps the research team to expand and gather information to make the prototype practical and functional. It also give the team the ability to practice on their public speaking skills and professionalism in a formal setting.
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10. References
{1} https://arjo129.wordpress.com/experiments/%C2%B5speech/
{2} http://www.bitsophia.com/BitVoicer.aspx
{3} http://cmusphinx.sourceforge.net/
{4} http://rover.ardupilot.com/wiki/common-mission-planner-telemetry-logs/
{5} http://cmusphinx.sourceforge.net/
{6} http://www.planetarduino.org/?cat=2967
{7} http://www.sensoryinc.com/
{8} http://www.ir-pro.com/
{9} http://www.nuance.com/landing-pages/dragon/seedragon/speech-recognition- appsfor-mobile-devices.asp
{10} Fundamentals of Speech Recognition (1993) by Lawrence Rabiner. Biing-Hwang Juang
{11} http://www.mathworks.com/discovery/image-recognition.html (Matlab image detection)
{12} http://3drobotics.com/learn/download_software/
{13} http://robotics.asu.edu/
{13} Srikanth Saripalli, David J. Naffin and Gaurav S. Sukhatme, “Autonomous Flying Vehicle Research at the University of Southern California”, in Multi-Robot Systems: From Swarms to Intelligent Automata: Proceedings of First International Workshop on Multi-Robot Systems, eds. A. Schultz and L. E. Parker, Kluwer Academic Publishers, pp. 73–82
{15} Srikanth Saripalli and Ranjan Kumar Mishra,“Design of a Mechatronic Joint for Modular Robots”, in Mechatronics and Machine Vision, ed by John Billingsly, Kluwer Academic Publishers, pp. 331-336
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