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 Team #E9 (Team Pursuit) Page 1 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 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. Team #E9 (Team Pursuit) Page 2 of 53 10/14/14 EEL4911C_ECE Senior Design 1 Team #E9 (Team Pursuit) Milestone 2: Project Proposal and Statement of Work 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