Team Name
DDOS – Drone Display: Operation Software
Timeline
Fall 2024 – Spring 2025
Students
- Adam Nguyen – Computer Engineering
- Andy Tieu – Computer Science
- Simon Solis – Computer Science
- Fawaz Asif – Computer Science
- Joseph Pavlik – Computer Science
Sponsor
Raytheon
Abstract
The UAV can identify ArUco markers while flying autonomously. To search a 30-square-yard field for ArUco markers, the drone will look for square-foot ArUco markers that are laid across the field. The drone will have to fly autonomously to identify which ArUco marker matches our team’s designated marker. The drone will not need to perform obstacle detection unless the drone is set to operate indoors. If the drone is operating indoors, a ring of Time-of-Flight sensors (ToF sensors) will be mounted to the drone’s perimeter which will assist the drone in avoiding wall collisions. The drone will be built on a quadcopter frame, which will contain four motors and propellers mounted on the frame along with 4 electronic speed controllers (ESC). The drone will have two legs that are used for landing or carrying the drone. A camera will be mounted facing downwards on the drone’s frame to be able to carry out image recognition functions. Using OpenCV, the drone will be able to analyze images taken with mounted cameras such as the ArUco markers. The microprocessor will also be capable of emitting a network for the UGV to connect to. Through this remote network, the UAV will command the UGV to move to the correct ArUco marker. A GPS receiver will also be a part of the drone to auto-navigate itself with precision. The GPS will also be RTK (real-time kinematics) capable which will assist in navigation in an outdoor setting with unideal weather conditions. A radio transceiver will assist in wirelessly communicating commands to the UAV from the user. This transceiver will primarily be used as a “kill switch” which will force the UAV to land safely and stop its operation. The radio transceiver may also be used to transmit data/commands to the UGV instead of the on-board microprocessor. The radio transceiver, GPS/RTK, microprocessor, and ESC are all connected to a flight controller which controls the maneuvering capabilities of the UAV. A flight controller is responsible for controlling where and how well the drone will fly in a charted course.
Background
The 2024-2025 Raytheon Autonomous Vehicle Competition, “Mission Full Send!”, tasks teams with deploying a Scout UAV and a Delivery UxV (UAV or UGV). The Scout maps the area and relays the landing zone directly to the Delivery vehicle, which then autonomously delivers a package. All systems must operate without ground control, using only vehicle-to-vehicle communication. The competition emphasizes integration of computer vision, autonomy, sensing, and system-level technologies in a fast-paced and adaptive environment.
Project Requirements
- UAVs must include a kill switch and manual override
- UAVs must weigh under 55 lbs. (FAA regulations)
- Propeller guards are mandatory
- UAVs must fly within a defined geofence
- Speed must be verifiable or limited via software/hardware
- Pre-flight safety inspections are required
- At least one FAA-certified UAV pilot per team
- Display flight controller data for speed verification
- Max total cost: $5,000 USD for budget
- Field size: ~30 yards wide (adjustable based on competition day needs)
Design Constraints
All Senior Design projects may be subject to some of the below design constraints as applicable to the specific project. Discuss or elaborate upon any of the applicable constraints (minimum 5):
(These should be documented in the System Requirement Specification document)
- accessibility
- aesthetics
- constructability/manufacturability
- cost/economic
- ergonomics
- environmental
- extensibility
- functionality
- interoperability
- legal considerations
- maintainability
- marketability
- public health
- safety & welfare
- schedule
- social/cultural
- standards
- sustainability
- usability
Engineering Standards
- FAA Small Unmanned Aircraft Systems (UAS) Regulations (Part 107)
- Occupational Safety and Health Standards 1910.147 – The control of hazardous energy (lockout/tagout)
System Overview
At a high level, our system is divided into 5 layers: computer, flight, navigation, power, and detection.
The Computer Layer relates to all subsystems that are handled and processed by a computer. This layer maintains a connection with each other’s layer in the UAV system. The data from each layer usually comes back to the computer layer to be able to process and communicate with the on-board Raspberry Pi.
The Flight Layer relates to all the subsystems that give the drone the ability to maintain flight. This includes the physical components as well as the flight controller which serves as a manager for the physical components and communicates bidirectionally with the computer layer. The internal sensors of the flight controller update the computer on flight data and the computer sends back data to keep the flight components on track with the flight pathing.
The Navigation Layer relates to all the subsystems that perform the ability to navigate through the given showcase area. The autonomous aspect of navigation means that the communication between this layer and the computer layer is two-way. Data needs to be passed back and forth so that sensors and movement errors can be accounted for in navigation.
The Power Layer relates to the subsystem that handles the system’s ability to remain powered through flight. The main responsibility of this layer is to just keep the drone, and all its other layers powered with no data being passed.
The Detection Layer relates to all the subsystems that manage detecting mission specific information such as finding the specified ArUco marker for the Raytheon competition. Data will be passed from this layer to the computer layer to update mission progress.
Results
For many of the team members, this was the first time working with robotics, flight software, and autonomous control. Working in a multi-disciplinary team provided valuable insight into how large-scale projects come to fruition in the professional realm but brought many challenges regarding team and individual responsibilities given to us by the engineering departments and Raytheon.
Thanks to the combined efforts with the Electrical Engineering and Mechanical Engineering teams, we placed 2nd at Raytheon’s Autonomous Vehicle Competition, delivering proficient code and a fully functional UAV and UGV. Throughout the development process, the CSE team gained valuable experience working with computer vision, drone pathing, and autonomous drone programming. Programs, documentation, and adjacent reports will be documented in the team’s repository for view by faculty and any future AVC teams.
Future Work
For future competitions, there are plans of possibly returning to help the current CSE team succeed and perform better. Another note for any future CSE teams, use the Fall 2024 – Spring 2025 Raytheon team’s UAV for testing any programs developed.
Project Files
Project Charter
System Requirements Specification
Architectural Design Specification
Detailed Design Specification
Poster
