Client Meeting October 12th - ProstheticFalconry/Capstone GitHub Wiki

Meeting notes October 12th

What does stability count as? Straight line flight? Drift? Viablity of RTOS with Ubuntu. Likely and highly desired. Filthy casuals. Assumed RTOS would be ROS. Not many available for Beaglebone. QNX and Linux RT are options. Linux RT has better kernel scheduling systems that are better for real time. There exists a way to fiddle with kernels so that we don’t have to force real time. Hard real time is a bit of a misnomer in this project as what we need is for stability to be prioritized. QNX full operating system built from scratch, is there a community to help with programming? Sort of, very much commercial enterprise level. Seems unlikely to be the one we choose based on budget and lack of transparency for designing and support. Linux RT is a much better option. Both are still formatted via SSH port.

Specs for the quadcopter? Vicious cycle of adding features which add weight to spec motors. Do we spec from features or other way around? Design fro features. Fundamentally need a schematic of our electrical system so we understand components which will help us to understand weight. After we choose our electrical components (cameras, sensors, ESC’s) then we can choose physical quadcopter system which is a much easier process. 4 things we need to flesh out: power controls for motors, sensors array, gripper armature, and emergency stop procedure. We know all individual weights then this is much easier. What does ESC limit, RPMs, thrust, torque. Do we need motor before ESC or vice versa. End of semester flesh out motor requirements. How many batteries needed? 2 batteries one for Beaglebone shutdown/ network and another separate for motors. This will make it so motor failure doesn’t result in destroyed Beaglebone. Thus they can switch out batteries for back to back flights without having to kill the Beaglebone each time. This system being separate has many bonuses that protect the Beaglebone. Safer to have it so that if power to emergency stop fails the whole system turns off (except Beaglebone). This means there is a system that is default off and consistently having current run through it during flight so it can stay alive. Emergency stop is operator controlled.

Concerns around the regulations regarding drones. No drones at airport for instance. Can't go within 90ft of people or higher than 150 ft up. Needs loads of commercial licences. Hard upper limit 35 pounds. For testing this won’t be much of an issue but demos will have to be concerned a little. Project is most likely categorized as a UAV. MIYO is bluetooth operated technically. What range is it?

Next week agenda: Sensors - David Ask Patrick for Beaglebone to tinker with. - Jaden and Adam. Mihai continue to look into RTOS software. - Mihai Look into the armature for gripper to figure out logistics. - Nik Looking into the emergency stop (built in RF receiver). very preliminary work. - Nic Start on rough chassis mockup to figure out placement of components. Preliminary work. Can contact Adam over email if you have specific questions.- Austin Find density of PLA 3D printed plastic. Makerbot 2 is our 3D printer. .stl files needed for printing.