{"id":213,"date":"2022-04-08T17:37:59","date_gmt":"2022-04-08T17:37:59","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamj\/?page_id=213"},"modified":"2022-12-15T03:03:51","modified_gmt":"2022-12-15T03:03:51","slug":"hardware-implementation","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamj\/hardware-implementation\/","title":{"rendered":"Hardware Implementation"},"content":{"rendered":"\n

VTOL Subsystem<\/h2>\n\n\n\n

Our VTOL is a MakeFlyEasy Fighter VTOL that we purchased and assembled. The kit came with all the motors and flight control systems necessary for ensuring it would be capable of autonomous flight. We have made several minor modifications to allow us to fit both our perception and delivery subsystem onboard the vehicle.<\/p>\n\n\n

\n
\"\"
Our assembled VTOL<\/figcaption><\/figure>\n<\/div>\n\n\n

The platform was modified to fit a custom-built delivery mechanism. A hole was made in the base of the VTOL and the support structures inside were fit with detachable mounts for the mechanism. The platform was also used to collect data and hence a data logging module had to be fit inside. These two modifications needed to be used interchangeably to ensure development and sponsor requirement activities happen simultaneously. Below are images showing the two modified configurations of the VTOL.<\/p>\n\n\n\n

\n
\"\"
VTOL with the Anemometer and GPS module through its roof<\/figcaption><\/figure>\n\n\n\n
\"\"
Drone with the package<\/figcaption><\/figure>\n<\/figure>\n\n\n\n\n\n
\n\n\n\n

Perception Subsystem<\/h2>\n\n\n\n

OAK-D Camera<\/h3>\n\n\n\n

The camera we are using is an OAK-D camera<\/a> from Luxonis. The camera has an onboard processor which provides us with the ability to perform vision processing on the camera itself instead of the companion computer. <\/p>\n\n\n

\n
\"\"<\/figure>\n<\/div>\n\n\n

Camera Mount<\/h3>\n\n\n\n

In order to mount our OAKD to onto our VTOL we designed a mount that fits into the parachute cabin of our VTOL. The mount contains a locking mechanism allowing us to ensure that the camera will stay in place during flight.<\/p>\n\n\n\n

\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n<\/figure>\n\n\n\n
\n\n\n\n

Delivery Subsystem<\/h2>\n\n\n\n

The Delivery subsystem went through a series of iterations over the course of the year. In the 1st semester of development (Spring 2021) the focus was on building a functional and morphological proof of concept to help us validate our design. With that done, the 2nd semester of development (Fall 2021) brought along rapid iteration, improvement, and integration of the design onto the body of the VTOL.<\/p>\n\n\n\n

The section below will focus on Fall development progress. You can learn about the Spring development process at this page<\/a>.<\/p>\n\n\n\n

Delivery Subsystem Overview<\/h3>\n\n\n\n

MF.4 <\/strong>Deliver using a mechanism that holds<\/span>, lowers<\/span>, and releases<\/span> the package at a target location without landing<\/span>.<\/p>\n\n\n\n

The delivery subsystem is broken into 3 main components that each address a key component of Mandatory Functional Requirement #4 (MF.4, above). When put together, they accomplish the goal of delivering a package at a target location without landing the VTOL. In the Fall semester, we developed a delivery subsystem that could accomplish MF.4 while integrating into the VTOL’s tight spatial and electromechanical constraints. <\/p>\n\n\n\n

\n
<\/div>\n\n\n\n
\n
\"\"
CAD model for the entire Delivery Subsystem when assembled<\/figcaption><\/figure>\n<\/div>\n\n\n\n
<\/div>\n<\/div>\n\n\n\n
\n
\n