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Fabrication of a Drone
Submitted to
BACHELOR OF ENGINEERING
IN
MECHANICAL ENGINEERING
By
Ashwani Dixit, 0714CS111017
Ayush Awasthi, 0714ME111024
Vaseem Akram, 0714ME111010
Hemant kumar sharma, 0714ME111046
Deependra Ranawat, 0714ME111040
Manoj kelkar, 0714ME111065
Under the Guidance of
Prof. Bharat Chede
Head of Department
A quadcopter can achieve vertical flight in a stable manner and be used to monitor or
collect data in a specific region such as Loading a mass. Technological advances have
reduced the cost and increase the performance of the low power microcontrollers that
allowed the general public to develop their own quadcopter. The goal of this project is to
build, modify, and improve an existing quadcopter kit to obtain stable flight, gather and
store GPS data, and perform autocommands, such as auto-landing. The project used an
Aeroquad quadcopter kit that included a frame, motors, electronic speed controllers,
Arduino Mega development board, and sensor boards and used with the provided
Aeroquad software. Batteries, a transmitter, a receiver, a GPS module, and a micro SD
card adaptor were interfaced with the kit. The aeroquad software was modified to properly
interface the components with the quadcopter kit. Individual components were tested and
verified to work properly. Calibration and tuning of the PID controller was done to obtain
proper stabilization on each axis using custom PID test benches. Currently, the
quadcopter can properly stabilize itself, determine its GPS location, and store and log
data. Most of the goals in this project have been achieved, resulting in a stable and
maneuverable quadcopter.
We hereby declare that the project entitled FABRICATION OF DRONE is the actual work
carried out by us in the department of MECHANICAL ENGINEERING under the guidance
of Prof. BHARAT CHEDE, (Head of Department)
2014-2015
RECOMMENDATION
First and foremost, we would like to express our highest appreciation to supportive
academic professor, Prof. Bharat Chede. His supervision and support that gave me truly
helps during the period of conducting our project. His never-ending supply of valuable
advice and guidance has enlightens me and deeply engraved in our mind. Next, I would
like to dedicate our thankfulness to him, for his enthusiastic support and supervision of
the thesis revision. I’m also happy to present my gratefully acknowledge to Machinery
laboratory technicians, who has been so warmth and kind to provide sincere assistance
and good cooperation during this period. Their co-operation is much indeed appreciated.
In addition, I would like to convey thanks to lecturers, for their assistance, which really
spends their time to teach us a lots of knowledge regarding to the design development.
Last but not least, I would like to state my appreciation to the staff – Faculty of Mechanical
Engineering, our team and colleagues for supporting us and administration department
for their help in the project.
Thank you!!!
Contents
Chapter 1:- Introduction………………………………………………………………………………………………………. 1
Usage of Drone………………………………………………………………………………………………………………….22
References……………………………………………………………………………………………………………………….23
List of Tables
Serial No. Table No. Table Name Page No.
1 3.1 Parts & Material 8
List of Figures
Serial Figure No. Name Page
No. No.
1 1.1 Image of Drone 2
2 2.1 1920 – Oemichen 5
3 2.2 De Bothezat helicopter, 1923 photo 5
4 2.3 1956 – Convert a wings Model A Quadcopter 6
5 2.4 1958 - Curtis Wright VZ- 6
18 3.13 Charging 17
A Drone or Quadcopter is a Vehicles have large potential for performing tasks that are dangerous
or very costly for humans. Examples are the inspection of high structures, humanitarian purposes
or search-and-rescue missions. One specific type of Drone is becoming increasingly more popular
lately: the quadcopter (Fig. 1.1). When visiting large events or parties, professional quadcopters
can be seen that are used to capture video for promotional or surveillance purposes.
Recreational use is increasing as well: for less than 50 Euros a small remote controlled quadcopter
can be bought to fly around in your living room or garden. In these situations the quadcopter is
usually in free flight. There is no physical contact between the surroundings and the quad copter
and no cooperation between the quadcopters If would have the capabilities to collaborate the
number of possibilities grows even further. For example, a group of Drone would be able to
efficiently and autonomously search a missing person in a large area by sharing data between. Or,
the combined load capacity of a group of quad copters can be used to deliver medicine in remote
areas. This bachelor thesis focuses on the use of a commercially available quadcopter platform,
the.Drone, to perform a task that requires physical collaboration and interaction: moving a mass.
In this way a clear interaction between the quadcopters and their surroundings is present. As
preliminary step towards the view of collaborating aerial robots the choice was made to perform
this task in an indoor scenario where position feedback is present. Starting off with position
control, additional controller logic can be implemented to counteract the forces imposed by a mass
connected to the quadcopter. The choice is made for the Drone, a generalized approach is chosen
where possible to encourage reuse of this research’s outcome and deliverables. (1)
A helicopter is a flying vehicle which uses rapidly spinning rotors to push air downwards, thus
creating a thrust force keeping the helicopter aloft. Conventional helicopters have two rotors.
These can be arranged as two coplanar rotors both providing upwards thrust, but spinning in
opposite directions (in order to balance the torques exerted upon the body of the helicopter).
2.1 History
Oehmichen (1920)
Etienne Oehmichen experimented with rotorcraft designs in the 1920s. (Fig.2.1) among the six
designs he tried, his helicopter No.2 had four rotors and eight propellers, all driven by a single
engine. The Oehmichen No.2 used a steel-tube frame, with two-bladed rotors at the ends of the
four arms. The angle of these blades could be varied by warping. Five of the propellers, spinning
in the horizontal plane, stabilized the machine laterally. Another propeller was mounted at the nose
for steering. The remaining pair of propellers were for forward propulsion.
The aircraft exhibited a considerable degree of stability and controllability for its time, and made
more than a thousand test flights during the middle 1920s. By 1923 it was able to remain airborne
for several minutes at a time, and on April 14, 1924 it established the first-ever FAI distance record
for helicopters of 360 m (390 yd). It demonstrated the ability to complete a circular course and
later, it completed the first 1 kilometer (0.62 mi) closed-circuit flight by a rotorcraft.
Understood in such sense, drones came into first use after World War II when unmanned jets, such
as the Ryan Firebee (a documentary about the Firebee and the use of early drones in the Vietnam
War), started field operation.(8) Since then, the number of drones in military use increased
substantially enough that the New York Time decided to refer to it as a new paradigm for warfare.
3.1 Materials-
For someone new to the multirotor hobby, putting together our first quadcopter parts list can be
extremely daunting. Trying to figure out what to buy and what parts will work together is tough,
especially for people who don’t come from a background in radio controlled planes or helicopters.
Forums are packed with people who want to build a quadcopter but don’t know where to start. It
can be frustrating trying to sort through the thousands of posts on forums and blogs and figure out
what to do.
We’ve heard from a lot of readers who are in similar positions and this post is designed to spell
out exactly what you need for your first quadcopter build. While we will recommend a complete
list of specific parts that we have used and tested for a complete quadcopter build, the main purpose
of this post is to provide a general overview of the parts needed to build a quadcopter. Here’s what
you’ll need:
1GHz 32 bit ARM Cortex A8 processor with 800MHz video DSP TMS320DMC64x
Linux 2.6.32
1Gbit DDR2 RAM at 200MHz
3 axis gyroscope 2000°/second precision
3 axis accelerometer +-50mg precision
3 axis magnetometer 6° precision
Pressure sensor +/- 10 Pa precision
Ultrasound sensors for ground altitude measurement
60 fps vertical QVGA camera for ground speed measurement
3.2.2 MOTORS
3 cell 1,000 mAH LiPo rechargeable battery; High pitch propeller for great manoeuvrability; 4
brushless inrunner motors with micro ball bearing and rare earth magnets, 14.5 watt & 28,500 rpm
when hovering; Self-lubricating bronze bearings, tempered steel prop shafts; Low noise Nylatron
gears for 8.625 propeller shafts; Emergency stop controlled by software; Fully reprogrammable
motor controller; Water resistant electronic motor controller ; Foam to isolate the inertial center
from the engine’s vibrations; EPP hull; Carbon fibre tubes, 380g with outdoor hull, 420g with
indoor hull; High grade 30% fibre charged nylon plastic parts;
Working Principle
This chapter introduces some of the main concepts and background knowledge related to this
project. A generic model of a quadcopter (Fig. 3.3) will be introduced, as well as methods of
connecting masses to UAVs and an introduction to controller actions.
3D Flip Flying
The pilot can control it to perform some breathtaking operations (Fig. 43) when mastering the
basics. First fly it to the height of 3m. Seconds click the flip key and push the right rudder to the
end (in one direction) & push it the aerocraft turns over.
Fig. 3.11 operating of drone
When you want to fly your drone you must make sure that you are doing it properly. Here are 8
simple safety tips from Verizon Wireless that we also recommend:
1. Choose the right environment. First, try flying a drone in an open, preferably outdoor
area instead of indoors. Make sure the day you’ve selected is relatively wind free and the
location has few trees – because no one wants an emergency drone landing 15 feet up in a
tree.
2. Be aware of your surroundings. Take note of where other people, objects, trees or roads
are to assure a safe flight path and landing. Don’t fly near an airport or over a large group
of people. Be aware of powerful antennas and power lines as well.
3. Get permission. If you are on someone else’s property or in a public space, ask for
permission to avoid invasion of privacy or other consequences.
4. Learn the modes and controls. Different flying modes and settings can affect your flight
and ability to control the drone. Before flying, learn which setting is best for you in your
selected environment. For example, AR Drone has an outdoor flight mode, left-handed
mode or joypad mode. Watch our tutorial videos about the AR.Drone .
5. Check the battery. Make sure your battery is fully charged to avoid an emergency landing.
You should also consider the season. If you’re flying in the cold winter, your battery will
drain more quickly than it would in the summer.
6. Be in control. The emergency land button should be one of the first things you learn before
flying the drone. It ensures the drone lands safely if you make a critical error while flying.
However, you should only use the emergency land function in true emergencies because
the motors will cut out and your drone will drop (which could cause serious harm to those
below). Also, keep a direct line of sight on your drone and watch its altitude.
3.4.2 Battery
Lithium Polymer batteries are extremely hazardous and liable to cause serious injuries to
persons or property. The user accepts liability for the use of a Lithium Polymer battery. As
the manufacturer and the distributor cannot ensure the battery is used correctly (charging,
discharging, storage, etc.), they cannot be held liable for damages caused to persons or
property.
3.4.3 Charging
Do not overcharge the battery. When the battery is fully charged, disconnect it from the
charger. Do not put the device back in the charger once charging has finished. You risk
causing overheating.
Do not cover your product or its charger while the battery is charging.
Recharge the battery at a temperature of between 0°C and 40°C.
3.4.4 Battery disposal
Discarding batteries in your general household waste can be harmful to the environment. Damaged
or unusable batteries must be disposed of in a container specially reserved for this purpose. When
disposing of the battery, follow appropriate local guidelines and regulations
1. Select the adapter corresponding to your country and place it on the transformer. It is essential
that you hear the sound that confirms a firm connection. (Fig. 3.13)
Press the key. The motors will start and the AR.Drone will automatically position itself at an
altitude of between 50 cm and 1 m.Slide the joystick (bottom right) up / down to make the
AR.Drone climb / descend in increments of 10 cm.
3.4.7 Landing
Make sure that the Drone is directly above a flat, dry and unobstructed surface and then press on
the button .
3.4.8 Warning
You should use the AR.Drone safely and responsibly at all times, so as to avoid any damage or
harm being caused to any person, animal or property next to which you are flying the Drone. In
this respect you should ensure that you always operate the Drone in compliance with this Quick
Start Guide and our Safe Use of the Drone instructions. Parrot also reminds you that you should
not use the Drone for any unauthorised or unlawful purposes, as you will otherwise be fully liable
for any loss or damage caused as a result of such unauthorized use
3.5 Controlling of a Drone
The AR.Drone has many motions sensors. They are located below the central hull.
The AR.Drone features a 6 DOF, MEMS-based, miniaturized inertial measurement unit. It
provides the software with pitch, roll and yaw measurements.
Inertial measurements are used for automatic pitch, roll and yaw stabilization and assisted
tilting control. They are needed for generating realistic augmented reality effects.
An ultrasound telemeter provides with altitude measures for automatic altitude stabilization
and assisted vertical speed control.
In this section of the document we will be discussing the verification and testing of each hardware
and software component. All problems will be described in detail and the solutions we made to
solve these problems. In this section we will also discuss our overall results of the project and what
we could have done to improve upon our project. Future work for this project will also be
mentioned in this section of the document.(9)
In this section of the document we will be discussing the methods we used to test each component
of our quadcopter, the problems we faced, and how we solved them.
By using the blinking template from the Arduino IDE and looking at the corresponding LED on
the Arduino board and shield, we verified that both the boards were connected properly by
changing the delay of the blinking LED.(9)
To modify the Aeroquad flight software, the user configuration header file had to be changed.
Certain variables needed to be defined according what components our quadcopter had and what
functions we wanted our quadcopter to perform. This was done by both commenting and un-
commenting the necessary definition statements in the user configuration header file. If the
software uploads successfully, then no mistakes were made in the user configuration header file.
4.2 Future of the Drones:
New applications are coming into picture as the work efficiency and tolerance capacity
of the drones have surpassed all expectations. Recently India has also joined the picture by
releasing its own drones. We can use our drone attached with camera for servieliance of MIT
Campus.
Developments and modifications are constantly being done on the structure and internal
electronics. The new “helicopter drone” released by the US army carries a 1.8 giga pixel camera
to provide clear ground images even from high altitudes. The sensors carried in the drones are also
being made sharper to provide higher aerial surveillance. Programming software of the drone is
being developed such that the drone can take its own decision in situations where human error is
probable. The USA has constantly been utilizing their fleet of drones over Pakistan and
Afghanistan in the fight against terrorism.
Fig. 4.1 A forward looking infrared (FLIR) camera mounted on the side of an UAV (Image
source: Wikipedia)
Drones have always risen to the occasion whenever they were needed. They are truly
an engineering spectacle, containing the best of mechanical, electronics and software technology.
There just might be a day when today’s generation tells their grandchildren that aircrafts were
manned by human pilots.
Usage of Drone
1. A Drone is mostly used for surveillance by the police & Military purpose.
2. This Drone is also used for watching the streets of the city.
3. Drone is used for medical helps on the spot area of the road accidents.
5. We can see any student in MIT Campus with help a drone in seconds.
6. The device has already been used by security agencies for counter-insurgency activities
and search for survivors during the Uttarakhand flash floods that took place last year.