This presentation was given during the robotics summit to talk about the development of our quadrotor helicopter UAV.

1. Building UAV Vehicles Ben Black, Ph.D – System Engineer Marcus Monroe – System Engineer Andy Cheng – Application Engineer Javier Gutierrez - Senior PMM

2. Agenda Hardware Description Algorithm Development Software Deployment Lessons learnt

3. Hardware Description – 4 rotor copter Motors + Blades Sensors 6 axes IMU Ultrasound Dig Compass Controller Single Board RIO Extra hardware Daughter card Bluetooh Speed controllers

4. Control Algorithm Design

5. Model Development – Non Linear

6. Control Design – Control and Observer Gains

7. Model & Control Simulation

8. Deployment - I2C Sensor

9. Implementation Challenges Daughter Card Voltage requirements. Model calibration Sensor to state Implementation and Controller tuning

10. Challenges- Daughter card

11. Challenges - Voltage Requirements 7.7 V 19 V

12. Challenges- Model Calibration

13. Challenges – Sensor to state Sensors Model Measurements x, xdot,xdotdot 12 States x, xdot

14. Challenges - Implementation and Tuning Sensor Noise Bias LQR design Kalman Filter Safety