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Team B PR# 1

Broad Area Support for Triage and Identification

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Gweneth Ge, Yi Wu, Joshua Pen, Lance Liu, Jet Situ

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Team

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Drone Iteration

Version 1

Version 2

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Physical Parameters M.NF.1.1

  • Weight <5kg
  • Body diameter <1.5m
  • >2 different types of sensors

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Our Drone is NDAA - Compliant M.NF.3.2

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Mechanical Design - CAD

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Mechanical Design - 3D printed

Extension Leg

Top Mount

Gimbal Mount

Camera Mount

Prop Shield

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Communication Functionalities

  • ROS2 Network Architecture Design
  • MAVROS Setup for PX4-Orin-GCS communication
  • Docker Built for Jetson (L4T) platform

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Challenges

  • Propellers broken during flight
    • Protected with prop shield
  • Gimbal Control Failed
    • Reported to Basti and arranging meeting
    • Resolved with gtune desktop setup
  • Doodle Labs Radio Communication Failed
    • Replacing with new NDAA-compliant radio

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PR1 Progress Summary

Non-Functional Requirements

Requirement ID

Physical Parameters: we've physically integrated a lightweight drone design under 5kg with diameter less than 1.5m, equipped with multiple sensors including radio, GPS, and gimbal camera.

M.NF.1.1, M.NF.1.2,

M.NF.1.3

Deployment and Distribution: we've assured that no more than 6 pit crew members will stay in the staging area during the DARPA competition.

M.NF.2.1

Safety: we've ensured NDAA compliance for hardware components, and implemented core safety features.

M.NF.3.1, M.NF.3.2

Resource Constraints: we've adopted existing AirLab drone platforms to safely maintain the total system cost under $5000.

M.NF.4.1

Environmental Resilience: we've implemented core resilience capabilities by maintaining system stability and functionality in wind speeds up to 15 m/s.

M.NF.5.1

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PR2 Tech Goal

Integration of patient pose estimation algorithms:

Deploy the current pose estimation algorithm (NLF) on the Jetson Orin, and test its performance.

Autonomous take-off, landing and return-to-base planner

Ground Control Station (GCS) Interface

Gimbal Control

ROS subscriber: requested gimbal angles, and requested gimbal rotating speed

ROS publisher: gimbal angles

Camera Control

ROS subscriber: Requested zoom level.

ROS publisher: Current zoom level (maybe included current frame as Image and current camera intrinsic parameter)

The camera should also be able to change zoom

IssacSim Pipeline for testing path planners.

Behavior Tree Hierarchy Draft

Change modes based on many factors. Should have certain top-level modes, including: Armed/disarmed, Takeoff, Landing, Emergency Stop, Return to launch, Initial Mapping, Search casualty, Inspect casualty

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