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« on: January 24, 2014, 04:18:35 PM »
Abhishek Goudar
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Hello everyone,
As a part of my final year project, I built two unmanned ( not autonomous) modules. My project primarily aimed at saving human lives in the defense sector. A little ambitious I know Smiley . There was a Quad as part of the aerial surveillance module and an UGV as a part of the Ground surveillance module. It housed the following capabilities:
1. 20kg payload capability ( the vehicle itself weighed 15kg).
2. A 3 DOF arm to assist in IED disposal ( very presumptuous I know Cheesy )
3. FPV (equipped with Face Recognition through matlab)
4. Mine detection ( through an inductive metal detector).
5. Temperature measurement and Noxious ( LPG and CO) gas detection.
6. Range Detection.
7. GPS and GSM.
8. Heart Rate monitoring of the soldier and a panic sms to the nearest command post in case of emergency.
9. Vehicle orientation measurement (using an accelerometer) to gather info about the terrain in inaccessible locations.
10. Easy control through joysticks.
I also included a hubsan (acquired through Quadkopters.com) as a micro drone for indoor surveillance.
Although not my own contraption it did serve as a complimentary addition to the whole project.
The quad was equipped with just FPV ( due to lack of funding). But it did serve the purpose.
I realize the project is in its adolescence and needs loads of refinements and modificiations. I hope the members on this forum will critique and in doing so help me improve on the project. Thank you Smiley

P.S: the black case in the pic serves as the base station for control and GPS.
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My college final year project :)
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« Reply #1 on: January 24, 2014, 04:19:44 PM »
Abhishek Goudar
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Re: My college final year project :)
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« Reply #2 on: January 24, 2014, 04:21:41 PM »
Abhishek Goudar
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 I refrained from posting the pics of Quad, as I believe there are  more higher end quads on the forum Smiley. I would also like to thank Ashta sir for helping me out with the quad. He is a thorough professional and his finesse with electronics and quads is exceptional. Thank you sir.

P.S: The following pic is a precursor to the UGV. A long way since the prototype Smiley.
IMG-20130126-WA0005.jpg
Re: My college final year project :)
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« Reply #3 on: January 24, 2014, 06:11:51 PM »
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Very good effort Abhishek. Saw your pics... Clap Clap
Well, you mentioned that you used FPV in your quad. So, could you tell whether it was a proper FPV kit including the FPV glass etc.. or something self designed...
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« Reply #4 on: January 24, 2014, 06:39:59 PM »
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Vey nice  Smiley , a lot of cool tech   , I wish I had one   Drool , i hope that you get the best marks for your project Thumbs Up .
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« Reply #5 on: January 24, 2014, 07:03:08 PM »
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Nice ,i hope ur college understands the idea behind it n, hope u get good grades 4 it..
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« Reply #6 on: January 24, 2014, 08:01:17 PM »
Abhishek Goudar
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Thank you everyone for the acknowledgements Smiley
@utkarshg13 : I used a standard FPV kit available (operating frequency 900 MHz, to avoid conflict with the frequency of radio viz. 2.4 GHz ).
Well I did get good grades Smiley But I was interested in this project since a long time, so its not solely for the grades as such. I want to build it further and improvise on it.
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« Reply #7 on: January 24, 2014, 09:39:53 PM »
utkarshg13
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How much did the whole FPV set up cost you? where did you order it?
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"If you were born with wings, do every thing you could, for flying."
 

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« Reply #8 on: January 24, 2014, 10:05:37 PM »
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"If it's man-made and it flies, it will crash."
Awesome!!
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-2814 700kv Carbon Fiber 685mm Quadcopter ( tuning PIDs)
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« Reply #9 on: January 24, 2014, 10:11:47 PM »
Abhishek Goudar
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@ utkarshg13: From Hobbyking . Back then it cost me about 2,100/- in Indian Rupees. The shipping was nominal cause I had ordered a lot of items. It took about 12 days to arrive. Smiley

@Rahulvyas: Thank you Smiley
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« Reply #10 on: January 24, 2014, 10:14:06 PM »
utkarshg13
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Thank you Abhishek.
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"If you were born with wings, do every thing you could, for flying."
 

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« Reply #11 on: January 25, 2014, 04:20:02 PM »
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man this thing is stunning..
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even crashing requires a flight......
 

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« Reply #12 on: January 27, 2014, 12:36:59 AM »
Abhishek Goudar
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@manu : Thank you Smiley
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« Reply #13 on: January 27, 2014, 02:02:13 PM »
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Really great project abhishek.  Salute Salute Clap Clap Thumbs Up Thumbs Up
BUt only if we could see some video.  Roll Eyes
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« Reply #14 on: January 28, 2014, 11:23:51 PM »
lastRites
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I can barely make out the arduino in the pic. Grin I am doing a very similar project for my final year as well and would love to see some more pictures. May I know which motor-Hbridge combination you used? An AUW of 35kg would need a lot of motive power..
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It is the pervading law of all things organic and inorganic,
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« Reply #15 on: January 29, 2014, 08:50:32 AM »
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Good work there Abhishek Thumbs Up
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« Reply #16 on: January 29, 2014, 11:00:21 AM »
Abhishek Goudar
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sajid6300shaikh : Thank you Smiley I will soon upload a video

@Satya sir : Thank you sir. Your help was instrumental in completing this project.

@lastRites : I used a generic (custom made) H-bridge from a combination of SPDT and DPDT relays to handle the huge power requirement. The drive mechanism alone consumed 150 W on full load. I will upload some more pics soon. And best of luck for your project Smiley
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« Reply #17 on: January 29, 2014, 09:48:24 PM »
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So no speed control?
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #18 on: January 29, 2014, 09:51:41 PM »
lastRites
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What motors did you use?
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #19 on: January 29, 2014, 10:06:10 PM »
Abhishek Goudar
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@lastRites: Speed control was afforded by PWM driving the relays. If the PWM duty cycle is above 20% and frequency in the lower range ( few hundred hertz to 1 KHz), the relays provide satisfactory performance. I used normal DC motors with Planetary gear box. Procured them from a friend who told he bought them in Lamington road, I suppose in Mumbai.
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« Reply #20 on: January 29, 2014, 10:10:18 PM »
Abhishek Goudar
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@lastRites: I am currently building a H-bridge using power mosfets, that I intend to use in a Robotic arm. If all goes well may be you could use that schematic. It will provide a constant current of 30 amps at 5-50V. Also switching frequencies as high as 25KHz and breaking facility.
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« Reply #21 on: January 29, 2014, 10:13:21 PM »
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Quote from: Abhishek Goudar on January 29, 2014, 10:06:10 PM
@lastRites: Speed control was afforded by PWM driving the relays. If the PWM duty cycle is above 20% and frequency in the lower range ( few hundred hertz to 1 KHz), the relays provide satisfactory performance. I used normal DC motors with Planetary gear box. Procured them from a friend who told he bought them in Lamington road, I suppose in Mumbai.
This can be easily done with an IC but i cant remember the number, but very similar to L293d but of high current capacity. no relays needed hence lot of power loss saved and no sound too... ive did it already while helping one of my fellow scholar for a automatic wheel chair prototype. it weighs around 20KG but a bigger geared motor.

Ashok.P
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« Reply #22 on: January 30, 2014, 12:51:06 PM »
lastRites
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PWM on relays? A very bad idea IMO. Tongue How much for the motors? Planetary gearheads are costly...
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #23 on: January 30, 2014, 02:27:57 PM »
Abhishek Goudar
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@lastRites: Well it worked for me Smiley Motors cost me 900 Rs a pop
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« Reply #24 on: January 31, 2014, 01:02:25 AM »
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Planetary gearheads for 900??? :O Grin Where can I get those from? I want atleast 6!
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #25 on: January 31, 2014, 10:22:14 AM »
Abhishek Goudar
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Try Garages or Scrap shops, they usual have those from windshield motors or wiper motors. Although most of them are not planetary gearheads and are worm gearheads if speed is not  your concern, that should suffice.
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« Reply #26 on: January 31, 2014, 10:35:48 AM »
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No efficiency and reliability are my concerns. Worm gears suck at efficiency.
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #27 on: January 31, 2014, 05:16:39 PM »
Abhishek Goudar
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Well then you can try the motors from powered Wheelchairs Smiley Those will cost you a ton Smiley
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« Reply #28 on: February 01, 2014, 07:44:56 PM »
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Can you post pictures of your motor. I know about the alternatives. I am interested in the motor you have. I have a planetary motor. Costed 2.5k. Very efficient and silent but not enough torque.
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #29 on: February 04, 2014, 11:57:03 PM »
Abhishek Goudar
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Sorry for the delay Smiley was out of station Smiley
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Re: My college final year project :)
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« Reply #30 on: February 09, 2014, 10:50:58 PM »
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That is not a planetary gearhead motor Tongue That is simple single stage worm drive reduction. Not at all suitable for locomotion. The rpm will be around a 100 at 12V, right?
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #31 on: February 09, 2014, 11:56:46 PM »
Abhishek Goudar
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@ lastRites: Well I may be wrong Smiley I turned the motors inside out. I was able to get in contact with the person and get the address of the place that sells this stuff.. Hope it helps. I guess the current motor is outdated. but they do have a 300 RPM one.
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« Reply #32 on: February 09, 2014, 11:58:16 PM »
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http://www.sproboticworks.com/motors-and-accessories/planetary-geared-motor.html
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Re: My college final year project :)
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« Reply #33 on: February 11, 2014, 07:06:15 AM »
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That's a lot of gunk Tongue Kerosene works wonders...
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It is the pervading law of all things organic and inorganic,
Of all things physical and metaphysical,
Of all things human and all things super-human,
Of all true manifestations of the head,
Of the heart, of the soul,
That the life is recognizable in its expression,
That form ever follows function. This is the law.
 

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« Reply #34 on: March 02, 2014, 02:18:15 AM »
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finally got a video edited Smiley
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