TITLE OF PROJECT REPORT

A PROJECT REPORT

Submitted by

SANDHYA. A [Reg No: 16305011]

SURESH. A [Reg No: 16305015]
SABARISH. R [Reg No: 16305264]
RAJASEKAR. S [Reg No: 16305456]
VIGNESH. B [Reg No: 16305876 ]

Under the guidance of

Dr. M. PUSHPALATHA, Ph.D
(Professor, Department of Computer Sciene & Engineering)

in partial fulfillment for the award of the degree

of

BACHELOR OF TECHNOLOGY
in

MECHANICAL ENGINEERING
of

FACULTY OF ENGINEERING AND TECHNOLOGY

S.R.M. Nagar, Kattankulathur, Kancheepuram District

MAY 2015
 SRM UNIVERSITY
(Under Section 3 of UGC Act, 1956)

BONAFIDE CERTIFICATE

Certified that this project report titled “TITLE OF PROJECT RE-

PORT” is the bonafide work of “ SANDHYA. A [Reg No: 16305011],
SURESH. A [Reg No: 16305015], SABARISH. R [Reg No: 16305264],
RAJASEKAR. S [Reg No: 16305456], VIGNESH. B [Reg No: 16305876
]”, who carried out the project work under my supervision. Certified fur-
ther, that to the best of my knowledge the work reported herein does not
form any other project report or dissertation on the basis of which a de-
gree or award was conferred on an earlier occasion on this or any other
candidate.

SIGNATURE
SIGNATURE

Dr. M. PUSHPALATHA, Ph.D

GUIDE Dr. D. KINGSLY JEBA SINGH
Professor HEAD OF THE DEPARTMENT
Dept. of Computer Sciene & Engi- Dept. of Mechanical Engineering
neering

Signature of the External Examiner

Signature of the Internal Examiner
 ABSTRACT

Type your abstract here.

Abstract should be one page synopsis of the project report typed dou-
ble line spacing, Font Style Times New Roman and Font Size 14.
 ACKNOWLEDGEMENTS

I would like to express my deepest gratitude to my guide, Dr.XXXXXXXXXX his

valuable guidance, consistent encouragement, personal caring, timely help and provid-
ing me with an excellent atmosphere for doing research. All through the work, in spite
of his busy schedule, he has extended cheerful and cordial support to me for completing
this research work.

Author

iv
 TABLE OF CONTENTS

ABSTRACT iii

ACKNOWLEDGEMENTS iv

LIST OF TABLES vii

LIST OF FIGURES viii

ABBREVIATIONS ix

LIST OF SYMBOLS x

1 ABSTRACT 1

2 LITERATURE SURVEY 2
2.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.2 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

3 Methodology 3
3.1 Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

4 System Model Description 4

4.1 See Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
4.2 Think Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
4.3 Act Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
4.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

5 Coding, Testing 5

6 Conclusion 6

7 Future Enhancement 7

v
A VECTOR ALGEBRA 8
A.1 Product of Two Vectors . . . . . . . . . . . . . . . . . . . . . . . . 8

B MATRIX ALGEBRA 9
B.1 Matrix Multiplication . . . . . . . . . . . . . . . . . . . . . . . . . 9
LIST OF TABLES

vii
LIST OF FIGURES

viii
ABBREVIATIONS

ix
 LIST OF SYMBOLS

α, β Damping constants
θ Angle of twist, rad
ω Angular velocity, rad/s
b Width of the beam, m
h Height of the beam, m
{f (t)} force vector
[K e ] Element stiffness matrix
[M e ] Element mass matrix
{q(t)} Displacement vector
{q̇(t)} Velocity vector
{q̈(t)} Acceleration vector

x
 CHAPTER 1

ABSTRACT

Our project aims to address the need to have autonomous standalone systems that can
be used for a variety of tasks, like delivery of goods, monitoring the environment etc.
The advantage of an autonomous drone is that such a drone is completely self sufficient
and can be used to do tasks for which either the cost of labour is high or the opera-
tional environment is hazardous. In an attempt to keep costs down, a quadcopter based
platform will be used. The control may be entrusted to either a smartphone or self con-
tained flight controller. The quadcopter operation can be broken down into three major
parts, see,think and act. The see phase involves sensing data from the surroundings.
For this purpose a multitude of sensors are available and required for eg gps, inertial
measurement unit, cameras etc. The purpose of using a camera is to extract features
from the environment that can then be used as signposts to localize and move the robot.
The think is where the number crunching is done from the data that is obtained from
the sensors. We plan to make use of algorithms such as SLAM for example PTAM
and ORB SLAM to help the robot localize and move. Finally the act cycle is where
the robot finds out the most optimum path to the target location. This is also the part
which requires the most work as the real challenge is to make the robot move on its own
accord.
 CHAPTER 2

LITERATURE SURVEY

2.1 Background

This paper presents the design proposal of an autonomous quadcopter based system
which can be used to monitor environmental variables like temperature, humidity and
pollutant level without the need of any external operator. It is meant specifically for
environments which are deemed hazardous or where the cost of operation is high.

2.2 References

1. As per IEEE paper âĂIJQuadcopter autonomous control system based on image

recognitionâĂİ, He Luo ; Yanqiu Niu ; Zhengzheng Liang ; Xiang Fang

2. As per IEEE paper âĂIJDesigning a spatially aware and autonomous quadcopter,

Michael Y. Chen ;Erin L. Boehmer ; Nathan M. Eller, Derrick H. Edwards.

3. As per IEEE paper âĂIJDevelopment of Autonomous QuadcopterâĂİ, Luke

Kamrath James Hereford, 4. As per IEEE paper âĂIJAutonomous takeoff and land-
ing of a quadcopterâĂİ, Hadrien Beck, Julien Lesueur, Guillaume Charland-Arcand.
 CHAPTER 3

METHODOLOGY

The quadcopter is a self contained system and uses sensors to monitor the environment.
The flight controller is used to send preliminary flight commands to the motors. The per-
ception algorithm involved is SLAM. Simultaneous localization and mapping (SLAM)
is the computational problem of constructing or updating a map of an unknown envi-
ronment while simultaneously keeping track of an agent’s location within it. While this
initially appears to be a chicken-and-egg problem there are several algorithms known
for solving it, at least approximately, in tractable time for certain environments. Popu-
lar approximate solution methods include the particle filter, extended Kalman filter, and
GraphSLAM.

3.1 Sensing

The sensing part shall be accomplished using a cheap off the shelf webcamera Feature
extraction is done using ORB-SLAM or PTAM. The processed data along with mes-
sages from the inertial measuremnt unit are processed using a kalman filter or extended
kalman filter. These are then used to provide PID control.
 CHAPTER 4

SYSTEM MODEL DESCRIPTION

The Quadcopter follows continuous cycle consisting of three phases.

4.1 See Phase

The quadcopter is armed and takes off. After all systems are online it starts sensing the
environment using the onboard sensors.

4.2 Think Phase

The onboard computer does the processing of the data received from the camera as well
as the inertial measurement unit. This data is then used to direct the flight path of the
quadcopter using PID control.

4.3 Act Phase

The quadcopter flies along a designated path either planned by the user in advance or
in real-time while constantly updating its pose. The onboard computer is also used to
sense the quadcopter’s environment and send data back to the base station.
 CHAPTER 5

CODING, TESTING

In this chapter, the program coding related to your work using MATLAB™or C can be
presented here. Numbered list can be typeset in LaTex as follows.

1. Online LaTex editors Such as Share LaTex, Write LaTex, Papeeria are also
available which do not require any installation.

2. Documents can be typeset or edited in the online LaTex and output file can be
down loaded.

3. The LaTex template can generally be down loaded from the University/publisher’s/
conference website. (.tex file)

4. Type the document in the respective template and run the program like C or MAT-
LAB.

5. The output document is formatted as .pdf or .ps and saved in the same file name
and same folder.

6. Some Standard LaTex templates are IEEE, ASCE, ASME, Elsevier etc.

Bullet points are generated in LaTex as follows:

\ Requires installation of two packages.

\ MiKTeX is a distribution of the typesetting system.

\ MiKTeX provides the tools necessary to prepare documents using the TeX/LaTeX
markup language.

\ TeXstudio is a cross-platform open source LaTeX editor with an interface.

\ Some other cross-platforms are Texmaker, Technic center, Winedt etc.,

\ Install MiKTex first and TeXstudio at last.

 CHAPTER 6

CONCLUSION

The Entire Project Document should have a maximum of 80 Pages (from cover to
cover).
The Project Document along with Application Software should be submitted in a Soft
Copy (CD )
N.B.: Number of Copies to be submitted: Guide - 1 hard copy, Department Library
-1 hard copy & Each Candidate -1 hard copy and Soft Copy (in CD)- 2 copies
 CHAPTER 7

FUTURE ENHANCEMENT
 APPENDIX A

VECTOR ALGEBRA

A.1 Product of Two Vectors

The product of two vectors are may be a scalar product or vector product. The scalar
product of two vectors is also called as dot product. It is defined as ~a.~b = |~a||~b|cosθ
where θ is the angle between the two vectors ~a and ~b

the cross product or vector product is a binary operation on two vectors in three-
dimensional space and is denoted by the symbol ×. The cross product ~a × ~b of two
linearly independent vectors ~a and ~b is a vector that is perpendicular to both and there-
fore normal to the plane containing them.
 APPENDIX B

MATRIX ALGEBRA

B.1 Matrix Multiplication

Matrix multiplication is a binary operation that takes a pair of matrices, and produces
another matrix. Numbers such as the real or complex numbers can be multiplied ac-
cording to elementary arithmetic. On the other hand, matrices are arrays of numbers,
so there is no unique way to define multiplication of matrices. As such, in general the
term “matrix multiplication” refers to a number of different ways to multiply matrices.
 REFERENCES
1. Grédias, M. and Paris, P. A. (1996). “Direct identification of elastic constants of
anisotropic plates by modal analysis:theoretical and numerical aspects.” Journal of
Sound and Vibration, 195(3), 401–415.

2. Hearn, G. and Testa, R. B. (1989). “Modal analysis for damage detection in structures.”
Journal of structural engineering, 117(10), 3042–3063.

3. James, K. and Eberhart, R. (1995). “Particle swarm optimization.” In Proc.of IEEE

International Conference on Neural Networks, 1995., Vol. 4. 1942 –1948.

4. Koh, C. G., Hong, B., and Liaw, C. Y. (2003). “Substructural and progressive structural
identification methods.” Engineering Structures, 25, 1551–1563.

5. Meirovitch, L. (2001). Fundamentals of Vibrations. McGraw-Hill Book Company, 1

edition.

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