1. Project Thesis
On
Aeromodelling Surveillance
Bachelor of Engineering
Submitted By
Nikhilesh Gupta Himanshu Rewatkar
Pritam Shete Mitesh Agrawal
Harshal Unhale
Under the guidance of
Mrs.M.N.Kalbande
Department of Electronics Engineering
Yeshwantrao Chavan College of Engineering
Wanadongri, Hingna Road, Nagpur – 441 110
Session 2011-12
1
2. Department of Electronics Engineering
Yeshwantrao Chavan College of Engineering
Wanadongri, Hingna Road, Nagpur – 441 110
Session 2011-12
This is to certify that the project titled
“AEROMODELLING SURVEILLANCE”
has been successfully completed in recognition to the partial fulfillment for the award of the
degree of Bachelor of Engineering in Electronics Engineering, Rashtrasant Tukdoji Maharaj
Nagpur University, by students,
Nikhilesh Gupta Himanshu Rewatkar
Pritam Shete Mitesh Agrawal
Harshal Unhale
Mrs.M.N.Kalbande Dr. P.K.Dakhole
(Project Guide) (Head of Deptt.)
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3. CERTIFICATE OF APPROVAL
Certified that the project thesis entitled “AEROMODELLING SURVEILLANCE” has
been successfully completed by Nikhilesh Gupta, Mitesh Agrawal, Himanshu Rewatkar, Pritam
Shete, Harshal Unhale under the guidance of Prof. Mrs. M. N. Kalbande in recognition to the
partial fulfillment for the award of the degree of Bachelor of Engineering in Electronics Engineering,
Rashtrasant Tukadoji Maharaj Nagpur University, Nagpur.
Prof. Mrs. M. N. Kalbande Dr. P. K.Dakhole
(Project Guide) (HoD, Electronics Dept.)
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4. DECLARATION
We certify that
1. The work contained in this project has been done by us under the guidance of supervisor.
2. The work has not been submitted to any other institute for any degree or diploma.
3. We have followed the guidelines provided by the institute in preparing the project report.
4. We have confirmed to the norms and guidelines given in the ethical code of conduct of the
institute.
5. Whenever I/We have used materials (data, theoretical analysis, figures and texts) from other
sources, I/We have given due credit to them by citing them in the text of the report and giving
their details in the references.
Signature
(Name of the student)
Nikhilesh Gupta
Mitesh Agrawal
Himanshu Rewatkar
Pritam Shete
Harshal Unhale
4
5. ACKNOWLEDGEMENT
Success is the manifestation of diligence, perseverance, inspiration, motivation and
innovation. We the projects, ascribe our success to our guide Mrs. M.N.Kalbande whose
endeavor foresight, innovation and dynamism contributed in a big way in completion of this
project within the stipulated time. This work is the reflection of her thoughts, ideas, concepts
and all above her modest efforts.
We deeply indebted to the Head of the Department Dr.P.K.Dakhole and also the Principal
Dr.U.P.Waghe and all the members of the management committee for the facilities provided
and moral support without which our project would not have turned into reality.
We are also thankful to all members of the esteemed staff of the ELECTRONICS
ENGINEERING DEPARTMENT, who have helped us directly or indirectly in our
endeavor. WE wish to express our profound thanks to the people who helped us to make this
project reality. Our thanks are also to all those are also to all those who have shown keen
interest in this work and provided the much needed encouragement.
Submitted with regards by
Nikhilesh Gupta
Mitesh Agrawal
Himanshu Rewatkar
Pritam Shete
Harshal Unhale
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6. ABSTRACT
Unmanned aerial vehicles (UAV) have become recently a wide area of research. They can
perform missions that cannot be done by humans because of their small size, danger of the
mission and many other reasons. This project report presents an UAV equipped with a
wireless camera. Amongst UAVs we opted for a RC helicopter because of its good features
such as hovering and maneuverability which means that it can stay in a point without moving
for the purposes of tracking a target. Our flying platform works on control frequency of 2.4
GHz using which we control the brushless DC motors which offers a high torque and is light
in weight. Its great potential can be explored in numerous military and civil implementations.
PROJECT OBJECTIVE
This project involves the development of a radio controlled (RC) helicopter – it is difficult to
obtain access to real helicopters for testing and implementation on an RC helicopter can still
yield useful information. The desire to have a practical system, as well as the use of an RC
helicopter, imposed the following additional constraints on this system: 1) low cost, 2) use of
commercial hardware, 3) compact size, and 4) low power consumption. The first two goals
are interrelated; generally, standard components are available at much lower cost than
proprietary devices. Further, the use of commercial hardware insures availability of parts and
a large knowledge base. The next goal, compact size, is due to the space limitations of a small
RC helicopter. In order to mount the system in the helicopter for testing, the system must be
as compact as possible. The lack of space in the helicopter plays a role in the final constraint,
low power consumption. Large batteries cannot be used due to limitations in the lift capacity
of the radio-controlled helicopter; yet the system needs to be able to run for at least one flight.
To meet this requirement, the system needs to restrict its current draw to the order of
milliamps. All these project goals severely limited the selection of suitable hardware for this
project.
In consideration of these goals, the system was designed to use a single high-performance
processing unit. This offers the possibility of reducing the overall power consumption and
cost of the system through the use of inexpensive, low-power microcontroller in the system.
As project is used for Surveillance purpose so a light wireless camera is attached at the
bottom of the helicopter and since it is wireless its receiver is connected to a Television set.
6
7. LIST OF FIGURES
FIGURE NO. FIGURE NAME PAGE No.
1 PIN DIAGRAM OF ATMEGA 8 18
2 PIN DIAGRAM OF L298 19
3 D.C.MOTOR 20
4 PIN DIAGRAM OF CC2500 21
5 CIRCUIT DIAGRAM OF POWER SUPPLY 21
6 WIRELESS CAMERA 22
7 BATTERY 22
8 PROGRAMMER 22
9 SINAPROG 23
10 AVR STUDIO 5 23
11 BLOCK DIAGRAM OF TRANSMITTER 26
7
9. CONTENT SUMMARY
S No. LIST OF CONTENTS PAGE No.
1 INTRODUCTION 11
2 LITERATURE SURVEY 13
3 DESIGN ISSUES 15
4 TOOLS 17
4.1 HARDWARE
4.2 SOFTWARE
5 METHODOLOGY 25
6 IMPLEMENTATION 28
6.1 INTRODUCTION
6.2 BASIC CONTROL MECHANISM
6.3 ACTUAL WORKING
7 RESULTS 31
8 CONCLUSION 33
9 FUTURE SCOPE 35
9
10. APPENDIX
TOPIC PAGE NO
APPENDIX A PCB LAYOUTS 38
APPENDIX B SPECIFICATIONS 39
APPENDIX C ACHIEVEMENTS 40
APPENDIX D PAPER PRESENTED 41
APPENDIX E COST TABLE 45
APPENDIX F CONTACT DETAILS 46
APPENDIX G BIBLIOGRAPHY 47
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12. INTRODUCTION
Today‘s integrated technology has opened many new areas of application for Unmanned
Aerial Vehicles (UAVs) completing complex and risky mission without any on board human
involvement is the biggest advantage of UAV's. With new technical advances, affordability
& acceptability of UAVs will increase, which will fuel the interest of researchers to explore
more and more applications for UAVs. UAVs are of different types such as Gliders, Planes,
Helicopters, etc. From these we opted for RC Helicopter because of its higher
manoeuvrability and its ability to hover at a fixed position.
Aeromodels are flying or non-flying small size replicas of existing or imaginary aircrafts. Our
project is about designing a helicopter with a camera mounted on it used for surveillance
purpose so we came with project ―Aeromodelling Surveillance‖.
In many application vertical Take-Off and landing (VTOL) vehicles, also known as rotor
vehicles, are preferred over fixed wing vehicles Because of their higher manoeuvrability also
they require less launching and landing support compare to fixed winged vehicles task such
as exploration of unknown territories formation flying intelligence gathering etc. require
rotorcraft UAV to be capable of flying very close to other flying or stationary objects because
of exposed rotary wings, rotorcraft UAVs are very sensitive to the environment they are
flying within.
In this Project, we are going to design a Small Helicopter Robot, which will be remote
Controlled. In this helicopter would be consisting of Receiver, Microcontroller, Gyroscope
module, and motors. And remote control will have Transmitter, Joystick switches, and
microcontroller. The Vehicle will also have a Camera and the Received unit will be
interfaced to monitor and the Live Video will be transmitted.
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14. LITERATURE SURVEY
MUCEETHELI - Proceedings of MUCEET2009
From the above document we have taken the following things
The construction and design of Helicopter.
Methodology.
Overall functioning of project.
The expected output of the project.
Energy-Efficient_Autonomous_Four-Rotor_Flying_Robot_Controlled_at_1_Khz -
2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14
April 2007
From the above document we have taken the following things
The dimensions and physical parameters of the spare parts of Helicopter.
Concept of flying robot.
ATMEGA 8 data sheet
L298 data sheet
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16. DESIGN ISSUES
1. All the parts of RC Helicopter are not available in Indian market so we bought a
readymade helicopter and used its body for our project.
2. We build a transmitter PCB in which joysticks footprints were incorrect so we have to
build new transmitter PCB.
3. The ADC values of joysticks were quite noisy due to which we were not getting
proper readings so we replaced joystick with switches and a POT.
4. The motor driver IC L298 was getting heated up quickly in this process one L298 got
damaged. So we replaced by another L298 with aluminium heat sink mounted on it.
5. There were some problems in PCBs, we solved that problem by make shift
arrangement.
6. We have given different supplies for Circuit and motors as one battery supply was not
sufficient.
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18. TOOLS
4.1Hardware:
1. AVR MICROCONTROLLER (ATMEGA 8)
A microcontroller is a small computer on a single integrated circuit containing a
processor core, memory, and programmable input/output peripherals.
Atmega 8 is a microcontroller manufactured by Atmel. The ATmega8 provides the
following features: 8K bytes of In-System Programmable Flash with Read-While-
Write capabilities, 512 bytes of EEPROM, 1K byte of SRAM, 23 general purpose I/O
lines, 32 general purpose working registers, three flexible Timer/Counters with
compare modes, internal and external interrupts, a serial programmable USART, a
byte oriented Two wire Serial Interface, a 6-channel ADC (eight channels in TQFP
and QFN/MLF packages) with 10-bit accuracy, a programmable Watchdog Timer
with Internal Oscillator, an SPI serial port, and five software selectable power saving
modes. The Idle mode stops the CPU while allowing the SRAM, Timer/Counters, SPI
port, and interrupt system to continue functioning. The Power down mode saves the
register contents but freezes the Oscillator, disabling all other chip functions until the
next Interrupt or Hardware Reset. In Power-save mode, the asynchronous timer
continues to run, allowing the user to maintain a timer base while the rest of the
device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O
modules except asynchronous timer and ADC, to minimize switching noise during
ADC conversions. In Standby mode, the crystal/resonator Oscillator is running while
the rest of the device is sleeping. This allows very fast start-up combined with low-
power consumption.
Pin Configuration:
FIGURE 1: PIN DIAGRAM OF ATMEGA 8
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19. From these features we are using PWM, USART, ADC and I/O ports.
1. PWM (Pulse Width Modulation)
PWM is used for controlling strength of signal.
It has 8/9/10 bit PWM control as specified.
For using PWM we have to first initialize PWM to enable it and then assign
values to register OCR1A, OCR1B, OCR0, and OCR2 which decides the
strength of signal.
Using PWM we are controlling the speed of motors of rotors.
2. USART (Universal Synchronous Asynchronous Receiver Transmission)
USART is used for Transmission and Reception of controlling instructions.
Using this we can transmit or receive 8 bit of data at a time.
The registers to be used are UDR, UCSRA, UCSRB, UCSRC, and UBRRH.
UDR is 8 bit register which stores the received data.
3. ADC (Analog to Digital Convertor)
As we deal with digital values in microcontroller so it is necessary to convert
incoming analog signal to digital, so ADC is an important features.
It has 10 bit ADC register.
The registers used are ADMUX, ADCSRA and ADCW.
ADCW is the data register in which the data converted is stored.
2. L298 MOTOR DRIVER IC.
The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and PowerSO20
packages. It is a high voltage, high current dual full-bridge driver designed to accept
standard TTL logic levels and drive inductive loads such as relays, solenoids, DC and
stepping motors. Two enable inputs are provided to enable or disable the device
independently of the input signals. The emitters of the lower transistors of each bridge
are connected together and the corresponding external terminal can be used for the
connection of an external sensing resistor. An additional supply input is provided so
that the logic works at a lower voltage.
Pin Diagram:
FIGURE 2: PIN DIAGRAM OF L298
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20. 3. CENTRE D.C MOTOR & D.C TAIL MOTOR.
As the name implies, BLDC motors do not use brushes for
commutation; instead, they are electronically commutated.
BLDC motors have many advantages over brushed DC
motors and induction motors.
A few of these are:
Better speed versus torque characteristics
High dynamic response FIGURE 3: D.C.MOTOR
High efficiency
Long operating life Noiseless operation
Higher speed ranges
In addition, the ratio of torque delivered to the size of the motor is higher, making it
useful in applications where space and weight are critical factors.
4. RF MODULES (CC2500 SERIAL TRANSCEIVER MODULE)
CC2500 Serial Transreceiver Wireless Module is designed to meet the requirement
for the low cost, low power wireless device to transmit and receive serial data. The
module operates on 2.4 GHz frequency band. The module can also be used as
Wireless Sensor Network (WSN) node.
Working: The module has simple Protocol for working. the Using CC transreceiver
GUI, the module can be configured data communication through hyper terminal. This
modules basically take TTL data & send it to receiver (receiver whose ID is send
along with data). Modules can also broadcast the data (broadcast id (0xff).A single
module can communicate with number of modules at run time. as receiver ID needs to
send every time, So one can send different receiver id every time to communicate
with different modules. This feature makes it best suited for swarm robotics.
As modules has capability of analog to digital conversion (ADC). So user has to just
configure the module once for ADC, & the module will send the data to the respective
receiver, at the given interval of time. This feature (of reading ADC value & sending
to the respective receiver module) makes it standalone for WSN. So it reduces the
need of separate controller.
The GUI interface makes it easy for user to configure module as well as to send data
& test modules for different settings.
Its features are:
1. Long Range (40m Line of Sight).
2. 6 ADC Channels with 8 bit precision.
3. Allows multiple baud rates (MAX 38400 bps).
4. Allows configuration of 255 Device IDs.
5. Allows configuration of 255 Channel IDs.
6. Standard UART interface, TTL (3-5V) logic level.
7. Communicates in peer to peer mode.
8. Supports broadcast mode.
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21. 9. No need to configure at restart.
10. Ideal for sensor monitoring systems.
11. Quick Response Time.
12. Low Power Consumption.
13. Supply Voltages 5V - 9V.
14. GUI support.
15. Inbuilt cyclic redundancy check (CRC).
16. Acknowledgement after each successful configuration.
Pin Configuration:
FIGURE 4: PIN DIAGRAM OF CC2500
5. REGULATOR IC (7805):
It is a three pin IC used as a voltage regulator. It converts unregulated DC current into
regulated DC current. Regulator IC used in this system is 7805. Used to regulate and
give voltage of 5V.
FIGURE 5: CIRCUIT DIAGRAM OF POWER SUPPLY
21
22. 6. PARTS OF HELICOPTER.
It consists of fans, chassis, tail motor unit,gears,balance bar,landing gear etc.
7. LEDS (3MM)
8. SWITCHES ( ON-OFF & PUSH BUTTON)
9. WIRELESS CAMERA
Wireless security cameras are closed-circuit
television (CCTV) cameras that transmit a video
and audio signal to a wireless receiver through a
radio band. In wireless camera audio and video
analog signals encoded as digital packets over
high-bandwidth radio frequencies.
FIGURE 6: WIRELESS CAMERA
Advantages include:
Wide transmission range—usually close to 450 feet (open space, clear line of
sight between camera and receiver
High quality video and audio
Two-way communication between the camera and the receiver
Digital signal means you can transmit commands and functions, such as turning
lights on and off[
You can connect multiple receivers to one recording device, such as security
DVR
10. BATTERY (7.3V, 2300MA)
It is a two Cell 2300 Li-Ion battery. LiIon
batteries utilize a balance plug.
The use of a balance plug has shown to increase the
life of LiIon, LiPoly and LiFe batteries.
FIGURE 7: BATTERY
11. PROGRAMMER FOR ATMEGA 8
It is used to program Atmega 8 IC .It is
programmed by connecting ISP port to programmer
and programmer to USB.The sinaprog software is
used for programming atmega8.
4.2 Software:
FIGURE 8: PROGRAMMER
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23. 1. SINAProg
It is Software used for communicating with
Atmega 8 i.e burning the program in IC.
Sinaprog is an application which allow you to
easily access the features of a microcontroller
device. With this program you can erase individual
blocks or the entire Flash memory of the
microcontroller.
This application is very useful for those
who work in the electronics field. It offers you the
possibility to program a HEX file. The program
will start the device, and you will able to see the
progress of the operations below the HEX file.
It also helps to select atmega IC and fuses.
FIGURE 9: SINAPROG
2. AVR STUDIO 5
Atmel® AVR Studio® 5 is the Integrated Development Environment (IDE) for
developing and debugging embedded Atmel AVR® applications. The AVR Studio 5
IDE gives a seamless and easy-to-use environment to write, build, and debug C/C++
and assembler code
AVR Studio 5 includes a compiler, assembler and a simulator, and interfaces
seamlessly with in-system debuggers and programmers to make code development
easier.
FIGURE10: AVR STUDIO 5
3. EAGLE 6.1.0
EAGLE is a powerful graphics editor for designing PC-board layouts and
schematics. EAGLE comes with a lot of library files that contain through-hole and
surface mount devices. EAGLE drawings contain objects in different drawing layers. In
order to obtain a useful result several layers are combined for the output. For
example, the combination of Top, Pad, and Via layers is used to generate a
film for etching the component side of the printed-circuit board.
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24. 4. WINAVR
WinAVR is a suite of executable, open source software development tools for the
Atmel AVR series of RISC microprocessors and AVR32 series of microprocessors
hosted on the Windows platform. It includes the GNU GCC compiler for C and C++.
The compiler in WinAVR is the GNU Compiler Collection, or GCC. This compiler is
incredibly flexible and can be hosted on many platforms, it can target many different
different processors / operating systems (back-ends), and can be configured for
multiple different languages (front-ends).
The GCC included in WinAVR is targeted for the AVR processor, is built to execute
on the Windows platform, and is configured to compile C, or C++.
It consists of
a) MFile
An automatic makefile generator for AVR GCC. make is a program that is widely
used to build software. make reads and executes makefiles, which are descriptions of
how to build something. Makefiles typical do things such as group files together, set
lists of compiler and linker flags, list rules of how to compile source code to object
code, how to link object files, how to convert files from one type to another, and
many other things.
When you set up your project, add a makefile to control how to build your software.
When you use Programmers Notepad, or other IDE, set it up to call make and have it
execute your project's makefile.
WinAVR also includes the MFile utility. MFile is a automatic makefile generator for
AVR GCC written in Tcl/Tk and can run on various platforms including Windows,
FreeBSD, Linux, etc. You can use this utility to help you quickly generate a makefile
for your project based on some simple menu input. MFile for the Windows platform
uses the WinAVR Makefile Template for it's template.
b) Programmers Notepad 2.0.8.718
Programmers Notepad (PN) is an Open Source editor with some IDE features.
PN can call any command-line tool and capture it's output. This is ideal for calling the
make utility, which executes your makefile, which in turn calls the compiler, linker,
and other utilities used to build your software. PN will then capture the output and
display it in a window. You can also click on any GCC warning or error and PN will
automatically open the file and go to the line where the warning or error occurred.
To set up tools, go to the Tools menu up top, select Options, then select Tools on the
left side menu. The best Scheme to add tools is under "(None - Global Tools)". After
you add your tool, it will appear in the Main Menu under Tools.
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26. METHODOLOGY
First the body of helicopter was designed and implemented for this we bought the
parts and assembled them.
When the physical body is ready we go for the controlling circuit of RC Helicopter. In
this we have to design two circuits
1. Transmitter
2. Receiver.
In Transmitter circuit we have to interface CC2500 module and Switches with
Atmega 8.
In Receiver circuit we have to interface CC2500 module, L298, LED array and
Brushless DC motors with Atmega 8.
After designing circuit diagram, make schematic using any software (Eagle), design
PCB, then itch PCB and mount components on it. After PCB is ready its continuity is
checked, if it is correct then we are done with Electronics part. Or if it‘s incorrect then
repair PCB and debug the error.
Now comes the main part of programming. Write the program using AVR studio 5
compiler or WINAVR‘s Programmers notepad can also be used.
After programming compile it and generate Hex file which is then burned into micro
controller using Sinaprog Software.
Check the functioning if the code works properly then ok or else correct the errors and
then again compile and dump program in Atmega 8.
Repeat this process until it functions properly.
After successful testing we will mount the wireless camera transmitter on the front
end of helicopter.
FIGURE11: BLOCK DIAGRAM OF TRANSMITTER
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29. IMPLEMENTATION
6.1 Introduction
A helicopter has no aerodynamic qualities that would suggest it is capable of sustained flight.
Its historical development contains a myriad of problems, ingenious solutions to problems,
and solutions to problems caused by other solutions. The helicopter is thus an extremely
complex machine that is naturally unstable during flight. Small helicopters, as used in this
work, are even more unstable due to their very low weight and moment of inertia. These RC
helicopters are nonlinear systems that represent a very challenging control problem.
The control method used in this application is operating dual shaft and dual propeller main
rotor and tail fan with the PWM effect from the controller.
6.2 Basic Control Mechanisms
The helicopter is controlled using a remote control which is controlled by user. The working
of helicopter is dependent on the dual propeller main rotor and tail fan. Since main rotor has
two propellers, one moves in clockwise and other moves in anticlockwise direction thus
cancelling the back thrust. The movement of helicopter is controlled as
a. Uplift: the center motors moves with equal speed in opposite directions.
b. Forward: the center motors rotates with same speed and tail motor rotate in clockwise
direction.
c. Backward: the center motors rotates with same speed and tail motor rotate in
anticlockwise direction.
d. Right: one center motor moves with less speed in anticlockwise direction and other
moves with full speed in clockwise direction and tail motor remains off.
e. Left: one center motor moves with less speed in clockwise direction and other moves
with full speed in anticlockwise direction and tail motor remains off.
29
30. 6.3 Actual Working
When the user press any switch in transmitter the input is detected on the pins of
microcontroller since the input is continuously scanned in the program the code
corresponding to the input is then transmitted to the receiver through CC2500 module.
The address of the receiver is transmitted first and then data so as to protect the misplacing of
data. The receiver with corresponding address will receive the data that is our receiver then it
will decode the data and it will check the data code and corresponding action would be taken.
The codes we have defined are:
Forward: F
Backward: B
Right: R
Left: L
Uplift: U
The corresponding action to the code is nothing but the inputs of L298 Motor controller IC
which in response gives the signals to the motors of helicopter.
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34. CONCLUSION
In this project we have presented the idea of making of RC Helicopter control panel. The use
of Atmega 8 has made it quite easy to make, as it provides various key features essential for
controlling RC Helicopter. It‘s easy and also cheap then other methods. And the idea of
mounted camera has made it quite useful in various important and dangerous operations.
For future scope we have thought of making it capable of temperature sensing, good
supplying etc. and this information can also be transferred from the places where human
being cannot reach.
34
36. FUTURE SCOPE
With increasing global warming and increasing burden on the Mother Earth, natural
calamities are occurring frequently these days. To combat these calamities ‗Aeromodelling
Surveillance‘ is of great use. It can be used to access the areas which are not accessible for
human being and thereby reducing casualties and loss. In the future by using GPS
technology, it will trace its own path hence there will be no requirement of remote. By using
image processing it can be used to track a particular object. With the use other modern
technologies, this ‗Aeromodelling Surveillance‘ has great future scope.
36
39. APPENDIX B - SPECIFICATIONS
Helicopter specifications
Length 65 cm
Height 30 cm
Width 15 cm
Propeller length 50 cm
Weight
Frequency of operation 2.4 GHz
Operational range About 40 m.
Weight can be handled 300 gm
39
40. APPENDIX C - ACHIEVEMENTS
1) We presented paper in ‗Diligence‘ (Paper Presentation) in National Level Technical
Fest XPLORE 3.0 organised by Dept. of Electronics & Telecommunication of Rajiv
Gandhi College of Engg. & Research, Nagpur on 10th & 11th February 2012.
2) We presented paper in ‗ELECTRO-CEMICS 2012‘ Paper Presentation in National
Level Technical Event organised by K.D.K. College of Engineering, Nagpur on 4th
February 2012.
40
47. APPENDIX G - BIBLIOGRAPHY
a. http://www.flyingrobot.co.in/
b. http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4209118
c. http://www.engineerprojects.info/electronics-projects/flying-and-spy-robot/
d. http://www.themachinelab.com/mmp8cam.html
e. http://www.robot-electronics.co.uk/
f. 2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14
April 2007
g. Proceedings of MUCEET2009 Malaysian Technical Universities Conference on
Engineering and Technology June 20-22, 2009, MS Garden, Kuantan, Pahang, Malaysia
MUCEET2009
h. http://www.rchelicopterfun.com/rc-helicopter- gyro.html
i. http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&theme=print&p
=921106
j. http://www.rchelicopterfun.com/beginners-guide-to-flying-rc-helicopters.html
k. http://www.rhydolabz.com/index.php?main_page=product_info&cPath=137_141&produ
cts_id=662
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