A PROJECT REPORT ON

EMBEDDED SYSTEM BASED ANTI FLIES KNIGHT

SUBMITTED BY

ANKIT KUMAR TIWARI (ECE/4B/56)

SUMIT KUMAR GHOSH (ECE/4B/06)
SAKSHAM ARYA (ECE/4B/71)
EKTA RAI (ECE/4C/26)

UNDER SUPERVISION OF

PROF.

DEPARTMENT OF
ELECTRONICS AND COMMUNICATION ENGINEERING

UNIVERSITY OF ENGINEERING AND MANAGEMENT,

KOLKATA
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 CERTIFICATE
TO WHOM IT MAY CONCERN

This is to certify that the project report entitled “ Embedded System based
Anti Flies Knight ” Is a bonafide work of

Ankit Kumar Tiwari Enrollment No:-3312015009002287

Sumit Kumar Ghosh Enrollment No:-

Saksham Arya Enrollment No:-

Ekta Rai Enrollment No:-

Students of University of Engineering & Management , Kolkata , was carried

out as the Third Year winter project during the Academic Session 2017-2018
under the supervision and guidance of Prof. in partial fulfillment for the award
of the degree of Bachelor of Technology in the field of Electronics and
Communication Engineering. The content of this report has not been
submitted to any other University or Institute for the award of any other
degree.
It is further certified that the work is entirely original and its performance has
been found to be quite satisfactory.
__________________________________

Prof.

Project Guide

Department of Electronics and Communication Engineering

University of Engineering and Management, Kolkata

____________________________________

Prof.

Head of Deparment

Place:_______________________ Department of Electronics and Communication Engineering

Date:________________________ University of Engineering and Management, Kolkata

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 Acknowledgment

This Project is stepping stone towards the beginning of our

professional carrier and its satisfactory has endowed us with broader
horizons of knowledge.

We would like to express our thanks to Prof. for providing us with

the right guidance and advice at the crucial junctures and for
showing us the right way & Prof. for giving us an opportunity to be a
part of this esteemed Project.

We would like to thank all personnel of Univeristy of Engineering

and Management, Kolkata who are directly or indirectly involved in
our work for their co-operation and precious help to complete this
project successfully. We would like to express our gratitude towards
our parents for their kind cooperation and encouragement which
help us in completion of this project.Our thanks and appreciations
also go to people who have willingly helped us out with their
abilities.

Thank you…

Ankit Kumar Tiwari (ECE4B-56)

Sumit Kumar Ghosh (ECE4B-06)

Saksham Arya (ECE4B-71)

Ekta Rai (ECE4B-26)

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 List of Contents…

Contents Page

1. What’s In this Project 5

2. Motivation behind this Project 6-7

3. Introduction 8-9

4. Block Diagram 9

5. Components Required 10

6. Project Plan 10

7. Controls 11-12

8. Software and Hardware Requirements and Architecture 12-19

9. Result Analysis 19

10. Conclusions 19

11. Future 20

12. Reference 20

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 What’s In this Project
Quadcopter can achieve vertical flight in a stable manner and be
used to monitor or collect data in a specific region such as mapping
terrains. Technological advances have reduced the cost and increase
the performance of the low power microcontrollers that allowed the
general public to develop their own Quadcopter.

The goal of this project is to build, modify, and make improvements

in Quadcopter design to obtain stable flight, gather and store CO2
data while also,

 Learning-by-doing project.
 Attempt to build a drone of acceptable quality.
 Keeping the cost low.
 Keeping the overall complexity low.
 Using off-the-shelf components easily obtainable through
major worldwide retailers.
 Achieving sufficient modularity to support various
configurations.
 Many frameworks available, trying to hide the complexity.
Useful for productization, less open to free form
experimentation.
 SW platforms tend to focus on specific HW. It simplifies the
design and the verification, at the expense of freedom of
choice.
 It’s more interesting Challenge: use the most out of the HW
selected.
 Also Interfacing Mosquito Repellent Systems.

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 MOTIVATION BEHIND THIS PROJECT
India has long been a victim of invasions for centuries. The
beautifully designed, well-maintained cities which withstood the test
of time for millennia, gave in to the endless invasions. What
remained was utter poverty and lack of adequate maintenance. Post-
independence, the population explosion grew out of hand. The
already troubled cities were hijacked by population which was simply
too much to be taken care of. The villages were further pushed away
from the contact of latest trends and technologies.

Today, in the 21st century, Indian population distribution is largely

heterogeneous and is troubled by problems like proper hygiene,
diseases, malnutrition etc. Vector borne diseases is one of them.
Vector-borne diseases are human illnesses caused by parasites,
viruses and bacteria that are transmitted by mosquitoes, sandflies,
triatomine bugs, blackflies, ticks, tsetse flies, mites, snails and lice.
Every year there are more than 700 000 deaths from diseases such
as malaria, dengue, chikungunya etc.

1.3 billion people face problems which government cannot solve by

itself. Most of the people lack proper education and awareness to
consciously take up the steps to ensure better hygiene, cleanliness
and other preventions to get rid of vector borne diseases. Many
areas (as shown in the following images) cannot be easily accessed
by humans. Even if they do, they are prone to the risk of becoming
victims themselves.

We, the team of AFS, share the vision of helping the many people
who need help. Preventing these diseases seemed to be an area of
interest where we all had the resources to put through and
consequently make a project which can aid everyone.

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Some Facts

 3rd largest no deaths due to malaria in India.

 90% of these deaths occur in rural areas
 A 16-member committee of the Indian Council of Medical
Research, headed by its former director general Dr Padam
Singh Pradhan, has found that the actual number of malaria
deaths could be 20-30 times more than what the govt. reports.

How can we help?

As engineers, we are taught to innovate the already existing

technologies for the betterment and safety of the people and our
environment. AFS came up with this unique and ingenious idea of
making a drone which will keep the user at a safe distance from the
target location and carry out the action. This will guarantee the
safety of the locals and the user too.

Our aim is to ensure that our country can one

day be free of these preventable diseases.

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Introduction
Over the last few years we have seen a massive growth in the
manufacture and sales of remote control airborne vehicles known as
Quadcopters. These Unmanned Aerial Vehicles have four arms and
fixed pitch propellers which are set in an X or + configuration with X
being the preferred configuration.

They are sometimes referred to as Drones, Quadrotors or

Quadrocopters. In the standard format two propellers will spin in a
clockwise direction with the other two spinning in an anticlockwise
direction allowing the craft to vertically ascend, hover in the air and
fly in a designated direction.The Quadcopter is a simple format with
very few moving parts and has rapidly become a favorite vehicle for
remote control enthusiasts and is widely being used as an effective
Aerial photographic platform. A large majority of the Quadcopters
were originally built by hobbyists who understood
the simplicity of the vehicle. By adding four motors and four
propellers to a lightweight frame constructed of light wood, carbon
fiber, or fiber glass then connecting it to a remote control transmitter
via a small control board fitted with a gyroscopic stabilization system
and connected to a Lipo battery these craft were relatively simple to
construct. Experimentation has led to the configuration of variations
of the Quadcopter by using different amounts of arms we have seen

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Tricopters, Hex copters and Octocopters (with eight arms). Other
configurations include a Vtail and an H frame variation.
The rapid advances in computing power, the efficiency of the
coreless or brushless motors, smaller microprocessors the
development of batteries and gyroscopic and accelerometer
technology has all
led to a proliferation of Quadcopter designs. The first Quadcopters
were not designed for acrobatic flight as the development was
concentrated on simple stable flight patterns but now this has all
changed. Micro and even Nano Quadcopters are being produced
mainly in China that can perform intricate aerobatic moves, flips and
barrel rolls that years ago would have been unthinkable. Chinese
companies like Hubsan have made tiny Nano Quadcopters.
Quadcopters differ from conventional
helicopters which use rotors which are able to vary the pitch of their
blades dynamically as they move around the rotor hub. In the early
days of flight, quadcopters (then referred to as 'quadrotors') were
seen as possible solutions to some of the persistent problems in
vertical flight; torque-induced control issues (as well as efficiency
issues originating from the tail rotor, which generates no useful lift)
can be eliminated by counter-rotation and the relatively short blades
are much easier to construct.

Block Diagram

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Components Required

Project Plan

The project plan was divided into five major milestones each spaced
approximately ten days apart.
1) Project Description and Plan of Work
2) System Model
3) Components Purchasing
4) Implementation / Hardware / Software
5 ) Project Demonstrations

The sequence that we met these milestones was out of sequence

with the required milestones. Experience told us to get the hardware
done as soon as possible as this is often requires a lot of time. By
doing so, and because of unforeseen difficulties, we fell behind
slightly with the System Modeling and flight Controller. After working
closely we were able to complete the milestones only slightly behind
schedule.

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Controls
Roll – Done by pushing the right stick to the left or right. Literally rolls
the quadcopter, which maneuvers the quadcopter left or right.
Pitch – Done by pushing the right stick forwards or backwards. Tilts
the quadcopter, which maneuvers the quadcopter forwards or
backwards.
Yaw – Done by pushing the left stick to the left or to the right.
Rotates the quadcopter left or right. Points the front of the copter
different directions and helps with changing directions while flying.
Throttle – Engaged by pushing the left stick forwards. Disengaged by
pulling the left stick backwards. This adjusts the altitude, or height, of
the quadcopter.
Trim – Buttons on the remote control that help you adjust roll, pitch,
yaw, and throttle if they are off balance.
The Rudder – You might hear this term thrown around, but it’s the
same as the left stick. However, it relates directly to controlling yaw
(as opposed to the throttle).
Aileron – Same as the right stick. However, it relates directly to
controlling roll (left and right movement).
The Elevator – Same as the right stick. However, it relates directly to
controlling pitch (forwards and backwards movement).
Maneuvering: Bank turn – A consistent circular turn in either the
clockwise or counterclockwise direction. Hovering – Staying in the
same position while airborne. Done by controlling the throttle.
Roll Roll moves your quadcopter left or right. It’s done by pushing
the right stick on your transmitter to the left or to the right. It’s
called “roll” because it literally rolls the quadcopter. For example, as
you push the right stick to the right, the quadcopter will angle
diagonally downwards to the right.

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Pitch

Throttle

Software and Hardware Requirements and

Architecture
Setting the Goals
4WD Drone:less glamorous than flying, but less likely to break.
Easy upgrade path:no proprietary solutions, compartmentalize
functionality.
Low cost:stock parts from popular kits, SW to improve accuracy.
Ease of debug:tap into standard interfaces between building blocks.

Requirements
Must Have: Speed control, Steering, Remote Control, Ultrasonic
Insect Repellent.
Nice to Have: Obstacle detection, Obstacle avoidance, camera
stream
Long Term: Remote Computer Vision, Onboard Computer Vision

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System Design
Extensibility: Allow additional HW features. Ex: accelerometer.
Modularity: Segregation of different functionality. Ease of unit-test
and debug, less interference.
Real time response: Deterministic cap to reaction times, in specific
cases.
Power Efficiency: Minimize power loss in major use cases (DC
motors).
Low Mass: Minimize negative effects of inertia:
- higher power (peak current) required to alter the state
(steer, speed up/down)
- higher chance to drift
Circumscribe electrical damage: In case of electrical fault
(misconnection/short, etc.), preserve the most expensive
component(s) from damage.

Over all System Architecture

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RC Variant

Power Distribution -1 Battery

1 single battery for powering both logic and actuators

 Actuators can try to draw more current than the battery
provides while accelerating. Ex: inversion of rotation, start.
 Voltage across the battery pack can drop.

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  The drop can be enough to starve the regulator feeding the
logics.
Solution: limit the max current used by the actuators.

Motors - options
DC Motor
Pros: fast, naturally continuous, robust.
Cons: needs additional circuitry for speed/position control
Servo Motor
Pros: fast, high torque
Cons: needs modification to be continuous, can vibrate when idle,
more expensive.

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Optical Coupler

Driving DC Motor –H Bridge

Driving DC Motor – Signals

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Motor Drivers –Options

Low Level Automation- uC

Motor Control and Feedback

Motor status control: Two independent GPIOs for each motor
PWM: Two independent counters, each feeding into 2 dividers
Independent control for each motor, allows for calibration
Optical Encoder input: One GPIO for each motor encoder, as IRQ, to
avoid polling. Only the counters are bumped in IRQ context, the rest
as bottom half.

Running the microController

main() Program: Main loop with functions,interrupt handlers.
8-bit RTOS:Interrupt handlers, Tasks Scheduling, Semaphores,
Mailboxes.

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Main Board Selections

Result Analysis
After configuring all the parts, assembling as required, configuring
Software, finally we obtained our quadcopter which is shown below.
We need to test the Acceleration Calibration every time when we
change the ground surface area.

Conclusion
As per the design specifications, the quad copter self stabilizes using
the array of sensors integrated on it. It attains an appropriate lift and
provides surveillance of the terrain through the camera mounted on
it. It acts appropriately to the user specified commands given via a
remote controller .Its purpose is to provide real time audio/video
transmission from areas which are physically in-accessible by
humans. Thus, its functionality is monitored under human
supervision, henceforth being beneficial towards military

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applications. It is easy to manoeuvre, thereby providing flexibility in
its movement. It can be used to provide surveillance at night
through the usage of infrared cameras. The system can further be
enhanced for future prospects. The GPS data logger on the
quadcopter stores its current latitude, longitude, and altitude in a
comma separated value file format and can be used for mapping
purposes. This project required members not only to interface and
program the components of the quadcopter, but also exposed them
to mechanical components and reality of project management to
accomplish the project objectives.
Future
Future of a quad-copter is quite vast based on various application
fields it can be applied to. Quad-copter can be used for conducting
rescue operations where it’s humanly impossible to reach. In terms
of its military applications it can be more widely used for surveillance
purposes, without risking a human life. As more automated quad-
copters are being developed, there range of applications increases
and hence we can ensure there commercialization. Thus quad-copter
can be used in day to day working of a human life, ensuring their
well-being.
References
[1]. Hoffmann, G.M.; Rajnarayan, D.G., Waslander, S.L., Dostal, D., Jang, J.S., and Tomlin, C.J.
(November 2004). "The Stanford Test bed of Autonomous Rotorcraft for Multi Agent
Control (STARMAC)".
[2]. Leishman, J.G. (2000). Principles of Helicopter Aerodynamics. New York, NY:
Cambridge University Press..
[3]. Anderson, S.B. (1997). "Historical Overview of V/STOL Aircraft Technology .NASA
Technical Memorandum 81280.
[4]. Pounds, P.; Mahony, R., Corke, P. (December 2006). "Modelling and Control of a Quad-
Rotor Robot"..
[5]. Hoffman, G.; Huang, H., Waslander, S.L., Tomlin, C.J. (20–23 August 2007)."Quadcopter
Helicopter Flight Dynamics and Control: Theory and Experiment".
[6] http://www.as.northropgrumman.com/products/ghrq4a/index.html
[7] http://www.ga-asi.com/products/aircraft/predator.php
[8] http://www.sciencedaily.com/releases/2011/07/110701203725.html
[9] http://www.uavforge.net/
[ 10] http://diydrones.com/

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