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研究生： 曹王子晟
Tz-chen Tsau
論文名稱： WISH硬體電路設計與實作
Design and Implementation Hardware Circuits for WISH
指導教授： 吳曉光
Hsiaokuang Wu
口試委員:
學位類別： 碩士
Master
系所名稱： 資訊電機學院 - 資訊工程學系
Department of Computer Science & Information Engineering
畢業學年度： 95
語文別： 英文
論文頁數： 45
中文關鍵詞： 遙控直昇機 、嵌入式糸統
外文關鍵詞： helicopter, embedded system
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查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報

    • 台灣位處歐亞大陸板塊與菲律賓板塊的交接帶，河短流急，地殼活動劇烈且岩石構造破裂。由於地狹人稠，導致山坡土地超限利用，每逢颱風或地震等各種天然災害發生時，容易產生重大的災情。此時必須作好防災的措施之外，當然就是救援的工作，也是一件很重要的工作。
    所以,我們提出了一個解決方案名為“無線 &圖像監控直昇機 “(WISH) 它結合小型遙控直昇機上,PC/104的x86嵌入式系統 , 一種無線通信接口(第三代移動通訊) ,高清晰度數字相機 . 其目的是利用現在最新的無線服務3G網路，將數位相機拍照的相片，可以即時傳送災區的影像。
    本論文是其中的一部分WISH計畫. 根據我的背景和專長 ,我負責的項目是硬體設計與實作，保證硬體是可以運作,及重量也是考量的重點。

    Taiwan is located Eurasia plate and the Philippine plate with the handover, the river flow urgent short, intense activity and crustal rock tectonic rupture. Due to space constraints, leading to unlimited hillside land use, whenever typhoons or earthquakes, and other natural disasters occur, easy to have a major disaster. At this time the need to be disaster prevention measures, of course, is to rescue the work, but also a very important work.
    Therefore, We proposed a solution called “Wireless & Video Surveillance helicopters” (WISH). WISH are constituted by a small R/C helicopter, a PC/104 embedded system, a wireless communications interface (third generation mobile communications), and a high resolution digital camera. Our purpose is to use the latest wireless services 3G network and transmit instant images of the disaster areas.
    The paper is one part of the WISH project. According to the background, I am responsible for the project hardware design and implementations. Guarantee that the hardware is functioning, and the weight is the key consideration.

    Abstract………………………………………………………….….i 摘要………………………………………………………………….ii 誌謝…………………………………………………………………iii Table of Contents…………………………………………………..iv List of Figures………………………………………………..……vii Chap 1 Introduction………………………………………………1 1.1 Motivation…………………………………………………1 1.2 Contribution and Challenge……………………………...3 1.3 Thesis Structure…………………………………………...3 Chap 2 Background...……………………………………………...4 2.1 Unmanned Areial Vehicle………………………………...4 2.2 Embedded System………………………………………....5 2.3 Related Work……………………………………………...6 2.3.1 AVATAR Project…………………………………...6 2.3.2 BEAR Project……………………………………….8 Chap 3 System Architecture…………………………………....... 9 3.1 Goals and Architecture………………………….………...9 3.2 Sensor System……………………………………...……..10 3.2.1 GPS Module………………………………………..10 3.2.2 Electronics Compass………………………...…….11 3.2.3 3-axis Accelerometer………………………………12 3.2.4 Pressure Sensor……………………………………12 3.2.5 Ultrasonic Sensor………………………………….13 3.3 Control System…………………………………………...13 3.3.1 Copilot……………………………………….……..14 3.3.2 Servo Controller…………………………….……..15 3.4 PC/104 Computer System……………………….………15 3.5 Camera System………………………………….……….17 3.6 WCDMA Wireless Network…………………….………17 3.7 Ground System…………….……………………….……18 Chap 4 Implementation………………………………………….19 4.1 Circuit Design……………………………………..……..19 4.1.1 The Sensor Board…………………………..……..19 4.1.2 UART to RS-232 Circuit…………………..……...20 4.1.3 Copilot and SSC32 Switch Circuit……….………21 4.1.4 PCB Layout…………………….…………..……...22 4.2 Power Deployment………………………………..……...23 4.2.1 PC/104 Computer Power…………………...….....24 4.2.2 Sensor Board Power………………………......…..25 Chap 5 Experiment…………………………………………...….26 5.1 Debug Sensor Board Circuit……………..……………..26 5.2 Trial Flight………………………………………...…….28 Chap 6 Conclusion and Future Works……………………...…32 Chap 7 Reference…………………………………………..……33

    [1] Anı´bal Ollero*, Luı´s Merino, Grupo de Robo´tica, Visio´n y Control, Escuela Superior de Ingenieros, Universidad de Sevilla,” Control and perception techniques for aerial robotics”, Annual Reviews in Control, 2004
    [2] Stuart R. Ball., “Embedded Microprocessor Systems: real world design”, Boston, Mass.: Newnes, 2000.
    [3] Autonomous Flying VEHICLE Project, URL:http://www-robotics.usc.edu/~avatar/
    [4] Berkeley Aerobot Team,
    URL: http://robotics.eecs.berkeley.edu/bear/
    [5] The Garmin 15L GPS Module datasheet,
    URL: http://www.garmin.com.tw/products/gps15H/index.htm
    [6] The HM55B Electronics Compass datasheet,
    URL:http://www.robotstore.com/download/Compassdocumentation.pdf
    [7] The H48C 3-axis Accelerometer datasheet, URL:http://www.parallax.com/dl/docs/prod/acc/HitachiH48C3AxisAccelerometer.pdf
    [8] The MPX4155A/D Pressure Sensor datasheet, URL:http://www.freescale.com/files/sensors/doc/data_sheet/MPX4115A.pdf
    [9] The SRF02 Ultrasonic Sensor, URL: http://www.robot-electronics.co.uk/htm/srf02techI2C.htm
    [10] The FS8 Copilot datasheet, URL: http://www.fmadirect.com/detail.htm?item=1768§ion=29
    [11] The SSC32 Servo Controller datasheet, URL: http://www.fmadirect.com/detail.htm?item=1768§ion=29
    [12] The PC/104 Computer System, URL: http://www.pc104.org/
    [13] The Wafer LX2 datasheet,
    URL:http://www.ieiworld.com/tw/Product_IPC.asp?model=WAFER-LX2&e=banner
    [14] The Kodak DC4800 Camera,
    URL: http://www.dpreview.com/reviews/kodakdc4800/
    [15] H. Holma and A. Toskala, Eds.,” WCDMA for UMTS: Radio Access For Third Generation Mobile Communications”, New York: Wiley, c2000.
    [16] The Motorola E770 information,
    URL: http://www.mobilegazette.com/motorola-e770-050916.htm

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