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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/105769

    Title: Development of on-board avionics for a 15-gram flapping MAV
    Other Titles: 15克重微飛行器之機載航電元件開發
    Authors: 蘇希德;Marimuthu, Suseendar
    Contributors: 淡江大學機械與機電工程學系碩士班
    楊龍杰;Yang, Lung Jieh
    Keywords: 拍翼機;方向控制;高度控制;輕量化電路板;flapping micro-air-vehicle (MAV);Avionics;Autonomous Control;flapping wing control
    Date: 2015
    Issue Date: 2016-01-22 15:04:48 (UTC+8)
    Abstract: 論文提要內容:
    This thesis presents the full development cycle of a programmable, lightweight control architecture capable of autonomously guiding a 15 gram flapping MAV by using onboard sensing and computational resources. In the earlier phase of the work, the prototyping of the control board housing an ATmega328P microcontroller, interfaced with Inertial Measurement Unit (IMU) and a pressure sensor is described. These chapters also dissect and examine in detail the choice of sensors, the practical usage of sensor data and control methods to actuate the MAV. The prototype board is used for a proof-of-concept flight test where the flapping wing MAV is autonomously guided towards a preprogrammed direction.
    The following chapters describe the design and development of the integrated control chip named “M1AP” housing all the components that are required. The M1AP is a fully functional and programmable chip compatible with Arduino platform, weighing 0.75 grams in weight. It includes interfaces for I2C, digital input and output, Analog input and output and also SPI programming. The standard operating procedure for uploading the firmware to M1AP is described and consequently, the direction seeking program performed during prototype stage is repeated with the new chip and the results are discussed.
    Appears in Collections:[機械與機電工程學系暨研究所] 學位論文

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