Sensors and More Drone Information

This weeks work was focused on finalizing our decision for the drone we want to use. In the end we decided to take Spiri over the other drones, simply because of its open source platform. We spent additional time looking at and analyzing dimensions, sensors and properties of the drone we selected. We gathered some information from outside sources on the performance and ability of the Spiri. The work done this week was very similar to last weeks, but we focused more on the abilities of the sensors of the Spiri. These are some of the sources for our information:

1. http://spectrum.ieee.org/automaton/robotics/aerial-robots/spiri-programmable-quadrotor-drone-kickstarter
2. http://thechronicleherald.ca/business/1147707-flying-robot-developer-plans-spring-launch-of-spiri
3. http://www.hackthings.com/meet-spiri-your-autonomous-and-social-creature-that-flies/
4. http://www.gizmag.com/spiri-quadrotor-drone/28700/
5. https://www.kickstarter.com/projects/914887915/spiri?ref=nav_search
6. http://pleiades.ca/about/

A very significant part of our research is going to be on ROS (Robot Operating System) because it will provide the basis for our design and development of the algorithm. On separate note, the other time of the week was spent researching the capabilities of the sensors on board.

1. GPS - Can be used for a variety of things when it comes to keeping track of positioning. To be more specific, the drone will be able to be guided anywhere in school with up to 3.5 to 4 meters accuracy. Now this is not a small distance by any chance, but instead for full on coordination with GPS, it will be used partially to set waypoints/end destinations/docks/etc.
2. 9 axis IMU - Essentially can be used for anything force related when it comes to sensors. It probably wont play a major part in the algorithm, but will serve as safety precaution when it comes to emergencies. A page with PLENTY of intimation can be found here. Basically explains the basics of gyroscopes and accelerators. http://www.starlino.com/imu_guide.html
3. Ultrasonic Sensor - In the case of Spiri, this sensor is located on the bottom of the drone so its major purpose will be to detect height and changes in height. The major benefit of this sensor being on the bottom is that it will extremely useful for docking/parking at pre-launch or landing. 
4. Cameras - By far the most important tool the drone contains. The Spiri comes with 3 different cameras that can film at 1080pi at 30fps. These stereoscopic cameras can be used for a variety of different functions when it comes to sensing the surroundings. First this video provided the basis for what exactly "stereoscopic" means when it comes to cameras and lenses. https://www.youtube.com/watch?v=UOnqoC-dJcg Additionally, the cameras would be extremely useful in the field of Computer Vision. Using this technique, we can analyze points on the wall to create a dynamic path to the designation. A video that I watched was https://www.youtube.com/watch?v=715uLCHt4jE. It explains in depth the basics of computer vision. I will continue to watch the later lectures as well. 

In summary, advances were made in the research of sensors and how they can be used for our purposes. More research is going to be conducted on more advanced methods for maneuvering in 3D space. From here we begin our design for the algorithm along with the possible ways of its implementation.