The I4Copter Project


		Department of Computer Science 4



		Project Theses

	Dept. of Computer Science > CS 4 > Research > I4Copter

	The I4Copter Project
	Project Team Media Publications

News

Research: The paper I4Copter: An Adaptable and Modular Quadrotor Platform has been accepted for SAC 2011, Taiwan

Development: First I4Nano v2 prototype has arrived form electronic manufacturing service. More details will follow shortly!

Project

I4Copter Project Flyer

The project originally started in the context of the CoSa project, where it is intended to be deployed as a creditable demonstrator for safety-critical mission scenarios. During the development of the I4Copter prototype, it turned out to be more of a challenge than initially expected, both in terms of complexity and applicability. The software required for flight control, navigation and communication is a comprehensive and demanding application for the underlying system software. That is why it has emerged as a demonstrative showcase, addressing various aspects of system software research. This way, other research projects, such as CiAO, also benefit from this platform.

Beyond the domain of computer science, the development of a quadrotor helicopter also includes challenges in the areas of engineering, manufacturing and automatic control. That is why I4Copter is now an interdisciplinary project with partners in other sciences. It is therefore an ideal platform for students, especially those of combined study programs (e.g. Mechatronics or Computational Engineering), showing the need for cross-domain education.

Team

Dr.-Ing. Peter Ulbrich

Dipl.-Ing. Florian Franzmann

Dipl.-Ing. Tobias Klaus

Dipl.-Ing. (FH) Daniel Christiani

Images

Prototype V2.2 in-flight

Current prototype V2.4

Newly developed sensor pcb

Thanks to Mrs. Karvelis for the perfect assembly

Center plate for the new frame

Frame of prototype V2

Videos

Playlist:

New altitude controller Mai 2011 [New!] 1:07 Testing Onboard Copter Camera October 2010 2:00 Playing around in the yard September 2010 2:16 New attitude controller February 2010 1:12 Adding navigation lights March 2009 1:38 Prototype v2.0 (Apollo) 2008 -- 2009 1:47 Prototype development 2007 -- 2008 1:52

Publications

(automatically exported by UnivIS)

2011

Ulbrich, Peter ; Kapitza, Rüdiger ; Harkort, Christian ; Schmid, Reiner ; Schröder-Preikschat, Wolfgang:
I4Copter: An Adaptable and Modular Quadrotor Platform.
In: ACM (Ed.) : Proceedings of the 26th ACM Symposium on Applied Computing
(26th ACM Symposium on Applied Computing (SAC '11), TaiChung, Taiwan, 21 March 2011).
New York, NY, USA : ACM, 2011, pp 380-396. - ISBN 978-1-4503-0113-8
Keywords: I4Copter; Safety-critical mission scenario; Real-time application development; Static analysis; Research demonstrator; Quadrocopter; Quadrotor; Quadcopter
[doi>10.1145/1982185.1982267]

Ulbrich, Peter:
Safety-critical Embedded Systems: From Theory to the (Flying) Real World.
Talk: Lehrstuhl für Informationstechnik für Luft- und Raumfahrt,
Universität Würzburg, 18.01.2011
Keywords: Redundanz, I4Copter, eingebettete Systeme, embedded Systems, Echtzeitsysteme, Quadrocopter, sicherheitskritische Systeme, CoSa, CoRed

Ulbrich, Peter ; Franzmann, Florian:
Safety-critical Embedded Systems: From Theory to the (Flying) Real World.
Talk: Eingebettete Systeme und Betriebssysteme,
Otto-von-Guericke-Universität Magdeburg, 08.11.2011
Keywords: Redundanz, I4Copter, eingebettete Systeme, embedded Systems, Echtzeitsysteme, Quadrocopter, sicherheitskritische Systeme, CoSa, CoRed

Ulbrich, Peter:
Software-Based Redundancy Techniques for High-Reliability Embedded Real-Time Systems.
Talk: Brown Bag Talks, Deutsches Forschungszentrum für künstliche Intelligenz (DFKI),
Bremen, 19.04.2011
Keywords: Redundanz; I4Copter; eingebettete Systeme; embedded Systems; Echtzeitsysteme; Quadrocopter; sicherheitskritische Systeme; CoSa; CoRed

2010

Ulbrich, Peter ; Elsner, Christoph ; Hoffmann, Martin ; Schmid, Reiner ; Schröder-Preikschat, Wolfgang:
Using MARTE in Code-centric Real-time Projects Providing Evolution Support.
In: Boulet, Pierre ; Cancila, Daniela ; Espinoza, Huascar ; Morawiec, Adam (Org.):
Proceedings of the First Workshop on Model Based Engineering for Embedded Systems Design (M-BED 2010)
(First Workshop on Model Based Engineering for Embedded Systems Design (M-BED 2010), Dresden, Germany, 03/12/2010).
2010, pp 25-29.
Keywords: Real-time System; MARTE; Reverse Engineering; I4Copter

2009

Ulbrich, Peter:
Challenges in real-time application development - The I4Copter project.
Talk: Invited talk, University of Salzburg,
Computational Systems Group, 13.05.2009
Keywords: I4Copter; Safety-critical mission scenario; Real-time application development; Static analysis; Research demonstrator; Quadrocopter

Theses

(automatically exported by UnivIS)

Open Topics

Ongoing Theses

Finished Theses

A Multi-OS Hardware Abstraction Layer for the I4Copter Project (QC_PASST_M3): Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Dr.-Ing. Martin Hoffmann, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Deterministische Telemetrie-Datenübertragung mit CiAO/IP im I4Copter (QC_CiAO_IP): Student: Florian Lukas (handed in on 01.04.2013 ); Supervisors: Prof. Dr.-Ing. Peter Ulbrich

Ein Miniaturquadrokopter als Plattform für mobile, adaptive Sensornetzwerke (QC_I4N): Student: Peter Blank (handed in on 03.11.2011 ); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Dr.-Ing. Martin Hoffmann, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Entwicklung einer zustandsbasierten Fluglageregelung für einen Quadrokopter (QC_TTC): Student: Rebhan Anja (handed in on 27.11.2012 ); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Harkort, Christian, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat, Prof. Dr.-Ing. habil. Günter Roppenecker

Entwicklung und Konstruktion eines Leichtbau-Tragwerks für einen Quadrokopter (QC_TW2): Supervisors: Prof. Dr.-Ing. Sandro Wartzack, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat, Tremmel, Stephan, Prof. Dr.-Ing. Peter Ulbrich

Entwicklung und Konstruktion eines modularen, robusten Tragwerks für einen Quadrokopter (QC_TW1): Supervisors: Prof. Dr.-Ing. Sandro Wartzack, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat, Tremmel, Stephan, Prof. Dr.-Ing. Peter Ulbrich

Entwurf und Implementierung einer Systemabstraktionsschicht für das I4Copter-Framework (QC_OSAL): Student: Jens Schedel (handed in on 01.10.2010 ); Supervisors: Dr.-Ing. Michael Stilkerich, Prof. Dr.-Ing. Peter Ulbrich, Prof. Dr.-Ing. habil. Daniel Lohmann

Entwurf und Implementierung eines sicheren Kommunikationsframeworks für Flugdrohnen (QC_COM): Student: Franzmann Florian (handed in on 31.12.2009, Thesis file...); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Konzeption und Implementierung einer GPS gestützten Wegpunktnavigation für Quadrokopter (QC_WPN): Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Konzeption und Implementierung einer Lagerregelung für einen Quadrokopter (QC_FC_NG): Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Harkort, Christian, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Konzeption und Realisierung einer flexiblen Steuerungselektronik für einen Modellquadrocopter (QC_EE): Student: Müller Torsten (handed in on 31.03.2010 ); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat, Prof. Dr.-Ing. Bernhard Piepenbreier, i. R.

Quality-aware Digital Signal Processing for Real-time Systems (QC_SS): Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Realisierung einer prototypischen Lagekontrolle für einen Modell-Quadrocopter (QC_LK): Student: Benedikt Dremel (handed in on 31.05.2008, Thesis file...); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Realisierung einer prototypischen Steuerungssoftware für einen Quadcopter (QC_SS1): Student: Sebastian Harl (handed in on 31.05.2008, Thesis file...); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Realisierung einer prototypischen Steuerungssoftware für einen Quadcopter (QC_SS2): Student: Sebastian Kotulla (handed in on 31.05.2008, Thesis file...); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat

Semi-autonome Höhenregelung eines Quattrokopters unter Einsatz eines heterogenen Sensorsystems (QC_SE_NG): Student: Tobias Klaus (handed in on 02.04.2012, Thesis file...); Supervisors: Prof. Dr.-Ing. Peter Ulbrich, Harkort, Christian, Prof. i. R. Dr.-Ing. habil. Wolfgang Schröder-Preikschat, Prof. Dr.-Ing. habil. Günter Roppenecker

Systemanalyse des I4Copters mittels Motion Tracking (QC_MOTION_TRACKING): Supervisors: Prof. Dr.-Ing. Peter Ulbrich

Partner

Lehrstuhl für Regelungstechnik
Chair of Automatic Control	Chair of Engineering Design	Chair of Manufacturing Technology	Mechanics- & Electronics Workshop

Siemens Corporate Technology SE2, Munich

Special thanks go to:



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