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Microbee is a four-rotor model helicopter based on the [[http://www.mikrokopter.de/ucwiki/en/MikroKopter|Mikrokopter]] system design. It's "brains" consists of 8 ARM-based microprocessors connected to various sensors and motors. It's equipped with the latest electronics hardware and is capable of photography, vision guided autonomous navigation as well as normal radio-control flying by a human being. An advanced vision recognition system is currently being developed based on the high performance, low power Texas Instruments OMAP3 platform.

All hardware & electronics is freely available in shops. The software is Open Source. Nothing is commercially-restricted.

= Physical Characteristics =
- Width: 40 cm (between opposite motors). 66 cm (propeller tip-to-tip).

- Height: 12 cm. (28 cm with [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=272&zenid=ad3b305fb0d23fb5d4c519cc63a37231|HiLander]]).

- Weight: 700 grams (without battery).

- Flight Duration: ~15 minutes (with 167g/2200 mAh Lipo battery).

= Electronics =
- [[en/FlightCtrl|FlightCtrl]] ME v2.0.

- [[en/NaviCtrl|NaviCtrl]] v1.1 navigation controller.

- [[en/MK3Mag|MK3Mag]] magnetic compass module for direction detection.

- [[en/MKGPS|MKGPS]] GPS receiver for navigation.

- [[http:www.freescale.com/files/sensors/doc/data_sheet/MPX4115A.pdf|MPX-4115A]] barometric pressure sensor for altitude estimation.

- [[http://www.spektrumrc.com/|Spektrum]] 2.4 GHz R/C receiver.

- [[http://www.schulze-elektronik-gmbh.de/alpha-e.htm|Schulze alpha 5.35]] 35 MHz R/C receiver (modified with PPM output).

- [[http://shop.graupner.de/webuerp/servlet/AI?ARTN=4745|Graupner/JR MX-12s]] 35 MHz R/C transmitter modified with 3 extra channels (1x 3-position switch, 2x trimpots) and Spektrum DM9 2.4 GHz module installed. Switchable between 35 MHz & 2.4 GHz.

- [[http://www.radiotronix.com|Radiotronix]] WI232EUR 868 MHz radio modem with 1/2 wave dipole & yagi antennas. Note that the 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern. For long distance communication (up to 4km), a yagi antenna is used at the ground station.

- [[http://www.firmtech.co.kr/01pro/main_eng.php?index=100&proinfo=13|FB155BC]] Class-2 Bluetooth module.

- [[http://www.maxbotix.com/|Maxbotix]] LV-EZ1 ultrasonic range finder.

- [[http://en.wikipedia.org/wiki/Lithium-ion_polymer_battery|LIPO]] batteries 2200 mAh & 4400 mAh.

- An advanced computer vision system is being prototyped on a [[http://beagleboard.org/|BeagleBoard]] single board Linux computer. It's a latest generation, low-power, embedded processing platform. Basic computer vision algorithms have been implemented on it. The source code is being optimised to off-load the number-crunching to the DSP & GPU processors to achieve real-time vision performance.

 * 600 MHz ARM Cortex-A8 with NEON SIMD Co-processor
 * 430 MHz TMS320C64x+ DSP (fixed point, six parallel vector units)
 * 110 MHz SGX GPU
As the Beagle Board allows connection of keyboard, mouse, and display, it hosts the development toolchain and allows direct coding, compiling, and executing the embedded computer vision algorithms. Once stable, the smaller and lighter [[http://www.gumstix.com/|Gumstix]] Overo Water embedded module will be used on-board.

= Frame =
- [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=286&zenid=ad3b305fb0d23fb5d4c519cc63a37231|MK40]] 40cm frame with anodized bars

- [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=88&products_id=317&zenid=ad3b305fb0d23fb5d4c519cc63a37231|Circular level 10mm]]

- [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=272&zenid=ad3b305fb0d23fb5d4c519cc63a37231|MK HiLander]]

- [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=301&zenid=ad3b305fb0d23fb5d4c519cc63a37231|MK HiSight Small]]

- [[http://www.canon.com|Canon]] IXUS-80IS camera

= Motors =
4x [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=73&products_id=199&zenid=ad3b305fb0d23fb5d4c519cc63a37231|Roxxy 2824-34]] Brushless motors

4x [[en/BrushlessCtrl|BL-Ctrl]] V1.2 brushless motor controllers

4x EPP1045 Propellers

= Video =
- [[http://www.airwave.com.tw/58GHz-Analog-RF-module.html|Airwave AWM683TX]] 5.8 GHz 100mW video transmitter with 3.2 dBi WiniZen W6E–UPW–10 dipole antenna

- [[http://www.airwave.com.tw/58GHz-Analog-RF-module.html|Airwave AWM682RX]] 5.8 GHz video receiver with 7 dBi AWM-ANT58-PCB patch antenna

- [[http://www.sparkfun.com/datasheets/Sensors/Imaging/CM-26N.pdf|CM-26N/P]] CMOS colour camera module

- [[http://www.optics-online.com/dsl_fisheye.asp|Sunex]] DSL209A or DSL215B fisheye lens

{{attachment:microbee_vision.JPG}} 

= On-board Software =
- [[http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=/tags/V0.74d/Hex-Files/Flight-Ctrl_MEGA644_V0_74d.hex|Flight-Ctrl 0.74d]] modified to control height with a [[http://www.maxbotix.com/|Maxbotix]] LV-EZ1 ultrasonic range finder (instead of the MPX-4115A barometric pressure sensor).

- [[http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=/tags/V0.15c/Hex-Files/Navi-Ctrl_STR9_V0_15c.hex|Navi-Ctrl 0.15c]] modified with PID control of sticks.

- In development: Embedded computer vision algorithms running on the [[http://www.angstrom-distribution.org/|Ångström]] embedded Linux operating system.

= Ground Station Software =
- [[en/MikroKopter-Tool|MikroKopter-Tool]].

- [[http://mikrokopter.de/mikrosvn/Projects/MissionCockpit|Mission Cockpit]] and [[http://mikrokopter.de/mikrosvn/Projects/MissionCockpit/branches/V0.2.0_EN/|English version]].

- [[http://www.ubuntu.com/|Ubuntu 9.04]].

- [[http://opencv.willowgarage.com/wiki|OpenCV]] Based on the work of [[http://github.com/nzjrs|John Stowers]].

- [[http://www.roborealm.com|RoboRealm]]. Was freely available but now only a demo :(

- Some parts of the [[http://www.mikrokopter.de/ucwiki/en/Riddim|Riddim]] code.

- Some parts of the [[http://www.mikrokopter.de/ucwiki/en/MoteCtrl|MoteCtrl]] code.

- [[http://liblo.sourceforge.net/|liblo OSC]] for fast & efficient interprocess communication.

- [[http://paparazzi.enac.fr/wiki/GCS|Paparazzi ground station]] integration (under investigation).

= Geographical Location =
[[http://map.speedyweb.at/fullscreen.php?link=MarkG|Geneva, Switzerland]]

{{attachment:microbee_park.jpg}}  {{attachment:prop_flex1.jpg}}

= Motodrone 2009 =
The microbee competed in the [[http://www.motodrone.de/en/index.html|Motordrone Challenge]] in June 2009 and finished in 2nd place. Here are some photos of microbee at the event:

{{attachment:motodrone09.jpg}} Finowfurt ex-Russian airbase

{{attachment:motodrone09_camp.jpg}} Campsite

{{attachment:motodrone09_workshop.jpg}} Last minute adjustments (inside an aircraft bunker)

{{attachment:motodrone09_challenge1.jpg}} Task 1 - indoor track red circle

{{attachment:motodrone09_challenge3.jpg}} Ground station software

{{attachment:motodrone09_challenge2.jpg}} Task 1 - takeoff!

{{attachment:motodrone09_challenge4.jpg}} Task 2 - outdoor track

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