Summary 62 Validation Result 63 Suggestion 68

IV RESULT AND DISCUSSION 45 4.1 Introduction 45

4.2 Fitness Function Used for Helicopter‟s Problems

46

4.3 Result of Output File 47

4.4 Result of Graph Plotting 53

4.5 3 – Axis Accelerometer – ADXL330 56 4.6 Experimental Study 58 4.7 Discussion 60 4.7.1 Compiling Coding 61 4.7.2 Plotting Graph in C Language Environment 62

4.8 Summary 62

V VALIDATION OF RESULT 63 5.1 Introduction 63

5.2 Validation Result 63

5.3 Summary 66 VI CONCLUSION AND SUGGESTION 67 6.1 Conclusion 67

6.2 Suggestion 68

REFERENCES 69 APPENDIX A: Source Code in CCS C Compiler 72 APPENDIX B: Schematic Circuit Layout of Prototype 95 APPENDIX C: PCB Layout of Prototype 96 APPENDIX D: Final Journal 97 LIST OF TABLES 2.1 2.2 PIC18F452 Specification PIC16F877A Specification 23 25 4.1 5.1 Stability and Movement Control of Autonomous Helicopter Validation Result 47 63 LIST OF FIGURES 2.1 Representation of a Gene 7 2.2 Population 9 2.3 Binary Encoding 11 2.4 Selection 12 2.5 Single Point Crossover 16 2.6 2.7 2.8 2.9 2.10 2.11 2.12 2.13 2.14 2.15 2.16 Two - Point Crossover Picture of PIC18F452 40 -Pin DIP Diagram of PIC18F452 Picture of PIC16F877A 40-Pin PDIP Diagram of PIC16F877A GUI of Dev – C++ User Environment Information of Dev – C++ GUI of Quincy 2005 User Environment Information of Quincy 2005 GUI of CCS C Compiler User Environment GUI of Protel 99 SE Design Explorer 17 24 24 26 27 28 29 30 30 31 32 3.1 Methodology Flow Chart 36 3.2 3.3 3.4 3.5 3.6 3.7 3.8 Excerpt Coding in Dev – C++Software Compile Coding in Dev – C++ Software Input Parameters of the GA Coding Used to Plot a Graph of Fitness Value versus Generations Excerpt Coding of the Implementation of GA Schematic Circuit of Prototype Operations of GA Applied in Autonomous Helicopter 37 38 39 40 41 42 43 4.1 Flow Output File 48 4.2 Excerpt Data for First Generation 49 4.3 Excerpt Data for First Generation until 20 th Population 50 4.4 Excerpt Data for 99 th Generation 51 4.5 Excerpt Data for 99 th Generation until 20 th Population 52 4.6 4.7 4.8 4.9 4.10 4.11 4.12 4.13 Final Generation Obtained for the Output File First Value of Each Generation 0 – 50 First Value of Each Generation 51 – 100 Graph of Fitness Value versus Generation Measuring Tilt Angle for 3 – Axes Accelerometer Sensor Imbalance Autonomous Helicopter under Wind Blowing Factor Stability and Movement of Autonomous Helicopter Example of Errors in CCS C Compiler 53 54 55 56 58 59 60 61 LIST OF ABBREVIATIONS DIP - Dual In – Line EA - Evolutionary Algorithms GA - Genetic Algorithm NSGA - Non-Dominated Sorting Genetic Algorithm PDIP - Plastic Dual In – Line PIC - Programmable Interface Controller ρ - Angle deviation from x-axis φ - Angle deviation from y-axis θ - Angle deviation from z-axis LIST OF APPENDIX A Source Code in CCS C Compiler 72 B Schematic Circuit Layout of Prototype 95 C PCB Layout of Prototype 96 D Final Journal 97 CHAPTER 1 INTRODUCTION

1.1 Introduction