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System to Remotely Transport

and Deploy an Unmanned Helicopter

MEM Senior Design Team Number 10

Dr. Paul Y. Oh (Advisor)

Jason Collins (MEM)

Michael Perreca (ECE)

Caitlyn Worthington-Kirsch (MEM)

Drexel Autonomous Systems Laboratory (D.A.S.L.)

December 5, 2007

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The Problem

-Rescue workers need to know where the dangers are and where they can do the most good

-UAVs have been shown to help provide situational awareness

-Keep human crew away from danger

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Notional Video

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Thresholds and

Requirement Threshold Objective

Size fit into labmaneuver manually with 2

people

Minimum towing vehicle DIAS1 DIAS2

Protect UAV during transport Dirt road Off road

Launch prep time 2 Minutes 1 Minute

Weather protection

Shield contents from light precipitation Shed steady rain

Level UAV before launch

Safe angle for human pilot Safe angle for auto takeoff

Able to carry SR-20 SR-100

Objectives

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Leveling System

Design Parameters-Allow UAV platform to remain level as the trailer pitches and rolls

-Prevent movement beyond set limits

-Latch UAV in place during transit

-Prevent the platform from moving during UAV takeoff

-Design to carry either SR-100 or SR-20 helicopter UAV

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Leveling System

Proposed Solution-Gimbal system to level platform

-Breaks to dampen oscillation

-Bump stops to prevent over travelModel Gimbal Natural Responce

-40

-30

-20

-10

0

10

20

30

De

gre

es

Roll

Pitch

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Leveling System

RisksHigh Risk: -Counter weight based leveling system can lead to swinging

under natural frequency stimulus

Reduction:-Use controlled breaking to stop any swinging

Medium Risk:-Trailer pitch sharply and cause UAV tail to impact trailer structure

Reduction:-Set mechanical limits to prevent gimbal from moving too far

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Dampening System

Design Parameters

Protect the helicopter and gimbal from ground vibration

Support weight of the helicopter and gimbal

Initial design: classic spring-dashpot system

Protect the helicopter and gimbal from sideways and twisting motion

New design using bowls and a rubber ball, supported by the TRIZ principles of Dynamics and Curvature

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Dampening System

Proposed Solution

Proof-of-concept model

Compressible ball between two bowls

Allows for sideways and twisting movement

Transference of approximately 5% of vibration at 5 Hz

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Dampening System

RisksHigh Risk: – Design Viability

Reduction:-Mitigated by construction and testing of proof-of-concept model

Medium Risk:

– Tuning and Adaptability

Reduction:- Adjustable ball inflation allows for varying vibration control

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Control System

Design Parameters- Must have the ability to be controlled/monitored remotely

- Must support multiple analog inputs/outputs and provide real time processing

- Remote Communications System

- Ability to reprogram and adapt

- Sturdy

- Expandable

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Control System

Proposed SolutionNational Instruments Compact RIO

-Features real time control and processing ability

-Reconfigurable and Reprogrammable/Expandable

-Sturdy and Rugged design

-Proven to be able to process analog signals

-Relies on the LabVIEW programming environment

-Readily available from D.A.S.L.

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Control System

RisksHigh Risk:- Price of Equipment- Learning Curve LabVIEW Programming

Reduction: D.A.S.L. hardware grant by National Instruments;

Medium Risk:- Module Availability

Reduction: Determine desired modules well in advance

Low Risk:-Electrical Requirements( 9-35 V DC Input; 7-10 Watt Power Consumption)-Analog Signal Input and Control

Reduction: Testing of proof-of-concept coding and design a common voltage electrical system

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Trailer and Enclosure

Design Parameters-Be able to fit into the Bossone Center and D.A.S.L.

-Have a universal mounting system that can be used on multiple vehicles

-Provide protection from debris and weather

-Fit inside a U-Haul enclosed trailer for easy transportation

-Light enough to be towed by D.I.A.S. I or II

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Trailer and Enclosure

Possible Solutions

Pre-built 56”x56” Deck Over Trailer

Pre-built 56”x90” Deck Over Trailer

Pre-built 56”x90” Enclosed Deck Over Trailer

Custom Built trailer by MEM Senior Design Team 10

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Trailer and Enclosure

RisksHigh Risk:-Weight-Expandability

Reduction: Work hand in hand with trailer manufacturer to design for lightest application with best possibility of expansion

Medium Risk:-Price-Availability

Reduction: Locate a manufacturer near the Philadelphia Area with competitive pricing

Low Risk:-Mounting style

Reduction: Use of a standard Ball-Hitch style mounting system

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TimelineJan 14 – Design Freeze

Jan 21 – all parts sourced and ordered

Jan 28 – Begin building trailer, testing components as they are built

Mar 10 – Full trailer testing begins

May 5 – Final report and end of project

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BudgetComponent Estimated Cost

Trailer base $1500

Enclosure $1500

Gimbal $960

Suspension $80

Controls $6777

Salaries 9 Months for

1 EE = $41024*

2 MEMs = $85107*

Total $10888

*Average salaries provided by salary.com

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Budgetary Options

Options represent luxury, mid-range, and economy prototypes

Tradeoff:

More expensive = lower risk, more reliability

Less expensive = more team man-hours

Options in:

Frame and gimbal materials

Enclosure material

Trailer base

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Acknowledgements

Dr. Paul Y. Oh

D.A.S.L. Members

MEM Senior Design Committee

ECE Senior Design Committee

All Those in Attendance

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Thank YouQuestions?

?

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