System to Remotely Transport and Deploy an Unmanned Helicopter
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Transcript of System to Remotely Transport and Deploy an Unmanned Helicopter
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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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