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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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Overview-Hazardous site rescue effort

-UAV provide observational platform during “Golden Hour”-Not interfere with existing rescue efforts-Rapid unmanned transport and deployment-Adapt to dynamic situation

-Current mission plan gap:Unmanned transport and deployment of UAV systems

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http://newsimg.bbc.co.uk/media/images/44194000/jpg/_44194534_afp203bodybonita.jpg

Goal: Design trailer to carry UAV to scene

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Notional Video

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Thresholds and

Requirement Threshold Objective

SizeFit through double

doors (5’ x 7.5’)Fit in rental truck (5’ x 6’

10”)

Minimum towing vehicle 350cc ATV 90cc ATVProtect UAV during

transport Dirt road Off road

Launch prep time 2 Minutes 1 Minute

Weather protectionModerate rain =

0.0025 in/min Heavy rain = 0.01 in/min

UAV launch angle TBD +/- 2 Degrees

UAV typeSR-20 6 foot rotor, 21 lbs

SR-1006.5 foot rotor, 35 lbs

Objectives

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System Overview

Enclosure framework

Leveling gimbalSuspension

Trailer

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Design Parameters

Leveling System

-keep UAV level as trailer pitches and rolls

-prevent UAV from hitting any part of trailer and support system

-hold UAV in place during transit

-release UAV for launch

-hold platform in place for launch

Suspension System

-protect UAV from ground vibration

-protect UAV from sideways and twisting motion

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Design Parameters

Trailer Base and Enclosure

-fit through double doors (60") -protect UAV from debris and weather

-use a standard trailer hitch -towable by 90 cc displacement ATV

-fit inside a cargo van for long-distance transportation

Actuator Electronics System

-remotely actuate and monitor system electronics

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Technical Requirements

Leveling System:Level UAV platform to within +/- 2 degreesLock platform angle during takeoff

Suspension System:Support approximately 100 lbsReduce vibration at 5HzReduce vibration by at least 90%

Trailer/Enclosure:Maximum width 60”Shed minimum of 4mm/hr of rain

Data Acquisition System:14 I/O PortsRemote range of 300ft

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High Risks Mitigation

Natural frequency of leveling system

Use graduated braking to dampen swing

Suspension design viability

Proof of concept demonstrator for design verification

Price of electronic equipment

Already possess many components

Learning Curve of programming language

Use of online tutorials as well as input from DASL members

Total system weight Construct from extruded T slot aluminum

Risks

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Medium Risks MitigationGimbal exceeding maximum rotation

Use graduated braking and bump stops to dampen swing

Ability to tune suspension system

Proof of concept demonstrator for design verification

Electrical component availability

Determine need equipment at an early date to allow for acquisition

Trailer availability Work hand in hand with local manufacturers

Risks

Low Risks Mitigation

System power requirements

DC-DC converters available

Analog signal capture Demonstrated on proof on concept demonstrator

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Leveling System

Proposed Solution-Gimbal system to level platform

-Breaks to dampen oscillation

-Bump stops to prevent over travelGimbal Demonstrator Natural Response

-40

-20

0

20

40

0

0.33

0.66

0.99

1.32

1.65

1.98

2.31

2.64

2.97 3.

3

3.63

3.96

4.29

Time in seconds

Deg

rees Roll

Pitch

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Dampening System

Initial design: a classic spring-dashpot system

Only moves along one axis

Allowing sideways movement - unstable

Multiple systems for different axes – too complex

A compressible sphere moves on all axes and is simple, but still unstable

Bowls made the ball design stable and adaptable

Design

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Dampening System

Proposed Solution

Proof-of-concept

Compressible ball between two bowls

Allows for sideways and twisting movement

Transference of approximately 5% of vibration at 5 Hz

Tunable for varying conditions by inflating and deflating ball

Cad model

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Data Acquisition andActuation Electronics

Possible Solution

Electronics QFD

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National Instruments Compact RIO- On-board data manipulation

- Expandable through the use of NI C-Series Modules

- 50 g shock rating

- Temperature rating between -40 and 158 °F- Proven to process analog signals by the proof of concept

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

Data Acquisition andActuation Electronics

Proposed Solution

NI Compact RIO

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Trailer and Enclosure

Possible SolutionsOption

1Option

2Option

3Option

4Price: (20%) 15% 10% 5% 20%

Availability: (30%)

20% 10% 5% 30%

Flexibility:(5%)

5% 5% 1% 5%

Ease of Adaptation (15%)

15% 15% 5% 15%

Group Man-hours: (30%)

20% 20% 30% 5%

Total (100%)

75% 60% 46% 75%

Option 1: 56” x 55” Deck over trailer

Option 2:56” x 7'6” Deck over trailer

Option 3:56” x 7'6” Deck over with box enclosure already installed

Option 4:Custom built trailer by Senior Design Group

Trailer/Enclosure QFD

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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

Feb 11 – Gimbal built

Feb 18 – Vibration control system built

Feb 25 – Enclosure built

Mar 10 – Full trailer testing begins

May 5 – Final report and end of project

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Projected Market

Projected production price: $5,000 per unit

Helicopter price: $40,000 per unit

UAV transportation is a common problem in the field

Over 80 companies are developing different UAVs, and over 5,000 UAVs are in use today*

As UAVs gain popularity, producing a reliable means of off-road transportation is a viable profit source.

*http://www.uavforum.com/library/librarian.htm

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BudgetTotal project expenses, including salaries: $105,000

Total project expenses, excluding salaries: $10888

Actual expenditure: approx. $3000

Options represent high-end, mid-range, and low-end prototypes

Options in:

Frame and gimbal materials

Enclosure material

Trailer base

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Deliverables-Leveling system

-Data Acquisition and

Actuation Electronics

-Suspension system

-Enclosed Trailer

-Testing Results

-Final Design Report

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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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Gantt Chart

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