Transcript Slide 1

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
Objectives
Requirement
Threshold
Objective
Size
fit into lab
maneuver 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
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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 travel
Degrees
Model Gimbal Natural Responce
30
20
10
0
-10
-20
-30
-40
Roll
Pitch
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Leveling System
Risks
High 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
Compressible ball between
two bowls
Allows for sideways and
twisting movement
Transference of
approximately 5% of
vibration at 5 Hz
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Proof-of-concept model
Dampening System
High Risk:
Risks
– 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 Solution
National 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
High Risk:
Risks
- 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
High Risk:
Risks
-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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Timeline
Jan 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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Budget
Component
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
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*Average salaries provided by salary.com
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 You
Questions?
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