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.)

March 5, 2008

2

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

http://www.viewimages.com/Search.aspx?mid=51919023&epmid=1&partner=Google

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

Goal: Design trailer to carry UAV to scene

3

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 ATV

Protect 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

4

System Overview

Enclosure framework

Leveling gimbal

SuspensionTrailer

5

Deliverables-Leveling system

-Data Acquisition and

Actuation Electronics

-Suspension system

-Enclosed Trailer

-Testing Results

-Final Design Report

6

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

0.3

3

0.6

6

0.9

9

1.3

2

1.6

5

1.9

8

2.3

1

2.6

4

2.9

7

3.3

3.6

3

3.9

6

4.2

9

Time in seconds

De

gre

es

Roll

Pitch

7

Leveling System

ProgressGimbal is constructed and able to safely support helicopter

8

Braking Setback

Original gimbal brakes too expensive and overdesigned

We solved this by using caliper brakes adapted from a bicycle

9

Latch Design

The design for the latch to hold the helicopter on the gimbal during transit had been discussed in the fall term but not refined

This term the design was refined and the latch built

10

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

11

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

12

Dampening System

Progress

Dampening System built and installed

Initial qualitative tests were successful

13

Overall Mechanical Progress

Trailer is almost ready for testing

Still need to finish the enclosure

National Instruments Compact RIO

Data Acquisition andActuation Electronics

NI Compact RIO

NI 9205

-32 Analog Input Channels

- ±200mV - ± 10V Input Ranges

-16-bit resolution; 250 kS/s aggregate sampling rate

NI 9476- 32 Channel Voltage Sourcing Output

-250mA supply/channel

-6-36V output range

Data Acquisition andActuation Electronics

Actuation Wiring

-2 SPDT Bosch-Style 30 Amp Relays

-Wired in an H-Bridge configuration

-Allows for positive and negative direction actuation

-Low current needed to trigger relays

Data Acquisition andActuation Electronics

Actuation Wiring-12 V to 6V DC-DC converter wired

-Compact RIO mounted and wired

-Motors and relays wired and mounted for latch and brakes

-Sensors for brakes and latch wired

Data Acquisition andActuation Electronics

Compact RIO Programming-Individual latch status reporting

-Push button actuation

-Sensor response values visible for brake adjustments

Future Plans:

-Damped braking setting for in-transit protection

-Programming for enclosure actuation

18

Timeline

Mar 25 – Enclosure completed

Mar 29 – Actuation electronics completed

Mar 31 – Full trailer testing begins

May 5 – Final report and end of project

19

Budget

Total project expenses, including salaries: $105,000

Total approved budget: $8128.55

Expenditures to Date:8020 stock $1,463.71 8020 fasteners $932.28 other hardware $1,031.74 actuators $614.46 Electrical $848.72 NI $282.54 trailer $820 total $5,993.45

Anticipated future spending: $1000

20

Acknowledgements

Dr. Paul Y. Oh

D.A.S.L. Members

MEM Senior Design Committee

ECE Senior Design Committee

All Those in Attendance

21

Thank YouQuestions?

?

22

Gantt Chart