1. 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. 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?m id=51919023&epmid=1&partner=Google http://newsimg.bbc.co.uk/media/images/44194 000/jpg/_44194534_afp203bodybonita.jpg Goal: Design trailer to carry UAV to scene

3. 3 Thresholds and RequirementThresholdObjective Size Fit through double doors (5’ x 7.5’) Fit in rental truck (5’ x 6’ 10”) Minimum towing vehicle350cc ATV90cc ATV Protect UAV during transportDirt roadOff road Launch prep time2 Minutes1 Minute Weather protection Moderate rain = 0.0025 in/minHeavy rain = 0.01 in/min UAV launch angleTBD+/- 2 Degrees UAV type SR-20 6 foot rotor, 21 lbs SR-100 6.5 foot rotor, 35 lbs Objectives

4. 4 System Overview Enclosure framework Leveling gimbal Suspension Trailer

5. 5 Deliverables -Leveling system -Data Acquisition and Actuation Electronics -Suspension system -Enclosed Trailer -Testing Results -Final Design Report

6. 6 Leveling System Proposed Solution - Gimbal system to level platform -Breaks to dampen oscillation -Bump stops to prevent over travel

7. 7 Leveling System Progress Gimbal is constructed and able to safely support helicopter

8. 8 Braking Setback Original gimbal brakes too expensive and overdesigned We solved this by using caliper brakes adapted from a bicycle

9. 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. 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. 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. 12 Dampening System Progress Dampening System built and installed Initial qualitative tests were successful

13. 13 Overall Mechanical Progress Trailer is almost ready for testing Still need to finish the enclosure

14. National Instruments Compact RIO Data Acquisition and Actuation 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

15. Data Acquisition and Actuation 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

16. Data Acquisition and Actuation 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

17. Data Acquisition and Actuation 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. 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. 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. 20 Acknowledgements Dr. Paul Y. Oh D.A.S.L. Members MEM Senior Design Committee ECE Senior Design Committee All Those in Attendance

21. 21 Thank You Questions? ?

22. 22 Gantt Chart