1. 1 The Air Jellyfish Group #1: Jacob Chard Ben Sponagle Chris Theriault Shane Yates Supervisor: Dr. Marek Kujath

2.  Introduction ◦ Inspiration ◦ Objectives ◦ Fall Term Testing and Calculations  The Design ◦ Alterations ◦ Fabrication  Budget  Testing and Evaluation  Conclusions and Recommendations 2

3. 3 The Inspiration: Festo AirJelly  Remote-controlled airborne jellyfish  Central electric drive moves tentacles  Horizontal motion controlled by centre-of- mass-shifting pendulum Source: www.festo.com

4.  Mimic appearance of a jellyfish  Achieve flight  Create effective advertising medium 4

5. 5 Fall Term Testing  Mock up Model ◦ Double Pulley Mechanism vs. Pulley/Spring Mechanism ◦ Flexible Legs vs. Hinged Paddles ◦ Oscillation Frequency  Calculations ◦ Torque Requirement ◦ Drag Forces ◦ Lift

6. 6 Calculations: Drag Forces  Drag Forces were found to be small

7. 7 Torque Requirement  Calculated to be 5.82 Nm  Motor selected based on torque requirement HG312 Geared Motor 312:1 www.robotmarketplace.com

8. 8 Lift  2.1m diameter balloon produces 5kg Lift

9.  Frame  Vertical Propulsion Mechanism  Balloon  Motor/Crank  Steering Mechanism  Wireless Control  Circuitry 9

10. 10 Carbon Fibre Tubes Rapid-Prototyped Joints Rapid-Prototyped Hinges Rapid-Prototyped Motor Platform Aluminum Tubes

11. 11 Flexible flappers -Vinyl Beams -Foam Board Paddles Upward thrust throughout stroke

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13.  Weather Balloon  Helium Used for Lift  Net/Ring Support 13

14.  Dual Propellers  Provide linear horizontal movement and turning capability 14

15.  FM transmitter and receiver  Servo motors activate on/off switches  Dedicated power supply 15

16.  Lithium-Polymer battery pack ◦ 3 cells (3.7 V each) ◦ 2600 mAh capacity  Provide ample power for >30 min of operation 16

17. 17 ItemInitial DesignFinal Design Balloon attachment Nylon strapsCargo net over balloon; circular nylon strap around base of balloon AdvertisementsTBDPasted to paddles; banner attached to net FlappersTwo alternativesFlexible legs and rigid paddles Motor24 V DC12 V DC TransmissionSlider-rail “Scotch yoke” Crank with guide-holes for cables ControlElectronic speed controllers On/off switches flipped by servos

18.  Joints, hinges, and base of motor platform were rapid-prototyped  Frame assembled with press-fitting  Motor hub machined by Albert  Motor stand made of balsa; attached to base with epoxy  Sewn balloon attachment ring 18

19. ItemCost Helium$440 Rapid prototyping$440 Batteries and charger$400 Pulleys$130 Balloons$80 Frame rods$70 Primary motor$60 Flappers$30 Miscellaneous (fasteners, electrical parts, etc.)$120 Total$1770 19

20.  Three tests conducted in Sexton Gym  Number of tests limited by cost of helium (~$100 to fill balloon) 20

21.  Insufficient helium to achieve flight  Verified all mechanical systems ◦ Propellers moved device forward and provided turning capability ◦ Crank mechanism drove flappers with appropriate range of motion  Learned lessons concerning device assembly 21

22.  Achieved controllable flight ◦ Operated for over 30 minutes ◦ Reached height of 8 m ◦ Controlled from 28 m distance  Lessons learned ◦ Difficult to determine orientation of device from distance ◦ Helium leakage might limit run time 22

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25.  Added advertisements and orientation indicators  Balloon ruptured during assembly 25

26. 26 RequirementFulfilled Fit in a cube with 3m sides Generate vertical propulsion with flapping appendages Rise to a height of 8m Operate for a period of 30 minutes Be maneuverable in three dimensions Weigh less than 5 kg Be operational for a period of at least one day without maintenance

27. 27 RequirementFulfilled Be safe to use. The building and testing of the prototype must also adhere to all safety procedures in accordance with Dalhousie University. * Be operational at a distance of 20 metres away from the operator. Have an attached advertisement that is interchangeable (i.e. the advertisement can be removed and replaced with a different advertisement). Function in an indoor and outdoor environment * Be aesthetically pleasing as it is to be used as an advertising medium to draw attention Be built under a budget of $2000.00. Be completed in conjunction with the deadlines set by the MECH 4010 syllabus.

28. Positives  Overall success  Most requirements met Negatives  Reliability issues ◦ Fragility of balloon  Time and effort for assembly  Cost of helium 28

29.  Balloon reliability enhancement ◦ Use a more rigid balloon ◦ Contain balloon in protective envelope  More advanced control system ◦ Height and obstacle detection ◦ Motor speed controllers  Organic steering mechanism 29

30. Sponsors  Shell Canada  Welaptega Marine  Air Liquide Individuals  Dr. Marek Kujath  Albert et al.  Dr. Julio Militzer  Peter Jones  Craig Arthur 30

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