Title: KUNAL DUTT
1QUADRACOPTERS
KUNAL DUTT HIMANSHU VERMA
2CONTENTS
- Literature Review
- General Introduction
- Working Principle
- Applications
- Researches
- Possibilities
- Work carried out
3LITERATURE REVIEW
4GENERAL INTRODUCTION
A Quadcopter, also called a Quadrotor is
a multicopter that is lifted and propelled by
four rotors. Quadcopter unmanned aerial
vehicles are used for surveillance and
reconnaissance by military and law enforcement
agencies, as well as search and rescue missions
in urban environments. Cutting-edge research is
continuing to increase the viability of
quadcopters by making advances in multi-craft
communication, environment exploration, and
manoeuvrability. If all of these developing
qualities can be combined together, quadcopters
would be capable of advanced autonomous missions
that are currently not possible with any other
vehicle. One such example is the Aeryon Scout,
created by Canadian company Aeryon Labs, which is
a small UAV that can quietly hover in place and
use a camera to observe people and objects on the
ground. The company claims that the machine
played a key role in a drug bust in Central
America by providing visual surveillance of
a drug trafficker's compound deep in the jungle
. The largest use of quadcopters has been in the
field of aerial imagery although. . Using
on-board cameras, users have the option of being
streamed live to the ground.
5Working Principle
Yaw (turning left and right) is controlled by
turning up the speed of the regular rotating
motors and taking away power from the counter
rotating by taking away the same amount that you
put in on the regular rotors produces no extra
lift (it wont go higher) but since the counter
torque is now less, the quadrotor rotates as
explained earlier. Roll (tilting left and right)
is controlled by increasing speed on one motor
and lowering on the opposite one. Pitch (moving
up and down, similar to nodding) is controlled
the same way as roll, but using the second set of
motors. This may be kinda confusing, but roll and
pitch are determined from where the front of
the thing is, and in a quadrotor they are
basically interchangeable but do take note that
you have to decide which way is front and be
consistent or your control may go out of control.
6 Recent Developments
- Some current programs include
- The Bell Boeing Quad TiltRotor concept takes the
fixed quadcopter concept further by combining it
with the tilt rotor concept for a proposed C-130
sized military transport. - Flying prototype of the Parrot AR.Drone
- Parrot AR.Drone 2.0 take-off, Nevada, 2012
- Aermatica Spa's Anteos is the first rotary wing
RPA (remotely piloted aircraft) to have obtained
official permission to fly in the civil airspace,
by the Italian Civil Aviation Authority (ENAC),
and will be the first able to work in non
segregated airspace.12 - AeroQuad and ArduCopter are open-source hardware
and software projects based on Arduino for the
DIY construction of quadcopters.1314 - Parrot AR.Drone is a small radio
controlled quadcopter with cameras attached to it
built by Parrot SA, designed to be controllable
with by smartphones or tablet devices.15 In
June 2013, at the Paris Air Show, Parrot
announced they have sold over 500,000 AR.Drone
quadcopters
7Parrot AR.Drone
8Bell Boeing Quad TiltRotor
9Parrot AR.Drone 2.0
10- In the last few decades, small scale Unmanned
Aerial Vehicles (UAVs) have become more commonly
used for many applications. - The need for aircraft with greater
maneuverability and hovering ability has led to
current rise in quadcopter research. - The four-rotor design allows quadcopters to be
relatively simple in design yet highly reliable
and maneuverable. - Cutting-edge research is continuing to increase
the viability of quadcopters by making advances
in multi-craft communication, environment
exploration, and maneuverability. - If all of these developing qualities can be
combined together, quadcopters would be capable
of advanced autonomous missions that are
currently not possible with any other vehicle .
11Armed Quadrotors
- A camouflage quadrotor armed with a machine gun
zips around a test range, destroying targets and
setting dummies ablaze. A quadrotor is much more
accurate in firing because it can hover in place,
and it can be launched by an operator staying
down behind cover. - Fixed-wing drones are hand-launched and the
operator needs to be standing or running (the
Raven needs a clear hundred-foot space.) - Unlike Predator drones, armed quadrotors will
not require enormous engineering capacity to
develop. - Snyder experimented with both fixed-wing and
helicopter-type drones, using off-the-shelf
hardware. - In the end he used two quadrotors the 8000
Pelican made by German outfit Ascending
Technologies and the Taiwanese GAUI 330X, which
costs just 400.
12Do-Gooder Drone
- HLQ is not the world's first unmanned cargo
carrier. There's the K-Max, a full-scale unmanned
helicopter, and Matternet's infrastructure
paradigm, which aspires to launch do-gooder
drones in rural areas. But the latter focus on
small payloads like medicines or lab samples, and
max out at 4 pounds. And the K-Max costs millions
of dollars. HLQ can lift heavy cargo and would
cost a fraction of that. - Onboard the 50-pound HLQ, an open source
Arduino board called Ardupilot that is
pre-programmed for unmanned aerial vehicle
control runs the show. The students will
fabricate the arms of HLQ, which double as drive
train, from aluminum to dissipate heat from the
motors and have designed them to be swappable if
they get damaged or need upgrades to carbon
fiber. -
13Aeryon Scout Quadrotor Spies On Bad Guys From
Above
- The Scout has a range of 3 kilo meters and
maximum speed of 50 kilo meters per hour. It can
fly through wind gusts of up to 80 km/h, and even
the brutal Canadian winter won't affect its
performance. - It weighs just over a kilogram, and you can
carry it disassembled in a case and put it
together quickly by snapping its rotors into the
main body. - You can choose between an optical zoom digital
camera or a thermal camera, for night time
surveillance, and the machine's camera mount is
gyro-stabilized, so even if the UAV is moving, it
can keep it locked on a target.
14- Let A, B, C and D be the position of rotors.
- Let moment of inertia of rotors about their
centers be Ir and moment of inertia of the
quadcopter about O be Iq . - By conservation of angular momentum before and
after the difference in angular velocity , - Since initial angular momentum is zero , the
final momentum must be zero hence , the clockwise
and anticlockwise angular momentum must be equal
. - Irw1 2mrw2r Iqw Irw2 2mrw2r
- Where mr is the mass of a rotor
- Irw1 Iqw Irw2
- w (Ir/Iq) (w2 -w1)
- Sensitivity of yaw a (Ir/Iq).(i)
ORIGINAL WORK Manueverebility Optimization
1. Yawing sensitivity
15ORIGINAL WORK Sensitivity Optimization 1.
Rolling / Pitching sensitivity
- For analyzing pitch sensitivity ,
- We calculate angular acceleration of pitch/roll
about O. - By Bernoulli's principle ,
- Lift a w2 (other factors being density of air
etc.) - and ,
- Torque a Lift r .
- Angular acceleration a (r/ Iq) (w12-w22)
- Senstivity of roll /pitcha (r/ Iq) .. (ii)
16Proposing design from work carried out
- Hence , to maximize sensitivity of the UAV , the
Ratio - (Ir/Iq) (max. value 0.25) and (r/ Iq) (max.
value - unbound) must be maximized.
- Hence , design features to be incorporated is -gt
- Large rotor fan with appropriately long arm
length . - Low density fan material for lighter frame
weight. - Effective transmission of angular velocity
change . - Right angle b/w arms.
- The particular ratio depends on the area of
application .
17Constraints (Gaps in work )
- There is a limit to maximum yaw sensitivity .
- Increasing arm length increases roll/pitch
sensitivity but decreases yaw sensitivity , hence
cant be increased indefinitely. - Increasing rotor fan length increases yaw
sensitivity but decreases roll/pitch sensitivity
. - There is a limit to rotor fan length and hence
roll/pitch sensitivity . - Longer blade increases weight , hence more power
is required. - Longer Blade wears out faster.
18Research Objectives
- To engineer a fully autonomous aerial platform
consisting of multiple helicopter UAVs capable of
searching for a given target in the first
instance, a person in open countryside. The
platform to be developed includes both computing
hardware and software components the airframes
themselves will be COTS products. - To research control theoretic principles that
are applicable to wireless networks and to
implement such within the context of controlling
multiple helicopters that have several purposes - Platform establishment flying autonomously,
avoiding collision, maintaining station, and
landing safely. - Transmitting information to one or more ground
receiving stations, moving, where necessary, to
maintain an established route.
19- To research and implement distributed search
strategies that allow a group of UAVs to
autonomously identify a given target,
coordinating their movement to - Maximize coverage of the search area in the
minimum time, given maps as input - Maintain a desired level of radio connectivity
in order to (i) exchange control information
among UAVs to cooperatively search the area, and
(ii) exchange sensor information among UAVs to
detect a target cooperatively and (iii) report
their findings to base stations, given that not
all (and maybe no) UAVs will be within a one-hop
radius of a commander. - Subject to the constraint of ensuring efficient
resource usage, given that compute power,
battery, and power for flight are inherently
limited. - To explore the principles and practice of data
fusion as apply in these circumstances - Decentralised data fusion algorithms to generate
consistent estimates of environment and robot
state - Track ownership issues to decide who has primary
responsibility for tasking agents within the
cloud - Build 3D environmental models of occulters where
radio communications are poor
20cONCLUSION
- UAVs have rapidly gained the attention of
military commanders for good reasons. They are
relatively inexpensive and can effectively
accomplish vital missions without risking human
life. We already have sufficient experience with
UAVs to know that they will revolutionize
warfare. - In the future, UAVs may be able to perform a
variety of unique tasks apart from what they are
capable of today. Engineers are currently working
to produce remotely piloted UAVs that are capable
of air to air combat, aerial refueling, combat
search and rescue with facial recognition, and
resupply to agents on the ground . - Quadra-copes, because of their maneuverability
could be useful in all kinds of situations and
environments. Quad copters capable of autonomous
flight could help remove the need for people to
put themselves in any number of dangerous
positions. This is a prime reason that research
interest has been increasing over the years.
Quadcopters are a useful tool for university
researchers to test and evaluate new ideas in a
number of different fields, including flight
control theory, navigation, real time systems,
and robotics.