Multipurpose Aerial Drone for Bridge Inspection and Fire Extinguishing

Raquel RemingtonRamon CorderoDaniel VillanuevaLarry March

Adviser: Dr. Ibrahim Tansel

Problem Statement and MotivationBuilding the next Bridge Inspection and Fire Extinguishing drone•Design a release mechanism that is more

efficient for the chemical fire extinguisher.

•To make the inspection of bridges safer for engineers and inspectors.

•To allow fighter to be more efficient in extinguishing of small fires.

Impacts on SafetyInspection

- Crane Inspection- Smoke Stack Inspection- Power Line Aerial Inspection- Pipe Lines- Wind Farm / Wind Mill Aerial Inspection- Roof top damage Inspection- Solar Panel Inspection- Refinery Flare Tip Inspection- Bridge Aerial Inspection- Search and rescue- Insurance companies to inspect damage- Any application requiring aerial video or still photography

via remote drone injuriesFire Extinguishing

-Small fires-Chemical extinguishing testing

Impacts on Economy

Air drone are the next technology • Easy access• Fast delivery• Quick access• Hard to get places• No waiting• Unmanned• Availability to be tract and real time video• No life risk• Hard to get places

Photograph by amazon

Photograph by DHL

Markets

•The quad copter industry is changing rapidly. The market is expanding as technology improves and costs decrease, and it can be difficult to keep track of what companies are even making the various models out there.

Proposed Structural Design

Mechatronic System

•Auto pilot: Pixhawk

•32 bit ARM Cortex® M4 Processor running NuttX RTOS

•14 PWM/servo outputs

•External safety button for easy motor activation

•Multicolor LED indicator

•High-power, multi-tone piezo audio indicatorhttps://store.3drobotics.com/

products/3dr-pixhawk

3DR uBlox GPS with Compass Kit

•5 Hz update rate•25 x 25 x 4 mm ceramic patch antenna•Rechargeable 3V lithium backup battery•Low noise 3.3V regulator•I2C EEPROM for configuration storage•Power and fix indicator LEDs•Protective case•38 x 38 x 8.5 mm total size• 16.8 grams

http://store.3drobotics.com/products/3dr-gps-ublox-with-compass

Telemetry kit (radio ste)

•Frequency : 915 or 433 MHz

•Interchangeable air and ground modules

•Micro-USB port

•Allows for Remote collection of the Autopilot’s Data

https://store.3drobotics.com/products/3dr-radio

Video/OSD system

•Sony HAD 520 line camera

•MinimOSD on-screen-display-board

•5.8Ghz 200mw video transmitter/receiver pair

•Two 900mAh LiPo batteries (one for the air, one for the ground)

http://store.3drobotics.com/products/3dr-fpv-osd-kit

Electronic Speed Controller•Constant Current: 45A

•Input Voltage: 2-6 cells Lipo(7.2V-24V)

• Output: 5.5V/6A

•Max RPM: 240,000rpm for 2 Poles Brushless Motor

• Motor Plugs: Female 4.0mm Bullet Connector

•Weight: 58g

http://www.hobbyking.com/hobbyking/store/__25366__Turnigy_Multistar_45_Amp_Multi_rotor_Brushless_ESC_2_6S.html

Power supply

•Capacity: 8000mAh

•Voltage: 6s/ 22.2V

•Weight: 1105g

•Dimensions:195x50x55mm

http://www.hobbyking.com/hobbyking/store/__18210__Turnigy_nano_tech_8000mAh_6S_25_50C_Lipo_Pack.html

Power distribution board

•4 female Deans connectors/ 1 XT60 connector

•Sends power and signals to the different electric speed controllers to power the different motors

•Regulates a failsafe power source to the autopilothttps://store.3drobotics.com/products/

quadcopter-power-distribution-board-1

Power module

•Supports up to 10s LiPo battery

•Maximum voltage supported 45V

•Maximum Amperage supported 90 amps

http://www.rangevideo.com/3dr-pixhawk/876-power-module-apmpx4-support-to-10s-battery.html

Brushless Motors•Kv 480(rpm/v)

•Weight 154g

•Max Current 31 A

•Resistance 62(mh)

•Max Voltage 22(V)

•Power 680(W)

•Diameter C (mm)48

•Can Length D (mm)33

•Shaft Ø (mm)6

•Length B (mm)33

•LiPo max6

Rpm=480(rpm/V)*25.2V=12096

http://www.rcdetails.info/details/6853

Radio controller

•Spektrum DX8 Radio Controller• 8 channel radio

•Spektrum ARB8000• High resolution

radio receiver•3DR PPM encoder•Receives PWM servo outputs of the R/C receiver and encodes them into a PPM pulse suitable for the autopilot

https://store.3drobotics.com/products/8-channel-ppm-encoder-version-2

http://www.spektrumrc.com/Products/Default.aspx?ProdId=SPM8800

https://www.spektrumrc.com/Products/Default.aspx?ProdId=SPMAR8000

Autopilot/radio set up Power Set up

Proposed Designs of Release MechanismDesigned: Solidworks 2013 Manufactured: 3D Printing Material: Polyactic Acid (PLA)

Final Design

Mechatronics: Release Mechanism

Programming: Arduino Software & Mission Planner

Release Mechanism Test

Initial Design Test Final Design Test

Force Analysis - Rotors

•Required lift of rotors▫ ▫Weighs 49 N

Solving dictates that thrust per rotor must be greater than 12.23N

▫ Solving for the radius yields: Radius of rotors must be greater than

0.055m

Force Analysis – Release Mechanism

•Forces acting upon the grippers▫

Rearranging yields:

Mass of extinguishing grenade is 1.4 kg.

Force is 3.43N per gripper

Thermal Analysis•Updraft temperatures1 – 60-100°C

•Carbon fiber maintains integrity up to 2200°C▫Epoxy resin can soften at temperatures above

100°C•PLA can withstand temperatures up to 150°C•Fire extinguishing grenade - 82°C

•Recommended operating temperatures of 60-70°C

Von Mises Stress Simulation

Stress Quality

Stress (kPa)

Maximum 117

Minimum 112

Average 114

Strain Simulation

Strain Quality

Strain (µε)

Maximum 29

Minimum 28

Average 28.5

Factor of Safety Simulation

Deformation Simulation

Deformation Quality

Deformation (µm)

Maximum 0.258

Minimum 0.245

Average 0.250

Fabrication

•Structural Skeleton▫Carbon Fiber tubing and plating

Manufactured to specifications

•Electronic Components▫Prefabricated

•Release Mechanism▫3D printing in PLA

Testing

Total Costs - $1284.26Item Individual Cost ($) Quantity Total Cost

3DR Video Kit 189.99 1 189.99

XT60 Male Connector 1.25 1 1.25

480 KV Motor 18.00 4 72.00

3DR Pixhawk 199.99 1 199.99

3DR GPS 79.99 1 79.99

Deans Male Connector 1.00 4 4.00

ESC 20 AMP with SimonK 25.99 4 103.96

IRIS + Battery Pack 39.99 1 39.99

Power Board 15.00 1 15.00

3DR Radio Set 100.00 1 100.00

PPM Encoder 24.90 1 24.90

APC Propellers 8.00 1 8.00

Carbon Fiber Tubing 41.25 3 123.75

Propellers 2.80 2 5.60

Carbon Fiber Disk (large) 41.95 2 83.90

Carbon Fiber Disk (small) 31.95 1 31.95

Motor for Claw 24.99 1 24.99

3D Printing 175.00 1 175.00

Sustainability

•Carbon Fiber Structure▫Repurposed or downcycled

•Lithium Ion Battery▫Recyclable though doing so drives the cost

of lithium up 5 times•PLA Plastic Components

▫Recycled chemically and remanufactured to PLA filament

Standards

•ASME Code of Ethics•SI System of Units•FAA UAS Standards•ASTM Composite Standards•IEEE SA Consumer Electronics

Standards

Questions?

References• 1Clark, Terry, Janice Coen, Mary Ann Jenkins, David Packham. "Modeling

the Links Between Fire and Wind." UCAR.