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Transcript

  • 1. MEAM 610
    BLIMPS
    Mohit Bhoite and Saurabh Palan
  • 2. Introduction
    Blimps
    Anatomy
    Design
    Control
    Sensing
  • 3. Anatomy of a Blimp
    “A blimp, or non-rigid airship, is an airship without an internal supporting framework or keel.” - wiki
    Stabilizers
    Envelop
    Motors
    Gondola
    Propellers
  • 4. HELIUM - Calculating Lift
    At standard temperature and pressure, mass density of
    Air : ρair= 1.293 kg/m3
    Helium : ρHe=0.178 kg/m3
    Neon: ρHe= 0.9 kg/m3
    Wload = [(ρair– ρHe) x volume – Wenv] Kg
    Grade A Helium gas = 99.995% He and 0.005% Ne
    Wload= [(ρair-0.99995ρHe - 0.00005ρNe) x volume – Wenv] Kg
  • 5. HELIUM - Calculating Lift
    Wload= [1.1149 x volume – Wenv] Kg
    Thumb rule : 1m3 of helium can lift 1.1 kg of load
  • 6. Latex Balloons vs. Rigid Envelops
    Which one is better?
    Balloons have internal pressure much higher than atmospheric => unnecessary helium mass => no extra lift
    Rigid envelops will have pressure equivalent to atmospheric pressure => better efficiency
  • 7. Envelop Designs
  • 8. Envelop Designs
    Off-the-shelf Options
    Cost
    $25, 7cu feet
    $12
    $13, 5cu feet
    $4, 3’ dia
  • 9. Propulsion
    DC Brushed motors + Propellers
    Flapping wings/fins !
  • 10. Propeller Placements
  • 11. Propeller Placements
  • 12. Propeller Placements
  • 13. Controller Architecture
    Sensors
    Main Controller
    (uP, uC)
    Motor Driver
    Motors, Servos
    Camera
    Wireless Link
  • 14. Sensors
    Gyros
    Acceleros
    GPS
    Digital Compass
    Ultrasonic
    Pressure sensor
    IR
    Vision
  • 15. Sensors
    Gyros
    Acceleros
    GPS
    Digital Compass
    Ultrasonic
    Pressure sensor
    IR
    Vision
  • 16. Digital Compass
    Devantech, acroname.com, $57
  • 17. Digital Compass
    • I2C interface
    • 18. 2.7 to 5.2V supply range
    • 19. 1 to 20Hz selectable update rate
    • 20. True drop-in solution
    • 21. 0.5 degree heading resolution
    • 22. 1 degree repeatability
    • 23. Supply current : 1mA @ 3V
    Sparkfun.com, $60
  • 24. Pressure Sensors
    Barometric pressure sensing for altitude measurement
    Can achieve resolution of about 10cm at sea level
    Pressure decreases at the rate of 100 millibars per 800 meters
    $55
  • 25. Thank you!