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# Blimps

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### Blimps

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