1. Proposed Solution: Collapsible boom with mooring wiresProposed Solution: Collapsible boom with mooring wires
NIMS BackpackNIMS Backpack
Introduction: NIMS Backpack, a shift from NIMS RDIntroduction: NIMS Backpack, a shift from NIMS RD
Center for Embedded Networked SensingCenter for Embedded Networked Sensing
UCLAUCLA –– UCRUCR –– CaltechCaltech –– USCUSC –– CSUCSU –– JPLJPL –– UC MercedUC Merced
Dor Yisrael Ashur, Olmo Maldonado, Diane Budzik, Laura Balzano, William Kaiser
Networked Info-Mechanical Systems (NIMS)
Tripod Stand SelectionTripod Stand Selection
• Commercially available
• Load capacity of 66 lbs
• Collapsed size of 23”
• Adjustable leg
Figure 7: Manfrotto – Avenger A-128 Ultra Low Boy Stand
Support Tower DesignSupport Tower Design
Figure 10: 3D diagram
3’
• Anchor points
– 8 openings available
• Adjustable height
– Max. height from the
base is 3’
– Offsets horizontal forces
• Assembly
– Screw-on design for easy
deployment ¾” diameter
Ball BearingBall BearingTo the hand crank
Terminates
To the node/sensor carriage
Shuttle cable
anchored
Shuttle cable
Node cable
Shuttle DesignShuttle Design
Figure 8: Tail connector and shuttle running on a pipe
• Ball bearing
design
– Precision made
– Reduces friction
• Aluminum
Construction
– Durable
– Lightweight
• Commercially
available
Crane DeploymentCrane Deployment
Figure 6: An example river deployment using NIMS Backpack
Increased area coverage
through base rotation
Increased area coverage
through base rotation
Figure 1: NIMS RD deployed in the Merced and San Joaquin River Confluence Region. Current system
requires two supports, large deployment teams, anchors and equipment
Design Constraints for Backpack NIMS
• Minimum of 50’ transect
– 10’ depth
– Capable of water/land/air deployments
– Transport/support ~15 lbs of sensors
• System must fit within 2 backpacks
– Large camping backpacks (13”x16”x32”)
– Maximum of 50 lbs per backpack
• Assembled and operated by 2 college educated people
• Minimize cost (less than $700)
• Minimize specialized parts for easy part replacement
• Minimize power needed for data collection
SupportSupport
PersonnelPersonnel
PersonnelPersonnel
PersonnelPersonnel
SupportSupport
SensorsSensors
A portable system with quick set-up and minimal
infrastructure is ideal.
Typical NIMS RD deployment requires 2~3 hours
(Lake Fulmor).
A portable system with quick set-up and minimal
infrastructure is ideal.
Typical NIMS RD deployment requires 2~3 hours
(Lake Fulmor).
Current System: NIMS RD
Figure 2: Backpack examples
Photo: jdhoges.comPhoto: jdhoges.com
• Environmental Challenges
– Branches and other obstructions
– Wind
– Water currents
– Unstable ground
– Animals
Figure 4: 3D Assembly of two aluminum 6061 pipe pieces mating together
2 ft lengthWelded
3”
Abrasive Fitting
¾”diameter
Aluminum Pipe DesignAluminum Pipe Design
• Corrosion resistance
– No known instances of failure
• Yield Strength
– 276 – 310 MPa
• Machinable
Support cables string
through small cylinders
Boom SupportBoom Support
Wire support connections on every boom
section allow the number of connections to
change depending on environmental conditions
Figure 5: Support wire stringing
Terrestrial ApplicationTerrestrial Application
100’
Both shuttles, can be
geared to move
synchronously to
distribute the load
evenly
Both shuttles, can be
geared to move
synchronously to
distribute the load
evenly
La Selva biological station
can use a modified version
to create a 360 degree scan
of the wildlife above the canopy.
La Selva biological station
can use a modified version
to create a 360 degree scan
of the wildlife above the canopy.
Holes to attach mooring cables
Screws through these
holes lock the turntable
in place
Figure 9: 3D model of turntable.
Stats:
- Bottom: 9” Dia. x .25” Thck.
- Top: 7” Dia. x .125” Thck.
Stats:
- Bottom: 9” Dia. x .25” Thck.
- Top: 7” Dia. x .125” Thck.
Base DesignBase Design
4” Square turntable
StrengthsStrengths
• Rigid structure
– No localization
problem
• Less cables
– Easier and faster
deployment
• Weight
– Only 30 lbs
• Meets design
constraints
• Turntable
– Square design is not
rigid
• Pipe structure
– Pipe connections can
be improved
• Cables may tangle
• Tensioning is difficult
WeaknessesWeaknessesAssembly ExampleAssembly Example
7. Insert end boom section into shuttle
8. String support, guiding, and depth cables
9. Insert the end boom section into the base
10. Continue to insert and string boom sections
Figure 11: Assembly construction, indicating only steps 8-10
1. Set-up tripod
2. Attach turn table on tripod
3. Screw base and crank housing to turntable
4. Screw support tower to base
5. Connect cranks
6. Screw node pulley and shuttle plate to shuttle
Housing and Cranking DesignHousing and Cranking Design
Figure 3: Design overview of NIMS Backpack
Each wire is strung around a small
hand crank and tightened. The
slack is collected and attached to
the shuttle
Green wire pulls the node up and down
Figure 12: Modification to current design allowing data collection within the canopy
536.3525.63Total
68.000.341Tripod Connection14
2.400.402Crank13
68.521.321Crank Base12
5.460.682Node Pulley11
8.750.401Shuttle Mounting Plate10
2.500.091Pulley Housing9
18.750.341Shuttle Pulley8
50.4011.2525Boom Section7
15.520.191Post Plate6
13.250.691Cable Support Tower5
4.800.231Turn Table4
42.000.501Shuttle3
80.001.001Base2
156.008.201Tripod1
Price ($)Mass (lb)QTYPart
Parts ListParts List