QUADRACOPTERS KUNAL DUTT HIMANSHU VERMA CONTENTS Literature Review

QUADRACOPTERS KUNAL DUTT HIMANSHU VERMA

CONTENTS • • Literature Review General Introduction Working Principle Applications Researches Possibilities Work carried out

LITERATURE REVIEW • Military Quadrotors – by David Hambling • Spying Aerial Robots for the Law Enforcement – illumin. usc. edu • spectrum. ieee. org/automaton/robotics/military-robots/aeryon-scout-quadrotor-spies • Hoffman, G. ; Huang, H. , Waslander, S. L. , Tomlin, C. J. (20– 23 August 2009). "Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment". In the Conference of the American Institute of Aeronautics and Astronautics. Hilton Head, South Carolina. • S. Bouabdallah et al. "Design and Control of an Indoor Micro Quadrotor, " in Proc. IEEE International Conference on Robotics and Automation, 2010, pp. 4393 -4398 • Pounds, P. ; Mahony, R. , Corke, P. (December 2006). "Modelling and Control of a Quad-Rotor Robot". In the Proceedings of the Australasian Conference on Robotics and Automation. Auckland, New Zealand. • Bell, Donald (2013 -06 -22). "The democratization of the drone | Tech Culture - CNET News". News. cnet. com. Retrieved 2013 -06 -30. • "When Will We Have Unmanned Commercial Airliners, " by Philip E. Ross , 2011. • Unmanned Systems Technology, Directory of UAV technical components

GENERAL 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 onboard cameras, users have the option of being streamed live to the ground.

Working 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 won’t 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.

Recent Developments Some current programs include: Ø The Bell Boeing Quad Tilt. Rotor concept takes the fixed quadcopter concept further by combining it with the tilt rotor concept for a proposed C-130 sized military transport. Ø Flying prototype of the Parrot AR. Drone Ø Parrot AR. Drone 2. 0 take-off, Nevada, 2012 Ø 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] Ø Aero. Quad and Ardu. Copter are open-source hardware and software projects based on Arduino for the DIY construction of quadcopters. [13][14] Ø 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

Parrot AR. Drone

Bell Boeing Quad Tilt. Rotor

Parrot AR. Drone 2. 0

• 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 .

Armed 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 helicoptertype 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 330 X, which costs just $400.

Do-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.

Aeryon 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 gyrostabilized, so even if the UAV is moving, it can keep it locked on a target.

ORIGINAL WORK – Manueverebility Optimization 1. Yawing sensitivity 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. Irw 1 + 2 mrw 2 r +Iqw = Irw 2 +2 mrw 2 r Where mr is the mass of a rotor ÞIrw 1 +Iqw = Irw 2 Þ w = (Ir/Iq) (w 2 -w 1) ÞSensitivity of yaw α (Ir/Iq)………. (i)

ORIGINAL WORK – For analyzing pitch sensitivity , We calculate angular acceleration of pitch/roll 1. Rolling / Pitching sensitivity about O. Sensitivity Optimization By Bernoulli's principle , Lift α w 2 (other factors being density of air etc. ) and , Torque α Lift *r. Angular acceleration α (r/ Iq) * (w 12 -w 22) ÞSenstivity of roll /pitchα (r/ Iq) ………………. . (ii)

Proposing 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 -> *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.

Constraints (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.

Research 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.

• 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 3 D environmental models of occulters where radio communications are poor

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.