ORNITHOPTER WITH LIVE VIDEO RECEPTION FOR MILITARY SURVEILLANCE Chandana Sooji1, Vijayashi Hoadi! 1,2 5th SEM Students in Department of Electrical and Electronics Engineering, KLE.I.T, u!alli, Karnata"a, India.
[email protected] [email protected]
#!stract$ In rece recent nt years years flyi flying ng by prop propell elled ed wing wings, s, also also call called ed as Orni Ornith thop opte ter, r, has been been an area area of inte intere rest st beca becaus usee of its its applic applicati ation on to Micro Micro Aeria Aeriall Vehicl ehicles es (MAV (MAVs). In the field field of Defence Defence and during the war of Iraq, a need for lie sureillance sureillance within a close distance was felt, which lead to research of arious techniques for lie sureillance in the battle ground to proide the necessary intelligence to the troops in the line of action. !hese "iniature ehicles see# to "i"ic s"all birds to achiee neer before seen agility in flight. In order to better study the control of flapping wing flight we hae researched and "odelled a large scale ornithopter called the $%aruda&. !he $%aruda& is capable of carryin carrying g a "icroc "icrocont ontrol roller ler,, sensor sensor pac#age pac#age and an on board board sureillance ca"era to trans"it lie ideo feed to the receier in real real ti"e. ti"e. !he design design ta#es ta#es specia speciall care care to opti"i opti"i'e 'e payloa payload d capacity, crash suriability, and field repair abilities. !his "odel has applica applicatio tions ns in the field field of defenc defencee spy surei sureilla llance nce oer oer ene"y territories without being detected or arousing suspicion. Ornithopter,, Military, Military, ureillance, ureillance, Autono"ou Autono"ous, s, Ke%&ords: Ornithopter
ig / An ornithopter called the $"art $"art 0ird& deeloped by esto, a %er"an co"pany specialising in the field of Auto"ation and 0ionics.
1. !2 !2-3 -3*I *I-A -A4 4 +25 +25I+ I+2M 2M2* 2*! ! 1. Microcontroller
Video
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I*!+OD-!IO*
Na"#a$ %$i&s $i'& (ids and ins&)"s ha*& )a+"i*a"&d "h& inds o% h#an in*&n"os "ho#-h his"oy. his"oy. Th& &as& and -a)& /i"h /i"h /hi)h "h&y "a'& "o "h& ai *as"$y s#+ass&s "h& s"a"& o% "h& a"in ai) ai)a%" a%" and "h&i "h&i )on"o )on"o$$ sys"& sys"&s. s. This is no" "o say "ha" od&n ai)a%" d&si-ns a& in&%%&)"i*&, "h&y a& &0)&$$&n" in any any &s+&) &s+&)"s. "s. Po+& Po+&$$& $$&s s and "#(in "#(in&s &s a& *&y *&y &%%i)i &%%i)i&n" &n" &"hods o% +od#)in- "h#s" and ai %oi$s &%%i)i&n"$y +od#)& $i%" $i%".. A o&i o&inn- 232 232 a)hi a)hi&* &*&s &s a di& di&ns nsio ion$ n$&s &sss )os" )os" o% "ans+o"4&n&-y #s&d di*id&d (y /&i-h" "i&s dis"an)&5 o% 6.1, 6.1, &7#i &7#i*a *a$& $&n" n" "o a soa soainin- a$(a a$(a" "os oss, s, and and do&s do&s i" /i"h /i"h aa8in 8in- &$ia(i$i"y, "y, (#" i" /i$$ n&*& a")h "h& ano&#*a(i$i"y o% "h& a$(a"oss. In"&&s" in "h& d&si-n and )on"o$ o% oni"ho+"&s has -o/n in &)&n" y&as as in"&&s" has -o/n in "h& a&a o% Mi)o A&ia$ V&hi)$&s o MAVs. Th&s& sa$$ %$yin- a)hin&sha*& s"#)' "h& ia-ina"ions o% any any as id&a$ id&a$ +$a"%o +$a"%o ss %o a *ai&"y *ai&"y o% "as's "as's in)$#d in)$#dininsys"&s oni"oin- and s#*&i$$an)& /h&& a s/a o% "iny a-&n a-&n"s "s /o#$ /o#$d d (& #no( #no(" "#s #si* i*&& and and ha*& ha*& (&"" (&""& & a))& a))&ss ss "o )on%in&d a&as "han $a-& %$yin- *&hi)$&s.
ig 1/ An Arduino Mega Deelop"ent 0oard used as the "icrocontroller for the Ornithopter 6ro7ect.
Th& s&$&)"ion o% "h& i)o)on"o$$& "o (as& "h& &s" o% "h& sys"& on is on& o% "h& os" d&%inin- d&)isions o% "h& d&si-n +o)&ss (&)a#s& i" a'&s #+ "h& $a-&s" ao#n" o% addi"iona$ +ay$oad /&i-h". &)a#s& "h& s)a$in- o% "h& o(o" d&+&nds on "h& +ay$oad )a+a)i"y n&&d&d "h& )o+#"& )hoi)& /i$$ ha*& a $on- )hain o% &%%&)"s do/n "h& d&si-n +o)&ss. Th& Ad#ino (as&d )on"o$$& has (&&n #s&d (&)a#s& o% i"s *&sa"i$i"y and #s& %i&nd$y )on"o$ )on"o$ sys"& sys"& d&*&$o+&n d&*&$o+&n".Th& ".Th& sin-$& (oad (oad Ad#i Ad#ino no M&-a M&-a has on (oad (oad ana$oana$o- "o di-i"a di-i"a$$ )on*& )on*&"& "&,, s&*&a s&*&a$$ I9O (oads (oads "o in"&% in"&%a)& a)& /i"h /i"h s&*os s&*os and /i&$& /i&$&ss ss )o#ni)a"ion.Th& )on"o$$& i"s&$% /&i-hs ao#nd 166-s (#" /i"h s&*os and /i&$&ss od#$& "h& /&i-h" in)&as&s "o o#-h$y 366-. Th& Ad#ino i"s&$% is an o+&n so#)& had/a& /hi)h has a $a-& an-& o% #s& and is #)h o& )o+a)" and $i-h"/&i-h". $i-h"/&i-h". Th& so%"/a& so%"/a& d&*&$o+& d&*&$o+&n" n" &n*ion&n &n*ion&n"" has a s"&&+ $&anin- )#*& and a$$ o% "h& so%"/a& is "o (& /i""&n in C. 1.1 0attery
1.9 Data 4ogging ? Micro D -ard Aan-&&n" +#" "o #s& "o &)od and s"o& a$$ s&nso and %$i-h" da"a o% "h& a$$oon Sa" %o $a#n)h "o &)o*&y. Th& &)o*&&d da"a is "h#s #s&d "o s#++o" "h&o&"i)a$ &0+&i&n"s and h&$+ in%& in%& &s#$ &s#$"s "s as /&$$ /&$$ as +$o" +$o" #s&%# #s&%#$$ in%o in%oa"i a"ion on -a+hs.
ig 8/ An . V, 99:"Ah 4ithiu" 6oly"er high discharge
Th& (a""&y #s&d is a "h&& )&$$ $i"hi# +o$y& +a)', "h& s"andad %o hi-h +&%oan)& a)hin&s $i'& ai+$an&s on "his s)a$& (&)a#s& i" has "h& (&s" +o/& and &n&-y "o /&i-h" a"ios a*ai$a($&. Po/& d&nsi"y is "h& ain )on)&n a" "h& ini"ia$ s"a-&s o% "h& +oj&)" (&)a#s& %$i-h"s a&n:" &0+&)"&d "o $as" %o $on- /hi)h /o#$d a'& +o/& o#"+#" "h& $ii"in- %a)"o %o "h& (a""&y. A $i"hi# +o$y& (a""&y )an (& dis)ha-&d a" #+ "o 16 "i&s i"s )a+a)i"y 4)oon$y &%&&d "o as 16C5 /i"h s+&)ia$$y s&$&)"&d (a""&i&s )a+a($& o% )on"in#o#s dis)ha-& #+ "o !;C /hi)h a'&s i" a($& "o d&$i*& "h& sho" (#s"s o% +o/& "ha" "h& oni"ho+"& n&&ds "o %$a+ d#in- sho" "&s" %$i-h"s. Li"hi# Li"hi# +hos+ha"& +hos+ha"& (a""&i&s +od#)&d +od#)&d (y A1!< A1!< /&& a$so in*&s"i-a"&d (&)a#s& "h&y ha*& sii$a )haa)"&is"i)s (#" "h& )&$$ si8&s a*ai$a($& a& "oo $a-& "o a'& a s#i"a($y $i-h"/&i-h" +a)' a" "h& )o&)" *o$"a-&. Th& )&$$ +i)& o% "h& $i"hi# +hos+ha"& (a""&i&s /o's o#" "o a +a)' a" a(o#" ha$% "h& +i)& o% "h& $i"hi# +o$y& +a)'. In addi"ion "o "his "h& $i"hi# +hos+ha"& )&$$s a& #)h $&ss s&nsi"i*& "o o*&)ha-in- /hi)h )a#s&s $i"hi# +o$y& (a""&i&s "o *io$&n"$y &0+$od&. &)a#s& o% +o"& +o"&n" n"ia ia$$ )os" )os" and and sa%& sa%&"y "y ad*a ad*an" n"aa-&s &s o% "h& "h& $i"h $i"hi# i# +hos+ha"& )&$$s o*& "h& $i"hi# +o$y& )&$$s "h&y ay (& %#"h& in*&s"i-a"&d in "h& %#"#&. As "h& )#&n" da/n %o "h& o"o /asn:" y&" 'no/n a s"andad (a""&y, 1!66Ah a" 11.3V and =< -as, is )hos&n %o "h& /&i-h" )a$)#$a"ion.
1.8 ensors
ig ;/ An M6<=9: = A>is Inertial Mass nit "odule with Analog Output. -ourtesy/ par# fun 2lectronics
1.;M6 ? =9: A = A0is In&"ia$ Mass Uni" "o 'no/ "h& &0a)" oi&n"a"ion o% "h& Oni"ho+"& a" any ins"an)& and "o a$so 7#an"i"a"i*&$y &as#& a$$ +hysi)a$ %o)&s a)"in- on "h& +ay$oad Th& IMU +a)'a-& )onsis"s o% a < A0is A))&$&o&"&, A))&$&o&"&, a < A0is >yos)o+&, a Di-i"a$ Mo"ion Po)&sso and a < A0is Di-i"a$ Co+ass. Usin- "h&s& *a$#&s o% A))&$&a"ion, Fo)& and Di&) Di&)"io "ion n /& a& a($& "o &s"ia &s"ia"& "& "h& oi&n"a" oi&n"a"ion ion o% "h& Oni"ho+"& in s+a)& and h&n)& ano&#*& i" in "h& &7#isi"& ann&.
1.@ 0attery 4eel Monitor A *o$"a-& di*id& is )&a"&d and "h#s "h& a""&y $&*&$s on (oad a& a++&d and da"a is s"o&d %o %#"h& %#"h& s"#di&s on (a""&y )ons#+"ion and and "h& Oni"ho+"& %$i-h" "i&. "i&. 1. 4s1::8 %6 93B +eceier Th& LS!66<1 >PS &)&i*& is a )o+$&"& >PS sa" an"&nna &)&i*& "ha" in)$#d&s an &(&dd&d an"&nna and >PS &)&i*& )i)#i"s. This $o/?)os" #ni" o#"+#"s an as"o#ndin- ao#n" o% +osi"ion in%oa"ion ; "i&s a s&)ond. Th& &)&i*& is (as&d on "h& +o*&n "&)hno$o-y %o#nd in LOCOSYS @@ )hann&$ >PS SMD "y+& &)&i*&s "ha" #s& M&diaT&' M&diaT&' )hi+ so$#"ion. 8. 3A+DCA+2 3A+DCA+2 I*!2+A-2 I* !2+A-2
ig 9/ A --19:: erial !ransceier Module with 6I Interface as shown. -ourtesy/ i4abs
Con*&n"iona$ ho((y s&*os $i'& "hos& #s&d on od&$ ai)a%" #s& a +#$s& /id"h od#$a"&d si-na$ /i"h a +&iod o% a(o#" 36h8 and a +#$s& /id"h o% (&"/&&n 1 and ! i$$is&)onds /hi)h )o&s+on )o&s+onds ds "o "h& d&si&d a(so$#"& +osi"ion o% "h& s&*o:s o#"+#" di*&. &)a#s& "h& )o+#"& sys"&:s ain in"&%a)& is o*& RS!
igure @/ Main drie "otor speed controller.
Con* Con*& &"s "s "h& "h& PW PWM M )on" )on"o o$$ si-n si-na$ a$ in"o in"o "h& "h& a++ a++o+ o+i ia" a"&& /a*&%o "o di*& "h& hi-h )#&n" (#sh$&ss o"o.
igure =/ ide iew of the co"plete g earbo> showing the "otor "ounted and the configuration of the trans"ission gears.
ig / 0loc# diagra" of the oe rall electronics syste" configuration.
;.MO!O+ A*D %2A+ +A!IO
9. !AI4 !AI4 A*DCI*% Th& "ai$ s&)"ion o% "h& oni"ho+"& is &s+onsi($& %o (o"h o% "h& )on"o$$a($& )on"o$$a($& d&-&&s o% %&&do %&&do asid& %o "h& a(i$i"y a(i$i"y "o "ho""$& "h& di*& o"o. Th& "ai$ o% "h& >a#da is s&" #+ /i"h on& s&*o di&)"$y )onn&)"&d "o "h& "ai$ a" an an-$& and ano"h& %#"h& #+ "h& (ody /hi)h o)'s i" *ia a $in'a-&. Mo#n"in- "h& #dd& s&*o a" an an-$& is i+o"an" (&)a#s& /i"h a sin-$& )on"o$ s#%a)& "h& &$&*a"o and #dd& a& na"#a$$y )o#+$&d, o*in- "h& #dd& s&*o a'&s "h& "ai$ a$so o*& in "h& *&"i)a$ di&)"ion #n$&ss i":s a" 8&o an-$& /h&& i" do&sn:" ha*& any )on"o$ a#"hoi"y any/ay.
igure :/ !he tail section of the Eestrel. !he tail uses a cleer configuration to decouple the eleator and rudder actions
Wi"h "h& "ai$ a" an an-$& "o "h& #dd& s&*o i" a$$o/s "h& s&*o "o (& h&$d in"o "h& 8&o an-$& +osi"ion /i"h &s+&)" "o "h& oni"ho+"& (ody and /hi$& "h& "ai$ s"ays n&a "h& "i&d +osi"ion %o hoi8on"a$ $i-h". This )a#s&s "h& "ai$ "o o*& in a igure / A 04D- Motor (o/$ sha+&d "aj&)"oy d&)o#+$&d %o %o "h& &$&*a"o a)"ion and is #)h &asi& "o )on"o$ (y a h#an +i$o". I" do&s no" so$*& Th& o"o #s&d in "h& %$a++in- &)hanis o% "h& Oni"ho+"& "h& +o($& /h&n "h& &$&*a"o s&*o o*&s "h& "ai$ o#" o% "h& is a #sh$&ss DC Mo"o /i"h ;666 RPM. A -&a &d#)"ion "i&d hoi8on"a$ +osi"ion, (#" (&in- a($& "o &0+$oi" "ha" is a a"io o% !3B1 is "o (& #s&d, -i*in- a sha%" s+&&d o% o#-h$y !16 (i- ad*an"a-& /h&& i" a++$i&s. Th& /in-s ha*& a "ian-#$a RPM. s#++o" s"#)"#& ad& %o )a(on ods. A ain s+a #ns a$on- "h& $&adin- &d-& o% "h& /in- and a s"#" )onn&)"s %o "h& &a o% "h& oni"ho+"&s (ody "o a +oin" n&a "h& "i+ o% "h& ain s+a. Fo "his s"#" "h&& a& s&*&a$ sa$$& )a(on ods "ha" +oj&)" "o "h& &d-& o% "h& /in- /hi)h a& so&/ha" %&& "o o*&. This &s#$"s in a %annin- o"ion %o "h& " ai$in&d-& o% "h& /in- "ha" +od#)&s "h#s" /hi$& "h& $&adin- &d-& is a+in- #+ and do/n /hi)h di&)"$y )on"i(#"&s a +a" o% "h& $i%" in addi"ion "o "h& )on*&n"iona$ $i%" )oin- %o ai%$o/ o*& "h& /in-.
igure 1/ An i"age showing the space fra"e structure with the "otor and gear asse"bly of $Eestrel&, an ornithopter whose design is si"ilar to $%aruda&. igure / An An i"age showing the flapping of the wings of$Eestrel&, an ornithopter whose design si"ilar to $%aruda&
. 4IV2 VID2O +2-26!IO* A i)o i)o )a& )a&aa )o+a" )o+a"i($ i($&& /i"h /i"h "h& )on"o )on"o$$& $$& has (&&n (&&n o#n"&d "h& oni"ho+"& "o +o*id& $i*& s#*&i$$an)&. Th& $i*& %&&d(a)' %o "h& oni"ho+"& /i$$ (& o("ain&d o%% (oad on an LCD dis+$ay. Th& s#*&i$$an)& sys"& has a "ansi""& "ha" /i$$ "ansi" "h& $i*& *id&o %&&d o*& "o "h& &)&i*& and "h& *id&o %&&d )an (& #s&d %o s#*&i$$an)& o as an aid /i"h "h& >PS $o)a"ion "o &%%&)"i*&$y an&#*& "h& oni"ho+"&.
@.MAI* +AM2 Th& ain %a& o% "h& oni"ho+"& is a s#+isin-$y si+$& )o+on )o+on&n" &n" %o %o a d&si-n d&si-n s"and+ s"and+oin oin". ". &)a#s &)a#s&& "h& a+ina+in&)hanis is )on"ain&d %#$$y /i"hin "h& -&a(o0 %a& "h& ain %a& o% "h& a)hin& s&*&s ain$y "o +o*id& o#n"in$o)a"ions %o "h& &a /in- o#n"s, &$&)"oni) )o+on&n"s, (a""&y, and "ai$ ass&($y. Th&& a& "/o di&)"ions "o -o /i"h "h& %a& d&si-n, &i"h& a sin-$& a" +$a"& /hi)h &$i&s on i"s o/n "hi)'n&ss "hi)'n&ss %o s"i$$n&ss, s"i$$n&ss, o a "h&& di&nsiona$ di&nsiona$ d&si-n ad& %o #)h "hinn& a"&ia$ "ha" -&"s i"s s"i$$n&ss %o "h& "#ss?$i'& s"#)"#&. I% "h& %a& had "o (& *&y s"i$$ "h& s&)ond o+"ion /o#$d a'& %o a #)h $i-h"& and s"on-& o+"ion, (#" in "his )as& "h& %a& &a$$y do&sn:" ha*& "o (& *&y s"i$$ in a$$ di&)"ions. Th& &a /in- o#n" a)"#a$$y ho$ds "h& %a& %o %$&0in- in "h& di&)"ion a sh&&" /o#$d (& os" igure / A ca"era with a wireless trans"itter to trans"it lie /&a' /&a' (&)a#s (&)a#s&& "h& /in- s+as s+as %o %o a *&y *&y $a-& $a-& and s"i$$ ideo feed. "ia "iann-$& $&.. Wha" Wha" "his "his ao# ao#n"s n"s "o is "ha" "ha" /hi$ /hi$&& "h& "h& o& o& )o+$i)a"&d s"#)"#& is o%"&n "h& hi-h& s"i$$n&ss and $o/& /&i-h" o+"ion i" do&sn:" )o& /i"h #)h ad*an"a-& in "his . -O*-4IO* )as&. Th& %a& is *as"$y &asi& "o d&si-n and %a(i)a"& and Th& +a+& s#++o"s s#++o"s sa%& and s&)#&d s&)#&d )on)& )on)&+" +" o% &a$ &a$ "i& "i& ay &*&n (& $i-h"&. *id&o &)&+"ion %o d&%&n)&. This &"hod is +o*&n "o (& %as"&s" &"hod o% )o#ni)a"in- da"a %o &o"& +$a)& "o a &)a#s &)a#s&& "h& %a& %a& is &a$$y &a$$y j#s" j#s" a )o$$&) )o$$&)"ion "ion o% o#n" o#n"inin- d&%&n)& s"a"ion. I" a)"s as (oon "o +o*id& and '&&+ -ood $o)a"ions %o "h& &s" o% "h& )o+on&n"s i":s &$a"i*&$y &asy "o s&)#i"y %o "h& na"ion. d&si d&si-n -n.. Th& Th& on& on& ajo ajo s+&) s+&)i% i%i) i)a" a"io ion n "ha" "ha" #s" #s" (& +aid +aid a""&n"ion "o is "h& $o)a"ion o% "h& )&n"& o% -a*i"y. &)a#s& &)a#s& "h& +eferences da"a n&&d&d "o /o' o#" "h& )o&)" )o&)" $o)a"ion "h&o&"i)a$$y isn:" isn:" 1 Na"han Chonis"&. Oni"ho+"& Oni"ho+"& /i"h ind&+&nd&n"$y a*ai$a($& "his /as a$so s)a$&d #+ %o "h& &s"&$ /h&& "h& $o)a"ion /as &0+&i&n"a$$y d&"&in&d %o %$i-h" "&s"in- "o )on"o$$&d /in-sG US Pa"&n" 11132633, #n& 2, !66; (& a(o#" 3 in)h&s (&hind "h& ain /in- s+a. Th& a"&ia$ "o ! S"&*&n H. Co$$ins, Andy R#ina, R#ss T&da'&, and Ma"ijn (& #s&d %o "h& s+a)& %a& "#(#$a s"#)"#& is )a(on %i(& and "h& &0"&na$ +o%i$in- o% "h& oni"ho+"& is don& #sin- Wiss&. E%%i)i&n" i+&da$ o(o"s (as&d on +assi*&?dynai) /a$'&s. +o$y#&"han& %oa o a$#ini# &sh.. < Ri)' E. Coy. P&)hin- /i"h %i0&d /in-s Mas"&:s "h&sis, Massa)h#s&""s Ins"i"#"& o% T&)hno$o-y, !66 3 .D. D& La#i&. Th& Th& d&*&$o+&n" and "&s"in- o% a %#$$s)a$& +i$o"&d oni"ho+"& oni"ho+"& Canadian A&ona#"i)s A&ona#"i)s and S+a)& o#na$, #n& 1===. ; .D. D& La#i&. Oni"ho+"& Oni"ho+"& &+o" #+da"&. h""+B99oni"ho+"&.n&"9P#( h""+B99oni"ho+"&.n&"9P#($i)a"ions9Oni"ho $i)a"ions9Oni"ho+"&R&+o"U+da"&1= +"&R&+o"U+da"&1= #$y!66@.+d%, #$y!66@.+d%, #$y 1=, !66@.
