Sky Vision - Harding University
Contents
1. Ms Ms Ms Ms Ms Ms Ms Ms D E Appendices 4 Appendix A Requirements Specification D O O O O Ms Ms Ms D S P 4 Appendix B FAA Regulations 26 1 4 4 Appendix C Budget References 30 Sky Vision Background The goal of Sky Vision is to design and construct a cost effective mobile flight platform with the capability to remotely capture video and transmit the data to a user on the ground in real time The need for aerial imaging spans a wide array of markets such as search and rescue law enforcement construction the media fire fighting and general recreation Aerial imaging greatly expands the capabilities of the aforementioned markets It reduces the manpower and thus costs and risks needed for many dynamic situations such as monitoring the scene of a crime or surveying the extent of a wildfire In short aerial imaging extends the sensing capabilities of a market from a two dimensional field into a third dimension the sky Currently this capability 1s far too often accomplished through the use of expensive rotary and fixed wing aircraft The costs of the prior options often far eclipse the resources of many markets thus necessitating a cost effective alternative2. Please enterthe sizes you would like us to cut ac Plexiglass Acrylic Glue IPS16 1 50Z Item ID IPS16 1 50Z Weld On 16 1 5 oz Tube Item Weight 5 Ib Quantity Price 1 48 96 423 3 52 2 82 sa Add to Cart Sky Vision Camera Booster Vision GearCam BVGM 1 Features Small Size amp Light Weight Low Power Consumption Powered by 9 Volt Battery 2 4 GHz Wireless Mini Color Camera with Audio from built in microphone Size 20mm W 20mm H 20mm D About 3 4 of an inch the size of a dime Comes with no tuning needed PLL receiver 12 volt ac dc supply for receiver and camera 9 volt battery clip and ac power pack for Mini GearCam Camera transmitter weight 1s only 5oz 2 50z with 9 volt battery Field of view 60 degrees CMOS 380 TV lines of resolution Sensor Range 300 700 feet in the air on an aircraft 300 500 feet on the ground Over 1 mile with the 14db patch antenna Receiver unit has SMA antenna connector with rubber duck antenna Use optional Hi Gain receiver antenna available for additional range Consumer use item no license needed FCC certified List Price Our Price 69 95 You Save 5 00 796 Radio Controller for Communication System Highlights 6 Channel 2 4GHz R C Transmitter Complete Set w Receiver Features complete Forward Backward Left Right Up Down amp Pitch Control RUDDER AILERON ELEVATOR Pitch AND THROTTLE New longer 3K battery m
3. UserG manual report April 19 T to operate system May 3 S 9 0 Presentation of final device April 12 T and system capabilities May 3 Mar 2271 April 12 16 ision Sky oum own SIS JBUY pue ubisa wass PLL 002900 DNI uBis q uols ndo1 PLL 0000000 uejd 103014 pue uBisa 545 0026 21 0LOZ EZ G juawaBbeuey pad oem ova vod sve en s es ws ysiuiy pes SWEN yse OTO IEA Heyo 17 Sky Vision LLOZ ZC E 4 pue Bunse nonet 1102 2212 Bunser mens same NOE EJ meme __ l oe eoe sopa O oz ping or x O oe Dope vodov O noze LLOZ L Z Bunse1 8218 ping 18 LLOZ SL L LLOZ SL L 1Yu Juue6euel Palod 51195 Heyo Nue9 Sky Vision 0107 UIEJSEI HAOMIIN 19 Sky Vision i i Li Network Diagram spring 2011 20 Sky Vision Budget Item Possible Vendor Cost Date Estimated Propulsion System 2 Fans w motor www ductedfans com 80 00 Sept 20 2010 Model DFR6B Mount www onlinemetals com 10 00 Third positioning www ductedfans com 20 00 Oct 4 2010 motor Camera System Camera www boostervision com 69 99 Sept gu 2010 Receiver www boostervision com Included
4. Sept 8 2010 Transmitter www boostervision com Included Sept gh 2010 Battery for camera Wal Mart 2 00 Oct 4 2010 Main Power Supply Tether cable Amazon com 50 00 Oct An 2010 Misc cord etc TBA 25 00 Oct 47 2010 Main battery Ebay com 60 00 Oct 47 2010 Alternative battery www maxprod com 20 00 340 00 Oct 11 2010 Tethering System All components TBA 25 00 Oct 4 2010 Tethering cord http secure cartsvr net 25 00 Oct 11 2010 Platform Balloon www giantadvertisingballons com 250 00 Sept 28 2010 Helium gas www hicodallas com 100 00 Oct 11 2010 Communication System RC control system www hobbypartz com 44 95 Oct 37 2010 Control circuitry www sparkfun com 30 00 Oct 11 2010 User Interface Display screen Materials www onlinemetals com 13 00 Oct me 2010 www eplastics com 20 00 Oct 19 2010 Control circuitry TBA 15 00 Oct 11 2010 Misc Contingency 202 182 Total Estimated Cost 1000 21 Sky Vision Appendix A Reguirements Specification Overview The goal of Sky Vision is to design and construct a cost effective mobile flight platform with the capability to remotely capture video and transmit the data to a user on the ground in real time The need for aerial imaging spans a wide array of markets such as search and rescue law enforcement construction the media fire fighting and ge
5. a certificate of waiver issued by the Administrator Doc No 1580 28 FR 6721 June 29 1963 101 5 Operations in prohibited or restricted areas No person may operate a moored balloon kite unmanned rocket or unmanned free balloon in a prohibited or restricted area unless he has permission from the using or controlling agency as appropriate Amdt 101 1 29 FR 46 Jan 3 1964 101 7 Hazardous operations a No person may operate any moored balloon kite unmanned rocket or unmanned free balloon in a manner that creates a hazard to other persons or their property b No person operating any moored balloon kite unmanned rocket or unmanned free balloon may allow an object to be dropped there from if such action creates a hazard to other persons or their property Sec 6 c Department of Transportation Act 49 U S C 1655 c Doc No 12800 Amdt 101 4 39 FR 22252 June 21 1974 Subpart B Moored Balloons and Kites Source Docket No 1580 28 FR 6722 June 29 1963 unless otherwise noted 101 11 Applicability This subpart applies to the operation of moored balloons and kites However a person operating a moored balloon or kite within a restricted area must comply only with 101 19 and with additional limitations imposed by the using or controlling agency as appropriate 27 Sky Vision 101 13 Operating limitations a Except as provided in paragraph b of this section no person may operate a moored
6. balloon or kite 1 Less than 500 feet from the base of any cloud 2 More than 500 feet above the surface of the earth 3 From an area where the ground visibility is less than three miles or 4 Within five miles of the boundary of any airport b Paragraph a of this section does not apply to the operation of a balloon or kite below the top of any structure and within 250 feet of it if that shielded operation does not obscure any lighting on the structure 101 15 Notice reguirements No person may operate an unshielded moored balloon or kite more than 150 feet above the surface of the earth unless at least 24 hours before beginning the operation he gives the following information to the FAA ATC facility that is nearest to the place of intended operation a The names and addresses of the owners and operators b The size of the balloon or the size and weight of the kite c The location of the operation d The height above the surface of the earth at which the balloon or kite is to be operated e The date time and duration of the operation 101 17 Lighting and marking reguirements a No person may operate a moored balloon or kite between sunset and sunrise unless the balloon or kite and its mooring lines are lighted so as to give a visual warning egual to that reguired for obstructions to air navigation in the FAA publication Obstruction Marking and Lighting b No person may operate a moored balloon or ki
7. except 1 Aerial firework displays and ii Model rockets a Using not more than four ounces of propellant b Using a slow burning propellant c Made of paper wood or breakable plastic containing no substantial metal parts and weighing not more than 16 ounces including the propellant and d Operated in a manner that does not create a hazard to persons property or other aircraft 4 Except as provided for in 101 7 any unmanned free balloon that 1 Carries a payload package that weighs more than four pounds and has a weight size ratio of more than three ounces per square inch on any surface of the package determined by dividing the total weight in ounces of the payload package by the area in square inches of its smallest surface ii Carries a payload package that weighs more than six pounds iii Carries a payload of two or more packages that weighs more than 12 pounds or iv Uses a rope or other device for suspension of the payload that requires an impact force of more than 50 pounds to separate the suspended payload from the balloon 26 Sky Vision b For the purposes of this part a gyroglider attached to a vehicle on the surface of the earth 1s considered to be a kite Doc No 1580 28 FR 6721 June 29 1963 as amended by Amdt 101 1 29 FR 46 Jan 3 1964 Amdt 101 3 35 FR 8213 May 26 1970 101 3 Waivers No person may conduct operations that reguire a deviation from this part except under
8. second intervals and it will be verified that the locked object did not drift more than 25 of the screen size during each interval To test 360 of azimuth rotation and 90 of elevation rotation the device will be flown indoors and the 360 will be verified by the ability of the camera to capture a full panoramic picture or protractor in case of camera failure and the 90 elevation 24 Sky Vision rotation measured using a protractor The 360 azimuth rotation will be timed using a commercial stopwatch device to verify the 5 minute rotation duration The device will be flown outdoors to verify camera locking ability An object on the ground will be preselected and the camera should keep the object in the video feed for a duration of five minutes To verify the maximum flight height of 36 6 meters the device will be flown and the amount of tethering cable measured using a measuring tape and related appropriately accounting for cable droop due to the weight of the cable to the height of the device This will cause the measured tether cable to be greater than the maximum flight height The appropriate relation for cable droop will be provided following appropriate testing and analysis The device will be flown in 5 m s or greater winds to test flight stability To verify flight stability the positioning and camera systems should still be capable of locking onto an object on the ground and remaining locked onto that object for a duratio
9. systems Julianne will work with Peng to ensure his tasks are done properly and efficiently o Peng Yeng Elec Eng Peng is primarily responsible for designing and implementing the power system He will also design the user interface system including controls for both the imaging and propulsion systems Peng will also work with Julianne to make sure her tasks are completed on schedule and also to assist her in any difficulties which arise during the design and implementation of the camera and communication systems 12 Sky Vision o Cristina Belew Mech Eng Cristina 1s responsible for the design and implementation of the platform balloon and mounting frame and tethering systems She is also responsible for examining any relevant FAA regulations and dictating to the entire team what 1s reguired to ensure FAA regulations are adhered to Cristina will collaborate with Peng on the mechanical aspect of the user interface design She will also assist Phil in any difficulties encountered during the design and implementation of the propulsion and camera rotation systems 13 Sky Vision Work Breakdown Schedule rai 2010 ID Activity Description Deliverables Duration People Checkpoints days Management correctly and on time task completion F 2 0 Documentation Ensure changes and progress Engineering notebooks A3 is recorded reports and design reports solution to pursue F4 0 Requirements Complete set of all system
10. 60 of azimuth rotation and 90 of elevation rotation Azimuth rotation is defined as a horizontal rotation in a fixed reference plane in this case the fixed reference plane is the plane perpendicular to an axis fixed to the device which passes vertically through the center of gravity of the device when it is in a vertical orientation Ninety degrees of elevation rotation is defined as a rotation from the previously mentioned fixed plane to a position perpendicular to the plane directed downward The propulsion system will provide lateral translation and also rotation to position and orient the azimuth angle of the imaging system The elevation rotation will be provided independent of the propulsion orientation system Sky Vision will be operated by the customer using a portable user interface device The user interface will provide four important functions control of the imaging system and viewing of the live video feed control of the propulsion system rotation and translation and control of deflation of the balloon in case of separation from the tethering system as required FAA regulation 101 subpart B see Appendix B To use Sky Vision the user will remove the system from storage and ensure the aerial platform is correctly secured to the tethering system prior to inflation with helium gas The platform will then be connected to the power source and both the platform and user interface will be powered on The user will then add the req
11. Requirements specification Specification requirements document F 5 0 System Design amp Project Plan Platform Design F6 2 Camera Design Design of imaging system Camera selection camera and camera rotation system rotation design F Imaging Design 6 2 1 F 6 2 2 Rotation Design F6 3 Propulsion Design Power Design Communication Design 6 4 Tether Design User Interface Design F7 0 System Design Ensure correct integration of Final system design and and Analysis subsystems and order parts documentation of parts ordering F8 0 Final Design Aug 23 Dec 9 Aug 23 Dec 9 Aug 23 i Sept 7 Sept 771 Sept 28 Sept 28 T Oct 12 Ph P Lc Lc J C Report of semester goals and Ph P deadlines along with functional descriptions of subsystems Complete design of subsystems System Design and Project Plan final report Component selection and performance specifications of subsystems Type of balloon performance specifications of balloon design of mounting brackets Design of balloon and mounting infrastructure Oct 12 T Oct 26 Camera selection and 1 performance specifications data transmitter and receiver Motor and mounting system selection performance specifications Propulsion unit design and selection movement specifications mounting design performance specifications Battery selection power distribution design performance specifications Co
12. Sky Vision HARDING UNIVERSITY System Design and Project Plan Sky Vision Phil Varney Cristina Belew Julianne Pettey Peng Yang 10 12 2010 Sky Vision Table of Contents 4 Background k k k kk 3 4 4 System Overview A4 System DESIGN er e MIT NI 6 Block Diagram 7 Functional Description of Blocks 8 Project o 11 Organization and Management 12 Work Breakdown Schedule Fall2010 ccc 14 Spring 2011 15 Gantt Chart Fall2010 ch ch 17 Spring 18 Network Diagram Fal20106 D Ms Ms Ms Ms Ms Ms Ms Ms D 4 Spring2011 O O O O O O O D 5 Zk Bugt
13. The goal of Sky Vision is therefore to create an aerial imaging product which meets both the high performance and low cost requirements of many under financed markets Sky Vision will meet the above stated needs by being far less expensive than the current methods used to obtain aerial images As an alternative to renting or purchasing expensive equipment outright Sky Vision customers will be able to purchase one of our aerial surveillance systems Using Sky Vision will be much more convenient for the customer since the system can be easily transported to the required location Sky Vision will use a lifting gas such as helium to fly a small video camera to the altitude necessary to obtain the desired live video feed The camera will transmit the live video feed to a user interface on the ground The system will be able to be maneuvered and rotated by a lightweight propulsion system This propulsion system will be remote controlled from the user interface on the ground Sky Vision System Overview The goal of Sky Vision is to provide a cost effective method of aerial surveillance for dynamic situations Sky Vision will consist of a lighter than air aerial platform with stable live video imaging and a limited propulsion system Since most markets with a need for aerial surveillance also demand high adaptability Sky Vision will measure no more than 1 30 m x 1 04 m x 0 56 m To satisfy the needs of the customer Sky Vision will be capable of both 3
14. d imaging systems as dictated by user via a system of buttons and or joysticks in order to accomplish desired imaging Output Control signal sent to communication system at 0 to 5 V DC 10 Sky Vision Project Plan Sky Vision Organization and Management Sky Vision s team consists of two electrical engineering students and two mechanical engineering students The project tasks will be distributed between the project members as follows o Philip Varney Mech Eng Phil is the project manager of Sky Vision and primarily responsible for making sure the subsystem plans are completed integrated and tested on time Phil is also responsible for finalizing all required reports and ensuring they are completed on time Phil will also be responsible for the design and implementation of the propulsion system and the camera rotation system Phil will work with Cristina to assist her with any difficulties that arise during the development of her responsibilities o Julianne Pettey Elec Eng Julianne is responsible for project financing specifically ensuring the budget is under control The purchasing of any system components will be done through her to ensure the budget outline is followed Julianne will also be responsible for the design and implementation of the camera system and communication system She will be responsible for integrating all of the electrical subsystems and ensuring they function properly with the mechanical
15. ded for development and testing purposes but the customer will be responsible for obtaining helium gas for later flight Auser provided laptop computer may be necessary to view the live video feed User Manual 1 Remove device from storage and ensure the tether system is correctly connected to the blimp 2 Connect the power system to the tethering system and power on the device and user interface 3 Add necessary helium gas to the blimp until fully inflated User must supply helium gas 4 Slowly extend tethering line to allow blimp to rise to desired elevation 5 Obtain desired imaging using camera and blimp positioning systems done via the user interface 6 Slowly reel in tethering line until blimp has reached ground level Maintenance ensure blimp is intact with no leaks Maintenance when reeling in tethering line check visually for damaged areas Remove gas from blimp and disconnect tether system from power system 8 Place system in storage Test Plans The power system will be connected to the imaging and propulsion systems and tested at a short vertical height for one hour to verify power needs this includes 30 min of video feed testing The time duration will be tested using a commercial stopwatch device test image stability one minute of continuous video will be recorded with the camera locked onto a single object for the entire one minute duration The one minute video clip will then be broken into 0 5
16. ead acid or lithium ion 3 CELL Lipo Pack for Electric Planes tn Product Description 3Li 830 Lipo 11 1V 830mah Max discharge 10 12C Size 36mm x 53mm x 21mm Wt 63g 3Li 1050 Lipo 11 1V 1050mah Max discharge 10 12C Size 36mm x 66mm x 20mm Wt 80g 3Li 1500 Lipo 11 1V 1500mah Max discharge 15 20C Size 32mm x 102mm x 25mm Wt 124g 3Li 1550 Lipo 11 1V 1550mah Max discharge 10 12C Size 44mm x 72mm x 21mm Wt 110g 3Li 1760 Lipo 11 1V 1760mah Max discharge 15 20C Size 32mm x 100mm x 27mm Wt 143g 3Li 2500 Lipo 11 1V 2500mah Max discharge 10 12C Size 58mm x 95mm x 19mm Wt 175g Option 2 Power through tether not feasible at this point Rtl 19 95 31 95 45 95 29 95 54 95 35 95 No Connector No Connector No Connector No Connector No Connector No Connector UB1270 12V 7Ah Wheelchair Medical Mobility SLA Battery 12 V 7 AH UB1270 UNIVERSAL BATTERY Sale T 510 00 OEM 515 00 OTT 529 00 ONE 517 00 OT 533 99 520 00 Price 12 95 http cgi ebay com UB 1270 12V 7 Ah Wheelchair Medical Mobility SLA Battery 120605337758 pt US Batteries amp hash item1c14a3689e Cost of cable 23 00 for 100 1206 50 00 34 Sky Vision Propulsion Using brushless motor can yield 16 to 40 oz of thrust USD 28 00 No motor Replacement rotor wattr01 9 99 With 400 motor USD 39 80 C
17. hart below Volts Amps RPM Thrust Thrust Power Efficiency v A RPM Grams Ounces Watts g w 9 8 19000 225 8 04 72 3 125 10 9 20700 265 9 29 90 2 944 11 10 22100 300 10 58 110 2 727 12 11 24500 360 12 62 132 2 727 35 Sky Vision Tethering Cord Solid Braid Nylon Rope Click to Enlarge Ideal for blocks pulleys winches mooring lines and general tie downs and other similar uses Amount 1 8 570 Ibs Breaking Strength Per Foot 0 20 0 18 570 Ibs Breaking Strength 1000 Spool 5400 00 3 16 825 Ibs Breaking Strength Per Foot 0 22 0 825 Ibs Breaking Strength 1000 Spool 513900 0 1 4 1325 Ibs Breaking Strength Per Foot 30 30 0 514 1325 lbs Breaking Strength 1000 Spool 919100 0 3 8 3 050 Ibs Breaking Strength Per Foot 30 69 0 387 3 050 Ibs Breaking Strength 1000 Spool 54720 0 1 2 5 300 Breaking Strength Per Foot 30 98 0 20 5300 Breaking Strength 500 Spool 54030 0 1 2 5 300 Breaking Strength 1 000 Spool 799 00 0 http secure cartsvr net catalogs catalog asp prodid 1976902 36 Sky Vision Control Circuitry H Bridge Motor Driver 1A sku COM 00315 Description Faster cheaper smaller better right The SN754410 Quad Half H Bridge is just that Capable of driving high voltage motors using TTL 5V logic levels the SN754410 can drive 4 5V up to 36V at 1A continuous output current Please see datasheet for m
18. ignal from user interface 9 volt power supply from battery Outputs Live video feed displayed on the user interface Up to 90 elevation rotation Platform The platform consists of both a helium filled balloon and the required mounting infrastructure The helium filled balloon will provide enough lift to bring the system to the desired elevation and the required mounting infrastructure will support the imaging and propulsion systems The platform will also contain a subsystem to rapidly deflate the device in case of tether separation as dictated by FAA regulation 101 subpart B Input Specified volume of helium gas required to lift system helium gas can lift approximately 1 1 kg m at 20 C and 1 atm Emergency signal from tether separation sensor Output Desired elevation of the system Rapid deflation of device when emergency tether signal is received separation of device from tether is a worst case scenario and would result in catastrophic failure of device most likely outcome complete destruction of device Sky Vision User Interface The user interface consists of the controls necessary to control the propulsion system and imaging system The user will be able to use the user interface to rotate the system 360 and rotate the camera 90 The propulsion system controls allow for user control of camera stability The live video feed will be viewable on the user interface Input Desired manipulation of propulsion an
19. lloon Build imaging system and Imaging and camera rotation camera rotation system subsystems connected Camera control circuitry built for both imagin g and camera rotation Build of camera rotation Camera mounted to elevation system rotation shaft and motor Motor connected to control circuitry Propulsion Build of propulsion system Propulsion units built Build to stabilize rotate and assembled and mounted to translate device platform frame Power Build Build power system to Power distribution system and power device voltage regulating system built and connected to battery Communication Build system to transmit Remote control circuitry built Build user inputs outputs to from and ready to be mounted to user device interface and aerial portion of platform Build system to secure Reeling mechanism built and device and transmit power connected to cable Cable attachment to balloon mechanism built Build system to receive Device to contain interface inputs and display live control circuitry and display video feed screen built Display screen circuitry built and connected to user interface Platform Test the platform to ensure Results of balloon lift and Testing it can support subsystems stability tests modification recommendations Results of camera imaging and live feed and rotate through rotation tests modification specified angle recommendations S Imaging Ensure the camera can Results of imaging testing 4 2 1 Testing
20. lloon 10 0 471 00 balloon 12 0 996 00 balloon 14 0 1530 00 Helium Gas Costs These are prices found for helium gas at a location in the Dallas Fort Worth Area The monthly rental option would be used because of testing testing would span approximately a two week period The prices were found on http www hicodallas com helium php There is also a ten dollar pick up and delivery fee Medium 101 565 00 7 00 45 00 7 00 30 Sky Vision Material References Aluminum Quote of prices for sheets of 2024 alloy aluminum The prices were found on http www onlinemetals com This material will potentially be used for the foundation of the platform and user interface 12 inches x 12 inches 4 17 12 inches x 24 inches 8 06 Plexiglass 12 inches x 36 inches 10 36 12 inches x 48 inches 12 96 24 inches x 24 inches 12 96 24 inches x 36 inches 19 00 24 inches x 48 inches 24 76 36 inches x 36 inches 27 86 36 inches x 48 inches 35 42 This is an alternative material for the user interface and platform It was found on http www eplastics com View Larger Image View Larger Image 31 Plexiglass Sheets in Clear 1 16 x24 x48 sheet Item ID ACRY CLRO 060FM24X48 060 x24 x48 Clear Plexiglass Acrylic Sheet Film Masked Perfect size for small picture framing Item Weight 2 8 Ib Quantity Price 1 5 10 25 20 06 17 60 15 63 14 08
21. mmunication method selected control circuitry design performance specifications Selection of tethering cord reeling device design performance specifications User interface control circuitry designed case type of controls designed performance specs Design of camera system to provide live video feed Design of system to rotate camera 90 Stabilize rotate and translate device Design power system to power device Design system to transmit user inputs outputs to from device Design system to secure device and transmit power Design system to receive inputs and display live video feed Nov 9 T Dec 7 Nov 9 T Dec 9 Ph P 1 The final design of system and subsystems Final Design Report includes schematics and project model e Please note that performance specifications includes test results 14 Sky Vision Work Breakdown Schedule spring 2011 Activity Description Deliverables Duration People Checkpoints days S 1 0 Project Ensure project is Description of team member Management completed correctly and on task completion time S2 0 Documentation Ensure changes and Engineering notebooks A3 Jan 18 T Ph P progress is recorded reports design reports May s Lc BIEN e subsystems specified by design Feb 228 Lc Connect mounting Mounting brackets for tether infrastructure to balloon propulsion system and imaging system attached to ba
22. n of five minutes with 5 m s wind present To allow for wind variability a two week testing period will be selected and the device tested at different states of wind speed The extended testing time allows for adjustments to be made to the device as well as to account for random wind speed variation The communication system will be tested by carrying the deflated device including propulsion and camera system a distance of 36 6 meters on the ground away from the user interface and verifying that the user can still maintain required communication with the device The distance between the device and the user interface should be straight and free from obstructions The dimensions of the deflated device will be measured to ensure that both the volume and dimensions of the device do not exceed the specified dimension volume reguirements The dimensions will be measured using a standard measuring tape 25 Sky Vision Appendix B FAA Regulations Subpart A General 101 1 Applicability a This part prescribes rules governing the operation in the United States of the following 1 Except as provided for in 101 7 any balloon that is moored to the surface of the earth or an object thereon and that has a diameter of more than 6 feet or a gas capacity of more than 115 cubic feet 2 Except as provided for in 101 7 any kite that weighs more than 5 pounds and is intended to be flown at the end of a rope or cable 3 Any unmanned rocket
23. neral recreation Aerial imaging greatly expands the capabilities of the aforementioned markets It reduces the manpower and thus costs and risks needed for many dynamic situations such as monitoring the scene of a crime or surveying the extent of a wildfire In short aerial imaging extends the sensing capabilities of a market from a two dimensional field into a third dimension the sky Currently this capability 1s far too often accomplished through the use of expensive rotary and fixed wing aircraft The costs of the prior options often far eclipse the resources of many markets thus necessitating a cost effective alternative The goal of Sky Vision is therefore to create an aerial imaging product which meets both the high performance and low cost requirements of many under financed markets Problem Statement Obtaining aerial imaging of a dynamic situation can be both costly and complicated There is a need spanning a wide range of markets for an aerial device with the capability of remotely capturing aerial images at a low cost In order to fulfill the market requirements the device should have the capability to be easily transported to the area of interest 22 Sky Vision Reguirements The power system should allow for a minimum of one hour flight time and also a minimum of 30 minutes of live video not necessarily continuous from the camera system The motion of the device and or camera should allow for bo
24. ore information This is a pin to pin compatible replacement for the L293D Datasheets SN754410 Pricing 2 35 price 2 12 10 99 10 off 1 88 100 20 off This is a good IC for robotics It is a guadruple half H driver but by connecting certain pins it can be used as a dual full H bridge See data sheet for more info www sparkfun com 37
25. ounting plate connects to main frame It makes the center of gravity closed to rotor blade and can adjust the center of gravity according to the weight of battery it reduces the correction when the heli rolling Rotor head for precision and smooth movements Great stable and sensitive mixing lever design Can display the great stability and 32 Sky Vision precision for 3D flight Using Ball and Hiller two systems mixing control Through simple structure of Ball control system power saving of Hiller system and CCPM control can simultaneously control 3 servo for AILE EVLE PIT 3 actions This control system 1s great for 3D flying control and extending life cycle of servos Software for Radio available for download from the website BASIC PARAMETER MODEL NAME 6 CHANNELS TRANSMITTERS MODEL NO FS CT6X CHANNELS 6 CHANNELS MODE TYPE AIRPLANE HELICOPTER GLIDER STICK MODE LEFT HAND OR RIGHT HAND MODULATION FREQUENCY MODULATION MODULE FREQUENCY 35MHZ 40MHz 72MHz 2 4GHz ANTENNA LENGTH 115CM 26MM CODE TYPE PPM GFSK POWER 12 VDC RF POWER LESS THAN 0 8W WEIGHT 575 GRAMS SIZE 189 72 218MM PROGRAMMABLE 33 Sky Vision Battery Option 1 Power supply on balloon The following lithium polymer batteries were found at http www maxxprod com mpi mpi 701 html The lithium polymer batteries could be a suitable alternative to other battery types such as l
26. provide satisfactory video modification recommendations feed 15 Sky Vision S Camera 4 2 2 Rotation Testing 4 3 Propulsion Testing Ensure camera can rotate specified elevation range Actual range of rotation specified modification recommendations Ensure propulsion provides for rotation and translation rate of mounting shaft quantified modification recommendations Actual thrust output and rotation Ensure power outputs can provide power for all Actual power output quantified modification recommendations Power Testing subsystems Feb 22 T P 1 2 4 5 Communication Testing Ensure system can communicate to device at max altitude and receive transmit user signals S 4 6 Tether Testing Ensure tether can support Actual reeling force guantified Feb 227 1 C 1 system and transmit power modification recommendations Mar 8 Ph 2 S 4 7 User Interface Ensure user interface can Test results modification 1 J 2 Testing transmit receive signal recommendations Ph P I Actual communication range quantified modification recommendations from to communication system April 5 S 6 0 Integrate subsystems to Provides fully integrated Mar 1 T Integration prototype to test 7 0 System Testing Testing of total integrated Complete system prototype system and corresponding Modifications modifications S 8 0 User s Manual Instructions to user on how
27. system will consist of two propulsion units probably fans mounted on a rotating shaft The shaft will be capable of 360 of azimuth rotation The propulsion units will be capable of providing both stability against wind and lateral translation of balloon Input User control signal from user interface via motor control circuit see Jser Interface functional description for specifics on user input mechanism Output Desired rotation 360 in five minutes or 0 2 rpm and translation of balloon maximum of 5 N thrust to stabilize against maximum wind speed Communication System The communication system will remotely control the propulsion system of the blimp It will transmit a signal from the user interface to a motor control circuit that determines the direction and speed of movement This signal will be transmitted wirelessly and will be in compliance with all relevant FCC communication standards and regulations Input Signal generated from remote control device on user interface and transmitted at radio frequency at 2 4 GHz Output Signal to motor control circuit and camera control circuit which sends power to the propulsion units and camera 40 1 100 W to propulsion units and 2 1 6 W to camera system Power System The power system provides the necessary power for the propulsion system user interface and communication system The power system consists of a battery a voltage regulator and on off switching system The power
28. system will provide power to the system for a minimum of one hour with Input Power from battery 30 to 100 W Output Power to other systems 15 40 W to propulsion units and 21 6 W to camera system Sky Vision Tethering System The tethering system includes both a reel device to allow for ascending and descending of the balloon and also a tethering cable which 1s capable of supporting the balloon The device should be deplovable to and from its maximum height of 36 6 meters within ten minutes In order to ensure that the height of the device does not exceed 36 6 meters the tethering system will only be capable of letting out 36 6 meters of cable The material will have a factor of safety against rupture of at least 2 0 Inputs Mechanical reeling force 11 15 N force applied at a sufficient distance Outputs Change in device elevation from zero meters to the maximum height of 36 6 meters Camera System The camera system will consist of a small camera mounted onto the balloon The camera will be capable of 90 elevation rotation accomplished independent from motion provided by propulsion system The live video feed will be transmitted to the ground and made viewable on the user interface The camera will be adjusted to focus at a distance sufficient to accommodate the maximum flight height The video frame rate will be a constant value yet to be determined as predetermined by specific camera selection Inputs Control s
29. te between sunrise and sunset unless its mooring lines have colored pennants or streamers attached at not more than 50 foot intervals beginning at 150 feet above the surface of the earth and visible for at least one mile Sec 6 c Department of Transportation Act 49 U S C 1655 c 28 Sky Vision Doc No 1580 28 FR 6722 June 29 1963 as amended by Amdt 101 4 39 FR 22252 June 21 1974 101 19 Rapid deflation device No person may operate a moored balloon unless it has a device that will automatically and rapidly deflate the balloon if it escapes from its moorings If the device does not function properly the operator shall immediately notify the nearest ATC facility of the location and time of the escape and the estimated flight path of the balloon 29 Sky Vision Appendix C Budget References Balloon Prices The following were used as references for different sizes and types of balloons They were found at http www customadvertisingballoons com The size of the balloon will not be larger than eight feet or 2 4 meters in diameter From the below reference it is clear that a blimp shaped balloon exceeds budget allowances thus necessitating the use of a spherical balloon Advertising Balloons Helium Blimps balloon 4 5 109 00 11 ft Blimp 461 00 balloon 6 0 169 00 14 ft Blimp 665 00 balloon 7 0 269 00 17 ft Blimp 951 00 balloon 8 0 339 00 20 ft Blimp 1334 00 ba
30. th 360 of azimuth rotation and 90 of elevation rotation of the camera in order to provide a stabilized image Stabilized no more than 2596 displacement within a 0 5 s interval of a screen centered locked object The 360 degrees of azimuth rotation should be accomplished in a five minute time interval The camera system will be able to lock on via either user control or automation to some object on the ground and remain fixed on that object until the user acquires a new target object The device will be able to rise to a maximum height of no less than 36 6 meters 120 ft in order to ensure customerG needs for aerial imaging are met The device should obey all pertinent FAA regulations FAA regulation 101 subparts A and B see Appendix A The communication range of the device should be at least 50 meters The device should be able to withstand maximum winds of at least 5 m s The device should be no more than 0 43 m 15 cu ft and the dimensions should not exceed 1 30 m x 1 04 m x 0 56 m when deflated in order to fit into the trunk of a standard mid sized car based on stats for 2011 Honda Accord The device development costs should cost no more than 1 000 USD Deliverables Parts manual and corresponding budget User manual Detailed schematic and final report on device capabilities System capability specifications 23 Sky Vision Aerial surveillance device User interface Non supplied parts Helium gas will be provi
31. uired volume of helium gas to inflate the platform note that the customer will provide any required helium gas except for that required by system development and testing The tethering system will then be slowly released allowing Sky Vision to slowly rise to the desired altitude Once Sky Vision has reached the desired altitude the user may then utilize the imaging and propulsion systems to obtain the desired field of view for the live video feed Once imaging is complete the user will slowly reel in the device while 4 Sky Vision visually inspecting the tether for damage Once the platform has reached ground level the user will inspect it to ensure the integrity of the platform has not been compromised The valve system will then be used to remove the helium gas from the platform Following helium gas removal the system will be powered off and returned to storage Sky Vision System Design Sky Vision wajsis 82104 N 61 1 108089 pug juease U g ae H9 vt apia 10 p dit Jas t Elalue ausi Jas oed aj j uoojeg jeyoelg amp jnduj sasn 30 A G Iud N 8 p 31516 uo 2 299 FG WviIsvig 42014 Sky Vision Functional Description of Blocks Propulsion System The propulsion
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