KUNAL DUTT

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QUADRACOPTERS
KUNAL DUTT HIMANSHU VERMA
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CONTENTS

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

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LITERATURE REVIEW
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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
on-board cameras, users have the option of being
streamed live to the ground.
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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 wont 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.
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Recent Developments

• Some current programs include
• The Bell Boeing Quad TiltRotor concept takes the
  fixed quadcopter concept further by combining it
  with the tilt rotor concept for a proposed C-130
  sized military transport.
• Flying prototype of the Parrot AR.Drone
• Parrot AR.Drone 2.0 take-off, Nevada, 2012
• 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
• AeroQuad and ArduCopter are open-source hardware
  and software projects based on Arduino for the
  DIY construction of quadcopters.1314
• 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

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Parrot AR.Drone
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Bell Boeing Quad TiltRotor
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Parrot AR.Drone 2.0
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• 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 .

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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
  helicopter-type 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 330X, which
  costs just 400.

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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.

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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
  gyro-stabilized, so even if the UAV is moving, it
  can keep it locked on a target.

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• 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
  .
• Irw1 2mrw2r Iqw Irw2 2mrw2r
• Where mr is the mass of a rotor
• Irw1 Iqw Irw2
• w (Ir/Iq) (w2 -w1)
• Sensitivity of yaw a (Ir/Iq).(i)

ORIGINAL WORK Manueverebility Optimization
1. Yawing sensitivity
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ORIGINAL WORK Sensitivity Optimization 1.
Rolling / Pitching sensitivity

• For analyzing pitch sensitivity ,
• We calculate angular acceleration of pitch/roll
  about O.
• By Bernoulli's principle ,
• Lift a w2 (other factors being density of air
  etc.)
• and ,
• Torque a Lift r .
• Angular acceleration a (r/ Iq) (w12-w22)
• Senstivity of roll /pitcha (r/ Iq) .. (ii)

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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 -gt
• 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 .

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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.

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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.

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

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cONCLUSION

• 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.