P07521 BRDF Imaging Platform Detailed Design Review 23 Feb 2007

Team Members Rick Andol – Robotics/Motor Function Kathryn Berens – Pan/Tilt Assembly Will Casolara – Housing/Structure & Dome Matthew Harris – Robotics/Controls Robert Jaromin – Electronics/GPS System Ross Strebig – Camera Stabilization & Interface

Project Mission The mission of this student team is to develop a fully autonomous imaging platform for deployment on a range of vehicles, capable of imaging across a complete hemispherical field of view to measure a target's BRDF. Initial deployment vehicles include full-scale aircraft and ground based vehicles, while future vehicle platforms may include lighter-than-air vehicles and unmanned aerial vehicles. The module should be compatible with the mounting constraints typical of a "pico-satellite." The team must provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this platform to a level of detail that a subsequent team can build upon their work with no more than one week of background research.

Diagram

Video TASE system

Specification Table

Mechanical Systems

Weight Calculations

Total Weight Middle Box: 431 grams Battery Box: 1191 grams Computation Box: 320 grams Total = 1942 g ~ 2 kg

Stress Calculations Calculations Performed on Glue Tensile Bearing Stress Vibration Mounts U-Joint Tensile Bolt Stress Camera Bracket Tensile & Flexural Motor Torque

ANSYS Analysis Bracket Total Deflection U-Joint Total Deflection

Field of View

Field of View Flight Elevation = 2000ft Surface Distance From Target = 150ft Max Tilt Error (aka “Bank” Angle) = 21o Max Pan Error (aka “Dive” Angle) = 28o Values will vary based on Elevation & Surface Distance from Target

U-Joint Calculations Under Load U-Joint Angle: 25º Max angle due to shock travel: 25.4º Housing dimension allowable swing: 19.3º

Bearing and Vibration Mount Analysis Load on bearings is minimal Use of plastic bearings will save system weight Load is under .03 lb-ft for both bearings Vibration washers will dampen unwanted movement and support system requirements Rubber Washer Factor of Safety = 4 Material response = 25% at 4-6 PSI

Electrical Systems

Power Analysis

Concept Generation

BOM

New Developments Polycarbonate Impact Test No Crab Angle Adjustment 4lb Object 9ft Drop 109lbf at impact (35.85ft-lb Energy) No Crab Angle Adjustment Excel File For Flight Time With Pictures: G:\Sr Design 1\Detailed Design Review\Pictures Required.xls

Future Work SD2 Week Plan Order Parts – Week 11 Budget for larger CF Card Oil Weight Testing UAV – Dome Dynamics Lead Acid Battery for Cessna

Questions