A Novel Design of an Air-Cushion Vehicle and Its Implementation

Abs ac — Recen ad ancemen s o unmanned ae ial ehicles (UAVs) has led o an inc ease in public accep ance and a ailabili y o manu ac u ing echnologies o hese ehicles. This pape is conce ned wi h he de elopmen o an ai -cushion ehicle (ACV) u ilizing he a o emen ioned manu ac u ing echnologies. Exploi ing simila i ies be ween UAVs and ACVs, and compensa ing o hei di e ences, a unique ho e c a is designed and ab ica ed. The goal o he p ojec is designing an ACV which can be con olled as an UAV wi hou he dange s o easily damaging i . An o e iew o he de elopmen p ocedu e o he ha dwa e, so wa e and implemen a ion o he design is p esen ed wi hin his ex . Keywo ds— Remo e con ol; UAV; Blue oo h; A duino; Blende ; Mic ocon olle I. INTRODUCTION u en ly, he e is a as amoun o comme cially a ailable UAVs (Unmanned Ae ial Vehicles). Howe e hese pla o ms end o be closed sou ce, and a e o ela i ely high cos . In addi ion, making modi ica ions o hese UAVs is limi ed. In he mids o hese limi a ions, i is s ill possible o design a d one which consis s o an open-sou ce con olle . The open- sou ce con olle s u ilized wi hin he amewo k o his pape , include an A duino and a Linux ope a ing sys em- based con olle . The Uni e si y o Deb ecen, Facul y o Enginee ing, Depa men o Elec ical Enginee ing and Mecha onics, Building Mecha onic Resea ch Cen e, G. Husi [1] made p o ision o all he necessa y equipmen equi ed by his esea ch p ojec . II. DESIGN CONSIDERATIONS Se e al ypes o quad o o s has been de eloped wi hin he esea ch cen e. By analysing he cons uc ion o hese quad o o s, and on he basis o ACV (Ai -Cushion Vehicle) design equi emen s, a layou o he ho e c a p esen ed in his pape is achie ed. In compa ison o classical ho e c a , S.A.M. Ali [2], ligh is no necessa y o achie e ansla ional ine ial mo ion o he p esen ly p oposed ho e c a . Fu he mo e, he p oposed ho e c a ea u es less na iga ion powe consump ion and is easily epai ed. Fo hese easons, he li ecycle o his ho e c a is es ima ed a h ee imes he a e age li ecycle o a quad o o . The i s s ep o design was o ind low densi y ma e ials, and p oduce a Google Ske ch Up 3D model o he ho e c a ’s geome y. Google Ske ch Up [3] so wa e was e y use ul in enabling modi ica ions o he 3D model o be made quickly and p ecisely. I is in e es ing o no e ha wi h he ho e c a ’s 3D model, one may de elop a CNC (Compu e Nume ical Con ol) p o o ype o cu ou he ma e ials. Fig. 1. 3D model o ho e c a III. CONSTRUCTION MATERIALS The ho e c a houses h ee b ushless DC (Di ec Cu en ) mo o s, and wo o which p o ide he ehicle’s buoyancy. They o a e in opposi e di ec ions, so ha ne o que gene a ed by he mo o s is equals o ze o. As a esul , he ehicle is able o achie e e ical h us , wi hou edundan ine ial o a ion. Ho izon al h us is Zsol MOLNÁR1, Timo ei Is án ERDEI2, Nwachukwu C. OBINNA3, Géza HUSI4 1Uni e si y o Deb ecen, zsol .mol[email p o ec ed] 2Uni e si y o Deb ecen, imo eie [email protected] 3Uni e si y o Deb ecen, nwachukwuco[email p o ec ed] 4Uni e si y o Deb ecen, husige[email p o ec ed]b.hu A NOVEL DESIGN OF AN AIR-CUSHION VEHICLE AND ITS IMPLEMENTATION C ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2017, h p://www.im uo adea. o/auo. m e/ 105 induced by he hi d b ushless DC mo o , which is housed a he ea o he ehicle. In o de o op imize li con ol, he mo o s esponsible o li gene a ion a e placed a he ehicle’s cen e. On boa d he ho e c a is a con ollable obo a m which con ains wi hin i s ame, 20 dices o size (14x14x14 (mm)) each. The obo a m has one deg ee o eedom, and is capable o ca ying ou pick and d op asks, wi h he dices. In addi ion he obo a m may also se e as a coun e balance o he whole s uc u e o he ho e c a . Using he obo ic a m is mos e ec i e in si ua ions whe e he ai c a demands au onomous ask handling and weigh modi ica ion du ing ligh . Con ol pe spec i e, his equi es ca e ul conside a ion by he go e ning pa y. The obo a m posi ion is shown below he ehicle. Fig. 2. The obo a m on he ho e c a In e ms o he physical pa ame e s o he ai -cushion ehicle has he ollowing: a ho e c a including cube size: 480 (mm) long, 380 (mm) wide, 330 (mm) high (wi h obo a m s a e shown in ig. 2.). The mass is small ela i e o i s dimensions. Wi h he ba e y and dices, he o al weigh o ehicle is 1.27 (kg). The wo hois mo o s and he o wa d o ce p o iding one a e he same ype, A2212 / 13T b ushless DC mo o s. They ha e he ollowing pa ame e s [4] : Mo o weigh : 52.7 (g ams), he maximum ope a ing ol age: 11.1 (V) (Li hium-Polyme ba e y cell 3) maximum ope a ing cu en : 10 (A), he maximum achie able ope a ing powe (non-con inuous ope a ion): 150 (W), sha diame e : 3.2 (mm), speed K : 1000 (RPM / V). The b ushless DC mo o s wi h high e iciency (o e 80%) and a high powe / weigh a io. The obo a m wi h wo MG995- ype se o mo o is housed. One o he join s o he obo ic a m p o ides he obo ic a m mo emen , and he o he will ensu e he unc ioning o he mechanism pe o ming he emo al o he dice. The se os as da a ha ing he ollowing main cha ac e is ics [5]: Weigh : 55 (g ams), he maximum ope a ing ol age 7.2 (V), he maximum o que o 0.98 (Nm) capable o o a ing 180 (deg ees), can be posi ioned wi hin his ange. IV. THE CIRCUIT OF HOVERCRAFT The ci cui was designed in KiCAD [6], he main pa is he PIC18F ype mic ocon olle . This con ols he b ushless mo o s wi h p oduc ion o he PWM (Pulse Wid h Modula ion) signal, con ols he obo a m se o mo o s, measu es he ba e y ol age le el and communica es ia Blue oo h module o he con ol compu e . Fig. 3. Connec ion o he mic ocon olle used o Ho e c a The Blue oo h module ype was HC-05. This will allow wo-way communica ion, so can be ansmi ed o he con ol compu e he ba e y ol age and he posi ion o se o mo o s o he obo a m. The ba e y ype used capable o 3-cell Li-Po (Li hium-polyme ) ba e y o 2200 (mAh) and 11.1 (V) ol age deli e y. I ell Li-Po ba e y o choice, as he a io o capaci y / weigh applied o la ge, making i ideal o emo e-con olled ehicles. Fu he mo e, la ge cu en s a e able o deli e . The ci cui is housed in wo ol age s abilize in eg a ed ci cui s. One p o ides 3.3 (V) ol age supply necessa y o he Blue oo h module and he o he necessa y s able 5 (V) powe supply o he mic ocon olle . The powe equi ed o he p oduc ion o se o ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2017, h p://www.im uo adea. o/auo. m e/ 106 mo o s, DC b ushless mo o s wi h con ol elec onics p o ides, because hey ha e a buil -in 5 (V) ol age s abilize and able o lead a 1 (A) cu en . V. THE CONSTRUCTION OF HOVERCRAFT AND MATERIAL SELECTION Du ing he build-ou should s i e o ge he ma e ials used a e ligh e , bu hey should ha e a high esis ance agains a ise in he pe o mance o hei unc ions and managemen o con lic s o mis akes. Based on hese conside a ions, he choice ell polys y ene insula ion e sions o di e en densi ies. Indica i ely h ee di e en densi y polys y ene ha e been used. The comple ed 3D model allows you o weigh he olume o polys y ene a ious ypes o ai -cushion ehicle designed o scale. Thus, knowing he densi y o polys y ene [7], calcula e he mass o he ehicle ame e en be o e designing. The ollowing able p o ides a summa y o he di e en ypes o polys y ene densi y and olume o his calcula ed mass used. TABLE I THE MASS OF VEHICLE Densi y (g/cm3) Volume(cm3) Mass (g) Expanded polys y ene (Whi e) 0.015 7490 112,35 Ex uded polys y ene (Blue) 0.03 3073 92.19 Expanded polys y ene (G een) 0.052 815 42.38 The summing calcula ed alues in he able, he main body o he ai mass o 246.92 (g), which is added o he elec onics, mo o s, as ene s, adhesi es, dice weigh , ba e y used. The o al weigh o he assembled ho e c a is 1.27 (kg). The polys y ene has high physical esis ance, low densi y and can be well machined. The oam cu e uses a glowing hin elec ical conduc o , which may be o polys y ene cu o size e en and smoo h cu s. As ou own design wi h he help o CNC machine, which also unc ions as a oam cu e . The 3D plans ha e been equi ed o ile gene a ing CNC con ol, hen execu ed he inished polys y ene pa s. Such assembly has polys y ene glue [8] and by means o ho mel [9] is pe o med. VI. REMOTE CONTROL AND SOFTWARE The emo e con ol o he ho e c a Blue oo h HC-05 module has been used, which can di ec ly communica e wi h Blue oo h module buil in o lap ops o comme cially a ailable Blue oo h adap e wi h a USB (Uni e sal Se ial Bus) connec ion. In he p ojec a Dell Inspi on Mini 1018 ne book has been ca ying ou he es s and was used o con ol because o he mobili y and long ba e y li e. The ne book has he ollowing speci ica ions [10]: 1) P ocesso : In el A om N455 1.66 (GHz) 2) RAM: 1 (GB) DDR3 3) Display: 10 ", 1366 x 768 esolu ion 4) Video ca d: In eg a ed In el NM10 Exp ess 5) S o age: 250 (GB) HDD, 5400 (RPM) 6) Weigh : 1.33 (kg) 7) Ba e y capaci y: 48 (Wh) 8) Buil -in Blue oo h 2.1 and 802.11b / g WiFi (Wi eless Fideli y) These speci ica ions make i sui able o un a ho e c a made so wa e o con ol and communica e wi h i ia Blue oo h. The so wa e has been designed so ha use s can di ec ly om he compu e con ol he ehicle o can ake con ol o e by using a glo e wi h accele ome e . The glo e is measu ing he hand il and sends ou his da a o he compu e so wa e which gene a es he con ol da a o he ehicle mic ocon olle . Fig.4. Remo e con ol concep The igu e shows ha he ne book communica es wi elessly ia Blue oo h. The accele a ion senso glo e is di ec ly connec ed o he no ebook ia a USB cable. The accele a ion senso ype used is MMA7361 senso h ee-axis, mic o-machined ype. The sensi i i y can be adjus ed ± 1.5 (g) and ± 6 (g). The (g) alue means ha many imes he accele a ion o g a i y will be he maximum measu ed accele a ion alue. The g a i a ional accele a ion is 9.81 (m / s2). Fo il measu emen we conside ha i poin s o he Ea h's su ace pe pendicula o he senso di ec ion and heeling 1 (g) accele a ion, which is he Ea h's g a i a ional ield dis ibu ed o a ying deg ees among he h ee axes. F om hese alues can be de e mined he o ien a ion o he glo e hus he o ien a ion o he ope a o hand wi h espec o he Ea h's su ace. Fo he con ol o he ai -cushion ehicle was used 1.5 (g) o sensi i i y ange o achie e he high sensi i i y o he senso . The ou pu o analog signals, a ies om 0 (V) o 3.3 (V) ange. These signals mus be con e ed o digi al alues p io p ocessing. Fo he sake o comple ion o an analog o digi al con e sion has been A duino UNO [11] used. I has he equi ed analog inpu s and a USB connec ion in o de o connec o he ne book. ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2017, h p://www.im uo adea. o/auo. m e/ 107 Fig.5. The GUI (G aphical Use In e ace) o he con olle The main ask o he so wa e unning on he compu e is o p o ide con inuous communica ion be ween he compu e and he ho e c a . I is impo an ha in case o loss o communica ion, he ho e c a con olle will de ec and con ol he mo o s au oma ically o shu down o sa e y. Since he ho e c a and accele a ion sensing glo e, bo h a e ea ed as se ial po by he compu e , so we ha e wo se ial communica ion po selec ion d op-down lis on he GUI. These a e ‘COM3’ and ‘COM4’ by de aul . The in e ace also eads he ac ual ba e y ol age, which is impo an in case o Li-Po ba e ies since he excessi e discha ge leads o damage. The bu on and a s op bu on enabling con ol in ou di ec ions housed in he use in e ace, i you wan o con ol you ehicle om you compu e . In addi ion, i is equipped wi h an ‘E-STOP’ (Eme gency-STOP) bu on on he use in e ace which pe o ms an immedia e eme gency s op, he mo o s shu s down and in e up s he communica ion. The adjus able ‘Le i a e’, ‘Tu n’, ‘FWD’ a e he alues o he maximum powe o he mo o s, which ope a e while loa ing o u ning. The u ning is highe alue, because in such a case, only one li mo o unc ions due o he use o he o que o u n and i mus ensu e he inope a i e mo o pe o mance as well. In addi ion, he p og am has h ee con ol modes. The i s is he ‘cushion’. In his mode, wi h he il o he glo e he mo o s can be swi ched on and o in o de o o a e he ho e c a . The e a e no ansi ional alues, he inclina ion o he glo e is only used by he so wa e o h esholds ha he engine is u ned on o o . This con ol mode is ecommended when walking nex o he ho e c a and canno be gua an eed he s abili y o he go e ning hand o he pe son. The ollowing is he ‘Robo a m’, in his case wi h he il o he glo e can be a ied he inclina ion o he obo a m. The hi d mode is he ‘Analog Con ol’ when i comes o managing people can keep hei hands i mly and p ope ly in his mode, he so wa e con ols he engine speed o he deg ee o inclina ion o he glo e. The con ol so wa e is w i en o Windows 7 64-bi ope a ing sys em, he so wa e is in C # using Visual S udio [12] de elopmen en i onmen ha is ee o s uden use. VII. CONCLUSION The planned ho e c a was buil and es ed. Func ionally, as expec ed, i is di icul o con ol, he abili y o mo e wi h g ea speed, i equi es a en ion, as in he case o quad o o s. Du ing es ing, smalle collisions occu ed, which causes no damage in ehicle ame due o he polys y ene impac abso bing abili y. The emo e con ol wo ks in e ms o a s able, open space o 30 m ange is also a ailable wi h i . In e ms o ba e y li e depending on e ain, indoo s, whe e he loo is smoo h o ope a e he hois mo o s small amoun o powe is equi ed, bu ou doo s mo e powe is needed in o de o a oid any une en g ound. In summa y i can be said ha i mee s he expec ed condi ions, howe e , wi h u he so wa e de elopmen a ious ligh si ua ions can be implemen ed, such as he simula ion o ai u bulence o quad o o s becomes possible. ACKNOWLEDGMENT The p ojec was suppo ed by Uni e si y o Deb ecen, Depa men o Elec ical Enginee ing and Mecha onics. REFERENCES [1] G. Husi, “Indus y 4.0 echnology in Uni e si y o Deb ecen”, h ps://www. esea chga e.ne /publica ion/301607839_Indus y_40 _Hunga ian, accessed on May 2017 [2] S.A.M. 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