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Abstract
Abstract
We propose the development of an experimental model for a three-axial gimbal system (Miniaturised Onboard Platform for Optic Sensors Stabilization - MOPOSS) which will include:
1. A dome type outer shell structure
2. The three-axial electromechanical actuator component
3. The video component, composed of two video sensors (visible and infrared spectrum) and an image processing board
4. The ECV (Ensure Continuous View) component, which will continuously align the sensors field of view with the shell’s slot
Proposed gimbal structure and movement according to the coordinate systems of the major components
MOPOSS – (“Miniaturised onboard platform for optic sensors stabilization”) is the acronym for a research project that proposes the development of a multi-functional optic stabilized platform. Its research will advance knowledge in fields like: autonomous aircrafts research, laboratory and ground testing of aerospace industry optic systems, modern composite materials and 3D-printed structure design. The project will add educational value by providing access for master and PhD students to the optic stabilized sensor platform control architecture and in-house software developed for future video processing applications.
The main objective of the project is to develop and validate the functionality of an experimental three-axial gimbal for unmanned aerial platform use, development and growth of the research capabilities of small enterprises and of the coordinator educational and research institution. MOPOSS will proceed from the TRL2, although there is a greater degree of confidence in some aspects of the proposed research because of the previous research experience of the proposed team. The laboratory tests performed on the video sensors, motion controllers, control software, on the structure itself and last but not least, on the integrated platform will bring the final stabilized system on the TRL4 level.
Objectives
Objectives
Selection of MOPOSS design
O1. Structural design, solution analysis and CAD development of MOPOSS structural components: arms, outer shell, dampers, fasteners and stabilization elements.
O2. Designing intelligent control algorithms for both electromechanical triaxial and ECV components. Establishing the functional architecture for the video component.
O3. Validation of the structural component through numerical and experimental tests.
O4. Validation of the MOPOS control architecture for both electromechanical and ECV triaxial components through simulations in the Simulink environment.
O5. Realization of the structure and implementation of the control software for both the electromechanical triaxial component and the ECV. Integration of visible and infrared optical sensors with the video signal processing board.
O6. Experimental gimbal system realization by connecting and integrating the developed components. Running experimental operational tests under laboratory conditions to perform system operational checks, functional analysis and system technical limitations.
O7. Dissemination of results in the scientific, academic and socio-economic environment.
O8. Management of the technical-economic activities of the project.
Implementation
Implementation
Phase I - Critical analysis in order to define the architecture of the onboard platform
Phase I - Critical analysis in order to define the architecture of the onboard platform
Activities:
Critical analysis of constructive solutions regarding stabilized video platforms.
Critical analysis of constructive solutions regarding existing onboard hardware solutions at the level of video signal processing.
Analysis of modern structures used for shipboard stabilized platforms.
The latest systems in this field are used for: border protection, search and rescue, wildlife protection, security, emergencies. They are lightweight, water resistant, low power, provide optical zoom and infrared imaging. It also offers the ability to track objects or certain geographic points and real-time video stabilization.
The UAV system developed by partner P1, on which the gyro-stabilized platform must be hung, must have the following capabilities in terms of three-dimensional image stabilization:
Image / video acquisition using on-board sensors;
Real-time video transmission to ground equipment;
Storing high-resolution images on board;
Results and aimed objectives:
The objectives considered were: O1, O2, O7. Among the results obtained as a result of the research activities of stage 1 we can list:
Determination of the MOPOSS design.
Establishment of the hardware and software architecture of the video component.
Comparative analysis of the solutions implemented for onboard hardware.
Preparation of a research report for stage 1.
Phase II - Definition of the onboard platform architecture, choice of equipment components and elaboration of projects related to the actuation system
Phase II - Definition of the onboard platform architecture, choice of equipment components and elaboration of projects related to the actuation system
Activities:
Critical analysis of actuation systems used in stabilization applications.
Critical analysis of onboard video cameras.
Critical analysis of control architectures for actuation systems.
The preliminary calculation regarding the structural parameters of the support and the housing for the video processing module.
Conceptual design of mechanical assembly in order to estimate the loads of the actuation system.
To establish the final structure, we designed two mechanical assemblies to determine the advantages and disadvantages of each. The structural differences consist in the order of rotation of the gimbal axes.
The first constructive variant is found on most of the gimbals already existing on the market and consists of: the first axis of rotation is the gyration, followed by the river axis, and then the pitch axis of the optical video system. This constructive variant is more suitable for UAVs with rotating wings, being simple to make and having a low weight.
A sustained effort has been made to design the second (improved) stabilized platform for the use of lightweight materials and even composite materials for its construction and construction, while maintaining the structural integrity and functional reliability necessary for good operability.
Results and aimed objectives:
The objectives considered were: O3, O4, O7, O8. Among the results obtained as a result of the research activities of the second stage, we can list:
Determination of the hardware and software architecture of the electromechanical actuation component.
Establishing the architecture of the ECV component.
Determination of the resistance structure.
Carrying out the electrical project for the electromechanical drive component and ECV.
Preparing a research report for stage 2.
Phase III - Completion of the design, construction, commisioning, and experimental testing of the onboard platform
Phase III - Completion of the design, construction, commisioning, and experimental testing of the onboard platform
The last stage marked the development of the entire system and its testing in the laboratory.
Activities:
Design of control algorithms for the actuation system.
Realization of the mechanical structure.
Realization of the actuation system.
Software implementation of control algorithms for the actuation system.
Integration software/hardware actuation system; functionality check.
Onboard platform system integration; functionality check.
Experimental testing and validation in laboratory conditions of the integrated system.
Dissemination of results.
The complete software-hardware integration of the entire system stabilized optical system was achieved, validating through extensive laboratory tests, conducted on components, subsystems and then on the entire optical system, a fully functional model of a miniaturized stabilized optical platform embarkable on unmanned aerial platforms.
Results and aimed objectives:
The objectives considered were: O5,O6,O7,O8. Among the results obtained as a result of the research activities of the third stage we can list:
Design of intelligent control algorithms for the electromechanical drive component and ECV.
Three software components for electromechanical drive system.
Video component and ECV.
Realization of the MOPOSS experimental model.
Scientific publications.
Completion of the MOPOSS web page.
Drawing up the final research report of the project.
00019.MTS00017.MTSConclusions
Conclusions
Presentation and argumentation of the technological maturity level (TRL) at the end of the project: The sensor system driver components of the stabilized platform have a high degree of technical maturity, a degree higher than TRL6. However, the integrated system started from TRL1. An unmanned aerial vehicle in flight operates under the assumption of fully autonomous control, but the optically stabilized platform can be controlled either automatically or manually. Manual control is usually required for real-time target recognition. Since the consortium's team of experts had significant experience in this field, under laboratory conditions the starting point of the project was TRL3. It should be noted that although laboratory conditions were used for testing and validation, they are far from real flight conditions. To achieve these goals, further development of the power supply system, the ground data communication channel, and the structural integrity and compatibility of the stabilized system with the air platform is required. The main research effort has been focused towards implementing TRL 4 with a differentiation for each system. The system was integrated at an experimental level and tested under laboratory conditions.
The impact of the results obtained, highlighting the most significant result obtained: The project develops innovative techniques and methodologies regarding the use of modern technologies of 3D printing, manufacturing using automatic machine tools with numerical control, design and simulation on request using the most current calculation programs, implementation of the in-house code for command and control. The main contribution is made by the developed electromechanical component and consists in the mathematical development, testing-simulation and implementation of the software developed according to an architecture designed specifically for use on unmanned aerial systems, of the miniaturized platform. Robust control algorithms and adaptive control methods have been used to improve and increase system performance under flight conditions and uncertainty, but also in vibration or structural loading situations.
Details on exploitation and dissemination of project results: The scientific papers and scientific communications at conferences and symposia are the following:
„A review on applications and technologies for flexible winged based UAVs”, The 39th „Caius Iacob” Conference on Fluid Mechanics and its technical applications,Bucuresti, Pahonie Radu, Larco Ciprian, 2021.
„A MEMS-INS/GPS Positioning Device for Urban Life Mobility Improvement”,Grigorie Lucian, Jula Nicolae, Adochiei Ioana, Larco Ciprian, Mihai Razvan-Viorel, Pahonie Radu, Mustata Ștefan, IFMBE Proceeding Series, 5th International Conference on Nanotechnologies and Biomedical Engineering, Chisinau, 2021.
„Experimental characterization of the internal structure and physical properties of unidirectional ply-level hybrid carbon composite material”,Casapu(Demșa) Maria, Fuiorea Ion, Arrigoni Michel 15th International Conference on Advanced Computational Engineering and Experimenting ACEX2022.
„On board three-axis video image stabilization system using „direct drive” technology”, Dima Marius, Racheru Mihai, Larco Ciprian, Grigorie Lucian, Pahonie Radu, SGEM International Scientific Conferences on Earth&Planetary Sciences,Viena, 09.12.2022.
„A miniaturised onboard platform for optic sensors stabilization on a small uav platform”,Larco Ciprian, Grigorie Lucian,Pahonie Radu-Călin,Mihai Răzvan-Viorel,Negru Andra, SGEM International Scientific Conferences on Earth&Planetary Sciences,Viena, 09.12.2022.
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