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Development of a multi-rotor platform with integrated thrust sensors

Scholten, Jasper (2014) Development of a multi-rotor platform with integrated thrust sensors.

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Abstract:— The work presented in this paper focuses on the design and realization of a micro sized multi-rotor Unmanned Aerial Vehicle (UAV) with integrated thrust sensors. The goal has been to use the measured (actual) thrust in a feedback loop for thrust control for each motor and propeller, during flight. Furthermore, the aim has been to create a low-cost and easy to use multi-rotor research platform. The multi-rotor consists of a single printed circuit board, weighs approximately 99 grams (without battery) and measures 226 [mm] x 226 [mm] with propellers. Strain gauges positioned on the arms that connect the actuators to the base of the multi-rotor are used to measure the thrust. The UAV features a 10 degree of freedom Inertial Measurement Unit (IMU) and optionally the Gumstix Overo computer-on-module (RAMstix software compatible), together with its camera, the Caspa FS/VL. Because of its modular design, the multi-rotor can be extended by user designed modules and supports several communication modules with varying ranges (indoor [<100m], outdoor [>1km]), connection speeds (250kbps-2Mbps) and several standards (Bluetooth, WiFi). Proper functioning of the realized UAV has been shown by means of submodule tests. Further testing is needed, in which the usefulness of the thrust sensor should be demonstrated. One problem was surfaced though; the arms exhibit an unwanted torsional vibration that results in unreliable electrical connections
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general, 53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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