Browsing by Author "Riedel Hornig, Karen Liliane"
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Item Metodología mecánica pasiva de aislación de vibraciones aplicada a la cámara a bordo de un RPA.(Universidad de Concepción, 2024) Riedel Hornig, Karen Liliane; Leaman Weiffenbach, Félix Alberto; Tinapp Dautzenberg, Frank JoachimCurrently, there is a wide range of applications in scientific and technological fields with significant social and environmental impact that rely on the use of RPA (Remotely Piloted Aircraft) cameras. These applications include searching for people, monitoring geological, water, and forest resources, as well as surveillance and security, among others. However, RPA naturally experiences vibrations due to flight conditions and its mechanical moving components. These vibrations can cause motion blur and misframing in captured images, affecting their clarity and usability. It is crucial to study these vibrations to develop effective mitigation methods. This study focuses on developing a vibration isolation method for a camera mounted on a small commercial RPA using a mechanical passive isolation system. To this end, the vibrations experienced by the RPA during flight were empirically characterized for two flight phases: static and horizontal, using an onboard vibration measurement system specially developed to operate remotely. Experimental tests were conducted under laboratory conditions using a mechanical shaker to determine the vibration response of an adjustable mechanical passive isolation system with isolators installed in various spatial configurations. This is to determine how spatial arrangement affects vibration isolation and to select the isolators and their most appropriate arrangement to be implemented in the isolation system. The isolation system's transmissibility curves were determined for four configurations using four suspension ball-type isolators for a frequency sweep ranging from 5 to 220 [Hz]. For this frequency range, the most significant dynamic excitations occur in small commercial RPAs such as the selected one. An isolation system was chosen for implementation in the RPA, and flight tests with image capture were conducted. The degradation observed in the image quality was quantified using an image focus metric. The findings from this study conclude that the arrangement of mechanical isolators can greatly impact the effectiveness of vibration isolation, and it is crucial to select and arrange them properly based on the operational frequency range. Based on these results, a mechanical passive isolation system was proposed and tested in the RPA, resulting in a 95% reduction of vibrations experienced by the on-board camera.Item Sistema de medición de vibraciones basado en Raspberry Pi para estabilización de dispositivos de adquisición de imágenes en dron hexarotor F550.(Universidad de Concepción, 2023) Riedel Hornig, Karen Liliane; Leaman Weiffenbach, Félix Alberto; Tinapp Dautzenberg, Frank JoachimNowadays, drones have proven to be versatile aircraft that are produced in different shapes, types and sizes. Usually, drones are equipped with various sensors to fulfill mission-specific duties. In this regard, at present is a common practice to mount imaging devices on drones. The development of the drone-camera systems technology is a subject of great relevance in scientific and technological areas because it can be utilized in several applications with high social and environmental impact such as: monitoring of natural resources such as mineral, water and forest resources; rescue operations in natural disasters, surveillance and security, among others. However, during a flight drones exhibit vibrations caused by flight conditions and their own mechanics, the latter mainly due to the movement of the motors and propellers. When flight vibrations are transmitted to the imaging devices onboard, their image quality is degraded by motion blur and scene misframing. Furthermore, depending on the severity of the vibration, they could cause physical damage to the imaging device’s optical components. For this reason, it is of great importance to study and develop mechanical stabilization systems to mitigate the effects of vibrations on the onboard equipment. In this work, a vibration measurement system is developed and implemented in a hexarotor drone to characterize the vibrations experienced by the drone over time in a flight. This corresponds to the first step in developing a mechanical vibration isolation methodology for onboard imaging systems. In this work an F550 model hexarotor drone was assembled, its operational software was configured, and its flight-aid instrumentation was calibrated. Furthermore, a vibration measurement system was developed with a Raspberry Pi computer and three triaxial digital accelerometers. Particularly, the physical and electrical connections between the equipment were set up, the accelerometer operation software was developed, the accelerometer’s calibration was performed, and the onboard accelerometer housing components were designed and constructed. The measurement system was implemented in the hexarotor drone, and a verification test was conducted. Subsequently, flight tests were conducted with the measurement system onboard to record the accelerations in the three axes for three different flight phases: hovering, horizontal displacement and vertical displacement. Finally, the vibrations experienced by the drone were characterized using a time-frequency analysis to identify the frequency components that must be isolated with a mechanical stabilization system.