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Proposed Solution: Collapsible boom with mooring wiresProposed Solution: Collapsible boom with mooring wires
NIMS BackpackNIMS Backpack
Introduction: NIMS Backpack, a shift from NIMS RDIntroduction: NIMS Backpack, a shift from NIMS RD
Center for Embedded Networked SensingCenter for Embedded Networked Sensing
UCLA UCLA –– UCR UCR –– Caltech Caltech –– USC USC –– CSU CSU –– JPL JPL –– UC MercedUC Merced
Dor Yisrael Ashur, Olmo Maldonado, Diane Budzik, Laura Balzano, William KaiserNetworked Info-Mechanical Systems (NIMS)
Tripod Stand SelectionTripod Stand Selection
• Commercially available• Load capacity of 66 lbs• Collapsed size of 23”• Adjustable leg
Figure 7: Manfrotto – Avenger A-128 Ultra Low Boy Stand
Support Tower DesignSupport Tower Design
Figure 10: 3D diagram
3’
• Anchor points– 8 openings available
• Adjustable height– Max. height from the
base is 3’– Offsets horizontal forces
• Assembly– Screw-on design for easy
deployment ¾” diameter
Ball BearingBall BearingTo the hand crank
Terminates
To the node/sensor carriage
Shuttle cable anchored
Shuttle cableNode cable
Shuttle DesignShuttle Design
Figure 8: Tail connector and shuttle running on a pipe
• Ball bearing design– Precision made– Reduces friction
• Aluminum Construction– Durable– Lightweight
• Commercially available
Crane DeploymentCrane Deployment
Figure 6: An example river deployment using NIMS Backpack
Increased area coverage through base rotation
Increased area coverage through base rotation
Figure 1: NIMS RD deployed in the Merced and San Joaquin River Confluence Region. Current system requires two supports, large deployment teams, anchors and equipment
Design Constraints for Backpack NIMS• Minimum of 50’ transect
– 10’ depth– Capable of water/land/air deployments– Transport/support ~15 lbs of sensors
• System must fit within 2 backpacks– Large camping backpacks (13”x16”x32”)– Maximum of 50 lbs per backpack
• Assembled and operated by 2 college educated people• Minimize cost (less than $700)• Minimize specialized parts for easy part replacement• Minimize power needed for data collection
SupportSupport
PersonnelPersonnel
PersonnelPersonnel PersonnelPersonnel
SupportSupport
SensorsSensors
A portable system with quick set-up and minimal infrastructure is ideal.
Typical NIMS RD deployment requires 2~3 hours (Lake Fulmor).
A portable system with quick set-up and minimal infrastructure is ideal.
Typical NIMS RD deployment requires 2~3 hours (Lake Fulmor).
Current System: NIMS RD
Figure 2: Backpack examplesPhoto: jdhoges.comPhoto: jdhoges.com
• Environmental Challenges– Branches and other obstructions– Wind– Water currents– Unstable ground– Animals
Figure 4: 3D Assembly of two aluminum 6061 pipe pieces mating together
2 ft lengthWelded
3”
Abrasive Fitting¾” diam
eter
Aluminum Pipe DesignAluminum Pipe Design
• Corrosion resistance– No known instances of failure
• Yield Strength– 276 – 310 MPa
• Machinable
Support cables string through small cylinders
Boom SupportBoom SupportWire support connections on every boom section allow the number of connections to change depending on environmental conditions
Figure 5: Support wire stringing
Terrestrial ApplicationTerrestrial Application100’
Both shuttles, can be geared to move synchronously to distribute the load evenly
Both shuttles, can be geared to move synchronously to distribute the load evenly
La Selva biological station can use a modified versionto create a 360 degree scan of the wildlife above the canopy.
La Selva biological station can use a modified versionto create a 360 degree scan of the wildlife above the canopy.
Holes to attach mooring cables
Screws through these holes lock the turntable in place
Figure 9: 3D model of turntable.
Stats:- Bottom: 9” Dia. x .25” Thck.- Top: 7” Dia. x .125” Thck.
Stats:- Bottom: 9” Dia. x .25” Thck.- Top: 7” Dia. x .125” Thck.
Base DesignBase Design
4” Square turntable
StrengthsStrengths• Rigid structure
– No localization problem
• Less cables– Easier and faster
deployment• Weight
– Only 30 lbs• Meets design
constraints
• Turntable– Square design is not
rigid• Pipe structure
– Pipe connections can be improved
• Cables may tangle• Tensioning is difficult
WeaknessesWeaknessesAssembly ExampleAssembly Example
7. Insert end boom section into shuttle8. String support, guiding, and depth cables9. Insert the end boom section into the base10. Continue to insert and string boom sections
Figure 11: Assembly construction, indicating only steps 8-10
1. Set-up tripod2. Attach turn table on tripod3. Screw base and crank housing to turntable4. Screw support tower to base5. Connect cranks 6. Screw node pulley and shuttle plate to shuttle
Housing and Cranking DesignHousing and Cranking Design
Figure 3: Design overview of NIMS Backpack
Each wire is strung around a small hand crank and tightened. The slack is collected and attached to the shuttle
Green wire pulls the node up and down
Figure 12: Modification to current design allowing data collection within the canopy
536.3525.63Total68.000.341Tripod Connection14
2.400.402Crank1368.521.321Crank Base12
5.460.682Node Pulley118.750.401Shuttle Mounting Plate102.500.091Pulley Housing9
18.750.341Shuttle Pulley850.4011.2525Boom Section715.520.191Post Plate613.250.691Cable Support Tower5
4.800.231Turn Table442.000.501Shuttle380.001.001Base2
156.008.201Tripod1Price ($)Mass (lb)QTYPart
Parts ListParts List