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Abstract(s)
A utilização e desenvolvimento de veículos aéreos não tripulados (UAV), tem emergido rapidamente no nosso quotidiano, assumindo um papel crucial em diversas áreas comerciais, de defesa, prevenção e proteção. Uma das possíveis aplicações consiste na utilização destas plataformas em tarefas de monitorização e mitigação de derrames petrolíferos, de forma a minimizar o impacto ambiental causado por estes desastres. Esta dissertação insere-se no âmbito dos projetos Robotic Oil Spill Mitigation (ROSM) e First line response to oil spills based on native microorganisms cooperation (SpilLess), e propõe-se desenvolver um veículo autónomo aéreo de asa rotativa, capaz de identificar, localizar e mitigar os derrames, utilizando um sistema de libertação de consórcios de bactérias e nutrientes. Desta forma, foram desenvolvidos todos os aspetos mecânicos e eletrónicos, resultando uma nova plataforma hexacopter com um formato inovador, composto por um sistema de gimbal, na região frontal, um conjunto de câmaras de espetro visível e infra-vermelho, um sensor LiDAR, um sistema de controlo de baixo nível, constituído por um autopilot, um Global Navigation Satellite System (GNSS) e um Inertial Measurement Unit (IMU) de alta precisão, um computador de bordo, utilizado para as tarefas de processamento e controlo autónomo, e um sistema de dispersão de bactérias. Com os circuitos elétricos validados, procedeu-se `a realização dos testes de voo, em ambientes indoor e outdoor, permitindo ajustar os parâmetros de controlo do veículo. Os resultados experimentais demonstraram que a plataforma foi implementada com sucesso.
The use and development of a UAV have rapidly increased in areas such as commercial, defense, prevention and protection. One of the possible applications is to use these vehicles in oil spill monitoring and mitigation tasks, in order to minimize the environmental impact caused by these disasters. This dissertation is part of ROSM and SpilLess projects and it is proposed to develop a rotary-wing UAV capable of identifying, locating and mitigating the oil spill, by using a release system of consortia of bacteria and nutrients. In this way, all mechanical and electronic aspects were developed, resulting in a new hexacopter platform with a new design, composed by a gimbal system, in the front, a set of visible and infra-red cameras, one Light Detection and Ranging (LiDAR) sensor, a low-level control system with an autopilot, a GNSS and a high precision IMU, an onboard computer, used for processing all the data and perform an autonomous control, and finally a bacterial spreading system. With the validated electrical circuits, several flight tests were carried out, in indoor and outdoor environments, allowing to adjust the control parameters of the vehicle. The flight results demonstrated that the platform was successfully implemented.
The use and development of a UAV have rapidly increased in areas such as commercial, defense, prevention and protection. One of the possible applications is to use these vehicles in oil spill monitoring and mitigation tasks, in order to minimize the environmental impact caused by these disasters. This dissertation is part of ROSM and SpilLess projects and it is proposed to develop a rotary-wing UAV capable of identifying, locating and mitigating the oil spill, by using a release system of consortia of bacteria and nutrients. In this way, all mechanical and electronic aspects were developed, resulting in a new hexacopter platform with a new design, composed by a gimbal system, in the front, a set of visible and infra-red cameras, one Light Detection and Ranging (LiDAR) sensor, a low-level control system with an autopilot, a GNSS and a high precision IMU, an onboard computer, used for processing all the data and perform an autonomous control, and finally a bacterial spreading system. With the validated electrical circuits, several flight tests were carried out, in indoor and outdoor environments, allowing to adjust the control parameters of the vehicle. The flight results demonstrated that the platform was successfully implemented.
Description
Keywords
Autopilot Controlo PID Eletrónica UAV Autónomo Mitigação Derrame de petróleo VTOL Versatilidade Calibração CAD Sistema de encaixe Control Electronics Autonomous Mitigation Oil spill Versatility Calibration Stack system