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