A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing

Journal article (2024)

Authors

Suryansh Sharma Networked Systems - EEMCS
Mike Verhoeff Student
Floor Joosen Student
Ranga Rao Venkatesha Prasad Networked Systems - EEMCS
Research Group
Networked Systems (EEMCS) (TU Delft)
Remote sensing Drones Motors Accelerometers Arms Robot sensing systems Mechanical sensors Quadrotors Blimps Ecology monitoring Failure resilience Morphing drones UAV design
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Published Date

2024

Language

English

Reuse Rights

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Faculty

Electrical Engineering, Mathematics and Computer Science

Department

Software Technology

Research Group

Networked Systems

Abstract

The increasing popularity of helium-assisted blimps for extended monitoring or data collection applications is hindered by a critical limitation-single-point failure when the balloon malfunctions or bursts. To address this, we introduce Janus, a hybrid blimp-drone platform equipped with integrated balloon failure detection and recovery capability. Janus employs a triggered mechanism that seamlessly transitions the platform from a blimp to a standard quad-rotor drone. Utilizing multiple sensors and fusing their readings, we have developed a robust balloon failure detection system. Janus demonstrates omnidirectional mobility in blimp mode and transitions promptly into quadrotor mode upon receiving the signal. Our results affirm the successful recovery of the system from balloon failure, with a rapid response time of 66 ms to balloon failure detection. The drone morphs into a quadrotor and achieves recovery within 0.362 seconds in 90% of cases. By amalgamating the enduring flight capabilities of blimps with the agility of quad-rotors within a morphing platform like Janus, we cater to applications demanding both prolonged flight duration and enhanced agility.