International Journal of Interactive Mobile Technologies (iJIM) – eISSN: 1865-7923 – Vol. 14, No. 10, 2020 Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data https://doi.org/10.3991/ijim.v14i10.15257 S. Pop Transilvania University of Brașov, Brașov, Romania C. Ceocea Vasile Alecsandri University of Bacău, Bacău, Romania C. Cioacă, V. Prisacariu Henri Coandă Air Force Academy, Romania M. Boșcoianu Transilvania University of Brașov, Brașov, Romania V. Vlădareanu, L. Vladareanu () Institute of Solid Mechanics of the Romanian Academy, Bucharest, Romania luige.vladareanu@vipro.edu.ro / luigiv2007@yahoo.com.sg Abstract—Currently, atmospheric and environmental monitoring also re- quires approaches based on robotic aerial mechatronic systems that can offer the advantages of onboard intelligent sensors. The accelerated dynamics of climate change generate risks that can be prevented by the acquisition, storage, transmis- sion and processing of data taken under static, quasi-statistical and kinetic condi- tions at lower costs compared to piloted aircraft. The article presents an approach on atmospheric and environmental monitoring using a robotic aerial mechatronic system based on an airship UAV and a classic airborne UAV, launched using a ground-based launch device. Keywords—Mechatronic system, LTA-FW architecture, sensors, environmen- tal monitoring 1 Introduction Robotic air systems fully meet the requirements to be able to catalog complex mech- atronic systems through the synergistic integration of the following systems (at ground level and air vector level): command and control system, energy system, actuator sys- tem, sensor system and different computer applications [1]. Moreover, unlike artificial intelligence, which is another engine of the fourth industrial revolution, robotic auton- omous air systems have surpassed the critical point of validating expectations on the transition curve, heading to the area of productivity not only in the military field, but also in the civil, commercial or hobby fields [2,3,4,5,6,7]. iJIM ‒ Vol. 14, No. 10, 2020 139 https://doi.org/10.3991/ijim.v14i10.15257 mailto:luige.vladareanu@vipro.edu.ro mailto:luigiv2007@yahoo.com.sg Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data Increasing the capacity to adapt to the real or potential effects of climate change represents a strategic objective at national level. It can be achieved by carrying out the following specific activities: active monitoring, risk management in critical sectors, ad- aptation measures based on effects [8]. In the field of environmental monitoring, the use of these systems is not new [9-12], imposing itself by exceeding some limits of the traditional monitoring platforms (ground stations, aircraft, satellites) through versatility, efficiency and accuracy [13- 17]. The proposed technical and procedural solution (MAPIAM) solves the need for ef- ficient monitoring by using personalized technologies [18] for the information and data collection stage. MAPIAM is a recoverable and manageable system capable of collect- ing and transmitting meteorological data in real time from areas not covered by con- ventional monitoring methods. The availability, accessibility and format of this data facilitates the elaboration of microclimate predictions needed in different fields of ac- tivity. 2 Mechatronic System Description The architectures consisting of a lighter-than-air system (LTA) and a robotic air sys- tem (fixed-wing type - FW) were developed with the purpose of exploiting the auton- omy performances offered by LTA and the relatively high speeds offered by the robotic air systems carrying sensors used in data acquisition (e.g. image, sound, temperatures, contaminated atmosphere). The innovative MAPIAM system, whose architecture is based on the LTA configu- ration - deployment device - FW, eliminates the technical and procedural vulnerabilities identified in the specialized literature: UAV clamping device with a complicated archi- tecture (beam, clamps, mat), which increases probability of failure in operation [19]; releasing the UAV from the balloon through the free fall procedure raises problems of resistance of the UAV structure and its flight control [20]. 2.1 Description of the release device Use The launching device is the result of the theoretical and experimental achieve- ments of the authors in the field of robotic air systems. This eliminates the disad- vantages of the launch devices and methods described above by constructive simplicity and trigger automation by means of the autopilot on board the fixed wing robotic air system. The technical problem that the invention solves is to print the desired launch direction and rapid static or free launch without affecting the resistance structures of the heliostat and the robotic air system. The main components in accordance with the operational flow are presented sche- matically în Fig. 1. The device for remote controlled deployment of heliostat fixed wing robotic aerial systems has an aluminum rod type heliostat (1) and two identical 8 mm diameter alu- minum guide elements (2). Two identical wing fastening elements (3) each made of 140 http://www.i-jim.org Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data two ABS clamps (4) and an aluminum pipe with a diameter of 12 mm (5) slide on the guide elements (2) and a mechanism consisting of a servomechanism with 5V power supply from the autopilot battery (6), shaft (7), safety ring (8), seat (9) and cord type cable (10) ensure remote controlled release. Fig. 1. Diagram of the release device: (a) as a whole, (b) remote control release mechanism, (c) servomechanism By applying the invention, the following advantages are obtained: the problem of remote control of the deployment of the robotic air system is solved without the need for reconfiguration by equipping with other elements; the release device is based on a simple and scalable architecture; the possibility of launching at any time on the climb path and environmental conditions; very short lead time; very low production costs, provided that the connection elements are made using 3D printing technology. 2.2 UAV-LTA description The UAV blimp is a 2014 design and a 2017 manufacture, with four-tire polyure- thane tire and equipped with electric propulsion, see figure 2 and table 1 [21]. The air system contains the airship type air vector, a portable command-control (C2) station and a manual docking device. The blimp is guided using a 6-channel RC system (2.4 GHz), 433 KHz (100 mW) telemetry and 5.8 GHz image, the technical characteristics are shown in table 1. The UAV-LTA aerial vector is equipped with 3 electric motors. Fig. 2. UAV-LTA iJIM ‒ Vol. 14, No. 10, 2020 141 Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data Table 1. Technical characteristics and flight performance Characteristics Value Characteristics Value Length /diameter 5 / 1,7m Gas Helium; loss 0,3% / zi Envelope poliurethan 100 microns / 8 m3 Speed 0 ÷ 20 km/h Payload mass 1,2 kg Autonomy 1 h Helium mass 1,35 kg Range 20 km Total mass 7 kg Ceiling 3000 m Propulsion 3 x electric Battery 3 x LiPo 11,1 V de 3A Command 6 channels Automat pilot 48 channels The main type of missions that can be accomplished is the acquisition of data in static / quasi-static mode and at low speed, as follows: image data with EO-IR sensors or FLIR camera; telemetry and atmospheric data, such as: temperature, humidity, dew point, air quality, wind direction and intensity; noise level data. 2.3 UAV-FW description Nimbus is an aircraft manufactured by the MFD (MyFlyDream) company in UAV concept, an electric twin-engine, with rectangular wing placed on top and V. V-shaped fuselage. The materials used are: carbon fiber (rear fuselage), EPO foam (wings, fuse- lage and hinges) and plastic and metal (assembly elements), see figure 3. Fig. 3. UAV Nimbus Due to its flight characteristics (see table 2) Nimbus can carry out a series of mis- sions, as follows: acquisition of telemetry and image data, available in the delivery ver- sion due to the on-board radio-electronic equipment (GPS, autonomy); acquisition of atmospheric data, depending on the environmental sensors placed on board (tempera- ture, humidity); acquisition of data on trajectory 3D behavior and structural behavior based on sensors placed on board [16,17]. 142 http://www.i-jim.org Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data Table 2. Technical characteristics and flight performance Characteristics Value Characteristics Value Span / length 1,8 / 1,3m Propulsion 2x electric 12V Max speed 130km/h Battery 6S, 16A Max mass / payload 5,5 / 1,5kg Command 2,4 Ghz, 6channels Ceiling 3500m Autonomy 1,5 – 2,5h 3 Flight Mission with The Data Acquisition 3.1 Preparing the mission The tests carried out aimed to streamline the procedures for acquiring the climate data of the overlying areas. For this purpose, a data acquisition system equipped with a humidity and temperature sensor was connected, connected to an acquisition board. The data transmitted by the sensors is read every 2 seconds, being synchronized with the spatial positioning data provided by the GPS sensor. The command to trigger readings by the acquisition board was made by intercon- necting it to the autopilot module. Thus, through the mission planning interface, actions can be established that can be performed at certain WP (way point) or between WP, actions that are transmitted in the form of a PWM signal to the acquisition board. Fig. 4. Connection diagram In this way, 3 methods of data acquisition were planned and executed. This proce- dure consists in raising the UAV-LTA system to a predetermined altitude, expanding the UAV and entering it on the path of predefined automatic missions. 3.2 Types of data acquisition missions Pattern with parallel paths and altitude change: The flight pattern with parallel paths and the altitude change is intended to probe the atmosphere on a surface as wide as possible at different altitude levels [22]. iJIM ‒ Vol. 14, No. 10, 2020 143 Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data During the experiment, 3 routes were planned (Figures 5 and 6) with the starting point of the mission being WP8 -150m AGL, and the starting point of the readings in WP7, the altitude difference being 50m along the route. Fig. 5. The flight path Fig. 6. The flight location The figure 7 shows the temperature and humidity data collected every 2 seconds, the data being spatially located using GPS. Fig. 7. Temperature and humidity values Spiral flight pattern and altitude change: The spiral flight pattern with the change of altitude is useful in collecting environmental data on an air column at the vertical point of interest (figure 8). 144 http://www.i-jim.org Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data Fig. 8. Spiral flight pattern and altitude change The procedure consists of launching the UAV from a predetermined altitude, and its registration on a downward spiral flight path with a predetermined radius. The humidity and temperature data collected during this procedure can be viewed in the graphs in figure 9. Fig. 9. Temperature and humidity values Pattern with fixed points and altitude change: The fixed-point flight pattern (Fig- ure 10) and the altitude change is a more complex procedure that allows a quick probing of the atmosphere over different points of interest. The advantage of the mission is that it can be realized on different flight levels, in a very short time. iJIM ‒ Vol. 14, No. 10, 2020 145 Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data Fig. 10. Pattern with fixed points and altitude change The data collected during this type of mission are shown in the graphs in figure 11. Fig. 11. Temperature and humidity values 4 Conclusion The article is based on a series of experimental researches and stages of preparation of the two UAVs integrated in the UAS that generated a patent proposal. The aerome- chanical characteristics of the two types of UAV-LTA aircraft UAV-FW have re- quested approaches on system risk management to avoid the occurrence of incidents during the integration of radio electronic systems in the laboratory, during the centering and operation tests in static regime and during missions to acquire atmospheric and environmental data. The three types of missions addressed reveal the real possibilities of the mechatronic system regarding the accuracy of the temperature and humidity data acquisition offered, which can be extended to a package of atmospheric sensors (wind speed and direction, solar radiation level) and environment (PM10, VOC, CO). The robotized aerial mechatronic system used can offer optimal conditions for sam- pling atmospheric and environmental data in a low-cost concept in terms of modularity and scalability, depending on the mission requirements. The current level of equipping of the mechatronic system used provides the upgrade possibilities necessary for com- mand and control optimization for the future expansion of the mission range. For a good 146 http://www.i-jim.org Paper—Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data coverage of data collection in the areas of interest, a mixed approach of types of mis- sions and flight regimes is recommended under the conditions and measures of flight safety. In the context of climate change, new imperatives are emerging for environmental monitoring: the need for accurate data in short time areas of small and difficult to access areas. Robotic air systems fully meet these requirements, and the proposed MAPIAM architecture has the advantage of being able to be reconfigured quickly for other types of applications than environmental ones: air quality, agriculture, topometry. Future research directions include, on the one hand, the analysis of the influence of the air mesh on the environmental parameters monitored in the fixed-wing and multi- rotor variants, and on the other, the availability and accessibility of real-time data. 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Pop is from Transilvania University of Brașov, Romania C. Ceocea is from Vasile Alecsandri University of Bacău, Romania C. Cioacă and V. Prisacariu are from Henri Coandă Air Force Academy, Romania M. Boșcoianu is from Transilvania University of Brașov, Romania V. Vlădareanu is from Institute of Solid Mechanics of the Romanian Academy, Romania. L. Vladareanu Institute of Solid Mechanics of the Romanian Academy, Bucharest, Romania Article submitted 2020-04-27. Resubmitted 2020-05-28. Final acceptance 2020-05-28. Final version pub- lished as submitted by the authors. iJIM ‒ Vol. 14, No. 10, 2020 149 iJIM – Vol. 14, No. 10, 2020 Aerial Mechatronic Systems for Collection of Atmospheric and Environmental Data