Streamlined Quick Unfolding Investigation Drone (SQUID)
About
SQUID is a small unmanned aerial system designed around its ballistic launching capability
This unique deployment allows it to fulfill needs in emergency response, space exploration, and defense.
As part of the Burdick Robotics Group at Caltech, I finalized the V3 of this concept by improving launch capability and establishing the autonomy pipeline
Adding the Companion Computer
Having only a flight computer, I needed to add a companion computer increase autonomy.
I established an autonomy pipeline using Robot Operating System (ROS), a Raspberry Pi, and a LIDAR scanner, and onboard measurements from the flight computer
SQUID V3: Cuttlefish can autonomously initiate powered flight and navigate to waypoints using GPS or GLONASS. Future work could involve a constructing a global representation with Visual Inertial Odometry
Implementing Arm Release Mechanism
Previous versions used a burn wire to release the motor arms, which required desoldering and replacement after each test.
I implemented a compact servo actuated release mechanism to improve test frequency and user sanity.
The servo can then lock arm position to prevent movement of the propulsive axes.
New Launch Method
Previous versions used foam pusher at the base of the vehicle to initiate launch. This limtied exit velocity and added complexity to the system
I implemented pusher plate with an obturating ring assembly to increase force transfer during launch
Higher launching altitude improves survivability in austere environments and passive aerodynamic stability with high crosswinds.