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To learn more about fish-based propulsion systems, try reading the following sources: Scientific American, March 1995, An Efficient Swimming Machine, by Micheal S. Triantafyllou and George S. Triantafyllou, and Exploring Biomechanics, by R. McNeill Alexander, published by Scientific American Library, 1992, ISBN 0-7167-5035-X.
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R5, 10K ohms R7, 15K ohms Q2, NPN 2N2222 transistor Q3, TIP 120 NPN Darlington IC1, 555 timer C1 and C2, 22-microfarad ( F) capacitors C3, 0.01- F capacitor Rotary solenoid $5.95 Q1 2N2646 UJT $5.95 1 /8" thick 1/2" wide 6" long aluminum bar $1.50 1 /8" thick 11/4" wide 2" long aluminum bar $1.00 Parts are available from: Images SI, Inc. 39 Seneca Loop Staten Island, NY 10314 (718) 698-8305
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Aerobots
AEROBOTS (AERIAL ROBOTS) ARE A CLASS OF ROBOTS THAT can fly. They include lighter-than-air aircraft (blimps), helicopters, and airplanes. Some applications for aerobotics are autonomous flight, drones, warfare, surveillance, advertising, and telepresence. Autonomous aircraft have a long history, the first ones being built in the early 1920s. One unmanned aerial vehicle (UAV) codenamed the bug was designed for warfare. The bug was about 12 feet (ft) long with a wingspan of 15 ft. Its sophisticated flight control system (for its time) included a gyroscope, an altimeter, and electric and pneumatic controls. The flight control system flew the craft 30 to 40 miles into enemy territory. When the desired distance was reached, the craft would jettison its wings, forcing the nose-heavy fuselage to fall to Earth carrying a payload of 200 pounds (lb) of explosives. But World War I ended before the bug could see any action. From this beginning UAVs have been under continual development and refinement. The latest UAVs saw action in the Persian Gulf war. Although the UAVs received little to no press, they flew over 300 sorties. They performed reconnaissance and damage assessment and followed enemy weapons deployment. The most recognized and most sophisticated autonomous aircraft is epitomized by the selfguided cruise missile carrying nuclear warheads. Telepresence flight control systems also have a long history, but not as long as that of UAVs. In World War II, the United States used remotely piloted aircraft to fly kamikaze missions. The old-style remote control systems have nowhere near the technical sophistication of today s systems. The old remote control systems were
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unreliable, and the pilot needed to keep a visual eye on the remote aircraft to fly it accurately. Today remotely piloted aircraft have video cameras transmitting pictures back to the pilot. The pilot may be situated anywhere in the world. The systems have developed into telepresence virtualreality (VR) systems. The aerobot we will build is a flying telepresence blimp. The reason I chose this mode of flight (a lighter-than-air framework) over a model helicopter or model airplane is safety, silence, low cost, and ease of use. Blimps are quiet, slow, graceful, and forgiving in flying errors. Safety was the major factor in my decision. If a blimp bumps into a person or object, there will be little or no harm. Airplanes and helicopters on the other hand are potentially lethal weapons (the propellers on airplanes and helicopters) when in close proximity to human life. The blimp we will build is limited to indoor use. Care must be taken in choosing components that are extremely lightweight. The payload capacity (lift) of the blimp is approximately 6 ounces (oz). This means our radio-controlled (R/C) receiver, propulsion, power supply, charged coupled device (CCD) camera, and video transmitter together must weigh in at or under this 6-oz weight restriction. Tough, but not impossible.
Lighter-than-air aircraft background
Lighter-than-air aircraft fall into three categories: rigid, semirigid, and nonrigid. Rigid aircraft have internal frames usually made from lightweight aluminum. The most famous of these are the Zeppelins. Semirigid aircraft have a rigid lower keel section. A nonrigid envelope that is filled with helium is secured above it. Nonrigid aircraft are the ones we are most familiar with today. These are blimps. One of the more famous blimps is the Goodyear blimp used for advertising. Nonrigid aircraft are made of huge gas envelopes. The envelope shape develops when it is filled with helium gas.
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