Autonomous Highly Maneuverable Miniature Helicopter (AHMMH-1) PDF Spec Sheet
NOTE: THIS VEHICLE HAS BEEN SUPERCEDED BY OUR XS-SERIES: Click Here For Info

NTC and MIT have recently completed a technology transfer effort to enable production of the MIT autonomous helicopter and derivative products. This small-scale helicopter is capable of 'augmented' velocity control flight, wireless upload waypoint following, and autonomous agile maneuvering. MIT, Lockheed Martin Systems Integration in Owego, and Air Force Wright Laboratories in Dayton are all using this helicopter system - a total of eight vehicles in service. See it in action -- ONR-AINS Demo Flight

Airframe Specifications:
R/C Designation: X-cell 90
Weight: 16 lb
Length: 4.5 ft
Rotor span: 5 ft
Payload: 2 lb (agile maneuvering) to 6 lb (aggressive flight)
Ceiling: 5,000 ft +
Radius: 3 mile
Endurance: -up to 3 hrs - see payload/endurance curve

Description:
The AHMMH-1 system is a full suite of tools for engineers and researchers developing advanced autonomous flight systems involving one or more vehicles. The suite includes R/C flight hardware, avionics, ground coordination software, a dedicated development environment, and NTC engineering support. The rugged, maneuverable X-cell 90 has thousands of R/C flight hours behind it, and the high-bandwidth, MIT-designed avionics system provides the opportunity to develop and modify algorithms at various hierarchical levels, from stability augmentation to high-level autonomy.

A QNX development environment is available that provides real-time testing with hardware in the loop and visualization of helicopter behavior. Source code is available for all of the software modules. In addition, the architecture and layout of the avionics box are ideal for incorporating additional sensors, replacing or upgrading components, and integrating on-board algorithms. In short, the AHMMH-1 is 'research ready'.

 

Aggressive Maneuvering
One unique feature of the AHMMH-1 is it's ability to fly aggressively and integrate agile maneuvers into it's flight. These maneuvers, unique to the AHMMH-1, are building blocks for high-speed autonomous flight in confined spaces. Some examples are shown here; others (such as velocity rolls, pop-up maneuvers, and aggressive take off and landing) are either demonstrated or in development.

 

Payload/Endurance Based on measured performance (gas-powered configuration) Measured fuel flow: ~2 minutes endurance per ounce of fuel Measured max lift capability: 13.5 lbs Estimates shown incorporate a 5 lb avionics / sensor / PC-104 computer suite Curve shown trades fuel weight, which provides endurance, against payload

Capabilities and Upgrades

We are continuously improving the AHMMH-1, and will customize our vehicle to meet customer needs.

Recently completed modifications:
- Gas operation for Range, Endurance, and Simplicity
- As easy to start as a weed whacker
- Standard gasoline mixed with oil

- Ruggedized, High-Lift Airframe
- High-lift airfoils on rotor blades

Other planned mods:
- Integrated Alternator to Provide on-board Power
- Installation based on existing, tested configuration
- Increased payload, flight duration
- Ruggedized, High-Lift Airframe
- Custom canopy to protect swash plate and linkages from field handling
- Direct-drive swash plate to reduce linkage lengths, increases stiffness / responsiveness, simpler/more robust

With respect to Avionics and Fight Control, many technologies already exist but NTC/MIT have are working to create the capabilities listed below. Blue capabilities are under development with MIT, Black capabilities represent existing technology to be integrated. Red capabilities are NTC/MIT exclusive technologies

• Auto Take-off, Landing, Autorotation
  - No special skills required to operate safely
  
  
• Auto Landing/Refueling on Ship Deck or HUMVEE
  - Application of patented sensor developed by Prof. Feron
  - Takes advantage of MIT helicopter's precision, high maneuverability
  
  
• Multi-vehicle control station to allow one user to command several vehicles
  
  
• Electro-Optical sensors for navigation through cities
  - Centeye optical flow sensor for obstacle avoidance
  - Radar rangefinder for forward-looking capability
  - 3D situation awareness based on camera imagery
  

Potential Missions for the AHMMH-1

Urban surveillance / reconnaissance
- We are pursuing demonstration of this mission under ONR support

Sensor Emplacement (DARPA requested capability)
- 'Emplacement' of tiny sensors in urban areas of interest
- Mission scenario described in workshop sponsored by DARPA MTO
- The AHMMH-1 provides a highly maneuverable 'mother ship' to carry and emplace sensors

Inspection, Search and Rescue
- Our camera system provides tilt/pan capability while hovering to allow 'staring' under the tree line or in confined spaces

Force and asset protection
- Monitoring of pipelines and oil pumping stations
- Eyes in the sky launched and retrieved from the ship deck

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The helicopter project is part of another NTC project for the development of a Multi-vehicle Planning Interface, for more information consult this page.

 

autonomous miniature helicopter    airdrop    coordinated-control software     multi-vehicle planning interface

Nascent Technology Corporation. 2004. All rights reserved.