Design and Preliminary Validation of UAV-Based System for Remote Animal Anesthesia

Abstract

In this study, a model was proposed for performing remote anesthesia on animals using a quadrotor unmanned aerial vehicle (UAV). The proposed model integrates a manipulator into the UAV, and a mechanism system for throwing an anesthesia needle was mounted on this manipulator. A solid model of the entire proposed system was created, and a mathematical model of the system was developed. The validity of the proposed model was verified by examining the system parameters through simulation studies based on this mathematical model. Two different scenarios were constructed in the simulations. In the first scenario, the system locked on the target for a fixed position, while the second scenario was on a target that is in motion in all three dimensions. In both simulations, the UAV flew autonomously along a predetermined trajectory. The results obtained were presented graphically. In addition, the system for which a solid model was created was produced and preliminary tests were carried out in the outdoor environment. It has been shown that this proposed system can be used in a real environment.

Keywords

• Animal anesthesia
• UAV
• Design
• Control
• Simulation

İHA’ya Entegre Manipülatör Kullanılarak Anesteziyle Hayvanları Yakalamak İçin Bir Sistem Önerisi: Simülasyon ve Deneysel Doğrulama

Abstract

Bu çalışmada, dört rotorlu bir insansız hava aracı (İHA) kullanılarak hayvanların uzaktan anestezisi için bir model önerilmiştir. Önerilen model, İHA'ya bir manipülatör entegre etmiş ve bu manipülatöre anestezi iğnesi atmak için bir mekanizma sistemi monte edilmiştir. Önerilen sistemin tamamının katı bir modeli oluşturulmuş ve sistemin matematiksel modeli geliştirilmiştir. Önerilen modelin geçerliliği, bu matematiksel modele dayalı simülasyon çalışmaları yoluyla sistem parametrelerinin incelenmesiyle doğrulanmıştır. Simülasyonlarda iki farklı senaryo oluşturulmuştur. İlk senaryoda, sistem sabit bir pozisyondaki hedefe kilitlenirken, ikinci senaryo üç boyutta hareket halinde olan bir hedefin takibi üzerinedir. Her iki simülasyonda da İHA önceden belirlenmiş bir yörünge boyunca otonom olarak uçuş yaparak her iki görevi yapmaktadır. Simülasyonlara ilişkin elde edilen sonuçlar grafiksel olarak sunulmuştur. Ayrıca, katı modeli oluşturulan sistem üretilmiş ve dış ortamda ön testleri gerçekleştirilmiştir. Önerilen bu sistemin gerçek bir ortamda kullanılabileceği gösterilmiştir.

Keywords

• Hayvan Anestezisi
• İHA
• Kontrol
• Simülasyon
• Tasarım.

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