About SALUS
About The Product, Technology Used & Production Process

Stabilizing Aerial Loads Utility System
Operationally Unobtrusive Anti-rotational Device
Medical evacuation, search and rescue, and cargo transport missions require that helicopter hoist operations be performed in the face of disadvantageous environmental conditions. Hoisted objects tend to spin while being lifted under a helicopter due to rotor downwash. Spinning is a potentially catastrophic event that leads to evacuee nausea, disorientation, and vertigo, and can be life-threatening.
SALUS (Stabilizing Aerial Loads Utility System) introduces Operationally Unobtrusive Anti-rotational Device with Stability Manager, that consists a suite of electronics responsible for detecting motion and dictating motor behavior.
PROBLEM

Spin instability during helicopter hoist operations
6,500 government helicopters outfitted for hoist operations. Spin instability present on every hoist mission. Dangerous, uncontrolled spinning leads to vertigo, nausea, striking, and entanglement.
SOLUTION

Stabilizing Aerial Loads Utility System
SALUS employs a switch-enabled stability manager controlling a spinning reaction-wheel, to counter the angular momentum of a hoisted object.
Key Innovation - SALUS Features
Stabilizing
A switch-enabled stability manager controls a spinning reaction-wheel to counter the angular momentum of a hoisted object.
Universal
SALUS connects to the hoist hook and lift slings, ensuring stability regardless of load type or the external environment.
Unobtrusive
An intuitive UX and simplicity of operation ensure existing hoist standard operating procedures remain intact.
Modular
SALUS supports various modules, to include visual and infrared lighting for load illumination.
Technology - Science Background

CMG
Counter-torque capability with gyroscopic precession applied to intelligently stabilize on multiple axes

Momentum Wheel
Gyroscopic precession selectively applied to mitigate load oscillation and sway

Reaction Wheel
Counter-torque to reduce spin instability in either direction
Basics of Flywheel Mechanics
- Verification: Check the energy of both a flywheel and simplified litter model spinning
- Result: Comparable energy from both systems with reasonable values
PID Control
- Controlling Spin: Algorithm required to inform how and when to spin the flywheel
- PID: A tried and true method for holding a system to steady state
- Usage: Desired state is zero angular velocity, and response variable is motor speed and direction
Intellectual Property
- Device for Stabilizing a Hoisted Object
- Aerial Hoist Stabilization System (I)
- Aerial Hoist Stabilization System (II)
- Flywheel-Based Mechanism for Stabilizing Helicopter Hoists
- Control Moment Gyroscope Hoist Stabilization System
- Helicopter Hoisted Load Lighting System
History
SALUS Development History

Proof of Concept, July 2018
Hypothesis proven TRL 2 & 3
- Control System Established: A 1:10 scale load is effectively stabilized using a single flywheel, brushed motor with driver, and an inertial measurement unit (IMU).
- Load: ≈ 17.5 pounds
- Reaction-wheel: self-machined
- Data-logging: micro-SD card
- Power supply: eight AA in series
- IMU: 6050
- Controller: Arduino UNO
- Motor: AmpflowE30

Prototype I, December 2018
Scaling up TRL 4
- Discharge Mesh: Steel cables extend from hoist hook to lift slings, with device suspended in-between; this allows static electricity to discharge from the helicopter
- Protective Shell: A thick PVC shell protects internal hardware from environmental conditions
- Load: 185 pounds
- Reaction-wheel: self-milled
- Telemetry: HC-06 Bluetooth Power supply: 2x 12V 10Ah LiPo in series
- IMU: 6050
- Controller: Arduino MEGA 2560
- Motor: AmpflowA28
- Chassis: Schedule 80 PVC
- Monocoque bottom chassis cap added

Prototype II, April 2019
Cutting size & weight TRL 5
- Discharge Mesh: Steel cables extend from hoist hook to lift slings, with device suspended in-between; this allows static electricity to discharge from the helicopter
- Protective Shell: A thick PVC shell protects internal hardware from environmental conditions
- Load: 185 pounds
- Reaction-wheel: 11lb S/B Chevy Damper
- Telemetry: HC-06 Bluetooth Data-logging: micro-SD card
- Power supply: 25.1V 18Ah LiPo
- IMU: 9250
- Controller: Arduino MEGA 2560
- Motor: AmpflowA28
- Chassis: 1/8” wall-thickness polycarbonate
- Shaft couplers: same-size flexible, rigid adaptable

Prototype III, November 2019
Improving hardware TRL 5
- Customized Electronics: Custom PCB designed and manufactured to reduce size of electronics package
- Improved Flywheel: Larger flywheel selected to increase angular momentum production
- Load: 185 pounds
- Reaction-wheel: 14lb S/B Chevy Damper
- Telemetry: HC-05/HC-06 Bluetooth modules
- Data-logging: micro-SD card
- Power supply: 25.1V 18Ah LiPo
- IMU: 9250
- Controller: Arduino MEGA 2560
- Electronics: custom MEGA shield

Prototype IV, November 2019
Increasing structural integrity TRL 6
- Constrained Shaft: Extended shaft now constrained on both ends, for added structural integrity
- Over the Air Programming:Software updates pushed remotely; telemetry reliability increased by switching from Bluetooth to WiFi
- End-User Requested Features: Ergonomic handles, load illumination with Army ANVIS compatible infrared option, and remote kill switch added
- Load: 600 pounds
- Reaction-wheel: Dodge, 5.9L Harmonic Balancer
- WiFi-based telemetry (for testing)
- Data-logging: micro-SD card
- Power supply: 25.6V 9.9Ah LFP-26650 cells
- IMU: 9250
- Controllers: ESP8266 Node MCU, Arduino Nano
- Electronics: custom flood board, main board
- Chassis: Carbon Fiber skinned Fiberglass
Production
Process
Project Timeline
2018
1
2
3
2019
4
5
6
2020
7
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Contact
Interested in partnering or learning more about SALUS product?
Fill out the form or email us at info@salus-works.com and we’ll get back
to you as soon as possible.
