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RIT Micro Air Vehicle Preliminary Design Presentation Joshua Baker - - PowerPoint PPT Presentation

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RIT Micro Air Vehicle Preliminary Design Presentation Joshua Baker Tzu-Chie Fu Cuong Le Mechanical Engineering Computer Engineering Computer Engineering Aaron Grilly Atul Phadnis Mechanical Engineering Electrical Engineering David Hein

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SLIDE 1

RIT MAV Team Project 05-001 2004-2005

RIT Micro Air Vehicle

Preliminary Design Presentation

Brian Gillis Team Leader Mechanical Engineering Joshua Baker Mechanical Engineering Victoria Schoennagel Mechanical Engineering Aimee Lemieux Mechanical Engineering Aaron Grilly Mechanical Engineering Tzu-Chie Fu Computer Engineering Cuong Le Computer Engineering David Hein Mechanical Engineering Atul Phadnis Electrical Engineering J.E.D. Hess Mechanical Engineering

  • Dr. Jeffrey Kozak

Team Advisor Mechanical Engineering

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SLIDE 2

RIT MAV Team Project 05-001 2004-2005

Outline

I. Background II. Design Objectives III. Work Timeline IV. Airframe Selection V. Electronics Selection VI. Propulsion Selection

MAV Team 05-001 Airframe Electronics Propulsion Joshua Baker Aaron Grilly David Hein JED Hess Cuong Le Tzu-Chie Fu Atul Phadnis Aimee Lemieux Victoria Schoennagel

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SLIDE 3

RIT MAV Team Project 05-001 2004-2005

Background

  • According to DARPA, a Micro

Air Vehicle (MAV) has a maximum linear dimension of 6 inches.

  • Primarily being researched for

surveillance and reconnaissance operations.

  • Other possible uses include

forest fire detection, Bio- Chemical detection, etc.

  • Annual MAV competition

where various teams compete in surveillance missions and flight performance tests.

slide-4
SLIDE 4

RIT MAV Team Project 05-001 2004-2005

Design Objectives

  • Vehicle with a minimum linear dimension of 15 inches
  • Vehicle can be scaled down in size and still produce

acceptable flight

  • Vehicle must be a new design, not rely on last year’s design
  • Airframe should be built out of composite materials if deemed

reasonable

  • Vehicle must have GPS navigation capabilities along with

video surveillance

  • Performance Goals

– 15 Minutes of flight time – 600 Meter range

  • Attend International MAV Competition in Seoul, Korea
  • Remain within $3,000 budget (excluding travel funding)
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SLIDE 5

RIT MAV Team Project 05-001 2004-2005

Work Timeline

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SLIDE 6

RIT MAV Team Project 05-001 2004-2005

Work Timeline

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SLIDE 7

RIT MAV Team Project 05-001 2004-2005

Airframe Selection

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SLIDE 8

RIT MAV Team Project 05-001 2004-2005

Airframe Main Objectives

1. Flying Wing Configuration 2. Modular Design 3. Maximum Linear Dimension of 15 Inches 4. Research and Test Unconventional Ideas 5. Scalable Platform Upon Which to Base Future Designs

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SLIDE 9

RIT MAV Team Project 05-001 2004-2005

Airframe - Airfoils

  • E174
  • E186
  • EH2012
  • EH3012
  • FX63-137
  • GOE417a
  • M10
  • M12
  • M14
  • MH46
  • RAF6
  • S1210
  • S2027
  • S4022
  • S4083
  • S5010
  • S5020
  • SD7080
  • E174
  • E186
  • EH2012
  • EH3012
  • FX63-137
  • GOE417a
  • M10
  • M12
  • M14
  • MH46
  • RAF6
  • S1210
  • S2027
  • S4022
  • S4083
  • S5010
  • S5020
  • SD7080
  • GOE417a
  • S1210
  • S4022
  • S4083

To Be Tested in the Wind Tunnel Survived First Round of Cuts XFLR5 Testing (Computer Simulation)

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SLIDE 10

RIT MAV Team Project 05-001 2004-2005

S1210 S4022 S4083 GOE417a

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SLIDE 11

RIT MAV Team Project 05-001 2004-2005

XFLR5 Data - Cl vs. Angle of Attack for Airfoils at Reynolds Numbers

  • 1.00
  • 0.50

0.00 0.50 1.00 1.50 2.00 2.50

  • 10
  • 5

5 10 15 20 Angle of Attack (Degrees) Cl (Dimensionless) GOE417a, 100,000 S1210, 100,000 S4022, 100,000 S4083, 100,000

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SLIDE 12

RIT MAV Team Project 05-001 2004-2005

A irfo il

S4083 S1210 S4022 GOE417 a

N o rm alized S co re

100% 94% 91% 79%

R elative R an k

1 2 3 4

E v a lu a tio n

  • f e

a c h c

  • n

c e p t a g a in s t th e b a s e lin e : 1 = m u c h w

  • rs

e th a n b a s e lin e 2 = w

  • rs

e th a n b a s e lin e 3 = s a m e a s b a s e lin e 4 = b e tte r th a n b a s e lin e 5 = m u c h b e tte r th a n b a s e lin e E174 E186 EH2012 EH3012 FX63137 GOE417a M10 M12 M14 MH46 RAF6 S1210 S2027 S4022 S4083 S5010 S5020 SD7080 R Re el la at ti iv ve e W We ei ig gh ht t L Lo

  • w

w R R e ey y n no

  • l

ld ds s n nu u m m b be er r a ai ir rf fo

  • i

il l

3 .0 3 .0 3 .0 2 .0 1 .0 5 .0 3 .5 1 .0 2 .0 3 .0 1 .0 5 .0 3 .0 5 .0 5 .0 4 .0 5 .0 4 .0

8 % K K n no

  • w

w n n p pr ri io

  • r

r u us se e

  • n

n a an n M M A A V V

1 .0 1 .0 3 .0 3 .0 1 .0 5 .0 1 .0 1 .0 1 .0 4 .0 1 .0 5 .0 1 .0 4 .0 5 .0 4 .0 4 .0 3 .0

1 1 % M M a an nu uf fa ac ct tu ur ri in n g g e ea as se e a an nd d a ac cc cu ur ra ac cy y

3 .0 3 .0 3 .0 3 .0 3 .0 5 .0 3 .0 3 .0 3 .0 3 .0 4 .0 4 .5 3 .0 4 .5 4 .0 4 .0 3 .5 4 .0

6 % M M a an nu uf fa ac ct tu ur ri in n g g t ti im m e e

3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0 3 .0

% R R e ea as so

  • n

na ab bl le e c ca am m b be er r ( (1 1% %

  • 8

8% % ) )

3 .0 1 .0 1 .0 1 .0 1 .0 4 .0 1 .0 1 .0 3 .0 2 .5 1 .0 5 .0 2 .0 4 .0 5 .0 2 .0 2 .0 2 .0

1 1 % S So

  • m

m e e r re ef fl le ex x i in n d de es si ig gn n

1 .0 4 .0 3 .0 3 .0 1 .0 2 .0 3 .0 2 .0 3 .0 3 .0 1 .0 2 .0 2 .0 3 .0 3 .0 3 .0 4 .5 2 .0

1 4 % R R e ea as so

  • n

na ab bl le e, , l lo

  • g

gi ic ca al l g gr ra ap ph hs s ( (X XF FL LR R 5 5) ) 3

.5 3 .0 3 .5 3 .5 3 .0 2 .0 2 .0 3 .5 3 .0 3 .0 4 .0 5 .0 3 .0 4 .0 5 .0 3 .0 3 .0 4 .0

1 9 % C C

l l/

/C C

d d

3 .5 3 .0 3 .0 3 .0 4 .8 5 .0 2 .0 2 .8 3 .2 3 .0 3 .0 5 .0 3 .5 5 .0 4 .8 3 .0 3 .0 3 .0

1 9 % C C

m m

3 .0 1 .0 3 .0 2 .0 4 .9 3 .0 2 .0 3 .0 3 .0 3 .0 2 .5 3 .0 3 .0 4 .6 5 .0 3 .0 3 .0 3 .0

1 1 % W W e ei ig gh ht te ed d S Sc co

  • r

re e

2 .7 2 .5 2 .9 2 .7 2 .7 3 .7 2 .1 2 .3 2 .7 3 .1 2 .3 4 .3 2 .6 4 .2 4 .6 3 .1 3 .4 3 .1

N N

  • r

rm m a al li iz ze ed d S Sc co

  • r

re e

5 8% 5 3% 6 2% 5 8% 5 8% 7 9% 4 5% 5 0% 5 9% 6 6% 5 0% 9 4% 5 7% 9 1% 1 0% 6 8% 7 4% 6 7%

Airfoil Feasibility Assessment

slide-13
SLIDE 13

RIT MAV Team Project 05-001 2004-2005

Airframe - Planform

  • Rectangular
  • Zimmerman
  • Inverse Zimmerman
  • Circle/Elliptical
  • Modified Inverse

Zimmerman

  • Most Likely Design: Straight Leading Edge

Approximation of the Inverse Zimmerman Planform

slide-14
SLIDE 14

RIT MAV Team Project 05-001 2004-2005

Airframe - Composition

  • Balsa Wood with Canvas
  • Foam (Polystyrene)
  • Foam with Single Fiberglass

Layer

  • Carbon Fiber
  • Carbon Fiber with Lightening

Holes

  • Composite (Kevlar, Fiberglass)
  • Foam and Fiberglass Combination will be Used for Testing,

Composition of Final MAV Airframe Still to be Determined

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SLIDE 15

RIT MAV Team Project 05-001 2004-2005

Airframe – Pod Location

  • Mounted Above Wing
  • Mounted Below Wing
  • Between Bi-Wing
  • Suspended Below Wing
  • Most Likely Design: Mounted Below Wing
slide-16
SLIDE 16

RIT MAV Team Project 05-001 2004-2005

Airframe – Control Surfaces

  • Options Considered

– Vertical Tail (and Elevator)

  • Single (High or Low Orientation Possible)
  • Double (High or Low Orientation Possible)
  • Angled Vertical Tail

– Winglets

  • Vertical Winglets
  • Angled Winglets

– Canards – Elevators – Ailerons – Elevons

  • Current Approach: V-Tail Protruding from Pod,

Extending Beneath Wing. Elevator to be Integrated if Necessary

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SLIDE 17

RIT MAV Team Project 05-001 2004-2005

Future Analysis

  • Test Airfoils
  • Control Surface

Sizing and Location

  • Airframe Prototype

(March 14th)

  • Refine Design
  • Evaluate and Test

Radical Ideas

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SLIDE 18

RIT MAV Team Project 05-001 2004-2005

Electronics Selection

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SLIDE 19

RIT MAV Team Project 05-001 2004-2005

Full System Design

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SLIDE 20

RIT MAV Team Project 05-001 2004-2005

Components

  • Onboard RF Controller/Receiver
  • Onboard Speed Controller
  • Onboard Servos (Actuators)
  • Onboard Video System

– Video Transceiver & Camera

  • Passive Antenna Array
  • Onboard GPS System

– Onboard GPS Receiver – Onboard GPS Video Overlay Board

  • Batteries
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SLIDE 21

RIT MAV Team Project 05-001 2004-2005

Onboard RF Controller/Receiver

  • RF Controller Selected:

– Futaba 6YGE 72 MHz RF Controller

  • Onboard RF Receiver Selected:

– GWS NARO R-6NH/V Receiver

  • Channels: 6
  • Size: 20 x 30 x 9.5 (mm)
  • Weight: 8.8 g

We selected the GWS NARO R-6N receiver due to its 6 channel

  • design. This allowed for improvements in the form of additional
  • nboard feature/control devices.

Compatibility of the controller/receiver has been verified since both use the Futaba data transmission format.

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SLIDE 22

RIT MAV Team Project 05-001 2004-2005

Onboard Speed Controller

  • Onboard Speed Controller Selected:

– Phoenix-10

The Phoenix-10 speed controller is the leading candidate to be chosen due to its compatibility with the DC motor that is being recommended by the propulsion subgroup.

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SLIDE 23

RIT MAV Team Project 05-001 2004-2005

Onboard Servos (Actuators)

  • Onboard Servos Selected:

– Wes-Technik LS-2.0

  • Time to Full Deflection (sec): 0.15
  • Max Output Force: 160 g
  • Dimensions (mm): 21 X 13 X 9
  • Load Current: < 100 mA
  • Weight: 2 g

The LS-2.0 is the suitable choice for this project since weight is considered to be one of the most important factors.

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SLIDE 24

RIT MAV Team Project 05-001 2004-2005

Onboard Video System

  • Video System Selected:

– Black Widow’s 200 mw Brown Bag Kit

  • 200 mw transmitter/receiver set
  • NTSC 5V Color CCD Camera
  • 8 dbi Circular Polarized Patch Antenna

The 200 mw transmitter/receiver set has been selected to increase the transmission range of the video signal from the MAV to the base station. This increase in range is a critical solution to a previous performance issue

  • f signal propagation failure.
slide-25
SLIDE 25

RIT MAV Team Project 05-001 2004-2005

Passive Antenna Array

  • Passive Antenna Array Selected:

– Leading candidate Hyperlink HG2414P

  • Horizontal/Vertical Beamwidth (deg): 30/30
  • Gain (Directivity): 14 dB

It is ideal to have an antenna that has a balance between the coverage area and the gain. Therefore, the HG2414P is chosen for its fairly good coverage area and an acceptable gain.

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SLIDE 26

RIT MAV Team Project 05-001 2004-2005

Onboard GPS System

  • GPS System Selected:

– UNAV PICO-GPS-SS (GPS Receiver)

  • Size: 1.8” x 1.25” x 0.6”
  • Weight: 28 g

– UNAV OSD-GPS (GPS Video Overlay Board)

  • Size: 2.5” x 2.5” x 0.5”
  • Weight: 22.4 g

We selected the UNAV GPS system due to its small size and weight. Also, the UNAV GPS receiver is complimented by the UNAV video overlay board. These components have already been tested and represents a completely integrated system for GPS data acquisition.

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SLIDE 27

RIT MAV Team Project 05-001 2004-2005

Batteries

  • Onboard Battery Cells

– Leading Candidate Kokam SLPB433452

  • Capacity: 740 mAh
  • Voltage: 3.7 V
  • Dimensions (mm): 52 X 33.5 X 4.35
  • Volume (mm3): 7577.7
  • Weight: 15 g

We have selected the Kokam battery family to supply the onboard current and voltage requirements. Battery packs can be custom made in serial or parallel configurations based on power

  • requirements. Once the total power needs are known, a final battery

package can be selected.

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SLIDE 28

RIT MAV Team Project 05-001 2004-2005

Propulsion Selection

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SLIDE 29

RIT MAV Team Project 05-001 2004-2005

Propulsion Brainstorming

Power System Options

  • IC Engine
  • Electric Motor
  • Rocket Propulsion

Propeller Options

  • Off The Shelf Item
  • Modified Off The Shelf
  • In House Fabrication
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SLIDE 30

RIT MAV Team Project 05-001 2004-2005

Computation

eAR d dC d dC d dC

l l L 2

180 1 π α α α       + =

eAR C C C

L D D

π

2 0 +

=

L D

C C W T =

v P T 97 . 101 =

Initial Values Revised Values

All Estimated Values Variables 2004 2005 dC l /d α 0.1 0.1 AR 1.422 1.422 S (m 2 ) 0.048 0.102 b (m) 0.26 0.381 e 0.9 0.9 dC L /d α 0.041 0.041 AOA (deg) 9 9 C L 0.95 0.95 W (g) 97.9 202.35 C D 0.243 0.252 C D0 0.018 0.027 T (g) 25 53.598 Based on Chosen Electronics Variables 2004 2005 dC l /d α 0.1 0.1 AR 1.422 1.422 S (m 2 ) 0.048 0.102 b (m) 0.26 0.381 e 0.9 0.9 dC L /d α 0.041 0.041 AOA (deg) 9 9 C L 0.95 0.95 W (g) 97.9 198.48 C D 0.243 0.252 C D0 0.018 0.027 T (g) 25 52.573

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SLIDE 31

RIT MAV Team Project 05-001 2004-2005

Feasibility Assessment

Evaluate each additional concept against the baseline, score each attribute as: 0 = much worse than baseline concept 1 = worse than baseline 2 = same as baseline 3 = better than baseline Propeller Thrust Cost Weight Current Voltage Additional 1 Additional 2 Weighted Score Normalized Score T = 105-130 g; C = $20-80; W = 15-20 g; I = 0.8-1 A; V = 7-9 V

  • 2

2 2 2 2 2 2

2.00 94%

GW/EDP-50XC Direct Drive Power System with 2/EP-3020 EP3020 3 2 1 2

1.40 66%

GW/EDP-50XC Direct Drive Power System with 2/EP-3020 EP3020 3 2 2 3

1.60 75%

Feigao 1208430S 12x22mm Brushless Motor EP7060 2 2 3 1 2

2.13 100%

GW/EDP-150 Motor w/Capacitor & 2-Pin Black Motor Connector EP4530 1 3 1 3

1.27 59%

B2C Light Power System (GW/LPS-B2C-C) EP7035 3 3 3 2

1.93 91%

B2C Light Power System (GW/LPS-B2C-C) EP7060 3 3 2 3

1.87 88%

B2C Light Power System (GW/LPS-B2C-C) EP7060 3 3 2 2

1.80 84%

RXC Light Power System (GW/LPS-RXC-A) EP7060 3 1 2 3

1.33 63%

RXC Light Power System (GW/LPS-RXC-A) EP7060 3 1 1 3

1.20 56%

RXC Light Power System (GW/LPS-RXC-A) EP8043 1 3 1 1 3

1.53 72%

RXC Light Power System (GW/LPS-RXC-A) EP8060 3 1 2 3

1.33 63%

Astro Mighty Micro Brushless 010 (801 V 14T Direct Drive Motor) 5.5 x 4 MAS 3 1 1 2

1.47 69%

Astro Mighty Micro Brushless 010 (801 V 14T Direct Drive Motor) 5.5 x 4 MAS 3 1 1 2

1.47 69%

Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 9 x 6E 2 1 1 2

1.13 53%

Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 9 x 6E 3 1 1 2

1.47 69%

Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 10 x 7E 3 1 1 2

1.47 69%

Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 10 x 7E 3 1 1 2

1.47 69%

Sensorless 16 mm dia, Brushless, 15 W (EC 16, 266523) Not Given 1 1 1

0.40 19%

Sensorless 22 mm dia, Brushless, 20 W (EC 22, 200858) Not Given 1 1 3 1

1.00 47%

16 mm dia, Graphite Brushes, 4.5 W (RE 16, 118730) Not Given 1 3 1

0.67 31%

25 mm dia, Precious Metal Brushes CLL, 10 W (RE 25, 118743) Not Given 1 2 1

0.53 25%

Feigao 1208436L 12x30mm Brushless Motor EP3020 1 2 2 1 2

1.53 72%

Relative Weight

33% 20% 27% 13% 7% 0% 0%

slide-32
SLIDE 32

RIT MAV Team Project 05-001 2004-2005

Propulsion Static Testing

1) Calibration of load cell 2) Static Propeller Testing Thrust to Current Ratio 3) Static Motor Testing Thrust to Current Ratio Motor Body Temperature

Load C ell Calibration y = 0.0056x + 0.9795 R

2 = 1 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 20 40 60 80 100 120 Load ( grams) Voltage (V)
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SLIDE 33

RIT MAV Team Project 05-001 2004-2005

Propulsion Dynamic Testing

  • Drag of test setup

FD = FSG2 – FSG1

  • Dynamic propeller testing

Dp = Dt – Dm – Dsetup

  • Dynamic motor testing

Dm = Dt – Dp – Dsetup

T1 T2 T3 T1 T2 T3 T1 T2 T3 T1 T2 T3 T1 T2 T3 T1 T2 T3

5 10 5 10

: :

: 4 15 10

Voltage (V) Wind Speeds (m/s)

Propeller EP7060

4

T/W Ratio T/D Ratio AOA (deg) Drag (g) Thrust (g) RPM

8 9

Current Draw (A)

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SLIDE 34

RIT MAV Team Project 05-001 2004-2005

Will it Buckle?

cm L cm y cm x g F g F

y x

08 . 5 53 . 41 45 . 20 458 200

1 1

= = = = =

m N T − = 73 . 1

m N q / 56 . 391

0 =

cm t 0508 .

2 =

55 . 4 = FS

slide-35
SLIDE 35

RIT MAV Team Project 05-001 2004-2005

Questions?

Thank you for your time!

slide-36
SLIDE 36

RIT MAV Team Project 05-001 2004-2005

Sneaker Slides

slide-37
SLIDE 37

RIT MAV Team Project 05-001 2004-2005

Airframe - Concerns

  • Location of Center-of-Gravity
  • Produce Required Lift
  • Reduce Drag
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SLIDE 38

RIT MAV Team Project 05-001 2004-2005

Master - Airfoil Data - Command Sheet Choose Airframe(s) CL 50,000 E174 CD 75,000 E186 Cm 100,000 EH2012 CL/CD 125,000 EH3012 150,000 FX63137 175,000 GOE417a 200,000 M10 225,000 M12 250,000 M14 275,000 MH46 RAF6 S1210 S2027 S4022 S4083 S5010 S5020 SD7080 Check One Characteristic Choose Reynolds Number Value(s) Plot Selected Clear Select All Re Select All Airfoils

slide-39
SLIDE 39

RIT MAV Team Project 05-001 2004-2005 XFLR5 Data - Cl/Cd vs. Angle of Attack for Airfoils at Reynolds Numbers

  • 50.00

0.00 50.00 100.00 150.00 200.00 250.00 300.00 350.00 400.00 450.00

  • 10
  • 5

5 10 15 20 Angle of Attack (Degrees) Cl/Cd (Dimensionless) GOE417a, 100,000 S1210, 100,000 S4022, 100,000 S4083, 100,000

slide-40
SLIDE 40

RIT MAV Team Project 05-001 2004-2005

XFLR5 Data - Cl vs. Angle of Attack for Airfoils at Reynolds Numbers

  • 1.00
  • 0.50

0.00 0.50 1.00 1.50 2.00 2.50

  • 10
  • 5

5 10 15 20 Angle of Attack (Degrees) Cl (Dimensionless) GOE417a, 100,000 S1210, 100,000 S4022, 100,000 S4083, 100,000

slide-41
SLIDE 41

RIT MAV Team Project 05-001 2004-2005

XFLR5 Data - Cd vs. Angle of Attack for Airfoils at Reynolds Numbers

0.00 0.05 0.10 0.15 0.20 0.25 0.30

  • 10
  • 5

5 10 15 20 Angle of Attack (Degrees) Cd (Dimensionless) GOE417a, 100,000 S1210, 100,000 S4022, 100,000 S4083, 100,000

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SLIDE 42

RIT MAV Team Project 05-001 2004-2005

XFLR5 Data - Cm vs. Angle of Attack for Airfoils at Reynolds Numbers

  • 0.30
  • 0.25
  • 0.20
  • 0.15
  • 0.10
  • 0.05

0.00

  • 10
  • 5

5 10 15 20 Angle of Attack (Degrees) Cm (Dimensionless) GOE417a, 100,000 S1210, 100,000 S4022, 100,000 S4083, 100,000

slide-43
SLIDE 43

RIT MAV Team Project 05-001 2004-2005

GOE417a Data - Cl vs. Angle of Attack for Airfoils at Reynolds Numbers

  • 0.60
  • 0.40
  • 0.20

0.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60

  • 10
  • 5

5 10 15 20 Angle of Attack (Degrees) Cl (Dimensionless) 100,000 - XFLR5 200,000 - XFLR5 99,500 - Experimental 198,500 - Experimental

slide-44
SLIDE 44

RIT MAV Team Project 05-001 2004-2005

XFLR5 Data - Cl vs. Angle of Attack for Airfoils at Reynolds Numbers

  • 0.05

0.00 0.05 0.10 0.15 0.20 0.25

  • 10
  • 5

5 10 15 20 Angle of Attack (Degrees) Cl (Dimensionless) 100,000 - XFLR5 200,000 - XFLR5 99,500 - Experimental 198,500 - Experimental

slide-45
SLIDE 45

RIT MAV Team Project 05-001 2004-2005

Onboard RF Controller/Receiver

100.0% 100.0% 82.5% 70.0% 45% 66.7% Normalized Normalized Score Score

4.0 4.0 3.3 2.8 1.8 2.66666667

Mean Score Mean Score 3 3 2 3 1 5 RX Range RX Range 3 3 3 4 3 4 Voltage Needed Voltage Needed 5 4 4 3 1 2 Volume Volume 3 4 5 3 1 1 Weight Weight 5 5 3 1 1 1 Current Needed Current Needed 5 5 3 3 4 3 Channels Channels GWS GWS-

  • NARO

NARO R R-

  • 6N/H

6N/H GWS GWS-

  • NARO

NARO R R-

  • 6N/V

6N/V GWS GWS-

  • PICO R4P

PICO R4P-

  • JST

JST (Last year) (Last year) Hitec Hitec Feather Feather Airtronics Airtronics 92515Z 92515Z Hitec Hitec HFS HFS-

  • 04MG

04MG Factors/Candidates

slide-46
SLIDE 46

RIT MAV Team Project 05-001 2004-2005

Onboard Speed Controller

72.7% 100.0% 90.9% Normalized Score Normalized Score

2.0 2.8 2.5

Mean Score Mean Score 1 3 3 Dimensions (mm): Dimensions (mm): 5 1 1 Compatibility Compatibility 1 4 3 Current Needed Current Needed 1 3 3 Weight Weight Phoenix Phoenix-

  • 10

10 Wes Wes-

  • Technik

Technik YGE YGE-

  • 3

3 (Last Year) (Last Year) Wes Wes-

  • Technik

Technik YGE YGE-

  • 6

6 Factors/Candidates

slide-47
SLIDE 47

RIT MAV Team Project 05-001 2004-2005

Onboard Servos (Actuators)

91.3% 95.7% 100.0% Normalized Score Normalized Score

3.0 3.1 3.3

Mean Score Mean Score 3 2 5 Weight Weight 3 3 3 Load Current Load Current 3 3 3 Dimensions Dimensions 3 3 3 Operating Voltage Operating Voltage 4 5 3 Max Output Force Max Output Force 2 3 3 Time to Full Deflection Time to Full Deflection 3 3 3 Max Deflection Max Deflection Wes Wes-

  • Technik

Technik LS LS-

  • 2.4

2.4 Wes Wes-

  • Technik

Technik LS LS-

  • 3.0

3.0 Wes Wes-

  • Technik

Technik LS LS-

  • 2.0

2.0 Factors/Candidates

slide-48
SLIDE 48

RIT MAV Team Project 05-001 2004-2005

Onboard Video System

100.0% 95.2% Normalized Score Normalized Score

3.0 2.857142857

Mean Score Mean Score 3 3 Dimensions Dimensions 2 3 Weight Weight 2 3 Current Drain Current Drain 3 3 Operating Voltage Operating Voltage 3 3 Number of Channels Number of Channels 5 2 Transmission Power Transmission Power 3 3 Operating Frequency Operating Frequency BWAV240200 BWAV240200 200 mw TX/RX 200 mw TX/RX BWAV240050 BWAV240050 50 mw TX/RX 50 mw TX/RX Factor/Candidate

slide-49
SLIDE 49

RIT MAV Team Project 05-001 2004-2005

Passive Antenna Array

100.0% 81.8% 90.9% 81.8% 100.0% Normalized Score Normalized Score

3.7 3.0 3.3 3.0 3.7

Mean Score Mean Score 1 5 4 3 3 Gain (Directivity) Gain (Directivity) 5 2 3 3 4 Vertical Vertical Beamwidth Beamwidth 5 2 3 3 4 Horizontal Horizontal Beamwidth Beamwidth HG2409P HG2409P HG2424G HG2424G (Last Year) (Last Year) HG2416P HG2416P HG2414D HG2414D HG2414P HG2414P Factors/Candidates

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SLIDE 50

RIT MAV Team Project 05-001 2004-2005

Onboard GPS System

80.0% 73.3% 100.0% Normalized Score Normalized Score

2.4 2.2 3.0

Mean Score Mean Score 2 1 3 Current Drain Current Drain 2 3 3 Operating Voltage Operating Voltage 2 2 3 Dimensions Dimensions 1 2 3 Weight Weight 5 3 3 Accuracy Accuracy UNAV UNAV PICO PICO-

  • GPS

GPS-

  • SS

SS Sarantel Sarantel Smart Antenna Smart Antenna Furuno Furuno GH GH-

  • 79

79 Factors/Candidates

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SLIDE 51

RIT MAV Team Project 05-001 2004-2005

Batteries

57.1% 71.4% 100.0% 85.7% Normalized Score Normalized Score

2.0 2.5 3.5 3.0

Mean Score Mean Score 3 1 4 2 Weight Weight 1 1 5 3 Volume Volume 1 3 3 3 Voltage Voltage 3 5 2 4 Capacity Capacity iRate iRate LP500 LP500 Kokam Kokam SLPB523459 SLPB523459 Kokam Kokam SLB452128 SLB452128 Kokam Kokam SLPB433452 SLPB433452 Factors/Candidates

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SLIDE 52

RIT MAV Team Project 05-001 2004-2005

Computation

Variables 2004 2005 dC l /d α 0.1 0.1 AR 1.421697 1.421697 Assume same shape for both years so AR remains the same S (m 2 ) 0.047549 0.102104 For 2004, assume 90% of 8" x 26 cm rectangular wing is remaining b (m) 0.26 0.381 For 2005, assume 15" wing span e 0.9 0.9 Assume 0.9 dC L /d α 0.041231 0.041231 AOA (deg) 9 9 C L 0.95 0.95 @ 9 deg AOA, est. from Figure 33 on pg 46 of PDR W (g) 97.9 202.35 Actually a Mass; 2004 from Table 16 on pg 73 of CDR C D 0.242594 0.251634 C D0 0.018078 0.027117 2005 is about 1.5x the size of 2004 so increase CD0 by that much T (g) 25 53.59796

eAR d dC d dC d dC

l l L 2

180 1 π α α α       + =

eAR C C C

L D D

π

2 0 +

=

L D

C C W T =

v P T 97 . 101 =

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SLIDE 53

RIT MAV Team Project 05-001 2004-2005

Feasibility Assessment

Pairwise Comparison: Place an "R" if the row is more important. Place a "C" if the column is more important

T h rust C o st W e igh t C urre nt V o ltage A d d itio nal 1 A d d itio nal 2 R o w T o tal C o lum n T o tal 1+R o w + C o lum n T o tal* R e lative W e igh t Thrust

R R R R 4 5 33%

Cost

C R R 2 3 20%

Weight

R R 2 1 4 27%

Current

R 1 2 13%

Voltage

1 7%

Additional 1

0%

Additional 2

0%

Column Total

1 15 100% *Added 1 to each total to allow each parameter to have some percentage (except for undefined parameters)

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SLIDE 54

RIT MAV Team Project 05-001 2004-2005

Propulsion Concept Development

  • Propulsion subsystem must produce enough thrust to

accomplish our project goals.

  • Weighted scale showed an electric motor is the best of

the three power options for our MAV.

  • Based on time limits, and lack of experience making

precise molds, off the shelf propellers will be used.

  • Off the shelf propellers will be tested with modified

shapes and in original shapes to achieve the highest efficiency. Once our team has a working MAV, we may return to propeller design.

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SLIDE 55

RIT MAV Team Project 05-001 2004-2005

Buckling Calculations

Calculations to determine t2 Variable Value Unit Value Unit Variable Value Unit Value Unit L 2 inches 5.08 cm X1 8.052 in 20.45 cm h 1 inch 2.54 cm Y1 16.35 in 41.53 cm t2 0.02 inch 0.0508 cm Fx 0.441 lbf 200 gram t1 0.125 inch 0.3175 cm Fy 1.010 lbf 458 gram Acs 0.02 in^2 0.129 cm^2 c 1.2

  • 1.2
  • E

10300000 psi 71 GPa Sy 10000 psi 70 MPa l/k 346.410 (l/k)1 156.198 Pcr 20.331 lbs 90.434 N t2 Sy (psi) l/k (l/k)1 Method 0.03 10000 346.410 156.198 Euler 0.03 30000 346.410 90.181 Euler Calculations M = T = 15.34 lbf-in 1.73 N-m qo 2.24 lbf/in 391.56 N/m 4.47 lbf 19.89 N FS = 4.55 Calculated values

Determining Buckling Method to use for Various Sy values

Force in compressed side =

slide-56
SLIDE 56

RIT MAV Team Project 05-001 2004-2005

Load Cell Mount Drawing

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SLIDE 57

RIT MAV Team Project 05-001 2004-2005

New Back Upright Drawing

slide-58
SLIDE 58

RIT MAV Team Project 05-001 2004-2005

New Front Upright Drawing

slide-59
SLIDE 59

RIT MAV Team Project 05-001 2004-2005

Strain Gage Box Drawing

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SLIDE 60

RIT MAV Team Project 05-001 2004-2005

DC 6V EE Power Supply 5V +/- 12V Serial #EE1015 Load Cell SMD Sensor S250 1kg 100ohms INA114 Instrumentation Amplifier Burr Brown w/ 100ohm Resistor Oscilloscope Tetronix Serial #B012473 Vc Ref Multimeter (// to Oscilloscope) Craftsman Serial #CCL02079157 DC 12V EE Power Supply 5V +/- 12V Serial #EE1015 25Kohm 25Kohm 25Kohm 25Kohm 25Kohm 25Kohm DC 6V EE Power Supply 5V +/- 12V Serial #EE1015 Load Cell SMD Sensor S250 1kg 100ohms INA114 Instrumentation Amplifier Burr Brown w/ 100ohm Resistor Oscilloscope Tetronix Serial #B012473 Vc Ref Multimeter (// to Oscilloscope) Craftsman Serial #CCL02079157 DC 12V EE Power Supply 5V +/- 12V Serial #EE1015 25Kohm 25Kohm 25Kohm 25Kohm 25Kohm 25Kohm

Propulsion Load Cell Calibration Electrical Schematic

slide-61
SLIDE 61

RIT MAV Team Project 05-001 2004-2005

Propulsion Motor Testing Electrical Schematic

+

  • R

L

Motor

MPJA Multimeter Serial # CCL010412272 R1 Shenzhen Mastech DC Power Supply: HY3003-3 Note: R1 is dependent on the internal resistance (R) of the motor T