RIT Micro Air Vehicle

Preliminary Design Presentation

Joshua Baker Mechanical Engineering Aaron Grilly Mechanical Engineering David Hein Mechanical Engineering J.E.D. Hess Mechanical Engineering Brian Gillis Team Leader Mechanical Engineering RIT MAV Team Dr. Jeffrey Kozak Team Advisor Mechanical Engineering 2004-2005 Tzu-Chie Fu Computer Engineering Cuong Le Computer Engineering Atul Phadnis Electrical Engineering Aimee Lemieux Mechanical Engineering Victoria Schoennagel Mechanical Engineering

Project 05-001

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

MAV Team 05-001

Electronics

Propulsion

Joshua Baker Aaron Grilly David Hein JED Hess

Cuong Le Tzu-Chie Fu Atul Phadnis

Aimee Lemieux Victoria Schoennagel

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, BioChemical detection, etc. Annual MAV competition where various teams compete in surveillance missions and flight performance tests.
Project 05-001 2004-2005

RIT MAV Team

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 years 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)

RIT MAV Team

Project 05-001

2004-2005

Work Timeline

RIT MAV Team

Project 05-001

2004-2005

Work Timeline

RIT MAV Team

Project 05-001

2004-2005

Airframe Selection

RIT MAV Team

Project 05-001

2004-2005

Airframe Main Objectives

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

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

XFLR5 Testing (Computer Simulation) Survived First Round of Cuts To Be Tested in the Wind Tunnel
RIT MAV Team Project 05-001 2004-2005

GOE417a

S1210

S4022

S4083

RIT MAV Team

Project 05-001

2004-2005

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

2.50

2.00

1.50

Cl (Dimensionless)

1.00

0.50 GOE417a, 100,000 0.00 S1210, 100,000 S4022, 100,000 S4083, 100,000 -1.00 -10 -5 0 5 Angle of Attack (Degrees) 10 15 20

-0.50

RIT MAV Team

Project 05-001

2004-2005

Airfoil Feasibility Assessment

Relative Weight 8% 11% 6% 0% 11% 14% 19% 19% 11% Evaluation of each concept against the baseline: 1 =m uchw orse than baseline 2 =w orse thanbaseline 3 = sam e as baseline 4 = better thanbaseline 5= m uch better than baseline LowR eynolds num ber airfoil K now nprior use on an M A V M anufacturing ease and accuracy M anufacturing tim e R easonable cam ber (1% -8% ) Som e reflex in design

GOE417a

FX63137

EH2012

EH3012

3.0 1.0 3.0 3.0 3.0 1.0

3.0 1.0 3.0 3.0 1.0 4.0 3.0 3.0 1.0

3.0 3.0 3.0 3.0 1.0 3.0 3.5 3.0 3.0

2.0 3.0 3.0 3.0 1.0 3.0 3.5 3.0 2.0

1.0 1.0 3.0 3.0 1.0 1.0 3.0 4.8 4.9

5.0 5.0 5.0 3.0 4.0 2.0 2.0 5.0 3.0

3.5 1.0 3.0 3.0 1.0 3.0 2.0 2.0 2.0

1.0 1.0 3.0 3.0 1.0 2.0 3.5 2.8 3.0

2.0 1.0 3.0 3.0 3.0 3.0 3.0 3.2 3.0

3.0 4.0 3.0 3.0 2.5 3.0 3.0 3.0 3.0

1.0 1.0 4.0 3.0 1.0 1.0 4.0 3.0 2.5

5.0 5.0 4.5 3.0 5.0 2.0 5.0 5.0 3.0

3.0 1.0 3.0 3.0 2.0 2.0 3.0 3.5 3.0

5.0 4.0 4.5 3.0 4.0 3.0 4.0 5.0 4.6

5.0 5.0 4.0 3.0 5.0 3.0 5.0 4.8 5.0

4.0 4.0 4.0 3.0 2.0 3.0 3.0 3.0 3.0

5.0 4.0 3.5 3.0 2.0 4.5 3.0 3.0 3.0

4.0 3.0 4.0 3.0 2.0 2.0 4.0 3.0 3.0

R easonable, logical graphs (XFLR 5) 3.5 C l/C d C m W eightedScore

3.5 3.0

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 orm alizedScore

58% 53%

62%

58% 58%

79%

45% 50%

59%

66% 50%

94%

57% 91% 100% 68% 74%

67%

A ir fo il N o rm a liz e d S c o re R e la tiv e R a n k
RIT MAV Team

100% 1

94% 2

91% 3

79% 4

Project 05-001

GOE417 a

S4083

S1210

S4022

SD7080

S1210

S2027

S4022

S4083

S5010

S5020

MH46

RAF6

E174

E186

M10

M12

M14

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
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
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

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
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

RIT MAV Team

Project 05-001

2004-2005

Electronics Selection

RIT MAV Team

Project 05-001

2004-2005

Full System Design

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

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.

RIT MAV Team

Project 05-001

2004-2005

Onboard Video System

Video System Selected: Black Widows 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 of signal propagation failure.
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.

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.
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.
RIT MAV Team Project 05-001 2004-2005

Propulsion Selection

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
RIT MAV Team Project 05-001 2004-2005

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

Initial Values
dCl dCL d = dC d 180 l d 1+ 2 eAR
RIT MAV Team

Revised Values

CL CD = CD0 + eAR

CD T =W CL

T=

101 .97 P v

Project 05-001

2004-2005

Feasibility Assessment
Evaluate each additional concept against the baseline, score each Current Voltage Weight baseline 2 = same as baseline 3 = better than baseline Propeller Thrust Cost Additional 2 Additional 1 attribute as: 0 = much worse than baseline concept 1 = worse than T = 105-130 g; C = $20-80; W = 15-20 g; I = 0.8-1 A; V = 7-9 V GW/EDP-50XC Direct Drive Power System with 2/EP-3020 GW/EDP-50XC Direct Drive Power System with 2/EP-3020 Feigao 1208430S 12x22mm Brushless Motor GW/EDP-150 Motor w/Capacitor & 2-Pin Black Motor Connector B2C Light Power System (GW/LPS-B2C-C) B2C Light Power System (GW/LPS-B2C-C) B2C Light Power System (GW/LPS-B2C-C) RXC Light Power System (GW/LPS-RXC-A) RXC Light Power System (GW/LPS-RXC-A) RXC Light Power System (GW/LPS-RXC-A) RXC Light Power System (GW/LPS-RXC-A) Astro Mighty Micro Brushless 010 (801 V 14T Direct Drive Motor) Astro Mighty Micro Brushless 010 (801 V 14T Direct Drive Motor) Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) Sensorless 16 mm dia, Brushless, 15 W (EC 16, 266523) Sensorless 22 mm dia, Brushless, 20 W (EC 22, 200858) 16 mm dia, Graphite Brushes, 4.5 W (RE 16, 118730) 25 mm dia, Precious Metal Brushes CLL, 10 W (RE 25, 118743) Feigao 1208436L 12x30mm Brushless Motor Relative Weight ----EP3020 EP3020 EP7060 EP4530 EP7035 EP7060 EP7060 EP7060 EP7060 EP8043 EP8060 5.5 x 4 MAS 5.5 x 4 MAS APC 9 x 6E APC 9 x 6E APC 10 x 7E APC 10 x 7E Not Given Not Given Not Given Not Given EP3020 2 0 0 2 1 0 0 0 0 0 1 0 3 3 2 3 3 3 0 1 0 0 1 2 3 3 2 3 3 3 3 3 3 3 3 1 1 1 1 1 1 1 1 1 1 2 2 2 2 3 0 3 3 3 1 1 1 1 0 0 0 0 0 0 0 0 0 0 2 2 1 2 1 1 3 2 2 2 1 1 2 1 1 1 1 1 1 1 3 3 2 1 2 2 3 2 3 2 3 2 3 3 3 3 2 2 2 2 2 2 1 1 1 1 2 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0%

2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0%

2.00 1.40 1.60 2.13 1.27 1.93 1.87 1.80 1.33 1.20 1.53 1.33 1.47 1.47 1.13 1.47 1.47 1.47 0.40 1.00 0.67 0.53 1.53

94% 66% 75% 100% 59% 91% 88% 84% 63% 56% 72% 63% 69% 69% 53% 69% 69% 69% 19% 47% 31% 25% 72%

33% 20% 27% 13% 7%

RIT MAV Team

Project 05-001

Normalized Score

Weighted Score

2004-2005

Propulsion Static Testing

1) Calibration of load cell
Loa d C e ll C a libra tion
1 .8 1 .6 1 .4 1 .2 Voltage (V) 1 0 .8 0 .6 0 .4 0 .2 0 0 20 40 60 L oa d ( gra ms ) 80 100 120

y = 0.0056x + 0 .9795 2 R =1

2) Static Propeller Testing Thrust to Current Ratio 3) Static Motor Testing Thrust to Current Ratio Motor Body Temperature
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
Propeller EP7060
Voltage (V) W ind Speeds (m /s) AO A (deg) Drag (g) T1 T2 T3 Thrust (g) T1 T2 T3 T1 RPM T2 T3 Current Draw (A) T1 T2 T3 T/W Ratio T1 T2 T3 T/D Ratio T1 T2 T3

4
:

8 9
:

15

0 5 10 0 5 10 : 10

RIT MAV Team

Project 05-001

2004-2005

Will it Buckle?
Fx = 200 g Fy = 458 g x1 = 20.45cm y1 = 41.53cm L = 5.08cm

T = 1.73N m
q0 = 391.56 N / m

t 2 = 0.0508cm

FS = 4 . 55
RIT MAV Team Project 05-001 2004-2005

Questions?

Thank you for your time!

RIT MAV Team

Project 05-001

2004-2005

Sneaker Slides

RIT MAV Team

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2004-2005

Airframe - Concerns
Location of Center-of-Gravity Produce Required Lift Reduce Drag

RIT MAV Team

Project 05-001

2004-2005

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

Select All Re

RIT MAV Team

Project 05-001

2004-2005

XFLR5 Data - Cl/Cd vs. Angle of Attack for Airfoils at Reynolds Numbers
450.00 400.00 350.00 GOE417a, 100,000 300.00 S1210, 100,000 Cl/Cd (Dimensionless) 250.00 200.00 150.00 100.00 50.00 0.00 -50.00 -10 -5 0 5 Angle of Attack (Degrees) 10 15 20 S4022, 100,000 S4083, 100,000

RIT MAV Team

Project 05-001

2004-2005

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

2.50

2.00

1.50

Cl (Dimensionless)

1.00

0.50 GOE417a, 100,000 0.00 S1210, 100,000 S4022, 100,000 -0.50 S4083, 100,000

-1.00 -10 -5 0 5 Angle of Attack (Degrees) 10 15 20

RIT MAV Team

Project 05-001

2004-2005

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

0.30

0.25

0.20 Cd (Dimensionless)

0.15

0.10 GOE417a, 100,000 S1210, 100,000 0.05 S4022, 100,000 S4083, 100,000 -10 -5 0 5 Angle of Attack (Degrees) 10 15 20

0.00

RIT MAV Team

Project 05-001

2004-2005

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

0.00

-0.05

-0.10 Cm (Dimensionless)

-0.15

-0.20

GOE417a, 100,000 S1210, 100,000

-0.25

S4022, 100,000 S4083, 100,000

-0.30 -10 -5 0 5 Angle of Attack (Degrees) 10 15 20

RIT MAV Team

Project 05-001

2004-2005

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

1.60 1.40 1.20 1.00 0.80 0.60 0.40 100,000 - XFLR5 0.20 200,000 - XFLR5 0.00 99,500 - Experimental -0.20 198,500 - Experimental -0.40 -0.60 -10 -5 0 5 Angle of Attack (Degrees) 10 15 20

RIT MAV Team

Cl (Dimensionless)

Project 05-001

2004-2005

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

0.25

0.20

0.15 Cl (Dimensionless)

0.10

0.05

100,000 - XFLR5 200,000 - XFLR5

0.00

99,500 - Experimental 198,500 - Experimental

-0.05 -10 -5 0 5 Angle of Attack (Degrees) 10 15 20

RIT MAV Team

Project 05-001

2004-2005

Onboard RF Controller/Receiver
Factors/Candidates Hitec HFSHFS-04MG 3 1 1 2 4 5 Airtronics 92515Z 4 1 1 1 3 1 Hitec Feather 3 1 3 3 4 3 GWSGWSPICO R4PR4PJST (Last year) 3 3 5 4 3 2 GWSGWSNARO R-6N/V 5 5 4 4 3 3 GWSGWSNARO R-6N/H 5 5 3 5 3 3

Channels Current Needed Weight Volume Voltage Needed RX Range

Mean Score

2.66666667

1.8

2.8

3.3

4.0

4.0

Normalized Score

66.7%

45%

70.0%

82.5%

100.0%

100.0%

RIT MAV Team

Project 05-001

2004-2005

Onboard Speed Controller

Factors/Candidates WesWes-Technik YGEYGE-6 WesWes-Technik YGEYGE-3 (Last Year) PhoenixPhoenix-10

Weight Current Needed Compatibility Dimensions (mm):

3 3 1 3

3 4 1 3

1 1 5 1

Mean Score

2.5

2.8

2.0

Normalized Score RIT MAV Team

90.9%

100.0%

72.7% 2004-2005

Project 05-001

Onboard Servos (Actuators)

Factors/Candidates WesWes-Technik LSLS-2.0 WesWes-Technik LSLS-3.0 WesWes-Technik LSLS-2.4

Max Deflection Time to Full Deflection Max Output Force Operating Voltage Dimensions Load Current Weight

3 3 3 3 3 3 5

3 3 5 3 3 3 2

3 2 4 3 3 3 3

Mean Score

3.3

3.1

3.0

Normalized Score RIT MAV Team

100.0% Project 05-001

95.7%

91.3% 2004-2005

Onboard Video System

Factor/Candidate BWAV240050 50 mw TX/RX BWAV240200 200 mw TX/RX

Operating Frequency Transmission Power Number of Channels Operating Voltage Current Drain Weight Dimensions

3 2 3 3 3 3 3

3 5 3 3 2 2 3

Mean Score

2.857142857

3.0

Normalized Score RIT MAV Team

95.2% Project 05-001

100.0% 2004-2005

Passive Antenna Array

Factors/Candidates HG2414P HG2414D HG2416P HG2424G (Last Year) HG2409P

Horizontal Beamwidth Vertical Beamwidth Gain (Directivity)

4 4 3

3 3 3

3 3 4

2 2 5

5 5 1

Mean Score

3.7

3.0

3.3

3.0

3.7

Normalized Score RIT MAV Team

100.0%

81.8%

90.9%

81.8%

100.0% 2004-2005

Project 05-001

Onboard GPS System

Factors/Candidates Furuno GHGH-79 Sarantel Smart Antenna UNAV PICOPICO-GPSGPS-SS

Accuracy Weight Dimensions Operating Voltage Current Drain

3 3 3 3 3

3 2 2 3 1

5 1 2 2 2

Mean Score

3.0

2.2

2.4

Normalized Score RIT MAV Team

100.0%

73.3%

80.0% 2004-2005

Project 05-001

Batteries
Factors/Candidates Kokam SLPB433452 Kokam SLB452128 Kokam SLPB523459 iRate LP500

Capacity Voltage Volume Weight

4 3 3 2

2 3 5 4

5 3 1 1

3 1 1 3

Mean Score

3.0

3.5

2.5

2.0

Normalized Score RIT MAV Team

85.7%

100.0%

71.4%

57.1% 2004-2005

Project 05-001

Computation
Variables dC l /d AR 2 S (m ) b (m) e dC L /d AOA (deg) CL W (g) CD C D0 T (g) 2004 0.1 1.421697 0.047549 0.26 0.9 0.041231 9 0.95 97.9 0.242594 2005 0.1 1.421697 0.102104 0.381 0.9 0.041231 9 0.95 202.35 0.251634 Assume same shape for both years so AR remains the same For 2004, assume 90% of 8" x 26 cm rectangular wing is remaining For 2005, assume 15" wing span Assume 0.9

@ 9 deg AOA, est. from Figure 33 on pg 46 of PDR Actually a Mass; 2004 from Table 16 on pg 73 of CDR

0.018078 0.027117 2005 is about 1.5x the size of 2004 so increase CD0 by that much 25 53.59796

dCl dCL d = dC d 180 l d 1+ 2 eAR

RIT MAV Team

CL CD = CD0 + eAR

CD T =W CL

T=

101 .97 P v

Project 05-001

2004-2005

Feasibility Assessment
Place an "R" if the row is more important.
A d d it io n a l 2 A d d it io n a l 1 Current V o lt a g e W e ig h t T hrust 1 + R o w + C o lu m n T o t a l*
5 3 4 2 1 0 0 15

Pairwise Comparison:

Thrust Cost Weight Current Voltage

important

Cost

column is more

R C

R R R

R R R R

4 2 2 1 0 0 0

R ow T otal

Place a "C" if the

0 0 1 0 0 0 0

33% 20% 27% 13% 7% 0% 0% 100%

Additional 1 Additional 2 Column Total

0 0 1 0 0 0 0

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

RIT MAV Team

Project 05-001

R e la t iv e W e ig h t

C o lu m n T o t a l

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.
RIT MAV Team Project 05-001 2004-2005

Buckling Calculations
Calculations to determine t2 Variable L h t2 t1 Acs c E Sy Value 2 1 0.02 0.125 0.02 1.2 10300000 10000 Unit inches inch inch inch in^2 --psi psi Value 5.08 2.54 0.0508 0.3175 0.129 1.2 71 70 Unit cm cm cm cm cm^2 --GPa MPa Variable X1 Y1 Fx Fy Value 8.052 16.35 0.441 1.010 Unit in in lbf lbf Value 20.45 41.53 200 458 Unit cm cm gram gram

Calculated values l/k 346.410 (l/k)1 156.198 Pcr 20.331 lbs 90.434 N

Determining Buckling Method to use for Various Sy values

t2 0.03 0.03

Sy (psi) 10000 30000

l/k 346.410 346.410

(l/k)1 156.198 90.181

Method Euler Euler

Calculations M=T= qo

15.34 lbf-in 2.24 lbf/in

1.73 N-m 391.56 N/m 4.47 lbf 4.55 19.89 N

Force in compressed side = FS =

RIT MAV Team

Project 05-001

2004-2005

Load Cell Mount Drawing

RIT MAV Team

Project 05-001

2004-2005

New Back Upright Drawing

RIT MAV Team

Project 05-001

2004-2005

New Front Upright Drawing

RIT MAV Team

Project 05-001

2004-2005

Strain Gage Box Drawing

RIT MAV Team

Project 05-001

2004-2005

Propulsion Load Cell Calibration Electrical Schematic

Multimeter (// to Oscilloscope) Craftsman Serial #CCL02079157

DC 6V EE Power Supply 5V +/- 12V Serial #EE1015

Load Cell SMD Sensor S250 1kg

Oscilloscope Tetronix INA114 Instrumentation Amplifier Burr Brown Serial #B012473 w/ 100ohm Resistor

25Kohm 25Kohm 100ohms 25Kohm

25Kohm DC 12V EE Power Supply 5V +/- 12V Serial #EE1015

Vc

25Kohm

25Kohm

Ref

RIT MAV Team

Project 05-001

2004-2005

Propulsion Motor Testing Electrical Schematic

MPJA Multimeter Serial # CCL010412272

R1 Shenzhen Mastech DC Power Supply: HY3003-3

+ -

Motor

Note: R1 is dependent on the internal resistance (R) of the motor

RIT MAV Team

Project 05-001

2004-2005