i Executive Summary This report outlines the design, build and flight testing of a small-scale airship for surveillance, aerial photography and advertising purposes. The airship was designed to be capable of continuous indoor flight for 30 minutes carrying a 500g payload while maintaining a constant altitude. The methodology and outcomes of similar university research projects were examined to gain a better understanding of airship design principles. Four distinct flight regimes were considered: takeoff, hover, cruise and landing. Flight parameters such as maximum speed, cruise altitude and takeoff time were defined so that a theoretical force analysis could be conducted. The thrust required in each flight regime was then determined based on calculation of the lift, weight and drag forces. Four sections were identified as crucial in the airship design: the envelope, gondola, propulsion system and control system. An iterative procedure was developed to optimise the envelope design based on the weight of components and the lifting force needed to achieve neutral buoyancy. The conceptual design of the gondola focussed on reducing weight whilst still having enough strength to support the weight of the internal components. Ducted fans powered by electric motors were chosen to provide propulsion to the airship. The effects of different fan arrangements on airship manoeuvrability were then analysed. The thrust output of the ducted fans was controlled by manual and automatic systems. An RC hand unit provided full manual control while the cruise altitude and pitch of the airship were maintained automatically using an ultrasonic sensor and clinometer, respectively. The detailed design was developed using the most suitable concept design alternatives. Components such as motors, fans, batteries and automatic control parts were selected based on technical suitability and budget limitations. The final design used a commercially manufactured envelope propelled by four ducted fans, each with variable thrust output. Two manually controlled fans on the side of the gondola were used for yaw control while two downward facing fans provide upward thrust and pitch control. Testing of all individual components was conducted prior to testing of the completed airship. This ensured that the ducted fans, radio controller, camera and automatic control system operated correctly. Two airship envelopes were manufactured and each was tested in a full flight test with the gondola attached. The two flight tests demonstrated that the automatic control system functioned as designed and could be used simultaneously with the manual control system. The flight tests also showed that the airship was capable of meeting the performance requirements set in the project definition. Design and Build a Small Airship i
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i
Executive Summary
This report outlines the design, build and flight testing of a small-scale airship for surveillance, aerial photography and advertising purposes. The airship was designed to be capable of continuous indoor flight for 30 minutes carrying a 500g payload while maintaining a constant altitude. The methodology and outcomes of similar university research projects were examined to gain a better understanding of airship design principles.
Four distinct flight regimes were considered: takeoff, hover, cruise and landing. Flight parameters such as maximum speed, cruise altitude and takeoff time were defined so that a theoretical force analysis could be conducted. The thrust required in each flight regime was then determined based on calculation of the lift, weight and drag forces.
Four sections were identified as crucial in the airship design: the envelope, gondola, propulsion system and control system. An iterative procedure was developed to optimise the envelope design based on the weight of components and the lifting force needed to achieve neutral buoyancy. The conceptual design of the gondola focussed on reducing weight whilst still having enough strength to support the weight of the internal components. Ducted fans powered by electric motors were chosen to provide propulsion to the airship. The effects of different fan arrangements on airship manoeuvrability were then analysed. The thrust output of the ducted fans was controlled by manual and automatic systems. An RC hand unit provided full manual control while the cruise altitude and pitch of the airship were maintained automatically using an ultrasonic sensor and clinometer, respectively.
The detailed design was developed using the most suitable concept design alternatives. Components such as motors, fans, batteries and automatic control parts were selected based on technical suitability and budget limitations. The final design used a commercially manufactured envelope propelled by four ducted fans, each with variable thrust output. Two manually controlled fans on the side of the gondola were used for yaw control while two downward facing fans provide upward thrust and pitch control.
Testing of all individual components was conducted prior to testing of the completed airship. This ensured that the ducted fans, radio controller, camera and automatic control system operated correctly. Two airship envelopes were manufactured and each was tested in a full flight test with the gondola attached. The two flight tests demonstrated that the automatic control system functioned as designed and could be used simultaneously with the manual control system. The flight tests also showed that the airship was capable of meeting the performance requirements set in the project definition.
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The majority of the project goals were achieved in the two flight tests. It is hoped that the work undertaken in the project could be adapted and refined by final year students in the future to design an airship capable of outdoor flight with a more advanced control system
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Acknowledgements
The authors of this report wish to thank many people who have contributed to the project.
Most particularly we would like thank the project supervisor, Dr Maziar Arjomandi, his
continued support and guidance throughout the year was of great help.
Funding for the project was generously provided by BAE Systems Australia. Without this
financial support the project would not have been possible. The authors would like to
thank Mr Jeff Mann and Mr John Finlay of BAE Systems Australia for there efforts to
organise this sponsorship.
Throughout the year, academic staff and students including Dr Ben Cazzolato, Mr
Nicholas Cole, Dr Frank Wormel and Ms Dorothy Missingham have provided there
assistance and advice. This has been most helpful and we greatly appreciate their time
and knowledge. The authors would also like to thank Dave Betteridge, Elias Arcondoulis
and Darren Bain from BAE Systems for their technical advice and interest in the project.
The Mechanical workshop must also be thanked, especially Mr David Osborne, Mr
Richard Pateman and Mr Bill Finch, for their assistance in the design and fabrication
process. The help of the Electronics workshop, including Silvio De Ieso and Norio
Itsumi, in the construction of the electronics circuitry was greatly appreciated.
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Disclaimer
We, the authors, declare that the material contained within is entirely our own work unless otherwise stated.
………………………………….Michael Nordestgaard
………………………………….Lachlan Ravenscroft
………………………………….Nicholas Bartel
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Contents
....................................................................................................................List of Figures 9
....................................................................................................................List of Tables 11
..............................................................................................................List of Equations 13
.................................................................................................................Feasibility Study 3
..................................................................................................Background Information 3............................................................................................Analysis of Similar Projects 4
....................................................................................Envelope and Gondola Design 4.......................................................................................................Propulsion System 6
........................................................................................Performance Characteristics 7...........................................................................................................Special Systems 7...........................................................................................................Statistical Analysis 9
.................................................................................................Length to Width Ratio 9...............................................................................................Thrust to Weight Ratio 11
.....................................................................Empty Weight to Takeoff Weight Ratio 14...................................................................................................................Summary 15
..............................................................................................................Lifting gas 24..............................................................................................Atmospheric Effects 25
......................................................Summary of Thrust in Different Flight Modes 30............................................................................................................Envelope Design 30
.......................................................................................................Material selection 42...........................................................................................Shape and Aerodynamics 42
........................................................................................................Design Selection 45..................................................................................................Control System Design 46
.............................................................................................Manual Control System 46.........................................................................................Automatic Control System 46
................................................................................Payload and ground station design 47..........................................................................................................Camera options 47
.....................................................................................................Structural Analysis 68..................................................................................................Control System Design 70
.............................................................................................Manual Control System 70...........................................................................................RC Hand Control Unit 70
.....................................................................................Manual Control Procedure 72.....................................................................................................Automatic Control 73
.....................................................................................Automatic Control Layout 73..............................................................Automatic Control Component Selection 73
...................................................................................................................Procedure 84.................................................................Theoretical Thrust of the SFM ducted fan 85
............................................................................................SFM Thrust Test Results 86...........................................................................................GWS Thrust Test Results 86
.......................................................................Summary of Ducted Fan Test Results 87...............................................................................................................Camera Testing 87
............................................................................................................Camera Range 87.................................................................................Picture quality and interference 89
............................................................................Significance of camera test results 89
.....................................................................................................................Flight Tests 92...................................................................................................................Climb test 92
................................................................................................................Descent test 92..................................................................................................................Cruise test 93
.........................................................................................................Rate of turn test 93.................................................................................................Post-flight data analysis 93
..........................................................................................First Flight Test and Results 94.................................................................Climb Test for Automatic Control System 94
....................................................................................Second Flight Test and Results 100................................................................................................................Climb Test 100
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.............................................................................................................Descent Test 101...............................................................................................................Cruise Test 102
.......................................................................................................Rate of turn test 103.....................................................................................................Control Response 105
...............................................................................................................Flight Time 105........................................................................................Summary of the Flight Tests 106
............................................................Project Definition, Specification and Contract 110.................................................................................................................Future Work 111
Equation 31 - Lifting Force Equation................................................................................ 23Equation 32 - Ideal gas law............................................................................................... 24Equation 33 - Sum of forces in takeoff mode.................................................................... 26Equation 34 - Sum of horizontal forces in cruise mode.................................................... 28Equation 41 - Volume of Ellipsoid.................................................................................... 48Equation 42 - Surface Area of Ellipsoid Approximation................................................... 49Equation 43 - Static Thrust for a ducted fan...................................................................... 56Equation 44 - Dynamic thrust equation for a ducted fan................................................... 57Equation 45 - Bending Moment Equation......................................................................... 64Equation 46 - Flexure Formula.......................................................................................... 65Equation 47 - Pitch Angle Duty Cycle............................................................................... 76Equation 51 - Static thrust for a ducted fan....................................................................... 79
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Notation
Acronyms and Abbreviations
AS1100 Australian Standard 1100BOPET Biaxially-oriented Polyurethane TerephalateCASA Civil Aviation Safety AuthorityDB9 9 Pin ConnectorEDF Electronic Ducted FanESC Electronic Speed ControllerGPS Global Positioning SystemLi-Po Lithium PolymermAh miliAmp HourNiCad Nickel CadmiumNUS National University of SingaporePID Proportional-Integral-Derivative GainPitch Rotation about the y axis of the airshipPVC Poly-Vinyl ChloridePWM Pulse width modulationRC Remote ControlledRF Radio FrequencyRoll Rotation about the x axis of the airshipRP-SMA Reverse Polar Sub Miniature version A (Coaxial connector)RS-232 Recommended Standard 232SMD Storage Module DeviceUAV Unmanned Aerial VehicleVTOL Vertical Take off and LandingYaw Rotation about the z axis of the airship
Roman Symbols
A Current (Amps)Ac Cross Sectional Area of Envelope (m2)B Buoyancy Force (N)Cd Co-efficient of Drag
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Cg Centre of GravityCv Centre of VolumeD Drag Force (N)dv/dt Acceleration (ms-2)d /dt Rate of turn (degs-1)g Gravitational Constant (ms-2)hcruise Cruise Height (m)Kd Derivative GainKi Integral GainKp Proportional GainL Lift Force (N)M Molar Mass of Air (kg/kmol)m mass (kg)N Newton of ForceP Atmospheric Pressure (Pa)P Power (W)R Specific Gas Constant (Nmkg-1Kmol-1)SA Surface Area (m2)T Thrust Force (grams)T Temperature (K)taccel Time for Acceleration (s)tdescent Time to Descend (s)tflight Time of Flight (s)ttakeoff Time to reach cruise altitude (s)V Volume of Envelope (m3)Vcr, max Max. Cruise Speed (ms-1)Vtakeoff Take-off VelocityW Weight Force (N)We Empty Weight of Airship (kg)Wo Take-off Weight of Airship (kg)
Greek Symbols
EfficiencyAngle (deg)Density (kg/m3)Constant pi
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1 Introduction1.1 Aims
The project aims to design and construct a small airship capable of indoor flight.
Specifically, the project aimed to achieve three main objectives:
• To design and build an airship to meet specified flight parameters
• To implement a complete manual and partial automatic control system
• To have the ability to capture images and transmit them to the ground
The final product could be used for indoor aerial photography, surveillance and
advertising purposes.
1.2 Flight Characteristics
As stated in the first project objective, the airship had to be designed to meet a set of
flight characteristics. The four flight characteristics were the payload weight, cruise
speed, time of flight and cruise height. The yaw and pitch of the airship needed to be
controlled whereas roll control was not a part of the project requirements..
Table 11 - Principal Flight Characteristics
Category Value
Payload weight 0.5kg
Cruise Speed 1m/s
Time of Flight 30 mins
Cruise height 6m
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Table 12 - Manoeuvrability Requirements
Manoeuvre Control
Yaw Controlled manually
Pitch Controlled automatically
1.3 Standard Requirements
Australian civil aviation standards must be followed when building any air vehicle. Two
documents contain information on airship design, construction and operation.
1. General – (AS1100)
2. Specific – (CASR 101)
Below is a summary of the most relevant details in the Civil Aviation standards (Civil
Aviation Authority, 1998)
• The airship must operate in way such that aircraft is not a hazard to people or
other aircraft.
• The airship can only operate in controlled airspace if approved by CASR.
• The airship can’t operate over an altitude of 400 ft without approval from CASR.
• The vehicle must not drop/discharge anything hazardous.
• The airship can only be operated at night if clearly visible
• This airship will be classified as a light balloon, so is required to be no more than
2m in diameter and have a payload less than 4kg.
1.4 Budget Constraints
The quality and technical level of the airship is in part determined by the finance
available to the project. BAE Systems Australia provided $3,500 in addition to the $500
provided by the School of Mechanical Engineering. The combined cost of the most
essential components, the envelope, helium and propulsion systems, is expected to be
$2,500. This restricts the available funds for items such as the camera and sensors.
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2 Feasibility Study2.1 Background Information
An airship is a lighter-than-air aircraft that uses buoyancy to produce lift rather than
aerodynamic lifting surfaces like heavier-than-air vehicles. The primary difference
between a balloon and an airship is that an airship can be steered and propelled through
the air, whereas a balloon relies on wind currents for manoeuvrability. An airship has
three main sections: the envelope, gondola and propulsion system. The envelope contains
the lifting gas required for buoyancy and is generally categorised into three structural
classes: rigid, non-rigid and semi-rigid. The gondola carries the airship payload and also
houses the propulsion system. The propulsion system provides the thrust used to control
airship movement.
Airships were responsible for many of the pioneering achievements in aviation
technology such as the first powered, controllable flight in 1852. In the early part of the
20th century military leaders recognised that airships could be particularly useful as
bombing craft and also as naval surveillance vehicles. The First World War demonstrated
that airships could be used in these roles, however, their size and lack of speed meant that
they were extremely vulnerable to enemy attack. Following the war, large airships were
used as passenger transport vehicles. The German built Graf Zeppelin made 143
crossings of the Atlantic Ocean from 1928 to 1936 with a perfect safety record. The
success of the Graf led to the design and construction of an even larger airship, the
Hindenburg. In 1937, the Hindenburg crashed spectacularly while trying to land at
Lakehurst in the United States. This incident undermined public confidence in airship
safety and they were no longer used for intercontinental passenger transport.
In the last 50 years airships have been used for certain niche applications such as
advertising, surveillance and aerial photography. The most well known advertising craft
is the Goodyear blimp which has been prominent at major sporting events. Smaller craft
have been used for advertising and photography in large indoor arenas such as basketball
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and ice hockey stadiums. The United States Coast Guard has also experimented with
using airships for high altitude surveillance of its borders and coastline.
2.2 Analysis of Similar Projects
A comprehensive review of other airships was undertaken to gain a better understanding
of airship design principles. The review focussed on small-scale, university level projects.
The design of the envelope, gondola and propulsion system were of particular interest as
was the performance capabilities of each craft.
2.2.1 Envelope and Gondola Design
Envelope design for other projects was based principally on mathematical shape
modelling, drag estimations and aesthetics. As a starting point, the necessary lifting force
is converted to an approximate volume using the buoyancy equation. Basic shapes are
then used to form a computer model, from which the total surface area can also be
calculated. A project at the National University of Singapore (NUS) made an approximate
envelope using two ellipsoids, as shown in Figure 21.. The volume and surface area were
The results of this graph are similar Figure 27, showing that small airships have a length
to width ratio around 3. A more accurate average value for the small airships was
calculated to be 3.7. Using the analysis of the more modern airships and the smaller
airships, a figure of 3.5 was established as a guideline value to help design the shape of
the airship.
2.3.2 Thrust to Weight Ratio
The thrust to weight ratio is used as a design guide to help determine the thrust needed
for the airship. From the thrust to weight ratio and the weight of the airship, an
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approximate thrust value can be established. The thrust value also helps to select the
components of the propulsion system including motors, ducted fans and batteries.
A graph off the thrust to weight ratio for all the airship data collected was produced
displaying the results in chronological order. The graph shows that there is significant
variation between thrust to weight ratio (0.1 – 0.7), however this is independent of the
time of production. The average thrust to weight ratio over the whole period was 0.25.
Figure 29 - Thrust to Weight ratio graph
As there appeared to be no relationship between the age of the airship and its thrust to
weight ratio, a graph comparing the thrust to weight ratio and weight was created (Figure
210). This showed a large grouping of airships with a thrust to weight ratio of 0.2 and a
weight less than 200,000N. It also showed for airships larger than 200,000N that the
thrust to weight ratio was around 0.1. A significant number of airships less than 100,000
N in weight had a thrust to weight ratio of more than 0.3.
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Figure 210 - Thrust/Weight vs Weight graph
Another graph was produced which only considered designs with a weight close to the
desired weight of this project. The graph shows the distribution of thrust to weight ratios
to be quite large (between 0.1 and 0.7). The average thrust to weight ratio was 0.3.
The average thrust to weight ratio for all airships was about 0.25 while for smaller
airships it was about 0.3. The large variation in the data means it is difficult to draw any
significant conclusions. The main reason for this variation is that the thrust to weight
ratio is dependent on the purpose of the individual airship. If the airship is designed to
move quickly through the air it has a larger thrust to weight ratio than if it was designed
to hover. As the desired speed of this airship is to be small, a low thrust to weight ratio
would be likely. Using a conservative estimate of 0.4 for the thrust to weight ratio and a
weight of 5kg, the approximate thrust required would be 20N. This estimate is likely to
be much greater than the thrust needed by this airship. This is primarily because most of
the airships being analysed were designed to meet higher performance standards.
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2.3.3 Empty Weight to Takeoff Weight Ratio
The empty weight (We) to take-off weight (Wo) ratio is the most important of the three
ratios analysed. The airship take-off weight is the empty weight plus the payload weight.
Using the We / Wo ratio and a known payload weight it is possible to then determine the
overall weight of the airship. An initial graph of the empty weight to take-off weight was
created showing the airships in chronological order.
1850 2000Year
Figure 211 - Empty weight to takeoff weight ratio graph
Figure 211 shows a slight trend of decreasing empty weight to take-off weight ratio.
However, this trend is only about 0.1 over 100 years and hence is not that significant. The
graph also shows that the ratio stays relatively constant at an average value of 0.6. As
there was little correlation between the age of the airships and the We / Wo ratio, a second
graph (Figure 212) was produced showing the dependence on takeoff weight. Only small
airships, less than one tonne, were considered. This graph showed again that the We / Wo
ratio was around 0.6.
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Figure 212 - We / Wo ratio vs Takeoff weight graph - (Wo < 1 Tonne)
As with the previous graph, Figure showed that the empty weight to takeoff weight ratio
has an average value of around 0.6.Using the graph and a payload weight of 0.5kg, the
take-off weight was calculated to be 2.2kg. This seemed much lower than expected as
initial estimates for the weight of the airship were about 3-4kg. The difference is due to
the fact that most of the airships analysed used combustion engines and hence the weight
of the fuel is not accounted for in the empty weight. Batteries are intended to be used in
this project and their weight would be included in the empty weight. Conservative
estimates of 3.2kg for the take-off weight and 2.7kg for the empty weight were the final
results of the statistical analysis.
2.3.4 Summary
The statistical analysis of various airships allowed estimates of the three most important
design ratios.
• Length to width ratio – 3.5
• Thrust to weight ratio – 0.4
• Empty weight to takeoff weight ratio – 0.6
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The ratios were then converted to actual performance values.
• Thrust - 20N
• Takeoff weight – 3.2Kg
• Empty weight – 2.7Kg
These estimates are a helpful guide to establish the actual parameters of the design.
However the lack of data available on small airships means that the statistical analysis
cannot alone be used to determine the design of the airship in this project.
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3 Conceptual Design3.1 Desired Modes of Flight
The modes of flight describe the rotational and translational movement of the airship. The
requirements of each flight mode were determined based on the feasibility study and the
broad goals of the project.
3.1.1 Manoeuvrability
The manoeuvrability of an airship is described using a right handed, orthogonal
coordinate system passing through the airship’s centre of volume (Figure 31). If a force
acts on the airship it causes a turning moment which is defined as “the product of the
magnitude of the force and of the perpendicular distance from the Cv to the line of action
of the force” (Beer and Johnston, 1987). The three possible turning moments of an airship
are classified as roll, pitch and yaw moments about the x, y and z axes respectively.
Figure 31 - Turning moments of an airship in flight (Khoury, 2004)
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Control of yaw and pitching moments was part of the project definition, but roll control
was not deemed necessary. As almost two thirds of the mass is contained in the gondola
any minor roll moments will be counter-balanced by the natural tendency of the airship to
move back to the equilibrium position.
The rate of turn of the airship describes how fast the airship can yaw. The feasibility
study suggested that it would be possible to achieve a 90º turn in 3 seconds. The target
rate-of-turn, d /dt, was therefore 30º/s.
3.1.2 Takeoff
The takeoff manoeuvre describes how the airship moves from the ground to its cruise
altitude. The takeoff motion is designed to be entirely vertical, although it is also possible
to takeoff diagonally with a small thrust from the side fans. Diagonal takeoff is not an
essential part of the project.
Two flight parameters needed to be determined so the takeoff mode could be defined
accurately. A cruise altitude of 6m was chosen mainly due to a limitation in the ultrasonic
height sensors which fail to accurately measure height above this altitude. The time
required to reach the cruise altitude also needed to be defined. Preliminary thrust and
drag calculations suggested that 20 seconds was an achievable ascent time hence this
figure was chosen.
3.1.3 Hover
When the airship does not move in the horizontal plane and maintains its altitude it is in
hover mode. Hovering mostly occurs at the cruise altitude. As a safety mechanism, the
airship was designed to be slightly less than neutrally buoyant, that is the lifting force is
almost that of the overall weight force. Therefore, to hover, a constant upward thrust is
required to maintain altitude. The magnitude of the upward thrust will be more closely
defined in the detailed design.
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3.1.4 Cruise
The cruise mode is essentially the same as the hover mode except that it includes
movement in the horizontal plane. Cruise calculations required that two flight parameters
be determined. A maximum cruise speed of 1.0 ms-1 was deemed to be achievable based
on the initial thrust and drag calculations. The performance of the NUS airship and the
Rowan University airship also suggested that this cruise speed was appropriate. To
calculate the maximum cruise thrust, the time to reach maximum speed also needed to be
defined. A value of 10 seconds was chosen based on preliminary testing of ducted fan
units.
3.1.5 Landing
The landing of the airship was designed to be entirely vertical although there is the
capability for a descent where horizontal thrust is provided. Since the total weight of the
airship is designed to exceed the lift provided by the helium, the airship should descend
under its own weight. Descent time from the cruise altitude was designed to be less than
20 seconds. The excess weight calculations will be used to determine the exact theoretical
descent time.
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3.1.6 Summary of Flight Parameters
Table 31 - Flight Parameters
Parameter Symbol Value
Cruise Altitude hcruise 6 metres
Takeoff time to reach hcruise ttakeoff 20 seconds
Maximum Yaw rate d /dt 30º/second
Maximum Cruise speed Vcr, max 1 metre/second
Time to reach Vcr, max from rest taccel 10 seconds
Descent time from hcruise tdescent 20 seconds
Total Flight time tflight 30 minutes
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3.2 Force Analysis
3.2.1 Weight Determination
The exact weight of the airship was difficult to ascertain during the conceptual design
phase. Research was done into the weight of every component and an overall weight
estimate was made.
The envelope and stabiliser weights were estimated based on discussions with the
manufacturer of the envelope, Airship Solutions. They provided information on the
polyurethane density and thickness. This was then combined with preliminary surface
area estimations to calculate the total weight of the envelope.
It was especially difficult to estimate the weight of the gondola housing and internals as
the gondola design changed frequently. The balsa wood density and thickness were
combined with an approximation of the total surface area of the gondola to estimate its
weight. The weight of the motors, ducted fans, batteries, speed controllers and automatic
control components was determined from manufacturer data sheets. Parts that were
definitely going to be needed in the final design were purchased and then weighed to
confirm the manufacturer’s data.
The total weight of the envelope, gondola and internals was determined to be 2.9 kg.
A summary of preliminary weight estimates can be seen in Table 32.
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Table 32 - Preliminary Weight Estimation
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Item Unit mass (g)EnvelopeEnvelope 11004 x Stabilisers 30
Gondola and Propulsion componentsGondola Housing (Balsa) 4004 x Speed controllers 15Battery Pack (4000mAh LiPo) 2504 x SFM Motors + Ducted fans 90Servos 30RC Receiver 502 x Motor axles 30Wiring 10Velcro 50
Camera/PayloadCamera and transmitter 309V Battery 45
Automatic Control components2 x Maxbotix Ultra sonic range finder 50Bluetooth v2.0 SMD Module 22.4GHz Duck Antenna RP-SMA 20LiPo Battery 100Mini-dragon Processor 70Level Sensor 10
Total Mass= 2915 g
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3.2.2 Lift Determination
The lifting force is comprised of the static lift from the helium and the dynamic lift
created by the pressure distribution around the airship during flight. The envelope is very
inefficient in creating dynamic lift due to its shape and the low speed airflow. The
dynamic lift was assumed to be negligible compared to the static lift.
3.2.2.1 Lifting gas
From Archimedes’ principle, the upward buoyancy force due to the lifting gas is equal in
magnitude to the weight of the fluid (air) displaced. To be effective in generating lift, the
density of the gas displacing the air must be as low as possible. The buoyancy force can
be expressed as a function of the lifting gas density, air density and the volume.
Equation 31 - Lifting Force Equation
Where
= Lifting Force (N)
= Density of Air (kg/m3)
= Density of Lifting Gas (kg/m3)
V = Volume of the Envelope (m3)
Four alternative lifting gases could have been used for the airship: hydrogen, helium,
methane and ammonia. A comparison of the lifting force is shown in Figure 32 and the
calculations for each gas are shown in Appendix B. The unit of lifting force was
converted to grams for ease of comparison with the mass of components.
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Figure 32 - Comparison of theoretical lifting force of lighter than air gases
Figure 32 shows that to lift 3kg of weight using ammonia or methane would require a
volume of at least 5m3. Hydrogen and helium provide almost double the lifting force per
volume and hence would need a total volume of approximately 3m3. Hydrogen could not
be used due to its extreme flammability. Hence it was concluded that helium was the only
suitable gas for the airship.
3.2.2.2 Atmospheric Effects
Temperature, altitude and air density all affect the lifting capacity of the airship. Due to
the low ceiling height, any altitude affects were deemed negligible. Air was assumed to
be an ideal gas and hence the affect of temperature on the air density can be calculated.
Equation 32 - Ideal gas law
Where
P = atmospheric pressure (Pa)
M= Molar mass of air (kg/kmol)
R= Specific Gas Constant (N m kg-1kmol-1)
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T= Temperature (K)
The lifting force was then determined at varying temperatures by substitution into the lift
equation. The complete solution can be seen in Appendix B.
Figure 33 - Effect of temperature on lifting force
As the airship was designed for indoor use, the temperature would generally be between
15 and 25º C. The maximum operating temperature for the airship was determined to be
35º C (950g of lift per m3). At higher temperatures, the helium lifting force was
insufficient for the airship to fly.
3.2.3 Thrust Determination
Using the flight parameters established in section 3.1 it was possible to calculate the
thrust needed in each flight mode. The thrust required was calculated in grams as this is
the standard unit used for rating RC ducted fans.
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3.2.3.1 Takeoff
In takeoff mode the airship must overcome the drag force acting downward as well as the
weight force. The buoyancy force alone is not sufficient for takeoff, hence an upward
thrust must be provided.
Figure 34 - Free body diagram of forces during takeoff
The required thrust in takeoff was determined from applying Newton’s Second Law to
the airship. The equation assumes that the buoyancy force is equal to the weight of the
airship.
Σ F = m (dv/dt) = Thrust + Buoyancy – Weight – Drag
∴ Thrust = m (dv/dt) + Drag
where Drag = ½ CD ρair Atop Vtakeoff 2
Equation 33 - Sum of forces in takeoff mode
The drag coefficient for the envelope in takeoff was conservatively approximated to be
equal to the drag coefficient for a horizontal cylinder moving upward which has Cd= 1.15
(Munson, 2006). All other variables in the takeoff equation were defined in the flight
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parameters. The maximum thrust required in vertical takeoff was calculated to be 96g.
The full solution can be seen in Appendix B.
3.2.3.2 Hover
The thrust required in hover was determined using the same procedure as for takeoff
mode. As stated in section 3.1, the lift force was designed to be just less than the weight
force, hence a constant vertical thrust was required in hover mode. The airship was
designed to descend from a height of 6m in 20 seconds. An excess weight of 20 grams
was chosen as this allowed the airship to descend in approximately 20 seconds. Hence the
constant upward thrust was required to be 20 grams for the airship to hover.
Figure 35 - Free Body diagram of forces during hover
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3.2.3.3 Cruise
In cruise mode, the airship required thrust in both vertical and horizontal directions. The
vertical thrust was equal to that needed for hover. The drag coefficient was approximated
as an ellipsoid with Cd =0.38 (Munson, 2006). The drag caused by the gondola was
assumed to be negligible compared to the drag of the envelope especially considering the
low maximum speed.
Figure 36 - Free Body Diagram of Forces During Cruise
From the hover force analysis, the constant vertical thrust was determined to be 20g. The
forward thrust was calculated by applying Newton’s Second Law in the horizontal
direction. The required horizontal thrust was calculated to be 130g. A full calculation can
be seen in Appendix B.
Σ F = m (dv/dt) = Thrust – Drag
∴ Thrust = m(dv/dt) + Drag
where Drag = ½ CD ρair Afrontal Vcruise 2
Equation 34 - Sum of horizontal forces in cruise mode
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3.2.3.4 Summary of Thrust in Different Flight Modes
Table 33 - Summary of thrust requirements
Flight ModeThrust
Requirement (g)Takeoff 96
Cruise, vertical component 20
Cruise, horizontal component 130
Hover 20
3.3 Envelope Design
3.3.1 Structural Parameters
The structure of the envelope could be based on several main designs: rigid, non rigid and
semi rigid. Each type of structural design was assessed based on its cost, lifting force
efficiency and aesthetics.
Rigid airships have an internal framework which maintains the shape of the envelope.
Rigid internal frameworks are typically seen in large scale airships such as the giant
Zeppelin craft of the 1920’s and 30’s. Several ballonets containing the lifting gas are
located within the main envelope as seen in Figure 37. Separate ballonets containing air
are also housed in the envelope. The weight of the envelope, and hence the lifting force,
can be controlled by pumping air in or out of the ballonets. For a small airship design, a
rigid structure significantly decreases the effective lift and increases the complexity and
cost of manufacturing.
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Figure 37 - Bladders in a rigid airship (Australian Broadcasting Corporation, 2004)
Non-rigid airships contain no internal framework to maintain the shape of the envelope.
Instead, their shape is maintained by the pressure of the lifting gas within the envelope.
Larger non-rigid airships typically include a protective outer surface, made from a robust
material such as rubber. Small scale designs generally use a single skin of a durable
material which has a low permeability to helium. One disadvantage of non rigid airship is
that other components cannot be stored within the envelope. Non rigid envelopes are a
simpler, less expensive alternative to rigid envelopes and are commonly seen in smaller
airships under 10 metres in length.
Semi rigid airships try to include the most desirable features from both rigid and non
rigid airships. Semi rigid airships have a non rigid envelope with an internal pressure
higher than that of the atmosphere, to maintain their shape. They also have a framework,
but this framework in not as extensive as that found in rigid airships and hence the overall
weight of the envelope is reduced.
The key requirements in the design of the envelope include indoor use and a low cost. A
singled skinned, non rigid design is the most suited for this project’s application. It is an
inexpensive option and has a high lift to weight efficiency. A non-rigid design is also the
most appropriate for indoor use as forces due to air currents will be low. This style of
envelope is also commonly used by projects of a similar scale and is regularly used in
small commercial craft.
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3.3.2 Materials
There were several materials which could be used to manufacture a non rigid envelope,
including polyurethane, “ripstop nylon” and polyvinylchloride.
Polyvinylchloride or PVC is often used in the manufacture of low budget remote control
or tethered blimps. The material is a heavy alternative to polyurethane or nylon. Hence, a
larger envelope would be required to achieve the same amount of useable lift. PVC has a
high permeability, meaning helium leakage through the envelope is relatively fast. A PVC
envelope is manufactured using a gluing process to join sections of the hull. The joins
also allow significant helium leakage from the envelope.
Polyurethane is a durable material, with good resistance to corrosion and low
permeability. Polyurethane hulls are joined using plastic welding, meaning the seams
have a comparatively low leakage. Polyurethane is a more expensive envelope material
however, its cost is within the project budget. Polyurethane is commonly used for
remotely controlled blimps (as seen in Figure 38) and larger scale tethered blimps.
Motor / Ducted Fan (upwards thrust) 2 80 $160.00 Motor / Ducted Fan (horizontal thrust) 2 72 $144.00
Motor Initial test engine 1 60 $60.00 Ducted Fan initial test 1 35 $35.00 Servo pulleys and belt 1 32 $32.00Electronics Camera Set-up 1 70 $70.00
Camera Battery 1 17 $17.00 Analogue to digital cable 1 45 $45.00 Ultra sonic sensor package 1 85 $85.00 Additional ultrasonic sensor 1 52 $52.00 Bluetooth v2.0 DIP Module 1 70 $70.00 Bluetooth Modem - BlueDongle 1 85 $85.00 USB miniB Cable - 6 Foot 1 10 $10.00 2.4GHz Duck Antenna RP-SMA 2 9 $18.00 Speed controller (brushless) 2 44 $88.00 Speed controller (reversible) 2 85 $170.00 RC Unit 1 385 $385.00 Batteries 1 203 $203.00 Level sensor (clinometer) 1 376 $376.00 USB Connector cable 1 40 $40.00
Miscellaneous Workshop Costs 1 20.25 $20.25 Velcro 18 5.95 $107.10 Twine 1 3.5 $3.50 Cloth 1 1.66 $1.66 Tie Line 1 5 $5.00 Washers 1 5.5 $5.50 Banner 1 132 $132.00 Contact for fins 1 3.5 $3.50 Balsa wood + Glue 1 14.85 $14.85 Open Day Poster 1 334.4 $334.40 Helium 2 220 $482.20 Total $4088.96
Appendix H – Minutes of Meetings
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICEThursday 23rd November 2006
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION/EVENT ACTION/RESPONSIBILITY
1 INTRODUCTION:
This was the first meeting with project supervisor Maziar Arjomandi and other team members. Discussed general details regarding the role of each individual in the team.
Note
2Timeline
Main focus of the meeting was construction of basic timeline of how the project would evolve.
MN
3Theoretical Design Calculations
The theoretical design work should be completed by February so materials can be ordered from overseas, if required.
NB, MN, LR
4Bill of Materials
The Bill of Materials should be constructed in basic form, with further expansion once the Design Calculations are complete.
LR
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5Sponsorship
Try to promptly obtain sponsorship from industry/DSTO to establish budget restrictions.
NB
6Research
Similar projects should be researched vigorously and noted to gain knowledge into design and construction of small airships.
NB, MN, LR
7Ballonet
The airship should not contain a ballonet. This feature will add extra weight requiring greater volume of lifting gas.
Note
8Camera System
The airship will be fitted with a camera system. The total weight of the payload (including the camera system) would be 1 kg.
Note
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICEMonday 4th December 2006
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION/EVENT ACTION/RESPONSIBILITY
1 Timeline
MN presented MA with timeline. MA suggested timeline was good but should be split into two parts:
• Short term timeline (weekly, from Dec-March)• Long term timeline (monthly until the end of
the project)
The timelines should be constructed using Microsoft Project.
MN
Note2
Preliminary Design Calculations
Basic calculations of weight of materials should be carried out to allow estimation of volume and dimensions of airship.
NB, MN
3Bill of Materials
Bill of Materials presented to MA. He suggested a more detailed approach closely linked to the preliminary calculations.
BOM should use a spreadsheet format using Microsoft Excel.
LR
Note
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4Preliminary Sketches
From the BOM and Preliminary calculations, a number of sketches should be produced to allow better conceptualisation of the project.
The sketches should be drawn using computer software such as Solid Edge.
LR
Note
6Research
MA requested that the research be documented closely and be carried out quickly. The focus should be on similar academic projects. A database should be compiled with websites, books, papers etc. and description of the information they contain.
The database should be constructed using Microsoft Excel.
NB, MN, LR
MN
7Ballonet
During the week NB and MN discussed the advantages and disadvantages of using a ballonet. MA suggested that he was still opposed to the idea and that it would add weight to the design.
More research needs to be conducted into this specific aspect.
Note
NB
8Camera System
The airship will be fitted with a camera system. MN proposed concerns about the large cost of a camera system, relative to the budget available. MA suggested the cost was not more than $200 as the camera will be fixed without remote control about axes.
More research needs to be conducted into this specific aspect.
Note
MN
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9Project Definition
MA will send TT templates to show how to construct a correct project definition. The TT template aspects are:
• Engineering job• Administration job• Research Component
NB
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE11th of December 2006
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
1 Research
Continue to look into similar sorts of projects. Particularly those undertaken by university students. The internet is the easiest way to find such projects.
MNNBLR
2 Research
General research into historical aspects of airships. NB
3 Timeline
The timeline still needs to be completed and was delayed due to software limitations. Should be completed by next week’s meeting.
MN
4 Statistics
A database of statistics needs to be compiled. The database will be formed from the information gathered in the research. The statistics should include as many parameters as possible, not just numerical parameters. Stats could include geometric figures, weight, thrust, payload, fuel, drag etc.
MNNBLR
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5 Questions
Compile a list of questions that have been discussed in the initial stages of the design project. Aim for about 100 small questions. Then try to answer these questions individually. This exercise will give better understanding of the project as a whole and will promote discussion between group members.
MNNBLR
6 Order to Buy
Create a list of websites / companies that have necessary materials / equipment available. Note down the prices. Try to find companies that sell all components as well as fully assembled airships. It is preferable to buy everything from one company if that company is reliable and efficient. This will streamline the ordering process and should allow easier assembly of parts.
MNNBLR
7 Progress
Next week’s meeting will be the last for the year. The meetings will start again in Mid-January.
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE18th of December 2006
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Research
Continue to look into similar sorts of projects. Particularly those undertaken by university students. The internet is the easiest way to find such projects.
MNNBLR
Mid January
2 Camera System
MN presented example of camera system for purchase. MA suggested generating database of all available camera systems that could be used.
MN 4-1-2007
3 Timeline
Long term timeline needs to be completed and sent to MA in pdf format.
MN 4-1-2007
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4 Statistics
MA was presented with statistics principally compiled by LR. MA was happy with results but suggested that some of the information needed to be sorted by year of production etc. A summary of the statistics (1-2 pages) also needs to be written so better use can be made of the information.
LRNB
4-1-2007
5 Questions
MA was pleased with the 40-50 small questions compiled. Need to try to find good answers to the questions from legitimate sources
MNNBLR
Ongoing / End of January
6 Calculations
MA suggested that calculations of parameters such as thrust, cruising speed and volume need to be carried out and documented on paper.
NB 4-1-2007
7 Helium
MN had conducted preliminary research into helium costs but found it difficult to get conclusive figures from the internet. Will establish database similar to that for cameras.
MN Mid January
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8 Weight/Size
More accurate estimate is needed for the total weight of the airship with components and payload. Original 5kg estimate seems inaccurate based on some of the statistical information of Wpayload/Wtotal .
LRNB
Mid January
9 Engine
Database needs to be established for various types of engines. Structure should be similar to that required for helium and camera system components. Possible options would be battery/electric or some form of combustion engine.
LR Mid January
10 Minutes
MA was happy with the look of the minutes template but suggested that there be completion dates incorporated. The “expected date of completion” column has been included in these minutes.
MN N/A
11 Next Meeting
The next meeting will be held on the 4th of January after the Christmas break.
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE4th of January 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Statistics
NB and LR have compiled extensive statistics from reliable sources. There should be enough information to carry out comprehensive analysis. At this stage there should not be any need for any new stats to be added.
MA wants a graph comparing the payload, total weight and empty weight of other airships. This is important due to the fact that weight determines many of the other parameters of the airship.
NBLR
LR
Note
9-1-07
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2 Camera System
As suggested by MA at the last meeting, MN compiled a database of available camera systems that would be suitable. The list includes the supplier, price and weight. The next stage is to select the best camera from the options. It appears as though the cameras are all fairly similar and relatively cheap.
MN Late January
3 Timelines
MA viewed the short term timeline and suggested it needed to be slightly more detailed. The long term timeline needs to show the next 40 weeks with a focus on what needs to be done in each week.
MN 9-1-07
4Questions
MN tried to answer most of the 50 questions that the group had previously prepared. The answers are predominantly opinions based on research that has been carried out. MN suggested that both LR and NB create a similar answer list of their own. The group will meet on the weekend and go over the opinions and try to come to some conclusions.
MNLRNB
9-1-07
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5 Calculations
Using the weight estimate MN calculated the required volume of He gas required. The calculation tried to include a buffer, if there are changes. Using a method proposed by Lutz & Rigg, the dimensions (length and diameter) were also calculated based on the volume. The calculation needs to be further refined by the whole team and use fluid dynamics books as a reference.
MNLRNB
9-1-07
6 Helium
One of the reasons for the volume calculation was to assess the volume of helium required. This figure was then combined with the helium database, prepared by MN, to calculate an overall cost of Helium. For 3.6m^3 the cost is in the order of $250, and the total volume needed with testing, leakage etc. is likely to be >6m^3. This cost seems extremely prohibitive to the project and extensive investigation is required.
MNLRNB
Mid January
7 Bill of Materials
A more accurate version of the BOM needs to be created. The research that has been carried out should be used to make the BOM.
LRMN
Mid/Late January
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE9th of January 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Mid-week meetings
The group members prepared geometric calculations in two meetings held on the 7th and the 8th. In these meetings the group came to a couple of conclusions:
Note Note
2 Payload
Based on the calculation, previously done by MN, for the overall volume of the airship, it was agreed that the project should be scaled down. The scaling relates to the expense that a large volume of helium would incur.
Hence, the payload weight was not fixed at 1kg. A figure of around .5kg is a more achievable target at present.
Note Note
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3 Calculations
Based on statistics compiled of payload as a % of total weight, the group was able to estimate a target total weight. The target total weight is roughly 3-3.5 kg.
Note Note
4Shape
Using the weight estimate the group also looked at different envelope shapes and their dimensions. MA was pleased with the shapes and calculations presented.
MA proposed that the group develop a spreadsheet so that repetitive calculations can be handled by the computer. This will allow optimisation of the dimensions.
Note
LR
Note
22-1-2007
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5 Control System
MA discussed that the airship must be automatically controlled in its elevation. He suggested a meeting with Ben Cazzalato to discuss this element.
NB also presented MA with a system diagram showing how the control system will broadly function. The main point of discussion was whether or not the controller will be onboard or be remotely connected on the ground. Further research needs to be conducted in this aspect and the meeting with Ben should give a better understanding of what is involved.
LRMN
MNLRNB
Before next meeting
Before next meeting
6 Report
NB prepared preliminary history section. The section was too long at ~15 pages. The figure needs to be reduced to 5-7 pages. MN will help to edit and cut down this section.
MNNB
22-1-2007
7 Timeline
MN prepared a 45 week timeline of the project with breakdowns of the main tasks. He plans to add to it as the project progresses with notes and further tasks. MA was happy with the timeline but suggested a better way to categorise the different tasks.
MN Ongoing
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE22nd of January 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Calculations
Based on extensive research conducted by the other group members, LR prepared a spreadsheet containing an automatic calculation method. The procedure works out the dimensions, weight of the envelope and overall total weight based on an input ‘target weight’.
MA was happy with the spreadsheet as a whole but pointed out some concerns. Primarily he was worried about the inclusion of a safety factor without any reasoning for its value.
The spreadsheet needs a little work in specific areas that, once done, will be a very useful and simple way of carrying out new calculations.
Note
Note
LR 29-1-07
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2 Research / Correspondence
NB was able to talk to an employee with the firm ‘Airship Solutions’ in Victoria. The company specialises in advertising and photography on small airships.
The company advised on various aspects of airship design, principally envelope details. They said that purchasing a ready-made polyurethane envelope from them would cost ~$600. It would also be possible to purchase a PVC envelope from China at a significantly lower cost.
The company is also reluctant to sponsor or provide materials for the group. It would be good to remain in contact with them for possible technical assistance, parts ordering etc.
Note
NB Ongoing
3 Construction
MA wants details on how the airship will be constructed, particularly the envelope. Preliminary research has already been done into this aspect but with no real outcome or findings.
MN 29-1-07
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4 Control System
The group contacted Ben Cazzalato for help and guidance with the control system. He was reluctant to help at this stage and recommended that we wait until the new semester starts. He also recommended that we enrol in Advanced Automatic Control and Advanced Digital Control as subjects this year. It is difficult for any of the group to do so.
More research needs to be done in this area. MA suggested that the group also look at other past projects involving similar control system philosophies.
Note
MNLRNB
29-1-07
5
Airship Profiles
MN began preparing a database of airships with picture, specifications and short description. As the project continues and other designs are looked at, MA suggested that we add them to the database. The database of all airships will eventually be included in the appendix of the final report.
MNLRNB
Ongoing
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6 Sensitivity Calculations
Based on the calculations spreadsheet that LR put together, a sensitivity analysis needs to be completed. The analysis should include graphs of how uncertainty in each variable impacts on the other factors. Some of the variables include payload, envelope properties and weights of components. The graphs can be prepared easily using the same iterative procedure and just inserting the uncertainty.
LR 29-1-07
7 Drawings
With a better calculation and weight analysis done, it is possible to complete a better drawing of the intended design. The drawing should be dimensioned as much as possible. This should be done using Solid Edge, or similar, and should use techniques taught in Design Graphics.
NB 5-2-07
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE29th of January 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION
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1 Design Drawings
MA was happy with the calculations and sensitivity analysis that has been carried out. He is satisfied that the design process must now proceed to from conceptual to drawings.
The drawings will need to show sufficient detail to build and assemble the airship. The drawings will need to include:
• Views from various angles and sides.
• Fully dimensioned details.• Section and zoom-in of
parts as appropriate.• Part list (BOM) showing
items, materials and quantities required.
This will be the main focus of the group for the next two weeks. First draft drawings should be ready in two weeks and all drawings should be finished by Mid-March.
LRMNNB
12-2-2007
Fully Completed by 7-3-2007.
2 Price list
Closely integrated with the Part list shall be the price list. This list shall show all known items for the project with their cost. It may also be necessary to include an uncertainty factor in the costs for each item i.e. +/- 20%. This should stop unexpected cost blowouts.
NBMN
13-2-2007
fully completed by 7-3-2007
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3 Control Aspects
NB did more research into the control elements of the project. He has also started communication with a cousin who works for BAE. Along with possible discussion with Ben Cazzalato. There may also be an opportunity to get a Mechatronics student, depending on his availability. It is likely that he has already enrolled into a different project.
NBMNLR
Ongoing
4 Presentation/Sponsorship
The group also needs to prepare a presentation/slideshow for prospective sponsors of the project. Part of the presentation has already been done but it needs to be ‘cleaned-up’ and added to. The presentation/letters should be prepared as soon as possible and sent off. Sponsorship information needs to be determined so that the budget for the project can be set and parts can be ordered.
NBLRMN
13-2-2007
5 Abstract
As a part of the project MA has suggested that a research project also needs to be undertaken. The exact focus of the research has yet to be determined. An abstract of the report, not more than a page, should be prepared by the next meeting. This could also be used in conjunction with the presentation to prospective sponsors.
MN 13-2-2007
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE12th of February 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Propeller System Design
The group had two meetings since the last discussion with MA. The result of the meetings was a consensus on how the propellers would be integrated into the design. The proposed system would have a fixed propeller, facing downward, solely responsible for the automatic control of elevation. Two propellers fixed to the sides of the gondola would be responsible for yaw and pitch.
MA did not agree with the design proposed by the group. He was concerned that it over-simplified the design and that in practice it would not work effectively. After long discussion MA agreed that the group could proceed with the consensus decision. Iterations of the design may need to take place to show the proof of concept.
MNLRNB
5-3-2007
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2 Gondola Internals
Flowing on from the discussion about the propeller arrangement was a discussion of how the gondola components would be organised. MN had prepared a drawing of the internals based on consensus propeller decision. MA suggested that more work was required on this element. The group argued that it was difficult to prepare a gondola design without a firm knowledge of how the propellers will be set-up.
A meeting with Dr Ben Cazzalato would serve as a very good way to gain an insight into the probable components needed inside the gondola and their size, power requirements etc.
MNLRNB
5-3-2007
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MINUTES
OF MEETING HELD IN BEN CAZZOLATO’S OFFICE6th of March 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Ben Cazzolato, Coordinator BC
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION
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1 Height Sensors
The group asked BC for advice on possible methods of measuring the elevation of the airship. BC recommended the use of pressure sensors or ultrasonic sensors. He also suggested that it is possible to use a combination of both for increased accuracy of measurement.
A pressure sensor would need to be calibrated for each time it was used to establish the specific the atmospheric conditions at that time. The variance in pressure may not be sufficient for the device to be used effectively.
An ultrasonic sensor seems the preferred option over the pressure sensor, although it also has limitations. Principally, it appears as though the ultrasonic sensors can not operate at a height of above 6.5 metres, due to scattering of the reflected waves.
Notes
2 Automatic control communication uplink
BC recommended using a receiver and transmitter communicating via Bluetooth radio frequency. A version 2 receiver and transmitter have a theoretical range of 100 metres, although BC warned that he had problems with drop-outs using Bluetooth. The setup of a Bluetooth system would be inexpensive.
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3 Radio control units
BC suggested that it would definitely be possible to use a standard RC unit for our proposed design. The number of channels that would be needed largely depends on the way we choose to connect the various components. It may be possible to use one channel to provide the commands for the rotation of the two axles to provide pitch. Another channel could be used for switching the axle rotation from automatic to manual control.
4 Batteries
Lithium-polymer batteries would be best suited for our design due to the better energy density per weight over NiCd or NiMH.
BC also recommended that the powers supply for the automatic control components be separate to the power supply for the motors. This is due to the fact the motors can create fluctuations in the supply voltage, which can damage the LiPo batteries.
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5 Controller / Processor
BC suggested the use of a mini-dragon controller. This unit has been used on previous projects with good results. The price was around $200.
The programming needed for the controller would not be beyond the group’s capabilities, despite the apparent lack of knowledge in this area. Using the notes for Advanced Automatic Control the group should be able to create a SISO system. The programming needed for this could be done using a variety of different languages. The most likely is C (++) as the group has some experience with this language.
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICE6th of March 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
The group reported to MA the results of the meeting with Dr Cazzolato.
MA suggested that the group also arrange meetings with Tien-Fu Lu and Lei Chen to gain more practical information on control as well as robotics.
MA still thinks that the control system is difficult to conceptualise, although he believes that the group has an understanding. Mainly for his benefit, he suggests that a summary of the control commands be developed to aid understanding.
LR
MN
9-3-2007
13-3-2007
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2 Gondola
The group should be able to create a relatively accurate gondola design with the knowledge of parts required and their weights and sizes. MA suggested that fibre-glass be used as the material for the construction of the gondola. The workshop would be able to make the gondola if given sufficient detail of dimensions and design.
LR 13-3-2007
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3 Envelope
MA wants to finalise the design and order of the envelope as quickly as possible. The lead time on this part is expected to be long so it is essential that it is ordered soon (the original deadline for ordering of the envelope was March 18th). This poses problems in that the gondola design and weight has not been finalised and hence the total weight has not been finalised. The volume and design of the envelope is dependent on the amount of helium required to provide neutral buoyancy for the airship. The envelope and gondola design processes must be closely linked to one another as a result.
NB has been in contact with two suppliers of envelopes. Rough quotes have been obtained for the construction of the envelope. The suppliers need to be contacted again with a view to purchasing ASAP. The design requirements need to be accurately conveyed to the suppliers so that they can produce the envelope.
The leakage of the envelope is also an issue, with helium being relatively expensive. Modelling of the leakage needs to be carried out based on estimates of leakage rates from manufacturers. The modelling will be used to establish a testing itinerary for the airship and also to establish the total amount of helium required.
NB
NB
MN
13-3-2007
16-3-2007
13-3-2007
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4 Construction
MA suggested that the initial goal of the group should be to construct the airship solely with the manual control system in mind. Once this has been achieved successfully, the automatic control system will be added to the gondola. Space in the gondola will still need to be allocated for the parts that make up the automatic control system.
Note
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MINUTES
OF VISIT TO MODEL FLIGHT ON 8th of March 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 General Information
Group members had general discussion regarding speed controllers, motors and RC units.
Note
2 RC Unit
It appears as though a more complex unit than was initially thought of. Changes in propeller setup may mean that the complexity of the unit will be reduced. Expected price range is $500-$1000.
Note
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MINUTES
OF MEETING HELD AT NICHOLAS BARTEL’S HOUSE ON3rd of May 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Drawings
• Fix shell pieces• Check normal sizes• Fix dimensions• Order drawings for
Workshop
LR
8-5-2007
2 Thrust Experiment
• Safety Report• Make table/graph of results• Compare experimental with
theoretical results• Write overall analysis of
experiment and conclusions
MN 8-5-2007
3 Ground Station Layout
• General outline of all necessary components and their role.
MN 8-5-2007
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4 Control Aspects
• Group needs to decide on all parts needed for control system and begin purchasing.
• Coding discussion needs to progress
• Level Sensor should be finalised
MNNBLR
8-5-2007
5 RC control and unit
• Need to work out modes/channels based on the flight requirements and control.
• Decide on and purchase control unit.
MNNBLR
8-5-2007
6 New Engine and ESC
• Purchased new reversible motor and appropriate speed controller.
• Need to arrange test setup with electronics workshop
NB 8-5-2007
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MINUTES
OF MEETING HELD IN S23817th of May 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Located level sensor, but still searching for distributor of unit.
Continuing code writing research and viable options for control system.
Design of ground station including hardware needed completed.
NB
NB
NB
25-7-2007
25-7-2007
17-5-2007
2 Drawings
• Fix shell pieces• Check normal sizes• Fix dimensions• Order drawings for
Workshop
LR 31-5-2007
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3 Envelope
Ordered, awaiting delivery NB 17-5-2007
4 RC control and unit
• Need to work out modes/channels based on the flight requirements and control.
• Decide on and purchase control unit.
NBLRMN
5 New Engine and ESC
• Purchased new reversible motor and appropriate speed controller.
• Need to arrange test setup with electronics workshop
NBLRMN
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MINUTES
OF MEETING HELD IN S23831h of May 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE: Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Located level sensor. Obtain through Applied Measurement Australia
Continuing code writing research and viable options for control system.
NB
NB
31-5-2007
25-7-2007
2 Drawings
Gondola Drawings Completed LR 31-5-2007
3 Envelope
Ordered, awaiting delivery NB 17-5-2007
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4 RC control and unit
• Need to work out modes/channels based on the flight requirements and control.
• Decide on and purchase control unit.
NBLRMN
21-6-07
5 New Engine and ESC
• Set up completed• Ready for test in next week
NBLRMN
7-6-07
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MINUTES
OF MEETING HELD IN S2387h of June 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Continuing code writing research and viable options for control system.
Found Matlab writing software. Located ultrasonic sensor.
NB
NB
25-7-2007
19-7-2007
2 RC control and unit
• Purchased RC unit NBLRMN
21-6-07
3 New Engine and ESC
• Repeat test using new engine, forward and rear engine.
NBLRMN
7-6-07
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4 Purchase of Ducted Fan
Purchased brushed ducted fans for forwards and rear engines.
NBLRMN
7-6-2007
5 Side Engines
Find suitable side engines NBLRMN
21-6-2007
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MINUTES
OF MEETING HELD IN S23821h of June 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Continuing code writing research and viable options for control system.
Purchase remaining parts for automatic control.
NB
NB
25-7-2007
5-7-2007
2 RC control and unit
• Test unit with front and rear engines.
NBLRMN
5-7-07
3 New Engine and ESC
• Test completed, expected thrust achieved
NBLRMN
21-6-07
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4 Purchase of Ducted Fan
Purchased side engines from model flight (reversible)
NBLRMN
21-6-2007
5 Test of New Fans
Test new fans for achievable thrust
NBLRMN
5-7-2007
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MINUTES
OF MEETING HELD IN S2385th of July 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Continuing code writing research and viable options for control system.
Start plans for electrical workshop to construct autopilot.
NB
NB
25-7-2007
19-7-2007
2 Side engines
Found Suitable side engines, test completed.
NBLRMN
5-7-07
3 Prepare for Open day
Get graphics from Adelaide University and BAE systems to use on airship banner
Make list of this needed for completion.
NBLRMN
23-8-2007
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4 Prepare for upcoming test
Make list of flight procedures and uncompleted tasks
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MINUTES
OF MEETING HELD IN S23819th of July 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Continuing code writing research and viable options for control system.
Put auto-parts in for construction
NB
NB
25-7-2007
19-7-2007
2 Prepare Poster
X-Stand poster for open day. Also can use for final exhibition.
MN 23-8-2007
3 Prepare for Open day
Get graphics from Adelaide University and BAE systems to use on airship banner
Make list of this needed for completion.
NBLRMN
23-8-2007
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4 Test
Carry out initial flight test, gaining data for blimp response.
MNLRNB
26-8-2007
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICEThursday 26th July 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION/EVENT ACTION/RESPONSIBILITY
1 Automatic Control
NB had made progress in developing the control system using Simulink. By next meeting MA would like to see a demonstration of the control hardware functioning.
NB by next meeting
2Assembly of Gondola
With the gondola being finished by the workshop it is now possible to install all wiring and components into the floor. This will be a priority this week and requires the input of the electronics workshop.
MN and LR
3Test Venue
Test venue location and date needs to be finalised as soon as possible.
NB
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4Test procedures
LR presented test procedures for all the tests that need to be conducted. MA suggested that they be divided more concisely into pre-flight, flight and post-flight categories.
LR by next meeting
5Publicity for project
MN suggested that publicity for the project should be organised when a strong visual impact can be made ie when the airship is flying properly.
MN
6 Helium
MN organised the delivery of a GX size (9.1m^3) cylinder of helium from Air Liquide. The Mechanical Workshop also advised that they had a cylinder of helium that could be made available to the project.
Safety issues with the helium cylinder need to be discussed with Richard and Joel the two principal safety officers of the School. MN and LR
7Pressure Tests
The envelope was filled with air to record the leakage rate of gas. Further tests will be conducted on an ongoing basis.
MN and LR
8Envelope Workmanship
NB contacted Airship Solutions to discuss holes/patches on the envelope. There may have been a mix-up with the envelope and Airship Solutions will advise of further action- possibly making a new envelope.
NB
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MINUTES
OF MEETING HELD IN S2382nd of Aug 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Continuing code writing research and viable options for control system.
Start programming interface with existing code.
NB
NB
-5-2007
25-7-2007
2 Prepare for Open day
Pick up airship banner
Complete remaining tasks for open day.
NBLRMN
23-8-2007
3 Seminar
Begin work on seminar.
Power point presentation/talk
NBLRMN
17-9-2007
4 Test
Write up findings for test.MNLR 9-8-2007
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5 Envelope
Design and send away for new envelope.
NB 9-8-2007
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MINUTES
OF MEETING HELD IN MAZIAR ARJOMANDI’S OFFICEThursday 9th August 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION/EVENT ACTION/RESPONSIBILITY
1 Testing
NB organised a test date on Saturday 11/8 from 1pm to 5.30 pm at the Scotch College Gymnasium. MA may attend also. Most of the tasks that need to be performed relate to this test.
NB
2 Banner Printing
MN has organised the banner to be printed by Visualcom, on Currie Street. Should be ready by Friday afternoon for the test on Saturday. Expected cost is $150
MN
3 Helium Regulator
A helium regulator nozzle needs to be found for the cylinder. The electrical engineering department has lent us a regulator.
MN
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4 Battery Charging
All batteries need to be charged and ready to go on Saturday. The battery charger also needs to be with us when testing to recharge batteries. The charger belongs to Ben Cazzolato and he needs to give permission to borrow it.
MN, LR
5 Gondola Attachment
The Velcro used to attach the gondola to the envelope is not a perfect connection. The group plans to distribute the load through the hook connector on the under side of the envelope. Further strips of Velcro will also be added but they are unlikely to have such as significant effect as the hook connection.
MN, LR
6 Camera
Computer and camera system needs to be re-tested on Friday to ensure all is working correctly.
NB, MN
7 Tail Fins
The tail fins need to be attached to the envelope on Friday using a different configuration of tensioning wire.
MN, NB, LR
8 Transporting materials
The gondola, helium cylinder and all other necessary components need to be collected on Friday and then transported to the test venue. A small trolley is needed to transport the helium when at Scotch College.
MN, LR, NB
9 Open day Signage
Need to organise open day signage. MA suggested to consult with UAV and Pulse Jet groups. MA also suggested an upright banner (2m high) as well as a poster.
MN and LR
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10 Seminar and Report
The seminar and draft report need to be discussed more frequently and more work needs to be done.
MN, NB, LR
11 Safety Procedures and Risk Assessment
Need to prepare safety precautions for flight testing. A Risk Assessment document also should be prepared before Saturday.
MN
MINUTES
OF MEETING HELD IN S23816th of Aug 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Continue programming and refining code.
Test and confirm all parts work properly.
NB
NB
28-9-2007
30-7-2007
2 Seminar
Continue work on seminar.
Power point presentation/talk
NBLRMN
17-9-2007
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3 Prepare for Open day
Complete remaining tasks for open day.
Organise compressed air for open day.
NBLRMN
23-8-2007
4 Envelope
Waiting delivery of new envelope
NB 30-8-2007
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MINUTES
OF MEETING HELD IN S23830th of Aug 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Continue programming and refining code.
Send away for new ultrasonic sensor
Contact Zebb Prime for hardware advice.
NB
NB
NB
28-9-2007
6-9-2007
6-9-2007
2 Seminar
Continue work on seminar.
Power point presentation/talk
Increase work load.
Prepare for practice with MA and Dorethy.
NBLRMN
17-9-2007
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MINUTES
OF MEETING HELD IN S23813th of Sep 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Finalise code NB 28-9-2007
2 Test
Finalise preparations for testNBLRMN
28-9-2007
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MINUTES
OF MEETING HELD IN S23827th of Sep 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Control System
Completed NB 28-9-2007
2 Test
Complete any last minute test procedures.
Complete tasks remaining for test
NBLRMN
28-9-2007
3 Report
Start compiling documents needed for report. Start reviewing preliminary report.
LRMN
19-10-2007
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MINUTES
OF MEETING HELD IN S2384th of Oct 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Test
Write up results of test. Compile data and write lab report
LRNB 11-10-2007
2 Video Footage
Edit footage for use in a movie for exhibition.
Write story board for video sequence.
Return Equipment.
MNNB
26-10-2007
3 Report
Continue with work for report.
Finalise for draft hand up on 8th.
MNLRNB
8-10-2007
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4 Exhibition
Make a list of tasks to be completed before exhibition.
Begin completing tasks
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MINUTES
OF MEETING HELD IN S23811th of Oct 2007
PROJECT : The Design and Build of a small airship.
ATTENDANCE Michael Nordestgaard MN Lachlan Ravenscroft LR Nick Bartel NB Maziar Arjomandi, Supervisor MA
ITEM DESRIPTION ACTION/RESPONSIBILITY
EXPECTED DATE OF
COMPLETION1 Video Footage
Edit footage for use in a movie for exhibition.
Continue editing work on footage with use of story board