RIT MAV Team Project 05-001 2004-2005 RIT Micro Air Vehicle Preliminary Design Presentation Brian Gillis Team Leader Mechanical Engineering Joshua Baker Mechanical Engineering Victoria Schoennagel Mechanical Engineering Aimee Lemieux Mechanical Engineering Aaron Grilly Mechanical Engineering Tzu-Chie Fu Computer Engineering Cuong Le Computer Engineering David Hein Mechanical Engineering Atul Phadnis Electrical Engineering J.E.D. Hess Mechanical Engineering Dr. Jeffrey Kozak Team Advisor Mechanical Engineering
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RIT MAV Team Project 05-001 2004-2005
RIT Micro Air VehiclePreliminary Design Presentation
Brian Gillis
Team Leader
Mechanical Engineering
Joshua Baker
Mechanical Engineering
Victoria Schoennagel
Mechanical Engineering
Aimee Lemieux
Mechanical Engineering
Aaron Grilly
Mechanical Engineering
Tzu-Chie Fu
Computer Engineering
Cuong Le
Computer Engineering
David Hein
Mechanical Engineering
Atul Phadnis
Electrical Engineering
J.E.D. Hess
Mechanical Engineering
Dr. Jeffrey Kozak
Team Advisor
Mechanical Engineering
RIT MAV Team Project 05-001 2004-2005
OutlineI. BackgroundII. Design ObjectivesIII. Work TimelineIV. Airframe SelectionV. Electronics SelectionVI. Propulsion Selection MAV Team
05-001
Airframe Electronics Propulsion
Joshua BakerAaron GrillyDavid HeinJED Hess
Cuong LeTzu-Chie FuAtul Phadnis
Aimee LemieuxVictoria 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, Bio-Chemical detection, etc.
• Annual MAV competition where various teams compete in surveillance missions and flight performance tests.
RIT MAV Team Project 05-001 2004-2005
Design Objectives• Vehicle with a minimum linear dimension of 15 inches• Vehicle can be scaled down in size and still produce
acceptable flight• Vehicle must be a new design, not rely on last year’s design• Airframe should be built out of composite materials if deemed
reasonable• Vehicle must have GPS navigation capabilities along with
video surveillance• Performance Goals
– 15 Minutes of flight time– 600 Meter range
• Attend International MAV Competition in Seoul, Korea• Remain within $3,000 budget (excluding travel funding)
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. Flying Wing Configuration2. Modular Design3. Maximum Linear Dimension of 15 Inches4. Research and Test Unconventional Ideas5. Scalable Platform Upon Which to Base
To Be Tested in the Wind TunnelSurvived First Round of CutsXFLR5 Testing (Computer Simulation)
RIT MAV Team Project 05-001 2004-2005
S1210
S4022
S4083
GOE417a
RIT MAV Team Project 05-001 2004-2005
XFLR5 Data - Cl vs. Angle of Attack for Airfoils at Reynolds Numbers
-1.00
-0.50
0.00
0.50
1.00
1.50
2.00
2.50
-10 -5 0 5 10 15 20
Angle of Attack (Degrees)
Cl (
Dim
ensi
onle
ss)
GOE417a, 100,000
S1210, 100,000
S4022, 100,000
S4083, 100,000
RIT MAV Team Project 05-001 2004-2005
A irfo il S40
83
S12
10
S40
22
GO
E41
7a
N o rm alized S co re 100% 94% 91% 79% R ela tiv e R an k 1 2 3 4
Evaluation of each concept against the baseline: 1 = much worse than baseline 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline
– 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 Widow’s 200 mw Brown Bag Kit• 200 mw transmitter/receiver set• NTSC 5V Color CCD Camera• 8 dbi Circular Polarized Patch Antenna
The 200 mw transmitter/receiver set has been selected to increase the transmission range of the video signal from the MAV to the base station. This increase in range is a critical solution to a previous performance issue 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
eARd
dCddC
ddC
l
l
L
2
1801
πα
αα
+
=eARCCC L
DD π
2
0 +=L
D
CCWT =
vPT 97.101
=
Initial Values Revised Values
All Estimated ValuesVariables 2004 2005dC l /dα 0.1 0.1
W (g) 97.9 198.48C D 0.243 0.252C D0 0.018 0.027T (g) 25 52.573
RIT MAV Team Project 05-001 2004-2005
Feasibility AssessmentEvaluate each additional concept against the baseline, score each attribute as: 0 = much worse than baseline concept 1 = worse than
baseline 2 = same as baseline 3 = better than baselinePropeller
Thru
st
Cost
Wei
ght
Curr
ent
Volt
age
Add
itio
nal 1
Add
itio
nal 2
Wei
ghte
d Sc
ore
Nor
mal
ized
Sco
re
T = 105-130 g; C = $20-80; W = 15-20 g; I = 0.8-1 A; V = 7-9 V ----- 2 2 2 2 2 2 2 2.00 94%
GW/EDP-50XC Direct Drive Power System with 2/EP-3020 EP3020 0 3 2 1 2 0 0 1.40 66%
GW/EDP-50XC Direct Drive Power System with 2/EP-3020 EP3020 0 3 2 2 3 0 0 1.60 75%
AR 1.421697 1.421697 Assume same shape for both years so AR remains the sameS (m 2 ) 0.047549 0.102104 For 2004, assume 90% of 8" x 26 cm rectangular wing is remainingb (m) 0.26 0.381 For 2005, assume 15" wing span
e 0.9 0.9 Assume 0.9dC L /dα 0.041231 0.041231
AOA (deg) 9 9C L 0.95 0.95 @ 9 deg AOA, est. from Figure 33 on pg 46 of PDR
W (g) 97.9 202.35 Actually a Mass; 2004 from Table 16 on pg 73 of CDRC D 0.242594 0.251634C D0 0.018078 0.027117 2005 is about 1.5x the size of 2004 so increase CD0 by that muchT (g) 25 53.59796
eARd
dCddC
ddC
l
l
L
2
1801
πα
αα
+
=eARCCC L
DD π
2
0 +=L
D
CCWT =
vPT 97.101
=
RIT MAV Team Project 05-001 2004-2005
Feasibility AssessmentPairwise Comparison:
Place an "R" if the row is more important. Place a "C" if the column is more
important Thru
stCo
stW
eigh
tCu
rren
tVo
ltag
eA
ddit
iona
l 1A
ddit
iona
l 2
Row
Tota
l
Colu
mn
Tota
l
1+Ro
w +
Colu
mn
Tota
l*
Rela
tive
Wei
ght
Thrust R R R R 4 0 5 33%
Cost C R R 2 0 3 20%
Weight R R 2 1 4 27%
Current R 1 0 2 13%
Voltage 0 0 1 7%
Additional 1 0 0 0 0%
Additional 2 0 0 0 0%
Column Total 0 0 1 0 0 0 0 15 100%
*Added 1 to each total to allow each parameter to have some percentage (except for undefined parameters)
RIT MAV Team Project 05-001 2004-2005
Propulsion Concept Development• Propulsion subsystem must produce enough thrust to accomplish our project goals.
• Weighted scale showed an electric motor is the best of the three power options for our MAV.
• Based on time limits, and lack of experience making precise molds, off the shelf propellers will be used.
• Off the shelf propellers will be tested with modified shapes and in original shapes to achieve the highest efficiency.
Once our team has a working MAV, we may return to propeller design.
RIT MAV Team Project 05-001 2004-2005
Buckling CalculationsCalculations to determine t2
Variable Value Unit Value Unit Variable Value Unit Value UnitL 2 inches 5.08 cm X1 8.052 in 20.45 cmh 1 inch 2.54 cm Y1 16.35 in 41.53 cmt2 0.02 inch 0.0508 cm Fx 0.441 lbf 200 gramt1 0.125 inch 0.3175 cm Fy 1.010 lbf 458 gram