Airborne Sensing Platform#05009

Concept Development – Sponsor Session

Team: Jonathan Fentzke – Project Leader

Joseph O’Day – Mechanical LeadEric Greenwood – Airframe Lead

John Priestly – RF LeadJean Laurin – Vision Lead

Sponsor: The Center for Imaging ScienceSponsor: The Center for Imaging ScienceMentor: Dr. Kevin KochersbergerMentor: Dr. Kevin KochersbergerCoordinator: Dr. Wayne WalterCoordinator: Dr. Wayne WalterTerm: Winter 2004/2005Term: Winter 2004/2005

Outline• Introduction• Mission Statement• Performance Objectives• Concept Development

– Guidance and Telemetry, Control/Communication• Feasibility and Overall System Selection• Analysis and Synthesis

– Airframe, Structural, Power Consumption, Communication, and Circuitry

• Questions and Answer Session

Mission StatementOur objective is to design and implement an Unmanned Aerial Vehicle guidance system for the Center for Imaging Science. This project

will produce a stable airborne sensing platform test bed with a flight control system.

Performance Objectives• Flight duration of 1 hour • The platform must fly to a maximum 1,000 ft.• The platform must fly up to 2 miles away from the

base station.• The platform must fly at speeds between 15-

25mph.• The platform will carry a 3-lb. modular payload

designated by CIS • Prototype to be completed by May 2005 at or

below budget

Concept Development / Trade Study

• Communication• Camera System• Control Options• Telemetry

Trade Study

• Specification Weighting• Concrete Selection Criteria• Clear Concept Down Select• Defense Industry Standard

Communication - Concept

• Streaming Video Feedback• Real-time Platform Telemetry and Stability Feedback• Maintain Quality Link up to 2 miles

Communication – Trade Study• Frequency Modulation• 500 mW Output Power• Extremely Small

– 2.1 oz– 2.5”x1.0”x0.3”

• 100 mW Output Power• -114 dBm Sensitivity• Integrated on AP50

Feasibility – RF• 900 MHz

– Highest Theoretical Margin– Low Power Consumption– Low Cost– Provides Enough Bandwidth

for Streaming Video Requirement

Feasibility – Comm Architecture• Combine Components

– Low Power Consumption

– Smaller Space Requirement

– Low Cost– Reduces Interference

Video Camera Selection

• Image Sensor: CCD• Lens: 3.6mm, 92o

• Signal: NTSC/EIA• Resolution: 420TVlines• Min. Illum.: 0.05 Lux• Power: 1.08 W• Cost: $35

0.05 Lux

1.0 Lux

Piloted / Autonomous Control

• Communication at distance• Take Off / Landing

• Navigation / Stability / Feedback• Reduce Pilot Work Load

Piloted Control

• Actuate Control Surfaces: aileron, rudder, elevator etc. • Take off / Landing• Customization / Pilot Comfort• Receiver Size / Ease of Use

Autonomous Control• Power / Weight /

Overall Dimension• Stability Augmentation• Operating Modes• Range and Reliability• Ease of Implementation• Development Potential

Feasibility

• Piloted Control Only• Piloted / Autonomous • Complete Commercially

Available System

Overall System Selection

• 900 MHz Video Tx/Rx• 9 Channel RC Controller / Receiver• Omni Directional Antennas• AP50 AutoPilot with GroundPilot GUI• B/W CCD Camera• Sensor Package

Analysis and Synthesis• Airframe• Structural• Power Consumption• Communication• Circuitry

Airframe• #05008 Stability Redesign

• Senior Telemaster Performance Evaluation

Airframe#05008 Stability Redesign – Problem Identification• High passive stability required for automatic

systems and turbulent environments • Analysis showed tail and control surface volume

coefficients to be as much as 85% below reference• Static margin computed to be less than 7%• Ailerons located in region of high vortex losses

Airframe#05008 Stability Redesign – Recommendations• Increase horizontal and vertical tail spans by 50%• Increase control surface chords by 25%• Relocated aileron centers to 2/3 half-span point• Add 3 degrees dihedral to main wing#05008 Stability Redesign – Results• Static margin of 15% to 20%• Increased control effectiveness• Increase tail volume coefficients from 0.01 to 0.06 for the

vertical and from 0.21 to 0.30 for the horizontal

AirframeSenior Telemaster Performance Evaluation• Offer CIS an alternative airframe for better uptime

and increased performance• Avionics and powerplant shared between

Telemaster and #05008 airframes• The Senior Telemaster was designed to lay

telecommunications cable between mountaintops and is well designed for this application

AirframeSenior Telemaster Performance Evaluation• Calculations assume payload in excess of 11 lbs• Computed flight velocities for best range and

endurance• Takeoff and Landing rollouts

AirframeSenior Telemaster Performance EvaluationSpeed for Best Endurance

CL3/2/CD at Sea Level and Cruise Condition

0

2

4

6

8

10

12

14

0 5 10 15 20 25 30 35 40

Velocity (m/s)

CL3/

2 /CD

AirframeSenior Telemaster Performance EvaluationSpeed for Best Range

Lift to Drag Ratio vs. Velocity at Sea Level and Cruise Conditions

0

2

4

6

8

10

12

0 5 10 15 20 25 30 35 40

Velocity (m/s)

CL/C

D

AirframeSenior Telemaster Performance Evaluation –Results

Range and Endurance Calculations Lowest Power Consumption (W) 71.00 Cruise Speed at LPC (m/s) 9.00 Stored Energy (W - h) 148.00 Endurance (h) 2.08 Range at Lowest Consumption (km) 67.54 Best Range Consumption (W) 84.00 Cruise Speed at BRC (m/s) 13.00 Stored Energy (W - h) 148.00 Endurance (h) 1.76 Range at BRC (km) 82.46 Energy Expenditure for 300m climb (W - h) 23.00 Remaining Energy (W - h) 125.00 Minimum Time to 300m Altitude (s) 93.00 Endurance at Altitude (h) 1.76

Structural

AP50

TX-9500

• Easy mounting• Strong and

lightweight• Modular design• Adjustable Cg

Structural

+=

• Worst Case

• Superposition Principle

• Equivalent bending and torsion

Structural• Asymmetric beam bending

• Max compressive stress 9920 psi

• Max tensile stress 8020 psi

• Transverse shear

• Max shear stress 114 psi

• Torsion

• Max torsional stress of 3930 psi

• Max fillet stress of 6840 psi

• Von Mises failure criteria

• Principal stresses used predict a margin of safety of 3.9

Power Consumption

•18.5 Volt 8000 mAhr Lithium Polymer Battery for Motor•14.8 Volt 2100 mAhr Lithium Polymer Battery for Electronics and Servos

Communication Link Budget

• Determine Baseline Requirements for Each Component

• Shoot for +30 dB Margin

Circuitry

Motor / Battery Testing

• 4.2 lbs of static thrust

2/18/2005

Product NumberTeam

ChargedDescription Status Quantity

Retail Price Per Unit

Total Price

LXPT40 #05008 Tower Hobbies Build-It CA- Thick Glue 2 oz. Arrived 1 $5.99 $5.99#05008 Derek Aero-Team Tail Build Complete 1 N/A $200.00

LXPT38 #05008 Tower Hobbies Build-It CA Thin Glue 2 oz. Arrived 1 $5.99 $5.99LXK110 #05008 Great Planes CA Hinges 3/4"x1" (24) Arrived 1 $2.99 $2.99LXL431 #05008 Hobbico Latex Foam Rubber 1/2" Arrived 3 $4.49 $13.47LXK108 #05008 Great Planes Nylon Control Horns Large (2) Arrived 3 $0.95 $2.85LX3609 #05008 Astro Flight Power Supply 13.5V Arrived 1 $74.95 $74.95

LXFWW2 #05008 Astro Flight 109 Lithium Charger 1-9 Cell 7.5 Amps BackOrder 1 $114.99 $114.99LXHRC2 #05008 APC 13x10 Folding Prop Arrived 2 $7.19 $14.38LXZL06 #05008 APC folding Propeller hub 45mm Arrived 2 $4.79 $9.58LXJD33 #05008 Tower Hobbies Plywood 1/8x6x12" Arrived 2 $1.79 $3.58LXJD32 #05008 Tower Hobbies Plywood 1/16x6x12" Arrived 2 $1.49 $2.98LXD867 #05008 Dubro Threaded Rod 2-56 12" (6) Arrived 1 $2.89 $2.89LXN666 #05008 Hitec HS-225MG Mighty Mini BB MG Servo J Arrived 4 $27.99 $111.96LXHV43 #05008 Top Flite Monokote Blue 6' Arrived 1 $10.99 $10.99

PM412018 #05008 AXI4120-18 Model Motors - DC Motor Arrived 1 $139.00 $139.00JESAP70P #05008 Jeti 70A Speed Controller Arrived 1 $147.20 $147.20

#05008 18.2v Lithium Battery Arrived 1 $399.00 $399.00PM41002 #05008 AXI4120 Model Motors - Motor Mount Arrived 1 $18.50 $18.50LXK196 #05008 Great Planes Nylon Wing Bolt ¼-20x2 (4) Arrived 3 $1.25 $3.75

#05009 9 Channel Futaba Radio Controller Pending 1 $799.99 $799.99#05009 AP50 AutoPilot Autonomous Flight Hardware: GPS, Inertial, Rx/Tx Pending 1 $6,000.00 $6,000.00

VC-210B-AUDIO #05009SONY CCD Camera w/Audio CH- Circuit Specialists Inc (yahoo store) http://shop.store.yahoo.com/webtronics/mibwcav.html4 Pending 1 $34.50 $34.50

#05009 Aluminum stock McMaster Pending 1 $22.48 $22.48399-2054-ND #05009 Digikey.com - Capacitor, ceramic, 0.1uF,50V Pending 5 $0.21 $1.05399-2099-ND #05009 Digikey.com - Capacitor, ceramic, 0.33uF,50V Pending 5 $0.83 $4.15

MC7812CTOS-ND #05009 Digikey.com - Regulator, pos, 1A, 12V Pending 2 $0.58 $1.16MC7805CTOS-ND #05009 Regulator, pos, 1A, 5V Pending 2 $0.58 $1.16

LXHUP0 #05009 Futaba R319DPS 9-Channel PCM Receiver Synthesized Pending 1 $179.99 $179.99LXH258 #05009 Futaba TK50 & 72 FM/PCM Transmitter Module Pending 1 $54.99 $54.99

#05009 TX-9500 A/V Mini-Transmitter Pending 1 $129.99 $129.99#05009 RX-900 A/V Receiver www.eyespyvideo.com Pending 1 $109.99 $109.99#05009 Winch System - Tom McCann Pending 1 $600.00 $600.00#05009 Telemaster Building Materials Pending 1 $200.00 $200.00

A09-HBMM-P5I #05009 Omni Directional Airborne Antenna - MaxStream Pending 2 $25.00 $50.00OD9-6 #05009 Omni Dir. Basestation Antenna - Streak Wave (Order Online) Pending 2 $68.95 $137.90

TP2100-4S #05009 14.8 V 2100 mAh 4 Cell Li Polymer Battery Pending 1 $99.95 $99.95

Total Budget: $10,000 Subtotal: $9,291.11

Percent Spent: 92.91%

Rochester Institute of Technology, www.designserver.rit.edu

Bill of Materials*Covers Costs incured by team #

05008 & #05009

Winter Planning/Production

Future Plans

Questions?

Communications System

Controller

Video Camera

GPS

On-board Control – Option 1

On-board Control – Option 2

On-board Control – Option 3

Link Budget Formulas

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Airframe Performance Analysis Detail

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•Iterative analysis of power required and power available for varying velocities•Breguet methods used to calculated range and endurance