Preliminary Design Review -...

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Slide 1

Preliminary Design Review

Micro Air Vehicle Surveillance PlatformRIT Multidisciplinary Senior Design 2005-2006

Project Number P06007February 24, 2006

Dr. Jeffrey KozakProject Advisor

Dr. Alan NyeProject Coordinator

Matteo BlancMechanical Engineering

Joe CalandroSystems Engineering

Adam GillisElectrical Engineering

Shane HealeyMechanical Engineering

Josh JosephMechanical EngineeringApplied Mathematics

Mike KoelemayMechanical Engineering BS/MengProject Manager

John LemmonMechanical Engineering

Michael ReidMechanical Engineering BS/MS

Andrew StreettMechanical Engineering BS/MS

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Slide 2

Presentation Outline

• Introduction• Needs Assessment• Concept Development and Feasibility• Subsystems Design Analysis

o Electronicso Aerodynamicso Materials and Manufacturing

• Preliminary Design• Next Steps

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Slide 3

Introduction

• Micro Air Vehicle (MAV) Historyo DARPAo MAV Program Initiative 1996

• International Micro Air Vehicle Competitiono 10th yearo 4 Objectives

SurveillanceEnduranceOrnithopterDesign Report

• RIT Historyo 4th year (3rd in competition)

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Slide 4

Introduction – Team Structure

• The MAV is broken into 4 subsystemso Aerodynamicso Materials and Manufacturingo Electronicso Propulsion System

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Slide 5

Competition Objective - Surveillance

• The objective of the competition is to design and build the smallest MAV that can fly and photograph a 1.5-meter sized symbol on the ground located 600 meters from the launch site.

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Slide 6

Needs Assessment

• Electronicso Record an imageo Lightweighto Smallo Control surface movemento Minimal power consumption

• Aerodynamicso Stabilityo Minimize the max linear dimensiono Scalabilityo Aerodynamic control

• Materials and Manufacturingo Lightweighto Durableo Effectively integrate all systemso Precise and consistent manufacturing

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Concept Development and Feasibility –Combined System

• Quality Function Deployment, Phase I• Quality Function Deployment, Phase II• Morphological Analysis• Pugh Analysis

QFD1, QFD2, MA, PA1, PA2

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Slide 8


• Quality Function Deployment Analysis, Phase I

Key0 = not important1 = slightly important3 = important9 = very important

Customer Requirements

Able to fly 600 meters (linear)

Able to take a “legible” picture

Wireless remote control

Stay within budget

Stable, consistent launching unnecessary

Able to be flown accurately

Must be durable

Must provide hard copy of photo

Onboard power supply

Cus

tom

er W

eigh

t

9

9

9

3

9

3

3

9

9

Engineering Metrics

Wei

ght (

g)

Dim

ensi

ons

(cm

)

Res

olut

ion

Pow

er (m

Ah)

Thru

st (g

)

RF

Pow

er (m

W)

1

0

0

1

3

3

3

0

3

1

0

0

1

3

3

1

0

3

Voice of the Customer

0

9

0

3

0

0

0

1

1

9

3

9

3

1

1

0

1

9

9

0

0

1

3

3

1

0

3

0

1

9

1

0

1

0

9

3

Technical Target 80

Weight (g)

Dimensions (cm)

Resolution (lines)

Power (mAh)

Thrust (g)

RF Power (mW)

Optimization

3

0

1

9

0

0

9

1

0

1

1

0

0

0 1

Key0 = not correlated1 = slightly correlated3 = correlated9 = highly correlated

65300

380

25.4

100

Raw Score

Relative Weight

84 78 108 300 150 204

.09 .08 .12 .32 .16 .22Back

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• Quality Function Deployment Analysis, Phase II

Engineering Metrics

Phas

e I R

elat

ive

Wei

ghts

Weight (g)

Dimensions (cm)

Resolution (lines)

Power (mAh)

Thrust (g)

RF Power (mW)

Raw Score

Relative Weight

Win

g

Pod

Prop

ulsi

on S

yste

m

Cam

era

Syst

em

Serv

os

MA

V Pa

rts

.09

.08

.12

.32

.16

.22

1 1 9 3 1

9 1 1 1 0

0 0 0 9 0

0 0 9 9 3

0 0 9 0 0

0 0 3 3 3

Key0 = no contribution

1 = slight contribution

3 = notable contribution9 = large contribution

.81 .17 5.87 4.97 1.71

.06 .01 .43 .37 .13

Back

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Slide 10


• Morphological Analysis

Con

trol

Pow

erC

amer

a Sy

stem

Skin

Prop

u-ls

ion

Win

g/ P

odFl

ight

-Ya

wFl

ight

-Pi

tch

Flig

ht -

Rol

l

02 03 0401 05 06 07 08 09 10 11 12

Remote Control (Human

Operator)

Remote Control

(Computer/Human Operator)

Stability Augmenta-tion

Autonomo-us None

Lithium Polymer Battery

Gas Microturbi-ne Alkaline Batteries

Capacitor

Camera with Film Storage

Camera with Digital Storage

Camera with Transmitter

Infrared Camera with Transmitter

Night Vision Camera with Transmitter

Movable Camera with Transmitter

Shrink-wrap Tissue Paper Parylene-C Resin/Epo-xy Mylar Durobatics Fabric Polymers Latex Chemical Resin Dip

Electric Motor/Pro-

pellor

Gas Motor/Pro-

pellor

Compress-ed Air

Ornithopter Electric Motor/Pro-

pellor/Shr-oud

Polymers Rapid Prototyping

Durobatics Aramid Carbon Fiber Fiberglass Composite Rods

Composite Tow

Aramid/Ca-rbon Combo

Titanium Alloy Balsa Carbon/La-texCombo

Rudder Spoilers Morphing Thrust Vectoring

(Drag) Differential Morphing Elevon

Movable C.G.

Thrust Elevator Elevons Thrust Vectoring

Morphing Movable C.G.

Elevons Flaperons Ailerons Thrust Vectoring

Spoilers Morphing Movable C.G.

Fiberglass

None

Back

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• Pugh Analysis, Part I

Design Concepts

01

Control

Power

Camera System

Skin

Propulsion

Wing/Pod

Flight - Yaw

Flight - Pitch

Flight - Roll

Sub-Functions

Remote Control (Human Operator)

02 03 04



Parylene-C

Electric Motor/Propeller

Carbon Fiber

Rudder

Elevons

Elevons




Shrink-wrap

Electric Motor/Propeller/Shroud

Aramid/Carbon Combo

Rudder

Elevons

Elevons




Fiberglass


Aramid/Carbon Combo

None

Elevons

Elevons




Latex


Carbon/Latex Combo

None

Morphing

Morphing

Criteria




Stay within budget



Must be durable



Score

# +’s

# S’s

# -’s

01 02 03 04

Design Concepts

S S +

+ +

S S S

- -

+ - +

+ S +

S - S

S - S

S S S

3 1 4

5 4 4

1 4 1

Criteria




Stay within budget



Must be durable



Score

# +’s

# S’s

# -’s

01 02 03 04

Design Concepts

S S S

- - S

S S S

+ - -

- - S

- - S

S - S

S - S

S S S

1 0 0

5 3 8

3 6 1

REFERENCE

REFERENCE

+

-

Back

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Slide 12


• Pugh Analysis, Part II

Criteria




Stay within budget



Must be durable



Score

# +’s

# S’s

# -’s

01 02 03 04

Design Concepts

SS S

++ +

SS S

++ +

++

++ +

++ +

++

SS S

66 6

33 3

00 0

Criteria




Stay within budget



Must be durable



Score

# +’s

# S’s

# -’s

01 02 03 04

Design Concepts

S SS

S --

S SS

+ -+

S --

S --

S -S

S -S

S SS

1 01

8 35

0 63

RE F ERENCE

RE F ERENCE

+

+

Design Concepts

01

Control

Power

Camera System

Skin

Propulsion

Wing/Pod

Flight - Yaw

Flight - Pitch

Flight - Roll

Sub-Functions


02 03 04



Parylene-C


Carbon Fiber

Rudder

Elevons

Elevons




Shrink-wrap

Electric Motor/Propeller/Shroud

Aramid/Carbon Combo

Rudder

Elevons

Elevons




Fiberglass


Aramid/Carbon Combo

None

Elevons

Elevons




Latex


Carbon/Latex Combo

None

Morphing

Morphing

Back

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Slide 13


• Conclusion of Feasibility Analysis for Entire MAV:Concept 1 Concept 2

MAV Control Remote Control (Human Operator) Remote Control (Human Operator)Camera System Color Camera with Transmitter Color Camera with TransmitterSkin Parylene-C Shrink WrapWing/Pod Carbon Fiber Aramid/Carbon CombinationYaw Control None RudderPitch Control Elevons ElevonsRoll Control Elevons Elevons

Concept 3 Concept 4MAV Control Remote Control (Human Operator) Remote Control (Human Operator)Camera System Color Camera with Digital Storage Movable Color Camera with TransmitterSkin Fiberglass LatexWing/Pod Aramid/Carbon Combination Carbon/Latex CombinationYaw Control None RudderPitch Control Elevons ElevonsRoll Control Elevons Elevons

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Electrical Subsystem

Propulsion System

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Propulsion Electronic System Wiring Diagram

p/n: Firefly 799

Coreless MotorSpeed

Controllerp/n: Astro 200

LiPoly Battery(3.7V @ 1.5A)

p/n: LP300


p/n: LP300


p/n: LP300

Power Source (11.1V @ 1.5A)

Micro 2R Polarized Connectors p/n: 1222

RF Receiverp/n: 805FM72V2

Throttle Channel (Typically 3)

Servo Connector

Ch 46

Crystal Oscillatorp/n: RXQTM72-(41-50)

White = signalBlack = groundRed = Power (+5V)

Propellerp/n: GWS6030 or Equivalent

Back

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Slide 16

Electronics - Requirements

• Picture• Data transmission• Power consumption• Size• Weight

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Electronics - Literature Review

• Camerao Imagingo Resolutiono Casing Removal

• Transmittero Frequencyo Casing Removalo RF-Power

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Electronics - Camera/Transmitter Systems

Camera Transmitter 1 8 0.612 80 6423.72 CM-588 SDX-21LP 5.5 0.63 25 1515.63 CM-588 SDX-22 5.5 0.96 80 2007.24 CM-524 SDX-22 8.5 0.96 80 4511.2

RF-Power (mW)

Volume (mm3)Combination

Model number

CMDX-22

Weight (grams)

Power (W)

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Electronics –Camera/Transmitter Design Matrix

1 2 3 41 2 3 34 1 2 33 1 1 44 1 1 11 4 1 113 9 8 12

Sub-Functions Design Concepts

Power ConsumptionSize Weight

Rf-Power outputTotal

Resolution

System Feasibility Matrix

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Electronics - Antenna and Receiver

• Antennao Model: HG2424G

• Receivero VRX-24L

Antenna Comparison, Receiver Sensitivity vs. Distance

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Electronics –Antenna Comparison Matrix

Back

Model Type Frequency Gain (dBi) Horizontal Vertical HG2411DP patch antenna 2.4-2.5GHz 11 60° 30°HG2424G dish antenna 2.4-2.5GHz 24 8° 8°HG2409P patch antenna 2.4-2.5GHz 8 75° 65°HG2416P patch 2.4-2.5GHz 15.5 25° 25°HG2415U-PRO omni directional 2.4-2.5GHz 15 360° 8°HG2412Y yagi 2.4-2.5GHz 12 45° 45°HG2415Y yagi 2.4-2.5GHz 14.5 30° 30°HG2412P mini panel 2.4-2.5GHz 12 65° 34°

Beam width

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Slide 22

Receiver - Required Sensitivity at Various Distances

Distance (meters) With No Signal Error (dBm) With 30% Signal Error400 -51.1 -66.4500 -53.1 -69.0600 -54.6 -71.0700 -56.0 -72.8800 -57.1 -74.3900 -58.2 -75.6

nnacieve anteGain of rewerantenna potransmitt esCable lossFSL ensitivityReceiver S +++=

dBmin Gain 30)P(10 =+⋅ Log

)](20)(2056.36[1 DLogFLogFSL ⋅+⋅+⋅−=

Back, Next

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Slide 23

Receiver - Distance vs. Sensitivity

Distance to Transmitter vs. Sensitivity

sensitivity = -8.6859Ln(D) + 0.9267

-80.0

-70.0

-60.0

-50.0

-40.0

-30.0

-20.0

-10.0

0.0

10.0

0 500 1000 1500 2000 2500 3000 3500

Distance (meters)

Sens

itivity

(dbm

)

Back

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Slide 24

Electronics - Servos

• Blue Bird Ultra Servo BMS-303o 130 mA Current Draw

Servo Weight (grams)Blue Bird Ultra Servo BMS-303 3.7Blue Arrow BA-TS-4.3 4.3Cirrus CS-101 4Futaba S3111 6.6Hitec HS-55 8Hitec HS-50 6.5

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Electronics - Final System Concept

Maximum Current Draw35 mA + 60 mA + 130 mA + 130 mA = 355 mA

Total Current Available = 450 mA

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Slide 26

Power Budget

Power Distribution Breakdown

Summary of Component Power Requirements

Video camera1%

Power Surplus

Power Source

RF receiver1%

Speed controller1%

Electric motor

Video transmitter

2%

Servo motors

Component Part Number Description Current (A)

Power Source LP300 (x3)LiPoly 300mAh 1.5

Speed controller Astro 200Coreless speed controller 0.025

RF receiver FMA M5v2 Sub-micro receiver

0.025

Electric motor 799 Firefly coreless motor

0.98

Servo motors BMS-303Light weight servo motors (x2)

0.26

Video camera CM-588 50mW Video Transmitter

0.035

Video transmitter SDX-22 Panasonic Camera

0.06

Power Surplus - - 0.115

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Slide 27

Aerodynamics - Literature Review

• Airfoil DevelopmentThin airfoil advantagesXFOIL

• Static StabilityPitch requirementsYaw requirementsRoll requirements

• Wing DevelopmentPossible shapesAspect ratio / Surface area

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Aerodynamics –Requirements and Specifications

• System LevelGenerate lift in access of weightInsure static stabilityMinimize max linear dimensionScalable platform

• Subsystem LevelAirfoil – maximize CL/CD and ensure pitch stabilityWing – minimize max linear dimension, minimize tip effectsVertical tail – insure yaw stabilityControl surfaces – pitch and roll control, minimize drag effects

Detailed Requirements

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Aerodynamic Requirements

• Aerodynamic Stability:• Must be stable in pitch, yaw, roll• Aircraft will have a positive pitching moment intercept and a negative slope• Elevons shall be effective in controlling pitch rates• Aircraft shall be critically damped in yaw direction• Aircraft yawing moment curve must be positive and 0 intercept• Aircraft shall have a negative rolling moment and 0 intercept• Elevons shall be effective in controlling roll rates• Force on control surfaces shall not exceed force provided by servo• The CG shall be located to ensure stability • Elevon operation shall have minimal effect on yaw• Lift and Drag:• Planform must minimize tip vortices• Size:• Planform that optimizes lift for smallest maximum linear dimension• Endurance:• Maintain stability/lift/drag for the duration of the flight

Back

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Aerodynamics –Concept Development and Feasibility

• AirfoilTraditional (NACA series), Low Reynolds number, Top and MCL surface, Nth order polynomial, and Bezier

• PlanformSquare, Taper, Circle, Modified Circle, 3 Circle, Zimmerman, Inverse Zimmerman

• Vertical TailAirfoil, Flat Plate, and Size, Location

• Control SurfacesElevons, rudder, elevator, aileronsHinged, Morphable, Full length, Segmented

Wing, Vertical Tail Feasibility, Surface Area vs. Chord Length

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Aerodynamics - Wing, Vertical Tail Feasibility

Planform(Wing Shape)

CircleInverse

Zimmerman3-CircleModified Circle Zimmer

man EllipticalTapered

NoTip Vortex

Control IntegrationControl Surfaces

Pro’sMax Linear Dimension (1)Control Integration (3)

4

Pro’sSurface Area (2)

Stability (1)

3

Pro’sAspect Ratio (3)

Control Surfaces (2)

5

NoControl Sur.Tip Vortexes

Bad FlowLarge Leading

Edge

NoMax Linear Dimension

Surface Area

NoControl Sur.Max Linear Dimension

Ease of ManufacturingSurface Area

Back

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Slide 32

Aerodynamics –Surface Area vs. Chord Length

0

10

20

30

40

50

60

70

80

5 5.5 6 6.5 7 7.5 8

b MLD

s AR

b (g = 1.2) MLD (g = 1.2)

s (g = 1.2) AR (g= 1.2)

Sur

face

Are

a (in

2 )

Chord Length (in)Back

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Slide 33

Aerodynamics - Design Analysis and Synthesis

• Airfoil DesignXFOIL AnalysisLinear relationship of Cl,max and camberOptimal Cl/Cd

• Planform Design3 circle design methodAirfoil distribution

• Vertical Tail Design Effects in yawand rollDynamic testing

• Control Surface DesignPreliminary measurements of control effectiveness parameters

Arcs

c*

LE

TE

Center of Arcs

Control Surface Effectiveness, CL/CD vs. Camber

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Slide 34

Control Surface Effectiveness

Back

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Slide 35

Aerodynamics - Design Analysis and Synthesis

Back

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Slide 36

Materials and Manufacturing –Literature Review

• Previous Work2001 Black Widow Solid polystyrene foam 2001+ U. of Florida Prepreg carbon fiber skeleton with latex skin 2002 U. of Arizona Carbon rods with fiberglass skin 2004 Microbat Titanium alloy spars and parylene-c skin 2004-05 RIT Insulation foam2005 Lehigh Depron and water jet CNC machine

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Slide 37

Materials and Manufacturing –Literature Review

• Materials Background

Composites - Glass/Carbon/Aramid, continuous fiber stain weave and tow, epoxy resin

Polymers - Shrink wrap, mylar, durobatics foam, insulation foam, latex rubber, thin plastic film, ABS plastic, parylene-c

Requirements: Lightweight, durable, integration

• Manufacturing Background

Composites - Hand lay-up, vacuum bagging, autoclaving, RIT carbon and Kevlar rodsMolds - Fusion deposition molding techniques, CNC with aluminum Skin Materials - Latex rubber and parylene-c

Requirements: Precise and cost effectiveMore

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Slide 38

Graphs/Charts for Lit. Review

Back

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Slide 39

Materials and Manufacturing –Concept Development and Feasibility

• Wing Skeleton/Control SurfacesRequirements: 1. Adhere to Aerodynamics Specifications and Planform Size/Shape2. Durable, Lightweight and Effective in Dynamic Loading3. Resolve Connectivity issues

Feasible Materials Assessed:Fiberglass, Carbon, Aramid, Carbon/Aramid – Tow and Satin Weave

Specific Specific Specific Low Shear in-plane & Materials: Strength Stiffness Modulus Density interlaminarFiberglass 2 3 3 3 1 12Carbon Fiber 1 1 1 2 1 6Aramid 1 3 2 1 2 9Carbon/Aramid 2 2 2 2 1 9

Totals

Skeleton Material Properties Feasibility Chart

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• Wing Skin/Control SurfacesRequirements: 1. High Strength, lightweight and meet flexibility/rigidity needs2. Integrate fully with wing skeleton3. Effective in dynamic loading

Feasible Materials Assessed:Shrink wrap, Mylar, Durobatics foam, insulation foam, latex rubber, thin plastic film, ABS

plastic, parylene-c

• Component HousingRequirements: 1. Durable to house expensive components2. Static center of gravity3. Integrate completely with wing skeleton and all necessary components

Feasible Materials Assessed:Fiberglass, carbon, aramid, carbon/aramid, latex

Feasibility Charts

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Specific Specific Specific Low Shear in-plane & Materials: Strength Stiffness Modulus Density interlaminarFiberglass 2 3 3 3 1 12Carbon Fiber 1 1 1 2 1 6Aramid 1 3 2 1 2 9Carbon/Aramid 2 2 2 2 1 9

Totals

Skeleton Material Properties Feasibility Chart

Type of Fibrous Composites: Drapability Weight Crimp TotalsUnidirectional 3 1 3 7Plain Weave 2 2 2 6Twill Weave 2 2 2 6Satin Weave 1 2 1 4Multiaxial (4+ layers) 2 3 3 8Tow 1 1 1 3Prepreg 2 3 3 8

Skeleton Material Type Feasibility ChartBack, Next

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Specific Strength Gauge EnvironmentalMaterials: (puncture resist) Thickness Added Weight Adhesion ConsiderationsShrink Wrap 2 3 2 1 2 2 2 1 15Mylar 2 3 2 2 2 2 2 1 16Durobatics foam 3 1 3 1 1 2 2 2 15Insulation foam 1 3 3 3 1 2 2 2 17Latex Rubber 2 1 1 2 1 2 2 3 14Thin Plastic Film 2 1 1 1 1 2 2 1 11ABS Plastic 1 3 3 3 2 3 3 1 19Parylene-C 1 2 1 1 3 1 1 1 11

TotalsAdhesion to Wing Skeleton

Morphability Density Cost

Skin Material Feasibility Chart

Specific Specific Specific Low Ease ofStrength Stiffness Modulus Density Integration

Materials: (Impact Resist) (Static CG) (Containment) (Weight) (Molds)Fiberglass 3 3 3 3 2 14Carbon Fiber 2 1 2 2 2 9Aramid 1 2 2 2 2 9Carbon/Aramid 1 2 2 2 2 9Latex 3 3 1 1 1 9

Totals:

Component Housing Material Feasibility Chart

Back

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Slide 43

Materials and Manufacturing –Final Concept

Wing Skeleton/Control Surfaces: Carbon Tow and satin weave

Wing Skin/Control Surfaces: Thin Film or Parylene-C

Component Housing:Carbon/Aramid

Manufacturing Exploded Diagram

Mold for Creating Wing Skeleton

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Materials and Manufacturing –Design Analysis and Synthesis

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Slide 45


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Preliminary Design Summary

Component Design or PartAirfoil Bezier or Top SurfacePlanform 3-CircleVertical Tail Below, thin plate, carbon fiber/aramidControl Surfaces Morphable ElevonsWing Skeleton Material Carbon Fiber, Satin Weave, TowWing Skin Material Thin Plastic Film, Parylene-CComponent Housing Material Carbon Fiber, Aramid, Carbon/Aramid, LatexCamera CM-588Transmitter SDX-22Servos BMS-303Antenna HG2424GReceiver VRX-24LControl Surface Linkage Steel cables through sheathingPropulsion From P06002

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Slide 47

Preliminary Cost Analysis

Project / Part Name Cost per Qty Cost at Qty Supplier Part Number(s)

Low Density Carbon Fiber $ 19.50 0.1 $ 1.95 www.uscomposites.com FG-CF5530

Low Density Carbon/Kevlar $ 36.50 0.1 $ 3.65 www.uscomposites.com FG-CK99250

Carbon Tow $ 19.50 0.2 $ 3.90 www.hexcel.com IM7-G 12K 199

Resin $ 49.99 0.02 $ 1.00 www.uscomposites.com 635

Thin Plastic Film $ 2.00 0.1 $ 0.20 Lowes none specified

Servos $ 18.95 2 $ 37.90 www.balsapr.com BMS-303

Cables/Sheaths $ 2.50 1 $ 2.50 GE Inspection Technologies none specified

Camera, Transmitter, Receiver, Antenna, Amplifier

$ 900.00 1 $ 900.00 www.rf-links.com CM-588, SDX-22, BMS-303, HG2424G, VRX-24L

Propulsion System $ 100.00 1 $ 100.00 Senior Design Team P06007 none specified

Total Cost: $ 1,051.10

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Slide 48

Surveillance MAV Project –Road Map – Senior Design II

Order Parts

Electronics Aerodynamics/Integration

Week 1 Week 5,6 Week 7,8

Optimize System Components

Finalize System

Develop Equations

Make Molds

Make Rods/Wings

Visualization Tests (Dynamic)

Flight Tests

Static/Dynamic Testing

Analysis

Week 2,3,4 Week 9,10

Final MAVFeedback

Testing –

Camera, Transmitter, Antenna, Receiver

1-3 Iterations

Feedback

Gantt Chart

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Surveillance MAV Project –Gantt Chart – Senior Design II

Ele

ctro

nics

Aer

odyn

amic

s/In

tegr

atio

nW 1

Flight Tests

Static/Dynamic Testing

Make Molds (Create)

Make Rods/Wings

Specifics (Equations)

Analysis

Visualization Tests (Dynamic)

Finalize System

Order Parts

Test Camera

Test Transmitter

Test Antenna/Receiver

Optimize System Components

W 2 W 3 W 4 W 5 W 6 W 7 W 8 W 9 W 10

Subsystem Details

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Slide 50

Next Steps

• Systemo Manufacturingo Flight testingo Propulsion system integration

• Aerodynamicso Dynamic stability design assessment

• Electronicso Testing transmission rangeso Subsystem integration

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Slide 51

We would like to thank the following sponsors for their generous donations and support!!

Impact Technologies

Boeing

GE Inspection Technologies

Ornithopter Zone

Thank you!

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