Uninhabited Air Vehicle Team(UAV Team)
Multi Purpose UAVTeam Members:Maria Luviano
Roland Chen
Juan Pablo Barquero
Shing Chi Chan
Tom Guyette
Karla Lima
Solomon Yitagetsu
Wess Gates
Faculty Advisors:Dr. Chivey WuDr. Helen Boussalis
11/19/09 1NASA Grant NNX08BA44A
Overview
Project requirements Mission profile UAV design Computational fluid dynamics UAV structures Avionics Servo bench testing Flight control system Trainer integration Budget and schedule
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Project Requirements
3 hrs endurance Autonomous 10 lb payload Cruise Altitude 3280 ft Cruise Speed 50 mph Gross weight 55 lbs
11/19/09 NASA Grant NNX08BA44A 3
Takeoff
Cruise Out Cruise Back
Landing
Payload Drop
Clim
b
Clim
bDescen
d
Descen
d3280 ft
Cruise Speed 50mph
180 miles
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Mission Profile
Aerodynamic Design
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Aircraft Wing Selection
Tapered Rectangular Swept
Required wing aerodynamic characteristics
Lift coefficient CL = L/q.S High lift to drag ratio CL/CD
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Trade Study
Tapered ♦ AR = 5♦ Span = 11 ft♦ Cr = 3.55 ft♦ Ct = 1.24 ft♦ Cmean = 2.4 ft♦ Wing Loading
= 2.3 lbs/ft^2
Results
CL = 0.0531
CL/CD = 20
Rectangular ♦ AR = 5♦ Span = 11 ft♦ C = 2.2 ft
♦ Cmean = 2.4 ft♦ Wing Loading
= 2.3 lbs/ft^2
Results
CL = 0.0739
CL/CD = 24
Swept Back♦ AR = 5♦ Span = 11 ft♦ Cr = 3.3♦ Ct = 1.15♦ Cmean = 2.2♦ Wing Loading
= 2.3 lbs/ft^2
Results
CL = 0.0607
CL/CD = 20
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Calculated Lift Coefficient
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Computational Fluid Dynamics (CFD)
Why CFD♦Verify hand calculations
♦Reduce wind tunnel testing cost
XFLR5 Software♦Produces accurate aerodynamic coefficients
♦Fast and user-friendly
Wings Analyzed♦Swept back
♦Rectangular
♦Tapered
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XFLR5 Wing Geometry Input
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CFD Results for Swept Back Wing
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CFD Results for Rectangular Wing
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CFD Results for Tapered Wing
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Swept Back WingHand Calculations vs. CFD
CL vs AoA
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
-5 0 5 10 15 20
AoA
CL
Calculations
CFD
CD vs CL
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
0.18
-0.2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
CL
CD
Calculations
CFD
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Rectangular WingHand Calculations vs. CFD
CL vs AoA
-1
-0.5
0
0.5
1
1.5
2
-15 -10 -5 0 5 10 15 20
AoA
CL
Calculations
CFD
CD vs CL
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
-1 -0.5 0 0.5 1 1.5 2
CL
CD
Calculations
CFD
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Tapered Wing Hand Calculations vs. CFD
CL vs AoA
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
-10 -5 0 5 10 15 20
AoA
CL
Calculations
CFD
CD vs CL
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
0.18
0.2
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
CL
CD
Calculations
CFD
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CFD Lift Comparison
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CFD Drag Polar
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UAV Configuration
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Configuration Layout
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Aerodynamic Analysis
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Takeoff and Landing Distance
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Constraint Diagram
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Structural Design & Analysis
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Studying Aircraft Structures
Aircraft structure is required to support two distinct classes of load♦ Ground Load: movement on the ground ( taxing, landing, and towing)
♦ Air Loads: loads during flight by maneuvers and gusts.
Function of structural components:♦ To transmit and resist loads to provide shape and protect passengers,
payload, systems, etc from the environmental conditions found during flight.
Two type of structures♦ Semi-monocoque – shell is usually supported by members and frames
to support bending, compressive loads, torsional loads without bucking.
♦ Monocoque – thin shells that rely on the skin for their capacity to resist the loads
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V-n Diagram
Shows flight load factors or “g forces” that are used for structural design, as a function of air speed.
Load factor “n” is the ratio between the air load acting on the airplane, to the weight of the aircraft♦ n = L / W
For level flight, assume n = 1 However, during maneuvers n can be larger:
♦ Acceleration
♦ Turns
♦ Climb
♦ Gust loads
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V-n Diagram
Total air load produced = 6.20*55 = 341.0 lb
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V-n Diagram
Vs
VAVc
Vd
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Wing Load Distribution
Schrenk’s method gives approx. calculations for the span wise load. Maximum lift is generated by root chord, and minimum lift is
generated by the tip cord. Assumes the load distribution on the wing has an elliptical planform
and a trapezoidal planform. Both distributions are calculated and then an average is taken:
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Span-wise Load Distribution
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Analysis – Wing Spar
Braided carbon fiber rectangular tubeBraided carbon fiber round tube
σultimate = 640,000 psi
http://dragonplate.com/docs/DPSpecRoundTube.pdfhttp://dragonplate.com/docs/DPSpecRecTube.pdf
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Analysis – Wing Spar
Size(Dxdxt) Weight (lb/ft)
Stress (psi)
Tot. Weight (lb)
0.75x0.75x.21 0.16 319,600 0.88/1.76
1.08x1x0.04 0.08 295,400 0.44/0.88
1.58x1.5x0.040 0.11 133,200 0.605/1.21
2.09x2x0.045 0.15 66,900 0.825/1.65
3.17x3x0.085 0.47 15,640 2.585/5.17
Size(bxhxt) Weight (lb/ft)
Stress (psi)
Tot. Weight (lb)
0.85x0.85x0.05 0.07 120,100 0.275/0.55
1.1x1.1x0.05 0.10 68,830 0.55/1.1
2.1x1.1x0.05 0.14 368,500 0.77/1.54
2.13x2.13x0.065 0.26 3,314 1.43/2.86
Round Tube
Rect. Tube
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Wing Structure
Spar 1 – 80 in @ approx. 15 % of cordSpar 2 – 65 in @ approx. 60 % of cordRib Separation 6 inFuel Tank(s)
Spar 1
Spar 2
Ribs
Estimated Weight = 3.56 lbs
Fuel Tank
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Integration of Isotruss
Isotruss – A light, compact grid structure composed of carbon fiber and Kevlar filaments.
Uses:♦ Frames♦ Poles♦ Stiffeners ♦ Beams
http://www.delta7bikes.com/shop-bike.htm
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Isotruss
http://www.delta7bikes.com/11/19/09 35NASA Grant NNX08BA44A
Avionics
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Objective
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Requirements
360 oz-in
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Process
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Results & Integration
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41
Control Surfaces
Tom Guyette
November 19, 2009
11/19/09 41NASA Grant NNX08BA44A
Air flow with velocity v
2
2
1vq
pqAF Projected area Ap
Dynamic pressure q from conservation of momentum
Early work: Juan Barquero; Image source: Wess Gates
Forces on Control Surfaces
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Elevons
Side View – Wing
Air flowRight
Elevon UpRight Elevon
Down
Left
Elevon
Up
Pitch up Roll left
Left
Elevon
Down
Roll right Pitch down
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Why Bench Test?
Determine how much mechanical power our servos can produce:
♦ Too small = No takeoff, or loss of control, or sluggish = Bad
♦ Too big = Heavy = Bad
Determine how much electrical power the servos consume under different conditions:
♦ Running out of power = Bad
♦ Losing control as battery voltage deflates over mission = Bad
11/19/09 44NASA Grant NNX08BA44A
Image Source: http://www.greatplanes.com
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Power
Usual Setup
Image sources: www.servocity.com, www.memory-up.com, www.coleparmer.com
PWM Ctrl
PowerSerial
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High-Current Setup
Trickle
PWM Ctrl Power
Image sources: www.servocity.com, www.memory-up.com, www.coleparmer.com
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Add Instrumentation
Image sources: www.labjack.com, www.nubotics.com, www.amazon.com
Image sources: www.servocity.com, www.memory-up.com, www.coleparmer.com
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Flight Control System(FCS)
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BackgroundPiccolo Plus System
Hardware
RS232 Payload Interface♦ Two
General I/O (Including Servo)♦ Twelve (12) configurable GPIO lines
Other I/O♦ CAN: Simulation / General Interface
Flight Termination: Deadman output
Electrical♦ Vin: 8 - 20 volts
Power: 4 W (typical - including 900 MHz radio)
Mechanical♦ Size: 142 x 46 x 62 mm unflanged
(5.6 x 1.8 x 2.4 inches) ♦ Weight: 220 grams with 900 MHz radio
(7.7 oz)
Piccolo System Avionics:♦ Avionics Hardware and software,♦ Ground-station hardware and software
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Arcturus T-15 Flight Plan
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Model – T60 (trainer)
Wing span: 1.7653m Wing area: 0.5658 m^2 Engine: Tower Hobbies – 2 stroke .61 cu Dry weight: 7.5 lbs Max weight: 8.5lbs Cruise speed: 13 m/s
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Flight Control System Lab Environment Simulation
Hobbies Trainer 60
Learn how to operate the system in an lab environment
Software in the loop♦ Piccolo Plus executable♦ Ground station executable♦ Develop Dynamic Models
Aerodynamic Model Inertia Data Model Propeller Model Engine Model
Fly the UAV model in the simulator♦ Develop autopilot gains ♦ Flying initial mission
Hardware in the loop♦ Piccolo Plus Autopilot♦ Ground Station♦ Controller Area Network (CAN)
Integration to Piccolo Avionics♦ Airframe Installation♦ Control Surface Calibration
Developing an aircraft model for CCT♦ Measure aircraft geometry, pull data from
3-view / solid model [PHD Thesis parameters] [COMPLETED]
♦ Determine Center Of Gravity location [COMPLETED]
♦ Create AVL model [COMPLETED]
♦ Refine AVL model with XFoil data [COMPLETED]
♦ Generate XML aerodynamics model file [COMPLETED ]
♦ Model aircraft inertia data [COMPLETED]♦ Create prop model ♦ Create engine model♦ Create Piccolo Simulator model template♦ Set up Piccolo autopilot configuration (control
surfaces, tail configuration, aircraft parameters)
♦ Test with software-in-loop simulation and FlightGear visualization
♦ Verify manual control response, required control surface limits Generate autopilot gains
11/19/09 52NASA Grant NNX08BA44A
Modeling & Simulation Hobbies Trainer 60
Software in the Loop Simulation environment
application♦ Aircraft control laws to be applied♦ Mission Functionality to be tested without
risking aircraft in the flight test♦ Simulation environment reduces the risk of
failure
Window based PC required to install the Piccolo Command Center (PCC)
Same Functionality as Hardware in the Loop ♦ No autopilot or Ground station Connected♦ PC application take place of the ground
station and autopilot such as the grounstationpc.exe, piccolopc.exe and the gimbalpc.exe (same function as the piccolopc.exe)
Soft wares: Cloud Cap Piccolo 2.1.0
♦ Piccolo Command Center♦ Simulator♦ AVL Editor♦ JavaProp♦ FlightGear
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Flight Control System Integration to the new UAV
Plan New UAV lab environment
simulation♦ Software in the Loop/Hardware in the Loop
Airframe installation♦ Canard
Perform control surface calibration♦ Elevators, etc.
Secure a fly site♦ Apollo XI Field
Develop flight plan and safety procedures
♦ Utilizing Piccolo Command Center
Knight_09
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Trainer Integration
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Objective
The purpose of this trainer plane is : ♦ To reduce:
Risk Expense and liability
♦ Learn the operation and capabilities of the flight control system
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Trainer Preparation
Maintenance Find the proper parts
♦ Transmitter Futaba T9CAP
♦ 6 Channel micro FM receiver♦ Battery ♦ Crystal
Channel 31
Fuel♦ Premium model engine fuel
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Final Test
Static
♦ Communication: which is receiver with transmitter
♦ Throttle and control surfaces
Dynamic
♦ Run the engine and check control surfaces
11/19/09 58NASA Grant NNX08BA44A
Final Test
Ran engine for 1 Hr. 20 min. 275ml fuel used
Time Throttle Aileron Rudder Elevate
1 11:20AM √ √ √ √
2 11: 30 √ √ √ √
3 11:40 √ √ √ √
4 11:50 √ √ √ √
5 12:00PM √ √ √ √
6 12:10 √ √ √ √
7 12:20 √ √ √ √
8 12:30 √ √ √ √
9 12:40 √ √ √ √
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Next Steps
Replace FM receiver with Piccolo Plus receiver
Use autopilot to fly the trainer
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UAV Project Timeline
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Budget
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Reference
Corke C. Thomas. Design of Aircraft. 2003. Prentice Hall Anderson Jr, John D. Aircraft Performance and Design. Mcgraw Hill
1999 Beer P. Ferdinand, Johnson E. Russell, and Dewolf T. John. Mechanics of Materials. 4th Edition.
McGraw Hill. 2003 T.H.G. Megson. Aircraft Structures for Engineering Students. 3rd Edition. Butterworth
Heinenmann. 1999 Raymer, Daniel P, Aircraft Design: A Conceptual Approach. 3rd Edition. AIAA Education Series
1999 www.wikipedia.org http://www.sierracomposites.com/carbon-fiber-square-tube-with-2-sides-p/cfst284.htm http://dragonplate.com/docs/DPSpecRecTube.pdf http://www.safetycitystore.comhttp://www.bagking.com/Merchant2/merchant.mvc?
Screen=PROD&Product_Code=TDH6&qts=googlebase&qtk=TDH6 http://www.delta7bikes.com/shop-bike.htm Anderson Jr, John D. Aircraft Performance and Design. Mcgraw Hill
1999
11/19/09 65NASA Grant NNX08BA44A
Reference
http://www.powerelectronics.com Mr. Frank Unk, the Boeing Company Wikipedia http://www.sengpielaudio.com/calculator-cross-section.htm http://www.batteryuniversity.com/partone-5A.htm http://www.mpoweruk.com/performance.htm Universal Serial Bus Specification, USB-IF http://www.usb.org http://en.wikipedia.org/wiki/Torque http://en.wikipedia.org/wiki/Torque http://www.copperhillmedia.com/VisualSizer/MotorSizingArticles.html http://www.electricmotors.machinedesign.com/guiEdits/Content/bdeee3/
bdeee3_1.aspx http://rmsmotion.com/resources/step_basics_v1_0.pdf A Comprehensible Guide to Servo Motor Sizing by Wilfried Voss http://www.powerstream.com/Wire_Size.htm http://www.66pacific.com/calculators/wire_calc.aspx
11/19/09 66NASA Grant NNX08BA44A
Thank You
AdvisorsDr. Boussalis
Dr. WuDr. Guillaume
Dr. PhamDr. Liu
SupportNhan Doan
Long Ly
Winston Young
Michael Tran
Alan Ko
Cloudcap Technical Support
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Backup Slides
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Payload
http://www.safetycitystore.com
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Payload
http://www.bagking.com/Merchant2/merchant.mvc?Screen=PROD&Product_Code=TDH6&qts=googlebase&qtk=TDH6
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Analysis – Wing Spar
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Analysis – Wing Spar
Circular Square
Round off to 0.75 in11/19/09 74NASA Grant NNX08BA44A
Payload
http://www.safetycitystore.com
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The Study of Lithium-ion Polymer Battery
No metal battery cell casing Light weight Higher energy density ~20% >= traditional Li-ion battery Cell voltage (2.7V - 4.23V) Requires “overcharging” protection circuit Requires longer charge time Has a slower discharge rate
11/19/09 76NASA Grant NNX08BA44A
The Study of Lithium-ion Polymer Battery (cont.)
Fully charge or discharge a Li-ion battery shortens the battery life
Slow charging current is recommended for extended battery life. Usually charging at a fraction of 1/5 is ideal.
Charging at the rate of C/5 will yield a 85% charged battery or 4.1V
C = charging current; for a typical 2000mAh battery charging at C/2 or C/x will complete the charging cycle in 2 hours or x hour(s).
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Battery performance (Discharge rate)
Like others, Lithium-ion batteries would maintain the voltage of the cell as long as the discharge rate is kept slow
With a larger load, meaning a higher discharge rate, the battery would yield a lower potential (V)
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Battery performance (Discharge rate)
Lithium-ion batteries typically have a higher nominal potential (Voltage = 3V)
The Li-ion battery generally has a peak voltage at 4.23V
For a rough estimate, the Li-ion battery would have lost about 0.6V when 90% of the capacity is discharged. In our case, we multiple that lost by 3 since we have a 3-cell battery which yields a 1.8V dropped at low capacity
Ideal operational range
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The discharge rate of the battery(s) (Temperature)
Lithium-ion batteries does not operate well in extreme temperatures.
In the lower end, the battery provides less capacity and hence drain faster
In the upper end, the battery’s active chemicals may break down and possibly destroy the battery
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Some batteries comparison
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Battery comparison (Energy Density)
Lithium-ion Polymer battery clearly has the highest energy density when compared to others
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Wire Gauge Characteristics
By research, 16 - 18 AWG wire seem appropriate for our application
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The study of “voltage" dropped across various wire gauge
Formula for calculating voltage drop
Δ V = I · R = I · (2 · e · ρ / A)I = Current in ampere
e = Wire length in meters (times 2, because there is always a return wire)
ρ = Rho, specific resistance for copper = 0.01785 ohm·mm²/m(Ohms for 1 m length and 1 mm2 cross section area of the wire)
A = Cross section area in mm2
For example, For AWG 16 wire, the wire diameter d=1.2909mm, cross section area A=1.3 mm2
So the voltage dropped = Δ V = I · R = I · (2 · e · 0.01785/1.3) = 0.02746 e(I)
For AWG 18 wire, the wire diameter d=1.02mm, cross section area A=0.82 mm2
So the voltage dropped = Δ V = I · R = I · (2 · e · 0.01785/0.82) = 0.04354 e(I)
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Wire Impedance Impact
Based on the preliminary wire gauge preference 1:♦ Copper wire
♦ 20 AWG
♦ 12V DC
♦ ~16 ft (round trip) in length for ½ of the aircraft (1 wing)
♦ 9 A for the load (Flap Servos for max. power consumption)
Based on the preliminary wire gauge preference 2:♦ Copper wire
♦ 16 AWG
♦ 12V DC
♦ ~16 ft (round trip) in length for ½ of the aircraft (1 wing)
♦ 9 A for the load (Flap Servos for max. power consumption)
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Wire Impedance Impact (cont.)
Preference 1 Preference 2
Type Copper Type Copper
Gauge 20 AWG Gauge 16 AWG
Voltage 12V Voltage 12V
Length (round trip) 16 ft Length (round trip) 16 ft
Current for LOAD 9A Current for LOAD 9A
Voltage drop across wire 1.505V Voltage drop across wire 0.6V
Voltage at load end of circuit 10.495V Voltage at load end of
circuit 11.4V
% of voltage drop 12.54% % of voltage drop 5.00%
Wire total weight 0.0499 lbs Wire total weight 0.1263 lbs
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Servo Motor trade study
Servo Motor♦ Servo Motors are basically DC motor + control system (internal) which
listens to PWM signals. The control system would then translate the PWM signals into position commands by regulating the desire input voltage to the motor.
♦ The advantage Utilize the PWM which is sort of a mature standard in servo motor control. Reliability Small scale
♦ The disadvantage Requires control mechanism which translate the signal (This is usually
included with the motor, however) Precision depends on the input voltage which can become a problem
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360 oz-in
Torque Requirements
According to Maria, here’s the breakdowns of the required torque for the servos to operate the wings
For the canard wing, no servo will be required! (Updated)
For the rectangular wing, (1/2 of the body) = 360 oz-in
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Power Distribution / Wiring Diagram (Ground Station)
Car alternator/battery supplying 12V steady power
Piccolo Controller requires a 12V voltage which can be obtained directly from the car power source
Ground station would require an additional step-up transformer in order to provide 16V out of 12V
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USB 2.0 Speed and Operational Speed (Transfer Speed)
USB 2.0 is backward compatible with the prior USB1.1 and USB1.0 standard
USB 2.0 has 3 different speed modes: Low-Speed, Full-Speed, and High-Speed
Low-Speed has a transfer rate of 10 – 100 kbits/s Full-Speed has a transfer rate of 500 kbits/s – 10Mbits/s High-Speed has a transfer rate of 25 – 400Mbits/s Typically, a USB cables are made with 28 AWG wires
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Low/Full Speed USB 2.0 Transfer Speed Identification
The Low / Full Speed is determined from the placement of the differential resistor Rpw
In other words, it’s unlikely to degrade the speed mode due to a variation of a potential difference in the data signal
However, for High-Speed mode a steady 3.3V would need to be maintained; a lousy USB cable with high impedance would keep the speed from reaching the High-Speed mode
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360 oz-in
Torque Requirements
According to Maria, here’s the breakdowns of the required torque for the servos to operate the wings
For the canard wing, no servo will be required! (Updated)
For the rectangular wing, (1/2 of the body) = 360 oz-in
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Torque to Watts Conversion
In SI units:
In English units:
1 lb = 16 ounces 1 ft = 12 in
1 hp = 745.699872 watts
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Batteries & Servo motors specification (Preliminary)
Thunder Power Pro Power 30C Li-Po battery (TP5000-3SP30)♦ Two (3-cell) 12V Li-Po battery with 5000mAh
♦ To be used for the FCS
♦ Gross weight = 265g = 0.564 lbs
Thunder Power Pro Power 30C Li-Po battery (TP5000-2SP30)♦ Four (2-cell) 7.4V Li-Po battery with 5000mAh
♦ To be used for the servos
♦ Gross weight = 400g = 0.882 lbs
ServoCity Servo motors (HS-7950TG)♦ A total of 5 servo motors
♦ Each servo motor has a input range of (4.8V, 6V, 7.4V)
♦ Each servo motor weight 68.0 g or 0.1499 lbs
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“Fire Eye” System Concept Draft
11/19/09 95NASA Grant NNX08BA44A11/19/09 95NASA Grant NNX08BA44A
“Fire Eye” System Background
“Cloud Camera.”
Source: http://panopticus.altervista.org/fishlist/cloudcameras.htm
Infrared image of fire.
Source: Töreyin, Cinbis, Dedeoglu, Çetin, “Fire detection in infrared video using wavelet analysis,” Optical Engineering 46(6) (June, 2007).
11/19/09 96NASA Grant NNX08BA44A11/19/09 96NASA Grant NNX08BA44A
“Fire Eye” System Background
Fisheye images of ground and sky. Source: http://www.gdargaud.net/Photo/Fisheye.html
11/19/09 97NASA Grant NNX08BA44A11/19/09 97NASA Grant NNX08BA44A
“Fire Eye” Data Flow
Acquire infra-red fisheye image
Transmit image to ground station
DSP: De-fisheye
DSP: Detect fire
DSP: Calculate heading
FCS: Re-calc flight plan
Change heading
Air Vehicle
Ground or on-board11/19/09 98NASA Grant NNX08BA44A11/19/09 98NASA Grant NNX08BA44A
Flight Control System (FCS) Overview
11/19/09 99NASA Grant NNX08BA44A11/19/09 99NASA Grant NNX08BA44A
Flight Control System
Ground Station
Flight Control System (FCS) Goal
Servos
<16
External sensors
3 DOF IMU RollPitchYaw
Combo Pitot / Static sensor
3/32 Tygon tube
900 Mhz ISM
Image source: www.cloudcaptech.comInfo source: Piccolo Vehicle Integration Guide
900 MHz 1W Xmit / Recv GPS
Recv
PWM
¼-waveLarsen RadiallBNC antenna
12V
USB to RS232
11/19/09 100NASA Grant NNX08BA44A11/19/09 100NASA Grant NNX08BA44A
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