P09123 – 2009 RIT MAV Platform
System Level Design Review
EDGE™
2009 MAV Team Members
EDGE™
Basic Project Information
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Project Number and Name
– P09123 Micro Aerial Vehicle (MAV) Platform
Project Family
– Micro Aerial Vehicle
Track
– Aerospace Systems and Technology
Start Term
– 2009-1
End Term
– 2009-3
Faculty Guide
– Dr. Jeffery Kozak (Mechanical Engineering)
Faculty Consultants
– Dr. Agamemnon Crassidis (Mechanical Engineering)
– Dr. Hany Ghoneim (Mechanical Engineering)
Primary Customer
– Dr. Jeffery Kozak, RIT MAV Team
Secondary Customer
– Impact Technologies
EDGE™
Product Description /Project Overview
Mission Statement:
The MAV Family of Projects:
• To build a semi-autonomous, tending towards full autonomy, air vehicle that
will be used in the future for Multidisciplinary Senior Design and for
graduate studies in the college of engineering and the college of imaging
science.
• To have a hands on aeronautical project for undergraduate students that is
of low cost and simplicity as to be able to be made by hand.
• To provide an incentive for students as well as exposure of engineering at
RIT by competing in the more aggressive United States/Europe MAV
competition
The P09123 Project will:
• Develop the Platform for an expandable and re-useable Micro Aerial
Vehicle (MAV) that is intended to be used as a basis for current and future
MAV design.
EDGE™
Concept Generation - Propulsion
Excellent
Good
Satisfactory
Poor
Gas
Batteries
Super Capacitor
Rocket
Solar Cells
Jet Turbine
EDGE™
Basic Subsystem Layout – “The Diagram”
Tail Assembly:
Vertical Stabilizer
Horizontal Stabilizers
-Control Servos
Equipment Cage:
-R/F Electronics
-GPS
-Microcontroller
-Batteries
Fuselage
Nose Cone Assembly:
-Propulsion
-Motor/Controller
-Propeller
Wing Assembly (2):
-Airfoil
-Control Surfaces
-Control Servos
EDGE™
MAV Subsystem Breakdown
• Fuselage
– Material/Construction
– Structure
– Integration
• Wings/Airfoil
–
–
–
–
–
Airfoil Shape
Tail Design
Flight Dynamics
Aerodynamics
Material/Construction
• Propulsion
–
–
–
–
Thrust Requirements
Propeller
Motor and Controller
Nose Cone Design
• Control Surfaces
–
–
–
–
Servo Actuation
Size, Shape, Function
Material
Location
EDGE™
MAV Subsystem Breakdown
• Equipment Cage
–
–
–
–
Structural Integrity
Hardware Mounting
Protection
Vibration Damping
• Electronics
–
–
–
–
–
Batteries
R/C Elements
Motor Controller
Power Requirements
Servo Control
• Process Development
–
–
–
–
–
Manufacturing Process
Final Assembly
Documentation
Procurement
Bill of Materials/Cost Analysis
• Analysis/Testing
–
–
–
–
–
Flight Testing
Wind Tunnel Testing
CFD/FEA
Material Testing
Simulation
EDGE™
SPECIFICATIONS
EDGE™
AIRFOIL ANALYSIS
Aaron Nash
EDGE™
2009 MAV Airfoil & Wing
Design Assumptions
• Velocities
• VCruise = 20 mi/hr, Ma = 0.026
• VMax = 35 mi/hr, Ma = 0.046
• VMin = 10 mi/hr, Ma = 0.013
• Chord = 6 inches
Reynolds Number Calculations
• ReCruise = 10312
• ReMax = 180482
• ReMin = 51581.55
vl vl
Re 



Look for Low Reynolds Number Airfoils!
EDGE™
Coefficient Calculations
• Minimum Coefficient of Lift
Calculation
– Assuming a span of three feet
and a weight of 3.31 lbs (1.5 kg)
– Clmin = 2.1564 (v = 25 mph)
Clmin
– Clmin = 0.7041 (v = 35 mph)
– Clmin = 8.62 (v = 10 mph)
Lift
Lift


2
q  S 0.5    v  S
EDGE™
Airfoils
• UIUC Database
• Selected a number of
low Reynolds Number
Data Airfoils
– Benchmarked from
P08121
• Results can be seen in
handout
EDGE™
EDGE™
Airfoil Selection
• Selig s1210
– 2nd highest Lift Coeff
– Highest operating
envalope
• Between 2 and 9
degrees AoA
• Selig s1223
– Highest Lift Coeff
– Operating Point at 2
degrees AoA
EDGE™
Wing position
• Wing will be positioned
on the top of the
fuselage
– Creates a pendulum
effect
– Uses the weight of the
fuselage to provide
natural lateral stability
– Keel Effect
• Tapered wing tips to add
“virtual span”
EDGE™
FUSELAGE
Joe Hozdic
EDGE™
2009 MAV Fuselage
•
Material: Carbon/Kevlar Biaxial Sleeve
Woven Carbon Cloth
Wings Attach
To Protrusion
Cage Structure
Contained in Body
EDGE™
Wing Attachment Concepts
Thru Pin
Adhesive
•Adhesive
•Pinned Joint
•Strong Connection
•Relatively Weaker
•Permanent
•Removable
•No Affect on Aerodynamics
•May Affect Aerodynamics
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Cage Location
•Cage may be adjusted front to back:
•Shifts center of gravity
•Compensates for various configurations
EDGE™
Equipment Cage Assembly
Foam Isolators: Secure
Cage Inside Fuselage
Protective Cage: Carbon
or Aluminum Rods
Components will attach either directly to cage or the voids may be
filled with a thin sheet of plastic/composite to mount equipment on EDGE™
WING STRUCTURE
Corey Kulcu-Roca
EDGE™
Skin Materials
• Monokote
• Carbon
/Kevlar
• Fiberglass
• Carbon fine
weave
EDGE™
Wing Core Materials
• Foam
• Carbon
Ribs
• Balsa
Wood
• Honeycomb
• Carbon Rod
EDGE™
Wing Materials Comparison
Skin Material
Monokote
Benefits
Disadvantages
weight
strength
adhesion to
cost
honeycomb
Fiberglass
strength
fabrication
adhesion to
honeycomb
Carbon/Kevlar sock extra strength weight
adhesion to
no wing core honeycomb
fabrication
Carbon (fine weave) strength
weight
fabrication
cost
adhesion to
honeycomb
Core Material
Foam
Balsa Wood
Carbon rods
Carbon ribs
Honeycomb
Benefits
Disadvantages
cost
weight
fabrication
cost
strength
weight
fabrication
weight
strength
weight
strength
extra strength
weight
assembly
strength
assembly
fabrication
cost
assembly
EDGE™
PROPULSION
Brian David
EDGE™
Propulsion Components
•
Motor
– 7.8 V
– 32000 RPM
– 5.7 W
– .8 oz
•
Battery
– 7.4 V
– 600 mAh
– 1.3 oz
•
Propeller
– 5.1x4.5 APC E
– Hub ID = .25”
– .00125 oz
EDGE™
Propulsion Calculations
•
Thrust
– 7.40*.60=4.44 W
– 4.44/4.70=.947
– .947*32000=30230 RPM
– Max RPM = 190000/D = 37255 RPM
– 30230 < 37255 OK
– From thrust calc:
• Thrust at 30230 RPM = 1.66 Kg
•
Power to weight ratio
– Max Thrust / Max Weight
– 1.66 / 1.5 = 1.1
EDGE™
Flight Time
Full Throttle
– P / V = current draw
– 4.7 W / 7.8 V = .603 A
– 600 mAh / .603 A = 59.7 min
– 4.8 V cutoff voltage
– 7.4 / 4.8 = 1.54
– 59.7 min / 1.54 = 38.8 min
Flight Time
120
100
Percent Throttle
•
80
60
40
20
0
0
50
100
150
200
250
Time (min)
EDGE™
MANUFACTURABILITY
Joe Chow
EDGE™
Concept Development- Structure Diagram
SA-1
Propeller
Motor
Nose Cone
Cage
L. Horizontal
Stabilizers
MAV
Fuselage + Tail
Stock
R. Horizontal
Stabilizers
Vertical
Stabilizers
SA-2
Electronics
SA-2-1
Elevator
SA-2-2
Elevator
Rudder
SA-2-3
SA-2-4
Servos
Wings (2)
Aileron
SA-3
EDGE™
RISK
ASSESSMENT
Concept Development
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
(H/M/L)
(H/M/L)
(H/M/L)
Contingency Plan
Risk
Materials are too
heavy once built
Vehicle does not
survive crash test
The motor does not
support the weight,
therefore the plane
cannot fly.
Microcontrollers and
other components
may be damaged
during actual flight
M
L
H
H
M
Review and design
based on past MAV
projects, since it was
quite successful
before.
M
Microcontroller will
not be flown in plane
until it survives the
crash test. All
electronics will be
placed in a cage, that
is reinforced by
durable materials.
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
(H/M/L)
(H/M/L)
(H/M/L)
Contingency Plan
Risk
Components do not fit Vital Functions ( Flight
inside plane
Control) may be lost
Undergrads may not
be able to benefit from
project. Vehicle may
Design is too complex
not be possible to
build with current
resources
L
L
M
M
L
Revise design of
vehicle. Search for
smaller components or
components that multi
task
L
May have to sacrifice
performance for
design simplicity
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
(H/M/L)
(H/M/L)
(H/M/L)
Contingency Plan
Risk
Budget runs out
Unable to procure
necessary materials
and resources
Power Source
Calculation Error
Power source does not
support the actual
power needed,
therefore, the plane
cannot fly.
L
L
M
M
L
Find alternate source
of funding or
fundraser
L
In addition to the
experts on the team,
previous years
calculations were also
reviewed.
EDGE™
Concept Development- Risk Assessment
Possible Consequence
Probability Of
Severity Of Risk
Risk
Overall Risk
Contingency Plan
Risk
(H/M/L)
Wings are not
symmetrical
Poor wing
construction/
tolerances
Plane will either not fly
or the maneuverability
of the plane will be
affected. This is so
because of unbalanced
moment and improper
flight dynamics
The plane will either not
get much lift or will fail
to take off.
M
L
(H/M/L)
H
M
(H/M/L)
M
Detailed Drawings of
the wings will be
completed. Also a
mold of the wings
will be made.
M
Calculations for wing
structure will be
calculated and
simulated through
simulations
program. Then the
actual structure will
be tested at the
Wind Tunnels
Facility.
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
Contingency Plan
(H/M/L)
(H/M/L)
(H/M/L)
L
H
M
Design one piece
wing
M
The minimum
amount of
electronics will be
used in the plane.
Also, EE's will be
assigned for the
P09122 project.
Risk
Wing to Fuselage
Joint Fails or
misaligned
Wings will be
crooked, therefore
flight will be unstable
or fail during flight. It
might not even fly
also.
Will need to spend a
lot of money on a
bigger battery or
Power Requirements
alternate power
too high
source, which might
increase the weight
of the plane.
M
M
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
(H/M/L)
(H/M/L)
(H/M/L)
Contingency Plan
Risk
Maneuverability of
the plane will be
Platform is unstable affected or it could fail
during flight. Controls
group may fail.
P09122 will buy a
Poor communication premade RC Plane
w/ P09122
platform and not use
our current platform.
M
L
H
H
M
Platform
specifications will be
simulated for
verification. Also, the
platform will be
tested in the Wind
Tunnels Facility.
M
Talks between the
current team
members and the
members of P09122
are always taking
place.
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
(H/M/L)
(H/M/L)
(H/M/L)
Contingency Plan
Risk
Poor electronics
design
Too much drag
Sensors,
accelerometers and
cameras will not
function properly,
therefore information
cannot be obtained.
Plane will either not fly
or it will not sustain in
flight for the required
amount of time.
H
L
H
H
H
EE's will be assigned to
the electronics part of
the project.
L
Calculations,
simulations and the
professor's guidance
will be utilized in
designing and
manufacturing of the
platform.
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk Severity Of Risk
Overall Risk
Contingency Plan
Risk
(H/M/L)
Aerodynamics of plane
Fuselage Crooked and
will be affected,
stabilizers are placed in
therefore, more
the incorrect location
calibrations will be
needed to be done.
Cage Assy. Too Heavy
More motor power will
be needed to start and
sustain the plane in
flight. The plane might
not fly either.
L
L
(H/M/L)
M
M
(H/M/L)
L
Careful calculation will
be made and the
fuselage will be placed
with part of the sides
overlapping with the tail
stock. Therefore, it will
be aligned with the tail
stock.
L
We will use a more
powerful motor to cover
for the extra weight.
Also electrical
equipment could be
taken out.
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk Severity Of Risk
Overall Risk
Contingency Plan
Risk
(H/M/L)
Low thrust
The plane will not be
able to fly or sustain in
flight for the required
amount of time. Plane
might also crash.
Low Flight time
More calculations and
modifications to the
specification of the
plane will be needed.
Also larger batteries
will be needed,
therefore increase in
weight.
L
L
(H/M/L)
H
M
(H/M/L)
L
Calculations will be
monitored by
experienced engineers
and the mentor.
L
Analyze plane
structure, power issues
and weight issues.
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
(H/M/L)
(H/M/L)
(H/M/L)
Contingency Plan
Risk
Servo Fail
Maneuverability of the
plane will be affected
and also defective
servo motor. Could
lead to crash
Control Surface
Missaligned
The aerodynamics of
the surface will be
affected, therefore
affecting the
performance of the
plane. It also prompts
for improper flight
control response.
L
M
M
M
L
Servo will be returned
and replaced.
Placement of the servo
will be re-calculated
M
Simulation and tests
will be done before any
real tests takes place.
EDGE™
Concept Development- Risk Assessment
Possible
Consequence
Probability Of Risk
Severity Of Risk
Overall Risk
(H/M/L)
(H/M/L)
(H/M/L)
Contingency Plan
Risk
Cage moves inside There will be a shift
plane
in center of gravity.
M
H
M
Composites will be
used to reinforce
the placement of
the cage and a mold
will be placed to
make sure that it
doesn't move.
EDGE™
SCHEDULE
Concept Development
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Concept Development- Project Schedule
EDGE™
Concept Development- Project Schedule
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THANK YOU
EDGE™