This document discusses the development of an intelligence, surveillance, and reconnaissance (ISR) system for a quadcopter unmanned aerial vehicle (UAV). It begins with an introduction to ISR technology and its importance. It then provides details on the physical and electrical properties of quadcopters and how they move and generate thrust. The document concludes with an explanation of the control system for quadcopters, including sensors like inertial measurement units, barometric pressure sensors, and magnetometers, and how they are used with a fly-by-wire system to maintain stability.
This PPT provides a complete overview of jet engine.
It includes several topics related to jet engine.
The topics are introduction, need, working principle, brayton cycle, types, application, merits & demerits, conclusion and future scope.
Design,Fabrication & Analysis of a Quardcopter___Research PaperHashim Hasnain Hadi
The document summarizes the design and development of a quadcopter. It describes the components of a quadcopter, including the flight controller, brushless motors, propellers, electronic speed controllers, battery, transmitter and receiver. It discusses the principles of how quadcopters are able to fly through generating lift and thrust and how movement in different directions is achieved by altering the speed of different rotors. The document also provides details on the frame design and construction of the quadcopter described in the paper, including specifications of materials used. It analyzes how to appropriately select the electronic speed controller based on the battery specifications to ensure safe current flow.
This document reviews solar tracking systems. It begins by discussing how solar tracking systems can increase the efficiency of photovoltaic panels by ensuring the sun's rays hit the panel's surface at an optimal angle from sunrise to sunset, as the sun's position changes relative to the Earth. It then describes different types of solar tracking systems, including single-axis and dual-axis systems, and compares their efficiencies to fixed panels. Studies show dual-axis trackers can increase efficiency by over 80% compared to fixed panels, while single-axis trackers provide around a 30% increase but are more cost-effective. The document concludes by examining different solar collector and tracking technologies.
This document summarizes research into using solar power for commercial aircraft. It discusses how solar panels attached to aircraft wings could generate electricity from sunlight to power aircraft systems, especially during takeoff which requires 2-3 times more power than cruise. The electricity would be stored in batteries and used during takeoff. The document reviews the history of solar-powered aircraft dating back to 1974. It estimates that solar panels on a commercial aircraft could generate approximately 86 kW of usable power per day, enough to offset fuel costs after 23 flights and lower airline prices over time.
Development and Performance Test of a Micro Horizontal Axis Wind Turbine BladeIJERA Editor
This study describes the development and experimental studies performed to investigate the performance of a
1.5 m long Horizontal Axis Wind Turbine blade on a 4meter tower using 8o
as an angle of attack. The blade was
design using the Blade Element Momentum Theory (BEM), blade parameters such as the chord length, angle of
attack, Tip Speed Ratio, Rotor diameter, Lift and Drag force were determined. The designed blade profile was
developed and tested on an open field at Maiduguri where the average wind speed is 3.89m/s, the result shows
that the maximum extractable power is 142.66 W at a wind relative velocity of 4.8m/s when the blade is at 8o
angle of attack and 3 x 106 Reynolds Number. However, measured power increase consistently with increased in
wind speed. Therefore the developed HAWT blade profile has shown the ability to perform thus, the blade is
expected to be a means of extracting and generating energy from wind which is a renewable, clean and locally
available source of energy in Maiduguri and its environs. The use of this energy source will reduce the large
dependence on non-renewable, expensive and environmentally unfriendly means of energy generation.
IRJET- Design and Analysis of Highway Wind Power Generation using Vertical Ax...IRJET Journal
This document describes the design and analysis of a vertical axis wind turbine to harness wind energy from vehicles on highways. The turbine would be installed on highway medians to capture wind from both sides of passing vehicles. A computational model was developed to simulate and optimize the turbine design before physical fabrication. Various blade designs were analyzed, including straight, curved, airfoil, and twisted styles. The goals of the project were to generate electricity efficiently from the consistent highway winds and contribute to renewable energy production.
This document describes a mini project on a flying wing mechanism conducted by students at Vishwakarma Institute of Technology in Pune, India. It provides an introduction to ornithopters, which are aircraft that fly by flapping wings in imitation of birds. The project involved designing a mechanism to power flapping wings based on research into wing design principles and prior ornithopter projects from around the world. The goal was to apply knowledge gained from studying flapping flight aerodynamics and biomimicry of bird wing motions.
This document presents the design of a vertical axis wind turbine for highways in India. It begins with an introduction to the problem of poor lighting and accidents on highways at night. It then reviews literature on previous wind turbine designs for highways. The proposed design methodology is to design the machine layout and blades to optimally capture wind energy from passing vehicles. The expected outcomes are increased visibility and safety on highways through the use of wind turbines. The document provides dimensions and design considerations for the turbine based on previous research. It summarizes several referenced papers on vertical axis wind turbine designs.
This PPT provides a complete overview of jet engine.
It includes several topics related to jet engine.
The topics are introduction, need, working principle, brayton cycle, types, application, merits & demerits, conclusion and future scope.
Design,Fabrication & Analysis of a Quardcopter___Research PaperHashim Hasnain Hadi
The document summarizes the design and development of a quadcopter. It describes the components of a quadcopter, including the flight controller, brushless motors, propellers, electronic speed controllers, battery, transmitter and receiver. It discusses the principles of how quadcopters are able to fly through generating lift and thrust and how movement in different directions is achieved by altering the speed of different rotors. The document also provides details on the frame design and construction of the quadcopter described in the paper, including specifications of materials used. It analyzes how to appropriately select the electronic speed controller based on the battery specifications to ensure safe current flow.
This document reviews solar tracking systems. It begins by discussing how solar tracking systems can increase the efficiency of photovoltaic panels by ensuring the sun's rays hit the panel's surface at an optimal angle from sunrise to sunset, as the sun's position changes relative to the Earth. It then describes different types of solar tracking systems, including single-axis and dual-axis systems, and compares their efficiencies to fixed panels. Studies show dual-axis trackers can increase efficiency by over 80% compared to fixed panels, while single-axis trackers provide around a 30% increase but are more cost-effective. The document concludes by examining different solar collector and tracking technologies.
This document summarizes research into using solar power for commercial aircraft. It discusses how solar panels attached to aircraft wings could generate electricity from sunlight to power aircraft systems, especially during takeoff which requires 2-3 times more power than cruise. The electricity would be stored in batteries and used during takeoff. The document reviews the history of solar-powered aircraft dating back to 1974. It estimates that solar panels on a commercial aircraft could generate approximately 86 kW of usable power per day, enough to offset fuel costs after 23 flights and lower airline prices over time.
Development and Performance Test of a Micro Horizontal Axis Wind Turbine BladeIJERA Editor
This study describes the development and experimental studies performed to investigate the performance of a
1.5 m long Horizontal Axis Wind Turbine blade on a 4meter tower using 8o
as an angle of attack. The blade was
design using the Blade Element Momentum Theory (BEM), blade parameters such as the chord length, angle of
attack, Tip Speed Ratio, Rotor diameter, Lift and Drag force were determined. The designed blade profile was
developed and tested on an open field at Maiduguri where the average wind speed is 3.89m/s, the result shows
that the maximum extractable power is 142.66 W at a wind relative velocity of 4.8m/s when the blade is at 8o
angle of attack and 3 x 106 Reynolds Number. However, measured power increase consistently with increased in
wind speed. Therefore the developed HAWT blade profile has shown the ability to perform thus, the blade is
expected to be a means of extracting and generating energy from wind which is a renewable, clean and locally
available source of energy in Maiduguri and its environs. The use of this energy source will reduce the large
dependence on non-renewable, expensive and environmentally unfriendly means of energy generation.
IRJET- Design and Analysis of Highway Wind Power Generation using Vertical Ax...IRJET Journal
This document describes the design and analysis of a vertical axis wind turbine to harness wind energy from vehicles on highways. The turbine would be installed on highway medians to capture wind from both sides of passing vehicles. A computational model was developed to simulate and optimize the turbine design before physical fabrication. Various blade designs were analyzed, including straight, curved, airfoil, and twisted styles. The goals of the project were to generate electricity efficiently from the consistent highway winds and contribute to renewable energy production.
This document describes a mini project on a flying wing mechanism conducted by students at Vishwakarma Institute of Technology in Pune, India. It provides an introduction to ornithopters, which are aircraft that fly by flapping wings in imitation of birds. The project involved designing a mechanism to power flapping wings based on research into wing design principles and prior ornithopter projects from around the world. The goal was to apply knowledge gained from studying flapping flight aerodynamics and biomimicry of bird wing motions.
This document presents the design of a vertical axis wind turbine for highways in India. It begins with an introduction to the problem of poor lighting and accidents on highways at night. It then reviews literature on previous wind turbine designs for highways. The proposed design methodology is to design the machine layout and blades to optimally capture wind energy from passing vehicles. The expected outcomes are increased visibility and safety on highways through the use of wind turbines. The document provides dimensions and design considerations for the turbine based on previous research. It summarizes several referenced papers on vertical axis wind turbine designs.
This experiment studied the role of propeller blade rotation in drone flight control. Specifically, it examined the effects of clockwise (CC) and counter-clockwise (CCL) rotation. The experiment tested how varying the speed of individual propeller motors allows drones to maneuver in different ways, such as taking off, landing, moving forward, backward, right, and left. It also explored how propeller blade shape, size, and construction materials like plastic or carbon fiber influence lift generation and flight performance. The results provide insight into how propeller rotation direction controls vertical and horizontal drone motion.
End of Semester Design Report Final VersionDaniel Worts
This document presents a proposal for an autonomous quadcopter senior design project. The goal is to design and build a quadcopter capable of GPS waypoint navigation with multiple flight modes and safety features. Key specifications include a 15 minute maximum flight time, 0.75 mile video transmission range, object avoidance sensors, and a parachute system for failures. The design process will focus on a durable yet lightweight frame and reducing vibrations to ensure smooth video and avoid interfering with electronics. By spring, the team aims to have a functional quadcopter with altitude control via manual controller and autonomous software, while transmitting video.
This technical report provides an overview of airborne wind turbines (AWT) as an emerging renewable energy technology. It discusses how AWTs can harness wind energy at high altitudes where winds are stronger and more consistent. The report categorizes four major AWT designs and finds that kite-type designs have shown the most growth and potential. While some companies have developed prototypes, the technology still faces challenges to commercialization like control and safety issues. Overall the report concludes that AWTs could be a promising renewable energy source but require further research and development to realize their advantages over traditional wind turbines.
1) The document proposes harnessing wind energy from highways using vertical axis wind turbines mounted along roads. As vehicles pass by at high speeds, they create wind that can rotate the turbines.
2) The turbines are connected to generators to produce electricity from the rotational energy. This electricity can be used locally or stored in batteries.
3) Producing electricity in this way utilizes otherwise wasted wind energy from vehicle traffic. It has the advantages of being renewable and producing no greenhouse gases.
This document summarizes the design and analysis of a vertical axis wind turbine for use on highways in India. It includes the following key points:
1) The motivation was to design a wind turbine that could harness wind energy from passing vehicles to power streetlights along highways, improving nighttime visibility and safety.
2) An initial design was created based on Lenz's vertical axis wind turbine design. It was then modeled, simulated using ANSYS, and a prototype was built for testing.
3) Testing of the prototype found it was able to produce up to 4.5W of power from wind, achieving an efficiency of 25%. Analysis showed with optimized production, efficiencies over 28% could be achieved to
This document presents information about quadcopters. It discusses the components of a quadcopter including the frame, propellers, motors, transmitter/receiver, microcontroller, power distribution board, and electronic speed controller. It also describes the flight controls of quadcopters and how they achieve pitch, yaw, and roll motions. Applications mentioned include surveillance, agriculture, delivery, and inspections. Advantages include smaller size than helicopters and no tail rotor. Disadvantages include limited battery life and hacking potential. The conclusion is that quadcopters have many promising future applications if used constructively.
QUADCOPTER
The goal of presentation was to acquaint you to a semi-autonomous quadcopter capable of self-sustained flight via wireless communications while utilizing a microcontroller. The quadcopter was designed to be small enough so that costs would be minimized. which is why small motors and propellers are being used. While a PIC microcontroller, accelerometer, and gyroscope are communicating between each other to maintain control.
The scheduler program arranges the following tasks: controller input, sensor data received from the accelerometer, Gyroscope, and Magnetometer. The wireless transceivers use SPI to send control signals to the microcontroller on the quadcopter from the handheld controller unit. The accelerometer/gyroscope and magnetometer both use I2C to send the amount of acceleration, stabilization, and the direction vector. The motors are being controlled by the PWM ports on the PIC microcontroller. To achieve flight, two of the motors must apply downward force and the other two motors have to apply an upward force. To turn, one pair (left or right side) of motors slows down to turn the copter. To ascend, all motors will increase in speed, and will all decrease in order to descend. To move forward, the front two motors will decrease while the back two motors will increase. And vice versa in order to move in a backwards direction. We are also working on integrating our own Graphical User Interface (GUI) which will allow us to have direct control over all systems.
This is report prepared by me on Airborne Wind Turbines (AWT). It consists of the types of wind turbines used today. Types of prototypes in the airborne sector, and a brief working of them.
The document summarizes a technical seminar presentation on floating electric generators called Magenn Air Rotor Systems (MARS). MARS are wind turbines that float in the air tethered to the ground by wires, allowing them to access stronger winds at higher altitudes than traditional windmills. They work similarly to conventional wind turbines by using wind to spin rotors and generators to produce electricity, but remain aloft using helium balloons. Prototypes have generated up to 2 kW of power, enough for one home. Advantages include access to stronger winds, but challenges include high costs and safety in bad weather.
Design and construction of vertical axis wind turbineIAEME Publication
This document describes the design and construction of a vertical axis wind turbine. It aims to generate enough electricity for domestic use in rural areas with minimal costs. The turbine is designed to be 1m in diameter and 1m in height to capture 1 square meter of wind. It uses three J-shaped blades made of galvanized iron sheets. Testing showed the turbine generated up to 26.4 watts of power, achieving an efficiency of 23.3%. While lower than theoretical maximum efficiency, the design shows potential for power generation in off-grid rural applications. Future work may aim to further improve efficiency through more optimized blade designs.
This document discusses the design, analysis, and fabrication of a prototype highway wind turbine. It begins with an introduction covering global and local utilization of wind energy, including statistics on installed wind power capacity worldwide and wind energy potential in Pakistan. The problem statement outlines challenges facing wind power generation. The document then covers the project objectives, literature review on vertical axis wind turbines and prior related work, and project management aspects such as the timeline and work breakdown structure. Subsequent chapters discuss the engineering design and analysis using SolidWorks and ANSYS, fabrication of the turbine prototype, testing plans, and considerations around safety, maintenance, environment, and economics. The conclusion discusses specifications, recommendations for future work, and lessons learned.
This document presents a senior design project proposal for developing highway wind turbines. A team of three mechanical engineering students at FIU - Bruce Champagnie, Geatjens Altenor, and Antonia Simonis - are investigating designing wind turbines that can harness wind energy from passing vehicles on highways. The proposal outlines the motivation, objectives, design challenges, a literature review, conceptual designs, analysis plans, components, costs, prototype development, and a timeline for the project to be completed by April 2013 under the guidance of advisor Dr. Boesl. The overall goal is to design a turbine that can effectively capture intermittent wind sources from traffic and store the generated power for distributing to streetlights or other applications.
1) The document discusses the fabrication of a drone, or quadcopter, which uses four rotors - two rotating clockwise and two counter-clockwise - to provide lift and propulsion. Control is achieved by varying the RPM of the rotors using a microcontroller.
2) A quadcopter operates on the principle of aviation, with electronics and mechanics allowing the four motors to change speed and direction to move the device forward, backward, left, right, up, and down based on transmitted signals from a remote controller.
3) The group fabricated a basic quadcopter with a metal frame, 6V battery, range of 50 feet, and weight of 1kg to gain experience with soldering,
This document summarizes a research project on designing and testing a distributed electric propulsion system for aircraft. Distributed electric propulsion involves placing multiple small engines around the aircraft's fuselage and wings to improve efficiency. The project aims to design and test a scaled model aircraft powered by 10-12 small electric engines distributed along its wingspan. Testing will analyze lift characteristics at varying payloads. Distributed electric propulsion could make air travel more efficient, economical, and environmentally friendly by increasing lift and reducing emissions compared to traditional jet engines.
Wind turbines convert kinetic energy from wind into mechanical or electrical energy. They consist of blades, a shaft, gearbox, generator, and tower. As wind blows over the blades, they spin a shaft connecting to a generator that produces electricity. Larger wind farms connect to electricity grids to power homes and businesses. Wind is a renewable energy source that produces no emissions, but wind turbines require high upfront costs and large amounts of land for power generation.
An airborne wind turbine is a design concept for a wind turbine with a rotor supported in the air without a tower, thus benefiting from more mechanical and aerodynamic options.
This document is a report submitted by Michael Bseliss in partial fulfillment of the requirements for a Bachelor of Technology degree in Aerospace Engineering from Amity University, Dubai. The report evaluates a practical training on the construction of a quadcopter. It includes sections on the introduction, literature review, components, flight control, applications and advantages/disadvantages of quadcopters. Key components discussed include the frame, propellers, motors, flight controller, batteries and other optional additions like cameras. Applications highlighted are in areas like agriculture, delivery services, and photography.
This document discusses navigation technologies and principles for managing air traffic flow. It proposes three principles for a scalable traffic management solution: independence, universal rules, and open communication. Distributed management is suggested with local, regional and central levels to provide convenience through a scalable approach. Navigation technologies mentioned include GPS, inertial systems, vision systems, LIDAR, sensor fusion, radar and laser scanning to enable independent navigation.
The document discusses a meeting to introduce the DetNodeCopter project and recruit volunteers. It summarizes that the meeting will include introductions to DetNode and Ribbon Farm makerspace, a demonstration of the NodeCopter quadcopter, and a call for volunteers to help with the 2013 NodeCopter event in Detroit. It also briefly describes plans to use quadcopters around Detroit and Ann Arbor and a demonstration flying a Parrot AR.Drone quadcopter.
This experiment studied the role of propeller blade rotation in drone flight control. Specifically, it examined the effects of clockwise (CC) and counter-clockwise (CCL) rotation. The experiment tested how varying the speed of individual propeller motors allows drones to maneuver in different ways, such as taking off, landing, moving forward, backward, right, and left. It also explored how propeller blade shape, size, and construction materials like plastic or carbon fiber influence lift generation and flight performance. The results provide insight into how propeller rotation direction controls vertical and horizontal drone motion.
End of Semester Design Report Final VersionDaniel Worts
This document presents a proposal for an autonomous quadcopter senior design project. The goal is to design and build a quadcopter capable of GPS waypoint navigation with multiple flight modes and safety features. Key specifications include a 15 minute maximum flight time, 0.75 mile video transmission range, object avoidance sensors, and a parachute system for failures. The design process will focus on a durable yet lightweight frame and reducing vibrations to ensure smooth video and avoid interfering with electronics. By spring, the team aims to have a functional quadcopter with altitude control via manual controller and autonomous software, while transmitting video.
This technical report provides an overview of airborne wind turbines (AWT) as an emerging renewable energy technology. It discusses how AWTs can harness wind energy at high altitudes where winds are stronger and more consistent. The report categorizes four major AWT designs and finds that kite-type designs have shown the most growth and potential. While some companies have developed prototypes, the technology still faces challenges to commercialization like control and safety issues. Overall the report concludes that AWTs could be a promising renewable energy source but require further research and development to realize their advantages over traditional wind turbines.
1) The document proposes harnessing wind energy from highways using vertical axis wind turbines mounted along roads. As vehicles pass by at high speeds, they create wind that can rotate the turbines.
2) The turbines are connected to generators to produce electricity from the rotational energy. This electricity can be used locally or stored in batteries.
3) Producing electricity in this way utilizes otherwise wasted wind energy from vehicle traffic. It has the advantages of being renewable and producing no greenhouse gases.
This document summarizes the design and analysis of a vertical axis wind turbine for use on highways in India. It includes the following key points:
1) The motivation was to design a wind turbine that could harness wind energy from passing vehicles to power streetlights along highways, improving nighttime visibility and safety.
2) An initial design was created based on Lenz's vertical axis wind turbine design. It was then modeled, simulated using ANSYS, and a prototype was built for testing.
3) Testing of the prototype found it was able to produce up to 4.5W of power from wind, achieving an efficiency of 25%. Analysis showed with optimized production, efficiencies over 28% could be achieved to
This document presents information about quadcopters. It discusses the components of a quadcopter including the frame, propellers, motors, transmitter/receiver, microcontroller, power distribution board, and electronic speed controller. It also describes the flight controls of quadcopters and how they achieve pitch, yaw, and roll motions. Applications mentioned include surveillance, agriculture, delivery, and inspections. Advantages include smaller size than helicopters and no tail rotor. Disadvantages include limited battery life and hacking potential. The conclusion is that quadcopters have many promising future applications if used constructively.
QUADCOPTER
The goal of presentation was to acquaint you to a semi-autonomous quadcopter capable of self-sustained flight via wireless communications while utilizing a microcontroller. The quadcopter was designed to be small enough so that costs would be minimized. which is why small motors and propellers are being used. While a PIC microcontroller, accelerometer, and gyroscope are communicating between each other to maintain control.
The scheduler program arranges the following tasks: controller input, sensor data received from the accelerometer, Gyroscope, and Magnetometer. The wireless transceivers use SPI to send control signals to the microcontroller on the quadcopter from the handheld controller unit. The accelerometer/gyroscope and magnetometer both use I2C to send the amount of acceleration, stabilization, and the direction vector. The motors are being controlled by the PWM ports on the PIC microcontroller. To achieve flight, two of the motors must apply downward force and the other two motors have to apply an upward force. To turn, one pair (left or right side) of motors slows down to turn the copter. To ascend, all motors will increase in speed, and will all decrease in order to descend. To move forward, the front two motors will decrease while the back two motors will increase. And vice versa in order to move in a backwards direction. We are also working on integrating our own Graphical User Interface (GUI) which will allow us to have direct control over all systems.
This is report prepared by me on Airborne Wind Turbines (AWT). It consists of the types of wind turbines used today. Types of prototypes in the airborne sector, and a brief working of them.
The document summarizes a technical seminar presentation on floating electric generators called Magenn Air Rotor Systems (MARS). MARS are wind turbines that float in the air tethered to the ground by wires, allowing them to access stronger winds at higher altitudes than traditional windmills. They work similarly to conventional wind turbines by using wind to spin rotors and generators to produce electricity, but remain aloft using helium balloons. Prototypes have generated up to 2 kW of power, enough for one home. Advantages include access to stronger winds, but challenges include high costs and safety in bad weather.
Design and construction of vertical axis wind turbineIAEME Publication
This document describes the design and construction of a vertical axis wind turbine. It aims to generate enough electricity for domestic use in rural areas with minimal costs. The turbine is designed to be 1m in diameter and 1m in height to capture 1 square meter of wind. It uses three J-shaped blades made of galvanized iron sheets. Testing showed the turbine generated up to 26.4 watts of power, achieving an efficiency of 23.3%. While lower than theoretical maximum efficiency, the design shows potential for power generation in off-grid rural applications. Future work may aim to further improve efficiency through more optimized blade designs.
This document discusses the design, analysis, and fabrication of a prototype highway wind turbine. It begins with an introduction covering global and local utilization of wind energy, including statistics on installed wind power capacity worldwide and wind energy potential in Pakistan. The problem statement outlines challenges facing wind power generation. The document then covers the project objectives, literature review on vertical axis wind turbines and prior related work, and project management aspects such as the timeline and work breakdown structure. Subsequent chapters discuss the engineering design and analysis using SolidWorks and ANSYS, fabrication of the turbine prototype, testing plans, and considerations around safety, maintenance, environment, and economics. The conclusion discusses specifications, recommendations for future work, and lessons learned.
This document presents a senior design project proposal for developing highway wind turbines. A team of three mechanical engineering students at FIU - Bruce Champagnie, Geatjens Altenor, and Antonia Simonis - are investigating designing wind turbines that can harness wind energy from passing vehicles on highways. The proposal outlines the motivation, objectives, design challenges, a literature review, conceptual designs, analysis plans, components, costs, prototype development, and a timeline for the project to be completed by April 2013 under the guidance of advisor Dr. Boesl. The overall goal is to design a turbine that can effectively capture intermittent wind sources from traffic and store the generated power for distributing to streetlights or other applications.
1) The document discusses the fabrication of a drone, or quadcopter, which uses four rotors - two rotating clockwise and two counter-clockwise - to provide lift and propulsion. Control is achieved by varying the RPM of the rotors using a microcontroller.
2) A quadcopter operates on the principle of aviation, with electronics and mechanics allowing the four motors to change speed and direction to move the device forward, backward, left, right, up, and down based on transmitted signals from a remote controller.
3) The group fabricated a basic quadcopter with a metal frame, 6V battery, range of 50 feet, and weight of 1kg to gain experience with soldering,
This document summarizes a research project on designing and testing a distributed electric propulsion system for aircraft. Distributed electric propulsion involves placing multiple small engines around the aircraft's fuselage and wings to improve efficiency. The project aims to design and test a scaled model aircraft powered by 10-12 small electric engines distributed along its wingspan. Testing will analyze lift characteristics at varying payloads. Distributed electric propulsion could make air travel more efficient, economical, and environmentally friendly by increasing lift and reducing emissions compared to traditional jet engines.
Wind turbines convert kinetic energy from wind into mechanical or electrical energy. They consist of blades, a shaft, gearbox, generator, and tower. As wind blows over the blades, they spin a shaft connecting to a generator that produces electricity. Larger wind farms connect to electricity grids to power homes and businesses. Wind is a renewable energy source that produces no emissions, but wind turbines require high upfront costs and large amounts of land for power generation.
An airborne wind turbine is a design concept for a wind turbine with a rotor supported in the air without a tower, thus benefiting from more mechanical and aerodynamic options.
This document is a report submitted by Michael Bseliss in partial fulfillment of the requirements for a Bachelor of Technology degree in Aerospace Engineering from Amity University, Dubai. The report evaluates a practical training on the construction of a quadcopter. It includes sections on the introduction, literature review, components, flight control, applications and advantages/disadvantages of quadcopters. Key components discussed include the frame, propellers, motors, flight controller, batteries and other optional additions like cameras. Applications highlighted are in areas like agriculture, delivery services, and photography.
This document discusses navigation technologies and principles for managing air traffic flow. It proposes three principles for a scalable traffic management solution: independence, universal rules, and open communication. Distributed management is suggested with local, regional and central levels to provide convenience through a scalable approach. Navigation technologies mentioned include GPS, inertial systems, vision systems, LIDAR, sensor fusion, radar and laser scanning to enable independent navigation.
The document discusses a meeting to introduce the DetNodeCopter project and recruit volunteers. It summarizes that the meeting will include introductions to DetNode and Ribbon Farm makerspace, a demonstration of the NodeCopter quadcopter, and a call for volunteers to help with the 2013 NodeCopter event in Detroit. It also briefly describes plans to use quadcopters around Detroit and Ann Arbor and a demonstration flying a Parrot AR.Drone quadcopter.
The document discusses how swarm science can enable crowded skies by applying principles from flocking behavior observed in nature. It describes how distributed management with simple, universal rules based on swarm research could allow for unlimited aircraft numbers while maintaining safety. Drawing from examples like starlings and boids simulations, swarm science offers benefits like extended situational awareness, safer flying through cooperation, and more efficient flying through information sharing between aircraft in a group. The goal is to apply these principles to enable Brien Wygle's vision of widespread small, quiet aircraft and pocket airports through distributed coordination rather than centralized air traffic control.
The document describes the anatomy and dynamics of a quadrotor unmanned aerial vehicle (UAV). It discusses the first manned quadrotor flight in 1907 and advantages of quadrotors such as vertical take-off and landing. Key components of quadrotor structure and motion including motors, frames of reference, state variables, and kinematic and dynamic equations are presented. Thrust forces from each motor and gravity are expressed as components of the total force acting on the quadrotor.
A new approach for an intelligent swarm robotic systemeSAT Journals
Abstract Swarm robotics generally faces problems such as regular human interference, monitoring and lack of precision in accomplishing a task . These problems can be avoided by endorsing a new multi robot system .The tasks which are highly demanding and generally which cannot be accomplished by a single robot can be accomplished through Swarm Robotics which involves a group of robots. The multi robot system comprises of a drone(quadcopter) controlling and commanding the ground robots in order to accomplish the task. This approach preserves the versatility of each individual in the swarm and also establishes coordinative and cognitive behavior. The drone activates the ground robots and also monitors the movement of each ground robot. The ground robots also interact with each other to complete a task .This approach ensures complete autonomy and precision. Key Words: multi robot, drone, autonomy, versatility, Swarm robotics.
The document summarizes a master's thesis that analyzes and develops controllers for a quadcopter. It presents the dynamic equations of the quadcopter and linearizes them. Two backstepping controllers are developed - a simpler one that cannot absorb disturbances, and a more advanced one that can handle disturbances like changes in mass. Both controllers separate attitude from horizontal/vertical position control. The controllers are simulated and compared to evaluate their performance.
Swarm robotics is an approach to coordinating multi-robot systems consisting of large numbers of simple physical robots. It is based on swarm intelligence, which models the collective behavior of decentralized, self-organized systems found in nature. Key aspects of swarm robotics include agents that interact with each other and their environment based on simple rules, exhibiting emergent intelligent group behavior. Common swarm intelligence algorithms like ant colony optimization and particle swarm optimization have been applied to optimization problems.
A swarm is a collective group of self-propelled entities that move together. Swarm robotics uses large numbers of simple robots that coordinate together without a centralized control through local interactions. Swarm intelligence is an artificial intelligence technique inspired by swarms in nature, using algorithms like ant colony optimization and flocking to achieve collective behaviors from decentralized and self-organized systems. These algorithms were developed to help solve optimization problems. While swarms exhibit benefits like adaptability and novelty, they also have disadvantages like being non-optimal, non-controllable and non-predictable. Swarm robotics has applications in industries, medicine, military and space research.
This document provides an overview of swarm robotics. It begins with examples of decentralized control and self-organization in natural swarms like ants and bees. It then discusses how swarm robotics takes inspiration from these systems, using local control methods, local communication, and self-organization to complete collective tasks without centralized control. The rest of the document focuses on a proposed system for gesture recognition to allow human control of swarm robots. It describes hand detection, feature extraction, and hardware implementation using three foot-bot robots. It concludes with potential applications of swarm robotics and areas for future work.
How does a Quadrotor fly? A journey from physics, mathematics, control system...Corrado Santoro
The document discusses how a quadrotor flies through physics, mathematics, control systems, and computer science. It explains that a quadrotor uses four propellers to generate thrust forces for lift and control. The speeds of the four propellers can be varied independently to control the quadrotor's roll, pitch, yaw rates and total thrust based on equations. However, real quadrotors face challenges due to differences in hardware. Control systems using feedback from sensors are needed to achieve reliable control despite uncertainties.
The document summarizes a study that analyzed two samples of Glycine max Linn (soybean) seeds. Phytochemical analysis found various constituents including proteins, flavonoids, and phenolic compounds. Protein content was highest in the methanolic extract of sample 2. Thin layer chromatography identified several compounds in the extracts. Extracts showed antimicrobial activity against gram-positive and gram-negative bacteria, with the highest activity in the methanolic extract of sprouted sample 1.
Bsp customization and porting of linux on arm cortex based i.mx6 processor wi...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
A geophysical insight of earthquake occurred on 21 st may 2014 off paradip, b...eSAT Publishing House
1) A 6.0 magnitude earthquake occurred off the coast of Paradip, Odisha in the Bay of Bengal on May 21, 2014 at a depth of around 40 km.
2) Analysis of magnetic and bathymetric data from the area revealed the presence of major lineaments in NW-SE and NE-SW directions that may be responsible for seismic activity through stress release.
3) Movements along growth faults at the margins of large Bengal channels, due to large sediment loads, could also contribute to seismic events by triggering movements along the faults.
This document discusses modeling and simulation of photovoltaic cells. It compares the single diode model, two diode model, and Simscape modeling approaches. The single diode model assumes no recombination losses, while the two diode model accounts for these losses and is more accurate at low irradiances. Simscape provides a solar cell block that models the cells with either 5 or 8 parameters. Simulation results show the two diode model and Simscape modeling are more precise than the single diode model, with the two diode model showing a 0.13W higher power output and Simscape a 0.02W higher output compared to the single diode model under standard test conditions. Overall, Simscape is identified as the most precise modeling tool for photo
Analysis of element shape in the design for multi band applicationseSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Development of microcontroller based instrument for checking quality of edibl...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
This document summarizes a project on an object following wireless robot. The robot uses a webcam to track a red ball or other object in real time. It works similarly to a computer mouse, following the movements of the object as directed by the user. The robot has a transmitter side, which uses MATLAB to process images from the webcam and determine the object's movement directions and distance. This data is sent wirelessly to the receiver side, which uses a microcontroller and motor to move the robot proportionately to the object. The goal is to allow remote control of the robot's movements to perform tasks like sculpting or land plowing by simply moving the tracked object.
An analysis of desktop control and information retrieval from the internet us...eSAT Publishing House
This document proposes a system that uses augmented reality and image processing to allow users to control their desktop and retrieve internet information using hand gestures, removing the need for mice and keyboards. It describes a system with two modules - one for desktop control using virtual menus, and one for accessing internet content like news and weather using hand movements. The system works by using a webcam to capture hand movements, processing the images to detect the hand position, and sending commands to the computer based on the position read. It aims to make human-computer interaction more intuitive and realistic through augmented reality.
Data discrimination prevention in customer relationship managmenteSAT Publishing House
This document discusses discrimination prevention in customer relationship management for online shopping systems. It begins by defining direct and indirect discrimination and describing how data mining can lead to both. It then proposes three approaches for preventing discrimination: preprocessing the data before mining, modifying mining algorithms during processing, and modifying resulting models after processing. The document focuses on location-based indirect discrimination in online shopping and proposes using the Apriori algorithm to identify alternative sellers or product specifications to prevent such discrimination from occurring. It concludes by discussing challenges in preventing both direct and indirect discrimination while maintaining data quality and mining accuracy.
DESIGN AND ANALYSIS OF MULTITASKING AGRICULTURAL DRONEIRJET Journal
This document describes the design and analysis of a quadcopter drone for agricultural use. It begins with an introduction to quadcopters and their applications, including their ability to access hazardous areas. It then discusses the principles and components of quadcopters, including their movement mechanisms, frame sizes, and types of motors. The document performs calculations to determine the ideal propeller size and motor speed based on thrust requirements. It selects battery and flight time parameters and provides specifications for prototyping a quadcopter capable of spraying pesticides over agricultural fields safely and efficiently.
Experimental investigation of stepped aerofoil using propeller test rigeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
1) The document presents a prototype for an air ambulance drone to assist traditional ambulances in saving lives faster by reaching emergencies earlier and monitoring multiple health parameters of patients.
2) The hexacopter drone design is described, which uses 6 motors and propellers for stability and thrust to carry a first aid kit and measure patient temperature, heart rate, and heartbeat to provide doctors vital signs information.
3) The construction of the hexacopter drone is explained, including its frame, motors, batteries, flight controller and other components to enable it to fly and carry medical supplies to emergencies more quickly than road-bound ambulances.
This document describes a study on developing a human instruction follower drone. It discusses selecting components like a quadcopter frame, motors, electronic speed controllers, an IMU sensor, GPS, and Arduino board. It explains how the drone will navigate autonomously using GPS waypoints from its original position to a given destination defined by latitude and longitude, then return to the original position. The document outlines the mechanism for frame selection, component selection and interfacing, and the performance of the IMU sensor and use of a complementary filter to provide stable sensor data for flight stabilization and control.
Modelling and analysis of multicopter frame and propellereSAT Journals
Abstract Man with the advancement of technology invented various UAV’s and flying machines. These can be used for various purposes. Most of them are extensively used for defense purposes and the rest are used even in domestic purposes. A Quadrocopter, commonly called as Quadrotor, is a UAV (Unmanned Aerial Vehicle) which was propelled and lifted by four rotors. Battery was used as a power source to run the motors, thereby propellers. Modeling and Analyzing are the two important unavoidable steps in manufacturing any component or structure. In this paper we were concentrating on design and analysis of a Quadrocopter frame and propeller. The modeling was carried out using advanced software, named PRO-E while the analysis of components was done using ANSYS 13.0 version. The results obtained were compared with the various properties of frame materials which tell us whether the design made was safe or not. Keywords: Ansys, Multicopter, Pro/E
This document describes a project report for a quadcopter that uses an ATmega 328 microcontroller. It includes a title page, certificate of authenticity signed by the student and advisor, acknowledgements, abstract, list of figures, and table of contents. The project aims to design and build a stable quadcopter capable of autonomous flight and GPS data logging. Various components of the quadcopter are discussed including the frame, motors, electronic speed controllers, batteries, and remote control system. The control and programming of the flight controller is also outlined.
We are introducing a robot which has the capabilities of being maneuvered on land, flying and videographer. The robot can be controlled on land like a simple robot car by simple connecting to any android application using Bluetooth. The flight mode works using radio transmission for commanding the robot where the robot has a radio receiver attached to its body while the radio transmitter in the form of a remote is held by the user. The camera will provide the live footage as well as recorded everything on the camera application. 2 separate controllers have been used, a KK2.1.5 Flight controller for the flying capability of the robot and Adriano nano for the car section. Vaibhav Salonia | Piyush | Preeti Arora ""Land and Flying Robot"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23754.pdf
Paper URL: https://www.ijtsrd.com/engineering/computer-engineering/23754/land-and-flying-robot/vaibhav-salonia
IRJET- The Modernization of Agriculture using UAVIRJET Journal
This document discusses using drones for modernizing agriculture. It describes how drones can be used for tasks like monitoring fields, spraying crops, and checking weather conditions. The document then provides details on the typical components of drones used for agriculture, including frames, propellers, transmitters, brushless motors, electronic speed controllers, and flight controllers. It gives specifics on sensors like temperature/humidity and gas sensors that can be used on agricultural drones. In summary, drones are becoming more commonly used in precision agriculture for tasks like field monitoring, spraying, and checking weather conditions to aid farmers.
IRJET- The Modernization of Agriculture using UAVIRJET Journal
This document discusses using drones for modernizing agriculture. It describes how drones can be used for tasks like monitoring fields, spraying crops, and checking weather conditions. It also discusses how climate change is impacting agriculture and how the use of drones has increased in the last two decades. The document then provides details on the typical components of drones used for agriculture, including frames, propellers, transmitters, brushless motors, electronic speed controllers, flight controllers, and sensors to measure temperature, humidity, and gas levels.
Experimental study of magnus effect over an aircraft wingeSAT Journals
This document describes an experimental study of applying the Magnus effect to an aircraft wing to improve lift. The study proposes using a treadmill-like motion on the upper surface of an airfoil to increase the pressure difference and generate more lift with less drag. A prototype was designed and tested with a symmetrical airfoil, driving rollers on a belt via a motor. Calculations were done to determine belt length and velocity based on motor RPM and gear ratios. The goal was to extend the aerodynamic performance of conventional wings.
Development of a Integrated Air Cushioned Vehicle (Hovercraft)IJMER
1) The document describes the development of an integrated air cushion vehicle (hovercraft) prototype. It details the design of major components like the hull, skirt, air box, engine assembly, and integrated lift and thrust system using one propeller.
2) Calculations are shown for determining the required air volume, pressures, and component sizes based on the hovercraft's weight and dimensions. A suitable impeller is selected to provide the needed airflow and pressure.
3) Fabrication of the prototype from materials like plywood, polystyrene, and aluminum is described. Testing showed the hovercraft could lift and propel itself carrying 75kg at 70mm above the surface at near 20km/hr.
Pesticides spraying using Agricultural DroneIRJET Journal
1. The document discusses the use of agricultural drones for pesticide spraying on farms. It aims to create an intuitive user interface for farmers to control drones and spray pesticides across their entire property remotely.
2. The proposed system involves integrating a sprinkler mechanism onto a drone that can be controlled by a farmer using a transmitter and receiver. This allows the drone to spray pesticides and fertilizers over large fields efficiently.
3. Some key advantages of using agricultural drones for spraying include increased speed, more uniform spraying, reduced water and pesticide usage, and protecting farmer health by reducing manual spraying. However, challenges include limited battery life and higher costs compared to traditional spraying methods.
This slide show is about some basics knowledge of drone and its types , principles, technology bases, it tell about drone , then their their function . what are drone and the their uses in technology and engineering field , the ppt was used in a university drone club presentation contest .All so it tell lot about the aerodynamics of drones. Drones now have many functions, ranging from monitoring climate change to carrying out search operations after natural disasters, photography, filming, and delivering goods. But their most well-known and controversial use is by the military for reconnaissance, surveillance and targeted attacks.
Stability Control Structure of Hovercraft Prototype Utilising PID ControllerjournalBEEI
Hovercraft is a method of transportation as an option for clients who remain on the waterway and swamp surface. The issue with hovercraft is when dubious climate and natural condition, e.g. wind speed and wave tallness exasperate solidness of hovercraft to jeopardise the driver. We propose an approach to keep up adjust of the hovercraft by controlling the focal point of gravity (PG) to be determined position. The controller monitors the position of load to change the position. A 6-DOF IMU Sensor MPU 6050 was utilised to create information as an examination with setpoint. PID control strategy was employed. The test outcome demonstrates that the model of air cushion vehicle could keep its adjust the axis orientation of the roll in spite of the fact that it was less compelling in the pitch pivot direction.
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
The document describes the design of a lifting mechanism for agricultural equipment attachments. The mechanism uses wedges and a power screw actuated by hand to lift attachments like plows. It aims to provide lifting capability with reduced cost, size, and weight compared to hydraulic mechanisms. Key components include a holder, bell crank, two wedges, base, and power screw. Calculations are shown for component sizing. A prototype is tested lifting a 10kg L-shaped attachment. Analysis shows the bell crank can withstand over 300kg of load with minimal deflection and stress. The mechanism performs as intended and has potential for industrial and other lifting applications.
This document summarizes a study about hovercraft design. It discusses the key components of a hovercraft including the lift fan, thrust propellers, momentum curtain, skirt, air box, and rudders. It provides details on hovercraft operation, including how lift and thrust are generated. Calculations are shown for determining the necessary lift forces, power requirements, and thrust forces. The results demonstrated the hovercraft's ability to hover with over 300 pounds of payload. In conclusion, hovercraft require careful design to overcome challenges while allowing for low friction movement over various surfaces.
Design, Development, Fabrication and Testing of Small Vertical Axis Wind Turb...YogeshIJTSRD
An experimental investigation has been carried has been carried out on a design, Development, Fabrication, and Testing of small Vertical axis wind turbine. An extremely simple design, of a vertical axis wind rotor using two flat vertical Vanes, swinging vanes has been fabricated and tested to obtain its performance. The torque and power coefficient have been obtained and presented in this paper the result are highly encouraging and indicate the usefulness of the swinging vane rotor at low wind regions. This paper is presented on the basis of technology two blade vertical axis wind turbine system. Dr. Mukesh Kumar Lalji "Design, Development, Fabrication and Testing of Small Vertical Axis Wind Turbinev" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-5 | Issue-3 , April 2021, URL: https://www.ijtsrd.com/papers/ijtsrd39817.pdf Paper URL: https://www.ijtsrd.com/engineering/civil-engineering/39817/design-development-fabrication-and-testing-of-small-vertical-axis-wind-turbinev/dr-mukesh-kumar-lalji
The developed y4 copter is an Unmanned Aerial Vehicle with autonomous subsystems which reports the fully automated y4 copter for the first time. Automation is implemented through maintaining the desired roll, pitch and yaw therefore the flight stability as well as in case of controlling elevation. An improved and efficient algorithm that uses Quaternion is implemented to determine Euler angles avoiding Gimbal lock in case of developing an inertial measurement unit. It has a self-stabilization system powered by Proportional
Integral Derivative control system which is computationally affordable by an ordinary 8 bit microcontroller capable of performing only integer operations. A remote is designed to communicate with the y4 copter from the base station using XBee transceiver modules which come with secured communication with long range. The developed system demonstrates simple design offering lower cost and secured means of control.
The developed y4 copter is an Unmanned Aerial Vehicle with autonomous subsystems which reports the
fully automated y4 copter for the first time. Automation is implemented through maintaining the desired
roll, pitch and yaw therefore the flight stability as well as in case of controlling elevation. An improved and
efficient algorithm that uses Quaternion is implemented to determine Euler angles avoiding Gimbal lock in
case of developing an inertial measurement unit. It has a self-stabilization system powered by Proportional
Integral Derivative control system which is computationally affordable by an ordinary 8 bit
microcontroller capable of performing only integer operations. A remote is designed to communicate with
the y4 copter from the base station using XBee transceiver modules which come with secured
communication with long range. The developed system demonstrates simple design offering lower cost and
secured means of control.
Hudhud cyclone caused extensive damage in Visakhapatnam, India in October 2014, especially to tree cover. This will likely impact the local environment in several ways: increased air pollution as trees absorb less; higher temperatures without tree canopy; increased erosion and landslides. It also created large amounts of waste from destroyed trees. Proper management of solid waste is needed to prevent disease spread. Suggested measures include restoring damaged plants, building fountains to reduce heat, mandating light-colored buildings, improving waste management, and educating public on health risks. Overall, changes are needed to water, land, and waste practices to rebuild the environment after the cyclone removed green cover.
Impact of flood disaster in a drought prone area – case study of alampur vill...eSAT Publishing House
1) In September-October 2009, unprecedented heavy rainfall and dam releases caused widespread flooding in Alampur village in Mahabub Nagar district, a historically drought-prone area.
2) The flood damaged or destroyed homes, buildings, infrastructure, crops, and documents. It displaced many residents and cut off the village.
3) The socioeconomic conditions and mud-based construction of homes in the village exacerbated the flood's impacts, making damage more severe and recovery more difficult.
The document summarizes the Hudhud cyclone that struck Visakhapatnam, India in October 2014. It describes the cyclone's formation, rapid intensification to winds of 175 km/h, and landfall near Visakhapatnam. The cyclone caused extensive damage estimated at over $1 billion and at least 109 deaths in India and Nepal. Infrastructure like buildings, bridges, and power lines were destroyed. Crops and fishing boats were also damaged. The document then discusses coping strategies and improvements needed to disaster management plans to better prepare for future cyclones.
Groundwater investigation using geophysical methods a case study of pydibhim...eSAT Publishing House
This document summarizes the results of a geophysical investigation using vertical electrical sounding (VES) methods at 13 locations around an industrial area in India. The VES data was interpreted to generate geo-electric sections and pseudo-sections showing subsurface resistivity variations. Three main layers were typically identified - a high resistivity topsoil, a weathered middle layer, and a basement rock. Pseudo-sections revealed relatively more weathered areas in the northwest and southwest. Resistivity sections helped identify zones of possible high groundwater potential based on low resistivity anomalies sandwiched between more resistive layers. The study concluded the electrical resistivity method was useful for understanding subsurface geology and identifying areas prospective for groundwater exploration.
Flood related disasters concerned to urban flooding in bangalore, indiaeSAT Publishing House
1. The document discusses urban flooding in Bangalore, India. It describes how factors like heavy rainfall, population growth, and improper land use have contributed to increased flooding in the city.
2. Flooding events in 2013 are analyzed in detail. A November rainfall caused runoff six times higher than the drainage capacity, inundating low-lying residential areas.
3. Impacts of urban flooding include disrupted daily life, damaged infrastructure, and decreased economic activity in affected areas. The document calls for improved flood management strategies to better mitigate urban flooding risks in Bangalore.
Enhancing post disaster recovery by optimal infrastructure capacity buildingeSAT Publishing House
This document discusses enhancing post-disaster recovery through optimal infrastructure capacity building. It presents a model to minimize the cost of meeting demand using auxiliary capacities when disaster damages infrastructure. The model uses genetic algorithms to select optimal capacity combinations. The document reviews how infrastructure provides vital services supporting recovery activities and discusses classifying infrastructure into six types. When disaster reduces infrastructure services, a gap forms between community demands and available support, hindering recovery. The proposed research aims to identify this gap and optimize capacity selection to fill it cost-effectively.
Effect of lintel and lintel band on the global performance of reinforced conc...eSAT Publishing House
This document analyzes the effect of lintels and lintel bands on the seismic performance of reinforced concrete masonry infilled frames through non-linear static pushover analysis. Four frame models are considered: a frame with a full masonry infill wall; a frame with a central opening but no lintel/band; a frame with a lintel above the opening; and a frame with a lintel band above the opening. The results show that the full infill wall model has 27% higher stiffness and 32% higher strength than the model with just an opening. Models with lintels or lintel bands have slightly higher strength and stiffness than the model with just an opening. The document concludes lintels and lintel
Wind damage to trees in the gitam university campus at visakhapatnam by cyclo...eSAT Publishing House
1) A cyclone with wind speeds of 175-200 kph caused massive damage to the green cover of Gitam University campus in Visakhapatnam, India. Thousands of trees were uprooted or damaged.
2) A study assessed different types of damage to trees from the cyclone, including defoliation, salt spray damage, damage to stems/branches, and uprooting. Certain tree species were more vulnerable than others.
3) The results of the study can help in selecting more wind-resistant tree species for future planting and reducing damage from future storms.
Wind damage to buildings, infrastrucuture and landscape elements along the be...eSAT Publishing House
1) A visual study was conducted to assess wind damage from Cyclone Hudhud along the 27km Visakha-Bheemli Beach road in Visakhapatnam, India.
2) Residential and commercial buildings suffered extensive roof damage, while glass facades on hotels and restaurants were shattered. Infrastructure like electricity poles and bus shelters were destroyed.
3) Landscape elements faced damage, including collapsed trees that damaged pavements, and debris in parks. The cyclone wiped out over half the city's green cover and caused beach erosion around protected areas.
1) The document reviews factors that influence the shear strength of reinforced concrete deep beams, including compressive strength of concrete, percentage of tension reinforcement, vertical and horizontal web reinforcement, aggregate interlock, shear span-to-depth ratio, loading distribution, side cover, and beam depth.
2) It finds that compressive strength of concrete, tension reinforcement percentage, and web reinforcement all increase shear strength, while shear strength decreases as shear span-to-depth ratio increases.
3) The distribution and amount of vertical and horizontal web reinforcement also affects shear strength, but closely spaced stirrups do not necessarily enhance capacity or performance.
Role of voluntary teams of professional engineers in dissater management – ex...eSAT Publishing House
1) A team of 17 professional engineers from various disciplines called the "Griha Seva" team volunteered after the 2001 Gujarat earthquake to provide technical assistance.
2) The team conducted site visits, assessments, testing and recommended retrofitting strategies for damaged structures in Bhuj and Ahmedabad. They were able to fully assess and retrofit 20 buildings in Ahmedabad.
3) Factors observed that exacerbated the earthquake's impacts included unplanned construction, non-engineered buildings, improper prior retrofitting, and defective materials and workmanship. The professional engineers' technical expertise was crucial for effective post-disaster management.
This document discusses risk analysis and environmental hazard management. It begins by defining risk, hazard, and toxicity. It then outlines the steps involved in hazard identification, including HAZID, HAZOP, and HAZAN. The document presents a case study of a hypothetical gas collecting station, identifying potential accidents and hazards. It discusses quantitative and qualitative approaches to risk analysis, including calculating a fire and explosion index. The document concludes by discussing hazard management strategies like preventative measures, control measures, fire protection, relief operations, and the importance of training personnel on safety.
Review study on performance of seismically tested repaired shear wallseSAT Publishing House
This document summarizes research on the performance of reinforced concrete shear walls that have been repaired after damage. It begins with an introduction to shear walls and their failure modes. The literature review then discusses the behavior of original shear walls as well as different repair techniques tested by other researchers, including conventional repair with new concrete, jacketing with steel plates or concrete, and use of fiber reinforced polymers. The document focuses on evaluating the strength retention of shear walls after being repaired with various methods.
Monitoring and assessment of air quality with reference to dust particles (pm...eSAT Publishing House
This document summarizes a study on monitoring and assessing air quality with respect to dust particles (PM10 and PM2.5) in the urban environment of Visakhapatnam, India. Sampling was conducted in residential, commercial, and industrial areas from October 2013 to August 2014. The average PM2.5 and PM10 concentrations were within limits in residential areas but moderate to high in commercial and industrial areas. Exceedance factor levels indicated moderate pollution for residential areas and moderate to high pollution for commercial and industrial areas. There is a need for management measures like improved public transport and green spaces to combat particulate air pollution in the study areas.
Low cost wireless sensor networks and smartphone applications for disaster ma...eSAT Publishing House
This document describes a low-cost wireless sensor network and smartphone application system for disaster management. The system uses an Arduino-based wireless sensor network comprising nodes with various sensors to monitor the environment. The sensor data is transmitted to a central gateway and then to the cloud for analysis. A smartphone app connected to the cloud can detect disasters from the sensor data and send real-time alerts to users to help with early evacuation. The system aims to provide low-cost localized disaster detection and warnings to improve safety.
Coastal zones – seismic vulnerability an analysis from east coast of indiaeSAT Publishing House
This document summarizes an analysis of seismic vulnerability along the east coast of India. It discusses the geotectonic setting of the region as a passive continental margin and reports some moderate seismic activity from offshore in recent decades. While seismic stability cannot be assumed given events like the 2004 tsunami, no major earthquakes have been recorded along this coast historically. The document calls for further study of active faults, neotectonics, and implementation of improved seismic building codes to mitigate vulnerability.
Can fracture mechanics predict damage due disaster of structureseSAT Publishing House
This document discusses how fracture mechanics can be used to better predict damage and failure of structures. It notes that current design codes are based on small-scale laboratory tests and do not account for size effects, which can lead to more brittle failures in larger structures. The document outlines how fracture mechanics considers factors like size effect, ductility, and minimum reinforcement that influence the strength and failure behavior of structures. It provides examples of how fracture mechanics has been applied to problems like evaluating shear strength in deep beams and investigating a failure of an oil platform structure. The document argues that fracture mechanics provides a more scientific basis for structural design compared to existing empirical code provisions.
This document discusses the assessment of seismic susceptibility of reinforced concrete (RC) buildings. It begins with an introduction to earthquakes and the importance of vulnerability assessment in mitigating earthquake risks and losses. It then describes modeling the nonlinear behavior of RC building elements and performing pushover analysis to evaluate building performance. The document outlines modeling RC frames and developing moment-curvature relationships. It also summarizes the results of pushover analyses on sample 2D and 3D RC frames with and without shear walls. The conclusions emphasize that pushover analysis effectively assesses building properties but has limitations, and that capacity spectrum method provides appropriate results for evaluating building response and retrofitting impact.
Effect of hudhud cyclone on the development of visakhapatnam as smart and gre...eSAT Publishing House
This document discusses the effects of Cyclone Hudhud on the development of Visakhapatnam as a smart and green city through a case study and preliminary surveys. The surveys found that 31% of participants had experienced cyclones, 9% floods, and 59% landslides previously in Visakhapatnam. Awareness of disaster alarming systems increased from 14% before the 2004 tsunami to 85% during Cyclone Hudhud, while awareness of disaster management systems increased from 50% before the tsunami to 94% during Hudhud. The surveys indicate that initiatives after the tsunami improved awareness and preparedness. Developing Visakhapatnam as a smart, green city should consider governance
This document summarizes a product called H-HUTS that aims to provide sustainable disaster recovery housing. H-HUTS uses cardboard and origami-inspired modular construction to quickly provide temporary shelters after disasters. The cardboard shelters are designed to be upgraded into permanent homes over time using low-cost materials like shotcrete or concrete. The modular design allows for flexibility and community participation in construction. Testing has shown the shelters can withstand wind loads and provide adequate insulation. The goal of H-HUTS is to not just provide initial shelter but help disaster-affected communities regain permanency in housing and recover in the long-term.
Discover the latest insights on Data Driven Maintenance with our comprehensive webinar presentation. Learn about traditional maintenance challenges, the right approach to utilizing data, and the benefits of adopting a Data Driven Maintenance strategy. Explore real-world examples, industry best practices, and innovative solutions like FMECA and the D3M model. This presentation, led by expert Jules Oudmans, is essential for asset owners looking to optimize their maintenance processes and leverage digital technologies for improved efficiency and performance. Download now to stay ahead in the evolving maintenance landscape.
Batteries -Introduction – Types of Batteries – discharging and charging of battery - characteristics of battery –battery rating- various tests on battery- – Primary battery: silver button cell- Secondary battery :Ni-Cd battery-modern battery: lithium ion battery-maintenance of batteries-choices of batteries for electric vehicle applications.
Fuel Cells: Introduction- importance and classification of fuel cells - description, principle, components, applications of fuel cells: H2-O2 fuel cell, alkaline fuel cell, molten carbonate fuel cell and direct methanol fuel cells.
Optimizing Gradle Builds - Gradle DPE Tour Berlin 2024Sinan KOZAK
Sinan from the Delivery Hero mobile infrastructure engineering team shares a deep dive into performance acceleration with Gradle build cache optimizations. Sinan shares their journey into solving complex build-cache problems that affect Gradle builds. By understanding the challenges and solutions found in our journey, we aim to demonstrate the possibilities for faster builds. The case study reveals how overlapping outputs and cache misconfigurations led to significant increases in build times, especially as the project scaled up with numerous modules using Paparazzi tests. The journey from diagnosing to defeating cache issues offers invaluable lessons on maintaining cache integrity without sacrificing functionality.
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...shadow0702a
This document serves as a comprehensive step-by-step guide on how to effectively use PyCharm for remote debugging of the Windows Subsystem for Linux (WSL) on a local Windows machine. It meticulously outlines several critical steps in the process, starting with the crucial task of enabling permissions, followed by the installation and configuration of WSL.
The guide then proceeds to explain how to set up the SSH service within the WSL environment, an integral part of the process. Alongside this, it also provides detailed instructions on how to modify the inbound rules of the Windows firewall to facilitate the process, ensuring that there are no connectivity issues that could potentially hinder the debugging process.
The document further emphasizes on the importance of checking the connection between the Windows and WSL environments, providing instructions on how to ensure that the connection is optimal and ready for remote debugging.
It also offers an in-depth guide on how to configure the WSL interpreter and files within the PyCharm environment. This is essential for ensuring that the debugging process is set up correctly and that the program can be run effectively within the WSL terminal.
Additionally, the document provides guidance on how to set up breakpoints for debugging, a fundamental aspect of the debugging process which allows the developer to stop the execution of their code at certain points and inspect their program at those stages.
Finally, the document concludes by providing a link to a reference blog. This blog offers additional information and guidance on configuring the remote Python interpreter in PyCharm, providing the reader with a well-rounded understanding of the process.
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
An improved modulation technique suitable for a three level flying capacitor ...IJECEIAES
This research paper introduces an innovative modulation technique for controlling a 3-level flying capacitor multilevel inverter (FCMLI), aiming to streamline the modulation process in contrast to conventional methods. The proposed
simplified modulation technique paves the way for more straightforward and
efficient control of multilevel inverters, enabling their widespread adoption and
integration into modern power electronic systems. Through the amalgamation of
sinusoidal pulse width modulation (SPWM) with a high-frequency square wave
pulse, this controlling technique attains energy equilibrium across the coupling
capacitor. The modulation scheme incorporates a simplified switching pattern
and a decreased count of voltage references, thereby simplifying the control
algorithm.
Embedded machine learning-based road conditions and driving behavior monitoringIJECEIAES
Car accident rates have increased in recent years, resulting in losses in human lives, properties, and other financial costs. An embedded machine learning-based system is developed to address this critical issue. The system can monitor road conditions, detect driving patterns, and identify aggressive driving behaviors. The system is based on neural networks trained on a comprehensive dataset of driving events, driving styles, and road conditions. The system effectively detects potential risks and helps mitigate the frequency and impact of accidents. The primary goal is to ensure the safety of drivers and vehicles. Collecting data involved gathering information on three key road events: normal street and normal drive, speed bumps, circular yellow speed bumps, and three aggressive driving actions: sudden start, sudden stop, and sudden entry. The gathered data is processed and analyzed using a machine learning system designed for limited power and memory devices. The developed system resulted in 91.9% accuracy, 93.6% precision, and 92% recall. The achieved inference time on an Arduino Nano 33 BLE Sense with a 32-bit CPU running at 64 MHz is 34 ms and requires 2.6 kB peak RAM and 139.9 kB program flash memory, making it suitable for resource-constrained embedded systems.
Design and optimization of ion propulsion dronebjmsejournal
Electric propulsion technology is widely used in many kinds of vehicles in recent years, and aircrafts are no exception. Technically, UAVs are electrically propelled but tend to produce a significant amount of noise and vibrations. Ion propulsion technology for drones is a potential solution to this problem. Ion propulsion technology is proven to be feasible in the earth’s atmosphere. The study presented in this article shows the design of EHD thrusters and power supply for ion propulsion drones along with performance optimization of high-voltage power supply for endurance in earth’s atmosphere.
1. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 181
DEVELOPMENT OF ISR FOR QUADCOPTER
Prabhjot Singh Sandhu1
1
Lovely Professional University, Phagwara, India
Abstract
Research organizations all over the world are finding and developing more and more application areas for UAV’s. The prominent
areas where UAV’s have marked their presence include largely military, air force and upper atmosphere exploration [1]
. Presently the
technology involved in military application Quadcopter is inaccessible and secret, thus in this paper attempt has been made to
develop such a UAV that has most of the functionality of a military grade UAV but can be constructed using off the shelf components.
The emphasis is on development of low cost, reliable, accurate intelligence, surveillance and reconnaissance technology (ISR) [2]
. The
use of a specialized technology for control transmission will make it fail proof and snoop safe. The epilogue for the paper is a
complete comparison of a low level and high level off shelf technology and the concerned development platform.
Keywords— ISR; UAV; quadcopter; ISR; multiwii; arduino; kk board; GPS
-----------------------------------------------------------------------***-------------------------------------------------------------------
1. INTRODUCTION
ISR, an abbreviation for Intelligence, Surveillance and
Reconnaissance is the most sought after technology of present
era because of its strategic importance for countries, it is a safe
guard of interest of one’s own country by efficiently and secretly
gathering data of the neighbor countries, although morally it
would appear evil but it is a necessary evil [3]
. Post and pre world
war years saw an increase in insurgency of spies but a spy being
a mortal asset for a country can never be compromised or if
compromised proves fatal, so it was thought that ISR has to be
done but not by spies but by machines. First attempts were land
rovers which met great difficulties due to their inabilities to cope
with unknown terrains, than came amphibious era which did not
last for more two years due to their higher power requirements
and low output [4]
. All these difficulties with land and water
based bots pointed to the last domain: airs, extensive research
went into this domain and UAV’s capable of ISR were
developed.
Presently another requirement has popped up and is picking up
pace with researchers, that is to make the ISR technology cheap
and accessible so that its application areas can be increased.
From this race a clear winner of UAV platform has emerged and
that is a Quadcopter [5]
. The Quadcopter with all its pros has
become a platform of choice and ISR is now being developed
keeping the Quadcopter as its centre. Quadcopters and other
fixed wing aircrafts are now being exploited for their use in ISR.
Fixed wing aircrafts unlike the others derive their thrust from
individual motor assembly or a set of revolving narrow airfoils.
The movement of the aircraft is based on the rotational speed of
each of these airfoils; change of speed changes the position. The
aircraft primarily is governed by control of the four major axes
namely; pitch, roll and yaw.
Quadcopter consists of four narrow airfoils or lift generators
located at the four ends of a perfect square shape. These lift
generators are run by a very high speed motor and a precise
balanced propellers, forcing the air flow down it generates the
thrust to lift the Quadcopter above the surface [6]
. Since the
weight is shared by four independent motors that mean each
motor has to lift one-fourth of the weight thus we can make
motors small and small motor size gives us higher efficiency
values.
Fig 1: Aircraft classification based on flying principle
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2. PHYSICAL PROPERTIES OF QUADCOPTER
2.1 Physical Principles of Aviation
Fig 2: Axes of Quadcopter
For a successful flight it is very important to balance all the
forces acting on the quadcopter only then will it be able to do
things it is intended to do. At any point of time in space a
number of forces are acting on the quadcopter on its three axes
viz. roll, pitch and yaw; the overall resultant of these active
forces decided the motion of the quadcopter. For a complete
understanding of these forces we need a further detail of the
three axes of the quadcopter (fig 2).
1) Yaw: It is the vertical axis that passes through the geometric
centre of the quadcopter. Rotational force vector of all the four
motors acts at the centre and cancels out each other at the exact
geometric centre, in conditions when it does not cancel and the
resultant vector has net positive or negative magnitude the
quadcopter rotates about this axis clockwise or anti clockwise
respectively.
2) Pitch: It is the axis that passes horizontally parallel to the
plane of quadcopter extending towards the front and back end of
the quadcopter. Rotational force vector of all the four motors
acts at the centre and cancels out each other at the exact
geometric centre, in conditions when the resultant of the
rotational force vector is not zero but either positive or negative
the quadcopter moves in the forward or backward direction
respectively.
3) Roll: It is the axis that passes horizontally parallel to the plane
of quadcopter extending from left to right. Rotational force
vector of all the four motors acts at the centre and cancels out
each other at the exact geometric centre, in conditions when the
resultant rotational force vector is not zero but either positive or
negative the quadcopter moves in the right or left direction
respectively.
2.2 Motion of the Quadcopter
How the quadcopter moves can be answered by understanding
very simple mechanism of unstable forces, suppose a system is
stable at any point in the space at any given time such that all the
forces acting on it are balanced. Now we change force in any
one of the axes i.e. roll, pitch or yaw, the total force will no
longer be stable and act towards a specific direction i.e. in the
direction of the resultant force vector. Thus, the motion of
quadcopter is achieved. Discussing this in detail for every axes
(fig 3):
1) Up/Down: For this motion none of the axis is involved only
the thrust that is generated by the propellers governs up/down
motion. In simple physics more the thrust greater altitude it will
achieve and vice-versa.
Thrust → Downward Force Generated by Propellers
2) 360 Degrees Rotation: The axis involved in this motion is the
yaw axis, when the resultant of this axis is not zero and is
pointing either in clockwise or anticlockwise direction then the
copter also moves in that direction. This is done by increasing
the thrust of two diagonally same motors and keeping the other
diagonally same motors at same levels of thrust, than the
direction in which the motors with increased thrust are moving
the quadcopter will rotate in that direction.
3) Front/Back: The axis involved in this motion is the pitch
axis, when the resultant of this axis is not zero and is pointing
either in front or back direction then the quadcopter moves in
that direction. This is done by increasing or decreasing the thrust
of front and rear pair of motors. If we intend to move in the
forward direction than the thrust of the back motors is increased
and vice-versa
4) Left/Right: The axis involved in this motion is the roll axis,
when the resultant of this axis is not zero and is pointing either
in left or right direction then the quadcopter moves in that
direction. This is done by increasing the thrust of either left or
right pair of motors then the copter shifts in the opposite
direction. If we intend to go in the left direction than the thrust of
the right pairs is increased and vice-versa
Fig 3: Movement depending on thrust change
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2.3 Mathematical Analysis of Thrust
Thrust generated by the propellers can be calculated by using the
following technique:
T= (π D2
ρ P 2
)/2 kg (1)
T= Thrust of the propeller in grams
D= Diameter of the propeller in meters
ρ= Density of air (1.225 kg/m3
)
P= Power Multiplier
Power Multiplier can be calculated as:
P= prop constant * (rpm/100) power factor
(2)
Prop constant= provided in the data sheet of product
Power Factor= provided in data sheet of product
3. ELECTRICAL PARAMETERS OF
QUADCOPTER
For a quadcopter there are a number of electrical quantities
involved those are very important in the selection process for the
components of a quadcopter. Although they are very basic
components required but they have a deeper impact on the
quadcopters performance as the efficiency of the system is
dependent on these. Practically an efficiency of over 80% is
considered as an optimum value taking into account the
resistance, heat and other loses.
3.1 Mathematical Analysis
Load: It is the total resistance attached with the battery i.e. the
total resistance of the system.
Voltage: The voltage here is the voltage that is supplied by the
battery usually measured in volts.
Current: It is the number of electrons flowing through the
electrical system per unit time expressed in Amperes.
I= V/R (A) (3)
Electrical power: The optimum power available depending upon
the input voltage and current.
P(E)= V*I (W) (4)
Mechanical power: The power available in actual use by the
system. It is obtained by subtracting the losses incurred in the
process of delivery of power.
P(M)= W/T (W) (5)
Work: It is the amount of the distance moved by the object when
a unit force is applied on it.
W= thrust*altitude (J) (6)
Flight time: It is the time for which the quadcopter can be flown
safely without depleting the battery.
T(F)=W/P(M) (s) (7)
Efficiency: It is the ratio of mechanical power to the electrical
power.
E(ŋ)= P(M)/ P(E) (8)
Internal Loses: The losses incurred due to internal resistances,
heat dissipation and current leakage amount to internal loses.
4. CONTROL SYSTEM
For a successful and stable flight experience there are a lot of
parameters like force acting on the three axes, external wind
conditions etc those need to be taken care off. Earlier all this
work had to be done by the pilot which was the prominent
reason that it was not a choice of public but as the research has
proceeded and advent of Fly By Wire technology the stability
dynamics of the system are monitored and controlled by an
independent system that works in conjunction to the user inputs.
Now the flying experience for a quadcopter has improved many
folds but it is still in infant stage and needs to mature a lot.
Fly By Wire (fig 4) technology represents a class of Control
Systems specially developed for aerial vehicles which are not
stable by design i.e. those whose designs do not comply the
aerodynamics standards. For example the very famous B52
bomber aircraft of the US Air Force was developed across this
platform as its design was not stable as per aerodynamics
standards. Fly By Wire actually consists of sensing elements and
a microcontroller that constantly monitors the values from the
sensing elements and takes corrective action based upon an
algorithm. The algorithm forms the brain of the section as it is
the main function block that decides upon the corrective steps
taken by the system to ensure the stability is maintained.
Fig 4: Block diagram of Fly by Wire
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4.1 Sensing Elements
4.1.1 Inertial Measurement Unit
This is special type of sensor that incorporates gyroscopes and
accelerometers to determine the vehicles velocity and
orientation. The major application of IMU is in the field of aerial
vehicles where it is used for determination and control of
vehicles position and motion. The class of vehicles where IMU’s
can be used is wide ranging from satellites in space, aero planes
in sky to UAV’s of military. IMU forms the core of the
navigation system used in all the above listed applications. The
process in which IMU first collects data and then calculates the
position is called dead reckoning. The sensing can be capacitive,
piezoelectric or any other. There are basically two types of
IMU’s 1. Crystal IMU’s: These types of IMU’s are based on a
specific type of silicon called the Murata Crystals [12]
. This is a
synthetically modified Silicon structure which gives properties
like lower internal inertia and vibration sensitivity. For each axis
to be monitored a separate crystal has to be used making the
overall construction of the system complex and prone to errors
of time delay and accumulation. 2. MEMS IMU’s: (Fig 5) With
the recent advancement in the field of micro machining the
MEMS based IMU’s have developed as a popular choice due to
inherent disadvantages of the Murata Crystals. Unlike Murata
Crystals the MEMS based IMU do not exhibit high internal
inertia or resonance [13]
. In addition to this for MEMS internal
dampers can be used effectively without decreasing the overall
capability. MEMS IMU’s are small in size and thus can be
mounted easily, more over low pass filters and other filters may
be added to the design to further improve upon the capability. In
recent times motion processing technology has been
incorporated into the available list of MEMS. Further MEMS
IMU’s may be based on various operating principles like
capacitive, piezoelectric or resonance.
Fig 5: Capacitive MEMS IMU
4.1.2 Barometric Pressure Sensor( Fig 6)
Fig 6: Physical Construction of a Differential Pressure sensor
In aerial application Pressure sensors are used for the
determination of the altitude of the air craft. Since the vehicle
has a 3 dimensional position vector it is very important to know
the altitude of the vehicle to keep it on the right path and
altitude. Barometric Pressure Sensor is a differential pressure
sensor where the measurement of atmospheric pressure is made
keeping in mind the pressure recorded at the ground level or zero
altitude. Pressure is transduced through capacitor like structure
in which the movable diaphragm compresses or expands
depending upon the external pressure where as the air inside the
diaphragms of the capacitive arrangement forms the dielectric.
The change in pressure is recorded as a change in the
capacitance of the device. As the aircraft ascends in air the
pressure decreases. Barometric pressure sensor uses non linear
logarithmic calibration as given:
Z=cT log(P0/P) (9)
c= constant
T= absolute temperature
P= pressure at current altitude
P0= pressure at sea level
The constant c is dependent on various factors like gravity,
density of air etc. The calibration is such that the pressure is
shown directly as an altitude above sea level.
Modern aircrafts make use of sensitive altimeter in which the sea
level reference or ground reference can be set by the user. Such
sensors calculate altitude by relation:
H=[1-(P/Pref)0.1902
] * 145366.45 ft (10)
These sensors have an altitude resolution of less than 1m which
is very good compared to 20 m of GPS.
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4.1.3 Magnetometer
Magnetometers are used to find the direction of magnetic field at
a point, strength of magnetic field and magnetization. There are
various types of magnetometers depending upon their area of
application. Magnetometers used in aerial vehicles are vector
magnetometers. Vector Magnetometers electronically measure
the components of electric field. They use three orthogonal
magnetometers for the measurement of azimuth and dip. The
type of measurement technique used is magneto resistive
measuring. They are made of very thin strips of a permanent
magnetic alloy of NiFe also known as magnetic film. The
electrical resistance of the alloy changes with the change in
electric field. They have a sharp axis of sensitivity of operation
and can produce 3D versions. The response time is particularly
low as compared to others which is less than 1 microsecond. The
frequency of measurement can be scaled upto 1000 Hz which is
phenomenal. These can effectively read between degrees i.e. its
resolution can be in minutes and seconds. Mathematically
magnetic field can be calculated as follows:
ɸH = R0 - RH / RH (11)
ɸH = Current magnetic field
R0 = resistance at zero magnetic field
RH = resistance at a given magnetic field
4.1.4 Global Positioning System
Satellites above the earth broadcast there location and current
time and the receivers listen to several satellites determining
there time and location.
The satellite broadcast consists of two signals consisting of
carrier waves which undergo phase change in a defined pattern
at a precise rate and defined time. The receiver creates a replica
of the phase change pattern, than shifts it in the time domain,
advancing and delaying so that it may correlate it with the
received signal. On successful correlation of the signals the
correlator circuit will produce a large output which tells that
lock-on to satellite is made. By determining how much the
internal signal has been shifted in time tells the receiver when
the broadcast was received. After the receiver determines how
the internal clock was adjusted with respect to the GPS time it
calculates how much time did it take for the broadcast signal to
reach the receiver. Than the receiver multiplies this time with
speed of light it finds its distance from the satellite.
The broadcast signal along with transmission of a specific phase-
change pattern that is unique for a satellite also transmits
additional data appended to the signal. The additional data forms
the Navigation Message. The navigation message comprises of
the current time to the nearest second and information required
to calculate the position of the satellite at the time of
transmission. Using this information the receiver then calibrates
its time to the nearest second and computes the position of
satellite. The receiver than calculates its position on the surface
of an imaginary sphere whose centre is the satellite and radius as
distance from satellite. The two frequencies on which all the
satellites transmit are almost the same. The primary signal is
broadcast on 1575.42 MHz and this is called the L1 frequency.
The technique used for the transmission is spread spectrum that
allows to transmit many signals on the same frequency. L1
signal is modulated with two information signals known as the
C/A (Coarse and Acquisition code) and P (Precise code).
Another copy of the P code is transmitted on the other frequency
called the L2 frequency, 1227.60 MHz (fig 8).
Fig 7: Signal broadcast from satellite
4.1.5 PID Control
Proportional-Integral-Derivative controller is a type of feedback
based control system that is most widely used in automation
processed. The algorithm of a PID controller revolves around the
three separate constant parameters and is sometimes referred as
three term control. Independently P denotes the present error, I
denotes accumulation of past errors and D is the prediction of
future errors. The weighted sum that is generated from these
terms is then used to adjust the deviation in the process. Thus
PID controller is an error based system which works by
minimizing the error between measured process and a desired set
point.
The three terms of the PID contribute to the manipulated
variable (MV) i.e. the process to be controlled. The individual
components are than added to find output of the PID. If u(t) is
the controller output than
u(t) = MV(t) = KP e(t) + Ki ʃ0
t
e (τ) dτ + Kd (d e(t) / dt) (12)
KP = Proportional gain, a tuning parameter
e = Error
Ki = Integral gain, a tuning parameter
Kd = Derivative gain, a tuning parameter
T = Time or instantaneous time (the present)
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Analyzing the three terms independently:
1. Proportional term: The output of this term produces an
output that is proportional to the current error. The
response time is adjusted by multiplying the error with
the constant gain term, given by:
P=KP e(t)
This means that a higher gain term will produce a large
change in the output for a given change. If the gain is
too high the system may overshoot or if the gain is too
low the system may become non responsive.
2. Integral term: This specifies the duration for which the
errors are recorded before an action is taken.
Mathematically it is the sum of instantaneous error over
time and gives accumulated offset that should have
been corrected.
I = Ki ʃ0
t
e (τ) dτ
The integral gain if increased will decrease the time
taken to attain set point and vice versa. However a very
gain will lead to oscillations in the system.
3. Derivative term: This specifies the force with which the
system responds to reach the set point from the given
state of error.
D = Kd (d e(t) / dt)
This actually predicts the system position and thus
reduces the settling time of the system. If the error in
system is very large than derivative term becomes
erratic and will destabilize the system. If the gain term
is set too high than it may over shoot the system which
can be controlled using a low pass filter.
The major problem that the user faces is the way to adjust or
tune the parameters of PID to obtain the set point. A simple and
most celebrated method of PID tuning is Ziegler-Nicolas (fig 8)
method in which the gain is increased till the point the system
begins to oscillate and then it is reduced. The entire process can
be broken down into three easy steps which are:
1. Put the Ki and Kd terms as zero and then increase the KP
term till the system begins to oscillate Ku, than multiply
the Ku factor by 0.50 to obtain Kp .
2. Calculate the I factor by dividing Kp by Pu which is the
oscillation period and then multiply it by 1.2.
3. Take the product of Kp and Pu and divide by eight to
obtain Kd.
Fig 9: Effects of PID
5. CONTROL BOARDS
The control boards available for quadcopters are based on three
available firmware’s kk, multiwii, megapirate; these firmware’s
are based on an open source code available in the Google code
directory. In this paper two boards one from kk and other from
multiwii and megapirate domain were selected and comparisons
were drawn.
1) kk board: This board is based on murata gyros and has no
other sensor on board. It has an Atmel 128p micro controller, and
can support six speed controllers by taking direct input from the
receiver. The flashing can be done by using an FTDI cable using
the kk flash tool available on internet. Absence of many of the
important sensors like pressure sensor, magnetometer etc
although makes it simple but at the same time the stability of the
quadcopter is also compromised, also if one wishes to add more
sensors there is no option for the same . The flight of the
quadcopter is not ideal and as such it does not hover rather it
keeps moving in a certain direction depending upon the resultant
force. The PID tuning of the copter is also not perfect rather than
digital tuning analog potentiometers are used for tuning the PID
which results in poor performance. Overall this board can be used
only where precision is not required i.e. one has to scan an area
on a random note.
Fig 10: KK Board
2) Crius aiop(fig 11): This board is specially designed keeping in
mind precision control and flexibility of adding more sensors.
The board contains a high precision ATMega 2560
Microcontroller ,MPU6050 6 axis gyro/accel with Motion
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Processing Unit, HMC5883L 3-axis digital magnetometer,
MS5611-01BA01 high precision altimeter, FT232RQ USB-
UART chip and Micro USB receptacle for in system
programming. The board can be loaded with either multiwii or
megapirate code making it all the more versaltile. GPS controller
can be added for map based missions which is a big miss in kk
boards. Overall this board is best suited for precision flying and
thus is the choice for developing ISR Quadcopter.
Fig 11: Crius aiop
6. DEVELOPING ISR FOR QUADCOPTER
1) Hardware: The base of the quadcopter can be a fiber glass or
carbon fiber material as both these materials help to absorb
vibrations caused due to the motors or turbulent atmosphere.
2) Electronics: The required motor size can be calculated based
on the total model weight and then using (1) for the calculation of
thrust, only brushless outrunner motors are used as they are small
and light weight. The current of the ESC can be calculated from
the voltage of the battery and the internal resistance of the
motors. Ideally 1-2A extra ability is maintained for very high
speed operations. The battery used is a 3 cell Lithium Polymer
battery with discharge rate greater than 25C so that the system
may get the required current at all times. Lithium Polymer
batteries are selected due to their lower weight to power ratio.
The control board selected is Crius aiop due to its versatility. GPS
is a UBLOX GPS unit based on a mediatek controller.
3)Tx & Rx: The method for transmission of the control signal is
selected so as to make it fail safe and snoop safe and to achieve
this frequency hopping spread spectrum technique is used for
transmitting the control signal. The receiver has bi orthogonal
antennas so that the reception is of optimum quality with least
amount of bit error rate.
The crius aiop is flashed with the latest multiwii code that has
been changed for the specific components and use.
7. EXPERIMENTAL RESULTS
The initial flight test using kk board proved that this board
cannot be used for precision applications and thus was discarded
in initial stages of development.
Fig 12: Vibration graph KK(top) Crius (bottom)
Fig 12 clearly show the in flight stability of the crius board as
compared to the kk board.
The crius aiop was made the platform of choice for developing
ISR system, multiwii is used instead of megapirate as it is more
refined and better support is available in case things go wrong.
The multiwii system has a very interactive graphical user
interface that can be assessed in flight using telemetry for long
distance and Bluetooth for short distance flights. The GUI (fig
13) gives real time information of the quadcopter performance,
battery level, position on map and other necessary details which
are not provided by the kk board and the megapirate system.
8. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 188
Fig 13: Real time data from quadcopter
Our experiment with GPS baud rates helped us to establish the
fact that using a lower baud rate of 9600 gives a very low error
percentage of +/-2 where as if the baud rates are increased the
error in position can be of the magnitude of +/- 10. The results
were confirmed by the GUI.
The multiwii system has a mobile option i.e. we can use an
android based smart phone to control the quadcopter. The
application for the android gives the user real time data as well
ability to upload new missions.
Fig 14: Mobile interface of multiwii
The multiwii system has a mission option with which user can
mark waypoints on the map and create an autonomous path to be
followed by the quadcopter.
Fig 15: Mission Tab of multiwii
Our experiments with the low pass filter of the MEMS gyro
helped us to conclude that 40hz refresh rate is best suited for
middle sized quadcopters rather than 20hz which is better for
bigger sized quadcopters.
Fig 16: Statistical analysis of stability at different LPF
8. CONCLUSIONS
Our research work yielded a successful development of ISR
system based on quadcopter platform that is inexpensive and can
be made from off the shelf components. The use of semi
autonomous option through maps broadens the application area
of the developed system. The live video transmission available
from the quadcopter can be utilized to generate a 2D map of the
area using MATLAB, and overlaying two maps made at
different times can help to trace changes that have taken place in
the area.
The developed platform can be used as a low cost alternative to
carry out explosive detonation of army targets with very high
level of precision.
9. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 03 Issue: 04 | Apr-2014, Available @ http://www.ijret.org 189
The future research can be carried out to implement SWARM
technology so that a fleet of quadcopters can be sent that
communicate with each other and perform required operations.
Furthermore, future research in area of vibration resistant IMU
sensors will result in quadcopters with resolution of 1cm against
the present standard of 10cm.
ACKNOWLEDGMENTS
The author would like to thank EZIO and EOS BANDI
developers for their support and technical assistance. The author
would also acknowledge Asst. Prof Swapnil Bhagwari who with
his abundant knowledge of programming and other skills was
greatly helpful at every step.
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