This document describes the design and development of a hexa-copter (six rotor drone) called the KU-COPTER for environmental research applications. It discusses how the design of the hexa-copter frame was based on the logo of Kathmandu University, and various materials for the frame like aluminum composite panel and PVC foam were considered through simulations to optimize strength and weight. The developed hexa-copter is intended to enable applications like aerial surveillance, photogrammetry, and delivery for environmental research while being a low-cost alternative to manned aircrafts.
Design, Fabrication and Modification of Small VTOL UAVAkshat Srivastava
The target of the project is to design a vertical takeoff Unmanned Aerial Vehicle. The design configuration selected is a four rotor design. Preliminary calculations regarding the material selection was performed. Fabrication was carried out beginning with the frame assembly, followed by the integration of the electronic components. At the same time, the various analyses were performed in order to predict the real time performance of the Quad rotor design. Beginning with structural analysis on Catia, the structural deformation of the frame was studied; the analysis was further refined on the Ansys Workbench. Ansys workbench is an easy to use interactive interface. Following the structural analysis was the Modal Analysis that was performed to evaluate the resonant frequencies or the modes of the vibrations of the frame. Then flow simulation was performed again on the Ansys workbench using the fluent solver and CFX post processing software. This analysis was performed to study the flow behaviour around the quad rotor design. Various plots of the flow parameters were obtained and analyzed. After the assembly of all the individual components was performed, flight testing was performed. The testing was performed for a number of times, various adjustments were implemented, recalibrated several electronic components. The software was reconfigured several times to obtain the desired response from the board. The testing has resulted in minor improvements in the design.
Design and Fabrication of Blended Wing Bodyvivatechijri
Aircrafts are the widely used vehicle for rapid and long distance transportation. Although it is time
consuming, the conventional design of aircraft doesn't gives much space inside the aircraft and also consumes
more power because of its aerodynamic structure. Hence it is necessary to develop a new composite structural
design which overcomes these barriers. Blended Wing Body (BWB) is one of the solution of these problems. The
BWB configuration is a new concept in a aircraft design which provides greater internal volume, aerodynamics
and structural efficiency & noise reduction. The design approach of BWB is to maximize overall efficiency by
integrating the propulsion system, wings and the body into a single lifting surface. BWB is a unibody air craft
where the fuselage, wing and tail gets merged to form a single entity. The fuselage section of BWB is flattened
and has slightly airfoil shaped structure which exceeds the overall lift generation of aircraft. The objective of this
paper is to study aerodynamic study of Blended Wing Body. The project deals with the designing, analysing and
fabricating of UAV(Unmanned Aerial Vehicle) type electrically powered BWB aircraft system, and also selecting
appropriate propulsion system and other electric components
: The main objective of this paper is the systematic description of the current research and
development of small or miniature unmanned aerial vehicles and micro aerial vehicles, with a focus on
rotary wing vehicles. In recent times, unmanned/Micro aerial vehicles have been operated across the
world; they have also been the subject of considerable research. In particular, UAVs/MAVs with rotary
wings have been expected to perform various tasks such as monitoring at fixed points and surveillance
from the sky since they can perform not only perform static flights by hovering but also achieve vertical
takeoffs and landing. Helicopters have been used for personnel transport, carrying goods, spreading
information, and performing monitoring duties for long periods. A manned helicopter has to be used for
all these duties. On the other hand, unmanned helicopters that can be operated by radio control have
been developed as a hobby. Since unmanned helicopters are often superior to manned helicopters in
terms of cost and safety, in recent years, accomplishing tasks using unmanned helicopters has become
popular. Considerable expertise is required to operate unmanned helicopters by radio control, and
hence, vast labor resources are employed to train operators. Moreover, it is impossible to operate
unmanned helicopters outside visual areas because of lack of radio control, and the working area is
hence limited remarkably. For solving the above problems, it is necessary to realize autonomous
control of unmanned helicopters. However, no general method for designing the small unmanned
helicopters has been developed yet – today, various design techniques by different study groups using
different helicopters exist. In this paper the conceptual design process is explained.
Design, Fabrication and Modification of Small VTOL UAVAkshat Srivastava
The target of the project is to design a vertical takeoff Unmanned Aerial Vehicle. The design configuration selected is a four rotor design. Preliminary calculations regarding the material selection was performed. Fabrication was carried out beginning with the frame assembly, followed by the integration of the electronic components. At the same time, the various analyses were performed in order to predict the real time performance of the Quad rotor design. Beginning with structural analysis on Catia, the structural deformation of the frame was studied; the analysis was further refined on the Ansys Workbench. Ansys workbench is an easy to use interactive interface. Following the structural analysis was the Modal Analysis that was performed to evaluate the resonant frequencies or the modes of the vibrations of the frame. Then flow simulation was performed again on the Ansys workbench using the fluent solver and CFX post processing software. This analysis was performed to study the flow behaviour around the quad rotor design. Various plots of the flow parameters were obtained and analyzed. After the assembly of all the individual components was performed, flight testing was performed. The testing was performed for a number of times, various adjustments were implemented, recalibrated several electronic components. The software was reconfigured several times to obtain the desired response from the board. The testing has resulted in minor improvements in the design.
Design and Fabrication of Blended Wing Bodyvivatechijri
Aircrafts are the widely used vehicle for rapid and long distance transportation. Although it is time
consuming, the conventional design of aircraft doesn't gives much space inside the aircraft and also consumes
more power because of its aerodynamic structure. Hence it is necessary to develop a new composite structural
design which overcomes these barriers. Blended Wing Body (BWB) is one of the solution of these problems. The
BWB configuration is a new concept in a aircraft design which provides greater internal volume, aerodynamics
and structural efficiency & noise reduction. The design approach of BWB is to maximize overall efficiency by
integrating the propulsion system, wings and the body into a single lifting surface. BWB is a unibody air craft
where the fuselage, wing and tail gets merged to form a single entity. The fuselage section of BWB is flattened
and has slightly airfoil shaped structure which exceeds the overall lift generation of aircraft. The objective of this
paper is to study aerodynamic study of Blended Wing Body. The project deals with the designing, analysing and
fabricating of UAV(Unmanned Aerial Vehicle) type electrically powered BWB aircraft system, and also selecting
appropriate propulsion system and other electric components
: The main objective of this paper is the systematic description of the current research and
development of small or miniature unmanned aerial vehicles and micro aerial vehicles, with a focus on
rotary wing vehicles. In recent times, unmanned/Micro aerial vehicles have been operated across the
world; they have also been the subject of considerable research. In particular, UAVs/MAVs with rotary
wings have been expected to perform various tasks such as monitoring at fixed points and surveillance
from the sky since they can perform not only perform static flights by hovering but also achieve vertical
takeoffs and landing. Helicopters have been used for personnel transport, carrying goods, spreading
information, and performing monitoring duties for long periods. A manned helicopter has to be used for
all these duties. On the other hand, unmanned helicopters that can be operated by radio control have
been developed as a hobby. Since unmanned helicopters are often superior to manned helicopters in
terms of cost and safety, in recent years, accomplishing tasks using unmanned helicopters has become
popular. Considerable expertise is required to operate unmanned helicopters by radio control, and
hence, vast labor resources are employed to train operators. Moreover, it is impossible to operate
unmanned helicopters outside visual areas because of lack of radio control, and the working area is
hence limited remarkably. For solving the above problems, it is necessary to realize autonomous
control of unmanned helicopters. However, no general method for designing the small unmanned
helicopters has been developed yet – today, various design techniques by different study groups using
different helicopters exist. In this paper the conceptual design process is explained.
DESIGN AND ANALYSIS OF AN ACTIVE TWIST ROTOR BLADES WITH D-SPAR MODEL USING C...AM Publications
Today’s helicopters are the result of collaborative work in mechanical engineering and aeronautics. A helicopter main rotor or rotor system is the combination of a rotary wing and a control system that generates the aerodynamic lift force that supports the weight of the helicopter, and the thrust that counteracts aerodynamic drag in forward flight. In the field of rotorcraft, the research in this project is currently focusing on active blade systems to adapt the aerodynamic properties of the blade to the local aerodynamic conditions. Fuel-efficiency, reduction of vibration and noise and increase of the helicopter maximum speed are the benefits expected from these new technologies. A helicopter's rotor is generally made of two or more rotor blades. Rotor blades are made out of various materials, including aluminum, composite structure, and steel or titanium, with abrasion shields along the leading edge. The blade pitch is typically controlled by a swash plate connected to the helicopter flight controls. An Active Twist Rotor (ATR) is developed for future implementation of the individual blade control for vibration and noise reduction in helicopters. The rotor blade is integrally twisted by direct strain actuation using active fiber composites (AFC). In this thesis, the model of rotor blade is designed and analyzed. 3D models are done in CATIA. Analysis is done in Ansys. The materials used for original model are steel and Aluminum alloy, The modified model is analyzed by specifying aluminum alloy using solid element and also the shell element. The optimization results have been obtained for design solutions, connected with the application of active materials.
Design and Implementation of Pick and Place Robotic Armpaperpublications3
Abstract: Robot manipulator is an essential motion subsystem component of robotic system for positioning, orientating object so that robot can perform useful task. The main objectives of this project are to design and implement a 4-DOF pick and place robotic arm. This project can be self-operational in controlling, stating with simple tasks such as gripping, lifting, placing and releasing. In this project, the focus is on 4-DOF articulated arm. Articulated arm consists of revolute joints that allowed angular movement between adjacent joint. Four servo motors were used in this project to perform four degree of freedom (4-DOF). There are numerous dimensions over which robotic arms can be evaluated, such as torque, payload, speed, range, repeatability and cost, to name a few. Robot manipulators are designed to execute required movements. Their controller design is equally important. The robot arm is controlled by a serial servo controller circuit board. The controller used for servo motor actuation is ATmega 16 Development board.
Design,Construction And Structure Analysis Of Twinrotor UAVijics
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly
started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a miniature VTOL
twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications
such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of
one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust
vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The
paper deals with the design of a basic UAV based on application and the construction keeping in mind the
different concepts that govern its motion.
Drones are revolutionizing industries and hobbies alike. Learn more about these flying marvels at https://game2techzone.com/ for the latest trends and tech innovations.
What is Drone Building & Their Various TypesFALCON 3D
Drone building, also known as drone fabrication or drone construction, is the process of creating and assembling unmanned aerial vehicles (UAVs) from raw materials or pre-fabricated components.
Please Visit: https://www.falcon3dme.com/drone-inspection-services.html
Insight into an Emerging Technology: Commercial DronesFoiz Rahman
The idea of using civil or commercial drones is relatively new. The usage of drones in various purposes in everyday life is being discovered and the usage is gradually expanding. This report mainly focuses on civil drones with an insight into the technology, usage and future prospects.
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a
miniature VTOL twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The paper deals with the design of a basic UAV based on application and the construction keeping in mind the different concepts that govern its motion
DESIGN AND ANALYSIS OF AN ACTIVE TWIST ROTOR BLADES WITH D-SPAR MODEL USING C...AM Publications
Today’s helicopters are the result of collaborative work in mechanical engineering and aeronautics. A helicopter main rotor or rotor system is the combination of a rotary wing and a control system that generates the aerodynamic lift force that supports the weight of the helicopter, and the thrust that counteracts aerodynamic drag in forward flight. In the field of rotorcraft, the research in this project is currently focusing on active blade systems to adapt the aerodynamic properties of the blade to the local aerodynamic conditions. Fuel-efficiency, reduction of vibration and noise and increase of the helicopter maximum speed are the benefits expected from these new technologies. A helicopter's rotor is generally made of two or more rotor blades. Rotor blades are made out of various materials, including aluminum, composite structure, and steel or titanium, with abrasion shields along the leading edge. The blade pitch is typically controlled by a swash plate connected to the helicopter flight controls. An Active Twist Rotor (ATR) is developed for future implementation of the individual blade control for vibration and noise reduction in helicopters. The rotor blade is integrally twisted by direct strain actuation using active fiber composites (AFC). In this thesis, the model of rotor blade is designed and analyzed. 3D models are done in CATIA. Analysis is done in Ansys. The materials used for original model are steel and Aluminum alloy, The modified model is analyzed by specifying aluminum alloy using solid element and also the shell element. The optimization results have been obtained for design solutions, connected with the application of active materials.
Design and Implementation of Pick and Place Robotic Armpaperpublications3
Abstract: Robot manipulator is an essential motion subsystem component of robotic system for positioning, orientating object so that robot can perform useful task. The main objectives of this project are to design and implement a 4-DOF pick and place robotic arm. This project can be self-operational in controlling, stating with simple tasks such as gripping, lifting, placing and releasing. In this project, the focus is on 4-DOF articulated arm. Articulated arm consists of revolute joints that allowed angular movement between adjacent joint. Four servo motors were used in this project to perform four degree of freedom (4-DOF). There are numerous dimensions over which robotic arms can be evaluated, such as torque, payload, speed, range, repeatability and cost, to name a few. Robot manipulators are designed to execute required movements. Their controller design is equally important. The robot arm is controlled by a serial servo controller circuit board. The controller used for servo motor actuation is ATmega 16 Development board.
Design,Construction And Structure Analysis Of Twinrotor UAVijics
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly
started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a miniature VTOL
twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications
such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of
one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust
vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The
paper deals with the design of a basic UAV based on application and the construction keeping in mind the
different concepts that govern its motion.
Drones are revolutionizing industries and hobbies alike. Learn more about these flying marvels at https://game2techzone.com/ for the latest trends and tech innovations.
What is Drone Building & Their Various TypesFALCON 3D
Drone building, also known as drone fabrication or drone construction, is the process of creating and assembling unmanned aerial vehicles (UAVs) from raw materials or pre-fabricated components.
Please Visit: https://www.falcon3dme.com/drone-inspection-services.html
Insight into an Emerging Technology: Commercial DronesFoiz Rahman
The idea of using civil or commercial drones is relatively new. The usage of drones in various purposes in everyday life is being discovered and the usage is gradually expanding. This report mainly focuses on civil drones with an insight into the technology, usage and future prospects.
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a
miniature VTOL twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The paper deals with the design of a basic UAV based on application and the construction keeping in mind the different concepts that govern its motion
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
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Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
1. See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/303346487
Design and Development of Hexa-copter for Environmental Research
Conference Paper · April 2015
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2. Design and Development of Hexa-copter for Environmental Research
S. Bhandari1
, S. Pathak1
, R. Poudel1
, R. K. Maskey2
, P. L. Shrestha1
and Binaya Baidar1
1 Department of Mechanical Engineering,
2 Department of Civil and Geomatics Engineering
School of Engineering, Kathmandu University, Dhulikhel,
Phone: +977-011-663736, Fax: +977-011- 661443
Email: pth.saurav010@gmail.com, sjnbhandari12@gmail.com and poudel.ravi@yahoo.com,
rmaskey@ku.edu.np
Abstract
UAV (Unmanned Aerial Vehicle) is a flying robot capable of flying without on board pilot. It is
controlled either manually or autonomously. It is an emerging new technology for developing countries
like Nepal and could be applied for environmental research applications like aerial surveillance,
photogrammetry, delivery of medicine, conservation surveillance and many more. Use of big manned
helicopters and other aerial vehicles could be replaced for some applications by UAV’s making those
applications really cheap and accessible. This would definitely be advantageous when being concerned
about economy and risk of operation of the aerial vehicles. For the purposes like disaster scouting,
supplying medical aids and extreme rescue operations, UAVs could prove themselves far worthy and
economical than its counterpart. There are many different types and designs (Multirotors and fixed wings)
of UAVs available in the global market but not easily available in the context of Nepal. The UAV
designed and developed at Kathmandu University is called as KU-COPTER, which is a multirotor with
six propellers (technically called as hexa-copter). It can vertically take-off and land with the purpose to
take aerial surveillance and supply of medical aids. Since the scope of Unmanned Aerial Vehicle (UAV)
is wide, so its development will pave a path for the university in exploring various applications in the
context of developing countries like Nepal. Its indigenous design and development provide the basis for
further modification and features addition according to the area of application.
Keywords: Unmanned Aerial Vehicle (UAV), emerging technology, surveillance, disaster management,
photogrammetric applications.
1. Introduction
Unmanned Aerial Vehicle (UAV) is a type of aircraft which has no pilot or passenger on board. UAVs
include both autonomously controlled (drones) and remotely piloted vehicles (RPVs) controlled via Radio
transmitter. UAVs are commonly used in situations where there is high risk in sending a human piloted
aircraft or where using a manned aircraft is impractical. One of the early practices of UAVs was the
“aerial torpedoes”, designed and built during World War I. The history of multirotor aerial vehicle dates
back to late 1920s and was known as Gyrocopters with four rotors. These were primitive UAVs, relying
on mechanical gyroscopes to maintain straight and level flight, and flying until they ran out of fuel. Later,
due to the complications in control part and workload for pilot it was replaced by an aircraft with single
rotor which is known as helicopter today. But, multirotor UAV have once again gained popularity among
us due to its multiple application and structural integrity with perfect stability.
More advanced UAVs used radio technology for controlled flight. Then the invention of integrated circuit
led to UAVs that can be controlled via electronic autopilots. Modern UAVs are controlled with both
3. autopilots, and manual controllers. This allows them to fly long, safe flights under their own control, and
fly under the command of a human pilot during complicated phases of the mission.
A multirotor UAV is an aircraft heavier than air, capable of vertical take-off and landing (VTOL), which
is propelled by rotors with propellers, positioned in the same plane, parallel to the ground. The number of
propellers in multirotor generally available are three (Tricopter), four (Quadcopter), six (Hexa-copter) and
eight (Octacopter). The size of the multirotor UAV produced ranges from a simple CD to more than a
meter in diameter. Unlike, standard helicopters, a multi coper use fixed-pitch blades in its rotors and its
motion through the air is achieved by varying the relative speed of each propeller.
1.1 Applications
Its ability of VTOL and hover in the position with proper stability and manoeuvrability brings many
mission options into possibilities. This makes the Unmanned Aerial Vehicle (UAV) versatile and may be
used for various purposes. Few application areas are described here:
Aerial surveillance:
UAV these days are widely used for aerial surveillance. Aerial surveillance drones includes conservation
drones mostly used for wildlife conservation. It is also used by different organisation like military forums
for aerial surveillance for their specific purpose.
Photogrammetry:
Different organisations use this vehicle for photogrammetric purpose where the high resolution aerial
images taken by the UAV is used for generating 3D images of the landscapes and generate maps.
Delivery robot:
These days different companies are using UAV as their delivery Kit or robot. Domino’s Pizza uses its
Domocopter (Oct-copter) for delivering Pizza to its customers.
Precision farming:
Developed countries are using this vehicle for precision farming where the crops are continuously
inspected and the corresponding action are taken for greater productivity.
Rescue missions:
This vehicle could also be used for rescue purpose and delivering medicine kit for casualties where
manned vehicle is riskier to take.
2. Project Design and Development
Due to wide area of mission possibilities of UAV in various sectors its demand has been increasing day
by day. This has led to commercial development of parts and components of UAV in developed countries.
Meanwhile for developing countries, the idea of UAV is still in emerging phase. So the development and
commercial production of UAV and all of its components has not yet been widely practiced. That is why
our focus for the design and development of hexa-copter has been limited to the design of the frame and
selection of appropriate and economic material for the manufacture of the frame. By assembling the off-
the-self electronic components, available in the market at affordable price, on the frame designed and
developed by us, we have been able to develop a fully functioning hexa-copter.
4. 2.1 Design
We have designed the frame for the aircraft by incorporating the logo of Kathmandu University. The logo
of Kathmandu University led to the idea of developing the hexa-copter by producing six arms from the
six vertices of two triangles present in the logo of KU. Hence the name KU-Copter has been given to the
hexa-copter.
Figure 1 Bottom view of the design of the hexa-copter frame
2.2 Material selection via simulation
Selection of material has to be such that it satisfies the demand of the Hexa-copter frame i.e. material
must be light weight and economic. The most commonly used material for commercial drones is carbon
fibre which is extremely light and extraordinarily strong making it cost very high too. In order to develop
a frame from the appropriate material available at our market in relatively low price, we had to select
between Aluminium Composite Panel (ACP) and PVC Foam (Foam Board). Both the materials were
found to be light weight and rigid which were the basic criteria for the development of frame.
The PVC Foam (Foam Board) available was of thickness 18 mm and ACP was of 4 mm.We had to select
the material that is strong, light and economic. Experimentally, we found that 18 mm Foam board is
heavier than 4 mm ACP but we were not sure about strength of 4 mm ACP. We also had another option
which was to sandwich 2 ACP sheets which was found to be slightly heavier than foam board and a little
more expensive but it seemed to be stronger than foam board. Table 1 shows the comparison of weight of
ACP and Foam board frames.
Table 1 Material thickness and mass
Material Thickness(mm) Mass(gm)
ACP single layered 4 155
ACP Double layered 8 310
Foam board 18 256
2.3 Simulation Setup
We had to optimize the design of the frame and select the best material. This was done using the
Simulation tool Mechanical APDL where we conducted the static structural simulation provided
boundary conditions via experimental measurements and references, the objective being to observe the
maximum stress concentration in various designs and optimize using the simulated result. Firstly, we
were focused on frame manufacture using foam board because it was very light and economic and seemed
5. to be strong enough. So, we designed two foam board frames in solid works; one with slots in the arms
and another without slots.
The created CAD files of the two designs were imported in Ansys for simulation using Mechanical
APDL. We conducted static structural simulation of those frames. The designs were separately simulated
to solve for the maximum deformation and maximum stress on the frame. Material Database was created
for Polyisocyanurate Foam in Ansys Engineering Database. We used patch confirming method with
tetrahedral mesh for the modelling. Mathematical modelling was program controlled by mechanical
APDL.
Figure 2 Tetrahedral mesh created in applied geometry
The boundary conditions were defined as per the values obtained from measurements of weight and other
material properties. Faces where boundary values needed to be provided were split in solid works and
boundary values were provided and parameterized, and we were able to observe results in different
boundary conditions and the results were interpreted accordingly. Boundary conditions applied were
equal in both the designs and the results were compared at similar conditions.
Figure 3 Applied boundary conditions
6. 2.4 Post Processing
After defining the boundary conditions and meshing, we ran simulations in the two designs to obtain
equivalent von-misses stress or maximum stress on the frames along with total deformation. We
parameterized the equivalent stress and forces applied on the faces where motors are placed. Maximum
stress in the frame was to be compared with yield strength of material. Figure 4 and Figure 5 show
maximum stress on the frame and the graphs produced show relation between force and maximum
equivalent stress on foam board frame without and with slots respectively. At static conditions the load
applied are in the direction of gravitational force but when the hexa-copter takes VTOL than the load
applied are in the direction opposite to the gravitational force so the forces in the graph are in increasing
order in the negative direction from that of static condition.
Figure 4: Von- Mises stress on foam board frame without slot
Figure 5: Total deformation in foam board frame with slot
7. 2.5 Assembly and Analysis
After the completion of frame manufacture, we assembled all the electronic components required as
shown in Table 2. Analysis of the frame was done on the basis of equivalent stress and total deformation
on the frames in static condition and their relationship on increase of applied force in the direction
opposite to that of static condition. We created five different data points for force and plotted it against
the deformation and equivalent stress to observe the behaviour of the frame on increased load.
Table 2 Collected materials
COMPONENTS SPECIFICATION
Propeller 8 inch Plastic Propellers
Motor Brushless D.C 935 KV motor
Flight Controller NAZA M-lite flight controller
Electronic speed controller(ESC) 30 Ah ESC for 935 KV Motor
Radio transmitter Radio Control transmitter with six channels
Battery 3 cell Li-Po battery
Estimated time of flight: 8 min for Foam board frame
6 min for ACP frame
Charger 3 cell battery charger
Power distribution Board
Bullet connectors
M3 nuts and bolts
From the simulation result and graphs the stress concentration at static condition is found to be greater in
the design with slot i.e. 0.834 MPa than the design without slot i.e. 0.588 MPa. But the maximum
deformation was close in both the cases i.e. 0.0007 m. Since the materials of both the design are same so
the behaviour was found to be same in both the design. The value of the maximum stress corresponding
to the force applied in negative direction was found to be decreasing first and again starts to increase.
3. Result and Discussion
The stress concentration at static condition is low in both the cases but among the two, the design with the
slot has higher stress concentration. We have advantage of around 50 gm weight on providing the slots
but we have to compromise on strength of the frame.
From this analysis, we manufactured the foam board frame with slots in the arms. But after manufacture
and assembly the foam board frame was found to be quite brittle although being strong and very light.
During piloting practice, the hexa-copter suffered few crashes and the frame broke (Figure 6).
Figure 6: Broken Foam board frame after crash
8. Later we decided to manufacture frame with the ACP (Aluminium Composite Panel) sheet. Since the
ACP sheet was only 4 mm thick we decided to sandwich two ACP sheets and manufactured the frame
with sandwiched ACP of 8 mm thickness. ACP frame was found to be quite strong. Even though it also
suffered some crashes, it didn’t break easily. Rather it bent to some degree which could be straightened
using bench vice. The ACP frame is still functional.
Figure 8: Assembly on ACP frame
Figure 7 presents the first test flight of KU-Copter mounted on foam board frame, which proved to be
fragile against impact. Later the KU-Copter was assembled on ACP frame as shown in Figure 8. The final
version of KU-Copter was tested and demonstrated at several public occasions (Figure 9) and Figure 10
shows the snapshot taken from KU-Copter.
4. Conclusion
The application areas of multirotor UAVs have been increasing day by day all around the world. There
are prospects of such new and emerging technology in Asia and Asia pacific region for socio-economic
development. For developing countries, employing helicopters and other large aircrafts for different
purposes like surveillance, rescue mission, etc. is a challenge from the economic point of view. Similarly,
such missions also involve great risk of human lives. As an alternative, the developed KU-Copter using
the frame locally made of ACP and off-the-shelf purchased electronic parts is very stable, robust, easy to
operate and maintained. After a number of successful test flights and public demonstrations, it is now
fully functional and ready to take off the payload for different application as mentioned above.
Figure 10: Snapshot from KU-Copter
Figure 7: Test flight of KU-Copter on Foam Board
Figure 9: Public demonstration of KU-Copter
9. 5. Acknowledgement
The project team is immensely grateful to the supervisor for his continuous guidance, support and help in
every phase of the project and for funding this project as well. The team is immensely grateful to School
of Engineering of Kathmandu University for providing a platform to design and develop the Hexa-copter.
It extends its gratitude to Centre for Excellence in Production and Transportation of Electrical Energy
(CEPTE), Department of Mechanical Engineering and Department of Electrical Engineering for
providing necessary equipment to test the performance of Hexa-copter. The team would also like to
acknowledge the authors of the reference materials that have been used here.
6. References
[1] S. Bhandari, S. Pathak, R. Poudel “A report on Design and Development of Hexa-copter (KU-copter)”
[2] Dupuis, M & Gibbons, J. (2008). Design optimization of quadcopter capable of autonomous flight.
Worcester polytechnic Institute. Retrieved August 8, 2014
[3] DiCesare, A. Design Optimization of a Quad-Rotor Capable of Autonomous Flight. Worcester
Polytechnic Institute.
[4]Fogelberg, J. 2013. Navigation and Autonomous Control of a Hexa-copter in Indoor Environments.
Lund University
7. Biographies
Sujan Bhandari was born on 27 June 1993 in Charikot, Dolakha, Nepal. He is currently studying Mechanical Engineering at
Kathmandu University.
His current research interest is UAV, its features, control system and application prospects in the context of our country, Nepal
Saurav Pathak was born on 22 May 1994 in Butwal, Nepal. He is currently studying Mechanical Engineering at Kathmandu
University.
His current research interest is UAV, its mathematical modelling and simulation of frame designs.
Ravi Poudel was born on 5 April 1991in Butwal, Nepal. He is currently studying Mechanical Engineering at Kathmandu
University. His current research interest is UAV, its frame designs and application prospects in the context of our country, Nepal.
Prof. Dr.-Ing. Ramesh Kumar Maskey was born on 21 December 1959 in Biratnagar, Nepal. He completed intermediate in
Electrical Engineering from Institute of Engineering, Tribhuwan University in 1979. He received MSc. in Civil-hydropower
Engineering from Beylorussian Polytechnic Institute, Beylorussia (1987) and MSc. in Resources Engineering from University of
Karlsruhe, Germany (1996). He received doctorate in civil engineering from University of Karlsruhe in 2004. Since March 2006,
Dr. Maskey is a full professor of civil engineering at Kathmandu University (KU) where he is currently the Associate Dean for
academic and administrative affairs of School of Engineering. He served the Department of Civil and Geomatics Engineering as founding Head
of Department till 2013 since 2009. He is supervising the development of Hexa-copter on behalf of Centre for Excellence in Production and
Transportation of Electrical Energy (CEPTE/KU). He has more than 27 years of academic and professional experience in the field of hydropower
engineering. His research interest encompasses hydropower, renewable energy technology, robotics, distributed power system and hydraulics.
Er. Pratisthit Lal Shresthawas born on 8 December 1985 in Kathmandu, Nepal. He received B.E in Mechanical
Engineeringfrom Kathmandu University in 2008 as the batch topper. He has Master’s degree in Thermal Power Engineering from
National Institute of Technology (NIT), Tiruchirappalli, Tamil Nadu, India in 2012. He is currently working as a lecture in
Mechanical Engineering at Kathmandu University.
He has worked in projects Experimental Analysis of Nanofluid based Vapor Absorption Refrigeration System, Experimental
Investigations and Thermoeconomic Optimization of Absorption Refrigeration with Air Cooled Absorber and Energy Audit of a Local Four Star
Hotel.
Er. Banaya Baidar was born on 27 February 1988. He received B.E. in Mechanical Engineering and Production Technology in
2011 from HAMK University of Applied Sciences, Finland. He has MSc in Aeromechanics in Turbomachinery (Erasmus
Mundus) from KTH Royal Institute of Technology (Sweden) ,Aristotle University of Thessaloniki (Greece), and University of
Liege (Belgium). He is currently working as research fellow and visiting lecturer at Turbine Testing Lab, Department of
Mechanical EngineeringKathmandu University. He has worked as R&D Engineer (International Trainee) in KONE Corporation,
Finland and as a Trainee in LMS: Siemens PLM Software, Belgium. His research interests are Vibrations in turbomachinery, particularly Francis
and pump-turbines, Fluid-Structural Interactions and Sustainable energy solutions.
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