final design review project firefly
TRANSCRIPT
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Final Design Review
Project Firefly-
Hybrid UAS Design for Science Missions on Saturnian Moon Titan
Miguel Quispe Tardio, Hershle Ellis, and Jamal Longwood
Aeronautics Senior Design (ISYE 4803)
Professor Adeel Khalid
Date: 04/22/2020
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Presentation Schedule
1. Project Overview
2. Design Requirements & Specifications
3. General Design Plan
4. CAD Models and Airfoil Selection
5. Analysis (MATLAB, FEA, CFD)
6. Economic Analysis
7. Prototype Demonstration
8. Conclusion
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Presentation Schedule
1. Project Overview
2. Design Requirements & Specifications
3. General Design Plan
4. CAD Models and Airfoil Selection
5. Analysis (MATLAB, FEA, CFD)
6. Economic Analysis
7. Protype Demonstration
8. Conclusion
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Project Review & Completion Status
• Mission Objective• The Firefly is designed for data
collection and scientific investigation of Saturn’s largest moon, Titan
• The Firefly is primarily adapted from the Cassini-Huygens and Dragonfly missions
Source: JPL
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Source: Athanasios Karagiotas and Theoni Shalamberidze
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Project Review & Completion Status
• Liquid methane lakes and
subsurface ocean
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Mission Profile
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Mission Profile Cont.
Source: Jet Propulsion Laboratory
• X’s represent potential
landing locations
• Red boxes represent
interesting sites for
science missions
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Similar Designs
Source: NASA and JPL-Caltech
Perseverance Rover
Dragonfly Test Article
Mars Scout Helicopter
Source: NASA and John Hopkins
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Project Review & Completion Status
• Schedule slide due to COVID-19
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Presentation Schedule
1. Project Overview
2. Design Requirements & Specifications
3. General Design Plan
4. CAD Models and Airfoil Selection
5. Analysis (MATLAB, FEA, CFD)
6. Economic Analysis
7. Protype Demonstration
8. Conclusion
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Requirements
▪ Capable of vertical takeoff and landing (VTOL)
▪ Redundant system(s)
▪ Have fixed wings for flights
▪ Compatibility for payload transport (1 kg)
▪ Wireless charging system
▪ Atmospheric entry capabilities
▪ Science data retrieval capabilities
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Requirements Continued
▪ Carry sensors and cameras for scientific investigation
▪ Able to stop and hover mid-flight to retrieve objects (Optional)
▪ Wingspan of 4.5 meters maximum based on rocket fairing
▪ Maximum flight time (including. returning to station) of 75 minutes
▪ Preliminary weight of 450 kg (dragonfly mission reference)
▪ Anti-Torque mechanism/Opposite Rotors Spinning direction
▪ Cruise speed of 13 m/s minimum
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SpecificationsOverall Specifications
Takeoff Weight 163.24 kg
Cruise Speed 13 m/s
Minimum Forward Speed 11 m/s
Batteries 36 x MP 176065 xlr
Wing Specifications Value Units
Wingspan, b 2.50 meters
Chord Length, c 0.22 meters
Lift coefficient, 𝑪𝑳 1.04 Unitless
Max Lift Coefficient, 𝑪𝑳,𝒎𝒂𝒙 2.75 Unitless
Drag Coefficient, 𝑪𝑫 0.0336 Unitless
Lift to Drag Ratio, 𝑳/𝑫 6.19 Unitless
Wing Loading, 𝑾/𝑺 925.32 N/m^2
Aspect Ratio, AR 5.09 Unitless
Thrust to Weight Ratio
Cruise, T/W
0.1615 Unitless
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Meters
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SpecificationsPropeller Specs Value Units
Radius, R 0.375 meter
Chord, c 0.06 meter
Lift Coefficient, 𝑪𝑳 0.70 Unitless
Rotor Specs Rotor 1 Rotor 2 Rotor 3 Rotor 4
Blade Num., b 3 3 3 3
Solidity 0.38197 0.38197 0.38197 0.38197
R (m) 0.300 0.300 0.300 0.300
A (m^2) 0.2827 0.2827 0.2827 0.2827
B 0.8000 0.8000 0.8000 0.8000
Ae (m^2) 0.2262 0.2262 0.2262 0.2262
Rot. Speed (rad/s) 100 100 100 100
Tip Speed (m/s) 30 30 30 30
Chord (m) 0.12 0.12 0.12 0.12
Tip Chord (m) 0.12 0.12 0.12 0.12
Root Chord (m) 0.12 0.12 0.12 0.12
Cla 3 3 3 3
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Meters
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Presentation Schedule
1. Project Overview
2. Design Requirements & Specifications
3. Trade Study and Verification Plan
4. CAD Models and Airfoil Selection
5. Analysis (MATLAB, FEA, CFD)
6. Economic Analysis
7. Protype Demonstration
8. Conclusion
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General Design Plan (update)
Determination of Characteristics for
the UAS
General design calculations and
simulations
Project determination
Risks assessment and limitation analysis
Data collection from relevant
information for objective
Objectives determination
Design analysis information and
calculation*
Iterations and trade studies
determination
General characteristics, materials and functionality
determination
Final Design Review and corrections
Final Design Presentation
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Presentation Schedule
1. Project Overview
2. Design Requirements & Specifications
3. General Design Plan
4. CAD Models and Airfoil Selection
5. Analysis (MATLAB, FEA, CFD)
6. Economic Analysis
7. Landing Platform Configuration
8. Protype Demonstration
9. Conclusion
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Completed CAD
Overall CAD model
Firefly-3
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Refined Final Sizing
Design Weight (N) kg
Titan 228.35 168.645
Fuselage Components Mass (kg) Titan Weight (N) Earth Weight (N)
Fuselage 16.75 22.11 164.32
Wings 17.56 23.18 172.26
Rods 2.7 3.56 26.49
Bottom 5.18 6.84 50.82
Nose 0.581 0.77 5.70
Rod Clamps 1.156 1.53 11.34
Total 43.927 57.98 430.92
Rotor mass properties Mass (kg) Titan Weight (N) Earth Weight (N)
rotor assem 3.48 4.7328 34.1388
Motor *** 20 27.2 196.2
Total 23.48 31.9328 230.3388
Landing Gear Mass (kg) Titan Weight (N) Earth Weight (N)
Landing gear ass 3.45 4.692 33.8445
Total 3.45 4.692 33.8445
Tail Assembly Mass (kg) Titan Weight (N) Earth Weight (N)
Tail assem 5.11 6.95 50.13
Total 5.11 6.95 50.13
Pusher Prop Mass (Kg) Titan Weight (N) Earth Weight (N)
Pusher Assem 2.00 2.72 19.62
Total 2.00 2.72 19.62
Intruments Mass (kg) Titan Weight (N) Earth Weight (N)
MastCam (2) 8.00 10.56 78.48
ChemCam (1) 5.62 7.42 55.13
NavCam (4) 1.00 1.32 9.81
PanCam (2) 0.54 0.71 5.30
Supercam (1) 10.00 13.20 98.10
PIXL (1) 6.92 9.13 67.84
Descent Img (1) 0.48 0.63 4.71
SHERLOC (1) 3.72 4.91 36.49
RAD (1) 5.00 6.60 49.05
SAM (1) 20.00 26.40 196.20
ANTENNAS (1) 12.00 15.84 117.72
OBS 12.00 15.84 117.72
Total 85.28 112.56 836.55
Battery info Titan Earth
Energy 24.8 24.8 Wh
Mass/batter
y
0.15 0.15 kg
Number of
Batteries
36
Weight 7.312 52.974 N
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• MastCAM
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CAD Model – Rotors and fixed Wing
Material: Composite blades made of carbon fiber
spar, Rohacell® 51 FX Polymethacrylimide (PMI)
Rigid Foam Plastic and aluminum skin
Material: Aluminum Based Skeleton and skin for
weight savings
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CAD Model – Empennage
• Box Tail Configuration• Increased stability and control
• Simple Design
• Material: Aluminum Alloy 7075-T6
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CAD Model – Fuselage and Insulation Material:
• Fuselage - Aluminum Alloy 7075-T6
• Insulation - Cryogel Z Blanket
• K = 10mW/m-K
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CAD Model – Landing Gear
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Material: Ti-6Al-4V
FOS = 2.19
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Airfoil Selection– Rotors and Wing
RC(4)-10 for Rotor s1223 for Fixed Wing
Advanced Rotorcraft blade developed by NASA
capable of high lift
High Lift, low Drag Airfoil developed by NASA.
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Presentation Schedule
1. Project Overview
2. Design Requirements & Specifications
3. General Design Plan
4. CAD Models and Airfoil Selection
5. Analysis (MATLAB, FEA, CFD, Trade Studies)
6. Economic Analysis
7. Protype Demonstration
8. Conclusion
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Trade Study – Fuselage and Insulation• Battery temperature range (243.15 K – 333.15 K)Selected Design Point:
• 20 mm thick insulation
• Conduction = 62 watts
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Resistive heater
Thermocouple
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Analysis – Fuselage and Insulation• Thermal FEA based on MATLAB Calculations
Internal Temperature = 284 Kelvin
Max Flux
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Analysis – Fuselage and Insulation• Static FEA based on Aircraft Weight
• Minimum FOS = 2.1
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Drag Polar of Airfoils for Design
S1223 RC(4)-10
-0.5
0
0.5
1
1.5
2
2.5
0 0.05 0.1 0.15 0.2
Cl
Cd
Cl/Cd
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Analysis – Rotors
• Stress on the rotors is primarily based on the blade roots as expected
• Stress of the aluminum skin does not exceed 22 MPa
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Wing Performance
CFD (init. Const. pressure) Rough CFD
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Rotor CFD
• Induced velocity is very close to, but not as the expected value
• Turbulence model in Titan is unpredictable
• Angular velocities to accelerate flow are on range to our predictions
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Trade Study – Hover Power Requirement
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Propeller Power Required
Work Required Outbound Inbound Loiter Total
Work (J) 530.38 353.58 176.79 1060.75Power (W) 196.44 196.44 196.44 N/A
Flight Time (hr) 0.75 0.50 0.25 1.50
Energy (Whr) 147.33 98.22 49.11 294.66
𝑊𝑜𝑟𝑘 = 𝑇 ∗ ∆𝑠
𝐹𝑛𝑒𝑡 = 0 = 𝑇 − 𝐷
𝑇 = 𝐷
𝑁𝑏 =𝐸𝑇𝑜𝑡𝑎𝑙𝐸𝑏𝑎𝑡𝑡𝑒𝑟𝑦
=294.66
24.8= 12 batteries
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Range Value Unit
Outbound Range, 𝑹𝒐𝒖𝒕 47.82 km
Inbound Range, 𝑹𝒊𝒏 31.89 km
Total Range, 𝑹𝑻𝒐𝒕𝒂𝒍 76.70 km > Dragonfly’s 8km hops
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Trade Study - Power Required to Climb
𝐴𝑡 𝑙𝑜𝑤𝑒𝑟 𝑏𝑜𝑢𝑛𝑑: 𝑁𝑏 = 8 𝑏𝑎𝑡𝑡𝑒𝑟𝑖𝑒𝑠
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Total Power Required
30 batteries with room for more
Less batteries required
Configuration
(Batteries
Required)
Loiter
(Fixed
Wing)
Loiter
(Hover)
Prop
(Forward)
Climb
(Rotors)
Total
Batteries
Fixed Wing
Forward Flight,
Loiter Hover,
Rotor Climb
0 18 10 8 36
Fixed Wing
Forward Flight,
Fixed Wing
Loiter, Rotor
Climb
2 0 10 8 20
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Battery and Motor SelectionBattery Model 1p INT 176065 isr FL MP 176065 xlr MP 176065 xtd
Type Li-ion Li-ion Li-ion
Nominal Energy (Wh) 20.4 24.8 20.4
Mass (kg) 0.155 0.15 0.135
Energy Density 131.61 165.33 151.11
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Motor Model Lumenier LU13 II Lumenier LU15 IITiger Motors GetFPV U10
Tiger Motors GetFPV U10 Plus
Tiger Motor U15 Pro
KV (rpm/v) 150 80 100 80 80Cost ($) 262.99 689.99 296.99 356.39 689.99Weight (kg) 0.239 1.64 0.4 0.511 1.53Max Power (W) 5659 8580 1500 1500 6942
Source: getfpv
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Inductive Charging
Source: Laird-Signal Integrity Products
Operating Temperature
• Operating Temperature: -40C – 85C
• Requires no connection between aircraft
and power generator (MMRTG)
• Estimated Charge Time (one inductive coil):
24.8*36/15 = 60 hours
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Presentation Schedule
1. Project Overview
2. Design Requirements & Specifications
3. General Design Plan
4. CAD Models and Airfoil Selection
5. Analysis (MATLAB, FEA, CFD)
6. Economic Analysis
7. Protype Demonstration
8. Conclusion
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Economic AnalysisFirefly Component Budgeting
Manufacturing Method Machining
Component Material Mass(kg) Weight(lb) Cost($/lb) Production
Cost ($)
Total Cost
Fuselage Aluminum
Alloy 7075 19.25 188.84 5.22 5430.90 $6416.66
Wing Blades x2 Aluminum
Alloy 7075 44.8 439.48 5.22 85.6 $2379.72
Rods x2 Titanium Alloy
Ti-6AI-4V 5.4 52.974 30.00 207.80 $1797.02
Rod Clamps x4 Titanium Alloy
Ti-6AI-4V 1.156 11.34036 30.00 64.00 $404.2108
Fuselage Nose Glass0.581 5.69961 0.10 32.00 $32.57
Rotor Assembly Aluminum
Alloy 7075 288.40 2829.20 5.22 333.84 $15,102.28
Landing Gear Titanium Alloy
Ti-6AI-4V 1.46 14.33 30.00 811.32 $1241.29
Empennage Titanium Alloy
Ti-6AI-4V 4.43 43.46 30.00 1299.14 $2602.89
Pusher Prop Aluminum
Alloy 7075 2.0 19.62 5.22 13.42.28 $1444.70
Motor N/A 0.24 2.34 262.99 N/A $262.99
Battery x30 N/A 0.15 1.47 74.81 N/A $2244.30
Total Cost $698,457.20
• Machining Manufacturing Process
• Total Cost of Assembly: $698,457.20
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Prototype Demonstration
https://www.youtube.com/watch?v=b9sQo13xUGQ
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Conclusion: Achievements & Lessons Minimum Success Criteria Met?
• All success criteria were met!
Achievements
• Completed the project
• Met our own standards
Lessons Learned
• Persistence
• Benefits of software tools
• Designing aircraft for other atmospheres
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Conclusion: Future Work
• Fixed Wing Climbing Flight Analysis
• Fusion Deposition Modeling of Prototype
• Design of Small Details (i.e. welds & fasteners)
• Testing
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References
• Lellouch, E. & Hunten, D. M. (1987). Titan atmosphere engineering model. ESA Space Science Department Internal Publication
• Leishman, J. Gordon. 2006. Principles of Helicopter Aerodynamics.New York: Cambridge University Press.
• Raymer, Daniel P. 2018. Aircraft Design: A Conceptual Approach.Reston: American Institute of Aeronautics and Astronautics.
• Williams, Matt. 2015. Saturn's moon Titan. October 5. Accessed December 4, 2019.
• Anderson, John D. 2016. Fundamentals of Aerodynamics. New York: McGraw-Hill Education.
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Additional Content
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Entry Configuration
• Firefly enters atmosphere below landing platform
• Entry Cone separates after deploying parachutes
• Firefly deploys during descent
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Forward Flight Power Required (Rotors)
0.00
5000.00
10000.00
15000.00
20000.00
25000.00
0 5 10 15 20 25
Po
wer
(W
atts
)
Forward Velocity (m/s)
Power vs Forward Velocity (All Rotors)
Power Required
Induced Power
Profile Power
Parasite Power