final design review project firefly

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

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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1. Project Overview






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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• Liquid methane lakes and

subsurface ocean

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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• Schedule slide due to COVID-19

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1. Project Overview







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

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


1. Project Overview


3. Trade Study and Verification Plan





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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1. Project Overview






7. Landing Platform Configuration


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

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

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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1. Project Overview




5. Analysis (MATLAB, FEA, CFD, Trade Studies)



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

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

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

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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1. Project Overview







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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https://www.youtube.com/watch?v=b9sQo13xUGQ

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

Entry Configuration

• Firefly enters atmosphere below landing platform

• Entry Cone separates after deploying parachutes

• Firefly deploys during descent

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

final design review project firefly

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