Unmanned Multirotor Applications with Renewable Energy Systems for Variable Environments

Wayne Yandell1 and Joshua Danny2

Haskell Indian Nations University

Gabriel Brien3 Turtle Mountain Community College

Kirsch Davis4

Navajo Technical University

Jessica William5 Northwest Indian College

Fayetta Clawson6

Navajo Technical University

Nomenclature

APM = APM mission plannerCC = clockwiseCCW = counter-clockwiseFPV = first person viewkv = brushless motor revolutions per minute generated per voltmA = milliampsMV = multirotorNART = Native American Research TeamREQS = Renewable Energy Quadrotor SystemRotCFD = Rotor Computational Fluid Dynamicsrpm = revolutions per minuteUAV = unmanned aerial vehicle

I. AbstractApplications of Unmanned Aerial Vehicles (UAVs) have typically been restricted to short term, limited range fly-

by missions. Fixed-wing UAVs tack the limits of mission range; however, these have less maneuverability and adaptability than multirotor systems. These UAVs cannot monitor many types of systems because of limited maneuverability and necessity for recharging or refueling at a home base. Multirotor (MV) UAVs solve the maneuverability problem; however, they have their own drawbacks of limited range and on-station time due to motors and equipment that rely upon batteries. As a solution to meet these problems, data acquisition in difficult areas, and limited flight time, the Native American Research Team (NART) has designed, simulated, and tested aspects of a proof-of-concept MV model with integrated solar and wind technology designated REQS or Renewable Energy Quadrotor System. Autonomous operations as well as human-controlled operation are also key features of this concept for long term, long range missions with and without human interaction.

1 Student, Mathematics, Haskell Indian Nations University2 Student, Aerospace Engineering, Haskell Indian Nations University3 Student, Civil Engineering, Turtle Mountain Community College4 Student, Renewable Energy and Electrical Engineering, Navajo Technical University5 Student, Information Technology, Northwest Indian College6 Student, Industrial Engineering, Navajo Technical University

1

II. MissionDesign a functional unmanned aerial vehicle to perform extended, autonomous operations in a variety of

conditions and environments.

III. Mission RequirementsThe specifications required by REQS fell into a series of systems and sub-systems.

Systems and Sub-system Requirements

Airframe Able to perform mission in wide-ranging precipitation, temperature, and wind environments Capable of landing in multiple environments Durable Compact, light, and easy to transport Cargo capacity of 10 pounds At least 100 square inches of storage/mounting space

Propulsion Extended flight and mission range Redundancy Reliability

Navigation and Control Autonomous flight capability Stable flight in hover and directional flight Human control override capability at all distances and conditions during flight Capable of being controlled through on-board cameras Cruise speed of 10 mph Maximum speed of 15 mph Maneuverable

Renewable Energy Ability to find energy from sources that would not require human intervention Energy efficient Multiple energy sources Minimal recharge time

Data Acquisition Multiple sensors Multiple sensor mounting areas Visual data acquisition capabilities

IV. Baseline Concept and AlternativesA Renewable Energy Quadrotor System (REQS) design was chosen to test the feasibility of renewable energy

systems on unmanned multirotors to answer the problems in varying terrains and restrictive conditions. The REQS is a step toward energy sustainable machines and an alternative approach to scientific exploration. This concept combines both MV/UAV technology and renewable energy, which results in indefinite range for the vehicle and a variety of data acquisition possibilities. The REQS will use an integrated system of sustainable energy generators to prolong flight time by charging the batteries while in flight and charging the batteries when landed and preparing for the next flight leg. The appendices contain information about each piece of equipment selected.

2

Decision and AlternativesTo determine the best design for a variable environment vehicle which would meet the mission requirements,

comparisons between various type of aircraft and available systems were made.

Fixed-wing or rotary-wing?

The advantages of fixed-wing aircraft over rotorcraft for renewable energy integration: Higher Fuel/energy efficiency through lift from wings requiring only energy discharge for horizontal movement, higher forward velocity, able to carry large payloads.

Advantages of rotary-wing vehicles over fixed-wing: Low-energy vertical take-off and landing, efficient hover capability, ability to change direction of flight in short time/space, handling capabilities in low airspeeds.

Rotary-wing, but what kind?

Helicopter: low number of motors leverages energy efficiency, auto-rotational capability for recovery, highest stability in wind, lower vibration, lower cost, variable-pitch necessity requires mechanical complexity, lack of usable surface area for renewable energy systems mounting, lower payload capacity.

Multirotor(MV): higher payload capacity, mechanical simplicity, extensible mounting area, more able to withstand collisions, compact-able for transport, able to maneuver in tighter spaces.

For variable environments and renewable energy systems mounting, MVs make most functional sense.

Multirotor(MV) Options

Tricopters: least cost-prohibitive, simple construction, least stable, not as robust (tail servo and mechanics), low lifting power and flight time (because the motors have to run faster to hold it all in the air). No engine out capability. Low-medium surface area for mounting.

Quadcopters: mechanically simpler, nearly 1/3 more lift, more stable (no servo issues), longer flight time (they can either lift larger batteries or fly more economically because the weight is spread across 4 motors and not just 3). Still no engine out capability. Medium-large surface area for mounting.

Hexacopters: similar pros to quadcopters, plus more power and more lifting capability, limited engine out capability, though larger and more cost-prohibitive. Medium-large surface area for mounting.

Octocopters and heavier: similar pros and cons to hexacopters, plus true engine out ability, especially large and cost-prohibitive, high power consumption requiring large or multiple battery/fuel systems, large area for renewable energy system and instrumentation.

Decision: REQS, a Renewable Energy Quadrotor System

For the purpose of this mission and determining feasibility of future applications, a quadrotor system was chosen as containing the most dimension to perform according to the mission requirements and being least space-, complexity-, and cost-prohibitive. From this finding, a choice of specific quadrotor frames was narrowed down to a stretched 'X-frame' or and an 'X-frame'. An "H"-frame (Figure 1) configured quadcopter would best fulfill mission requirements. Its large platform offered ample space for an FPV system, for the electronics, the sensors, the wind turbines, and the solar panels.

3

Figure 1. REQS Concept Design without Solar Panels

The rotors in this configuration are arranged as opposite pairs. One pair of rotors rotate clockwise and the other pair rotate counterclockwise. This configuration (Figure 2) cancels torque when all rotors are revolving at the same speed.

Figure 2. Motor Position and Propeller/Rotor Rotation

Pitch is achieved by adjusting the power of the front rotor pair relative to the rear pair. If the rear pair is rotating faster than the front, the MV will pitch forward and vice versa. The MV will move in the direction of the negative pitch.

4

Yaw is achieved by having dissimilar rotation between diagonal rotor pairs. Roll is similarly achieved by dissimilar rotation between the right rotor pair and the left rotor pair.

V. Proof of Concept TestingThe NART decided that constructing a proof of concept scaled model at 50%, would help us determine the overall

feasibility of a sustainable electric powered UAV quadcopter. The proof of concept design will have to be as light in weight as possible, aerodynamic, energy efficient, self-sustaining, mechanically simple and highly maneuverable.

Airframe With these design parameters, the “H” shaped frame quad copter design was chosen due to its high degree of

stability, and large instrument mounting platform area. NART built the “H” shaped frame out of ¾ inch thick wood planks and 3/16” birch plywood to determine if we had adequate space to place all of our electronics. The frame model dimensions are 24" X 36" with a top deck area of 144 square. The “H” shaped frame was stable and rigid enough for a proof-of-concept test platform (Figure 3Figure 3. "H" Frame with Loopwing Wind Turbines).

Figure 3. "H" Frame with Loopwing Wind Turbines

PropulsionThe motors were, Cobra C-3525-18 Brushless, which have a relatively low power draw of 430 kv that would still

meet the lift standards. Rotors/propellers were Xoar 18x8 PJT Hollow Carbon Fiber Propellers which give increased lift by being larger, having a greater pitch and slower rpm. Using these would further minimize the battery draw by reducing motor revolutions.

Navigation and ControlLong range control of the craft was a functional requirement. Research indicated that a Long-range control requires

feedback from the REQS in order to track its position and other flight data. The REQS proof-of-concept will utilize open source autopilot technology to transmit telemetry data, receive GPS, and autonomously provide stable flight. A typical autonomous flight using Mission Planner (APM) enables users to create waypoints and to command REQS to perform certain actions such as holding altitude, loitering at a way point, auto-takeoff, and auto-landing. Other features of APM are:

Point-and-click waypoint entry, using Google Maps. Select mission commands from drop-down menus Download mission log files and analyze them Interface with a PC flight simulator to create a full hardware-in-the-loop UAV simulator. See the output from APM's serial terminal

At any time during the mission a human pilot can take command and have REQS respond to orders from the pilot. The NART elected to obtain visual data from REQS by integrating a 4G capable cell phone that would give video footage, and would provide virtually unlimited range depending on cell tower relay. An Arducopter () utilizing the APM autopilot Figure 4 was used for mission planning and flight testing.

5

Figure 4. APM Wiring Configuration

Renewable energy The arms and the top platform will be equipped with solar cells to charge the on-board batteries. During the

landing phase while REQS is immobile, it will enter a charging state and prepare itself for flight once again. The battery that generated the highest power to weight ratio, and had the longest life was a Turnigy nano-tech 6000mah 4S 25~50C Lipo Pack battery. To complete the sustainable cycle, and to give the quad the overall recharging ability a combination of both solar panels and wind turbines was used. The solar panels were the very light 6.7 V 30 mA Micro Power! BEAM Solar Battery Solar Panels. Efficient radiance of solar cells in a area 3.5"x10.6" operate at 7.2 volts and 100 mA. The total area of cells (8) on the test model give an area of 28"x85" providing an output wired in parallel of 800 mA at a maximum state of charge to the battery of 7.5 hours and weighing a 6.8g. Given the inefficiency of available solar panels relative to the amount of sunlight they receive, multiple units had to be linked in order to generate maximum output. Additional power sources were small loopwing wind turbines on top of the main platform. The loopwing was chosen for the design, because the loopwing blades create no tip vortices. These wind generators were Loopwing Windpower kits, would generate power effectively in relatively light winds. Furthermore, the turbines were only 6 inches high, and after some modification they were able to be mounted to the frame. Integrating the wind turbine into the design changed REQS aerodynamic structure. RotCFD is used in the rotorcraft industry as a design tool that can carry out aerodynamic simulations. Additional analysis was done with RotCFD by running simulation for REQS in order to view the simulated flow dynamics for the wind turbine placement. Of primary concern was potential flight degradation because of the loopwing rotor wash. RotCFD indicated that the loopwing creates minimal wake vortices therefore not substantially impacting the flight motors lifting capabilities (Figure 5Figure 5. Velocity Vectors for REQS while at Hover and Figure 6Figure 6. Velocity Pressures for REQS during Forward Flight)

6

Figure 5. Velocity Vectors for REQS while at Hover

Figure 6. Velocity Pressures for REQS during Forward Flight

Data AcquisitionTwo Arduino sensor systems were built to mount on REQS, a temperature and a barometric pressure sensor (

Figure 7. Arduino Temperature Sensor Build

Furthermore, an off-the-shelf data logging instrument from T and D Corporation, the TR-74Ui fit the mission requirements for measuring temperature, humidity, UV and irradiance (Figure 8).

7

Figure 8. TandD TR 74Ui Module

VI. Technical Challenges and Design ConsiderationsAs the project progressed, the NART members began to understand the complexities involved. Each system and

subsystem needed to be analyzed in greater detail and a testing process needed to be developed for each. Questions for each system need to be examined. Here are several.

AirframeDurabilityProtection from the elementsReparability

PropulsionPower consumption versus power generationWhat if a motor fails?Motor, battery, electric speed controller matching

Navigation and ControlRadio and video transmission and reception range verification for manual controlObstacle avoidanceAircraft avoidanceWhat if the GPS fails?What if a motor fails?

Renewable energy Power consumption versus power generatedCharging times

Data AcquisitionOn-board storage versus data transmissionSensor robustness

VII. Future Work This research has determined the likely feasibility of renewable energy system implementation on small to medium

sized unmanned MVs. Some of the applications and future research possibilities inspired by this study are as follows.

8

A. Arctic Data AcquisitionWith design customizations in the form of glacier or water based landing system and a reinforced payload housing,

valuable and high demand scientific data can be acquired at a much lower cost than limited human based expeditions and at much greater depth than current fixed-wing UAV options especially in spring to early summer months where solar irradiance is at its highest and the days are almost literally without end, allowing for quick recharge times and more missions per day. Instrumentation can be attached to specialized REQS(Renewable Energy Quadrotor System) for land and air data acquisition to monitor and model thawing permafrost and resulting carbon releases as well as glacial ice deterioration. Also, with sampling capabilities and integrated photo-acoustic sensors, a REQS could gather data over large areas of the arctic for modeling concentrations and effects of black carbon in arctic ecosystems and their global implications. Due to their implied design maneuverability, FPV(First Person View) options, and ability to recharge for multiple missions from wind(with scaled loopwing customized for frozen particle winds) and/or solar energy, REQS can also be utilized to map deep and complex underwater rock formations allowing for determination of arctic oil reserves, collect baseline data, and assist in the mapping of coastal and near shore environments, as well as collecting terrestrial imagery and elevation data. Infrared sensors could be outfitted on the REQS to track behaviors of elements in arctic ecosystems.

B. Planetary Surface ExplorationThe varying and inhibitive topographies of planetary surfaces present an array of challenges to any land-based data

acquisition system which can be mechanically complex or in certain cases implausible to overcome. A low altitude multirotor system like a REQS could be customized—such as components designed for specific thermal and pressure ranges, proprietary energy storage, wind turbines with self-stalling and dust combative components for various particle laden winds such as on Mars—and utilized to navigate at low altitudes and collect data above or on the surface over large distances of variable environments with its “hop-charge/collect-hop” capability. Similarly, with varying air densities, gravity, and solar irradiance, the integration of wind and solar charging makes a REQS much more adaptable for both surface and subterranean exploration especially with multiple energy storage systems and implementation of advanced wind and solar technology. A REQS equipped with variable-pitch actuators and propellers could operate under high duress and with formidable maneuverability in high velocity winds as well as utilize autorotation in original landing and in the event of motor failure or energy disruption in flight. Recently developed optical sensors and autonomous flight control systems such as those tested on both a small-scale RC helicopter and an auto-piloted UH-60 Blackhawk including obstacle mapping and evasion and safe landing area determination would allow programming of long term autonomous navigation and data acquisition missions for virtually any kind of surface where rotorcraft can fly with surface-specific landing gear.

C. Agricultural Monitoring and ResponseA REQS could serve as an all-in-one agricultural monitoring system. With set mission parameters, the REQS

could be implemented to fly scheduled autonomous missions with instrumentation to detect healthy growth, solar irradiance, moisture, anhydrous ammonia, carbon dioxide, etc. and even be outfitted with a nutrient delivery system. With only off-the-shelf components including battery and free mission planner, a REQS could be scheduled to run two to six missions per day over 6 km each while recording and transmitting data between land recharges, requiring little to no interaction from an operator within the lifespan of the battery for months of completely autonomous monitoring and support of crops. Similarly, a REQS could be instrumented to autonomously monitor behavior or health of livestock at a similar or higher frequency of fly-by data collection missions.

D. Disaster ResponseWith the low noise and maneuverability of small multirotors, a REQS could provide quick data support to

emergency responders on the ground at varying altitudes. Typical data acquisition by manned helicopters is loud as well as disruptive to the ground and altitude limits restrict collection of some data which are all mitigated by the utility of a single, small instrumented REQS or a team of coordinated REQS providing data urgently for the greatest aptitude of life preservation. Hazard-resistant REQSs could be deployed rapidly on arrival with gps and remote telemetry with obstacle evasion to perform hovering or translational flight maneuvers in rural or urban environments to collect precise data in or around hurricane or tornado disaster zones or virtually any event from fires to firefights with proprietary solar and wind technology, multiple/capacious batteries, or fuel cells requiring little recharge time between missions at a cost much lower than requisition of manned helicopters or commercial UAVs.

9

E. Short Range DeliveryA weather resistant REQS could prove to be a valuable asset for both public and commercial local delivery. With large propellers and low KV motors as well as basic GPS way-point navigation and a servo release or mounting system, a REQS could carry a rather large payload to a destination and return or make multiple low-mid weight deliveries on a single charge before recharging for the next flight. Lower altitude navigation may require the use of obstacle detection/evasion and for complete autonomy, a landing zone detection system. This would be most effective with a “team” of off-the-shelf constructed REQSs which would be much quicker and cost-effective than delivery by automobile by person for various products. This kind of delivery could also gather data geographical market penetration or automated marketing solutions such as leaving brochures in a novel and inexpensive way. Additionally, a REQS could be instrumented with modem-router configurations to act as a ground, roof, or even air based hotspot, delivering connectivity to devices in range or acting as part of a daisy-chain network replacing implausibility of permanent equipment mounting or providing greater portability and maintenance access than a permanently mounted system often requiring medium- to high-risk, i.e. cost-prohibitive maintenance solutions which are power- and attention-intensive.

VIII. Concluding RemarksTo meet the demands of scientific and public communities, the NASA Ames Native American Research Team has

designed a proof-of-concept model of an unmanned multirotor with integrated renewable energy systems. This advancement allows for further research in environments of varying hazards and terrains. The simulations and proof-of-concept have determined that it is feasible to implement renewable energy systems on scalable multirotor systems to achieve greater distances and extensible mission parameters than current UAV configurations. With increased longevity of flight and mission distance through its “hop-charge/collect-hop” paradigm, REQS could be implemented to collect data or deliver resources for human-inhibitive environments or as supplements to human gathered intelligence. Further research into lightweight and efficient renewable energy systems positioned outside the vortexes of the propellers, as well as frame/design, would allow for additional broad-reaching applications and eventuality of completely sustainable unmanned aerial labs. These would have particular benefits in environmental research, aerospace exploration, and even day-to-day public life.

IX. AcknowledgmentsThe Native American Research team would like to extend big thank you to all of our mentors, NASA Ames

Research Center, our fellow interns, and all those who helped make this project possible. There are so many people to thank and acknowledge for their role in making this project come together and the experience enjoyable.

Without the guidance and jovial care of Dr. Bill Warmbrodt, Chief of the NASA Ames Aeromechanics Branch, this project would have been impossible. Not just in the sense that without his approval and agreement to offer all of the aeromechanics branch interns to have a place, subject, and opportunities to study and enjoy, but that his personal attention and good nature inspired us to do our best.

Gary Brandt, our team mentor and esteemed educator at Northwest Indian College, represented and supported us in ways no one else could have. His positive attitude, expertise, and consideration for modern indigenous strengths and struggles gave NART its back-bone and kept us showing up each morning though we were often anxious and self-effacing. Whenever we got into trouble or pulled something off that seemed almost expertly, Gary’s genius, kindness, and grin were present.

Larry Young, an engineer of NASA Ames Aeromechanics Branch, gave us gentle advice and pushed us to be creative in our research endeavors. Every week he met with us and shared his work as well as good will and the fundamentals of being an engineer. His meetings and notes shared with NART what life is like as an engineer at NASA: the privileges, excitement, and realities, and how to be good at it.

To share our journey and provide numerous angles of assistance and concepts, Needa Lin, a Mechanical Engineering student from UC Davis and an experienced Aeromechanics intern, was with us the whole way. Though she already maintained a heavy workload of summer school and projects of her own, Needa took time out of her long days to push and prod our designs, offer solutions and new ways of thinking, and learn new renewable energy and aerodynamic concepts alongside us.

Similarly, Sumeet Singh, Willie Costa, and Natalia Larrea Brito shared their aerodynamic insights and research with us, giving us just what we need to keep moving forward with our designs and the possibilities.

10

Acknowledgments and thanks to Kurt Long and the gang at the Fluid Mechanics Lab including but not limited to Hannah Spooner, Katrina Hui, and Mike Harrington for their hospitality, attitudes, and support of our experiments in NASA Ames Fluid Mechanics Lab.

As current undergraduate students we would like to thank staff at our respective universities for their help and encouragement: Dr. Dan Wildcat and Lucas Miller with Haskell Indian Nations University, Dr. Jim Davis and Audrey Lavallie with Turtle Mountain Community College, Heather Yazzie Kinalchini and Dr. Casmir Agbaraji with Navajo Technical College, and Nathanael Davis with Northwest Indian College.

Finally, it has been our honor to participate in the Tribal College Undergraduate Program as members of the Native American Research Team. Our gratitude and esteem go out to Alex Grandon and supporting members of the American Indian Higher Education Consortium which granted us support and allowed us the opportunity to research at NASA Ames Research Center.

Works citedCareaga, Andrew. “New method for connecting solar panels may increase efficiency.” Missouri S&T News &

Events. Web. Jul 26, 2013.DIY DRONES. “DIY Drones The Leading Community for Personal UAVs.” DIY Drones. n.d. Web. 28 Jul 2013.Engi-nerd-extraordinaire. “Quad rotor Propulsion System.” Engi-nerd extraordinaire. n.d. Web. 28 Jul 2013Hoffman, G.; Huang, H., Waslander, S.L., Tomlin, C.J. (20–23 August 2007). "Quadrotor Helicopter Flight

Dynamics and Control: Theory and Experiment". In the Conference of the American Institute of Aeronautics and Astronautics. Hilton Head, South Carolina.

Jethro Hazelhurst. “Typical Quadcopter Layout.” Arducopter Image. Arducopter, connecting you RC input and motors. 28 Jul. 2013.

 Pounds, P.; Mahony, R., Corke, P. (December 2006). "Modelling and Control of a Quad-Rotor Robot". In the Proceedings of the Australasian Conference on Robotics and Automation. Auckland, New Zealand.

Powerfilm Solar. “Thin, Flexible Solar Panels Keeping the power of Film/RC7/2-75 PSA.” n.d. Web. 27 Jul. 2013.Rotorcraft Flying Handbook. U.S. Department of Transportation Federal Aviation Administration Flights

Standards Service. 2000 Print.

11

Appendix I. Autopilot

The ArduPilot Mega 2.5 is a complete open source autopilot system and the bestselling technology that won the prestigious 2012 Outback Challenge UAV competition. It allows the user to turn any fixed, rotary wing or multirotor vehicle (even cars and boats) into a fully autonomous vehicle; capable of performing programmed GPS missions with waypoints. Available with top or side connectors.

Please note that this listing is for the APM with on board compass, thus compatible with the Mediatek GPS only (also compatible with the previous version of the 3DR GPS uBlox LEA-6 without compass).

FeaturesArduino Compatible!Can be ordered with top entry pins for attaching connectors vertically, or as side entry pins to slide your connectors

in to either end horizontallyIncludes 3-axis gyro, accelerometer and magnetometer, along with a high-performance barometerOnboard 4 MegaByte Dataflash chip for automatic dataloggingDigital compass powered by Honeywell's HMC5883L-TR chip, now included on the main board.Optional off-board GPS, Mediatek MT3329 or uBlox LEA-6H module. Mediatek module included in base price;

choose other options at right (subtract $20 for no GPS or add $50 for the better uBlox module)One of the first open source autopilot systems to use Invensense's 6 DoF Accelerometer/Gyro MPU-6000.Barometric pressure sensor upgraded to MS5611-01BA03, from Measurement Specialties.Atmel's ATMEGA2560 and ATMEGA32U-2 chips for processing and usb functions respectively.

12

Appendix II. BatteryBatteryMore than just a fancy name. TURNIGY nano-tech lithium polymer batteries are built with an LiCo  nano-

technology substrate complex greatly improving power transfer making the oxidation/reduction reaction more efficient, this helps electrons pass more freely from anode to cathode with less internal impedance.

In short; less voltage sag and a higher discharge rate than a similar density lithium polymer (non nano-tech) battery.For those that love graphs, it means a straighter, longer curve. For pilots it spells stronger throttle punches and unreal straight-up performance.  Excellent news for 3D pilots!

Unfortunately with other big brands; numbers, ratings and graphs can be fudged. Rest assured,TURNIGY nano-techs are the real deal, delivering unparalleled performance!

Spec.Capacity: 6000mAhVoltage: 4S1P / 4 Cell / 14.8VDischarge: 25C Constant / 50C BurstWeight: 623g (including wire, plug & case)Dimensions: 175x49x38mmBalance Plug: JST-XHDischarge Plug: 4mm bullet-connector

13

Appendix III. Camera

Camera – Droid Incredible 4g lite

Product InformationA powerful 1.2 GHz dual-core processor makes the HTC Droid Incredible 4G LTE smartphone adept at crunching

through graphically intensive games. Operating on Android 4.0 OS, this HTC cell phone supports a wide range of applications. Thanks to the 4-inch capacitive multi-touch display of this smartphone, you can easily navigate your way through its highly versatile options or enjoy your favorite game to the fullest. This HTC cell phone�s 8 MP camera lets you capture your memorable moments on the spur. Be it staying in the loop with push email or chatting with friends on WhatsApp and Facebook, the HTC Droid Incredible 4G LTE has it all.

Product IdentifiersBrand HTCMPN ADR6410LCarrier VerizonModel Droid Incredible 4G LTEUPC 044476822124Type SmartphoneKey FeaturesStorage Capacity 8 GBColor BlackNetwork Generation 4GNetwork Technology LTECamera 8.0 MPMemorySupported Flash Memory Cards MicroSD, MicroSDHCBatteryBattery Capacity 1700 mAhDisplayDisplay Technology HD Super AMOLEDDiagonal Screen Size 4 in.Other FeaturesTouch Screen YesBluetooth YesDigital Camera YesGPS YesEmail Access YesInternet Browser YesSpeakerphone Yes

14

Appendix IV. Electronic Speed Controller (ESC)

I. Cobra 33 Amp Speed Controller Specifications: Weight (With Output Connectors) ................. 37.1 grams (1.31 oz) Max Continuous Current ............................................... 33 Amps Burst Current rating (15s) ............................................. 41 Amps Operating Voltage Range ......................................... 6 to 17 Volts Number of Li-Po cells ................................................. 2 to 4 cells Number of Ni-XX cells .............................................. 6 to 12 cells Number of Li-Fe cells ................................................. 2 to 4 cells BEC Output .................................................. 3 amps @ 5.5 Volts ESC Size (inc. Caps) ........ 56 x 25 x 10mm (2.20 x 0.98 x 0.39 in)

15

Appendix V. Propeller/Rotor

GemFan Paddle Style Propeller

These carbon fiber DJI S800 style props have a 3-hole hub configuration to fit on the DJI S800 or any of the RcTiger MN series motors.

Come as a pair, one right and one left rotation.

As with any propeller for your UAV these propellers should be balanced to reduce vibration, balancing will improve flight characteristics, motor performance, provide clearer, cleaner photo and video results.

These Propellers have a low pitch, paddle style configuration to improve efficiency.

Weight: 24 grams 

16

Appendix VI. GPS

u-blox 6 GPS, QZSS, GLONASS and Galileo modules

LEA-6 modules bring the high performance u-blox 6 position engine to the industry standard LEA form factor. u-blox 6 has been designed for low power consumption and low costs, independent of which satellite constellation is used (e.g. GLONASS, Galileo). Intelligent power management is a breakthrough for low-power applications. The versatile, standalone LEA-6 receivers combine an extensive array of features with flexible connectivity options. Their ease of integration results in fast time-to-market for a wide range of automotive and industrial applications.

LEA-6 modules work with all available satellite positioning systems: LEA-6H is ready to support the European Galileo system via a simple firmware upgrade; LEA-6N combines full feature GPS performance with the QZSS regional satellite system. LEA-6N also targets the Russian market, featuring the lowest power GLONASS functionality in the industry, and is designed for ERA-GLONASS.

17

Appendix VII. Solar Cell

This unit is equipped with a Pressure Sensitive Adhesive or (PSA) backing. Simply expose the adhesive layer, by removing the protective film on the backside, and firmly place this solar cell on the wing or fuselage of your airplane.

Voltage     7.20V Current     100mA (0.10A) Voltage (oc)     10.5V Current (sc)    120mA (0.12A) Thickness     0.2" Total Size     3.5 x 10.6" Aperture Size     3.0 x 9.5" Weight     0.3 oz

18

Appendix VIII. Telemetry

The RFD900 is a high performance 900MHz, ISM band radio modem covering the 902 - 928 MHz frequency band.  It is designed for long range serial communications applications requiring best in class radio link performance

Key features:Long range >40km depending on antennas and GCS setup2 x RP-SMA RF connectors, diversity switched.1 Watt (+30dBm) transmit power.Transmit low pass filter.> 20dB Low noise amplifier.RX SAW filter.Passive front end band pass filter.Open source firmware / tools, field upgradeable, easy to configure.Small, light weight.Compatible with 3DR / Hope-RF radio modules.License free use in Australia, Canada, USA, NZ.

Specifications:Frequency Range:  902 - 928 MHz (USA) / 915 - 928 MHz (Australia)Output Power: 1W (+30dBm)Receive Sensitivity: >121 dBm at low data rates, high data rates (TBA)Size: 30 mm (wide) x 57 mm (long) x 12.8 mm (thick) - Including RF Shield, Heatsink and connector extremetiesWeight: 14.5gMounting: 3 x M2.5 screws, 3 x header pin solder pointsPower Supply: +5 V nominal, (+3.5 V min, +5.5 V max), ~800 mA peak at maximum powerTemp. Range: -40 to +85 deg C

19

Appendix IX. Brushless Motors

TIGER MOTOR MN4010-11 475KV NAVIGATOR SERIES

The Tiger T-Motor MN-4010-11 475kv multi rotor motor is a powerful motor specifically designed for multi-rotors. All MN/MT Motors come with prop adapters included.

20

Appendix X. Loopwing Wind Turbine

The perfect kit to learn some basic engineering principals while having eco fun! The windmill features a loop-wing design that can be rotated by the slightest breeze.

Loopwing Wind Turbine achieves high safety, low noise and low vibration.The Kit comes with everything includes motor, mini charge car, wind turbine and English manual.

After assemble size: 9 inches x 9 inches x 10 inches

21