CryohawkCryohawk

Half-scale Demonstrator of a CReSIS Half-scale Demonstrator of a CReSIS Polar Exploration UAV ConceptPolar Exploration UAV Concept

Richard Colgren – KUAERichard Colgren – KUAE

Meeting 97, Aerospace Control and Guidance Systems CommitteeMeeting 97, Aerospace Control and Guidance Systems Committee

artist’s concept

RoadmapRoadmap

BackgroundBackground Intro to CReSISIntro to CReSIS KU UAV BackgroundKU UAV Background Sensor PayloadSensor Payload RequirementsRequirements Mission ProfileMission Profile Updated DesignUpdated Design

½ Scale ½ Scale DemonstratorDemonstrator AE 721 Student TeamAE 721 Student Team AE 510 Student TeamAE 510 Student Team PSU Team and OthersPSU Team and Others GoalsGoals Current DesignCurrent Design ChallengesChallenges

Intro to CReSISIntro to CReSIS

Science-driven technology developmentScience-driven technology development Focused on mapping ice-sheet Focused on mapping ice-sheet

characteristicscharacteristics Antarctica and Greenland missions in Antarctica and Greenland missions in

years 3 through 5years 3 through 5 Established by NSFEstablished by NSF

For more info, go to cresis.ku.edu

UAV Lab UAV Lab Objectives: Objectives:

Develop, test and demonstrate single and multiple Intelligent UAV concepts and systems for use in defense, scientific and commercial applications.

Unmanned Aerial Vehicles

- Edge 540 T High Alpha CFD/Test Program

- Hawkeye UAV Program/SAE Competition- J-3 Cub Instrumentation Project- Ultra Stick R/C Airplane Obstacle Avoidance

- Visual Based-Obstacle Avoidance Project

- NSF CReSIS Center Phase I - Preliminary Design Developed Phase II - GNC System Designed Phase III - Flight Demonstrations

Kansas NASA EPSCoR ProgramKansas NSF EPSCoR ProgramAutonomous Rotorcraft Project

Phase I Raptor 50 Flight Test FamiliarizationPhase II RMAX Flight Test Data CollectionPhase III RMAX Autonomous Flight

Hardware ValidationPhase IV RMAX Software ValidatedPhase V Cooperative Flight Demonstrated Raptor 50 Leader/Follower, R-Max

Rotorcraft Fixed Wing

KU Fixed Wing UAVsKU Fixed Wing UAVs

Edge 540 TSAE Heavy-Lift

Polar UAV

1/3 Scale J-3 Cub

Ultra Stick

Hawkeye

KU Rotary Wing UAVsKU Rotary Wing UAVs

Yamaha RMAX and Raptor 50 Helicopters

KU Hypersonic Vehicle KU Hypersonic Vehicle StudiesStudies

Generic Hypersonic VehicleGeneric Hypersonic Vehicle Navy Hypersonic Vehicle StudyNavy Hypersonic Vehicle Study Supersonic Flows with Injected Streams - NASASupersonic Flows with Injected Streams - NASA

Aviation Simulation Technology Inc.14802 W. 114th TerraceLenexa, KS 66215 USA

AST-4000 Flight Simulator AST-4000 Flight Simulator SpecificationsSpecifications

AST-4000 Flight SimulatorAST-4000 Flight Simulator

KU Hypersonic Vehicle KU Hypersonic Vehicle SimulationSimulation

CCll Versus Versus & Mach & Mach

NumberNumber

521-58-419-

46-318-34-

28-26-

23-6-

4-2-1-l

103.353-M107.419103.803

M106.462-108.964-M102.219

M)(101.044-102.354

M103.794-M)(108.596

10 7.590 - M 10 3.326 10 1.402- C

-0.025001512

-0.023501510

-0.02200158

-0.02050156

-0.01900154

-0.01750152

-0.01600150

-0.030001012

-0.028751010

-0.02750108

-0.02625106

-0.02500104

-0.02375102

-0.02250100

-0.04500612

-0.04375610

-0.0425068

-0.0412566

-0.0400064

-0.0387562

-0.0375060

-0.06400412

-0.06250410

-0.0610048

-0.0595046

-0.0580044

-0.0565042

-0.0550040

ClBM

-0.025001512

-0.023501510

-0.02200158

-0.02050156

-0.01900154

-0.01750152

-0.01600150

-0.030001012

-0.028751010

-0.02750108

-0.02625106

-0.02500104

-0.02375102

-0.02250100

-0.04500612

-0.04375610

-0.0425068

-0.0412566

-0.0400064

-0.0387562

-0.0375060

-0.06400412

-0.06250410

-0.0610048

-0.0595046

-0.0580044

-0.0565042

-0.0550040

ClBM

Look-up table

MATLAB Routine (FITTER)

Original Graph

Analytical Expression

% This routine is written in order to find the best fitting equation for [m,n]=size(A);if(n<4) % For the basic vehicle evaluation, no control surface. newA(:,1:2) = A(:,1:2) ; newA(:,3) = [0] ; newA(:,4) = A(:,3) ; A = newA ;end alpha = A(:,1) ; mach = A(:,2) ; cs = A(:,3) ; val = A(:,4) ; t = size(mach) ; cof = size(27,10) ;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%---1st---%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% j = 1 ; X = [ones(size(val)) (alpha) (mach) (cs) ] ; % The first prediction for the aerodynamic equation con = X\val ; Cof(1:size(con),j) = con(:) ; newval = X*con ; Err = newval- val ; perf(j) = sse(Err,X) ; % The sum of squares due to error. % This statistic measures the deviation of the responses from the fitted values of the responses. % A value closer to 0 indicates a better fit. % pause%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%---2nd---%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% j = j+1 ; X = [ones(size(val)) (alpha) (mach) (cs) (alpha).^2 (mach).^2 (cs).^2 ] ; % The 2nd prediction for the aerodynamic equation con = X\val ; Cof(1:size(con),j) = con(:) ; newval = X*con ;

MATLAB Simulation FORTRAN Simulation

Trajectory

0

20000

40000

60000

80000

100000

120000

0 5 10 15 20 25

Mach Number

Alt

itu

de Accent

Level flight

Descent

UAV Sensor PayloadUAV Sensor Payload Depth-sounding radarDepth-sounding radar Surface-scanning lidarSurface-scanning lidar Other sensorsOther sensors

Bedrock

Ice Sheet

artist’s concept

UAV Sensor PayloadUAV Sensor Payload Depth-sounding radarDepth-sounding radar Surface-scanning lidarSurface-scanning lidar Other sensorsOther sensors

Bedrock

Ice SheetRadar

UAV Sensor PayloadUAV Sensor Payload Depth-sounding radarDepth-sounding radar Surface-scanning lidarSurface-scanning lidar Other sensorsOther sensors

Bedrock

Ice SheetRadar

Lidar

UAV RequirementsUAV Requirements

175 lb payload175 lb payload Radar antenna array (14 ft by 2.5 ft)Radar antenna array (14 ft by 2.5 ft) 6,000 km (3,200 nm) round trip6,000 km (3,200 nm) round trip 1 km (3,300 ft) AGL for survey1 km (3,300 ft) AGL for survey 126 knots for survey (155 knots 126 knots for survey (155 knots

cruise)cruise) Jet or Diesel fuel preferredJet or Diesel fuel preferred

Mission Profile (Greenland)Mission Profile (Greenland)

Taxi / takeoff / climbTaxi / takeoff / climb Cruise 200 nm to glacierCruise 200 nm to glacier Conduct surveyConduct survey

Local surveyLocal surveyoror

Regional survey Regional survey Return cruise to baseReturn cruise to base Land / taxiLand / taxi

Mission 1 Profile (Antarctica)Mission 1 Profile (Antarctica)

Taxi / takeoff / climbTaxi / takeoff / climb Cruise 1,350 nmCruise 1,350 nm Conduct surveyConduct survey

Local surveyLocal surveyoror

Regional surveyRegional survey Return cruiseReturn cruise Land / taxiLand / taxi

Redesign – Full Scale Redesign – Full Scale ConceptConcept

Low wingLow wing Larger center wingLarger center wing More detailsMore details

Antennas, etc.Antennas, etc.

artist’s concept

Full Scale SizingFull Scale Sizing

(W/S)TO = 22.43 lb

ft2

(W/P)TO = 19.9 lbhp

(W/S)TOlb

ft2

(W/P)TO

lb

hp

10.00 41.67 73.33 105.00 136.67 168.33 200.00

80.0

72.0

64.0

56.0

48.0

40.0

32.0

24.0

16.0

8.0

0.0

CLmax

L

= 1.80

CLmax

L

= 2.80

CLmax

L

= 3.80

CLmax

TO

= 0.93 CLmax

TO

= 1.93 CLmax

TO

= 2.93

Take-off Distance T = -30 deg FMaximum Cruise Speed Sustained g / Turn Rate Landing Distance T = -30 deg FOEI-RC: FAR 23.67.a

(W/S)TO = 22.43 lb

ft2

(W/P)TO = 19.9 lbhp

(W/S)TOlb

ft2

(W/P)TO

lb

hp

10.00 41.67 73.33 105.00 136.67 168.33 200.00

80.0

72.0

64.0

56.0

48.0

40.0

32.0

24.0

16.0

8.0

0.0

CLmax

L

= 1.80

CLmax

L

= 2.80

CLmax

L

= 3.80

CLmax

TO

= 0.93 CLmax

TO

= 1.93 CLmax

TO

= 2.93

Take-off Distance T = -30 deg FMaximum Cruise Speed Sustained g / Turn Rate Landing Distance T = -30 deg FOEI-RC: FAR 23.67.a

Design Point

Revised DesignRevised Design Take-off gross weightTake-off gross weight 2,806 lbs2,806 lbs Empty weightEmpty weight 1,552 lbs1,552 lbs Fuel weightFuel weight 1,064 lbs1,064 lbs

Regression Study of 18 Regression Study of 18 UAVsUAVs

Design

Engine Power EstimationEngine Power Estimation

Wing loading = 22 lb/ftWing loading = 22 lb/ft22 Power loading = 19 lb/hpPower loading = 19 lb/hp

Total Power Required = 2806/19 Total Power Required = 2806/19 150 hp150 hp

Power Required per engine = 75 hpPower Required per engine = 75 hp

½ Scale to use two 3W-75 engines½ Scale to use two 3W-75 engines

Graduate Design-Build-Fly Graduate Design-Build-Fly TeamTeam

Four students:Four students: David BorysDavid Borys Satish ChilakalaSatish Chilakala Edmond LeongEdmond Leong Nelson BrownNelson Brown

Advisors:Advisors: Dr. Richard ColgrenDr. Richard Colgren Jewon Lee (TA)Jewon Lee (TA)

CollaborationCollaboration

Undergrad manufacturing class Undergrad manufacturing class (AE510)(AE510) Center wingCenter wing

Pittsburg State UniversityPittsburg State University Water-jet cuttingWater-jet cutting TemplatesTemplates

Kansas State UniversityKansas State University AutopilotAutopilot

You?You?

GoalsGoals Stability and control demonstrator for Stability and control demonstrator for

CReSISCReSIS Experience for KUAEExperience for KUAE

Manufacturing larger aircraftManufacturing larger aircraft Operating sizable UAVsOperating sizable UAVs

Asset for ongoing Asset for ongoing

UAV researchUAV research

ScheduleSchedule October 11October 11thth PDR and Scaled Design PDR and Scaled Design October 25October 25thth Begin Engine Testing Begin Engine Testing November 3November 3rdrd CDR (Full Size and Scaled) CDR (Full Size and Scaled) November 21November 21stst Start Construction Start Construction December 1December 1stst Final Presentation Final Presentation December 5December 5thth Initial Flight Test Plan Initial Flight Test Plan December 15December 15thth Final Report Submission Final Report Submission January 20January 20thth All Scaled UAV Parts All Scaled UAV Parts May 15May 15thth First Flight First Flight

Current Scaled DesignCurrent Scaled Design 90 lb (empty)90 lb (empty) 18 ft span, 9 ft long18 ft span, 9 ft long Main spar 1.75” dia., 1/8” thick, 6061-T6 Main spar 1.75” dia., 1/8” thick, 6061-T6

aluminum tubealuminum tube WingsWings

Fiberglass skinFiberglass skin Balsa & Foam ribsBalsa & Foam ribs

FuselageFuselage Fiberglass skinFiberglass skin Wooden structureWooden structure

Building the CryohawkBuilding the Cryohawk

ParticipationParticipation

BudgetBudget

ChallengesChallenges TimeTime

Partnerships with:Partnerships with: Undergraduate classUndergraduate class PSUPSU KSUKSU Embry-RiddleEmbry-Riddle Others?Others?

MoneyMoney Seeking support from:Seeking support from:

University of Kansas ($2,000)University of Kansas ($2,000) CReSIS ($8,000)CReSIS ($8,000) Others?Others?

Questions / DiscussionQuestions / Discussion

artist’s concept

artist’s concept