MINOR PROJECT

On

Study and Designing VTOL Drone.

Submitted to
Mr. Sumit Krishnan.

AMITY SCHOOL OF ENGINEERING

AND TECHNOLOGY

Guided by: Submitted by:

Mr. Vinod Saxena. Sharma Varun Mohan.

Professor Bhisham Kumar Thakur.
Novel Adhikari.

AMITY UNIVERSITY UTTAR PRADESH

LUCKNOW CAMPUS
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 DECLARATION

We student of B. Tech (AE) hereby declare that the project

named “Study And Designing VTOL Drone.” which is
submitted by me to the Department of Aerospace Engineering,
Amity University Uttar Pradesh, Lucknow, in partial
fulfillment of requirement for the award of the degree of B.
Tech in Aerospace Engineering, has not been previously
formed the basis for the award of any degree or diploma or
other similar title. The Author attests that permission has been
obtained for the use of any copy right material appearing in the
Dissertation other than brief excerpts requiring only proper
acknowledgment in scholar writing and all such use is
acknowledged.

SHARMA VARUN MOHAN.

BHISHAM KUMAR THAKUR.
NOVEL ADHIKARI.

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 CERTIFICATE

This is to certify that We, student of B. Tech (AE)

has carried out the work presented in his Minor project
of the Topic entitled “Study And Designing VTOL
Drone.” as a part of Fourth Year Program of B. Tech in
from Amity School of Engineering and Technology,
Amity University Uttar Pradesh, Lucknow.

SHARMA VARUN MOHAN.

BHISHAM KUMAR THAKUR.
NOVEL ADHIKARI.

(Mr. Vinod Saxena)

Mr. Vinod Saxena.
Amity School of Engineering and Technology
(ASET)

AUUP, LUCKNOW

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 ACKNOWLEDGMENT

We take this opportunity to express my gratitude and thank all

the persons who gave their full support to my work directly or
indirectly.

We would like to express my thanks to HOD of AE Department

Prof. A.K. JOUHARI for his valuable guidance. I am also
thankful to my teachers.

Special thanks to my guide Mr. Vinod Saxena for his valuable

suggestion & cooperation throughout this project apart from
providing useful material. Without his guidance this would not
have been easily done.

We would like to thank my parents and my classmates as

without their support this project would not have completed
successfully.

SHARMA VARUN MOHAN.

BHISHAM KUMAR THAKUR.
NOVEL ADHIKARI.

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 CONTENTS

➢ ABSTRACT……………………………………………………………….…….. 6
➢ INTRODUCTION………………………………………………..... …………… 7
1. VTOL TECHNOLOGY
1.1 CONCEPT EXPLORATION………………………………….……….…………… 9
1.2 FLIGHT PLATFORM…………………………………………………..…………... 10
1.3 PAYLOAD COMPONENTS…………………………………………..................... 12
1.4 KK 2.1 FLIGHT CONTROLLER BOARD……………………………………….... 14
(a) Factory Reset………………………………………………………..… 14
(b) Motors Layout……………………………………………................... 14
(c) Accelerometer Calibration ….……..……………...………………...... 15
(d) Self Level Setting….………………………………………………..…. 15
(e) PI settings……………………………………………………..….... 16

2. TYPES OF VTOL

2.1 SINGLE ROTOR DRONES ………………………….……………..…………… 17

2.2 MULTI-ROTOR DRONES …………………..…………………………………... 18
2.3 FIXED-WING HYBRID VTOL……..…..………….……………………………… 19

3. MAKING OF VTOL

3.1 PURPOSE AND REQUIREMENTS ….……………………………………………. 22

3.2 WEIGHT ESTIMATION. …........................……………………………………….. 22
3.3 FRAME DESIGNING. ……………………………………..……………………….. 23
3.4 ELECTRONICS SELECTION ……………..……………………………………….. 23
3.5 FLYING GUIDE. ……………………………...……………………………….…… 25

4. SAFETY STATEMENT

4.1 MECHANICAL SAFETY …………………………………………………………. 27

4.2 ELECTRICAL SAFETY …………………………………………………..……….. 27

➢ CONCLUSIONS
➢ ROLE OF TEAM MEMBERS
➢ REFERENCES
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 ABSTRACT

The use of unmanned aerial vehicles (UAV) has grown in military because of its ability
to operate in dangerous and critical locations while keeping the human operators to safe
distance. The large UAV also provide a reliable long duration, cost effectiveness,
platform for reconnaissance as well as weapons. They have grown to become very
important and crucial tool for the military. The question that I posed for my project was
whether small UAV’s has utility in military and commercial or industrial applications.
I found that smaller UAV can serve more skilled operations such as searching a village
or a building looking for enemy positions or hostages. Smaller are very easy to control
and can be kept hidden from radar to maximum extent.

To validate this assumption, I took into consideration many different UAV

designs earlier than I settled on developing a VTOL to experience my hard work. I am
currently at the initial levels of constructing the VTOL also I am still trying to search
for the layout that can permit me to have longer flight time0 and better maneuverability
as well as hovering using multicopter board. This multicopter board helps to interlink
my RC Controller with VTOL for flight capabilities.

My assignment will demonstrate that it's meters viable to construct a small-scale

VTOL Drone that would be used for military and commercial use. My most full-size
problems are an ambitious improvement schedule combined with restrained finances.
These constraints have forced compromise in additions selected and strategies used for
DRONE improvement.

I used KK multicopter board as a microcontroller to convert my all commands

from RC Controller to VTOL Drone motors required for flying. This contains
accelerometer and gyro which gives better stability and hovering.

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 INTRODUCTION

Different parts of VTOL Drone have different Functions. These functions are as
follows,

• Frame : Main body part of VTOL Drone. It is used for mounting all the
electronics parts.

• Motors and Propellers : parts which provides thrust for quadcopter to lift off
and perform maneuvering.

• Controller Board : Brain of quadcopter as it decides the final output of motors

using programming already being compiled.

• Electronic Speed Controller : Controls the RPM of Motors according to the

input signal from Multicopter Board.

• Battery : Main power source of Quadcopter.

• Power Distribution Board : PCB Board which connects all ESC’s with one
single connection output.

• Transmitter and Receiver : Joystick used to send and receive the controls of
Quadcopter.

• Arms : body part where motors are mounted.

• Landing Gear : takes all load while landing and gives ground clearance to other
electronics.

Types of Forces on VTOL :

1) Thrust (T) : It is a propulsive force generated in vertically upward direction

due to Electric motor and propeller.

2) Drag (D) : Drag is the component acting opposite to the thrust that is
vertically downward.

3) Weight (W) : Force Generated by Quadcopter due to gravitational field.

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Control and Stability of Quadcopter : - Quadcopters are mostly controlled by
changing the RPM of motors. It does according to the signal input given by IMU sensor
and receiver, controller board calculates motor output signal using PID algorithm. PID
stands for Proportional, Integral and Differential. These algorithms are used to
overcome the errors.
i. Proportional : overcomes past Errors.
ii. Integral : overcomes present Errors.
iii. Differential : overcomes future Errors.

VTOL Drone have four main controls :

i. Pitch : for moving forward and backward directions.

ii. Roll : for moving in left or right directions.

iii. Yaw : Changing the heading of quadcopter.

iv. Throttle : Changing altitudes viz liftoff and landing.

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 1. VTOL Drone Technology

1.1 Concept exploration:

Once decided to make the VTOL Drone, I tend to make my mind up with what physical
science to be used to build it. Initially I did some analysis on the internet, I find a handful
forums that had open supply of electronics and programming elements needed for
creating a VTOL Drone. It offered terrible basics with extremely customizable VTOL
Drone bodies that were appropriate for me to use to make my baseline system. The DIY
drone’s websites provided me critical info on what was being tired the amateur drone
community and provided me necessary information on what would be achievable for
me to use for my project. Motivated by the SUT’17, I tend to believe that the VTOL
Drone would be the best place to go since it has very better future and can be used as
learning and developing tool in Aerospace Engineering.

I started with body materials and basic electronics which I learned to know about
it when did some exploration over internet. I chose bio foam as a platform for my VTOL
Drone and payload with stand for KK board and receiver.

I learned about the phenomena of quad flying. The quadcopter mechanism is bit
complicated when it comes to programming. Since, I had no idea of Programming in C,
C++, I decided to use preprogrammed microcontroller to give the command.

Quadcopter works on principle of Newton’s Third Law of Motion and So the

VTOL Drone. This law states that every action and equal and opposite reaction. When
the air is pushed downward with the help of propeller blades, they in return gets pulled
upward due to opposite reaction and creating thrust in vertically upward direction. This
thrust force helps drone to liftoff and hover.

Once the drone liftoff, the revolution of all propeller is changed according to the
motion I need for my Drone. This revolution is controlled by KK board when get signal
received from transmitter to receiver connected to board.

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1.2. Flight Platform:

At the beginning of the summer, I attended SUT’17. It was organized by

TechEagle Innovations, they taught us how to build a quadcopter and learn to fly them.
After I attended that workshop, I learned that a quadcopter can be made airworthy if it
is in equilibrium to all the moments. I later searched on internet for new designs and
other ides to build a quadcopter. With the help of some YouTube videos, I started my
first step to build a quadcopter. In my NTCC I made Quadcopter And thought to Go at
another level by designing Drone that has bot STOL (Shot Take-off and Landing) and
VTOL (Vertical Take-off and Landing).

At first, I chose the materials I was supposed to use for the fabrication and
building of VTOL Drone. I chose bio foam as a platform for battery and payload on the
Drone, I then selected hollow cylindrical rods for making the arms of quadcopter.

The landing gear was supposed to be strong, so I selected aluminum solid bars
with 0.3mm thickness having high strength. It provides quadcopter from getting jerk
while landing and gives more ground clearance while liftoff and landing.

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 I used two lipo batteries with ratings of 25C and 30C with 2200mAH and
2800mAh. These batteries had flight capability of about three minutes. I used futaba
6J RC controller to control the quadcopter. It is six channel radio transmitter helps for
flying RC Drones like Aircrafts, quadcopters, gliders, etc. The four channel controls
pitch, roll, thrust and yaw motion of quadcopter. Remaining two channels can be used
for cameras or other payloads. I used fly sky FS-CT6B transmitter set for learning
simulation in laptops from software Real Flight G7.

Real Flight G7 is the simulation software helps in learning the virtual flying of
any small RC model. This software contains 100s of models and aircrafts to learn
flying. The model best suited for my quadcopter flying was Impala 0.30. It is a
helicopter model which is completely analogous to Quadcopter I made.

Figure 4: Remote Control

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1.3. Payload Components:

Payloads mounted on the quadcopter was my mobile phone. It was connected

with my laptop using IP webcam app. This app helps us to watch the recording from
mobile camera in our laptop instantly or live. The IP webcam app creates an IP address
of mobile. When this IP address is opened in any browser of Laptop, we can easily
interlink with each other. This helps us to record with the help of the camera of mobile
phone and watch it immediately on the laptop.

The camera used was 13MP rear camera of ASUS Zenfone 2 laser. The laptop
used for live feedback was Lenovo G50. The IP address generated was
http://192.168.43.1:8080/. With the help of this app I recorded the celebration of 15th
august in my college. It was a successful attempt as the picture quality was good. I also
took some pictures of peoples and building while flying to certain height.

Figure 5. IP Webcam App.

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 Figure 6. Webpage of IP webcam Address.

In this webpage we can watch live video by clicking on Browser from Video
render and can chose audio player as well for both audio and video. Below that, many
additional options are giver to record, capture and change the video quality, zoom,
Exposure compensation etc. The video can be recorded and saved in mobile with the
quality you prefer during the circumstances from the laptop.

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1.4. KK 2.1 Flight Controller Board:

KK 2.1 Flight controller Board is microcontroller board used to fly quadcopter.

It is a preprogrammed board use to receive signal from receiver and convert those signal
with built in programming to get desired output. For Example, If I command for roll
left, then the receiver receives the command and is send to KK board, this in return
reduces the rpm of left side of motor to get left roll and vice versa. Similarly, yaw and
pitch are controlled by controlling the rpm of motors.
The orientation of motor is very important aspect for flying. The motor layout
should be selected and installed according to suggestion in board. The motor outputs
must be connected accordingly.

(a). Factory Reset: -Once I bought a KK multicopter Board, First step for its setup is
factory Reset. This helps in eliminating the risk of unwanted operations and setting. To
do that steps are :
i. Click on MENU button on KK Board.
ii. Select “Factory Reset” option by dragging down to the end and click ENTER.
iii. Press “Yes” in next dialog box and let the resetting happen.
iv. Click “Back” and return to main page.

(b). Motors Layout: - The orientation of motor is very important aspect for flying.
The motor layout should be selected and installed according to suggestion in board.

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The motor outputs must be connected accordingly. To select and check the motor
position follow these steps.

i. Click on MENU button on KK Board.

ii. Select “Load Motor Layout” option from the list.
iii. Select “Quadcopter X Mode” and press ENTER.
iv. Follow the steps to imply the layout.
v. Once the motor layout is loaded, return to the menu and select “Show Motor
Layout” option.
vi. Press NEXT to check the layout loaded and mount the motor and propeller in
same orientation as specified.

(c) Accelerometer Calibration: - This is very important to do the accelerometer

calibration before flying. This helps Quad to get a fixed axis coordinates of stable and
fixed orientation. Due to help of gyro, the calibration are done and restored from time
to time during flying. To do accelerometer calibration,

i. Click on MENU button on KK Board.

ii. Select “Acc Calibration” option from the list.
iii. The instruction comes that reads, “Place the aircraft on a level surface and
press CONTINUE”. Follow the instructions.
iv. Click CONTINUE and wait for KK Board to complete calibration.
v. Once calibration is done, press CONTINUE.

(d) Self Level Setting: - Self level is one of the most important aspect for flying. It
helps your drone to stay level during flying. Self-level is a setting of a quadcopter
helps in restoring the imbalance and staying in stable form with coordinates calibrated
during acc. celebration. To turn on the self-level,

i. Click on MENU button on KK Board.

ii. Select “self-level Settings” option from the list.
iii. Select the P Gain and P limit and enter the numbers. For example,

P Gain : 65

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 P Limit : 20

ACC Trim roll : 0

ACC Trim Pitch : 0.

(e) PI settings: -PI stands for Proportional and Integral. These two terms are used to
overcome the error made by the Wind or obstacles. Proportional helps in minimizing
the past errors whereas Integral helps in minimizing present errors. The limit of “P
Gain” and “I Gain” defines the accuracy and performance of Quadcopter. The process
to do it is,

i. Click on MENU button on KK Board.

ii. Select “PI Editor” from the option list.
iii. Assign the numbers for all the options for Roll, Pitch and Yaw.
iv. Select the options and click CHANGE to change the values and press done to
save it.

Axis : Roll Pitch Yaw

P Gain : 65 65 65

P Limit : 65 65 65

I Gain : 30 30 50

I Limit : 20 20 10.

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 2. TYPES OF VTOL DRONE
Drones or UAVs are essentially aero machines which can fly while not having any
human pilot present within the aero body. These are specially controlled through
computers, Remote Controllers or in case of toy drones with RC Transmitter.

when it comes down to the classification of these drones, there is no category, in line
with the usage, durability, drones are constructed in numerous shapes and sizes.

one of the locations drones are used frequently is in the military. They use them to
behavior surveillance paintings in regions where there is no chance in sending human
beings to do the same.

The drones are classified based on its shape, size and numbers of Propeller setup. It
can vary according to the purpose and need.

2.1. Single Rotor.

• A single rotor has just one Rotor also a tail rotor to control its heading (i. e
Yaw Motion). Helicopters are very popular in manned aviation, but currently
only fill a small place in the drone world.

• A single rotor helicopter has the benefit of much greater efficiency than the
multi-rotors, and also, they can be powered by a gas motor for even longer
duration of flight.

• The downsides of single rotor are their complexity, cost, vibration, and the
danger of their large spinning blades.

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2.2. Multi Rotor Drones
• Multi rotor is the best Drones when it comes to payload delivery and
surveillance.
• They can be of any size as per the requirement.
• They are used for 3-D mapping, detecting hostages, carrying payload from one
place to another and spying.
• The downside of multi rotor are its endurance and speed. This makes them
unsuitable for large scale aerial mapping.
• Improvement of drones are ongoing for their better endurance, speed and long-
distance monitoring and inspection.

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2.3 Fixed-Wing Hybrid VTOL
These drones are the intermediate of fixed-wing and rotor aircrafts.

• Merging the benefits of Fixed-wing with the ability of hovering is a new

category of hybrids which can both take-off and land vertically.
• There are various types which are under development. These are future of
Aerospace Industries.
• They can hover and perform maneuvering both according to the need and
demand of conditions.
• They may be typically designed having fixed wing version in thoughts but,
having capabilities of multirotor as well.
• There are two successful Fixed Wing Hybrid VTOL models in Application.

i. V-22 Osprey.
ii. Harrier Jump Jet.

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 V-22 Osprey

Harrier Jump Jet

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 3. MAKING OF VTOL DRONE

3.1 Purpose and Requirement : -

Before starting the design of Any UAV drone, one should decide their purpose
and design requirements. For Example, my requirement and purpose is,

i. VTOL for learning and training.

ii. Frame size less than 40 cm. (Edge Length).
iii. Descent payload weight capability and low maneuverability.
iv. Greater stability and self-leveling.
v. Low weight and high payload capable.
vi. Learning VTOL Drone flying.

3.2 Weight Estimation: -

Weight estimation is very important for selection of propulsion system. It is estimated

from the historical data and its specification given for selected electronics.

Wtotal = Wstructure + Welectronics

Structural weight can differ from size to size and can be weighted. Electronics on the
other hand can be selected and found its weight over the internet or under its
specification. For my VTOL

Wstructure = 250 grams. (Rough Estimation)

Welectronics = 650-700 grams.

Therefore, Wtotal = 900-950 grams. (1000 grams as a safety of margin)

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3.3 Frame Designing: -

One of the most important parameter in VTOL designing is Thrust to weight ratio.
Thrust to weight ratio in case of VTOL is almost 200%.

Therefore,

Total Thrust = 2*500 = 1000 grams.

This defines the requirement of motors and propeller to liftoff the VTOL Drone. Since
the total thrust is 1000 grams hence, we need motor with 500 grams thrust. After
searching over the internet, I found the motor of perfect fit. Its specifications are,

i. RPM : 1000kv.
ii. Max. Current Draw : 15 A.
iii. Thrust : 850 ~ 1000 grams.
iv. Recommended : 10 * 4.5 inches
Propeller

3.4 Electronics Selection: -

1. Electronic motors : Electronic motors are used as the propulsive system of

quadcopter to liftoff and fly at various altitudes.
These brushless motors use ESC’s powered by DC electric source or Lipo
Battery to produce an AC electric signal to drive motor.

Brushless motor has two main specification,

i. KV Rating - Defines rpm/volt.

ii. Continuous Current Draw - Current motor uses in normal operations.

2. Electronic Speed Controller (ESC) : Esc is used to control the RPM of

motor by receiving signals from an external signal wire. This wire is connected
to KK multicopter board. It changes DC supply from a battery to three phase
electric power to Brushless motor.

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 ESC has two main specification,

i. Current Rating - it should be greater than motor current

withdraws.
ii. Voltage (S) rating - determines the battery selection with number
of cells. (30A & 3S ; 10A & 2S)

3. Battery : It is the main power supply to a quadcopter to driver the brushless

motors and servos (if any).

Battery has three main specification,

i. mAh Value : capacity of battery.

ii. C Value : max. current withdraws.
iii. S Value : max. voltage output.

4. KK flight controller board : This is already being specified before in detail.

A controller board has three main specification,

i. Processor Power : how much speed and data can be handled.

ii. No. of sensors : how much versatile the board is.
iii. Software support : It is major deciding factor (KK multicopter).

5. Servos : Servos are connected with motors to rotate it according to the

requirement. This will be useful while going hovering to maneuvering phase
also known as Transition Phase of VTOL.

Selected electronics for my VTOL Drone are :

i. Motor : 1000 kv, 15 A current withdraw, 850~1000 gram thrust.

ii. ESC : 4 * 30A, 3S.
iii. Battery : 2800 mAh, 3S – 11.1 Volt & 30 C.
iv. Propeller : 4 * 10*45 propeller blades. (2 CW and 2 CCW).
v. Board : KK multicopter Board.
vi. Servo : Rotating Motors.

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3.4 Flying guide: - I have used Real Flight G7 flight simulator to learn virtual
flying. It provides very descent exposure to flying. I first connected my transmitter to
the laptop and linked it with the simulator. The drone I chose according to my model
was “Impala 0.30 Training Heli”. It is almost same replica of quadcopter.
Later I selected “V-22 Osprey” for VTOL Hybrid Simulation.

I followed following steps to learn virtual flying.

i. The take off.
ii. Forward and backward motion.
iii. Right and left motion.
iv. Hovering in small circle.
v. Transition phase.
vi. Maneuvering after transition phase.
vii. Landing safely.

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 4. Safety Statement

4.1 Mechanical Safety

VTOL Drones are very dangerous when mishandles. To avoid the accidents
while testing we should follow few steps.

i. Check the VTOL before flying.

ii. Checking the binding of transmitter with receiver of same model.
iii. Checking control surfaces carefully.
iv. Checking the rotation of motors without mounting propellers.
v. Mounting propeller only when its necessary.
vi. Turning on the self-level.
vii. Never let Drone come near you.
viii. Always keep tail to your side while flying when Hover mode.
ix. Never let Drone leave your vision.

4.2 Electrical Safety

Electrical safety is of same importance as the mechanical safety. This safety is

directly related to electronics mounted on the quadcopter. To avoid the accidents
while testing we should follow few steps.

i. Select electronics carefully.

ii. The ratings of electronics should meet the quadcopter requirements.
iii. Motors and ESC’s should be fulfilled the requirement.
iv. KK board setup must be done before any command.
v. Battery selected must be checked from time to time.
vi. Flying should be done until battery rating shows voltage of 11.4 or greater.
vii. Power distribution board should be checked before flying.

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 Conclusion

This project was my one of the best experience in learning aerodynamics of

VTOL Drones. I learned how to design quadcopter. Apart from this I also learned how
to fly drones. This experience was so good.

Now, I have Collected all the information about VTOL planes and how Hybrid
planes differ with Normal VTOL Drones.

I will now start Designing of My own HYBRID VTOL Drone from the data
collected as my MAJOR PROJECT.

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 ➢ Role of Team Members.

1. SHARMA VARUN MOHAN.

I selected this topic as my minor and major project because I wanted to learn more
about VTOL and its Mechanism. My team members Novel and bhisham supported me in
my project with their individual contribution.

I chose this topic to take my next step in VTOL Drones topic after Quadcopter as
my NTCC project. My contribution in Minor project was as a designing the drone and
check the airworthiness of Drone.

Abstract of my Contribution.

1. Making Of VTOL

i. Purpose and Requirement.

ii. Weight estimation.
iii. Frame Designing.
iv. Electronic Selection.
v. Flying Guide

2. Safety Statement.

i. Mechanical Safety.
ii. Electrical Safety.

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 2. BHISHAM KUMAR THAKUR.

My contribution to the project was to boost the process of learning about the VTOL.
I gathered all the information related to VTOL Drones and its applications.

I was amazed to know such details about VTOL Drones. These drones were
combinations of both Fixed wing and Multi-rotors. I came to know about two actual
aircraft possessing the VTOL configuration

a. V-22 Osprey.
b. Family Harrier Jump Jet.

Abstract of my Contribution.

1. Abstract of VTOL Drone.

2. VTOL Technology.

i. Concept Exploration.
ii. Flight Platform.
iii. Payload Components.
iv. KK 2.1 Flight controller Board.

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 3. NOVEL ADHIKARI.

I was very excited when I joined this Group. I was very curious to learn about
aerodynamics of VTOl. The name of the topic was making me Keen to learn abut it
in details

I immediately started learning about all the details about VTOL Drones. Initially
I started with the Introduction about the Topic. I framed introduction about VTOL
just after the abstract given by my group member Bhisham.

I also learned about various types of VTOL Drones. They were very interesting
and eye-catching. I am waiting for us to gather all the required information as soon
as possible so that we can design VTOL drone of our own.

Abstract of my Contribution.

1. Introduction of VTOL Drone.

2. Types of VTOL Drone.

i. Single rotor Drone.
ii. Multi-rotor Drone.
iii. Fixed-Wing Hybrid VTOL.

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 REFERENCES

THEISIS

Quad copter project by Matt parker, Chris Robbiano And Gered Bottorff
(Colorado State University)

BOOKS

VTOL Journals And simulation.

INTERNET

wikipedia.org
andrew.gibiansky.com
brage.bibsys.no
arc.aiaa.org

SOFTWRES USED

Real Flight G7

TRAINING WORKSHOP

SUT’17 of Designing and learning flying of Quadcopter.

Faculty Guide & Friends…

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