Single Line Tethered

Kyle Ball Jon Erbelding Matthew Douglas Paul Grossi William Charlock Sajid Subhani 9/9/2013 Problem Definition Presentation P14462

Agenda

• Team introduction

• Problem definition

• Private and academic development

• Customer needs

• Engineering requirements

• Timeline moving forward

9/9/2013 Problem Definition Presentation P14462 Team Introduction

Team Member Role MSD Staff Role

Sajid Subhani Industrial Eng / Ed Hanzlik Team Guide Team Lead Kyle Ball Mech Eng Art North Team Guide

Matthew Douglas Mech Eng Mario Gomes Customer

William Charlock Mech Eng

Jon Erbelding Mech Eng

Paul Grossi Mech Eng

9/9/2013 Problem Definition Presentation P14462 Problem Definition

Glider • Goal: Design, build, and test a tethered, small- scale, human-controlled glider.

• Critical project objectives Tether • Maintain maximum tension on the tether • Sustaining horizontal and vertical paths • Measure/record tether tension & position • Understand the influential parameters for sustained, Base Operator w/ tethered, unpowered flight Station controller

9/9/2013 Problem Definition Presentation P14462 Private Development

• Ampyx Power • Tethered Glider • Ground power generation • Figure-8 pattern • Capable of generating 850kW

9/9/2013 Problem Definition Presentation P14462 Private Development

• Makani Power • Tethered Glider • Airborne wind turbines • Circular pattern • Tested 30kW; Goal of 600kW

9/9/2013 Problem Definition Presentation P14462 Academic Papers

• Loyd • 1980 Paper outlining how to harness high altitude wind energy • 3 Different Methods • Simple • Crosswind Powered Kite • Drag Powered Kite • Uses turbines on kite rather than a ground based generator

9/9/2013 Problem Definition Presentation P14462 Academic Papers

Lansdorp

• Two Different Arrays of • Pumping Mill • Laddermill

• Created a system to measure the tension magnitude and direction using 3D load cell assembly • Basis for our system

Three axis load cell system created by Lansdorp et al.Image taken from [Lansdorp 2007].

9/9/2013 Problem Definition Presentation P14462 Academic Papers

Donnelly

• Fighter Kites • Theoretical model to predict motion of fighter kite • Created a method to control the fighter kite motion • Created an experimental rig with generator and variable tether length

similar to Lansdorp’s. Three axis load cell allowing for variable tether length created by Chris Donnelley. Image taken from [Donnelly 2013].

9/9/2013 Problem Definition Presentation P14462 Customer Needs CN # Importance Description

CN1 1 Tethered glider system (with electric prop assist for launching) that demonstrates at least 3 minutes of continuous circular flight path with taunt tether.

CN2 1 Human controlled plane

CN3 1 No special flight skills required

CN4 2 Laptop not required for data collection

CN5 1 Tether tension is measured and recorded during

CN6 1 Tether direction is measured and recorded during flights

CN7 1 Videos with accompanying data files of all flight tests

CN8 1 Robust plane design

CN9 1 Maximize tether tension

CN10 2 Vertical and horizontal flight

CN11 1 Obtain data that can be compared to Matlab simulation

CN12 2 Reasonable plane size

9/9/2013 Problem Definition Presentation P14462 Engineering Requirements Metric No. Metric Marginal Value Ideal Value Units

1 Wingspan <=1.5 <1 m

2 Weight <=6 <=4 lbs

3 System Cost <500 $

4 Length of Looping Flight >2 >=3 min

5 Resolution of Tension Data <=0.1 <=0.01 N

6 Resolution of Angular Position Data <=0.5 <=0.1 deg

7 Typical Repair Time 5 3 min

8 Data Sampling Rate >=100 >=500 Hz

9 Minimal Operational Wind Speed at Ground Level 10 5 mph

10 Maximum Operational Wind Speed at Ground Level 20 40 mph

11 Safe for User and Observer Yes Yes Binary

12 Number of Looping Trials Demonstrated >=25 >=30 Integer

13 Training Time (1st Time) <30 <20 min

14 Number of Left Right Horizontal Trials >=25 >=30 Integer 9/9/2013 Problem Definition Presentation P14462 House of Quality Engineering Metrics Customer Perception

Wingspan Weight System Cost Length Loopingof Flight Resolution Tensionof Data Resolution Angularof Position Data Typical Repair Time Data Sampling Rate MinimalOperational Wind Speed Groundat Level Maximum Operational Wind Speed at GroundLevel SafeUser andfor Observer Number Loopingof TrialsDemonstrated Training Time Time)(1st Number RightLeftofHorizontal Trials

Customer Requirements Weights Customer 1 Tethered glider system (with electric prop assist for launching) 1 x x 2 Human controlled plane 1 x x 3 No special flight skills required 1 x 4 Laptop not required for data collection 2 x x x 5 Tether tension is measured and recorded during flights 1 x x 6 Tether direction is measured and recorded during flights 1 x x 7 Videos with accompanying data files of all flight tests (even 1 x x 8 Robust plane design 1 x x x x 9 Maximize tether tension 1 x 10 Verticle and horizontal flight 2 x x 11 Obtain data that can be compared with Matlab simulation 1 x x x 12 Reasonable plane size 2 x x x x

Technical Targets (Specifications)

5 (min)

<500 ($) <500 10 (mph) 20 (mph)

<=6 (lbs) <=6

<30 (min) <30

>=2 (min) >=2

<=1.5 (m) <=1.5 (N) <=0.1

<=0.5 (deg) <=0.5 (Hz) >=100

Yes (binary)

>=25 (integer) >=25 (integer) >=25 9/9/2013 Problem Definition Presentation P14462 Timeline

• Phase 1 (wk 1-3) - COMPLETE! • Define/understand problem definition • Research similar projects • Organize as a team • Phase 2 (wk 4-6) - In progress • Learn to fly • Research production load cells & gliders • Identify/understand critical engineering theory

9/9/2013 Problem Definition Presentation P14462 Timeline

• Phase 3 (wk 7-9) • Determine glider design • If building glider from scratch • Identify airfoil types, materials, control/communication features • Develop theoretical simulation of flight • Phase 4 (wk 10-13) • Refine glider design • Refine theoretical simulations • Phase 5 (wk 14-15) • Order materials

9/9/2013 Problem Definition Presentation P14462 Using Asana

9/9/2013 Problem Definition Presentation P14462 Summary

• Team introduction

• Problem definition

• Private and academic development

• Customer needs

• Engineering requirements

• Timeline moving forward

9/9/2013 Problem Definition Presentation P14462 References

• Ampyx Power. http://www.ampyxpower.com/

• Makani Power. http://www.makanipower.com/home/

• Loyd, Miles L. “Crosswind Kite Power.” Journal of Energy 4.3 (1980): 106–111. Print.

• Lansdorp, Bas. “Comparison of Concepts for High-altitude Wind Energy Generation with Ground Based Generator.” Proceedings of the NRE 2005 Conference,Beijing, (2005): 1–9. Web. 17 Feb. 2011.

• Donnelly, Christopher. “Dynamics and control of a single-line maneuverable kite.” Rochester Institute of Technology. (2013).

9/9/2013 Problem Definition Presentation P14462 Questions?

9/9/2013 Problem Definition Presentation P14462