Designing An Airship

Design Project
Design a lighter than air UAV

Frik van der Merwe 10139665

Study leader: Mr KP Grimsehl
Design Project MOX 410
28 May 2014

FACULTY OF ENGINEERING, BUILT ENVIRONMENT AND INFORMATION TECHNOLOGY

Individual assignment
Cover page
Name of module Design Project
Module code MOX 410
Name of lecturer Mr. KP Grimsehl
Date of submission
Declaration:
1. I understand what plagiarism is and am aware of the Universitys policy in this regard.
2. I declare that my contribution to this assignment _____________report___________________ (e.g. essay,
report, project, assignment, dissertation, thesis, etc.) is my own, original work.
3. I did not refer to work of current or previous students (excluding group members for this assignment),
memoranda, solution manuals or any other material containing complete or partial solutions to this
assignment.
4. Where other peoples work has been used (either from a printed source, Internet, or any other source), this
has been properly acknowledged and referenced.
5. I have not allowed anyone to copy my work or those of my fellow group members.

Names of students (in alphabetical order) Student number Signature
Frik van der Merwe 10139665

Date received
Signature of administrator
Mark
Date
Signature of lecturer

iii
Summary
The aim of this project was to design a lighter than air UAV. This UAV would be used to follow
rhinos in the Kruger National Park and would prevent poaching. A detailed literature study was done
to determine some of the UAVs operating conditions. All the technical and functional requirements
were specified in for the UAV. Concepts were drawn for the individual parts of the UAV and the best
assembly selection was made. Detailed calculations were made done to acquire the governing
dimensions of the UAV through an iterative process. From these calculations, detailed drawings were
made for the airship. An analysis was done on manufacturing, maintenance, reliability and cost.
Social, Legal, Health, Safety and Environmental aspects were considered and is discussed in this
report. The total to manufacture the UAV will be R 53,246.76.
Keywords
Airship; UAV; Rhino; Anti-Poach; Kruger National Park;
Acknowledgements
A great deal of thanks to Mr. KP Grimsehl for his assistance during the project. Thanks to all the
different suppliers for their friendly responses on my queries. Thanks to Mr. A. Van den Berg for his
assistance with the Cost analysis. Lastly a great deal of thanks to Ms. K. Naud for her constant
support and motivation.

iv
Contents
Summary ............................................................................................................................................................................................iii
Keywords ...........................................................................................................................................................................................iii
Acknowledgements ............................................................................................................................................................................iii
1 Introduction ............................................................................................................................................................................... 1
2 Scope of work ............................................................................................................................................................................ 1
2.1 Problem statement.................................................................................................................................................................. 1
2.2 User Requirements ................................................................................................................................................................. 1
3 Literature Study ......................................................................................................................................................................... 1
3.1 Operating conditions .............................................................................................................................................................. 1
3.2 Airships workings .................................................................................................................................................................. 3
3.3 Following a Rhino ................................................................................................................................................................. 4
3.4 UAV Cameras ........................................................................................................................................................................ 4
3.5 Lowest safe Altitude (LSALT) .............................................................................................................................................. 5
3.6 Sound Production ................................................................................................................................................................... 6
3.7 Engines and Propellers ........................................................................................................................................................... 7
3.7.1 Engine-Fuel system tradeoff study..................................................................................................................................... 7
3.7.2 Selected engine-fuel system specifications ........................................................................................................................ 9
3.8 Ballonet pumps .................................................................................................................................................................... 10
3.9 Envelope and Ballonet Materials ......................................................................................................................................... 11
3.10 Dynamic force for an Engine-Propeller combination .......................................................................................................... 12
4 Functional Analysis ................................................................................................................................................................. 12
4.1 Functional Components ....................................................................................................................................................... 13
4.1.1 Envelope .......................................................................................................................................................................... 13
4.1.2 Rudder ............................................................................................................................................................................. 14
4.1.3 Elevator ............................................................................................................................................................................ 14
4.1.4 Ballonet ............................................................................................................................................................................ 14
4.1.5 Engines ............................................................................................................................................................................ 14
4.1.6 Gondola ........................................................................................................................................................................... 14
5 Technical Specifications .......................................................................................................................................................... 14
5.1 Requirements and Specifications ......................................................................................................................................... 15
5.2 Conclusion ........................................................................................................................................................................... 15
6 Concepts .................................................................................................................................................................................. 15
6.1 Concept Generation ............................................................................................................................................................. 16
6.1.1 Envelope .......................................................................................................................................................................... 16
6.1.2 Rudder and elevator concepts .......................................................................................................................................... 18
6.1.3 Airship backbone ............................................................................................................................................................. 20
6.1.4 Ballonet ............................................................................................................................................................................ 22

v
6.1.5 Engines for propulsion ..................................................................................................................................................... 25
6.1.6 Gondola ........................................................................................................................................................................... 26
6.2 Concept Selection ................................................................................................................................................................ 28
6.2.1 Airship Concepts.............................................................................................................................................................. 31
6.2.2 Airship Concepts advantages and disadvantages ............................................................................................................. 33
6.2.3 Concept selection matrix .................................................................................................................................................. 33
6.3 Detailed Concept design ...................................................................................................................................................... 35
7 Detailed design ........................................................................................................................................................................ 36
7.1 Calculations ......................................................................................................................................................................... 36
7.1.1 Solving methodology ....................................................................................................................................................... 36
7.1.2 Buoyancy Forces.............................................................................................................................................................. 37
7.1.3 Speed of the airship and the air properties ....................................................................................................................... 37
7.1.4 Size of the Airship ........................................................................................................................................................... 37
7.1.5 Drag force from the envelope .......................................................................................................................................... 38
7.1.6 Batteries ........................................................................................................................................................................... 38
7.1.7 Motor size ........................................................................................................................................................................ 39
7.1.8 Propeller dimensions ........................................................................................................................................................ 39
7.1.9 Weight of the airship ........................................................................................................................................................ 39
7.1.10 Iterative solution .......................................................................................................................................................... 42
7.1.11 Discussion of results .................................................................................................................................................... 43
7.2 Detailed design sketches ...................................................................................................................................................... 43
8 Manufacturing Analysis ........................................................................................................................................................... 49
8.1 Gondola Case ....................................................................................................................................................................... 49
8.1.1 Gondola Case Injection Molded....................................................................................................................................... 49
8.1.2 Gondola Case Modular Method ....................................................................................................................................... 49
8.2 Connecting arm (ConnectorPlatePropPort) .......................................................................................................................... 50
9 Maintenance Analysis .............................................................................................................................................................. 52
9.1 Standard components ........................................................................................................................................................... 52
9.2 Envelope materials ............................................................................................................................................................... 52
9.3 Non-Standard Components .................................................................................................................................................. 53
9.4 Inspection ............................................................................................................................................................................. 53
9.5 Conclusion ........................................................................................................................................................................... 53
10 Reliability Analysis ................................................................................................................................................................. 53
10.1 System reliability ................................................................................................................................................................. 53
10.1.1 Probability of failure .................................................................................................................................................... 54
10.1.2 Severity of the failure ................................................................................................................................................... 54
10.1.3 Detection of the fault ................................................................................................................................................... 55
10.1.4 Risk of failure .............................................................................................................................................................. 55
10.2 Conclusions ......................................................................................................................................................................... 59

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11 Cost analysis ............................................................................................................................................................................ 59
11.1 Cost of standard components ............................................................................................................................................... 59
11.2 Cost of materials and Labor costs ........................................................................................................................................ 60
11.3 Total costs ............................................................................................................................................................................ 61
11.4 Conclusions ......................................................................................................................................................................... 61
12 Social, Legal, Health, Safety and Environmental Impacts ....................................................................................................... 62
12.1 Social Impacts ...................................................................................................................................................................... 62
12.2 Legal Impacts....................................................................................................................................................................... 62
12.3 Health Impacts ..................................................................................................................................................................... 62
12.4 Safety Impacts ..................................................................................................................................................................... 63
12.5 Environmental Impacts ........................................................................................................................................................ 63
12.6 Conclusion ........................................................................................................................................................................... 63
13 Conclusions and Recommendations ........................................................................................................................................ 64
13.1 Conclusions ......................................................................................................................................................................... 64
13.2 Recommendations ................................................................................................................................................................ 64
Appendix ........................................................................................................................................................................................... 66
Design Project Proposal ................................................................................................................................................................ 66
Meeting Log Card ......................................................................................................................................................................... 70
Drawing for evaluation form ......................................................................................................................................................... 71
Table A: Available Batteries Above 4000 mAh ........................................................................................................................... 72
Table B: Available Quad Copter Motors ...................................................................................................................................... 72
Table C: Available Quad Copter Propellers ................................................................................................................................. 77
Iterative Solution Scrip File .......................................................................................................................................................... 80
Iterative Solution Function File (Volume) ................................................................................................................................ 81
Iterative Solution Function File (Dim) ...................................................................................................................................... 81
Iterative Solution Function File (Re) ......................................................................................................................................... 81
Iterative Solution Function File (Cd) ........................................................................................................................................ 81
Iterative Solution Function File (Drag) ..................................................................................................................................... 82
Iterative Solution Function File (EngineWeight) ...................................................................................................................... 82
Iterative Solution Function File (HullWeight) .......................................................................................................................... 88
Iterative Solution Function File (ControlWeight) ..................................................................................................................... 88
Iterative Solution Function File (RudderWeight) ...................................................................................................................... 89
References ......................................................................................................................................................................................... 90

vii
List of tables
Table 1: Average Weights of white rhinos ......................................................................................................................................... 4
Table 2: Table of common sounds ..................................................................................................................................................... 6
Table 3: Engine trade-off study .......................................................................................................................................................... 8
Table 4: Car air compressor specifications....................................................................................................................................... 11
Table 5: Technical Specifications .................................................................................................................................................... 15
Table 6: Envelope, Concept 1, Advantages and Disadvantages ....................................................................................................... 16
Table 9: Rudder & Elevator, Concept 1, Advantages and Disadvantages ........................................................................................ 19
Table 10: Rudder & Elevator, Concept 2, Advantages and Disadvantages ...................................................................................... 19
Table 11: Rudder & Elevator, Concept 3, Advantages and Disadvantages ...................................................................................... 20
Table 12: Airship backbone, Concept 1, Advantages and Disadvantages ........................................................................................ 21
Table 13: Airship backbone, Concept 2, Advantages and Disadvantages ........................................................................................ 22
Table 14: Ballonets, Concept 1, Advantages and Disadvantages ..................................................................................................... 23
Table 15: Ballonet, Concept 2, Advantages and Disadvantages....................................................................................................... 24
Table 16: Engine, Concept 1, Advantages and Disadvantages ......................................................................................................... 25
Table 17: Engine, Concept 2, Advantages and Disadvantages ......................................................................................................... 26
Table 18: Gondola, Concept 1, Advantages and Disadvantages ....................................................................................................... 27
Table 19: Gondola, Concept 1, Advantages and Disadvantages ....................................................................................................... 28
Table 20: Concept Compatibility Matrix ......................................................................................................................................... 29
Table 21: Airship, Concept 1, Advantages and Disadvantages ........................................................................................................ 33
Table 22: Airship, Concept 2, Advantages and Disadvantages ........................................................................................................ 33
Table 23: Airship concept selection matrix ...................................................................................................................................... 34
Table 24: Example of Table A ......................................................................................................................................................... 38
Table 25: Example of Table B ......................................................................................................................................................... 39
Table 26: Iteration script values ....................................................................................................................................................... 42
Table 30: Probability of failure scale ............................................................................................................................................... 54
Table 31: Failure severity scale ........................................................................................................................................................ 54
Table 32: Fault detection scale ......................................................................................................................................................... 55
Table 33: FMEA for the airship ....................................................................................................................................................... 56
Table 34: Standard component costs ................................................................................................................................................ 59
Table 35: Material costs and estimated labour costs ........................................................................................................................ 60
Table 36: Total cost of the airship .................................................................................................................................................... 61

viii
List of figures
Figure 1: Temperatures, Average and Extremes (Weather2, 2014) 2
Figure 2: Precipitation Amount [mm] (Weather2, 2014) 2
Figure 3: Wind Speeds [km/h] (Weather2, 2014) 2
Figure 4: Airship Buoyancy Schematic (Stockbridge, et al., 2012) 3
Figure 5: D-STAMP-HD reconnaissance camera. 5
Figure 6: Sound distance schematic 6
Figure 7: Working Quad Copter (Gajendran , 2012) 10
Figure 8: Car compressor (Tosell, 2014) 11
Figure 9: Airship functional components (IITB, 2010) 13
Figure 10: Envelope, Concept 1 16
Figure 13: Rudder & Elevator, Concept 1 18
Figure 16: Airship backbone, Concept 1 21
Figure 17: Airship backbone, Concept 2 22
Figure 18: Ballonets, Concept 1 23
Figure 19: Ballonet, Concept 2 24
Figure 20: Engine, Concept 1 25
Figure 21: Engine, Concept 2 26
Figure 22: Gondola, Concept 1 27
Figure 23: Gondola, Concept 2 28
Figure 24: Example incompatibility check 29
Figure 25: Airship Compatible Concepts 30
Figure 26: Airship, Concept 1 31
Figure 27: Airship, Concept 2 32
Figure 28: 3D representation of the selected concept 35
Figure 29: The circle problem 36
Figure 30: Connecting arm, engine side detailed naming schematic 50
Figure 31: Connecting arm, gondola side detailed naming schematic 51
Figure 32: Schematic representation of milled rods 52

ix

Nomenclature list
UAV Unmanned Arial Vehicle
RPM Revolutions per minute

1
1 Introduction
South Africa is home to the big five animals, the Lion, Elephant, African Leopard, Cape buffalo, and
lastly the Rhino. These animals are the crown jewels in any game safari. Unfortunately, one of these
animals is nearing extinction. Rhinos have been severely poached for their horns the past decade to
the extent that new innovative ways have to be developed to monitor these animals. This project will
focus on one solution, a lighter than air UAV, which will follow the Rhino and alert the ground
patrols when a Rhino may be in danger of poaching.
2 Scope of work
This will give a broad overview of what work has to be done during the design project.
2.1 Problem statement
Design a UAV rigid airship on which surveillance equipment can be mounted. The UAV can be used
to patrol our national parks and should be able to track big game, such as rhino, for a period of at-least
24 hours.
The control system is not included in the design. Only focus on the mechanical design of the UAV.
2.2 User Requirements
Must stay in the air for at least 24 hours.
Must carry a surveillance camera, recording and transmitting equipment.
Must be able to withstand harsh conditions like those of the Kruger National Park.
Must be relatively inexpensive to manufacture and maintain.
3 Literature Study
This literature study will give a broad overview of what conditions and limitations the UAV should
adhere to when operating. The literature study will also give an explanation of how an Airship works
and what are its advantages and disadvantages.
3.1 Operating conditions
The UAV will first be implemented over the Kruger National Park. The Kruger National Park is a
park that was founded to protect the limited amount of animals in the park. The park is situated just
below Zimbabwe and left of Mozambique. This park, having luscious bushveld, is subject to high
temperatures, low rainfalls and seasonal winds.

2

Figure 1: Temperatures, Average and Extremes (Weather2, 2014)

Figure 2: Precipitation Amount [mm] (Weather2, 2014)

Figure 3: Wind Speeds [km/h] (Weather2, 2014)

3
From Figure 1 it can be noted that the temperatures average between 9 C and 34 C. Taking into
account the absolute maximums and minimums of Figure 1 with an added safety factor, it can be
assumed that the UAV should be able to operate between the temperatures of -5 C to 70 C.
Looking at Figure 2, the precipitation amount on average is not very high. The UAV should thus be
able to function in wet conditions but there will not be a need to design the airship for extreme wet
conditions.
Figure 3, show that winds speeds that can be expected in the Kruger National Park. The average wind
speed per month is around 6 km/h. It can be noted that for every month there were some spikes in
winds speeds, some ranging as high as 85km/h.
The elevation of the Kruger National Park varies from 140m above sea level to about 600m above sea
level. As it can be seen, the Kruger National Park is fairly low compared to other regions in South
Africa (Siyabona Africa, 2014)
3.2 Airships workings
Airships are also called lighter than air vehicles or LTAV for short. A LTAV works on the principle
of using ballast, a lot like a submarine, to make it lighter or heavier than air. To make the balloon or
hull of the airship light, a lighter than air gas is needed. Two of the most common gasses used in
airships are Helium, having a lifting capacity of 1.02 kg/m
3
, and Hydrogen, which has a lifting
capacity of 1.1kg/m
3
. These lifting capacities are measures at sea level. Hydrogen, used in the early
days of airship design, is highly flammable and is deemed unsafe to use.

Figure 4: Airship Buoyancy Schematic (Stockbridge, et al., 2012)

4
Figure 4 show a schematic drawing of an airship with a cut made in the hull. Through the cut in the
hull, it can be seen that there are two additional balloons in the hull called ballonets. Ballonets act as
the ballast tanks for an airship, which are filled with air. To make an airship accent, the ballonets are
deflated, expanding the constant mass of Helium and lowering its density. This creates a buoyancy
effect that makes the airship lighter than air. To make the airship descend, the ballonets air inflated
with air, compressing the constant mass of Helium in the hull and increasing the density of the
Helium, making the airship heavier than air. This is the basic principal of an airship (Freudenrich,
2014).
3.3 Following a Rhino
The main aim of the LTAV is to follow the Rhino in the Kruger National Park. Following a Rhino is
critical to the airships operation.
Table 1: Average Weights of white rhinos
Males 1800-2500 kg
Females 1800-2000 kg
Newborns 40-60 kg
Table 1 shows the average weights of a white rhino. Looking at the weight, these are fairly large
animals and would be easy to spot. The average shoulder height of a full grown rhino is between 1.5m
and 1.8m.
A daily activity of a rhino includes feeding and alternatively resting. In hot dry weather they routinely
rest during the hottest part of the day. Much of the resting time is spent wallowing or rolling in dust.
Rhino in general prefer long and short grass savannah areas.
When startled or threatened, a rhino can run up to 40km/h for short periods of time.
Concluding, a rhino can easily be spotted from the air as they prefer open areas and watering holes in
hot and dry conditions. (Savetherhino, 2014)
3.4 UAV Cameras
A UAV camera should be light and should be able to rotate around its own axis to enable fast and
efficient tracking of its target. The camera should rather rotate around its own axis, which will be fast,
than waiting for the airship to change direction.
CONTROP designs and manufactures miniature, lightweight, electro-optical, stabilized, airborne
sensors which are designed to be carries by a miniature UAV for tactical reconnaissance in daylight or
during night.
For the airship, it has been decided to use the D-STAMP-HD camera.

5

Figure 5: D-STAMP-HD reconnaissance camera.
Figure 5 shows the D-STAMP-HD camera. This camera boast qualities that render it perfect for the
airship:
Very lightweight for small UAVs. Weighs 1
Low power consumption.
High performance image resolution and quality.
Low cost.
This camera will enable the UAV to be a distance of 1000m from the rhino, and still have clear
visuals on the rhino. With thermal vision, it will be ideal to spot poachers when they are still a long
distance away from the rhinos.
The camera is not part of the design, but the weight and functionality has to be taken into account.
(Controp, 2014)
3.5 Lowest safe Altitude (LSALT)
The LSALT for a UAV is 1000 feet which is roughly 305 (AMDT, 2010). This means that the
UAV will hover in the air at 300. Raising the height of the airship will result in a broader outlook
but if the airship is higher than 1000, the camera will be rendered useless. Thus the optimal
operation height should be between 300 and 1000.
Having a camera range of 1000 and a LSALT of 300, calculated with Pythagoras, the airship
can follow the rhino from about 950 away. This will also maintains the peace in the resort and will
not disturb the natural habitat of the rhinos.

6
3.6 Sound Production
Keeping the sound down will be important to the functioning of the airship. An airship that produces a
lot of noise, will disturb the natural habitat of the rhinos and any other animals living in the Kruger
National Park. Sound is caused by pressure variations which moves in waves through a medium such
as air. The further the sound has to move through the medium, the more the sound dissipates.
Table 2: Table of common sounds
dB Sound
0 Threshold of human hearing
10 Volcano Crater
20 Leaves rustling
40 Crickets at 5 meter
60 Conversation speech at 5 meter
80 Snow coach at 30 meter
90 Lawnmowers
100 Thunder
120 Military Jet at 100 meter
126 Cannon fire at 150 meter
Table 2 (National Park Service, 2014) is a table containing some common sounds that we may
encounter to give reference of the decibels scale. The dissipation of sound over a distance can be
calculated with the following formula:

Figure 6: Sound distance schematic

7

+ ( (
)
(1.)
Where is the sound level and is the distance from the source of the sound to the point of interest.
From the above text, we determined that the airship has to be more than 300 in the air when
operating. We can also assume that we do not want the sound on the ground to be more than 40.
Solving the equation gives:

+ (
= + (
= .

From the above calculations, it was determined that the airship should not emit sound loader than
= 89.54 when standing 1 from the airship. In comparison, the sound emitted from the
airship should not be louder than a lawnmower when standing 1 from the airship. The engines will
be the main source of sound production so a silent engine has to be chosen. (Sengpielaudio, 2004)
3.7 Engines and Propellers
The engines of the airship will be used to turn the propellers which will create thrust. With the thrust
created from the propellers, the airship can be moved. The engines will be the main source of power
for the airship. The engines will use a type of fuel, and convert the fuel into kinetic energy which will
be used to rotate the propellers. Looking at the above mentioned paragraphs, it can be concluded that
the engines should be light, should not emit relatively loud noise and should not be too complex to
maintain the buoyancy while using fuel.
3.7.1 Engine-Fuel system tradeoff study
For this, a tradeoff study was setup to compare different engine systems. This tradeoff study will only
take into effect the engines and the type of fuel they use. Four types of engine-fuel systems were
selected for this tradeoff study. A petrol engine, a hybrid engine, an electric engine powered by
batteries and lastly an electric engine powered by solar panels.

8
Table 3: Engine trade-off study
Engine Description
A
i
r
b
o
r
n
e

(
2
0
)
S
o
u
n
d

(
1
0
)
B
u
o
y
a
n
c
y

F
u
e
l

C
o
m
p
e
n
s
a
t
i
o
n

(
1
0
)
W
e
i
g
h
t

(
5
)
T
o
t
a
l

(
4
5
)
1 Petrol engine
A smaller than 50cc, 2 -stroke engine, working
with a petrol-oil mixture. The petrol engine
will directly drive the propellers 20 2 0 4 26
2 Hybrid
A smaller than 50cc, 2 -stroke engine, working
with a petrol-oil mixture that generates
electricity. The electricity will be used to
power electric motors which will drive the
propellers 20 2 0 3 25
3
Electric with
batteries
Electric engine working with batteries that has
to be recharged while the airship is stationary
on the ground 20 10 10 1 41
4
Electric with
solar panels
Electric engine working with the electricity
produced from solar panels at the top of the
airship 10 10 10 5 35
Table 3 shows the tradeoff study between different engine-fuel configurations. The tradeoff study
looks at different aspects, giving them a score with the highest score being the best. The first aspect
that has to be taken into account is the airborne aspect. This looks to weather this engine-fuel
combination can be airborne for 24 hours as the technical specifications specify. The second aspect is
sound. This looks at the sound produced by the engine, with quietness being the aim, as this will
function in a National Park. The third aspect is the buoyancy-fuel compensation which has to be
taking into effect. As the airship uses fuel, the airship becomes lighter which means the control
system has to constantly adjust the buoyancy of the airship to compensate for this. The last aspect is
the weight of the engine-fuel system. The lighter the airship is, the smaller it can be which will reduce
the production costs of the airship. The weight of each aspect is shown by the amount of points that
can be awarded for the aspect.
The petrol engine will be able to be airborne for 24 hours without refueling as the airship will carry
the needed fuel with it. Petrol engines are notoriously loud engines when operating. This engine will
use petrol, which when used, will decrease the weight of the airship, which the airship then has to
compensate by filling the ballonets more. The total weight of this engine-fuel system will be relatively
small as the amount of fuel needed to produce the needed power will be small.

9
The hybrid engine will be able to be airborne for 24 hours without refueling as the airship will carry
the needed fuel with it. This system will consist of a petrol engine, a generator and an electric engine
which will turn the propellers. Petrol engines are notoriously loud engines when operating. This
engine will use petrol, which when used, will decrease the weight of the airship, which the airship
then has to compensate by filling the ballonets more. The total weight of this engine-fuel system will
be relatively small as the amount of fuel needed to produce the needed power will be small. This will
still be heavier than the above mentioned petrol engine as this will have a generator included into the
system to produce electricity.
The electric engine with batteries will be able to be airborne for 24 hour before the batteries will have
to be recharged. With this being a complete electric system, it will be virtually inaudible. The battery
weight will not change as they become discharged, so no buoyancy-fuel compensation has to be taken
into effect. The weight of the batteries will be very heavy, needing for the airship to have an increase
in size just to carry the weight of the batteries.
The electric engine with solar panels will not be able to be operational for 24 hours. During the night
the solar panels will not be able to charge, leaving the engines powerless. With this being a complete
electric system, it will be virtually inaudible. The will be no weight change when the system is
operational, so the buoyance-fuel compensation does not need to be taken into effect. Because this
system will not have the added weight of heavy batteries, this system will be very light.
From Table 3 it can be noted that for this airship, the best engine-fuel system will be an electric
engine with batteries. This system outperformed the rest in the tradeoff study.
3.7.2 Selected engine-fuel system specifications
Determining the exact engine and batteries needed for the airship will be virtually impossible if the
drag force of the airship is unknown. This part of the literature study will only show what will be
needed for the system to work, as well as possible components that can be used. The best
configuration of components will be chosen in the detailed calculations, after the drag has been
calculated.
The components chosen for the airship will be that of an ordinary quad copter. The reason for this is
because of the recent worldwide interest in quad copters, the components for them are easily
acquirable. There is also a lot of knowledge gained over the years from experts which help facilitate
the design of the airship propulsion system.

10

Figure 7: Working Quad Copter (Gajendran , 2012)
Figure 7 shows an image of a working quad copter. The principle of the quad copter is to generate lift
using four electric motors to rotate four individual propellers which creates enough lift to fly.
An airship produces lift with its envelope, but the same motor that produces lift for the quad copter
can be used to propel the airship. Batteries, a control system, electric motors and the propellers are
what are needed to create a complete propulsion system. Because the control system for the airship is
not part of the design, only the battery, electric motors and propellers will be chosen for the airship.
In the appendix, Table shows a list of off-the-shelf batteries and their specifications. Table is a list of
available quad copter motors that can be used to rotate the propellers. Table is a list available quad
copter propellers that can be used for the airship. The best combination of batteries, electric motors
and propellers has to be chosen for the airship according to the drag that the airship produces.
3.8 Ballonet pumps
The ballonet pump will be the pump which inflates the ballonets in the envelope to increase the
density of the Helium, making the airship heavier. The pump will have to be powerful enough to
compress the Helium, but also be lightweight and be able to operate with the available battery power
provided above. The optimum pump would be a car compressor. This will not only enable the pump
to operate with the available power, but also be able to compress the Helium in the airship enough to
make the airship descend. The pump chosen for this project is the following:

11

Figure 8: Car compressor (Tosell, 2014)
Figure 8 shows the selected air compressor that will be used for the airship. This is a very small air
compressor which is ideal as the air throughput can be accurately stopped. The air compressor has the
following specification:
Table 4: Car air compressor specifications
Specification Value Description
Pressure 20.78 Bar This compressor can reach a pressure of 20 times the
atmospheric air pressure at sea level.
Voltage 12 V This can be powered from the batteries of the propulsion
system as they operate at 11.1 V
Weight 246 g This is a very small, lightweight compressor weighing a
quarter of a kilogram
Size 165x85x127 mm This shows that the air compressor is very small.
Table 4 shows that this compressor should be able to compress the Helium enough by inflating the
ballonet. This compressor will not be used to its full potential as a pressure of 20 Bar will easily burst
the envelope. For the design a compressor is used as the pump system will be a design project on its
own. This is not the best pump for the operation of the airship but this pump will be able to
sufficiently inflate the ballonets and increase the density of the Helium.
3.9 Envelope and Ballonet Materials
The envelope and ballonet materials selected should satisfy a range of requirements. These
requirements are:
Should be able to last a vast amount of time without weathering.

12
Should have a low Helium permeability.
Should be able to deform without shearing.
Should be able to easily be joined, be it adhesive or clamps.
A study was done into the most ideal material for an airship envelope (Khoury & Gillett, 1999) where
two materials where discussed and a conclusion was made on two different materials. These materials
are as follows:
Polyvinyl fluoride, or more commonly known as PVF has a very low Helium permeability.
PVF is resistant to fungal growth which would be ideal when using it in a tropical area. PVF
was also found to have a life cycle of 15-20 years with no maintenance the material.
Polyurethane, or more commonly known as PUR, is a material which also has a low Helium
permeability. PUR has a good crease resistance making it ideal to use in constantly deforming
balloons. PUR has a 5 year life cycle with modest maintenance, having to soften the outside
layer to prevent cracking. PUR is very easy to join with either adhesives or by heat bonding.
For the airship envelop, the material that will be used is PVF because of its durability, while the
material for the ballonet will be PUR, as the ballonet will constantly be deforming.
3.10 Dynamic force for an Engine-Propeller combination
The force that an Engine-Propeller combination produces is mainly dependent on the RPM at which
the propeller is turning, the diameter of the propeller and pitch of the propeller. Determining the thrust
accurately is dependent on the form of the propeller as well as the density of the fluid it moving
though, but for simplicity the thrust force can be determined with the following formula derived by
Gabriel Staples (Staples, 2013):

= 4.392399 10
(4.2333 10
)
(1.)
This formula will give the thrust in Newton where the is the Revolutions Per Minute the engine
is turning at, is the diameter of the propeller measured in inches and is the Pitch of the
propeller measured in inches. It can be noted that this is just an approximation of what the thrust will
be and has been proven to be a conservative formula. The above formula will underestimate the thrust
produced by 15~30%. This formula was chosen because of its conservative nature and simplicity.
4 Functional Analysis
The functional analysis consists of breaking the airship up into its most basic parts needed. This will
enable the student to do a more detailed design of the airship by designing each component as a
whole.

13
4.1 Functional Components
An airship consists of a set of basic functioning components that, when combined, creates a lighter
than air vehicle.

Figure 9: Airship functional components (IITB, 2010)
From Figure 9 we can see that an airship consists of a lot of components with the Envelope or Hull
being the main component. The most basic components are as follows:
Envelope or Hull.
Rudder.
Elevator.
Ballonet.
Engine for propulsion.
Gondola or basket.
4.1.1 Envelope
The envelope is the main component of the airship. The envelope will contain the gas needed to make
the airship lighter than air. Because of this, the airships envelope size will be a function of the weight.
The large the weight of the total airship, the larger the envelope will become. As it can be seen in
Figure 9, the envelope contains the Ballonets. The envelope will have a constant volume of gas inside
of it.

14
4.1.2 Rudder
The rudder will control the direction the airship is flying in. Upon changing the rudder direction, one
can make the airship turn port (left) or starboard (right). A rudder will no likely be more than an flat
plate of metal, than will be used to manipulate the airflow over the airship.
4.1.3 Elevator
The elevator has the same basic function as the rudder, but instead of controlling the port and
starboard movement, the elevator will control the up and down movements of the airship. This will
also in its most basic form be a flat plate that will manipulate the airflow over the airship.
4.1.4 Ballonet
Ballonets are used to control the ballast of the airship. Changing the volume of the ballonets, will in
effect compress or decompress the gas in the envelope, making the airship lighter or heavier than air.
The ballonets will have a changing volume of gas inside of it. The volume of gas will be controlled by
the control system. Because the envelope has a constant volume of gas, but the ballonets has a
changing volume of gas, the envelopes mass of gas contained will change, but not the volume. This
basic principle is what makes the airship more buoyant or less buoyant.
4.1.5 Engines
The engines of the airship are what will propel the airship, or make it hover on a constant position if
there is a light breeze blowing. The aim of the engine is to be as light as possible and still be powerful
enough to overcome the drag forces created by the large envelope.
4.1.6 Gondola
The Gondola is a basket containing all the small components that are needed the control the airship.
The Gondola typically sits on the bottom center of the airship. For this airship, the gondola will
contain the following:
Fuel for the engines.
The control system.
The camera.
The pumps for the ballonets.
5 Technical Specifications
Technical specifications deal with the specifications that the final product will be measured by. The
design of the airship has to be able to satisfy all the technical specification. This will also show the
importance of the technical specification to the design of the airship.

15
5.1 Requirements and Specifications
Table 5 is a table with the technical specifications for the airship:
Table 5: Technical Specifications
Nr. Specification
Not
Important
Relatively
Important
Very
Important
1. Operate at a height between 300m and 1000m
above ground level.

2. Can be airborne for a time of 24 hours without
landing.

3. Can fly at a speed of 40km/h for a time of 2 hours
and still have enough fuel to stay in the air for the
remaining 22 hours

4. Can stay airborne for a complete cycle of 24 hours
on one specific spot.

5. Operate in a temperature range between -5 C to 70
C

6. In the case of extreme weather conditions, be able
to land on any surface to prevent being blown
away.

7. Be silent to not disturb the peace in the national
parks.

8 Be able to operate in wet conditions where there is
light rainfall.

5.2 Conclusion
In Table 5, all the technical specifications with their importance to the project can be noted. The
importance was assigned in the manner to best protect the rhinos, while moving the self-preservation
of the airship to a lower priority.
6 Concepts
In the concepts part of the report, the concept generation will take place for all the functional parts of
the airship. Concepts will include location, as well as any other important information needed to
explain the concept.

16
6.1 Concept Generation
During concept generation, concepts will be generated for each functional part of the airship.
Concepts do not include measurements or dimensions, just basic forms with advantages and
disadvantages of those particular concepts.
6.1.1 Envelope
The envelope has to be designed to have the least amount of drag, being able to carry the needed
amount of weight with the least amount of internal forces.
6.1.1.1 Envelope, Concept 1

Figure 10: Envelope, Concept 1
Figure 10, shows a concept for the envelope where the length of the envelope has two times the
diameter of the envelope.
Table 6: Envelope, Concept 1, Advantages and Disadvantages
Advantages Disadvantages
The envelope, with the above shape,
will have a fairly low drag force.
No sharp edges, to minimize stress
concentrations
Continuous shape, so deformation will
be minimal when subjected to internal
pressures.
Because of the long shape, there will be
internal bending moments that have to
be taken into effect.

As can be seen in Table 6, concept has a lot of advantages compared to the disadvantages.

17

Figure 11 shows an envelope in the shape of sphere. This concept will have minimal internal bending
moments but because of the shape, it will have increased drag.
concentrations.
Continuous shape, so deformation will
be minimal when subjected to internal
pressures.
Minimal internal bending moments.
Not optimal shape to minimize drag
forces.

Table 7 shows that this concept has more disadvantages. Because the speed of the airship is critical
and the drag forces are directly proportional to the airspeed, it can be assessed that this concept is not
in the best interests for this design.


18
Figure 12, showing concept 3 for the envelope, gives a shape where the length of the envelope is four
times that of the maximum diameter. This shape will have decreased drag when moving through the
air, but will have high internal moments caused by the long shape of the envelope.
The envelope, with the above shape,
will have a very low drag force.
concentrations

Because of the long shape, the airship
may deform when subjected to large
internal pressures.
Very large internal bending moment
produced by the long shape of the
envelope.
Form Table 8, it can be noted that an envelope with a long length does indeed have a negative impact
on the design of the envelope. This being said, it will be recommended that the envelope length be
less than four times the diameter of the envelope.
6.1.2 Rudder and elevator concepts
The rudder will be used to steer the airship and manipulate the airflow over the airship to stabilize its
movement while the elevator will also be used to stabilize the movement but will not play as large of
a role as the rudder will. Most of the lift will be generated from the envelope and not with forward
movement as a plane generates lift.
6.1.2.1 Rudder and elevator, Concept 1

Figure 13: Rudder & Elevator, Concept 1

19
Figure 13 shows a concept where the elevator will be fixed. The rudder will be fixed as well but will
have a moving piece which moves relative to the rudder plate. This rudder will be similar to that of an
small airplane.
Table 9: Rudder & Elevator, Concept 1, Advantages and Disadvantages
Known to work as this type of tailfins
are what aircrafts use
Simple concept
Elevator can be replaced or left out
altogether if a good working ballonet
system is implemented.
Having the rudder move independently
from the airship, additional controls are
needed to operate the rudder.
Rudder might not have enough power
to control the airship
Airship needs to move relative to the
air for rudder to work
Table 9 shows that this is the fool proof method of creating a tailfin for the airship, but for the use of
the project, it might not be the best concept. This concept limits the manoeuvrability of the airship and
needs a lot of extra components to work.
6.1.2.2 Rudder and elevator, Concept 2

Figure 14 shows the concept where the rudder will be rigid with no moving parts, but instead will
have an extended rudder with an individual propeller in the rudder. The elevator fin will also be rigid
without any moving parts.
Airship will be very manoeuvrable
using the rudder propeller to turn.
Elevator can be replaced or left out
altogether if a good working ballonet
For an additional motor, the battery size
has to be increased to compensate for
the power consumption.
Envelope volume has to be increased to

20
system is implemented.
Less moving parts, which makes this a
more simple solution
compensate for the increase in battery
weight.

Table 10, shows that this is a good concept for making the airship more manoeuvrable, but might add
significant weight and volume to the airship. Because the volume of the airship increases, it can be
assumed that the drag will also increase, which will in effect need a larger battery to compensate for
the additional power losses for the engines having to work harder.
6.1.2.3 Rudder and Elevator, Concept 3

Figure 15 shows the concept with three rigid air fins, evenly spaced from one another. The air fins
will not have any moving parts on them. This concept will only act as a stabilizer.
Light tailfin concept, while still
maintaining basic function.
No moving components which lower
the chance of failure.
This concept will not act as a rudder or
elevator but rather like stabilizers.
Needs an additional mechanism to
make the airship manoeuvrable.
Table 11 shows that this is a good concept in the sense of its simplicity. It will have no moving parts.
This tailfin will only act as a stabilizer. Unfortunately for this tailfin to act as a rudder, an additional
mechanism will be needed to make the airship manoeuvrable.
6.1.3 Airship backbone
The tailfins, being the rudder and elevator, of the airship will have a relatively heavy weight as they
will be made from rigid materials. The envelope of the airship will be made from a type of fabric
which will not be able to carry the weight of the tailfins without deforming. The backbone of the
airship will act as a load bearing mechanism that will connect to the gondola to the tailfins. This will

21
make the airship a semi-rigid airship. These concepts also tried to reverse the effect of the bending
moment created by the tailfins.
6.1.3.1 Airship backbone, Concept 1

Figure 16: Airship backbone, Concept 1
Figure 16 shows a concept for the backbone of the airship. This concept illustrates the gondola being
connected directly to the tailfins of the airship by means of the backbone. The backbone will be an
array of beams. These beams will be fixed to the gondola and tailfins by means of ordinary fasteners.
Table 12: Airship backbone, Concept 1, Advantages and Disadvantages
Lightweight design.
Strong structure to make the airship
semi-rigid.
Simple structure.
The tail will create a moment around
the centre of mass, making the airship
lean backwards.
Table 12 shows that this concept has more advantages than disadvantages. Looking at the
disadvantages, it shows that the airship will lean backwards because of the moment caused by the
tailfin. This moment can be cancelled out by moving the gondola forward in the airship, creating a
lightweight and stable backbone for the airship.

22
6.1.3.2 Airship backbone, Concept 2

Figure 17: Airship backbone, Concept 2
Figure 17 shows the alternative concept for the backbone of the airship. This concept will have an
added water tank inside the front of the airship. With the added weight of the water tank, the
backbone will cancel the moment of the tailfin.
Table 13: Airship backbone, Concept 2, Advantages and Disadvantages
Gondola will not to move from the
centre of the airship.
The airship will be stable and not lean
backwards.
Heavier design, meaning a drastic
increase in envelope size.
Increased moment of gyration.
Table 13 shows that this concept boast advantages as well as disadvantages. The main disadvantage
will be increase in envelope size to compensate for the increase of weight from the water. This is not a
recommended concept for the backbone of the airship.
6.1.4 Ballonet
Ballonets are the components that control the buoyancy of the airship. Inflating the ballonets increases
the weight of the airship, making it descend. Deflating the ballonets will decrease the weight of the
airship and in effect make it ascend. The ballonets should also be able to control the pitch of the
airship, controlling if the airship points upward or downward.

23
6.1.4.1 Ballonets, Concept 1

Figure 18: Ballonets, Concept 1
Figure 18 shows a concept for a ballonet system. For this concept, two ballonets are used which can
be independently controlled. Controlling the ballonets independently will enable the control system to
change the pitch of the airship by inflating one ballonet more than the other.
Table 14: Ballonets, Concept 1, Advantages and Disadvantages
Can accurately change the pitch of the
airship.
If one ballonet fails, the airship will
still be able to descend using the other
ballonet.
Very complex system with either two
individual pumps for the individual
ballonets on one pump with a control
valve.
From Table 14 it can be noted that this is a complex system, which might increase the cost of the
project as a whole. The price of this concepts ballonet will be rewarded with being able to change the
airships pitch very accurately.

24
6.1.4.2 Ballonets, Concept 2

Figure 19: Ballonet, Concept 2
Figure 19 is a concept where there is only one ballonet inside of the envelope. The bottom side of the
ballonet will be fixed to the gondola and the top side of the ballonet will be able to move. This free
movement will be governed by a string that will pull the ballonets forward to the nose, or backwards
to the tail of the envelope. By moving the ballonet inside of the envelope, the pitch of the airship can
be changed. Moving the ballonet forward, moves the excess Helium to the back, creating more lift at
the back.
Table 15: Ballonet, Concept 2, Advantages and Disadvantages
Simple system with an easy control
system.
The system can be simplified even
more to be only adjustable on the
ground as a calibration mechanism of
the pitch.
Cheap to manufacture
The ballonet will have limited
movement as one end of the ballonet is
fixed and will rely heavily on
deformation for moving.
Because of excessive stretching, the
ballonet may fail, causing
contamination of the helium.
Table 15 shows that this concept will be very simple to operate. This can be simplified to a concept
that can be only used on the ground to calibrate the pitch of the airship. This will have a low cost to
produce with still a high sense of accuracy. Because the airship will be a very small ship with very
small moment of inertia. The need for the control of the pitch will be very limited.

25
6.1.5 Engines for propulsion
Engines are used to propel the airship forward, or make the airship hover on one place if there is a
breeze from the front. Engines can also be used to rotate the airship to be placed correctly.
6.1.5.1 Engine for propulsion, Concept 1

Figure 20: Engine, Concept 1
Figure 20 shows a concept where two engines are used, one on each side of the gondola. This will
create a shared forward thrust. The engines will be spaced from the gondola by means of solid rods
which extend from the gondola. The rotation direction of each engine will be independent of the
other.
Table 16: Engine, Concept 1, Advantages and Disadvantages
The two engines can be used by
rotating in opposite directions, to rotate
the airship. This concept will make the
airship very manoeuvrable.
Two engines are used to share the
thrust, which will reduce the strain on
the individual engines.
Because two engines are used, a more
complex control system has to be used.
Might need addition fuel to propel two
individual engines rather than one.
Table 16 shows that this concept is highly manoeuvrable. This in effect can be used in cooperation
with a less manoeuvrable tailfin system to keep the costs down, but still maintain the manoeuvrability
of the airship.

26
6.1.5.2 Engine for propulsion, Concept 2

Figure 21: Engine, Concept 2
Figure 21 shows a concept where the engine is mounted at the back of the airship. The engine will be
fixed to the rudder and elevator of the airship.
Table 17: Engine, Concept 2, Advantages and Disadvantages
Only one engine will be needed to
propel the airship.
Might need less fuel as only one engine
is used.
Only controls to forward and
backwards movement of the airship.
Additional weight at the back end of
the airship, to make it even more heavy,
creating a larger moment around the
centre of mass.
Because of the position of the engine, it
may have to operate in turbulent
conditions, which can cause spikes in
the power consumption and can cause
control system failure.
Table 17 shows that this concept has to be used in cooperation with a tailfin system that make the
airship manoeuvrable. This will increase the weight at the back end of the airship and create an even
larger moment around the centre of mass.
6.1.6 Gondola
The gondola is the package of the airship. In the gondola, all the components of the airship will be
placed so that the gondola acts as its own unit. The gondola should contain the Camera, Control
System, Batteries and the pumps for the ballonets.

27
6.1.6.1 Gondola, Concept 1

Figure 22: Gondola, Concept 1
Figure 22 shows a concept depicting the layout of the gondola. The layout from the front will be the
camper, control system, batteries ant the ballonet pump. In this concept, the gondola is also hanging
below the airship
Table 18: Gondola, Concept 1, Advantages and Disadvantages
The control system will be between the
batteries and the camera, separating the
power cables from the camera visual
cables. This will reduce the induction
created from the power cables.
The batteries, being the heaviest
compared to the other components of
the gondola, will be place far back.
This will create a moment around the
centre of mass.
Because of the gondola hanging outside
of the airship, an additional drag force
will be imposed.
Table 18 shows that this concept will function normally and will have no effect on the performance
of the airship, but may cause internal moments.

28
6.1.6.2 Gondola, Concept 2

Figure 23: Gondola, Concept 2
Figure 23 shows a concept where the batteries have been moved forward in the layout of the gondola.
This also shows that the gondola will be placed inside of the envelope, en will be visible on minimal
places outside of the envelope.
Table 19: Gondola, Concept 1, Advantages and Disadvantages
Because a major part of the gondola is
hidden inside of the envelope, the drag
caused by the gondola will be minimal.
With the batteries moved forward, the
weight of the batteries will cause a
moment, that can cancel out the
moment caused by the tailfins
Because the gondola is hidden inside of
the envelope, and the camera being part
of the gondola, the camera might have
limited visuals.
Table 19 shows that this concept can solve the problem of having residual internal moments, but
might cause the camera to have limited visuals.
6.2 Concept Selection
The concept selection will look at the best combination of sub-system concepts to create the best
concept for the airship. A compatibility matrix was set up to see which concepts are compatible with
which concepts. After the compatibility test, the remaining sub-system concepts will be combined to
create the complete concepts of the airship. These complete concepts will be evaluated using a
concept evaluation procedure which will determine the best concept for the airship.

29
Table 20: Concept Compatibility Matrix
Concept Compatibility
R
u
d
d
e
r

a
n
d

E
l
e
v
a
t
o
r
,

C
o
n
c
e
p
t

1
R
u
d
d
e
r

a
n
d

E
l
e
v
a
t
o
r
,

C
o
n
c
e
p
t

2
R
u
d
d
e
r

a
n
d

E
l
e
v
a
t
o
r
,

C
o
n
c
e
p
t

3
A
i
r
s
h
i
p

B
a
c
k
b
o
n
e
,

C
o
n
c
e
p
t

1
A
i
r
s
h
i
p

B
a
c
k
b
o
n
e
,

C
o
n
c
e
p
t

2
B
a
l
l
o
n
e
t
s
,

C
o
n
c
e
p
t

1
B
a
l
l
o
n
e
t
s
,

C
o
n
c
e
p
t

2
E
n
g
i
n
e
,

C
o
n
c
e
p
t

1
E
n
g
i
n
e
,

C
o
n
c
e
p
t

2
G
o
n
d
o
l
a
,

C
o
n
c
e
p
t

1
G
o
n
d
o
l
a
,

C
o
n
c
e
p
t

2
Envelope, Concept 1

Envelope, Concept 2

Envelope, Concept 3

Rudder and Elevator, Concept 1



Airship Backbone, Concept 1
Airship Backbone, Concept 2

Ballonets, Concept 1

Ballonets, Concept 2

Engine, Concept 1
Engine, Concept 2

Table 20 shows which concepts are compatible with which concepts. Compatibly for this instance can
be defined as checking to see whether the concepts would logically be able to work together. The
greyed out area in the table would contain data already in the table because of symmetry of the table.
Having the concept compatibility checked, the incompatible sub-system concepts have to be
eliminated. A tree diagram was used to do this, looking at the end result to see if anything was
incompatible.

Figure 24: Example incompatibility check
Looking at Table 20, a simple figure like Figure 24 can be created. From the above figure it can be
noted that these sub-system concepts are not compatible with each other. When checking the table it
Envelope
Concept 1
Rudder
Concept 1
Airship
Backbone
Concept 1
Ballonet
Concept 1
Engine
Concept 1
Gondula
Concept 1

30
can be noted that Envelope Concept 1 is not compatible with Rudder Concept 1. Rudder Concept 1 is
also incompatible with Gondola Concept 1. This means that a combinations of the above sub-system
concepts will not be able to exist.
Doing a compatibility check for all the possible concepts, the following figure was generated:

Figure 25: Airship Compatible Concepts
Figure 25 shows a tree diagram of all the compatible sub-system concepts. There are now only two
airship concepts in total. Using a concept evaluation method, these concepts will now be tested to
determine the best concept, which will be taken into further development.
Airship
Concepts
Envelope
Concept
1
Rudder
Concept
3
Airship
Backbone
Concept
1
Ballonet
Concept
1
Engine
Concept
1
Gondola
Concept
2
Airship
Concept
1
Ballonet
Concept
2
Engine
Concept
1
Gondola
Concept
2
Airship
Concept
2

31
6.2.1 Airship Concepts

Figure 26: Airship, Concept 1
Figure 26 shows the first airship concept. The envelope in the concept is transparent. The concept shows the estimate positions of all the predetermined
concepts.

32

Figure 27: Airship, Concept 2
Figure 27 shows another complete airship concept. The envelope of the airship is transparent in this concept. This concept boasts a single ballonet which is
controlled by an adjustment wire.

33
6.2.2 Airship Concepts advantages and disadvantages
Table 21: Airship, Concept 1, Advantages and Disadvantages
Light design
Very Manoeuvrable
Change airship pitch.
Minimal drag and internal moments.
Advanced pump system needed for the
ballonets.

Table 21 shows that this concept has many advantages making it a great concept for the purpose at hand. Some simplicity is needed for the pump system but
otherwise this is a good concept up for possible consideration.
Table 22: Airship, Concept 2, Advantages and Disadvantages
Light design.
Very Manoeuvrable.
Changeable airship pitch.
Minimal Drag and internal moments.
Possible fatigue of the ballonets
rubbing against the backbone can cause
ballonet failure and contamination of
the helium inside the envelope.
Table 22 shows the advantages and disadvantages of the second complete airship concept. It can be noted that is a simplified concept from the first airship
concept. This simplicity possesses its own problems as fatigue now becomes a problem. As the ballonet will have minimal movement, the fatigue threat will
also be minimal.
6.2.3 Concept selection matrix
The better of the two individual concepts have to be selected to be taken into further production. For this, a final concept selection has to be done. This
concept selection will be done by setting up a matrix with individual criteria to which the airship concepts have to be measure by. These criteria is set up by

34
taking into account the technical specified earlier in the report. The main aim will still be protect rhinos in the wild. Each of the individual criteria has a
specified weight which is directly relative to the importance of protecting the rhinos.
Table 23: Airship concept selection matrix
Airborne (100):
The possibility of the
airship to be airborne for a
time of 24 hours.
Maneuverability (50):
The ability of the airship to
stay be easily maneuvered.
Complexity (20):
The less complex the
concept is, the easier it will
be to maintain, receiving a
higher score.
Silence (30):
Being able to operate
silently is important to the
functioning of the airship.
Total (200):

Airship Concept 1 90 50 16 30 186
Description: In extreme weather
conditions, where wind is
higher than expected, the
airship will need to be
recharged before the end of
24 hours.
With the positions of the
engines in the concepts, the
airship will be very
maneuverable.
This concept will make use
of a complex pump system.
Furthermore the rest of
airship will be fairly fixed.
Making use of an electric
propulsion system, the
airship will emit very low
levels of sound, making it
virtually inaudible when
operating in the sky.
Airship Concept 2 90 50 18 30 188
Description: In extreme weather
conditions, where wind is
higher than expected, the
airship will need to be
recharged before the end of
24 hours.
With the positions of the
engines in the concepts, the
airship will be very
maneuverable.
This concept will make use
of an simple pump system,
furthermore the rest of the
airship will be fairly fixed
Making use of an electric
propulsion system, the
airship will emit very low
levels of sound, making it
virtually inaudible when
operating in the sky.
From Table 23, it can be noted that according to the proposed concept selection, the best concept is Airship Concept 2. The deciding factor for this concept
was its low level of complexity. For all the other criteria, the concepts will neck in neck. Airship Concept 2 will now be taken into further development.

35
6.3 Detailed Concept design

Figure 28: 3D representation of the selected concept
Figure 28 shows the pre-design-calculation representation of the selected concept. The sizes of all the relative components will be determined in the detailed
calculations.

36
7 Detailed design
The detailed design will include all the calculation for all the parts of the airship. These calculation
will give answers such as the governing dimension for the airship. With the information acquired in
the detailed design calculation, the detailed design can be drafted.
7.1 Calculations
The calculation for the detailed design will solve all the unknowns of the airship. This includes the
materials used, the airship dimensions and the various assumptions that were made to solve the
unknowns.
7.1.1 Solving methodology
The largest part of the design calculations is to determine the size of the envelope. This poses a
problem as the envelope size is dependent on the weight of the airship. The weight of the airship is
mainly governed by the amount of batteries used. The amount of batteries used is determined by the
motors used, which in co-operation with propellers has to overcome the drag force of the envelope.
The drag force of the envelope is dependent on the size of the envelope.

Figure 29: The circle problem
There are too many variables for the equation to be solved algebraically. Thus, the weight of the
airship will be assumed and an iterative solution will be used to solve to remaining variables.
Envelop
Size
Amount of
batteries
Engine &
Propeller
Combination
Envelope
Drag

37
7.1.2 Buoyancy Forces
Helium inside the envelope has a lower density than the air around it. This will in effect create a
buoyancy force, meaning the airship will want to ascend. This is the key to the workings of an airship.
The buoyancy force can be calculated with the following formula:

= (
(2.)
where
is the Buoyancy force created by the change in densities of the different gasses.
As the airship ascends, the air density will decrease. During the assent the density of the Helium in the
airship envelope stays the same. The implication of this is that the buoyancy force decreases as the
height of the airship increases. This also means that the airship has a fixed maximum height it can fly,
which is referred to as the ceiling height. When the airship is flying at its ceiling height, the buoyance
force
= 0 . For simplification and later consideration, a constant buoyancy force is assumed

which is a function of the volume of the airship:

10.0062 N/m
(3.)
This is an accurate assumption if the airship is close to sea level.
7.1.3 Speed of the airship and the air properties
The speed at which the airship should be able to move is largely governed by the speed of the rhinos it
has to follow, as well as the expected wind speeds. For the literature study it can be noted that the
airship will on average not have to face a wind speed of more than 10/. For the iterative process,
it is assumed that the airship will have to be able to maintain an airspeed of 40 / for a time
3 and should be able to overcome a wind speed of 20 / for a time period of 24 .
7.1.4 Size of the Airship
From the concepts generated, the best form factor for the airship is a 2:1 form factor. This means that
the length of the airship will be twice the diameter of the airship. The volume of the airship will be a
function of the weight it has to lift, as well as the lifting force from the Helium. The lifting force can
be determined as follows:

9.81
1.02/

(4.)
The mass will be determined in a later section. The volume of the airship can be determined as
follows:

(5.)

38
This will give the volume of the airship. Having the volume of the airship, the length and the diameter
can be solved iteratively using the following formula:

4
3

(6.)
These will form the governing dimensions of the airship.
7.1.5 Drag force from the envelope
To calculate the drag force of the airship which is moving through air, some constants have to be
calculated first. The basic formula for the drag force of an immersed body is as follows:

1
2

(7.)
Where
can be assumed as 0.13 (White, 2011). This assumption is for a perfect sphere. The airship
can be interpreted as a perfect sphere because the amount of drag the external airship components will
produce will be negligibly small compared to the drag of the airship envelope. is the density of air,
is the velocity of the airship moving relative to the ground and is the frontal area of the airship.
The frontal area of the airship can be calculated as follows:

4

(8.)
By using the above formulas, the drag force can be calculated for the airship moving at a speed . It
can be noted that this is just an approximation of the drag forces.
7.1.6 Batteries
A list of batteries that may be used is shown in Table in the Appendix. An example from the table is
as follows:

Battery
Cell
Capacity
(mAh)
Max
Current
(A)
Cell
Resistance
(ohm)
Rack
Voltage
(V)
Pack
Weight
(g)
1
BackLine 4400 35C 4400 154 0.0033 11.1 367
Table 24: Example of Table A
Table 24 is a single line from Table A in the appendix. These are set values for the specific batteries
which cannot change. The cell capacity of the battery is an indication of how much current the battery
contains. For the example above, the battery can deliver 4400 for a time period of 1 hour. The
max current of the battery is the maximum current that can be drawn from the battery at any moment
in time. The cell resistance is the internal resistance of the battery. The rack voltage is the voltage that

39
battery pack produces. The weight of the battery is how heavy the battery is. Unlike a petrol system
fuel tank, the weight of the battery will not decrease as it becomes discharged.
7.1.7 Motor size
A list of possible motors that may be used is shown in Table in the Appendix. An example from the
table is as follows:
Motor
Kv

R
(ohm)
Kt

No
Load
Current
(A)
No
Load
Volt
(V)
Max
Current
(A)
Motor
Weight
(g)
1 Above All 2813-18 1200 0.075 1.127 1.2 8.2 25 55
Table 25: Example of Table B
Table 25 is a single line from Table B in the Appendix. These are the set values for the specific
motors that are available on the market. The value is a constant. To calculate the RPM at which
the motor will be rotating the formula
can be used. is the internal resistance

of the motor. The value is a constant which can be used to calculate the amount of torque the
motor produces with the formula
. If the motor is turning idly a current as

specified in the No Load Current passes through the motor. The maximum current that the motor can
handle is specified in the Max Current Colom. If a current larger than is applied to the motor, the
motor will burn out.
7.1.8 Propeller dimensions
A list of possible Propellers that may be used is shown in Table in the Appendix. An example from
the table is as follows:
Propeller Kt Kp
Diameter
(cm)
Pitch
(cm)
1 Aeronaut 6x5 fixed E-prop 0.9 0.7 15.2 12.7
Where Kt is the torque constant of the propeller and Kp is the propeller constant. These are all the
constants that specify the propeller. The amount of torque a propeller consumes can be calculate with
.
7.1.9 Weight of the airship
The weight of the airship is the combination of the weights of all the individual components. These
components are discussed in more detail below.

40
7.1.9.1 Propulsion system weight
Various formulas where used to calculate what combination Batteries, Motors and Propellers has to be
used in accordance to overcome the drag force
of the airship moving through the air. This was an

iterative process in itself. First a combination of a Battery, Motor and Propeller was selected. The
static force from the combination of hardware would produce was calculated with the following
formula:

2 4.3923 10
4.233 10

Where
is the diameter of the propeller in Inches and the is the pitch of the propeller in
inches. The above formula was calculated for all the possible combinations of the hardware in Tables
A, B and C. If the force calculated was smaller than the drag force produced by the airship envelope,
the combination of hardware was ignored. For all the combinations of hardware that produced a force
that could overcome the drag force of the airship, the amount of current that that combination would
consume was calculated with the following formula:

(9.)
Now that the amount of current the hardware combination consumes is known, the amount of
batteries can be calculated by looking at the time the airship has to stay in the air versus the amount of
time the battery can produce the needed current. This was done for all the remaining hardware
combination. These combinations weights were tallied and the combination that could produce the
needed force with the minimum amount of weight was the combination that was selected.
7.1.9.2 Envelope Weight
The envelope weight is a function of the surface area of the airship. The material that would be used
for the airship envelope is PVF which has a density of 1450 /
. For simplicity, the

thickness of the hull was assumed to be 0.2 thck. The weight of the envelope material can be
approximated as follows:

0.0002 1450 (10.)

This would give an approximation of what the envelope material would weigh.
7.1.9.3 Control System Weight
For this, values were assumed in accordance to what each component is expected to weigh. The
control system weight takes into account the weight of the Camera, Control System, Ballonet Pumps
the Gondola Casing and an addition contingency weight. These weights were assumed to be:

41

0.5

These values were chosen to be conservative. Following is the formula to calculate the weight for all
the above sections in which form part of the control system:

5.5

(11.)
This can also be described as the weight of the static parts without the batteries.
7.1.9.4 Rudder & backbone weight
The rudder and backbone will be made from 5 thick aluminum rods which will form an outer
frame for the Rudder. Aluminum has a density of 2700 /
The inside of the frame will be

covered with the same PVF thats used for the envelope. The weight of the backbone will be
conservatively determined:

4
0.005
2700
(12.)
The weight of the rudder can be conservatively approximated as:

3 2
4
0.005
2700 +
3
2
0.0002 1450
(13.)
This will give the weight of the backbone and the rudder system relative to the diameter of the airship.
7.1.9.5 Ballonet Weight
For the simplicity of the calculation and maintaining a conservative nature of weight estimation, the
weight of the ballonet will be approximated as
th
of the envelope weight, thus the weight of the
ballonets can be calculated as follows:

1
10

(14.)

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7.1.10 Iterative solution
To solve all of the above equations, an iterative solution was needed. The equations were set up in
Matlab, and was solved to give the best possible answer. An initial weight for the airship was selected
of 30kg for the complete airship. The calculations were also done to determine the specifics of an
airship that needed to fly at 40/ for a time of 3 . This will also be a conservative measure
taken to ensure that the airship will be able to maintain a speed of 20 / for a time period of
24 . The script used in Matlab can be seen in the Appendix under Iterative Solution Scrip File.
The script solved all the equations with an error 100 in the weight of the airship. For the script, the
following governing values were obtained:
Table 26: Iteration script values
Description Value Unit
Airship Volume 37.3677

Length of the airship 6.5844
Diameter of the airship envelope ( 3.2922
Reynolds Number ( 7.0077 10

Drag coefficient (
0.13
Airship Envelope Surface Area (
58.1488

Drag force (
75.9629
Battery: ePower 5000XP 15/25C
Battery amount 40
Engine: 97 Hacker A50 12L
Propeller: 71 APC E 22x11
Mass of the Rudder 0.9105
Mass of the Gondola 18.69
Mass of the airship ( 38.1506
Solution time 27.68
From Table 26 it can be noted the solution was not instantaneous. All of the values look like what it
was expected to be with nothing out of the ordinary.

43
7.1.11 Discussion of results
Table 26 shows the results acquired for the iterative script run in Matlab. This table give enough
information so that the governing dimensions of the airship can be specified. The length of the airship
is quite long at 6.5844 but because the airship will be high up in the air, due to perspective, the
airship will be almost invisible. It can also be noted that the airflow over the envelope will be
turbulent, confirming the assumption to use
0.13 as the drag coefficient.

7.2 Detailed design sketches
With the above calculations the governing dimensions could be set for the airship. Follow is the set of
detailed drawings as agreed upon by the student and the lecturer:

44

45

46

47

48

49
8 Manufacturing Analysis
The student was tasked to do a manufacturing analysis on the two component, for which the detailed
CAD drawings were made. The two components are the Gondola case, the part containing all the
electronics piping and pumps for the airship, and the ConnectorPlatePropPort, which can be described
as the arm that connects the engine and propeller to the Gondola case. Both these components have to
be custom built as they are not readily available on the market.
8.1 Gondola Case
The Gondola case will be the bottom part of the case that can be removed from the airship without
deflating the airship or by modifying the envelope. It can be unscrewed from the top Gondola Lid
which resides inside the airship. There are two possible manufacturing methods for the Gondola case.
The case can be manufactured by means of and injection mold or by breaking the case up into
modular parts and later assembling the individual modular parts to form the complete case. Each of
these methods manufacturing analysis will be discussed.
8.1.1 Gondola Case Injection Molded
The Gondola case will be a single component which will be manufactured from Polypropylene. To
use this process, a mold has to be manufactured out of steel which will be the negative of the Gondola
case. When this steel mold is assembled, it will contain a cavity which will be the exact shape of the
Gondola case. During the injection molding process, hot plastic (Polypropylene) will be injected in
the mold cavity and cooled to form the Gondola Case. The mold will be removed to expose the
Gondola case that formed in the cavity. The steel mold will also mold the all the holes.
After the Gondola case has been molded, it will be check for flashings. Flashings are thin layers of
plastic that form when the steel mold does not seal properly. Any flashings can cut a hole in the
envelope and should be manually removed with a Stanly knife.
This will be the best method of producing the Gondola case when the case is being mass-produced.
The create a Gondola case with an injection mold will cost about 10 50 per case being molded
but because the mold of the Gondola case has to be made from steel, the manufacturing cost of the
steel mold will be in excess of 60 000. This method will not be used as this airship is only going to
be produced on a small scale at first.
8.1.2 Gondola Case Modular Method
The gondola case will be spit up into separate components which can be easily laser cut to fit like
puzzle piece into each other. First the drawings have to be made on any CAD software which will
create the puzzle pieces. These sketches will be sent to a laser cutter and the various pieces will be cut
from the same sheet of PVC.

50
These piece will be assembled by hand and glued together using PVC weld. This will form the
Gondola Case. This will be more expensive than an injection molded part but this will not have the
initial mold manufacturing cost making it ideal for a small production.
8.2 Connecting arm (ConnectorPlatePropPort)
The Connecting arm or as described in the detailed drawings as the ConnectorPlatePropPort, will be
the bridge between the Gondola and the Engine-Propeller combination. This is to move the propeller
away from the envelope. This arm will consist of various parts welded together to form a single part.
This complete part will be made from Aluminum.

Figure 30: Connecting arm, engine side detailed naming schematic

51

Figure 31: Connecting arm, gondola side detailed naming schematic
From Figure 30 and Figure 31 the independent components which will form the assembly is clearly
named. The list of components are as follows:
4 Main Aluminium rods.
2 Thrust Aluminium rods.
1 Load Aluminium rod.
1 Gondola Plate.
1 Engine plate.
To start the assembly, each of the components has to be made to specification. Both the Gondola plate
and the Engine plate can be laser cut from an 2 aluminium plate. No additional manufacturing
will be needed on the plates. The rods will be cut from 5 Aluminium rods. The lengths of the
rods will be as follows:
Main Aluminium Rods, 1200
Thrust Aluminium Rods, 1203
Load Aluminium Rod, 1204
After the rods and the plates have be cut to specification, the rods have to be milled to fit into each
other. For this process, the two thrust rods have to be milled together with two of the main rods to for
a perfect fit for the rods to be welded together. The Load rod also has to be milled together with one
of the main rods to fit into each other.

52

Figure 32: Schematic representation of milled rods
From Figure 32 it can be noted that the rods have to be milled to such an extent that the point that
connect to the Engine plate should be round in form. Three of these milled pairs have to be created.
The rods can now be welded together as well as being welded to the Gondola Plate and the Engine
plate. The preferred method of welding is to use a TIG welder with an Aluminium filler rod. The weld
should be a low current weld to not burn through either of the plates.
9 Maintenance Analysis
The maintenance analysis is an important part of a design. It is important to know which parts may
need to be replaced and the ease of access to the part. This analysis will take into consideration the
various parts of the airship and how easy it will be to maintain that part in the event that is should
break, perish or explode.
9.1 Standard components
Standard components or off-the shelf components can readily be bought or imported from overseas.
These components include the Bolts, Nuts, Camera, Batteries, Engine, Ballonet Pump, Control
System and Prop. These components will have a maximum lead time of a month. This is a long time
but will still be shorter than trying to manufacture the components
9.2 Envelope materials
The envelope materials has a high durability and will rarely have to be maintained. In the case that the
envelope should form a puncture, the hole in the envelope can be fixed with normal patch and
solution which can be bought from any hardware store, bike shop or garage.

53
9.3 Non-Standard Components
All the non-standard components of the airship has to be manufactured. This will have a maximum
lead time for of less than two months for the various components. The materials from which the
individual components are made are readily available from suppliers like Aluminum and PVC plates.
9.4 Inspection
The best method of preventing imminent component failure is by doing the needed inspections.
Inspections can be done when the airship is charging its batteries or just before taking off.
During pre-flight inspections the bolts that connect the Gondola lid to the backbone as well as the
bolts that connect the Backbone to the Rudder can be checked to be intact and fastened with their
respective bolts. The motors and propellers can be checked to be clean before their startup. The
ballonet pump can be checked to work by seeing if the airship ascends and descends when the
ballonet pump is operational. Before takeoff, the airship communication from the ground control to
the airship control system should be tested to make sure that clear communication is possible and the
control system is responsive and operational. The battery power should be checked before takeoff to
be sure that the
9.5 Conclusion
Maintenance is important to ensure a long life cycle of the airship is ensured. With the due
maintenance, the airship can be maintained. In the case that proper maintenance is done on the airship,
the user should be able to spot a potential problem in the airship and order the parts before the
individual part has broken. Good maintenance will decrease the airship downtime.
10 Reliability Analysis
The reliability of the airship can be defined as how dependable the airship will be. This will take into
effect different factor. The reliability of the system has to be interpreted as the airship is an assembly
of a lot of sub-components. These components may have difficulty functioning in unison. For this
reason, a reliability analysis is done on the system.
10.1 System reliability
For the system reliability, a FMEA (Failure mode and effects analysis) was done. FMEA is a
systematic method of determining possible failure modes and the effects that these failures would
have on the system. For FMEA, three individual categories can be defined to describe the system
failure. The probability of the failure, the severity of the failure and the detection of the failure. Each
of these three categories will be described in detail below:

54
10.1.1 Probability of failure
To determine the probability of the failure, one has to look at the likelihood of the occurrence of the
system component failure. This can be determined by researching similar failures in history. A
probability scale was created to give a better indication of what each probability means: The scale can
be defined as follows:
Table 27: Probability of failure scale
Rating Meaning
A Extremely Unlikely. The chances of this happening will be virtually impossible.
B Remotely Probable. This failure can happen only if all the failure conditions are met.
C
Occasionally Probable. This failure mode can happened when some of the failure
conditions are met.
D
Reasonably Possible. This failure mode can happen on more than one way when some
of the failure conditions are met.
E
Frequent Possible. This failure mode can happen on more than one way when only one
of the failure conditions are met.
Table 27 shows the Probability of failure scale. It can be noted that the scale is from A to E with A
being the preferred choice.
10.1.2 Severity of the failure
The severity of the failure is the worst case scenario devastation that the failure may cause. This will
include how the failure will impact the functioning of the airship. The severity of the failure will also
give an indication of the cost to repair the damages. A severity scale was created to categories the
different severities of a failure. The severity scale is as follows:
Table 28: Failure severity scale
Rating Meaning
I No relevant effect on reliability or safety
II Very minor, no damage and only results in a maintenance action.
III Minor, low damage, and results in replacement of cheap parts
IV Moderate, moderate damage and results in the replacement of average cost parts.
V Critical damages. Very expensive component failure but can still be repaired.

55
VI
Catastrophic damages. The failure mode destroys the airship. The airship cannot be
repaired.
Table 28 shows the failure severity scale. It can be noted that this scale is form I to VI with I the being
the preferred choice of failure.
10.1.3 Detection of the fault
The failure can be prevented if it is detected in a timely fashion. The detection of a fault can be
described as how easy it will be to detect the failure. A scale can be set up to categorize different
failure methods.
Table 29: Fault detection scale
Rating Meaning
1 Certain. The fault will immediately be picked up. Will be clearly visible.
2 Almost certain
3 High
4 Moderate
5 Low
6 Fault is undetected by Operators or Maintainers
10.1.4 Risk of failure
Risk can be calculated as the combination between probability, severity and detection of the fault. If
the resultant risk is high, possible ways of overcoming the risk have to be discussed and which can be
added to future consideration for the airship. In the case of a high risk, serious consideration should be
taken to ensure the risk is lowered in future considerations. Following is table calculating the risk for
various faults of the airship.

56
Table 30: FMEA for the airship
Item Potential failure
mode
Potential
cause(s)
System Level End
Effect
Probability
(estimate)
Severity Detection
(Indications
to
Operator,
Maintainer
)
Risk Level
P*S (+D)
Mitigation /
Requirements
Envelope Rupture of the
envelope
Creeping of the
envelope piece
joints
A total loss of lift
which will result in
the crash of the
airship
A VI 1 Low Use an adhesive that has
minimal creeping.
Internal Pressure
Overload
the crash of the
airship
A VI 1 Low Add a pressure release
valve
External
Puncture
the crash of the
airship
B VI 2 Medium Add sensors on the port
and starboard side of the
airship to prevent
collisions with possible
objects
Ballonet Rupture of the
ballonet
Ballonet pump
overload
Contamination of
the Helium, which
will make the
airship slowly
descend
A III 2 Low Add a pressure release
valve to the ballonet.

57
mode
Potential
cause(s)
System Level End
Effect
Probability
(estimate)
Severity Detection
(Indications
to
Operator,
Maintainer
)
Risk Level
P*S (+D)
Mitigation /
Requirements
Fatigue formed
when the
ballonet rubs
against the
backbone
Contamination of
the Helium, which
will make the
airship slowly
descend
B III 4 Medium Add a tube that will act a
sock between the ballonet
and backbone.
Battery Overheating and
melting of
circuits
Faulty Control
system
supplying too
much power to
the motor
Airship will float in
the air without
control
A IV 2 Low Add a heat sensor to the
batteries, as well as failure
system to the control
system which limits the
amount of current drawn
from the batteries.
Instantaneous
battery discharge
Short-circuit
somewhere in
the system
Airship will float in
the air without
control
A IV 4 Medium Insulate all wires, and
inspect the integrity of the
insulation regularly
Motor Blow the motor To much current
was delivered to
the motor
The airship will not
be able to move
backwards and
forwards but will
still be able to
descend
C III 2 Medium Add a current regulator to
the control system

58
mode
Potential
cause(s)
System Level End
Effect
Probability
(estimate)
Severity Detection
(Indications
to
Operator,
Maintainer
)
Risk Level
P*S (+D)
Mitigation /
Requirements
A buildup of
dust that cause
overheating and
melting of the
insulation in the
motor
The airship will not
be able to move
backwards and
forwards but will
still be able to
descend
D III 3 High Do regular cleanups of the
motor as well as
dustproofing the motor as
far as possible
Underperforming
due to
overheating
Sunrays can
increase the
motor internal
heat making
them less
efficient
The airship may
not be able to reach
its top speed
B I 3 Low Ad sun shields to the
motors, making them
operate in the shade.
Idling the motors will also
cool them down.
Backbone Bending External Gusty
winds acting on
the rudder
The envelope
ruptures
B VI 3 High Do a detailed analysis of
gusty winds and the effect
it will have on the
backbone
Table 30 shows the FME analysis for the airship. It can be noted that there are no unacceptably high risks in the airship at the moment. All of the high risks
faults have an easy to implement fix which can be added to the considerations, later in the report.

59
10.2 Conclusions
In conclusion the reliability analysis, it can be noted that the airship does not have high risk faults, but
that some of its faults can have catastrophic outcomes. All of the high risk faults can be easily fixed
and should be considered in future iteration of this design project.
11 Cost analysis
The cost of the airship is an important factor when designing the airship. The cost should be
minimized to be competitive with other designs on the market. This is just the first iteration of the
design of the airship so procurement and manufacturing costs have not completely been minimized as
of yet.
11.1 Cost of standard components
The cost of standard components that can be bought straight off-the-shelve will in some cases have a
lower cost than trying to manufacture the component. Following is a breakdown of all the standard
components in the airship with their costs.
Table 31: Standard component costs
Component
Cost
Material Cost
Estimated
Price Per Unit
QTY Total Price
Camera R 10,440.00 R 10,440.00 1 R 10,440.00
Battery R 250.00 R 250.00 40 R 10,000.00
Ballonet Pump R 300.00 R 300.00 1 R 300.00
Engine R 1,272.55 R 1,272.55 2 R 2,545.10
Propeller R 500.00 R 500.00 2 R 1,000.00
Wire R 200.00 R 200.00 1 R 200.00
Ballonet R 1,200.00 R 1,200.00 1 R 1,200.00
M8 x 20mm Bolt R 2.00 R 2.00 5 R 10.00
M8 Nut R 0.10 R 0.10 15 R 1.50
Helium Gas per
R 156.82 R156.82 40 R 6272.80

Table 31 shows a list of all the standard components and their estimated costs. The cost of the camera
is quite high as this is a sophisticated camera with the needed capabilities to track a rhino from a
distance of 1km away. The relative price for a single battery is not that expensive but because of the
high quantity of the batteries that will be used, the cost also increases dramatically fast. The ballonet
pump, being a standard car compressor for this iteration of the design, will be relatively cheap as they
are readily available. The engine and propeller can be bought form any hobby shop. Their individual
prices may vary slightly but will be compensated for later in the cost analysis.

60
11.2 Cost of materials and Labor costs
For the cost of these individual components, the material first has to be procured and then
manufactured afterwards. This has a slight increase in the total cost of the component. The labor costs
were calculated by taking average Machining / Labor costs and multiplying them by the assumed time
it would take to manufacture the individual component.
Table 32: Material costs and estimated labour costs
Component Material
Cost
QTY
Total
price
Material
Cost
Machining /
Labor Cost
Estimated
Price Per
Unit
EnvelopePieceHole PVF R 5.51 R 200.00 R 205.51 3 R 616.53
EnvelopePiece PVF R 60.61 R 30.30 R 90.91 33 R 3,000.00
GondulaCase PVC R 514.55 R 200.00 R 714.55 1 R 714.55
Control System n/a R 2,000.00 R 3,200.00 R 5,200.00 1 R 5,200.00
Gondola Lid PVC R 109.73 R 150.00 R 259.73 1 R 259.73
Custom M8 Bolt Galvanized Steel R 8.75 R 10.00 R 18.75 10 R 187.50
Connector Plate
Prop Port Aluminum R 268.00 R 1,000.00 R 1,268.00 1 R 1,268.00
Connector Plate
Prop Starboard Aluminum R 268.00 R 1,000.00 R 1,268.00 1 R 1,268.00
Motor Clamp Stainless Steel R 50.00 R 20.00 R 70.00 2 R 140.00
Backbone Aluminum R 322.25 R 1,500.00 R 1,822.25 1 R 1,822.25
Rudder Aluminum R 260.18 R 500.00 R 760.18 1 R 760.18
Table 32 shows a list of all the non-standard components that have to be manufactured. The
EnvelopePiece and the EnvelopePieceHole will have to be made from standard sheets of PVF. The
GondulaCase will made by breaking the case up into modular parts. These modular parts will be
cheaper to buy but will need labor to machine and assemble them individually. During this assembly
of the GondulaCase, the Gondola Lid can also be bought from the same supplier. The control system
can be made from standard computer chips, but will have to be manually programmed to do the task
at hand. The custom bolt will be made from a nut welded to the end of a long piece of threaded rod.
This will in effect be a relatively cheap component to manufacture. The Connecting arms of
Connector Plate Prop for the port and starboard side will be made from aluminum which is a
relatively expensive non-ferrous metal. Because of its complexity, the machining and labor costs to
create these parts will also not be cheap. The Motor clamp will be made from a thin Stainless Steel
plate which will be pressed into the needed form. Lastly, the backbone and rudder will be made from
aluminum rods. These rods will have to be made to fit which will be a high cost machining and labor
intensive job.

61
11.3 Total costs
This section will tally up all the amounts to give a grand total for the airship price.
Table 33: Total cost of the airship
Component Material
Cost
QTY Total price
Material
Cost
Machining /
Labour Cost
Estimated
Price Per
Unit
EnvelopePieceHole PVF R 5.51 R 200.00 R 205.51 3 R 616.53
EnvelopePiece PVF R 60.61 R 30.30 R 90.91 33 R 3,000.00
GondulaCase PVC R 514.55 R 200.00 R 714.55 1 R 714.55
Camera n/a R 10,440.00 R - R 10,440.00 1 R 10,440.00
Battery Li-Poly R 250.00 R - R 250.00 40 R 10,000.00
Control System n/a R 2,000.00 R 3,200.00 R 5,200.00 1 R 5,200.00
Ballonet Pump n/a R 300.00 R - R 300.00 1 R 300.00
Gondola Lid PVC R 109.73 R 150.00 R 259.73 1 R 259.73
Custom M8 Bolt Galvanized Steel R 8.75 R 10.00 R 18.75 10 R 187.50
Custom M8 Nut Galvanized Steel R 0.10 R - R 0.10 10 R 1.00
Connector Plate Prop
Port Aluminum R 268.00 R 1,000.00 R 1,268.00 1 R 1,268.00
Connector Plate Prop
Starboard Aluminum R 268.00 R 1,000.00 R 1,268.00 1 R 1,268.00
Engine n/a R 1,272.55 R - R 1,272.55 2 R 2,545.10
Propeller n/a R 500.00 R - R 500.00 2 R 1,000.00
Motor Clamp Stainless Steel R 50.00 R 20.00 R 70.00 2 R 140.00
Backbone Aluminum R 322.25 R 1,500.00 R 1,822.25 1 R 1,822.25
Rudder Aluminum R 260.18 R 500.00 R 760.18 1 R 760.18
Wire Copper R 200.00 R - R 200.00 1 R 200.00
Ballonet Polyurethane R 1,200.00 R - R 1,200.00 1 R 1,200.00
M8 x 20mm Bolt Steel R 2.00 R - R 2.00 5 R 10.00
M8 Nut Steel R 0.10 R - R 0.10 5 R 0.50
Helium Gas per
He R 156.82 R - R 156.82 40 R 6272.80

Final Assembly n/a R - R 1,200.00 R 1,200.00 1 R 1,200.00

Total: R 48,406.14

10% Contingency: R 4,840.61

Grand Total: R 53,246.76
Table 33 shows the list of all the costs for the airship. It can be noted that a final assembly cost was
added to the project to assemble the whole airship. This is a pure labor cost. After the total was added,
a 10% contingency was added for the chance that the price should change without prior notice.
11.4 Conclusions
In conclusion, it can be said to manufacture the airship will cost R53, 246.76. This price can be
lowered by using cheaper and simpler systems when assembling the airship. This airship will help

62
protect rhinos which sell at around R1, 500,000.00 rand. In comparison, the airship is 3.55% the price
of a rhino, which makes the airship viable to invest in.
12 Social, Legal, Health, Safety and Environmental Impacts
With Mother Nature very sensitive to disturbances, a lot of factors has to be taken into account when
designing an airship. These factors are Social, Legal, Health, Safety and Environmental impacts.
Considering the Impacts is key when designing a product to ensure the lifespan of the earth is
preserved and the safety and health of the people operating or around the product is safe.
12.1 Social Impacts
Because this is an airship that will work far above the ground in the Kruger National Park where there
is notably less people than in the cities the airship will operate unnoticed. This airship will emit
virtually no sound at all decreasing the chance of being spotted even more.
12.2 Legal Impacts
Because the Airship will be used as surveillance system, the system is governed by a set of rules,
which state that the camera may not invade the privacy of any person. This airships control team will
prohibited to use the airship for any other purpose than to follow a rhino.
The height at which the airship may fly is also governed by international rules (AMDT, 2010). These
rules will be implemented in the airships control system to maintain a safe flying height, not only for
the airship but to prevent collisions with any other aircrafts in the near vicinity.
The amount of noise that may be emitted from the airship should also not disturb the peace of the
Kruger National Park. Because the airship will be electric, the only sound emitted from the airship
will be the humming of the propellers. This will be inaudible when the airship is flying in the air.
12.3 Health Impacts
The Helium gas uses in the airship is an ideal gas, which are notoriously unreactive. Inhaling Helium
is not harmful to humans, but it might change the pitch of the inhalers voice as Helium has a much
lower density the air that we breathe.
The radio frequencies used to communicate from the ground station to the airship will make use of
radio waves much like those use with cellphone communications. Recent studies concluded that an
over exposure to the frequencies can cause cancer. This will only happen when the operator is
extremely close to the transmission dish. In the vicinity of 1m is considered extremely close. This is
not safe and will be discussed further in the safety impacts below.

63
12.4 Safety Impacts
The operating voltage of the airship will be 11.1V which is relatively the same as that of a car battery.
It the case that a human should touch both poles of the battery pack at the same time, nothing
instantaneous will happen and the human will not be electrocuted from this. This will be a safe battery
pack but caution still has to be executed when working with any electrical system and the needed
precautions need to be applied.
The operator should not operate the airship when he is in a 1 radius of the transmission dish. It is
suggested that the transmission dish be located at the top of a tower to minimize the noise generated
by trees and to be kept a safe distance away from the operator.
Caution has to be execute when working in the close vicinity of the propellers. Rough propellers can
cause serious injuries. It is recommended to unplug the power source when working close to the
propellers.
12.5 Environmental Impacts
A major aspect to consider when designing the airship is what will the impact of the airships
operations be on the environment. It is very important that the airship leaves a very small footprint
when operating as its main operation will be over a Nature Reserve, which tries to preserve the
untouched nature. Because the propulsion system of the airship is electric, the airship will not have a
carbon footprint, which is very good.
In the case that the Helium escapes for the airship, the helium will rise out of the atmosphere. As it
was previously mentioned, Helium is an ideal gas which means that Helium is notoriously unreactive,
making it a safe to use gas for the environment.
In the case that a fire would to break out on the small airship, the batteries would be protected by a
fire retardant material which would prevent the batteries from burning and releasing their harmful
chemicals.
The use of Aluminum which is a non-corrosive metal, is also advantageous for the environment as it
will not negatively affect the environment in any way. Aluminum, having a very silvery look, will be
easily spotted in the bushveld which also makes in more environmentally friendly.
The airship, being silent and not attracting any attention as it would be small when high up in the air,
will not affect the daily rituals of the rhinos. This is important as it one of the user requirements
needed for this surveillance airship.
12.6 Conclusion
In conclusions, this airship satisfies all the legal requirement and will be kept in check with constant
inspection. In the case that the airship should crash and a fire should start, the chemicals in the

64
batteries would be kept safe with a fire retardant material. The Helium used in the airship in
environmentally friendly and is ideal gas which is not reactive. Safety aspects have been implemented
mainly on operations close to the airship. This will keep the operator as well as the civilians safe. For
these reasons, the airship is deemed safe and can be used in the Kruger Nation Park.
13 Conclusions and Recommendations
13.1 Conclusions
During this project an airship was designed that could follow a rhino for 24 hours. The scope of the
work that had to be done was set out. This included the problem statement and the user requirements.
A literature study was done on the conditions where the airship would operate, as well as standard
components that can be added to the airship. A functional analysis was done on the airship to
determine the most basic components that form part of the airship. Having the functional analysis and
the user requirements at hand, the technical specifications where written for the airship. These are the
specification to which the final design of the airship will be measured. Concepts were drawn up for
the various functioning components of the airship. These concepts were tested for compatibility with
each other by using a compatibility matrix. This shows all the possible combinations for complete
airships consisting of the different parts. These airship concepts where tested with the concept
selection methodology to select the best airship. This airship was then moved into the detailed
calculations. For this design project, the main focus was to acquire the governing dimensions of the
airship so a prototype can be built. A program was written to solve the dimension of the airship
iteratively by considering different engine-propeller combinations, calculating the weight,
determining the volume and calculating the drag before starting again. This program connected all the
equations together. The program produced results where the length of the airship is = 6.5844 and
the diameter is = 3.2922. A manufacturing analysis was done on different components of the
airship the show what step would have to be followed to produce that specific part. A reliability
analysis was also done to see pinpoint possible failure points of the airship. The cost of the airship
was determined to be R 53,246.76. Lastly Social, Legal Health and Safety and environmental impacts
were considered for the airship and its workings.
13.2 Recommendations
This project was just the first iteration of the design of an airship. This project only designed the
governing dimensions of the airship, while making a lot of assumptions along the way:
It is recommended to do a detailed analysis of how the lift changes of the airship as it ascends.
This was not taken into consideration as a constant lift force was assumed for the airship.
An analysis of the envelope of the airship has to be done to see how it will deform and handle
the internal pressures of the Helium.

65
An analysis has to be done on all the components of the airship to see if it can cope with the
internal forces of the airship.
A custom propeller has to be designed specific for this airship.
An analysis will have to be done on what the effects of the heat of the sun will be on the life
cycle of the batteries.
CFD has to be done on the hull to see if the drag assumption is correct.
CFD and FEA has to be done on the airship to see what the effect will be of gusty winds on
the airship
These recommendations will form part of the next iteration of the design of the airship.

66
Appendix
Design Project Proposal
Topic Selection
The student taking the MOX 410 module chose to design a lighter than air unmanned aerial vehicle
(UAV). This UAV would be used for surveillance in our national parks to prevent poaching and keep
track of animal movement.
Problem Statement
Design a UAV rigid airship on which surveillance equipment can be mounted. The UAV can be used
to patrol our national parks and should be able to track big game, such as rhino, for a period of at-least
24 hours.
The control system is not included in the design. Only focus on the mechanical design of the UAV.
User Requirements
Must stay in the air for at least 24 hours.
Must carry a surveillance camera, recording and transmitting equipment (Student must do a
preliminary investigation into these to determine the input loads).
Must be able to withstand harsh conditions.
Must be relatively inexpensive to manufacture and maintain.
Problem Solving Methodology
In order to solve the problem, the student should:
Do a detailed literature survey regarding the South African climate, design of airships and
possible design flaws.
Formulate the technical specification for the design.
Develop concepts and identify each designs weaknesses and strengths.
Do a system level design by breaking the airship into various parts to analyse and design
individually.
Do a detailed design of the chosen concept specifying the materials to be used and the
manufacturing methods. This design should comply with the design standards and codes.
Calculate the stresses that would be present in the system and any other additional
calculations required that were made to verify the efficacy of the device.
Do a detailed FMEA (failure mode and effects analysis) and risk assessment.

67
Perform a cost estimate and determine the payback period of the system.
Do a manufacturing analysis.
Perform an impact of design analysis that includes the social, legal, health, safety and
environmental impacts of the design.
Do a maintenance analysis.
Create a set of manufacturing drawings for the system.
Deliverables
The outcomes of the project will be given in report format, accompanied by manufacturing drawings.
A presentation will be done, highlighting the important information at the end of the course.

68

Project Plan

69
Agreement
Upon agreeing to this document, the student commits to complete everything stipulated in
this document to the best of his knowledge in the timeframe specified. The study leader will
help as needed and will guide the student in his endeavors during the design project.

____________________________ ____________________________
F van der Merwe Mr. KP Grimsehl

70
Meeting Log Card

71
Drawing for evaluation form

72
Engine-Propeller Specifications
Table A: Available Batteries Above 4000 mAh

Battery
Cell Capacity
(mAh)
Max Current
(A)
Cell
Resistance
(ohm)
Rack Voltage
(V)
Pack Weight
(g)
1 BackLine 4400 35C 4400 154 0.0033 11.1 367
2 ePower 500XP 15/25C 5000 125 0.0032 11.1 360
3 G. Planes Electrifly 5000 20C 5000 100 0.003 11.1 366
4 Hyperion HP-LVX 5000 20C 5000 100 0.0033 11.1 366
5 Kokam 5000H 25C 5000 125 0.0025 11.1 390
6 LiteStorm 5000VX 20/25C 5000 125 0.0032 11.1 378
7 Poly-Quest 5000XP 15C 5000 75 0.0026 11.1 390
8 Poly-Quest 6000XP 15C 6000 90 0.0024 11.1 522
9 TunderPower 5000SX 22/50C 5000 250 0.0026 11.1 366

Table B: Available Quad Copter Motors
Motor
Kv

R
(ohm)
Kt

No Load
Current
(A)
No Load
Volt
(V)
Max
Current
(A)
Motor
Weight
(g)
1 Above All 2813-18 1200 0.075 1.127 1.2 8.2 25 55
2 Align BL450S 1000Kv 1000 0.23 1.352 0.45 8 14 48.2
3 Align BL450S 1500Kv 1500 0.115 0.901 0.5 8 15 48.2
7 Astro C035 #603 2765 0.04 0.489 2.5 8 30 170.1
8 Astro C05 #605 2125 0.045 0.636 2.5 8 30 212.6
9 Astro C15 #615 1488 0.069 0.909 2 8 25 226.8
10 Astro C25 #625 971 0.093 1.392 2 8 30 311.8
11 Astro C40 #640 682 0.121 1.982 2 8 30 368.2
12 Astro C60P #661 347 0.103 3.896 2.5 8 30 623.7
22 Aveox 27/13/2 4686 0.018 0.289 1.68 8 30 81.1
23 Aveox 27/13/3 3124 0.041 0.433 1.12 8 30 81.1
24 Aveox 27/13/4 2343 0.073 0.577 0.84 8 23 81.1
25 Aveox 27/13/5 1875 0.114 0.721 0.67 8 15 81.1
26 Aveox 27/26/1 4686 0.006 0.289 3 8 90 123
27 Aveox 27/26/1.5 3124 0.014 0.433 2 8 60 123
28 Aveox 27/26/2 2343 0.024 0.577 1.5 8 45 123
29 Aveox 27/26/3 1562 0.054 0.866 1 8 30 123
30 Aveox 27/26/4 1172 0.096 1.154 0.75 8 23 123
31 Aveox 27/39/1 3124 0.007 0.433 2.3 8 90 161.6
32 Aveox 27/39/1.5 20.83 0.016 0.649 1.53 8 60 161.6
33 Aveox 27/39/2 1562 0.028 0.866 1.15 8 45 161.1
34 Aveox 27/39/3 1041 0.063 1.299 0.77 8 30 161.6
35 Aveox 27/39/4 781 0.112 1.731 0.58 8 23 161.1
36 AXI 2204/54 1398 0.355 0.967 0.36 8 6.5 24.4

73
Motor
Kv

R
(ohm)
Kt

No Load
Current
(A)
No Load
Volt
(V)
Max
Current
(A)
Motor
Weight
(g)
37 AXI 2208/20 Gold Line 1830 0.09 0.739 1 8 16 45.1
38 AXI 2208/26 Gold Line 1426 0.16 0.948 0.62 8 11 45.1
39 AXI 2208/34 Gold Line 1089 0.27 1.242 0.4 8 8 45.1
40 AXI 2212/20 Gold Line 1150 0.14 1.176 0.7 8 16 57
41 AXI 2212/26 Gold Line 944 0.21 1.432 0.45 8 12 57
42 AXI 2212/34 Gold Line 691 0.32 1.957 0.31 8 10 57
43 AXI 2808/16 Gold Line 1864 0.074 0.725 1.68 9 25 76
44 AXI 2808/20 Gold Line 1493 0.089 0.906 1.1 9 25 78
45 AXI 2808/24 Gold Line 1225 0.115 1.104 1.1 8 25 78
46 AXI 2814/10 Gold Line 1720 0.037 0.786 2.3 8 0.4 106
47 AXI 2814/12 Gold Line 1439 0.053 0.94 1.8 8 35 106
48 AXI 2820/10 Gold Line 1152 0.039 1.174 2.5 8 42 151.1
49 AXI 2820/12 Gold Line 990 0.042 1.366 1.7 8 37 151.1
50 AXI 2826/10 Gold Line 924 0.053 1.463 1.8 8 42 181.2
51 AXI 2826/12 Gold Line 745 0.056 1.815 1.25 8 37 181.2
52 AXI 2826/14 Gold Line 640 0.08 2.113 1.44 15 37 181.2
53 E-flite 400-37 3700 0.16 0.365 0.8 8 15 68
54 E-Flite 480 BL 1020 1020 0.07 1.325 1.1 8 22 87
55 E-flite Power 10 BL 1100 0.063 1.229 2.1 10 30 122.2
56 E-flite Power 15 BL 950 0.035 1.423 2 10 34 152.2
57 E-flite Power 32 BL 867 0.057 1.559 2.4 10 60 200.1
58 E-flite Power 46 BL 705 0.032 1.918 5 15 55 300.2
59 Electrifly RimFire 28-22-1380 1380 0.37 0.98 0.4 7.4 9 27.2
62 Electrifly RimFire 28-26-1600 1600 0.098 0.845 1 7.4 17 41.1
67 Electrifly RimFire 35-30-950 940 0.065 1.438 0.8 11 20 71.2
73 Mini AC 1215/16 3800 0.086 0.356 1.4 8 18 48.2
74 Mini AC 1215/20 3000 0.117 0.451 1.1 8 16 49
75 Mini AC Extreme 6370 0.045 0.212 3.8 8 28 77.1
76 MP Jet AC 25/35-20 3850 0.1 0.351 1.34 8 25 72
77 Goldberg Turbo 550 2528 0.085 0.535 2 8 60 221.1
78 Graupner Sp280 6V 2320 1.12 0.583 0.28 6 8 42.5
79 Graupner Sp300 6V 4833 0.214 0.28 0.7 8 12 51

74
Motor
Kv

R
(ohm)
Kt

No Load
Current
(A)
No Load
Volt
(V)
Max
Current
(A)
Motor
Weight
(g)
80 Graupner Sp400 6V 3000 0.303 0.451 0.7 6 12 73.7
81 Graupner Sp400 7.2V 2277 0.45 0.594 0.5 7.2 18 73.7
82 Graupner Sp480 7.2V 2350 0.298 0.575 1.1 7.2 20 104.9
83 Graupner Sp480 Race 7.2V 2936 0.155 0.46 2 7.2 20 104.9
84 Graupner Sp500 Race 7.2V 2985 0.105 0.453 2.5 7.2 20 161.6
85 Graupner Sp600 7.2V 2437 0.112 0.555 2 7.2 25 195.6
86 Graupner Sp600 8.4V 1780 0.15 0.76 1.8 8.4 25 221.1
87 Graupner Sp600 9.6V 1470 0.201 0.92 1 9.6 30 195.6
88 Graupner Sp700 Race 9.6V 1875 0.12 0.721 3 9.6 25 326
89 G. P. Goldfire 2441 0.094 0.554 2 8 25 215.5
90 G. P. Thrustmaster 2168 0.18 0.624 1.5 8 25 215.5
91 Hacker A20-12XL 1050 0.05 1.288 1.5 7.3 20 84.2
92 Hacker A20-20L 1057 0.142 1.279 0.92 10.6 19 57
93 Hacker A20-22L 920 0.158 1.47 0.8 8 17 57
94 Hacker A20-26M 1130 0.16 1.196 0.8 8 15 42
95 Hacker A30-10L 1100 0.03 1.229 2.3 8.75 40 144
96 Hacker A30-10XL 860 0.04 1.572 1.78 10.2 42 177.2
97 Hacker A50-12L 350 0.036 3.863 2.3 8.4 70 510.3
98 Hacker A50-12S 492 0.027 2.748 3.2 8.4 55 395.2
99 Hacker A50-14L 302 0.032 4.477 2 8.4 70 510.3
100 Hacker A50-14S 425 0.035 3.181 2.3 8.4 55 395.2
101 Hacker A50-16S 380 0.052 3.558 2.2 8.4 70 395.2
102 Hacker B20-12L 4600 0.053 0.294 1.1 8 20 51
103 Hacker B20-15L 3700 0.085 0.365 0.7 8 15 51
104 Hacker B20-18L 3065 0.125 0.441 0.4 8 12 51
105 Hacker B40-16S 2663 0.0379 0.508 0.83 8 20 130.4
106 Himax HC2808-0860 860 0.255 1.572 0.36 8 11 51.9
107 Himax HC2808-0980 980 0.22 1.38 0.4 8 12 51.9
108 Himax HC2808-1160 1160 0.15 1.166 0.6 8 15 51.9
109 Himax HC2812-0650 650 0.285 2.08 0.36 8 11 64.1
110 Himax HC2812-0850 850 0.169 1.591 0.6 8 14 64.1
111 Himax HC2812-1080 1080 0.111 1.252 0.75 8 15 64.1
112 Himax HC2816-0890 890 0.119 1.518 0.8 8 18 77.1
113 Himax HC2816-1220 1200 0.071 1.127 1.4 10 25 77.1
114 Himax HC3510-1100 1100 0.055 1.229 1.2 8 30 89
115 Himax HC3510-1540 1540 0.029 0.878 1.8 8 42 89
116 Himax HC3516-0840 840 0.051 1.61 1.5 8 37 134.1
117 Himax HC3516-1130 1130 0.03 1.196 1.8 8 48 134.1
118 Himax HC3516-1350 1350 0.023 1.001 2.3 8 56 134.1
119 Himax HC3522-0700 700 0.049 1.931 1.3 8 40 161.9
120 Himax HC3522-0990 990 0.027 1.366 2.2 8 54 161.9
121 Himax HC3528-0800 800 0.031 1.69 1.7 8 54 197

75
Motor
Kv

R
(ohm)
Kt

No Load
Current
(A)
No Load
Volt
(V)
Max
Current
(A)
Motor
Weight
(g)
122 Himax HC3528-1000 1000 0.02 1.352 2.6 8 68 197
123 Hyperion Z-2205-34 1500 0.34 0.901 0.5 8 8 29.5
124 Hyperion Z-2205-38 1300 0.42 1.04 0.38 8 7 29.5
125 Hyperion Z-2209-26 1100 0.17 1.229 0.65 8 11 41.7
126 Hyperion Z-2209-32 900 0.24 1.502 0.55 8 10 41.7
127 Hyperion Z-2213-20 1010 0.15 1.339 0.65 8 14 53
128 Hyperion Z-2213-24 850 0.175 1.591 0.6 8 12 53
129 Hyperion Z-3007-26 1228 0.085 1.101 1.11 8 28 75.1
130 Hyperion Z-3007-30 1033 0.095 1.309 1.2 8 25 75.1
131 Hyperion Z-3013-14 1080 0.048 1.252 2.5 8 40 110
132 Hyperion Z-3013-16 985 0.059 1.373 2 8 36 110
133 Hyperion Z-3019-10 1230 0.031 1.099 2.42 8 46 142
134 Hyperion Z-3019-12 900 0.034 1.502 2.35 8 42 142
135 Hyperion Z-3025-08 985 0.039 1.373 4.8 10 65 186
136 Hyperion Z-3025-10 815 0.025 1.659 2.3 8 46 186
137 Jeti Phasor 15-3 2300 0.025 0.588 2.5 8 35 136.1
138 Jeti Phasor 15-4 1800 0.042 0.751 1.9 8 32 136.1
139 Jeti Phasor 30-3 1200 0.034 1.127 2.8 8 35 136.1
140 KDA20-34S 1850 0.33 0.731 0.72 11 9 30.1
141 KDA2217/20 875 0.195 1.545 1 12.4 22 71.2
142 KDA KB2835-35 2350 0.19 0.575 1 7 20 91
143 Kontronik FUN400-23 2300 0.058 0.588 0.5 8 30 110
144 Kontronik FUN400-42 4000 0.017 0.338 2 7 50 110
145 Kyosho AP-29L 4099 0.0907 0.33 3.5 8 30 155.9
146 Kyosho AP-29L meas 3914 0.034 0.345 3.8 8 35 141.7
147 Kyosho Atomic Force 3531 0.035 0.383 2.94 8 30 178.6
148 Kyosho EndoPlasma 3785 0.022 0.357 2.5 8 30 178.6
149 Kyosho LeMans 480 Gold 2500 0.076 0.541 1.1 8 30 177.2
150 Kyosho LeMans DMC20BB 4939 0.054 0.274 0.54 8 30 178.6
151 Kyosho Magnetic Mayhem 2260 0.0667 0.598 1.37 8 30 226.8
152 MEC Turbo 10 GT 3400 0.038 0.398 2.3 8 35 283.5
153 MEC Turbo 10 Plus 4850 0.025 0.279 3.4 8 35 311.8
154 Multiplex Permax BL-X22-13 1350 0.28 1.001 0.45 10 12 32
157 Multiplex Permax 280 7.2V 2417 0.553 0.559 0.3 7.2 4.5 45.4
158 Multiplex Permax 280 BB 4464 0.429 0.303 0.7 8 8 53.9
159 Multiplex Permax 400 6V 2946 0.357 0.459 0.73 6 7 73.7
160 Multiplex Permax 400 7.2V 2268 0.473 0.596 0.7 7.2 8 73.7
161 Multiplex Permax 450 Turbo 2189 0.138 0.618 1.2 8 25 138.9
162 Multiplex Permax 480 7.2V 2459 0.312 0.55 0.92 7.2 12 93.6
163 Medusa MR-012-030-4000 3940 0.386 0.343 0.3 8 6 15

76
Motor
Kv

R
(ohm)
Kt

No Load
Current
(A)
No Load
Volt
(V)
Max
Current
(A)
Motor
Weight
(g)
164 Medusa MR-012-030-5300 5230 0.228 0.259 0.43 8 7 15
165 Medusa MR-028-032-1200 1200 0.185 1.127 0.35 8 15 70
166 Medusa MR-028-032-1500 1490 0.118 0.907 0.5 8 19 70
167 Medusa MR-028-032-1900 1890 0.085 0.715 0.65 8 23 70
168 Medusa MR-028-032-2400 2390 0.05 0.566 0.85 8 28 70
169 Medusa MR-028-032-2800 2790 0.04 0.485 1 8 30 70
170 Mega ACn 16-15-4 2300 0.045 0.588 1.1 8 20 76.5
171 Mega ACn 16-15-5 1800 0.06 0.751 0.8 8 20 76.5
172 Mega ACn 16-15-6 1500 0.112 0.901 0.79 12 18 76.5
173 Mega ACn 16-15-8 1230 0.176 1.099 0.33 8.2 15 76.5
174 Mega ACn 22-20-4 1550 0.055 0.872 1.8 14 50 165
175 Mega ACn 22-30-3 1300 0.042 1.04 1.11 8.6 70 220.8
181 Plettenberg Orbit 10-22 1080 0.064 1.252 1.8 11 35 135.2
182 Plettenberg Orbit 15-14 1100 0.035 1.229 2.5 11 55 175.2
184 Plettenberg Typhoon 6-20 1600 0.133 0.845 0.7 8 12 43.1
185 Scorpion 2208-34 1206 0.29 1.121 0.42 7 15 40
186 Scorpion 2212-26 994 0.23 1.36 0.51 7 15 50.7
187 Scorpion 2215-22 987 0.195 1.37 0.64 7 18 61.2
188 Scorpion 3008-28 1253 0.072 1.079 1.38 9 38 85.9
189 Scorpion 3008-32 1080 0.098 1.252 1 9 33 87
190 Scorpion 3014-16 1180 0.038 1.146 2.23 9 57 122.8
191 Scorpion 3014-18 1064 0.043 1.271 1.53 10.5 52 122.8
192 Scorpion 3020-12 1088 0.03 1.243 2.24 9 76 152
193 Scorpion 3020-14 931 0.045 1.452 1.85 10 71 146.9
194 Scorpion 3026-8 1212 0.02 1.116 3.45 10 95 189.4
195 Scorpion 3026-10 980 0.025 1.38 2.64 10 90 190.5
196 Scorpion 3026-12 840 0.034 1.61 2.22 10 85 189.4
197 TowerPro TP2409_12D 1600 0.071 0.845 1.4 8 25 63.2
198 Turnigy C3542-1450 14p 1400 0.044 0.966 1.85 7.1 55 134.1
199 Turnigy 2213-20 920 0.28 1.47 0.75 12 19 59
200 Turnigy 2217-16 1120 0.133 1.207 1.15 11.5 23 71.2
201 Turnigy 2217-20 940 0.19 1.438 0.94 12.4 22 71.2
202 Turnigy 2826-1650 1570 0.163 0.861 1.3 11 16 45.1
203 Turnigy 2830-800 960 0.245 1.408 0.86 12 14 57
204 Turnigy 42-60 600 620 0.085 2.181 6 15 50 278.1
205 Turnigy 50-45 890 900 0.06 1.502 2 5 55 260.2
206 Turnigy 50-55A 400 500 0.11 2.704 2.7 16 68 300.2
207 Turnigy 50-55B 600 550 0.045 2.458 5 18.5 80 300.2
208 Turnigy 80-100-A 180 180 0.05 7.511 3.5 20 150 1570.8
209 Uberall Nippy 0508/73 720 0.422 1.878 0.45 8 5 38
210 Uberall Nippy 0808/98 970 0.255 1.394 0.7 8 8 39.7

77
Table C: Available Quad Copter Propellers
Propeller Kt Kp
Diameter
(cm) Pitch (cm)
2 Aeronaut 6.5x4 fixed E-prop 0.84 0.68 16.5 10.2
13 Aeronaut 10x8 fixed E-prop 1 0.84 25.4 20.3
14 Aeronaut 12x7 C Fold 42 0.71 0.49 30.5 17.8
15 Aeronaut 13x6.5 C Fold 42 0.91 0.44 33 16.5
16 Aeronaut 13.5x7 C Fold 42 0.73 0.44 34.3 17.8
17 Aeronaut 14x7 C Fold 42 0.74 0.62 35.6 17.8
18 Aeronaut 8x5 CAM Fold 42 0.81 0.72 20.3 12.7
21 Aeronaut 9.5x5 CAM Fold 42 0.89 0.72 24.1 12.7
28 Aeronaut 13x8 CAM Fold 42 0.7 0.52 33 20.3
29 Aeronaut 13x11 CAM Fold 42 0.79 0.59 33 27.9
31 Align 5x3 0.67 0.54 12.7 7.6
32 Align 4.2x2 1.14 0.94 10.7 5.1
33 APC E 4.1x4.1 1.1 0.96 10.4 10.4
34 APC E 4.5x4.1 1.09 0.94 11.4 10.4
35 APC E 4.7x4.2 0.95 0.81 11.9 10.7
36 APC E 4.75x4.75 1 0.87 12.1 12.1
37 APC E 4.75x5.5 1.05 1 12.1 14
38 APC E 5x5 0.88 0.93 12.7 12.7
39 APC E 5.25x4.75 0.9 0.84 13.3 12.1
40 APC E 5.5x4.5 0.87 0.85 14 11.4
41 APC E 6x4 0.88 0.73 15.2 10.2

78
Propeller Kt Kp
Diameter
(cm) Pitch (cm)
42 APC E 6x5.5 0.98 0.84 15.2 14
43 APC E 7x5 1.1 0.83 17.8 12.7
44 APC E 8x4 1.02 0.85 20.3 10.2
45 APC E 8x6 1.1 1.02 20.3 15.2
46 APC E 8x8 1.15 1.11 20.3 20.3
47 APC E 9x4.5 1.01 0.78 22.9 11.4
48 APC E 9x6 0.98 0.75 22.9 15.2
49 APC E 9x7.5 1.08 0.95 22.9 19.1
50 APC E 10x5 0.97 0.74 25.4 12.7
51 APC E 10x7 0.92 0.71 25.4 17.8
52 APC E 11x5.5 0.92 0.72 27.9 14
53 APC E 11x7 0.88 0.69 27.9 17.8
54 APC E 11x8 0.86 0.81 27.9 20.3
55 APC E 11x8.5 0.9 0.72 27.9 21.6
56 APC E 12x6 0.95 0.71 30.5 15.2
57 APC E 12x8 0.87 0.67 30.5 20.3
58 APC E 12x12 0.99 0.67 30.5 30.5
59 APC E 13x4 1.15 0.66 33 10.2
60 APC E 13x6 0.9 0.58 33 15.2
61 APC E 13x6.5 0.92 0.67 33 16.5
62 APC E 13x8 0.87 0.59 33 20.3
63 APC E 14x7 0.91 0.6 35.6 17.8
64 APC E 14x10 0.88 0.63 35.6 25.4
65 APC E 15x8 0.93 0.71 38.1 20.3
66 APC E 16x8 1.08 0.69 40.6 20.3
67 APC E 17x8 0.94 0.61 43.2 20.3
68 APC E 17x10 0.8 0.64 43.2 25.4
69 APC E 18x8 1.08 0.71 54.7 20.3
70 APC E 20x10 0.98 0.62 50.8 25.4
71 APC E 22x10 0.94 0.56 55.9 25.4
72 APC Sport 10x6 0.8 0.71 25.4 15.2
73 APC Sport 11x5 0.98 0.68 27.9 12.7
74 APC Sport 11x6 0.88 0.72 27.9 15.2
75 APC Sport 11x8 0.9 0.79 27.9 20.3
76 APC Sport 12x7 0.81 0.69 30.5 17.8
77 APC Sport 13x7 0.84 0.62 33 17.8
78 APC Sport 15x8 0.89 0.67 38.1 20.3
79 APC Sport 16x8 0.95 0.68 40.6 20.3
80 APC Sport 16x10 0.8 0.65 40.6 25.4
81 APC Sport 16x12 0.85 0.67 40.6 30.5
82 APC Sport 18x6 1.12 0.65 45.7 15.2
83 APC SF 7x4 1.03 0.95 17.8 10.2
84 APC SF 7x5 1.07 0.95 17.8 12.7

79
Propeller Kt Kp
Diameter
(cm) Pitch (cm)
85 APC SF 7x6 1.25 0.93 17.8 15.2
86 APC SF 8x3.8 1.3 1.17 20.3 9.7
87 APC SF 8x6 1.53 1.45 20.3 15.2
88 APC SF 9x3.8 1.3 1 22.9 9.7
89 APC SF 9x4.7 1.1 0.85 22.9 11.9
90 APC SF 9x6 1.5 1.25 22.9 15.2
91 APC SF 10x3.8 1.47 1.17 25.4 9.7
92 APC SF 10x4.7 1.4 0.95 25.4 11.9
93 APC SF 10x7 1.45 1.3 25.4 17.8
94 APC SF 11x4.7 1.4 0.95 27.9 11.9
95 APC SF 11x7 1.4 1.07 27.9 17.8
96 APC SF 12x3.8 1.5 1.18 30.5 9.7
98 Dymond-E 15x8 0.93 0.74 38.1 20.3
99 Graupner CAM Speed 4.7x4.7 1.02 1.1 11.9 11.9
100 Graupner Nylon 5x2 0.22 0.88 12.7 5.1
101 Graupner CAM Speed 5.2x5.2 0.96 0.85 13.2 13.2
102 Graupner CAM Speed 5.5x4.3 0.82 0.83 14 10.9
103 Graupner Speed 5.5x5.5 0.95 0.83 14 14
104 Graupner Speed 6x5.5 0.91 0.72 15.2 14
105 Graupner Speed 6x6 1 0.74 15.2 15.2
106 Graupner Speed 6.5x6.5 0.82 0.71 16.5 16.5
107 Graupner Speed 7x7 0.8 0.7 17.8 17.8
108 Graupner CAM Folding 8x6 0.83 0.75 20.3 15.2
113 Graupner CAM Folding 13x7 0.81 0.58 33 17.8
114 Graupner CAM Folding 14x9.5 0.85 0.52 35.6 24.1
116 Graupner Slim 8x4 0.94 1.4 20.3 10.2
117 Graupner Slim 9x5 0.82 0.72 22.9 12.7
118 Graupner Slim 10x6 1.01 0.9 25.4 15.2
119 Graupner Slim 10x8 1.11 0.95 25.4 20.3
120 GWS 2.5x0.8 1 1 6.4 2
121 GWS 2.5x1.0 0.89 1.1 6.4 2.5
122 GWS HD 3x2 1.15 1.5 7.6 5.1
123 GWS HD 3x3 1.4 1.7 7.6 7.6
124 GWS HD 4x2.5 0.92 1 10.2 6.4
125 GWS HD 4x4 1.23 1 10.2 10.2
126 GWS HD 4.5x3 0.94 0.82 11.4 7.6
127 GWS HD 4.5x4 1.16 0.75 11.4 10.2
128 GWS HD 5x3 0.81 0.7 12.7 7.6

80
Propeller Kt Kp
Diameter
(cm) Pitch (cm)
129 GWS HD 5x4.3 1.2 0.85 12.7 10.9
130 GWS HD 6x3 0.84 0.65 15.2 7.6
134 GWS HD 10x6 0.8 0.57 25.4 15.2
135 GWS HD 11x7 0.9 0.6 27.9 17.8
136 GWS RS 6x5 1.29 0.96 15.2 12.7
137 GWS RS 7x6 1.32 1.22 17.8 15.2
138 GWS RS 8x4.3 1.07 0.76 20.3 10.9
139 GWS RS 8x6 1.06 1.04 20.3 15.2
140 GWS RS 9x4.7 1.21 0.89 22.9 11.9
141 GWS RS 9x7 1.31 0.96 22.9 17.8
142 GWS RS 10x4.7 1.38 1.1 25.4 11.9
143 Gnter 4.9x4.3 1.33 1.2 12.4 10.9
144 Gnter 5x4.3 1.31 0.74 12.7 10.9
145 Gnter 5.1x4.3 1.47 0.96 13 10.9
146 Zagi Carbon 5.1x4.9 1.11 1.14 13 12.4
Iterative Solution Scrip File
%================================
% Frik van der Merwe
% 101 39665
% Iterative Equations Solver
% ===============================
tic;
mass2 = 30; % Assume Mass
itel = 0;
while abs(mass2 - mass) > 0.1
clc
mass = mass2; %kg
Flift = 1.02; %kg/m^3
VolNeed = Volume(mass,Flift)
ShapeRatio = 2; %L/d
[L,d] = Dim(VolNeed,ShapeRatio)
U = 40/3.6; %m/s
v = 1.044e-6; %viscosity
ReyNum = Re(U,L,v) %reynum
DragCoef = Cd(L,d,ReyNum) %Drag
p = 1.112; %density
A = pi*(d/2)^2; %Frontal Area
a=L/2;
b=d/2;
c=d/2;
As = 4*pi*(((a*b)^1.6 +(a*c)^1.6 + (b*c)^1.6)/3)^(1/1.6) % surface
area
F = Drag(DragCoef,p,U,A) %drag force N
mass2 = EngineWeight(F) + HullWeight(As)*(11/10)+ ControlWeight +
RudderWeight(d)
itel = itel +1
end
toc

81
Iterative Solution Function File (Volume)
function [ ans ] = Volume( mass,Flift )
%Volume needed to lift the mass
% mass = Mass that needs to be lifted [m]
% Flift = Force of the bouyancy [kg/m^3]
ans = mass/Flift;
end

Iterative Solution Function File (Dim)
function [ L,d ] = Dim( Volume,Ratio )
%Returns the dimensions of the airship
% Volume = The Volume gas contained
% Ratio = The ratio L/d
% [L,d] = Output, [Lenght, Diameter]
a = ((Volume*(3/4)*Ratio^2)/pi)^(1/3);
L = 2*a;
d = (2*a)/Ratio;
end

Iterative Solution Function File (Re)
function [ ans ] = Re( U,L,v )
%Calculates Reynolds number according to the Char length
% U = External velocity [m/s]
% L = Length of plate [m]
% v = viscosity [m^2/s
ans = (U*L)/v;
end

Iterative Solution Function File (Cd)
function [ ans ] = Cd(L,d,Re)
%Drag Coefficient
% L = Lenght of hull
% d = diameter of hull
% Re = Reynolds Number for L
if ((L/d) == 0.75)
if Re <= 1e6
ans = 0.5;
else
ans = 0.2;
end
elseif ((L/d) == 1)
if Re <= 1e6
ans = 0.47;
else
ans = 0.2;
end
elseif ((L/d) == 2)
if Re <= 1e6
ans = 0.27;
else
ans = 0.13;
end

82
elseif ((L/d) == 4)
if Re <= 1e6
ans = 0.25;
else
ans = 0.1;
end
elseif ((L/d) == 8)
if Re <= 1e6
ans = 0.2;
else
ans = 0.08;
end
end
end

Iterative Solution Function File (Drag)
function [ ans ] = Drag(Cd,p,V,A)
%Drag force
% Cd = Drag Coefficient
% p = Density
% V = External Velocity
% A = Frontal Area
ans = Cd*0.5*p*(V^2)*A;
end

Iterative Solution Function File (EngineWeight)
function [ Weight ] = EngineWeight( F_need )
%Calulate the weight
% F_need = Drag force that needs to be overcome
%List of know motors with their specifcations:
%Name, Kv, R, kt,lo,vo,Max A, Weight
Motors = {'1 Above All 2813-18',1200,0.075,1.127,1.2,8.2,25,55;
'2 Align BL450S 1000Kv',1000,0.23,1.352,0.45,8,14,48.2;
'3 Align BL450S 1500Kv',1500,0.115,0.901,0.5,8,15,48.2;
'7 Astro C035 #603',2765,0.04,0.489,2.5,8,30,170.1;
'8 Astro C05 #605',2125,0.045,0.636,2.5,8,30,212.6;
'9 Astro C15 #615',1488,0.069,0.909,2,8,25,226.8;
'10 Astro C25 #625',971,0.093,1.392,2,8,30,311.8;
'11 Astro C40 #640',682,0.121,1.982,2,8,30,368.2;
'12 Astro C60P #661',347,0.103,3.896,2.5,8,30,623.7;
'22 Aveox 27/13/2',4686,0.018,0.289,1.68,8,30,81.1;
'23 Aveox 27/13/3',3124,0.041,0.433,1.12,8,30,81.1;
'24 Aveox 27/13/4',2343,0.073,0.577,0.84,8,23,81.1;
'25 Aveox 27/13/5',1875,0.114,0.721,0.67,8,15,81.1;
'26 Aveox 27/26/1',4686,0.006,0.289,3,8,90,123;
'27 Aveox 27/26/1.5',3124,0.014,0.433,2,8,60,123;
'28 Aveox 27/26/2',2343,0.024,0.577,1.5,8,45,123;
'29 Aveox 27/26/3',1562,0.054,0.866,1,8,30,123;
'30 Aveox 27/26/4',1172,0.096,1.154,0.75,8,23,123;
'31 Aveox 27/39/1',3124,0.007,0.433,2.3,8,90,161.6;
'32 Aveox 27/39/1.5',20.83,0.016,0.649,1.53,8,60,161.6;
'33 Aveox 27/39/2',1562,0.028,0.866,1.15,8,45,161.1;
'34 Aveox 27/39/3',1041,0.063,1.299,0.77,8,30,161.6;
'35 Aveox 27/39/4',781,0.112,1.731,0.58,8,23,161.1;
'36 AXI 2204/54',1398,0.355,0.967,0.36,8,6.5,24.4;
'37 AXI 2208/20 Gold Line',1830,0.09,0.739,1,8,16,45.1;

83
'38 AXI 2208/26 Gold Line',1426,0.16,0.948,0.62,8,11,45.1;
'39 AXI 2208/34 Gold Line',1089,0.27,1.242,0.4,8,8,45.1;
'40 AXI 2212/20 Gold Line',1150,0.14,1.176,0.7,8,16,57;
'41 AXI 2212/26 Gold Line',944,0.21,1.432,0.45,8,12,57;
'42 AXI 2212/34 Gold Line',691,0.32,1.957,0.31,8,10,57;
'43 AXI 2808/16 Gold Line',1864,0.074,0.725,1.68,9,25,76;
'44 AXI 2808/20 Gold Line',1493,0.089,0.906,1.1,9,25,78;
'45 AXI 2808/24 Gold Line',1225,0.115,1.104,1.1,8,25,78;
'46 AXI 2814/10 Gold Line',1720,0.037,0.786,2.3,8,0.4,106;
'47 AXI 2814/12 Gold Line',1439,0.053,0.94,1.8,8,35,106;
'48 AXI 2820/10 Gold Line',1152,0.039,1.174,2.5,8,42,151.1;
'49 AXI 2820/12 Gold Line',990,0.042,1.366,1.7,8,37,151.1;
'50 AXI 2826/10 Gold Line',924,0.053,1.463,1.8,8,42,181.2;
'51 AXI 2826/12 Gold Line',745,0.056,1.815,1.25,8,37,181.2;
'52 AXI 2826/14 Gold Line',640,0.08,2.113,1.44,15,37,181.2;
'53 E-flite 400-37',3700,0.16,0.365,0.8,8,15,68;
'54 E-Flite 480 BL 1020',1020,0.07,1.325,1.1,8,22,87;
'55 E-flite Power 10 BL',1100,0.063,1.229,2.1,10,30,122.2;
'56 E-flite Power 15 BL',950,0.035,1.423,2,10,34,152.2;
'57 E-flite Power 32 BL',867,0.057,1.559,2.4,10,60,200.1;
'58 E-flite Power 46 BL',705,0.032,1.918,5,15,55,300.2;
'59 Electrifly RimFire 28-22-1380',1380,0.37,0.98,0.4,7.4,9,27.2;
'62 Electrifly RimFire 28-26-1600',1600,0.098,0.845,1,7.4,17,41.1;
'67 Electrifly RimFire 35-30-950',940,0.065,1.438,0.8,11,20,71.2;
'73 Mini AC 1215/16',3800,0.086,0.356,1.4,8,18,48.2;
'74 Mini AC 1215/20',3000,0.117,0.451,1.1,8,16,49;
'75 Mini AC Extreme',6370,0.045,0.212,3.8,8,28,77.1;
'76 MP Jet AC 25/35-20',3850,0.1,0.351,1.34,8,25,72;
'77 Goldberg Turbo 550',2528,0.085,0.535,2,8,60,221.1;
'78 Graupner Sp280 6V',2320,1.12,0.583,0.28,6,8,42.5;
'79 Graupner Sp300 6V',4833,0.214,0.28,0.7,8,12,51;
'80 Graupner Sp400 6V',3000,0.303,0.451,0.7,6,12,73.7;
'81 Graupner Sp400 7.2V',2277,0.45,0.594,0.5,7.2,18,73.7;
'82 Graupner Sp480 7.2V',2350,0.298,0.575,1.1,7.2,20,104.9;
'83 Graupner Sp480 Race 7.2V',2936,0.155,0.46,2,7.2,20,104.9;
'84 Graupner Sp500 Race 7.2V',2985,0.105,0.453,2.5,7.2,20,161.6;
'85 Graupner Sp600 7.2V',2437,0.112,0.555,2,7.2,25,195.6;
'86 Graupner Sp600 8.4V',1780,0.15,0.76,1.8,8.4,25,221.1;
'87 Graupner Sp600 9.6V',1470,0.201,0.92,1,9.6,30,195.6;
'88 Graupner Sp700 Race 9.6V',1875,0.12,0.721,3,9.6,25,326;
'89 G. P. Goldfire',2441,0.094,0.554,2,8,25,215.5;
'90 G. P. Thrustmaster',2168,0.18,0.624,1.5,8,25,215.5;
'91 Hacker A20-12XL',1050,0.05,1.288,1.5,7.3,20,84.2;
'92 Hacker A20-20L',1057,0.142,1.279,0.92,10.6,19,57;
'93 Hacker A20-22L',920,0.158,1.47,0.8,8,17,57;
'94 Hacker A20-26M',1130,0.16,1.196,0.8,8,15,42;
'95 Hacker A30-10L',1100,0.03,1.229,2.3,8.75,40,144;
'96 Hacker A30-10XL',860,0.04,1.572,1.78,10.2,42,177.2;
'97 Hacker A50-12L',350,0.036,3.863,2.3,8.4,70,510.3;
'98 Hacker A50-12S',492,0.027,2.748,3.2,8.4,55,395.2;
'99 Hacker A50-14L',302,0.032,4.477,2,8.4,70,510.3;

84
'100 Hacker A50-14S',425,0.035,3.181,2.3,8.4,55,395.2;
'101 Hacker A50-16S',380,0.052,3.558,2.2,8.4,70,395.2;
'102 Hacker B20-12L',4600,0.053,0.294,1.1,8,20,51;
'103 Hacker B20-15L',3700,0.085,0.365,0.7,8,15,51;
'104 Hacker B20-18L',3065,0.125,0.441,0.4,8,12,51;
'105 Hacker B40-16S',2663,0.0379,0.508,0.83,8,20,130.4;
'106 Himax HC2808-0860',860,0.255,1.572,0.36,8,11,51.9;
'107 Himax HC2808-0980',980,0.22,1.38,0.4,8,12,51.9;
'108 Himax HC2808-1160',1160,0.15,1.166,0.6,8,15,51.9;
'109 Himax HC2812-0650',650,0.285,2.08,0.36,8,11,64.1;
'110 Himax HC2812-0850',850,0.169,1.591,0.6,8,14,64.1;
'111 Himax HC2812-1080',1080,0.111,1.252,0.75,8,15,64.1;
'112 Himax HC2816-0890',890,0.119,1.518,0.8,8,18,77.1;
'113 Himax HC2816-1220',1200,0.071,1.127,1.4,10,25,77.1;
'114 Himax HC3510-1100',1100,0.055,1.229,1.2,8,30,89;
'115 Himax HC3510-1540',1540,0.029,0.878,1.8,8,42,89;
'116 Himax HC3516-0840',840,0.051,1.61,1.5,8,37,134.1;
'117 Himax HC3516-1130',1130,0.03,1.196,1.8,8,48,134.1;
'118 Himax HC3516-1350',1350,0.023,1.001,2.3,8,56,134.1;
'119 Himax HC3522-0700',700,0.049,1.931,1.3,8,40,161.9;
'120 Himax HC3522-0990',990,0.027,1.366,2.2,8,54,161.9;
'121 Himax HC3528-0800',800,0.031,1.69,1.7,8,54,197;
'122 Himax HC3528-1000',1000,0.02,1.352,2.6,8,68,197;
'123 Hyperion Z-2205-34',1500,0.34,0.901,0.5,8,8,29.5;
'124 Hyperion Z-2205-38',1300,0.42,1.04,0.38,8,7,29.5;
'125 Hyperion Z-2209-26',1100,0.17,1.229,0.65,8,11,41.7;
'126 Hyperion Z-2209-32',900,0.24,1.502,0.55,8,10,41.7;
'127 Hyperion Z-2213-20',1010,0.15,1.339,0.65,8,14,53;
'128 Hyperion Z-2213-24',850,0.175,1.591,0.6,8,12,53;
'129 Hyperion Z-3007-26',1228,0.085,1.101,1.11,8,28,75.1;
'130 Hyperion Z-3007-30',1033,0.095,1.309,1.2,8,25,75.1;
'131 Hyperion Z-3013-14',1080,0.048,1.252,2.5,8,40,110;
'132 Hyperion Z-3013-16',985,0.059,1.373,2,8,36,110;
'133 Hyperion Z-3019-10',1230,0.031,1.099,2.42,8,46,142;
'134 Hyperion Z-3019-12',900,0.034,1.502,2.35,8,42,142;
'135 Hyperion Z-3025-08',985,0.039,1.373,4.8,10,65,186;
'136 Hyperion Z-3025-10',815,0.025,1.659,2.3,8,46,186;
'137 Jeti Phasor 15-3',2300,0.025,0.588,2.5,8,35,136.1;
'138 Jeti Phasor 15-4',1800,0.042,0.751,1.9,8,32,136.1;
'139 Jeti Phasor 30-3',1200,0.034,1.127,2.8,8,35,136.1;
'141 KDA2217/20',875,0.195,1.545,1,12.4,22,71.2;
'142 KDA KB2835-35',2350,0.19,0.575,1,7,20,91;
'143 Kontronik FUN400-23',2300,0.058,0.588,0.5,8,30,110;
'144 Kontronik FUN400-42',4000,0.017,0.338,2,7,50,110;
'145 Kyosho AP-29L',4099,0.0907,0.33,3.5,8,30,155.9;
'146 Kyosho AP-29L meas',3914,0.034,0.345,3.8,8,35,141.7;
'147 Kyosho Atomic Force',3531,0.035,0.383,2.94,8,30,178.6;
'148 Kyosho EndoPlasma',3785,0.022,0.357,2.5,8,30,178.6;
'149 Kyosho LeMans 480 Gold',2500,0.076,0.541,1.1,8,30,177.2;
'150 Kyosho LeMans DMC20BB',4939,0.054,0.274,0.54,8,30,178.6;
'151 Kyosho Magnetic Mayhem',2260,0.0667,0.598,1.37,8,30,226.8;
'152 MEC Turbo 10 GT',3400,0.038,0.398,2.3,8,35,283.5;
'153 MEC Turbo 10 Plus',4850,0.025,0.279,3.4,8,35,311.8;
'154 Multiplex Permax BL-X22-13',1350,0.28,1.001,0.45,10,12,32;
'157 Multiplex Permax 280 7.2V',2417,0.553,0.559,0.3,7.2,4.5,45.4;
'158 Multiplex Permax 280 BB',4464,0.429,0.303,0.7,8,8,53.9;
'159 Multiplex Permax 400 6V',2946,0.357,0.459,0.73,6,7,73.7;
'160 Multiplex Permax 400 7.2V',2268,0.473,0.596,0.7,7.2,8,73.7;
'161 Multiplex Permax 450 Turbo',2189,0.138,0.618,1.2,8,25,138.9;

85
'162 Multiplex Permax 480 7.2V',2459,0.312,0.55,0.92,7.2,12,93.6;
'163 Medusa MR-012-030-4000',3940,0.386,0.343,0.3,8,6,15;
'164 Medusa MR-012-030-5300',5230,0.228,0.259,0.43,8,7,15;
'165 Medusa MR-028-032-1200',1200,0.185,1.127,0.35,8,15,70;
'166 Medusa MR-028-032-1500',1490,0.118,0.907,0.5,8,19,70;
'167 Medusa MR-028-032-1900',1890,0.085,0.715,0.65,8,23,70;
'168 Medusa MR-028-032-2400',2390,0.05,0.566,0.85,8,28,70;
'169 Medusa MR-028-032-2800',2790,0.04,0.485,1,8,30,70;
'170 Mega ACn 16-15-4',2300,0.045,0.588,1.1,8,20,76.5;
'171 Mega ACn 16-15-5',1800,0.06,0.751,0.8,8,20,76.5;
'172 Mega ACn 16-15-6',1500,0.112,0.901,0.79,12,18,76.5;
'173 Mega ACn 16-15-8',1230,0.176,1.099,0.33,8.2,15,76.5;
'174 Mega ACn 22-20-4',1550,0.055,0.872,1.8,14,50,165;
'175 Mega ACn 22-30-3',1300,0.042,1.04,1.11,8.6,70,220.8;
'181 Plettenberg Orbit 10-22',1080,0.064,1.252,1.8,11,35,135.2;
'182 Plettenberg Orbit 15-14',1100,0.035,1.229,2.5,11,55,175.2;
'184 Plettenberg Typhoon 6-20',1600,0.133,0.845,0.7,8,12,43.1;
'185 Scorpion 2208-34',1206,0.29,1.121,0.42,7,15,40;
'186 Scorpion 2212-26',994,0.23,1.36,0.51,7,15,50.7;
'187 Scorpion 2215-22',987,0.195,1.37,0.64,7,18,61.2;
'188 Scorpion 3008-28',1253,0.072,1.079,1.38,9,38,85.9;
'189 Scorpion 3008-32',1080,0.098,1.252,1,9,33,87;
'190 Scorpion 3014-16',1180,0.038,1.146,2.23,9,57,122.8;
'191 Scorpion 3014-18',1064,0.043,1.271,1.53,10.5,52,122.8;
'192 Scorpion 3020-12',1088,0.03,1.243,2.24,9,76,152;
'193 Scorpion 3020-14',931,0.045,1.452,1.85,10,71,146.9;
'194 Scorpion 3026-8',1212,0.02,1.116,3.45,10,95,189.4;
'195 Scorpion 3026-10',980,0.025,1.38,2.64,10,90,190.5;
'196 Scorpion 3026-12',840,0.034,1.61,2.22,10,85,189.4;
'197 TowerPro TP2409_12D',1600,0.071,0.845,1.4,8,25,63.2;
'198 Turnigy C3542-1450 14p',1400,0.044,0.966,1.85,7.1,55,134.1;
'199 Turnigy 2213-20',920,0.28,1.47,0.75,12,19,59;
'200 Turnigy 2217-16',1120,0.133,1.207,1.15,11.5,23,71.2;
'201 Turnigy 2217-20',940,0.19,1.438,0.94,12.4,22,71.2;
'202 Turnigy 2826-1650',1570,0.163,0.861,1.3,11,16,45.1;
'203 Turnigy 2830-800',960,0.245,1.408,0.86,12,14,57;
'204 Turnigy 42-60 600',620,0.085,2.181,6,15,50,278.1;
'205 Turnigy 50-45 890',900,0.06,1.502,2,5,55,260.2;
'206 Turnigy 50-55A 400',500,0.11,2.704,2.7,16,68,300.2;
'207 Turnigy 50-55B 600',550,0.045,2.458,5,18.5,80,300.2;
'208 Turnigy 80-100-A 180',180,0.05,7.511,3.5,20,150,1570.8;
'209 Uberall Nippy 0508/73',720,0.422,1.878,0.45,8,5,38;
'210 Uberall Nippy 0808/98',970,0.255,1.394,0.7,8,8,39.7};

%batteries: name, cell cap, max current, cell resit,rack voltage,
weight
Battery = {'ePower 500XP 15/25C',5000,125,0.0032,11.1,360;
'G. Planes Electrifly 5000 20C',5000,100,0.003,11.1,366;
'Hyperion HP-LVX 5000 20C',5000,100,0.0033,11.1,366;
'TunderPower 5000SX 22/50C',5000,250,0.0026,11.1,366};

%Prop: Name, kt,kp, diameter,pitch
Prop = {'1 Aeronaut 6x5 fixed E-prop',0.9,0.7,15.2,12.7;
'2 Aeronaut 6.5x4 fixed E-prop',0.84,0.68,16.5,10.2;
'3 Aeronaut 7x7 fixed E-prop',0.9,0.82,17.8,17.8;

86
'13 Aeronaut 10x8 fixed E-prop',1,0.84,25.4,20.3;
'14 Aeronaut 12x7 C Fold 42',0.71,0.49,30.5,17.8;
'15 Aeronaut 13x6.5 C Fold 42',0.91,0.44,33,16.5;
'16 Aeronaut 13.5x7 C Fold 42',0.73,0.44,34.3,17.8;
'17 Aeronaut 14x7 C Fold 42',0.74,0.62,35.6,17.8;
'18 Aeronaut 8x5 CAM Fold 42',0.81,0.72,20.3,12.7;
'21 Aeronaut 9.5x5 CAM Fold 42',0.89,0.72,24.1,12.7;
'28 Aeronaut 13x8 CAM Fold 42',0.7,0.52,33,20.3;
'29 Aeronaut 13x11 CAM Fold 42',0.79,0.59,33,27.9;
'31 Align 5x3',0.67,0.54,12.7,7.6;
'32 Align 4.2x2',1.14,0.94,10.7,5.1;
'33 APC E 4.1x4.1',1.1,0.96,10.4,10.4;
'34 APC E 4.5x4.1',1.09,0.94,11.4,10.4;
'35 APC E 4.7x4.2',0.95,0.81,11.9,10.7;
'36 APC E 4.75x4.75',1,0.87,12.1,12.1;
'37 APC E 4.75x5.5',1.05,1,12.1,14;
'38 APC E 5x5',0.88,0.93,12.7,12.7;
'39 APC E 5.25x4.75',0.9,0.84,13.3,12.1;
'40 APC E 5.5x4.5',0.87,0.85,14,11.4;
'41 APC E 6x4',0.88,0.73,15.2,10.2;
'42 APC E 6x5.5',0.98,0.84,15.2,14;
'43 APC E 7x5',1.1,0.83,17.8,12.7;
'44 APC E 8x4',1.02,0.85,20.3,10.2;
'45 APC E 8x6',1.1,1.02,20.3,15.2;
'46 APC E 8x8',1.15,1.11,20.3,20.3;
'47 APC E 9x4.5',1.01,0.78,22.9,11.4;
'48 APC E 9x6',0.98,0.75,22.9,15.2;
'49 APC E 9x7.5',1.08,0.95,22.9,19.1;
'50 APC E 10x5',0.97,0.74,25.4,12.7;
'51 APC E 10x7',0.92,0.71,25.4,17.8;
'52 APC E 11x5.5',0.92,0.72,27.9,14;
'53 APC E 11x7',0.88,0.69,27.9,17.8;
'54 APC E 11x8',0.86,0.81,27.9,20.3;
'55 APC E 11x8.5',0.9,0.72,27.9,21.6;
'56 APC E 12x6',0.95,0.71,30.5,15.2;
'57 APC E 12x8',0.87,0.67,30.5,20.3;
'58 APC E 12x12',0.99,0.67,30.5,30.5;
'59 APC E 13x4',1.15,0.66,33,10.2;
'60 APC E 13x6',0.9,0.58,33,15.2;
'61 APC E 13x6.5',0.92,0.67,33,16.5;
'62 APC E 13x8',0.87,0.59,33,20.3;
'63 APC E 14x7',0.91,0.6,35.6,17.8;
'64 APC E 14x10',0.88,0.63,35.6,25.4;
'65 APC E 15x8',0.93,0.71,38.1,20.3;
'66 APC E 16x8',1.08,0.69,40.6,20.3;
'67 APC E 17x8',0.94,0.61,43.2,20.3;
'68 APC E 17x10',0.8,0.64,43.2,25.4;
'69 APC E 18x8',1.08,0.71,54.7,20.3;
'70 APC E 20x10',0.98,0.62,50.8,25.4;

87
'71 APC E 22x10',0.94,0.56,55.9,25.4;
'72 APC Sport 10x6',0.8,0.71,25.4,15.2;
'73 APC Sport 11x5',0.98,0.68,27.9,12.7;
'74 APC Sport 11x6',0.88,0.72,27.9,15.2;
'75 APC Sport 11x8',0.9,0.79,27.9,20.3;
'76 APC Sport 12x7',0.81,0.69,30.5,17.8;
'77 APC Sport 13x7',0.84,0.62,33,17.8;
'78 APC Sport 15x8',0.89,0.67,38.1,20.3;
'79 APC Sport 16x8',0.95,0.68,40.6,20.3;
'80 APC Sport 16x10',0.8,0.65,40.6,25.4;
'81 APC Sport 16x12',0.85,0.67,40.6,30.5;
'82 APC Sport 18x6',1.12,0.65,45.7,15.2;
'83 APC SF 7x4',1.03,0.95,17.8,10.2;
'84 APC SF 7x5',1.07,0.95,17.8,12.7;
'85 APC SF 7x6',1.25,0.93,17.8,15.2;
'86 APC SF 8x3.8',1.3,1.17,20.3,9.7;
'87 APC SF 8x6',1.53,1.45,20.3,15.2;
'88 APC SF 9x3.8',1.3,1,22.9,9.7;
'89 APC SF 9x4.7',1.1,0.85,22.9,11.9;
'90 APC SF 9x6',1.5,1.25,22.9,15.2;
'91 APC SF 10x3.8',1.47,1.17,25.4,9.7;
'92 APC SF 10x4.7',1.4,0.95,25.4,11.9;
'93 APC SF 10x7',1.45,1.3,25.4,17.8;
'94 APC SF 11x4.7',1.4,0.95,27.9,11.9;
'95 APC SF 11x7',1.4,1.07,27.9,17.8;
'96 APC SF 12x3.8',1.5,1.18,30.5,9.7;
'98 Dymond-E 15x8',0.93,0.74,38.1,20.3;
'99 Graupner CAM Speed 4.7x4.7',1.02,1.1,11.9,11.9;
'100 Graupner Nylon 5x2',0.22,0.88,12.7,5.1;
'101 Graupner CAM Speed 5.2x5.2',0.96,0.85,13.2,13.2;
'102 Graupner CAM Speed 5.5x4.3',0.82,0.83,14,10.9;
'103 Graupner Speed 5.5x5.5',0.95,0.83,14,14;
'104 Graupner Speed 6x5.5',0.91,0.72,15.2,14;
'105 Graupner Speed 6x6',1,0.74,15.2,15.2;
'106 Graupner Speed 6.5x6.5',0.82,0.71,16.5,16.5;
'107 Graupner Speed 7x7',0.8,0.7,17.8,17.8;
'108 Graupner CAM Folding 8x6',0.83,0.75,20.3,15.2;
'113 Graupner CAM Folding 13x7',0.81,0.58,33,17.8;
'114 Graupner CAM Folding 14x9.5',0.85,0.52,35.6,24.1;
'116 Graupner Slim 8x4',0.94,1.4,20.3,10.2;
'117 Graupner Slim 9x5',0.82,0.72,22.9,12.7;
'118 Graupner Slim 10x6',1.01,0.9,25.4,15.2;
'119 Graupner Slim 10x8',1.11,0.95,25.4,20.3;
'120 GWS 2.5x0.8',1,1,6.4,2;
'121 GWS 2.5x1.0',0.89,1.1,6.4,2.5;
'122 GWS HD 3x2',1.15,1.5,7.6,5.1;
'123 GWS HD 3x3',1.4,1.7,7.6,7.6;
'124 GWS HD 4x2.5',0.92,1,10.2,6.4;
'125 GWS HD 4x4',1.23,1,10.2,10.2;
'126 GWS HD 4.5x3',0.94,0.82,11.4,7.6;
'127 GWS HD 4.5x4',1.16,0.75,11.4,10.2;
'128 GWS HD 5x3',0.81,0.7,12.7,7.6;
'129 GWS HD 5x4.3',1.2,0.85,12.7,10.9;
'130 GWS HD 6x3',0.84,0.65,15.2,7.6;
'134 GWS HD 10x6',0.8,0.57,25.4,15.2;
'135 GWS HD 11x7',0.9,0.6,27.9,17.8;

88
'136 GWS RS 6x5',1.29,0.96,15.2,12.7;
'137 GWS RS 7x6',1.32,1.22,17.8,15.2;
'138 GWS RS 8x4.3',1.07,0.76,20.3,10.9;
'139 GWS RS 8x6',1.06,1.04,20.3,15.2;
'140 GWS RS 9x4.7',1.21,0.89,22.9,11.9;
'141 GWS RS 9x7',1.31,0.96,22.9,17.8;
'142 GWS RS 10x4.7',1.38,1.1,25.4,11.9;
'143 Gnter 4.9x4.3',1.33,1.2,12.4,10.9;
'144 Gnter 5x4.3',1.31,0.74,12.7,10.9;
'145 Gnter 5.1x4.3',1.47,0.96,13,10.9;
'146 Zagi Carbon 5.1x4.9',1.11,1.14,13,12.4};

% Motor weight
Uptime = 3; %hours
min_weight = 10000000;
while min_weight >= 10000000
for i = 1:4
for j = 1:length(Motors)
RPM = 11 * Motors{j,2};
for k = 1:length(Prop)
F_made = 2*4.392399*10^(-
8)*RPM*(((Prop{k,4}*0.393701)^3.5)/sqrt(Prop{k,5}*0.393701))*(4.2333*10
^(-4)*RPM*Prop{k,5}*0.393701);
if F_made > F_need
Amp =
2*Prop{k,3}*((Prop{k,4}*0.0328084)^4)*(Prop{k,5}*0.0328084)*((Motors{j,
2}/1000)^3)*11^2;
if ((Amp < Battery{i,3}) && (Amp < Motors{j,7}))
batcount =
round((Amp*Uptime)/(Battery{i,2}/1000));
comb_weight = ((Battery{i,6}*batcount
+Motors{j,8}*2)*1.1)/1000;
if comb_weight < min_weight;
min_weight = comb_weight;
i_sel = i;
j_sel = j;
k_sel = k;
end
end
end
end
end
end
end
Weight = min_weight;

Iterative Solution Function File (HullWeight)
function [ ans ] = HullWeight( Area )
%Weight of hull as fuction of area
PVF = 1450; %kg/m^3
ans = Area * 0.0002 * PVF; % 0.5 kg/m^2
end

Iterative Solution Function File (ControlWeight)
function [ ans ] = ControlWeight( )
% Camera = 1 kg

89
% Control Sys = 2 kg
% Contingency weight = 1kg
% Ballonet Pump = 0.5 kg
ans = 1 + 2 +1+1 + 0.5;
end

Iterative Solution Function File (RudderWeight)
function [ ans ] = RudderWeight(diameter)
%Calc weight of rudders + backbone
% diameter of the airship
al = 2700; %2700kg/m^3
length = 1;
ans = (4*diameter+4*length)*(pi/4)*(0.005^2)*al +pi*(0.005^2)*diameter
end

90
References
AMDT, 2010. Electronic Code of Federal Regulations. Aeronautics and Space , 1(57), pp. 91-311.
Controp, 2014. Short range payloads for UAVs and other vehicles. [Online]
Available at: http://www.controp.com/category/short-range-payloads
[Accessed 11 April 2014].
Freudenrich, C., 2014. How Blimps Work. [Online]
Available at: http://science.howstuffworks.com/transport/flight/modern/blimp.htm
Gajendran , S., 2012. Quadcopter Basics. [Online]
Available at: http://creativentechno.wordpress.com/2012/06/13/quadcopter-basics/
IITB, 2010. The major components of a non-rigid airship. [Online]
Available at: http://www.aero.iitb.ac.in/~ltasys/airship2.html
Khoury, G. A. & Gillett, D. J., 1999. Airship Technology. 2 ed. Cambridge: Press Syndicate of the
University of Cambridge.
National Park Service, 2014. Natural Sounds. [Online]
Available at: http://www.nature.nps.gov/sound/science.cfm
Savetherhino, 2014. White rhino information. [Online]
Available at:
http://www.savetherhino.org/rhino_info/species_of_rhino/white_rhinos/factfile_white_rhino
Sengpielaudio, 2004. Damping of sound levels vs. distance. [Online]
Available at: http://sengpielaudio.com/calculator-distance.htm
Siyabona Africa, 2014. Kruger Park Elevation. [Online]
Available at: http://www.krugerpark.co.za/kruger-park-elevation-map.html
Staples, G., 2013. Propeller Static & Dynamic Thrust Calculation. [Online]
Available at: http://electricrcaircraftguy.blogspot.com/2013/09/propeller-static-dynamic-thrust-
equation.html#.U4OJoij5_1R
[Accessed 24 May 2014].
Stockbridge, C., Ceruti, A. & Marzocca, P., 2012. Airship Research and Development in the Areas of
Design, Structures, Dynamics and Energy Systems. International Journal Aeronautical and
Space Sciences, 13(2), p. p170~187.
Tosell, 2014. Portable 12V Auto Car Electric Air Compressor. [Online]
Available at: http://www.ebay.com/itm/Portable-12V-Auto-Car-Electric-Air-Compressor-Tire-
Infaltor-Pump-300-PSI-New-T7-
/131038747447?pt=LH_DefaultDomain_0&hash=item1e82849b37
[Accessed 24 May 2014].

91
Weather2, 2014. Weather 2. [Online]
Available at: http://www.myweather2.com/City-Town/South-Africa/Kruger-National-
Park/climate-profile.aspx
White, F. M., 2011. Drag of Three-Dimensional Bodies at Re > 10000. In: C. Ng & S. Saimek, eds.
Fluid Mechanics. New York: McGraw-Hill, p. 503.

Designing An Airship

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Designing An Airship

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Design Project

Design a lighter than air UAV

= 0 . For simplification and later consideration, a constant buoyancy force is assumed

can be used. is the internal resistance

. If the motor is turning idly a current as

of the airship moving through the air. This was an

. For simplicity, the

0.0002 1450 (10.)

The inside of the frame will be

0.13 as the drag coefficient.

R 156.82 R156.82 40 R 6272.80

He R 156.82 R - R 156.82 40 R 6272.80

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