ICIUS 2018, Jeju, South Korea Paper ID=P00010

Design and Development of Tube-Launched Unmanned Aerial Vehicle

A. Fadlillah M.1*, Nurhayyan H. Rosid1, M. Hanif 2 , N. Fadel2, Nathan1, Tobias S.1, Tegar S.2, M. Agoes
Moelyadi3, Agus Budiyono3, 4
1)
Faculty of Mechanical and Aerospace Engineering, ITB,Indonesia
2)
School of Electrical Engineering and Informatics, ITB, Bandung, Indonesia
3)
Center for Unmanned System Studies (CentrUMS),ITB, Bandung, Indonesia
4)
Bhimasena Research and Technology, Sumedang, Indonesia

1* fadli_muzzamil@students.itb.ac.id / fadlilahmuzzamil@gmail.com

Abstract-Tube-Launched UAV with folding tandem wing Tube launched folding wing UAV is a concept
configuration has great potential for military applications since that can solve the problem on easily transported and
there is an urgent need to have UAV that could be easily
transported and deployed. This UAV was designed to have
quickly launched UAV [3]. It provides the
tandem wing configuration with approximately 50 ft in span opportunity to launch UAV in difficult field and
and capable to be folded into 5 inch tubular pneumatic launcher. bring flexibility on launching the UAV instead of
When the UAV is launched from the tube, the wings
using specific launcher for specific field. The UAV
will rapidly expand and the UAV will autonomously fly with a
cruising speed of approximately 25 m/s. The airframe of the is packed in a tube and then user can launch the
UAV was constructed by lightweight material such as carbon UAV so the UAV come out from the tube [4]. The
fiber reinforced polymer (CFRP), aluminum, and plywood. development of the tube launched folding wing
This tube launched folding wing UAV was equipped
with a camera as the payload for certain autonomous UAV in this paper uses tandem wing configuration.
monitoring mission. The main focus of this paper is to present This paper will also provide analysis of the UAV on
the general design process starting from design requirements, stability, fluid dynamics, and also the performance
initial sizing, structural and aerodynamic analysis,
folding mechanism, electrical system architecture, and
of the UAV after several flight testings.
pneumatic launcher design. Furthermore, a computational fluid II. DESIGN REQUIREMENT & OBJECTIVES
dynamics (CFD) simulation was conducted to predict the
aerodynamic characteristics of the UAV. The results TABLE I DESIGN REQUIREMENT AND OBJECTIVES
of the flight testing showed that the UAV was very stable and
it achieved flight endurance of approximately 30 minutes. This Specification DRO
paper presents the overall design process, analysis of UAV
characteristics and the discussion of flight test data log. Type Fixed Wing
Take off method Hand Launch / Tube-Launch
Keywords: tube launched UAV, Folding Wing UAV, tandem
wing UAV, compact UAV design Landing method Belly Landing
Able to put inside PVC pipe 6
I. INTRODUCTION Carrier / packaging inch

nmanned Aerial Vehicles (UAV) have wide manual, Semi-auto, Fully

U purpose and can perform various missions
Flight mode
Cruise speed
Autonomous
25 m/s
such as monitoring, exploring, and military mission
Operating altitude 60 - 200 m
[1]. There are several challenges in UAV
development and application including transporting Endurance time up tp 30 minutes
and deploying the UAV. Most UAVs take too much MTOW 4 Kg
space to be carried before it is launched and finishes Wingspan 1.5 m
the mission. It is also time consuming for user to
assembly and launch the UAV [2][6]. Especially in
military application, there is an urgent need of
easily transported and deployed UAV.
ICIUS 2018, Jeju, South Korea Paper ID=P00010

III. COMPARATIVE STUDY V. INITIAL SIZING

Before determining the detailed configuration, The UAV must satisfy the requirements that it
it is necessary to look for comparison on other UAV. has to be able to be folded into a tubular package or
We chose 2 options that presented in table below. launcher within a circular diameter of 6 in. This
TABLE II COMPARATIVE STUDY leads to a tandem wing with expandable wing UAV
configuration as shown in figure 2. The tandem
Specificatio Coyote Switchblade wing configuration can increase the lifting surface
n area (wings) whereas a compact design can be
Weight (kg) 5.89 2.7
achieved by using folding wing configuration. By
Wingspan 1.47 0.6 paying attention to the geometrical constraints and
(m) several design considerations, the initial sizing of
Endurance 120 15 the UAV prototype can be seen on Table IV.
(min)
Top Speed 28.3 43.7
(m/s)

Launching Canister Launched Self Contained

GroundLaunch
Image
( ( (

Fig. 2 (a) Folded Condition (b) Transition Condition (c)

Expanded Condition

TABLE III INITIAL SIZING

Definition Value
Length L 1124 mm
IV. WEIGHT ESTIMATION Chord Length c1 100 mm
Chord Length c2 100 mm
The maximum take off weight (MTOW) of the UAV Canard Span b1 1318 mm
based on the DRO is 4 kg. The overall weight is Wing Span b2 1508 mm
classified into four main components including airframe, Vertical Stabilizer h 300 mm
Canard-Wing LE distance d 635 mm
avionics, payload, and propulsion. The UAV airframe Canard-Wing Gap (Left) yL 75 mm
takes the highest portion of overall weight which consists Canard-Wing Gap (Right) yR 75 mm
of wing, spar, folding mechanism fuselage, tail, and Left-Right Lifting Surfaces 11 mm
other structures as shown in figure 1. The structural parts Vertical Gap yS
Distance between vertical 118 mm
are produced using CFRP (wing), GFRP (fuselage and stabilizers
tail), aluminum (spar and folding mechanism), and high Canard Airfoil NACA 8408
density foam to maintain the shape of the structural parts. Wing Airfoil NACA 8408
The electronic system of the UAV includes battery, Vertical Stabilizer Airfoil NACA 0010
MTOW 4 kg
autopilot, servo, GPS, telemetry transmitter, video Cruise Speed 25 m/s
transmitter, and R/C receiver. Furthermore, the payload Altitude 100 m
and propulsion used are respectively a camera and an
electric motor.
Payload
Propulsion 10%
15%

Avionics
25%

Airframe
50%
Fig. 3 UAV 3D Model

Fig. 1 UAV Weight Distribution

ICIUS 2018, Jeju, South Korea Paper ID=P00010

0.8
0.6
0.4
0.2

IMAGINER
0
Fig. 4 Elevon Control System -11 -9 -7 -5 -3 -1 1
-0.2
VI. AERODYNAMICS ANALYSIS
-0.4
A. Airfoil Selection -0.6
A low reynold number airfoils from NACA 4-series REAL
and Miley were chosen as candidate for sectional wing -0.8
configuration. Longitudinal Stability Lateral Stability

2 Fig. 7 Root Locus

1.5 Figure 7 represents both longitudinal and lateral

stability in term of root locus diagram. The lateral
1 stability has two symmetric dutch roll modes, one roll
Cl

damping mode and one spiral mode. In addition, the

0.5
longitudinal stability has two symmetric phugoid modes,
0
NACA 8408 and two symmetric short period modes[5]. Based on the
NACA 6408
MILEY M06 -13-128 presented root locus analysis, the UAV is characterized
-0.5 to be stable in both longitudinal and lateral mode.
-10 -5 0 5 10 15
Alpha [deg] C. CFD Analysis
Fig. 5 Airfoil Comparison The aerodynamic characteristics of the UAV was
analyzed using high fidelity software : Ansys CFX. The
B. Stability Characteristic Prediction Ansys CFX solver uses Reynold Averaging Navier-
In order to analyze the stability characteristic of the Stokes (RANS) for solving the numerical model.
UAV, a simple estimation was conducted using XFLR5. The 3D geometry file was imported to ANSYS CFX
It is free open source software, developed and distributed Mesher to conduct the discretization of the model. In
under General Public License, GNU [7]. It can provide a CFX-Pre, the boundary conditions are defined with its
quick estimation of idealized aircraft model consisting respective properties such as inlet, wall, opening, and
wing, tail, and fuselage. In this study, a full configuration outlet. After the simulation setup was done, the CFX
of UAV with simple model was defined to be analyzed solver started to solve the numerical model. Figure 8 and
in XFLR as shown in figure 6. 9 show the CL vs. Angle of attack and the drag polar,
respectively.
1.8
1.6
1.4
1.2
1
CL

0.8
0.6
0.4
0.2
0
-4 -2 0 2 4 6 8 10 12 14 16 18 20
Fig. 6 XLFR Full Configuration Angle of Attack (deg)
Fig. 8 CL vs Angle of Attack
ICIUS 2018, Jeju, South Korea Paper ID=P00010

1.8
1.6
1.4
1.2
CL

1
0.8
0.6
0.4
0.2
0 Fig. 11 Internal Layout
0 0.1 0.2 0.3 0.4
CD
Fig. 9 CL vs CD

VII. AVIONICS SYSTEM

The system is powered by LiPo battery 4S 6200

mAH. It uses autopilot board Pixhawk as flight
controller. The propulsion uses brushless DC motor.
The communication system uses 2 different
Fig. 12 Folding Mechanism
frequency for flight data and remote control data
from pilot command. IX. TESTING

Several flight tests had been successfully

conducted in order to check and verify performance
of the UAV. Some results of the flight test
performance have also been recorded based on data
flash log from UAV flight controller as shown in
(Figure ).

Fig. 10 Avionics System Architecture

The power distribution between autopilot and

actuator is separated to prevent back EMF that can
affect other component. With this configuration, the
Fig. 13 Flight Test
UAV can flight autonomous with certain Ground
Control Station software in user PC. Based on the flight tests data, we get several
results of performance of the UAV as stated
VIII. DETAILED DESIGN below.
• The maximum airspeed measured is 100 km/h
The following figures show the internal layout • Climb rate is up to 150 m / minutes
and the folding mechanism of the wing. The folding • Stall speed of the UAV approximately 45 km/h
mechanism involves a torsional spring to deploy the for 3 kg take-off weight
wings. The mechanism is designed in such way that • Maximum relative altitude reach is about 160
would enable the wing to be extended quickly using meters.
the force from the torsional spring [2].
ICIUS 2018, Jeju, South Korea Paper ID=P00010

Longest flight time is around 26 minutes nonstop and performed stable flight. The improvement can
in autonomous mode from battery level 16.7 Volts be focused on the launching mechanism and
until 14.8 Volts. mission fulfillment
ACKNOWLEDGEMENT

This work was supported by Aksantara UAV

research group and funded by ITB.
REFERENCES
[1] Gao Liang, Cangle Lie, Zhao Jie, Hegao Cai, et all.
Aerodynamic Characterization of a Novel Catapult
Launched Morphing Tandem-Wing UAV. Advance
in Mechanical Engineering. SAGE Publishing. 2017.
[2] Tao Tony S., Hansman R. John. Development of In-
Flight-Deployable Micro-UAV. Massachusetts
Institute of Technology, Cambride, MA, 2012
Fig. 14 Flight Test Data Log [3] Bawa Singh Gursimat, Design, Development and
Testing of Tube Launched UAV. University of
Sydney. Sydney. 2016.
[4] Biezad, Daniel. Design of a Tube-Launched UAV.
AIAA 3rd Unmanned Unlimited Technical
Conference. USA. 2004.
[5] Muhammad, Hari and Yazdie Ibrahim Jenie. Diktat
Kuliah: Dinamika Terbang. Bandung : ITB 2011.
[6] Jacob D. Jamey, Smith W. Suzanne. Design
Limitation of Deployable for Small Low Altitude
UAVs. Florida. 47th AIAA Forum. 2009.
Fig. 15 Flight Test Log Data : Navigation [7] Anshori Imron, Sufendi, Haris Luqman, Sapudin Pepi,
Budiyarto Aris, Budiyono Agus. Design and
The flight test came up with slight problem Analysis of Modular Deployment Autonomous
when fly on autonomous mode. The guidance is Surveilance UAV System. Journal of Unmanned
System Technology. Bhimasena RnD, Sumedang.
unstable. After analysis on data log, we found that
2015
the unconventional UAV configuration need
improvement on a parameter at autopilot. This is
because the UAV is so agile that the target bearing,
a measurement to give UAV direction on
autonomous mode and nav bearing, the actual
bearing value is so distinct. The phenomenon is
shown in figure 15. Authors solved the problem by
reconfigure the value of navigation parameter.
We successfully improved the development of
the UAV iteratively by overcoming several
emerging problems such as lateral-directional
stability of the UAV, attitude control tuning, and
guidance path tuning in autonomous mission of the
UAV by analyzing the flight test performance and
data.
X. CONCLUDING REMARKS

Based on result and analysis data, entire DRO

hav been achieved. The UAV also had been tested