2013 International Conference on Unmanned Aircraft Systems (ICUAS)

May 28-31, 2013, Grand Hyatt Atlanta, Atlanta, GA

Design of a Commercial Hybrid VTOL UAV System

Ugur Ozdemir, Yucel Orkut Aktas, Karaca Demirbag, Ahmet Erdem

Ganime Duygu Kalaycıoglu, Ibrahim Ozkol, Gokhan Inalhan

Abstract— For the last 40 years high – capacity Unmanned optimally, namely the Vertical Take Off and Landing (VTOL)
Air Vehicles have been use mostly for military services such as UAVs. At the same time, this system requires an efficient cost
tracking, surveillance, engagement with active weapon or in the solution for applicability / convertibility for different civil
simplest term for data acquisition purpose. Unmanned Air applications. It means an Air Vehicle having easily portability
Vehicles are also demanded commercially because of their of payload depending on application concept and
advantages in comparison to manned vehicles such as their low programmability of operation (hover and cruise flight time)
manufacturing and operating cost, configuration flexibility specific to the application.
depending on customer request, not risking pilot in the difficult The main topic of this project is designing, producing and
missions. Nevertheless, they have still open issues such as testing the TURAC VTOL UAV that have the following
integration to the manned flight air space, reliability and features:
airworthiness. Although Civil Unmanned Air Vehicles  Vertical takeoff and landing, and hovering like
comprise 3% of the UAV market, it is estimated that they will helicopter
reach 10% level within the next 5 years. UAV systems with  High cruise speed and fixed-wing
their useful equipment (camera, hyper spectral imager, air data  Multi-functional and designed for civil purpose
sensors and with similar equipment) have been in use more and  The project involves two different variants:
more for civil applications:  The TURAC A variant is a fully electrical platform
 Tracking and monitoring in the event of agriculture / which includes 2 tilt electric motors in the front, and a
forest / marine pollution / waste / emergency and fixed electric motor and ducted fan in the rear.
disaster situations  The TURAC B variant uses fuel cells.
 Mapping for land registry and cadastre
 Wildlife and ecologic monitoring,
 Traffic Monitoring and I. INTRODUCTION
 Geology and mine researches Unmanned air vehicles have been mostly used for military
They can bring minimal risk and cost advantage to many
services such as tracking, surveillance, engagement with
civil applications, in which it was risky and costly to use
manned air vehicles before. When the cost of Unmanned Air active weapons or in the simplest term for data acquisition
Vehicles designed and produced for military service is taken purposes. Although unmanned air vehicles are also
into account, civil market demands lower cost and original demanded commercially because of their low manufacturing
products which are suitable for civil applications. Most of civil and operating costs, configuration flexibility depending on
applications which are mentioned above require UAVs that are customer request, not risking pilot in the difficult missions
able to take off and land on limited runway, and moreover [1], nevertheless they have still open issues such as
move quickly in the operation region for mobile applications integration to the manned flight air space, reliability and
but hover for immobile measurement and tracking when flight safety.
necessary. This points to a hybrid unmanned vehicle concept
Although civil purpose unmanned air vehicles make up 3
percent of total UAV market, it is estimated that within the
*Research supported by the Republic of Turkey, Ministry of Science, next 5 years they will constitute 10 percent of the UAV
Industry and Technology
U. O., Author is a PhD Candidate at the Istanbul Technical University, market [6]. UAV systems with attached payloads (camera
Faculty of Aeronautics and Astronautics, 34469, Istanbul, Turkey hyper spectral imager, air data sensors and similar apparatus)
(corresponding author to provide e-mail: ugur.ozdemir@itu.edu.tr). find new areas of utilization at numerous civilian processes
O. A., Author is a MSc Student , at the Istanbul Technical University, such as:
Faculty of Aeronautics and Astronautics, 34469, Istanbul, Turkey (e-mail:
orktaktas@gmail.com).  Tracking and monitoring in the event of
K.D, A.E. and G.D.K are with the HAVELSAN A.S., M. Kemal Mah. agriculture / forest / marine pollution waste /
2120. Cat. No:39, 06510, Cankaya, Ankara
I.O., Author is a Prof. at the Istanbul Technical University, Faculty of emergency and disaster situations [3]
Aeronautics and Astronautics, 34469, Istanbul, Turkey (e-mail:  Mapping for land registry and cadastre [2]
ozkol@itu.edu.tr).
G. İ. is a Assoc. Prof. at the Istanbul Technical University, Faculty of  Wildlife and ecologic monitoring [4]
Aeronautics and Astronautics, 34469, Istanbul, Turkey (e-mail:  Traffic Monitoring [7]
inalhan@itu.edu.tr).

978-1-4799-0817-2/13/$31.00 ©2013 IEEE 214

Authorized licensed use limited to: UNIV OF ENGINEERING AND TECHNOLOGY TAXILA. Downloaded on August 07,2024 at 07:59:51 UTC from IEEE Xplore. Restrictions apply.
  Geology and mine researches TURAC Concept is given at Fig. 1.
 Gas leakage [16]
 Vegetation monitoring [17,18,19]
 Plant and forest species identification [20,22]
 Climate change studies [23]
 Environmental Damage [21]

Rugged hyperspectral imagers [15] with small payloads

(2.7kg) are planned to be used with TURAC. The payloads
are assumed to consume power from their own power
supply.
They can bring minimal risk and cost advantage to a lot of
civil applications, in which it was risky and costly to use
manned air vehicles previously. Subject to area of usage and
body type, they may come with various form factors as Fig. 1: TURAC Concept
follows:
 Fixed Wing UAV [3] VTOL UAVs are aimed for combining the advantages of
 Lighter-than-air UAV [3] unmanned helicopter and conventional UAVs. They can
 Unusual Design UAV (Quad rotor, etc.) [3] have the capability of vertical take-off and landing such as
 Vertical Take-off and Landing UAV [3,5] unmanned helicopters, and high cruise speed such as
conventional UAVs. Thus, VTOL UAVs can carry out take-
 Rotating Wing UAV [3,5]
off and landing operations even at hazardous environments
 Tilt-rotor / Tilt-wing [5] not suitable for take-off and landing, and at the same time
 Tail-sitter [5] can reach target operation point in a short time frame. Also,
 Thrust-Reserving [5] a VTOL UAV in a cruise flight mode can change its mode to
hover mode. This property allows it to realize several
When costs of unmanned air vehicles designed and missions with higher performance than unmanned
produced for military purposes are taken into account, civil helicopters and conventional UAVs [8, 10].
aviation market requires products oriented at its own type of Helicopters hold the upper hand at the operations that
processes with lower cost and original design. Most of the requires several flight modes such as switching to hover
civil applications mentioned above require UAVs that are mode from high speed cruise mode. VTOL UAVs can
able to take off and land on limited runways, and move realize this operations like a helicopter. While helicopters
quickly in the operation region for mobile applications, but have advantages over both VTOL and conventional aircrafts
hover for static measurement and tracking when necessary. at vertical flight, because of pitch up at rotor pals curling
This properties depicts a hybrid unmanned air vehicle backwards, they have performance restrictions at lateral
concept, in other words VTOL UAV. At the same time, this flight. VTOL UAVs do not have these performance
kind of system requires an efficient cost solution for restrictions of helicopters in horizontal flight. Moreover, as
applicability / convertibility for different kinds of civil long as big rotor systems are not used, their mechanical
applications. This, in turn, means an air vehicle having a design are simpler [8, 10].
seamless portability of payload depending on application Hovering and flying at low altitudes like helicopters are
concept and programmability of operation (hover and cruise the main advantages of VTOL UAVs. Efficiency of VTOL
flight time) specific to the application. air vehicles at hovering is lower than helicopters due to
The main topic of this project is designing, smaller effective rotor area. However, if hovering time is
manufacturing, and testing the TURAC VTOL UAV that similar to cruise flight time, than VTOL aircrafts have
have the following features. higher composite efficiency due to their better cruise flight
 Vertical take-off and landing, and hovering like a performance [8, 10].
Conventional UAVs necessitates a runway, cannot take-
helicopter
off from and land to everywhere. However, their lateral
 Fixed-wing with high cruise speed capability and flight performance are higher than helicopter systems. While
long range VTOL aircrafts can fly at speeds as higher as conventional
 Multi-functional and specifically designed for UAVs, additional weight due to vertical take-off/landing
civil purpose systems lowers their payload capacity with respect to
conventional system. Nonetheless, high thrust / weight ratio

215
Authorized licensed use limited to: UNIV OF ENGINEERING AND TECHNOLOGY TAXILA. Downloaded on August 07,2024 at 07:59:51 UTC from IEEE Xplore. Restrictions apply.
 of VTOL UAVs enable better manoeuvring ability than
conventional UAVs, but this brings additional control
difficulties. Control problems can be overcome by autopilot
systems [8, 10].
VTOL UAVs combine the advantages of helicopters and
fixed-wing aircraft such as their vertical take-off and landing
capacity, better manoeuvring ability, high cruise speed and
omnidirectional controllability. While VTOL UAV can fly
at similar speed with fixed-wing aircraft, they can also hover
like a helicopter. While their efficiency is lower than the
vehicles that are designed for only hover flight regime or
Fig.: 2 TURAC Concept Design
horizontal flight regime, their composite efficiency is higher
because of possessing these two flight regimes [8, 10]. Portability is at the forefront at TURAC concept. In the
Evolution history of VTOL systems [10], developed design process, a concept that allows folding aircraft wings,
VTOL UAV Design Technology [8], existing criterions [10], wings with varying dimensions and replaceable body options
comparison with conventional and helicopter systems [8, is used as a base. TURAC system, which consists of 3 parts,
10], and future prediction [8] can be reached by the given namely main body and edge wings, can be mounted easily
sources. and it can be fitted in a considerably small volume with
respect to its size. This way, it can be easily transported with
vehicles such as SUV and truck.
II. THE CONCEPT OF THE TURAC TILT ROTOR UAV Also, structure, which is formed by integrating the wings
Following properties are taken into account for the UAV and the body, is more rigid than other conventional systems
that will be designed and manufactured inside the project and allows vehicle to respond sharp manoeuvre needs.
scope. TURAC can start mission from over another aircraft or
 Lower cost than military UAV. helicopter. As a propulsion system, a stationary engine at the
back and two tilt motors at the front is planned.
 Vertical take-off and landing capability (for all TURAC VTOL UAV, which can adapt to different
types of terrain). mission conditions with its properties given above, can take-
 Hovering off from and land to partly flattened dirt runways, or using a
 Ease of portability and packaging catapult system, can start its mission by launching from
ships or land vehicles if desired.
 Ability to work with different kinds of payloads
 Mobile ground station
III. INITIAL SIZING
In addition to these, minimum target performance A. Weight Estimations
criterions for VTOL UAV are given as follows: As the thrust produced by all of the motors is used to
 1 hour cruise + 15 minutes hovering + 15 counter the weight of the aircraft, T/W ratio is chosen as 1.3.
minutes take-off and landing A trade-off study is carried out to determine correlation
 35 km operation radius (70 km range) between total endurance time and payload capacity of the
aircraft (Fig. 3).
 5 kg payload (hyper spectral imager, or
potentially additional devices such as RGB Hybrid System MTOW 46
Camera, Thermal Camera, Emission Total Endurance- Useful payload
Measurement Device) 25
Useful Pyaload (kg)

 20 m/s cruise speed 20

 Automatic take-off – landing – flight 15
10
A. First Configuration 5
Aircraft geometry and configuration in Fig. 2 is conceived 0
taking the requirements into consideration. 0 50 100 150 200
Total endurance (min.)

Fig. 3: Payload–Endurance time comparison

216
Authorized licensed use limited to: UNIV OF ENGINEERING AND TECHNOLOGY TAXILA. Downloaded on August 07,2024 at 07:59:51 UTC from IEEE Xplore. Restrictions apply.
 Most of the power consumption of VTOL systems is effectively for vertical flight. At this point, stall speed is
occurred at vertical take-off & landing and hover stages. determined and sizing calculations are done.
Moreover, increasing the flight time is another parameter B. Propulsion System
which raises the power needs. For these reasons, consumed
power approach is used to calculate take-off weight and
sizing of TURAC. A main lift fan used to lift most of the aircraft weight and
TURAC system has two flight condition; cruise flight and 2 tilted motors are used mainly for cruise flight. For this
vertical flight. reason main lift fan power consumption is the most
Total power consumption of the system is calculated important issue to optimize hover endurance. TURAC
according to the mission profile and maximum take-off system uses ducted fan system with coaxial rotors which
weight of the TURAC is determined with iterative enhance systems aerodynamic performance as shown in Fig.
calculations. 5. Performance calculations are based on momentum theory
and flight tunnel tests with single propeller, ducted propeller
and ducted coaxial propellers. [24]
B. Wing Geometry
Aerodynamic efficiency of TURAC VTOL UAV reached
Main Lift Fan Diameter-Thrust Comparision
its peak with “blended wing” design (Fig. 2). With this
P=7kW FM=0,7
design, usable interior space is much bigger than
conventional systems, and this allows user to mount different 60
payloads with greatly varying sizes. As the aircraft acquires
lifting force from the whole structure, it can carry higher 40
Thrust (kg)

number of payloads than similar sized aircrafts.

20
TURAC is a blended wing design and lift is generated
from both fuselage and attachable wings. There is no tail 0
structure to balance moment over the airfoil. For this reason, 0 0,2 0,4 0,6 0,8 1 1,2
reflex airfoils are used on aircraft to balance moments which Propeller Diameter (m)
is occurred from generating lift. Different custom designs of
reflex airfoils are used on TURAC to enhance lift capacity Single Propeller (kg) Ducted Single Fan (kg)
while holding the drag at acceptable level.
Ducted Coax Fan (kg)

Fig. 5: Main Lift Fan Diameter – Trust Comparison

Coaxial fan system is selected with two electric motor and

speed controllers. Torque differentiation method is used for
yaw manoeuvres while hovering and making vertical flight.
Electric driven system allows TURAC to make precision
controlled flights in complex areas.

As the Variant A fully uses battery, the Variant B uses

fuel cells by taking into consideration its energy efficiency,
being environmentally friendly. The fuel cells are also
Fig. 4: Figure A: cruise mode, Figure B: hover and vertical considered as constructional components of the TURAC.
flight mode
Inner allocation properties of TURAC VTOL UAV B
variant is given at Fig. 6. Main transportation fan is close to
Wing shaped fuselage and attachable wings are designed the middle of the vehicle. Front electric motors directed
with swept wing for making TURAC more stable. In upwards during VTOL phase stabilizes vehicle during hover
addition, winglets are used to make aircraft aerodynamically and are used at cruise flight.
more efficient. Also winglets are used as control surfaces for
controlling yaw manoeuvres.
Battery system near main duct can be removed from the
Wing sizing process is done after estimating maximum aircraft completely, thus vehicle can be prepared quickly for
take-off weight. The primary point while making wing sizing mission. Lithium Polymer battery system, which has the
calculations is stall speed because TURAC makes vertical most energy density and which can be found in the market,
take-off/landing and cruise flight. Aircraft needs to slow is chosen as battery system. Fuel tanks made from Kevlar
down until tilted propeller and main lift fan working and near to centre of gravity allow varying fuel quantities for

217
Authorized licensed use limited to: UNIV OF ENGINEERING AND TECHNOLOGY TAXILA. Downloaded on August 07,2024 at 07:59:51 UTC from IEEE Xplore. Restrictions apply.
 different mission conditions, and this provides a flexible
structure to the vehicle.

Fig. 8: TURAC preliminary design

Fig. 6: TURAC preliminary design layout properties

System, which is modified for main carrier, consists of Results are summarized at Table 1. System can provide
one main engine, high efficiency special design fan and duct, different flight times to user according to size of payload.
and thrust orientation system (Fig. 7). For increasing
movement capability of the vehicle at windy and narrow
areas, two thrust orientation (thrust vector system) systems
TABLE I. TURAC PRELIMINARY DESIGNRESULTS
below the main fan are mounted. This system, aside from
providing convenience for stabilizing the aircraft, creates a TURAC Preliminary designOverall Information
flat surface by completely closing at cruise flight and
Name TURAC VTOL UAV
decreases drag force due to the integration of main fan to the
body. Type (conceptual) Blended Wing UAV
Fuel/Electric Hybrid
Type
System
(depending on energy
(main carrier with fuel,
consumption)
stabilizers with electric)
Wing Span 4,2 m
Length 1,82 m
MTOW 46 kg
Nom. Payload 8 kg
Speed (Cruise) 24 m/s
Max. Operational Altitude 4000 m
Endurance
Fig. 7: TURAC front design, main engine placement details (with 10 kg payload)
95 min
Endurance
135 min
(with 5 kg payload)
Single ducted fan system with single rotor makes vertical
flight unstable. For this reason, supporting systems are Hover Flight Duration 10 min
needed and electric motor-propeller systems, which could be
controlled more precisely than internal combustion engines, Take-off/Landing Type VTOL / Conventional
are designed with tilt mechanism. Small amount of weight is
Logistics SUV or truck
lifted with tilted electric motor-propeller system to enhance
vertical flight stability.

IV. COMPARISON OF TURAC WITH OTHER UAVS

European Unmanned Association categorizes unmanned

air vehicles at 5 different main categories:
 Close range (Range less than 25 km)
 Short range (Range between 25-100 km)
 Middle range (Range between 100-200 km)

218
Authorized licensed use limited to: UNIV OF ENGINEERING AND TECHNOLOGY TAXILA. Downloaded on August 07,2024 at 07:59:51 UTC from IEEE Xplore. Restrictions apply.
  Long range (Range between 200-500 km)
 Endurance (Operation range more than 500 km or Take off Weight (kg) Useful Payload (kg)
can stay at air more than 20 hours)
65
Vertical Take-off – Landing unmanned air vehicles can be 46,00
found at the first three categories. 35,00
8 12,00 10,00 8
When compared to other VTOL UAVs, TURAC becomes a 2 0,5 3,5
high speed mini UAV system platform at high ranking with
its high portability (Table 2), and payload capacity. As it is
upgradable in terms of design, it is a basic product which
can have higher endurance with additional fuel tanks and
battery. Productivity is an important parameter for UAV’s
which is directly connected with endurance and payload
capacity [24] .These properties can be seen at Fig. 9-11. In Fig. 9 : Take –off Weight and Useful Payload Comparison
addition, it carries basic technology demonstration properties of World Mini UAVs
for its bigger and smaller variants.

80,00 60 70
TABLE II. COMPARISON OF VTOL UAV SYSTEMS
60,00
40,00 20
20,00 6,00 1 2
2,00 0,25 0,42
0,00 1,50
IAI Mini Panther

Organic Air
Organic Air
IAI Panther

Preliminary

TURAC A
Vehicle 1

Vehicle 2

Variant
Design

World Mini
UAV

Take-off
65 12, 0 10,00 35,00 46,00
Weight (kg)
Endurance (h) Range (km)
Payload (kg) 8 2 0,5 3,5 8
WP/WMTOW 0,123 0,16 0,05 0,1 0,173
Endurance Fig. 10 : Range and Endurance Comparison of World Mini
6,00 2,00 0,25 0,42 1,50
time (h) UAVs
Range (km) 60 - 10 20 70
Maximum 150
3000 - 2400,00 2000 4000
Altitude (m)
Average 100
130 65,00 - 80 00 72
Speed (km/h)
Wing Span
2-8 1.5 - - 3 50
(m)
Productivity
48 4 0,125 1,47 12 0
(kg*h)
IAI Panther IAI Mini Organic Air TURAC
Panther Vehicle 2 Preliminary
Design

Average Velocity (km/h)

Fig. 11 : Average Velocity Comparison of World Mini

UAVs

219
Authorized licensed use limited to: UNIV OF ENGINEERING AND TECHNOLOGY TAXILA. Downloaded on August 07,2024 at 07:59:51 UTC from IEEE Xplore. Restrictions apply.
 As seen in Figs. 8-9, in comparison with Organic Air [13] Okan,A., Flight Mechanics Analysis and Control of a Tilt Duct
Vehicles, TURAC UAV has substantially more range and UAV, Middle East Technical Univ., Aero. Eng. Dept., M.S. Thesis,
payload carrying capacity as a result of being much bigger. December 2000.
[14] Armutcuoglu, O., The Conceptual Design of a Tilt-Duct UAV,
Moreover TURAC carries the same payload with less
Middle East Technical Univ., Aero. Eng. Dept., M.S. Thesis,
MTOW in comparison with IAI Panther which is one of the
December 2000.
best examples in the market. [15] Resonon Pika II Imaging Spectrometer, HYPERLINK
"http://www.sciencedirect.com/science?_ob=RedirectURL&_method
=externObjLink&_locator=url&_issn=17505836&_origin=article&_z
V. CONCLUSION one=art_page&_plusSign=%2B&_targetURL=http%253A%252F%25
In this study, a Commercial VTOL UAV Vehicles are 2Fwww.resonon.com%252Fpika.html" \t "externObjLink"
designed to produce and test the TURAC UAV having www.resonon.com/pika.html,2013.
following features: Vertical take-off and landing, and [16] Charlie J. K., Kevin S. R., Rick L. L., Steven C. J., and John L. C.,
Monitoring effects of a controlled subsurface carbon dioxide release
hovering like helicopter, High cruise speed and fixed-wing,
on vegetation using a hyperspectral imager, International Journal of
multi-functional and designed for civil purpose. Several
Greenhouse Gas Control, Volume 3, Issue 5, September 2009, pp.
trade-off studies are performed to for initial sizing. After 626-632.
some more optimization studies, the geometry will be fixed. [17] Mitchell, J. J., Glenn, N. F., Anderson, M. O., Hruska, R. C., Halford,
Afterwards, the design will be produced and tested to A., Baun, C., and Nydegger, N. Unmanned Aerial Vehicle (UAV)
validate determined performance criteria. Hyperspectral Remote Sensing for Dryland Vegetation Monitoring,
2012.
[18] Jay, S., Lawrence, R., Repasky, K., & Keith, C., Invasive Species
REFERENCES Mapping Using Low Cost Hyperspectral Imagery, ASPRS 2009.
[19] Nansen, C., Sidumo, A. J., & Capareda, S., Variogram analysis of
hyperspectral data to characterize the impact of biotic and abiotic
[1] Sarris, Z., Survey of UAV Applications in Civil Markets, Technical stress of maize plants and to estimate biofuel potential. Applied
University of Crete, June 2001. spectroscopy, 64(6), 627-636, 2010.
[2] Zongjian, L., UAV for Mapping – Low Altituede Photorammetric [20] Tindall, J. A., Deconvolution of Plant Type (s) for Homeland Security
Survey, The International Archives of the Photogrammetry, Remote Enforcement Using Remote Sensing on a UAV Collection Platform.
Sensing and Spatial Information Sciences. Vol. XXXVII. Part B1, Geological Survey Denver Co., 2006.
Beijing, 2008 [21] Salem, F., and Menas K., Hyperspectral image analysis for oil spill
[3] Dhaliwal, S.S, Control of an Unconventional Double-Ducted Fan mitigation, Asian Conference on Remote Sensing, vol. 5, p. 9. 2001.
VTOL UAV For Obstructed Environments Using the MARC System, [22] Darvishsefat, A. A., Tobias W. K., and Klaus I. I., Application of
MSc. Thesis., University of Calgary, August, 2009 hyperspectral data for forest stand mapping. Symposium on
[4] Watts, A.C. and others, Small Unmanned Aircraft Systems for Low Geospatial Theory, Processing and Applications, Ottawa. 2002.
– Altitude Aerial Surveys, Journal of Wildlife Management 74(7): [23] Tuominen, J., "Detection of environmental change using hyperspectral
1614-1619, 2010 remote sensing at Olkiluoto repository site.", 2011.
[5] Foy, B. W., Hover Controls for a Unique Small-Scale Thrust [24] Johnson, Wayne (2010). NDARC - NASA Design and Analysis of
Reversing UAV, MSc. Thesis, University of Colorado, 2005 Rotorcraft Theoritical Basis and Architechture, NASA Ames Research
[6] Quick, D., Israel Aerospace Industries unveils tilt-rotor Panther UAV Center, American Helicopter Society Aeromechanics Specialists’
platform, AERO GIZMO, October, 2010 Conference, San Francisco,CA, Ocak 2010.
[7] Puri, .A,Survey of Unmanned Aerial Vehicles (UAV) for Traffic [25] Timoty Edward lee, Lee, T.A., Design and Performance of a Ducted
Surveillance, University of South Florida, 2005 Coaxial Rotor in Hover and Forward Flght, University of Maryland,
[8] Ahn, O., Kim, J.M., and Lim, C.H., Smart UAV Research Program Aero. Eng. Dept., M.S. Thesis, 2010
Status Update: Achievement of Tilt-Rotor Technology Development [26] Pereira, J.L., Hover and Wind Tunnel Testing of Shrouded Rotors for
and Vision Ahead, ICAS 2010, 27th International Congress of the Improved Micro Air Vehicle Design, University of Maryland, PhD
Aeronautical Sciences, 2010. Thesis, 2008
[9] Michael, E.H., U.S.Geological Survey Unmanned Aircraft Systems
Project Office, National Unmanned Aircraft Systems (UAS) Project
Office, USA
[10] Smith, K.R. and Belina, F.W., Small V/STOL Aircraft Analysis,
Vol. 1, NASA Report CR-2425, 1974
[11] Ozlem A., Mehmet S. K., ve Ozan T., 2004, Tilt Duct Vertical
Takeoff and Landing Uninhabited Aerial Vehicle Concept Design
Study, Journal of Aircraft, 41 (2), pp.215-223.
[12] Aksugur Mirac; Inalhan Gokhan, 2010, Design Methodology of a
Hybrid Propulsion Driven Electric Powered Miniature Tailsitter
Unmanned Aerial Vehicle, Journal of Intelligent & Robotic Systems,
57 (1-4), pp. 505-529.

220
Authorized licensed use limited to: UNIV OF ENGINEERING AND TECHNOLOGY TAXILA. Downloaded on August 07,2024 at 07:59:51 UTC from IEEE Xplore. Restrictions apply.