15 Mar

FORAY - Crazyflie Yaw Rate PID Control Modification

Ethan Uetrecht

After setting up the crazyflie as a blimp and performing various tests, one primary issue was noticed when attempting to control the blimp. This issue was in the yaw control; I noticed that for large yaw inputs, the blimp would not turn left or right. Instead, the left and right motors would alterna...

11 Mar

FORAY - DIY custom mylar balloon

Zhaoliang Zheng

This week, I tried three different ways to DIY custom mylar foil balloon: Multipurpose Adhesive + super glue to seal the mylar foil Soldering iron to seal the foil Soldering iron to seal first and then multipurpose adhesive to double seal It turns out all these method have s...

04 Mar

FORAY - Flying test case: vertical flying test

Zhaoliang Zheng

This week, we conducted lots of flying test under Opti-track system. Here we showed one example of vertical flying test. After data has been processed: position plot: velocity plot:

25 Feb

FORAY - Bata test of Crazyflie setup on a saucer-shape blimp

Zhaoliang Zheng

The crazyflie test setup is shown in the figure: Fly test on crazyflie: I found some bugs on this design and I'm trying to fix that right now.

23 Feb

FORAY - CFD analysis and drag coefficient of saucer shape balloon using Ansys fluent

Zhaoliang Zheng

This week, I sucessfully used Ansys fluent software to get the CFD analysis of specified saucer-shape balloon as shown in the following figures.

19 Feb

FORAY - Ansys fluent example learning

Zhaoliang Zheng

It took me quite amount of time to finish calculating the drag coefficient of this example(plane) in analysis fluent. Drag coefficient calculation: Fluid relative velocity plot:

15 Feb

FORAY - Crazyflie Blimp Setup

Ethan Uetrecht

The crazyflie system is primarily designed to be used as a quadcopter but can be modified to be usable as a blimp. This requires both a change in the propellor configuration (hardware) as well as a change in the firmware. The process of modifying the firmware is described in the following tutorial...

09 Feb

FORAY - Different shape with different dimension -- case study

Zhaoliang Zheng

Previously, in the balloon shape design prelab. We discussed about the relationship between different balloon envelope with different shape after inflation. This week, we did a case study on case 1. We measure the dimension before inflation and after inflation. We also tested its buoyancy. Th...

09 Feb

FORAY - measure drag coefficient

Zhaoliang Zheng

Measure drag coefficient aerodynamics plays a very important role in measuring the performance of blimp. We know drag equation: \[ F_D = \frac{1}{2}C_d\rho A v^2\] where, \(F_D\) is the drag force, \(\rho\) is the density of the fluid, \(A\) is the cross sectional area \(v\...

03 Feb

FORAY - collecting green ball data

Zhaoliang Zheng

This week, we are collecting some green ball data using the cellphone camera and esp32 cam. We've collected three different sets of photos with different resolution: (1) Cellphone camera, resolution: 3264 * 2448 (2) esp32-cam, resolution: 1280 * 1024 (3) esp32-cam, resolution: 800 * 600...

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