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Sep
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201
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4856
IJ
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Vo
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3
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Sep
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201
6
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all
t
h
ick
n
e
s
s
.
T
h
er
ef
o
r
e
b
o
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p
e
f
r
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h
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q
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tu
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m
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el
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r
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e
m
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l
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s
d
esig
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u
s
i
n
g
C
A
T
I
A
s
o
f
t
w
ar
e
as
s
h
o
w
n
in
Fig
u
r
e
3
.
Fig
u
r
e
3
.
Qu
ad
co
p
ter
Vir
tu
al
m
o
d
el
T
h
e
p
ar
am
eter
s
o
f
t
h
e
q
u
ad
co
p
ter
f
r
a
m
e
ar
e
s
h
o
w
n
in
T
ab
le.
1
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
a
n
d
F
a
b
r
ica
tio
n
o
f V
o
i
ce
C
o
n
tr
o
lled
Un
ma
n
n
ed
A
eria
l V
a
h
icle
(
S
.
S
a
kth
i A
n
a
n
d
)
207
T
ab
le
1
.
Qu
ad
co
p
ter
Fra
m
e
P
a
r
a
m
eter
s
No
P
a
r
a
m
e
t
e
r
s
S
p
e
c
i
f
i
c
a
t
i
o
n
1.
A
r
m L
e
n
g
t
h
(
F
o
u
r
a
r
m
s)
2
0
5
mm
2.
A
r
m
d
i
me
n
s
i
o
n
s
(
w
i
d
t
h
,
h
e
i
g
h
t
a
n
d
t
h
i
c
k
n
e
ss
)
1
2
×
1
2
×
0
.
5
m
m
3.
C
e
n
t
r
a
l
f
r
a
me
P
l
a
t
e
d
i
me
n
s
i
o
n
s
(
l
e
n
g
t
h
,
b
r
e
a
d
t
h
a
n
d
t
h
i
c
k
n
e
s
s)
1
1
0
×
1
1
0
×
1
mm
4.
M
o
t
o
r
t
o
m
o
t
o
r
d
i
s
t
a
n
c
e
4
5
0
mm
5.
F
a
s
t
e
n
i
n
g
S
c
r
e
w
a
n
d
n
u
t
d
i
me
n
s
i
o
n
s
2
mm
d
i
a
me
t
e
r
,
1
5
m
m l
e
n
g
t
h
.
6.
D
r
i
l
l
s
i
z
e
2
m
m
h
o
l
e
s
i
z
e
(
a
l
l
h
o
l
e
s)
7.
T
o
t
a
l
w
e
i
g
h
t
2
1
6
g
3
.
1
.
P
ro
pu
ls
io
n Sy
s
t
e
m
T
h
e
p
r
o
p
u
l
s
io
n
s
y
s
te
m
co
n
s
is
t
s
o
f
m
o
to
r
s
,
p
r
o
p
eller
s
,
E
lectr
o
n
ic
Sp
ee
d
C
o
n
tr
o
ller
s
(
E
SC
s
)
,
b
atter
ies
an
d
p
r
o
p
eller
s
.
B
o
th
th
e
m
o
to
r
an
d
p
r
o
p
eller
co
m
b
in
atio
n
p
r
o
d
u
ce
s
t
h
r
u
s
t a
n
d
m
o
v
es
th
e
v
eh
icle
u
p
w
ar
d
s
.
A
s
th
e
esti
m
ated
all
u
p
w
eig
h
t
is
co
n
s
id
er
ed
to
b
e
1
.
5
k
g
,
th
e
th
r
u
s
t
r
eq
u
ir
e
m
e
n
t
f
r
o
m
f
o
u
r
m
o
to
r
s
s
h
o
u
ld
b
e
d
o
u
b
le
th
at
o
f
1
.
5
k
g
.
T
h
er
e
f
o
r
e
ea
ch
m
o
to
r
s
h
o
u
ld
b
e
a
b
le
to
p
r
o
d
u
ce
8
5
0
g
o
f
t
h
r
u
s
t
f
o
r
ce
.
Mo
to
r
s
ar
e
s
elec
ted
b
ased
o
n
th
eir
Kv
r
ati
n
g
.
I
t is ca
lc
u
lated
b
y
t
h
e
f
o
r
m
u
la
R
P
M
=
Kv
r
atin
g
×
Vo
ltag
e
i
n
p
u
t
Su
b
s
ti
tu
t
in
g
t
h
e
v
al
u
es o
f
R
P
M
an
d
Vo
ltag
e
i
n
p
u
t,
Kv
r
atin
g
=
1
0
3
7
8
/1
1
.
1
≈
9
3
5
Kv
.
P
r
o
p
eller
is
a
ty
p
e
o
f
f
an
w
h
ich
tr
an
s
m
its
p
o
w
er
b
y
co
n
v
e
r
tin
g
r
o
tatio
n
a
l
m
o
tio
n
i
n
to
t
h
r
u
s
t.
T
h
e
A
P
C
b
r
an
d
p
r
o
p
eller
s
ar
e
o
f
g
o
o
d
q
u
alit
y
an
d
ar
e
u
s
ed
in
m
an
y
q
u
ad
co
p
ter
s
.
P
r
o
p
eller
s
ar
e
g
en
er
all
y
t
w
i
s
ted
alo
n
g
t
h
e
le
n
g
t
h
o
f
th
e
b
lad
es
.
T
h
is
is
to
en
s
u
r
e
w
h
e
th
er
t
h
e
an
g
le
o
f
attac
k
o
f
t
h
e
b
lad
es
is
k
ep
t
r
elativ
el
y
co
n
s
ta
n
t
alo
n
g
t
h
eir
le
n
g
th
.
T
h
e
t
w
i
s
ted
p
o
r
tio
n
o
f
t
h
e
p
r
o
p
eller
is
g
en
er
all
y
ter
m
ed
as
p
it
ch
.
T
h
e
p
r
o
p
eller
is
s
p
ec
if
ied
o
n
t
h
e
b
asis
o
f
i
ts
p
it
ch
an
d
d
ia
m
eter
i
n
i
n
ch
e
s
.
P
o
w
er
(
W
atts
)
=
Kp
×D
4
×P
×RP
M
3
W
h
er
e
Kp
is
th
e
p
r
o
p
eller
co
n
s
ta
n
t
(
1
.
1
1
f
o
r
A
P
C
p
r
o
p
eller
s
)
,
D
is
th
e
d
ia
m
eter
o
f
t
h
e
p
r
o
p
eller
in
f
ee
t,
P
is
th
e
p
itch
o
f
th
e
p
r
o
p
eller
in
f
ee
t
an
d
R
P
M
is
th
e
r
o
tatio
n
s
p
er
m
in
u
te
in
t
h
o
u
s
an
d
s
.
T
h
e
p
r
o
p
eller
is
to
b
e
ch
o
s
en
w
h
ic
h
ab
s
o
r
b
s
p
o
w
er
o
f
2
0
0
W
atts
at
1
0
3
7
8
R
PM.
Su
b
s
ti
tu
t
in
g
t
h
e
v
al
u
es,
w
e
g
et
D
=
0
.
4
3
9
=
1
0
in
ch
.
Static
T
h
r
u
s
t
C
alc
u
lato
r
s
o
f
t
w
ar
e
is
u
s
ed
to
ca
lcu
late
Static
T
h
r
u
s
t
v
alu
e
s
an
d
p
o
w
er
r
eq
u
ir
ed
f
r
o
m
t
h
e
b
atter
y
s
o
u
r
ce
.
I
t is in
d
icate
d
i
n
Fi
g
u
r
e
4.
Fig
u
r
e
4
.
Static T
h
r
u
s
t Ca
lcu
l
ato
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
:
2
0
5
–
2
1
2
208
T
h
e
m
o
to
r
an
d
p
r
o
p
eller
o
f
th
e
ab
o
v
e
co
n
f
ig
u
r
atio
n
w
ill
b
e
ab
le
to
p
r
o
d
u
ce
s
tatic
t
h
r
u
s
t
o
f
1
.
3
2
Kg
an
d
r
eq
u
ir
ed
p
o
w
er
is
2
3
8
w
at
ts
.
Als
o
th
e
e
s
ti
m
ated
f
l
y
i
n
g
s
p
ee
d
is
3
7
m
iles
p
er
h
o
u
r
.
3
.
2
.
E
lect
ro
nic
Sp
ee
d
Co
ntr
o
llers
T
h
e
f
u
n
ctio
n
o
f
th
e
elec
tr
o
n
ic
s
p
ee
d
co
n
tr
o
ller
s
i
s
to
g
et
t
h
e
o
u
tp
u
t
s
i
g
n
a
l
f
r
o
m
t
h
e
f
li
g
h
t
co
n
tr
o
ller
an
d
p
r
ec
is
el
y
co
n
tr
o
l
th
e
s
p
e
ed
o
f
th
e
m
o
to
r
.
I
t
s
u
p
p
lies
p
o
w
er
f
r
o
m
b
atter
y
a
n
d
it
v
ar
i
es
ac
co
r
d
in
g
to
th
e
in
p
u
t
s
i
g
n
al.
I
t
al
s
o
h
a
s
B
att
er
y
E
li
m
i
n
ated
C
ir
c
u
it.
B
E
C
s
u
p
p
lie
s
5
V
o
u
tp
u
t
f
r
o
m
E
SC
t
h
at
p
o
w
er
s
u
p
r
ec
eiv
er
an
d
Fli
g
h
t
co
n
tr
o
ller
.
E
ac
h
m
o
to
r
is
co
n
n
ec
ted
to
an
elec
tr
o
n
ic
s
p
ee
d
co
n
tr
o
ller
.
T
h
ey
g
i
v
e
a
s
m
o
o
t
h
lin
ea
r
t
h
r
o
ttle
co
n
tr
o
l
a
n
d
a
f
ast
r
esp
o
n
s
e
to
th
e
th
r
o
ttle
in
p
u
t.
T
h
e
elec
tr
o
n
ic
s
p
ee
d
co
n
tr
o
ller
is
s
elec
ted
b
ased
o
n
its
Am
p
er
e
r
atin
g
.
T
h
is
s
h
o
u
ld
b
e
g
r
ea
ter
th
an
a
m
p
er
e
r
atin
g
o
f
t
h
e
m
o
to
r
.
E
SC
r
atin
g
=
(
1
.
2
to
1
.
5
)
×
m
a
x
.
Am
p
er
e
r
atin
g
o
f
m
o
to
r
= 1
.
5
× 1
5
A
=
2
2
.
5
A
.
3
.
3
.
B
a
t
t
er
y
L
it
h
i
u
m
P
o
l
y
m
er
b
atter
ies
ar
e
u
s
ed
in
q
u
ad
co
p
ter
.
T
h
ese
ce
lls
ca
n
p
r
o
d
u
ce
a
n
e
n
o
r
m
o
u
s
a
m
o
u
n
t
o
f
cu
r
r
en
t,
n
ee
d
ed
f
o
r
t
h
e
b
r
u
s
h
l
ess
m
o
to
r
s
.
T
h
ese
b
atter
ies
ar
e
r
ec
h
ar
g
ea
b
le,
ca
n
las
t
lo
n
g
e
r
,
h
av
e
lo
w
w
ei
g
h
t
an
d
h
i
g
h
v
o
lta
g
e
ca
p
ac
it
y
co
m
p
ar
ed
to
o
th
er
t
y
p
e
o
f
b
atter
ies.
T
h
ese
b
atter
ies
ar
e
av
aila
b
le
as
3
.
7
V
p
er
ce
ll.
T
h
ese
b
atter
ies
ar
e
r
ated
b
ased
h
o
n
t
h
eir
C
-
r
ati
n
g
.
C
-
r
atin
g
s
p
ec
i
f
ies
h
o
w
f
ast
a
b
atter
y
ca
n
d
i
s
ch
ar
g
e.
A
2
0
0
0
m
A
h
b
atter
y
w
it
h
1
2
C
r
a
tin
g
w
o
u
ld
d
i
s
ch
ar
g
e
1
2
ti
m
e
s
its
ca
p
ac
it
y
i.e
.
2
4
0
0
0
m
Ah
f
o
r
1
/1
2
th
o
f
an
h
o
u
r
.
T
h
ese
b
atter
ies p
r
o
v
id
e
b
u
r
s
t c
u
r
r
en
t a
n
d
C
-
r
ati
n
g
s
ar
e
s
p
ec
i
f
ied
as p
er
b
u
r
s
t c
u
r
r
en
ts
.
Ma
x
i
m
u
m
c
u
r
r
en
t
w
it
h
d
r
a
w
n
b
y
m
o
to
r
s
=
n
o
.
o
f
m
o
to
r
s
×
m
a
x
i
m
u
m
c
u
r
r
en
t
w
it
h
d
r
a
w
n
b
y
s
in
g
le
m
o
to
r
=4
×1
5
A
=
6
0
A
.
3
.
4
.
F
lig
ht
Co
ntr
o
ller
A
f
l
ig
h
t
co
n
tr
o
l
ler
is
a
m
icr
o
co
n
tr
o
ller
o
n
w
h
ic
h
s
u
itab
le
s
en
s
o
r
s
a
n
d
w
ir
ele
s
s
co
m
m
u
n
i
ca
tio
n
ar
e
in
ter
f
ac
ed
t
h
at
co
n
tr
o
ls
th
e
s
p
ee
d
s
o
f
th
e
m
o
to
r
b
y
r
ec
ei
v
i
n
g
th
e
v
alu
e
s
f
r
o
m
tr
a
n
s
m
itter
an
d
f
ee
d
b
ac
k
f
r
o
m
s
en
s
o
r
s
.
T
h
e
A
r
d
u
i
n
o
Un
o
is
b
ased
o
n
th
e
A
T
m
e
g
a3
2
8
,
w
h
ic
h
ca
n
b
e
u
s
ed
as
f
li
g
h
t
c
o
n
tr
o
ller
.
I
t
h
as
1
4
d
ig
ital
i
n
p
u
t/o
u
tp
u
t
p
i
n
s
,
o
f
w
h
ic
h
6
ca
n
b
e
u
s
ed
as
P
W
M
o
u
tp
u
ts
,
6
a
n
alo
g
i
n
p
u
t
s
,
a
1
6
MH
z
cr
y
s
ta
l
o
s
cillato
r
f
o
r
f
aster
p
er
f
o
r
m
a
n
ce
.
I
t o
cc
u
p
ies less
w
ei
g
h
t a
r
o
u
n
d
2
0
g
.
3
.
5
.
I
nert
ia
l M
ea
s
ure
m
ent
Unit
An
i
n
er
tial
m
ea
s
u
r
e
m
e
n
t
u
n
it
w
o
r
k
s
b
y
d
etec
ti
n
g
t
h
e
c
u
r
r
en
t
r
ate
o
f
ac
ce
ler
atio
n
u
s
i
n
g
o
n
e
o
r
m
o
r
e
ac
ce
ler
o
m
eter
s
in
al
l
ax
e
s
.
I
t
d
etec
ts
ch
a
n
g
e
s
in
r
o
tatio
n
a
l
attr
ib
u
tes
li
k
e
p
itch
,
r
o
ll
a
n
d
y
a
w
u
s
i
n
g
o
n
e
o
r
m
o
r
e
g
y
r
o
s
co
p
es.
T
h
e
MP
U
6
0
5
0
is
a
6
DOF
o
r
a
s
ix
ax
is
I
MU
s
en
s
o
r
,
w
h
ich
m
ea
n
s
t
h
at
it
g
i
v
es
s
i
x
v
al
u
es
as
o
u
tp
u
t.
T
h
r
ee
v
alu
es
ar
e
g
iv
e
n
f
r
o
m
t
h
e
ac
ce
ler
o
m
eter
a
n
d
th
r
ee
ar
e
g
iv
e
n
f
r
o
m
t
h
e
g
y
r
o
s
co
p
e.
T
h
is
ch
ip
u
s
es
I
2
C
(
I
n
ter
I
n
te
g
r
ated
C
ir
c
u
it)
p
r
o
t
o
co
l
f
o
r
co
m
m
u
n
icat
io
n
.
I
t
s
p
u
r
p
o
s
e
is
to
s
tab
il
ize
t
h
e
air
cr
af
t
d
u
r
in
g
f
li
g
h
t.
T
o
d
o
th
is
it
ta
k
es
t
h
e
s
ig
n
al
f
r
o
m
t
h
e
th
r
ee
g
y
r
o
s
o
n
t
h
e
b
o
ar
d
(
r
o
ll,
p
itch
an
d
y
a
w
)
an
d
f
e
ed
s
th
e
i
n
f
o
r
m
atio
n
in
to
th
e
I
n
te
g
r
ated
C
ir
c
u
it.
T
h
is
t
h
en
p
r
o
ce
s
s
e
s
th
e
i
n
f
o
r
m
atio
n
ac
co
r
d
in
g
to
th
e
p
r
o
g
r
am
an
d
s
e
n
d
s
o
u
t
a
co
n
tr
o
l
s
ig
n
al
to
t
h
e
E
lectr
o
n
ic
Sp
ee
d
C
o
n
tr
o
ller
s
w
h
ic
h
ar
e
p
lu
g
g
ed
o
n
to
th
e
b
o
ar
d
an
d
al
s
o
co
n
n
ec
ted
to
th
e
m
o
to
r
s
.
Dep
en
d
in
g
u
p
o
n
t
h
e
s
ig
n
a
l
f
r
o
m
t
h
e
I
C
t
h
e
E
SC
‟
s
w
il
l
e
it
h
er
s
p
ee
d
u
p
o
r
s
lo
w
d
o
w
n
th
e
in
o
r
d
er
to
estab
lis
h
lev
el
f
li
g
h
t.
3
.
6
.
RF
m
o
d
ule
T
h
e
R
F
m
o
d
u
le
co
m
p
r
is
e
s
o
f
an
R
F
T
r
an
s
m
itter
an
d
a
n
R
F
R
ec
ei
v
er
.
T
h
e
tr
an
s
m
itter
a
n
d
r
ec
eiv
er
(
T
x
/R
x
)
p
air
o
p
e
r
ates
at
a
f
r
e
q
u
en
c
y
r
a
n
g
e
o
f
4
3
4
MH
z.
An
R
F
tr
an
s
m
itter
r
ec
eiv
es
s
er
i
al
d
ata
an
d
tr
an
s
m
it
s
it
w
ir
eles
s
l
y
t
h
r
o
u
g
h
R
F
th
r
o
u
g
h
its
a
n
te
n
n
a
co
n
n
ec
ted
at
p
i
n
4
.
T
h
e
tr
an
s
m
i
s
s
io
n
o
cc
u
r
s
at
th
e
r
ate
o
f
1
Kb
p
s
-
1
0
Kb
p
s
.
T
h
e
tr
an
s
m
i
tted
d
ata
is
r
ec
eiv
ed
b
y
an
R
F
r
ec
eiv
er
o
p
er
atin
g
at
th
e
s
a
m
e
f
r
eq
u
e
n
c
y
as
t
h
at
o
f
t
h
e
tr
an
s
m
itter
.
T
h
e
R
F
m
o
d
u
le
i
s
u
s
ed
w
i
th
a
p
air
o
f
e
n
co
d
er
o
r
d
ec
o
d
er
.
T
h
e
en
co
d
er
is
u
s
ed
f
o
r
e
n
co
d
in
g
p
ar
allel
d
ata
f
o
r
tr
an
s
m
i
s
s
io
n
f
ee
d
w
h
i
le
r
ec
ep
tio
n
is
d
ec
o
d
ed
b
y
a
d
ec
o
d
er
.
T
h
e
ass
e
m
b
l
y
a
n
d
co
n
n
ec
tio
n
s
o
f
th
e
v
ar
io
u
s
elec
tr
o
n
ic
co
m
p
o
n
en
ts
o
f
th
e
Q
u
ad
co
p
ter
i
s
s
h
o
w
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i
n
Fig
u
r
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5
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IJ
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lectr
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Fig
u
r
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Fab
r
icate
d
Qu
ad
co
p
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m
o
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el
4.
T
H
RUS
T
CA
L
CUL
AT
I
O
N
T
h
e
to
tal
m
a
s
s
o
f
t
h
e
q
u
ad
co
p
ter
is
esti
m
ated
in
T
ab
le
2
.
T
ab
le
2
.
Ma
s
s
o
f
th
e
co
m
p
o
n
e
n
ts
Pa
r
t
s
W
e
i
g
h
t
(
g
)
1.
C
e
n
t
r
a
l
F
r
a
me
a
n
d
a
r
ms
2
1
6
2.
M
o
t
o
r
s (4
)
2
2
0
3.
P
r
o
p
e
l
l
e
r
s (4
)
40
4.
El
e
c
t
r
o
n
i
c
S
p
e
e
d
C
o
n
t
r
o
l
l
e
r
s (4
)
95
5.
F
l
i
g
h
t
C
o
n
t
r
o
l
l
e
r
40
6.
B
a
t
t
e
r
y
1
9
0
7.
R
e
c
e
i
v
e
r
a
n
d
o
t
h
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r
se
n
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r
s
1
0
0
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O
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9
0
1
T
h
e
to
tal
e
m
p
t
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m
as
s
est
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m
a
t
ed
f
r
o
m
t
h
e
ab
o
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tab
le
is
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o
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t
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r
a
m
s
.
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s
t
h
e
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ay
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n
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r
a
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th
e
q
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ad
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p
ter
s
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o
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ld
b
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to
f
l
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it
h
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to
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ass
o
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ar
o
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r
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s
.
T
h
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th
r
u
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t o
f
th
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u
ad
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p
ter
[4]
is
g
iv
e
n
b
y
th
e
eq
u
ati
o
n
T
=
πD
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ρ
v
Δ
v
/4
W
h
er
e
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is
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h
r
u
s
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N,
D
i
s
P
r
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ller
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eter
in
m
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is
De
n
s
it
y
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f
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l
s
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y
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f
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at
th
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p
r
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e
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lo
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y
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t
h
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ated
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b
s
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t
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πD
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ρ
(
Δ
v
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2
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2
210
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u
t p
o
w
er
P
=
T
(
Δ
V)
/2
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b
s
ti
tu
t
in
g
t
h
e
v
al
u
e
o
f
Δ
V
,
T
=
[
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2
ρ(
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2
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T
h
er
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o
r
e,
to
tal
m
as
s
li
f
ted
b
y
th
e
q
u
ad
co
p
ter
v
eh
icle
i
s
ca
lc
u
lated
as
m
=
T
h
r
u
s
t/ a
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eler
atio
n
d
u
e
t
o
g
r
av
it
y
=
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/g
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π/2
D
2
ρ
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2
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1/3
/g
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b
s
ti
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g
t
h
e
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al
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es,
w
e
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et
m
=
1
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7
3
9
k
g
=
E
m
p
t
y
Ma
s
s
o
f
Q
u
ad
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p
ter
(
1
.
1
0
0
k
g
)
+
P
ay
lo
ad
(
6
3
9
g
r
a
m
s
)
.
T
h
e
r
esu
lt
s
o
f
t
h
e
t
h
r
u
s
t
ca
lcu
l
atio
n
o
f
t
h
e
Q
u
ad
co
p
ter
s
h
o
w
th
at
it
w
o
u
ld
b
e
ca
p
ab
le
o
f
f
l
y
in
g
w
it
h
a
m
i
n
i
m
u
m
p
a
y
lo
ad
o
f
5
3
9
g
r
am
s
s
af
el
y
.
5.
I
NT
E
RF
AC
I
N
G
VO
I
C
E
RE
CO
G
N
T
I
O
N
M
O
DULE
T
h
e
ai
m
o
f
v
o
ice
r
ec
o
g
n
itio
n
is
to
a
n
al
y
ze
a
w
o
r
d
o
r
p
h
r
a
s
e
th
at
is
p
ick
ed
u
p
b
y
a
m
icr
o
p
h
o
n
e
a
n
d
r
ec
o
r
d
it in
tex
t f
o
r
m
o
n
to
a
co
m
p
u
ter
o
r
m
icr
o
co
n
tr
o
ller
s
o
th
at
it c
an
b
e
u
s
ed
.
T
h
is
m
o
d
e
o
f
o
p
er
atio
n
tak
es
p
lace
in
t
w
o
p
h
a
s
es.
1)
T
h
e
ac
o
u
s
tic
s
ig
n
al
is
e
x
tr
ac
te
d
an
d
b
r
o
k
en
d
o
w
n
in
to
3
0
m
i
cr
o
s
ec
o
n
d
s
eg
m
e
n
t
s
f
o
r
an
al
y
s
is
.
Fo
r
ea
ch
o
f
th
ese
s
eg
m
e
n
ts
,
a
n
ac
o
u
s
tic
i
m
ag
e
i
s
ex
tr
ac
ted
.
T
h
is
is
a
v
e
cto
r
o
f
th
e
m
ai
n
ch
ar
ac
ter
i
s
tic
s
o
f
th
e
s
ig
n
al.
2)
C
o
r
r
esp
o
n
d
in
g
to
th
is
s
i
g
n
al,
p
h
o
n
e
m
e
f
o
r
ea
c
h
s
e
g
m
e
n
t
i
s
d
eter
m
in
ed
.
T
h
e
p
h
o
n
e
m
e
is
t
h
e
s
m
alle
s
t
u
n
i
t
o
f
s
p
o
k
e
n
la
n
g
u
a
g
e.
T
h
e
E
n
g
l
is
h
lan
g
u
ag
e
i
s
m
ad
e
o
f
4
4
to
4
7
p
h
o
n
e
m
es.
Fo
r
ea
ch
s
e
g
m
e
n
t
o
f
s
i
g
n
a
l,
th
e
p
r
o
g
r
am
d
eter
m
in
e
s
th
e
p
r
o
b
ab
ilit
y
o
f
m
atch
w
i
th
ea
c
h
p
h
o
n
e
m
e
an
d
co
m
b
i
n
es
t
h
ese
p
r
o
b
ab
ilit
ies
w
it
h
th
e
p
r
o
n
u
n
ciatio
n
p
r
o
b
ab
ilit
ies f
o
r
a
w
o
r
d
an
d
th
e
p
r
o
b
ab
ilit
y
o
f
a
w
o
r
d
o
cc
u
r
r
in
g
i
n
t
h
e
tar
g
et
lan
g
u
ag
e.
E
as
y
V
R
3
is
a
m
u
lti
-
p
u
r
p
o
s
e
s
p
ee
ch
r
ec
o
g
n
i
tio
n
m
o
d
u
le
d
esig
n
ed
to
ea
s
il
y
ad
d
v
er
s
atile,
r
o
b
u
s
t
an
d
co
s
t
ef
f
ec
ti
v
e
s
p
ee
c
h
r
ec
o
g
n
it
io
n
ca
p
ab
ilit
ies
to
al
m
o
s
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8
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
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3
,
Sep
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201
6
:
2
0
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1
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212
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RE
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[1
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A
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d
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p
M
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n
d
G
Diw
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r
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0
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4
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Qu
a
d
Co
p
ter an
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T
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h
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y
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IJ
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)
,
V
o
l
.
4
Iss
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e
1
A
u
g
u
st 2
0
1
4
.
[2
]
Da
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Ro
b
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rts
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0
1
3
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c
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tate
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9
3
4
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[3
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Ha
q
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e
.
R
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n
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M
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m
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Au
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d
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Pro
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&
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[4
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rd
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M
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(
2
0
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4
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A
n
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o
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IJ
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Vo
l
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2
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Iss
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1
p
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.
1
2
9
9
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1
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0
3
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[5
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Im
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m
A
.
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n
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Bick
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R
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4
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n
d
Co
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c
ti
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S
m
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le Ro
to
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A
V
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In
ter
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ti
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l
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rn
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T
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IJ
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V
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l
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3
,
Iss
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1
.
[6
]
Ja
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w
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r
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5
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y
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n
d
S
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ien
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e
,
Vo
l.
1
6
.
[7
]
M
ich
a
e
l
Y.
Ch
e
n
a
n
d
De
rrick
H.
Ed
w
a
rd
s (2
0
1
3
),
„De
sig
n
i
n
g
a
S
p
a
ti
a
ll
y
Aw
a
re
a
n
d
A
u
to
n
o
m
o
u
s Q
u
a
d
c
o
p
ter‟,
P
r
o
c
e
e
d
in
g
s o
f
th
e
IEE
E
S
y
ste
m
s
a
n
d
I
n
f
o
rm
a
ti
o
n
En
g
in
e
e
rin
g
De
sig
n
S
y
m
p
o
siu
m
,
Un
iv
e
rsit
y
o
f
V
irg
in
ia.
[8
]
O
y
v
in
d
M
a
g
n
u
ss
e
n
a
n
d
G
e
ir
Ho
v
lan
d
(
2
0
1
4
),
„M
u
lt
ic
o
p
ter UA
V
De
sig
n
Op
ti
m
iza
ti
o
n
‟
,
IEE
E
.
[9
]
P
a
n
W
e
i
a
n
d
Zi
Jia
n
Ya
n
g
(2
0
1
5
),
De
sig
n
o
f
Qu
a
d
c
o
p
ter
Fra
me
B
a
se
d
On
Fi
n
it
e
El
e
me
n
t
An
a
lys
is
,
3
rd
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
M
e
c
h
a
tro
n
ics
,
Ro
b
o
ti
c
s an
d
A
u
to
m
a
ti
o
n
(IC
M
RA
2
0
1
5
).
[1
0
]
P
a
rt
h
N.
P
a
tel
a
n
d
M
a
lav
A
.
P
a
tel
(2
0
1
3
)
,
„Qu
a
d
c
o
p
ter f
o
r
A
g
ricu
lt
u
ra
l
S
u
rv
e
il
lan
c
e
‟,
Ad
v
a
n
c
e
in
El
e
c
tro
n
ic a
n
d
El
e
c
tric E
n
g
i
n
e
e
rin
g
,
Vo
l
u
m
e
3
,
Nu
m
b
e
r
4
.
[1
1
]
P
a
v
e
l
Ch
m
e
lar (
2
0
1
1
),
Bu
il
d
i
n
g
a
n
d
Co
n
tro
ll
in
g
t
h
e
q
u
a
d
ro
c
o
p
ter
,
Un
iv
e
rsity
o
f
P
a
rd
u
b
ice
,
Nu
m
b
e
r
5
,
Vo
lu
m
e
V
I.
[1
2
]
P
o
u
n
d
s.
P
a
n
d
M
a
h
o
n
y
.
R
(2
0
0
2
),
De
sig
n
o
f
a
fo
u
r ro
t
o
r A
e
ria
l
Ro
b
o
t
,
A
u
stra
las
ian
c
o
n
f
e
re
n
c
e
o
n
R
o
b
o
ti
c
s an
d
A
u
to
m
a
ti
o
n
.
[1
3
]
S
h
o
n
d
a
L
.
Be
rn
a
d
i
n
a
n
d
Ra
h
u
l
P
a
tel
(2
0
1
5
)
,
„Ev
a
lu
a
ti
n
g
t
h
e
P
e
rf
o
rm
a
n
c
e
o
f
V
o
ice
Re
c
o
g
n
it
io
n
A
p
p
ro
a
c
h
e
s f
o
r
A
u
to
n
o
m
o
u
s
V
e
h
icu
lar
S
y
ste
m
s‟
P
r
o
c
e
e
d
in
g
s o
f
th
e
IEE
E
S
o
u
t
h
e
a
st Co
n
f
e
re
n
c
e
.
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