Tables of Contents1. Abstract 2. Introduction 3. Dynamics and Flight Control 4. Component Selection 5. Bicopter Design 6. Specifications 7. Estimation of cost 1 2 5 9 17 19 20 1 ABSTRACT This is a preliminary assessment into the feasibility of developing a UAV that can be used for collaborative teaming purposes. A bicopter configuration is investigated with the intention to develop a UAV suitable for operations in dangerous or hostile environments such as forests and urban areas. UAVs for such purposes are usually termed Micro Air Vehicles (MAV). The chief requirement is to keep the cost and complexity of the MAV low, in order to keep replacement cost low. Thus, the focus of this study was to assess the feasibility of using commercial off-the-shelf (COTS) components such as those used by Remote Control (RC) flight hobbyists. This MAV is also developed with the intention of it being a cost-effective platform for future undergraduate projects at JNTU. 2 build.z axis. The materials include ( AL.1 Project Proposal For this project we will design. In all other flight conditions the process will take into account the requested signal input. The deliverable for this project will be the creation and successful flight of a bicopter drone and the paper documenting the design. I will also you programs such as MATLAB and Xfoil to verify the UIUC database results and determine if there are any significant advantages for drag reduction in using symmetric airfoil shape motor fairing arm verses a circular or square fairing arm. theory.INTRODUCTION 1. This will be done by the use of a combination of multi axis gyros and accelerometers. These applications will development the appropriate operating envelope required to be incorporated into the design. and Carbon Fiber). side-to-side. I will use the UIUC UAV propeller database for propeller selection and performance analysis. and backwards flight. calculations. testing. and fly a bicopter considered for use in military or commercial applications. For the design of the control board I will use a small processor which can execute a code which will take into account structural vibrations from the motors and evaluate orientation on a x. to achieve forward. The design will involve the use of commercially available off the shelf components and material. along with structural vibrations and orientation. The major milestones for this project will be to: 3 .I will also investigate the aerodynamic forces which will have to be balanced to properly maintain controlled flight and determine the proper motor orientation. I will investigating a frame design and stability control tuning for a micro UAV bicopter. The code will use this information drive for an error of zero in a closed feedback loop to maintain level flight.y. and conclusion. As a part of the development for the code to fly the bicopter. a rotary aircraft can maneuver in confined spaces giving it a broader range of applications when compared to a larger or fixed wing aircraft. Reducing the size of the UAV will give it greater maneuverability and versatility. A rotary aircraft becomes the best alternative to a fixed wing aircraft for minimizing size while maintaining lifting capability. and on the other from uncontrolled vehicles like balloons or ballistic rockets.Establish the mission requirements . Traditional rotary aircraft seen today are helicopters. to include the ground-station components and also carry some sort of payload. usually from another aircraft. Most of the large military UAVs are fixed wing aircraft.calculations of the of the candidate material . Beginning in the Mid-1990s the US Military invested in the development of UAVs due to their ability to operate in dangerous locations while keeping their human operators at a safe distance.. increases the possibility 4 . which at a bare minimum includes cameras or other sensors as well as some method to transmit data wirelessly back to a base. With its ability to hover and perform vertical takeoff and landings (VTOL). military began experimenting with UAVs as early as World War I. By the year 2000 the US Military had established operational UAV squadrons. Complex mechanical control linkages for rotor actuation.2 Background With advancements in computer processing and reductions in hardware cost it has been possible for the average radio controlled (RC) enthusiast to create their own flying drone. On a smaller scale. unmanned craft could be controlled by radio signals. By World War II. Usually drones are also known as unmanned aerial vehicles (UAV) or unmanned aerial systems (UAS). which needs to be manually piloted. with a main and tail rotor. The reduction in size comes at the penalty of less payload and endurance time. typically guided by GPS or maintain its orientation without human control. Vehicles that could return from a mission and be recovered appeared in the late 1950s. becoming an indispensable tool for the military. on the one hand. platform for reconnaissance as well as weapons. from RC aircraft.S.Select components and build the frame . Autopilot technology was first used in the 1930s to keep the aircraft level and allowed pilots to set a heading and altitude. 1. which means that it can follow a mission from point to point. A drone refers to aircraft that have the capability of autonomous flight or autopilot. The larger UAVs provide a reliable long duration. This differentiates it.Develop the Code for operation/Aerodynamics Upload code and test hardware. The U. knowing that the aircraft would continue to fly straight ahead until told otherwise. helicopters are harder to control and may not be as stable of a platform for most applications. cost effective. Control of multicopter motion is achieved by varying the relative speed of each rotor to change the thrust and torque produced by each. For this project a bicopter (three rotor rotary aircraft) was selected for design and analysis due to its increased performance and versatility over other popular multicopters.of failure and large main rotors can cause damage or injury. The film industry is already full of remotely piloted multicopters serving as camera platforms. Also with two less rotor. tracking endangered species and quietly mapping out nesting areas that are in need of protection. while maintaining all its benefits. and finally there are few academics papers which research this design. Others are using the craft for wildlife management. with a longer reach than booms as well as cheaper and safer operations than manned helicopters. motor reliability of the system increases while design cost decreases. 5 . Law Enforcement agencies employ these for surveillance and tracking. A multicopter is a rotary aircraft with more than two rotors which often use fixed-pitch blades. Some farmers now use drone multicopters for crop management. from watching algal blooms in the ocean to low-altitude measurement of the solar reflectivity of the Amazon rain forest. There are countless scientific uses for drone multicopters. In cases when an odd number of rotors are used. A multicopter can alleviate all the problems inherent to a small scaled helicopter design. a servo thrust vectoring system must be employed to compensate for unbalanced torque. creating aerial maps to optimize water and fertilizer distribution. The use of multiple rotors ensures that individual rotors are smaller in diameter relative to the frame size which could create a larger equivalent rotor producing more lift when compared to a traditional helicopter of the same size. Multicopters that are piloted on the ground or are utilized as drones are currently being used in commercial applications. such as quadcopters. The time rates of change of linear and angular momentum are referred to an absolute or inertial referenceframe. and the summation of external moments acting on the body is equal to the time rate of change of the moment of momentum (angular momentum). which states that the summation of all external forces acting on a body is equal to the time rate of change of the momentum of the body.Dynamics and Flight Control Understanding the dynamic characteristics of the bicopter is important in the development of the appropriate code for the flight controller. Figure 1.1 Rigid Body Equations of Motion The rigid body equations of motion are obtained from Newton’s second law. in which it can react faster and with more precision than any human pilot. 2. Dynamic representation of an aircraft 6 . The flight controller processes the sensor inputs into an algorithm or code based on kinematic and dynamic equations using the principles of angular momentum to control the bicopter in stabile flight. The flight controller is essential for the proper operation of the bicopter. The flight controller completes this by manipulation of the motors and the servo to achieve the desired orientation based on the sensor indications (ie gyros and accelerometers). Upon further derivation Figure 1 defines the forces.The orientation of the bicopter can be described by Euler angles.2 Flight Control Bicopters use a combination of variable differential thrust and servomotor control of two sideby-side rotors to achieve roll. moments. Figure 2. 2. The bicopter will also experience these same forces. and z axis respectively. and T refer to the Sin. and Tan of the subscripted Euler angle. roll(φ). and kinematics in Figure 2. Cos. with gyroscopic force reactions playing a significant role. yaw. C. and pitch. The orientation of the body frame with respect to the fixed frame can derive the pitch(θ). x. and velocity components which can be developed into a 6-degree of freedom nonlinear equations of motion. Due to its size and construction the bicopter can be assumed to be a rigid body object in which the rigid body equations of motion are expressed as the differential equations describing the translational motion. 7 . and yaw(ψ) angles of t he bicopter upon rotation along the y. and velocity components experience by an aircraft. moments. Summary of kinematic and dynamic equations Note that the terms S. rotational motion. because an incorrect propeller will force the motor to work harder than it was designed to. Placing an oversize propeller on an electric 8 .Component Selection The components selected for the bicopter were based on project mission goals. manufacture test data. 3. Under-propping (too small of a propeller) or over-propping (too small of a propeller) can do irreversible damage to electric motors and ESCs. and forums to asset the selected components past performance and reliability. The flight profile and operational requirements will determine the need for a power system whether it is designed for speed. and have the ability to carry a payload. Component specifications. lift. and the components used. Since a majority of the components used are from the radio controller industry. The frame construction and material selection will alleviate excess vibrations in the bicopter. The combination of the selected power train. and power supply. Testing individual components was completed and research was done on various academic. material selection. propeller. electronic speed controller (ESC). for any UAV is based on the synchronization of the propeller not over loading the motor. operate autonomously. reduced vibrations.1 Propulsion and Power System The proper selection of a propulsion and power system. it is not enough that components are selected alone based on manufacture specifications. to include the motor. and user field test are used to determine the proper combination for the power train. or a combination of both. The onboard flight controller and sensors will aid in the bicopters handling characteristic and the ability of operate autonomously. constituting the power train. will determine the bicopters agility and payload carrying ability. and the combination of the two not exceeding the capability of the battery and the electronic speed controller. hobby databases. To meet the mission goals the design attributes are dependent on the frame construction. The required mission goals for this project are for the bicopter be designed to be agile in flight while maintaining stabile handling characters. Based on the objectives of this project the bicopter is designed for taking both lift and speed into its design consideration in achieving a thrust to weight ratio of 3. In RC model airplanes a thrust to weight ratio of 1 is considered aerobatic. Based on static motor testing.motor will not cause the motor stall. This required an ESC rated for 25 amps. whereas in the latter. Since rotary aircraft need to use their rotors to produce thrust and lift. the required thrust to weight ratio is higher.85.15kgs of static thrust at 100% throttle. The bicopter will be comprised of 3 Brushless DC Motor attached to a propeller at the end of each arm. With too small a propeller.5kgs. Since all the ESCs are wired in parallel this requires a power supply which can deliver a total of 63 amps. With the bicopter weighting in at 1. It will just keep on trying to turn the propeller causing motor to draw higher current.1 Motor The motor is the first component to select based off of the requirements and size of the bicopter.1. Through prototype testing a ratio of 2 was required to properly fly with light wind. 9 . the selected motor and propeller combination produced 1. but for a bicopter is will only hover an inch off the ground in ground effect. longer lifetime. low heat generation when properly loaded. less operational noise. In spite of the extra complexity in its electronic switching circuit torque/weight ratio. and a ratio of 3 was observed to be ideal for speed and sufficient to carry a payload while operating at higher wind speeds. The Brushless motor differs from the conventional Brushed DC Motors in that the commutation of the input voltage applied to the armature's circuit is done electronically. and less vibrations. To ensure the proper power train combination was selected a watt meter was used to determine the loads the motor and propeller combination placed on the ESC and power supply. This means that the combined thrust of the three rotors needs to exceed the weight of the bicopter by a certain factor. Eventually it will exceed the maximum amperage rating of the motor or ESC and will burn it out. by a mechanical brush. the motor can exceed its RPM rating and damage can result from the motor spinning too fast. less generation of electromagnetic interference. 3. At 100% throttle there was 21 amps drawn. the thrust to weight ratio is 2. Modifications to the frame as described in section 5 will enable the bicopter to achieve greater speeds from its contemporary design. higher moments of inertia therefore more stability. the motor also produces less torque therefore only having the capability of turning smaller propellers. The higher kv over the throttle range also gives a greater step increase in RPMs of the motor. Technical performance specifications are the manufactures published analysis of voltage loads. technical performance specifications. Field testing with an optical tachometer (device used to measure RPMs) shown that once the three motors were calibrated and synchronized there was less than a 25 RPM variation in each of the motors through the throttle range without excessive correction from the flight controller board. the main considerations were to lift its required payload. A pressure difference is produced between the forward and rear surfaces of the airfoil-shaped blade. Motor size is typically based on industry standards for the required radio controlled aircraft size it is to be used for.1. Brushless motors are normally evaluated by their size. which is faster in responding to changes in orientation to maintain stability. power outputs. generating more thrust. it is easy to calibrate all 3 motors to synchronously operator at the same RPMs for a given throttle through an electronic speed controller. max amperages.2 Propeller The purpose of any aircraft propeller is to convert rotational motion into thrust. As a consequence of high kv motors. and recommended propeller sizes. higher torque to spin the larger propeller. and 10 . and motor constants. achieve a desired speed. 3. kv. This was achieved by using a larger propeller. or in any multicopter design.The main of advantage of using a brushless DC motor for applications in a bicopter. and a lower kv motor. A high kv motor is required for shorter arms and lower kv for longer arms. The motor constant. which are synchronous motors. making the bicopter more susceptible to changes in its orientation thus making it less stable. Smaller propellers require higher RPMs in high kv motors to generate the required thrust. is the rating of the motor in RPMs/Volts in order to give users an indication of the motor speeds for a desired power supply. This is further corrected by trimming through the flight controller board to achieve a negligible RPM difference in each of the motors. and maintain stability. which is determined in section 4. The reason this is the case has to do with the moment response for each of the arms and the thrust to weight ratio of your design. For bicopter applications the kv constant is chosen based on the arm length. is that since it is an electronically commutated motor. with larger arms on the frame. The shorter the arms of the bicopter give a smaller moment of inertia. For the bicopter design. RC propellers are designated by their manufacture. which is especially noticeable at lower speeds. A 1. 3.a fluid is accelerated behind the blade. ESCs are often used on electrically powered brushless motors essentially providing an electronically-generated three phase electric power. with a low voltage source and are normally rated according to maximum current. There are multiple sites such as the UIUC Propeller Database which provide performance data for commercial RC propellers. the propeller's RPM. Assuming the same power the following thumb rules are made for propeller selection: Larger diameter & less pitch Smaller diameter & more pitch = more thrust. The thrust produced depends on the density of the air. more top speed. When supplied with a 1ms width pulse at 100 Hz. diameter and pitch. The pitch is the distance the propeller should advance in one revolution measured in inches. which is the theoretical speed of the aircraft if there was no slip. and pitch. = less thrust. The quick switching of the transistors is what causes the motor itself to emanate its characteristic high-pitched whine. less top speed. It also allows much smoother and more precise variation of motor speeds in a far more efficient manner than the mechanical type with a resistive coil and moving arm once in common use. With a given power. its direction and possibly also to act as a dynamic brake in some cases. diameter. The propeller's output power is equal to the thrust times the pitch speed. Propeller dynamics can be modeled by both Bernoulli's principle and Newton's third law. The ESC generally accepts a nominal 100 Hz Pulse Width Modulation (PWM) servo input signal whose pulse width varies from 1ms to 2ms.1. the less top speed achieved. not as mechanical motion as would be the case of a servo. the shape and area of the blades. The diameter is based on the length of propeller from tip to tip measured in inches.3 Electronic Speed Controller (ESC) An electronic speed control or ESC is a circuit with the purpose to control an electric brushless motor's speed. An ESC interprets control information in a way that varies the switching rate of a network of field effect transistors (FETs). performance coefficients can be obtained to determine the utility of the selected propeller for the desired application. The pitch speed is the mean geometric pitch times RPM.5ms pulse-width 11 . the more thrust you have. From these databases. the ESC responds by turning off the DC motor attached to its output. the servo motor will speed up much quicker and provide constant torque and increased yaw stability.4 Servo The servo on the bicopter is located on the aft rotor and is responsible for thrust vectoring the aft rotor for yaw control and unbalanced torque stabilization.1. A traditional analog servo operates at a frequency of 50 Hz. the motor runs at full speed due to the 100% duty cycle (on constantly) output. The voltage of the LiPo is dependent on the amount of cells.1 Volts) 40C 3000Mah battery will be used for the project bicopter with an estimated flight time of 10 minutes. A 3 cell (11. Each individual cell maintains a nominal voltage of 3. the flight time increases closer to 7 minutes. The pulses are shorter in length. and C rating.0ms input signal. Based on the power requirements of the three motors. it was originally stated that since all the ESCs are wired in parallel this requires a power supply which can deliver a total of 63 amps inorder to achieve 100% throttle. power density. 3. the frequency is a limiting factor in the stability of the bicopter. A servo receives a signal from the receiver through PWM exactly as the ESC. Most of the sensors which aid in controlling stability and the flight control board has processing speeds are well over 500 Hz. as its efficient power setting. 2200mAH capacity. Since the bicopter will normally operate conservatively around an average 30% throttle. but with many voltage pulses occurring. capacity. A small microprocessor inside the digital servo analyzes the receiver signals and processes it into very high frequency voltage pulses to the servo motor. while a digital servo operates about 300 Hz. LiPos are typically designated by voltage. it would be able to support about 2 minutes of 100% throttle for 63 amps. The servo uses for the bicopter project is a metal gear digital servo. Regardless of the pulse width of the signal. 12 . Lithium polymer batteries or LiPos are popular in the RC community due to their light weight.7 volts and of normally attached with other cells in series or in parallel to achieve their desired rating. 3.5 Power Supply The power supply that the bicopter will use is a 3 cell lithium polymer battery. When presented with 2. and availability in different rating and capacities.1. If the battery from the example above was used. Various open source codes are available to modify off the shelf ESCs to achieve a signal frequency speed of 400 Hz.input signal results in a 50% duty cycle output signal that drives the motor at approximately 50% speed. roll. (φ.2. Due to the size and cost value of high end gyros. Most high end gyros have a drift of 0. but measure zero if the roll stops. at a minimum. and yaw. the rate of rotation about the axis’s for pitch. while position is generally attributed to translations in the x. the acceleration will be shown to be zero. and yaw. it will result in a linear function and the estimation of the rotation will drift. forming the integral derives the angle. the problem with this integration is that it will result in a drift in the estimation of the orientation of the bicopter. and rotational angles. To insure proper operation the bicopter. 3. and z axis by controlling the pitch. The angular velocity is the time derivative of the angle. By integrating the rate of rotation the bicopter achieves stability.2 Stability Orientation and Position Sensors Various sensors are used to help maintain the desired operating requirements of the bicopter.2. wind and vibrations can further complicate draft.1 Gyroscope The bicopter is equipped with a 3 axis gyroscope (gyro).2 Accelerometer The 3 axis accelerometer has the ability to gauge the orientation of a bicopter relative to the earth’s surface. A gyro measures rate of rotation around a particular axis. roll. The most basic flight controller requires only a 3 axis gyro to achieve stable and controllable flight. Drift rate is often measured in degrees per hour. q. Based on the Kinematic and dynamic equations using the principles of angular momentum from section 2. roll. (p.01 degrees drift per hour.1. Stability is needed to ensure that the bicopter acts and behaves in a manner in which the operator can control it with a sufficient reaction time in response to changes in its orientation. The drift in most cases does not occur drastically. Orientation will generally be attributed to the bicopters pitch. Unfortunately. it is very noticeable. for the bicopter orientation. This is due to the bias error in the gyroscope and by integrating the constant error.3. for example a stationary hover or straight and level forward flight. y. ψ). Also. r). Summing the signal of the gyro numerically. θ. When a gyro is used to measure the rate of rotation around the bicopter roll axis. If it is only accelerating in a particular direction the acceleration will be indistinguishable from the 13 . and yaw are derived from the rotational velocities. 3. but when the operator is relaying on orientation and position. needs to achieve stability. it will measure a non-zero value as long as the bicopter is rolling. other senors can be used to counter drift. If the bicopter is in free fall. In conjunction with a gyro it can eliminate any draft resulting from calculated error. If the bicopter is inclined.y. An accelerometer accomplishes this by measuring linear accelerations. This can be used to compute in which direction. making the measured angle calculation invalid. The magnetometer is also used to help counter the drift associated with the gyro error in the Yaw axis. it will also provide navigational information to the operator display. but only in a stationary hover. A movement of constant velocity (zero acceleration) will measure the angle accurately. provides a reference to match the integrated gyro signal thus eliminating draft.2. To achieve this goal the minimum load out will include a high definition video camera to record the flight from the vantage point of the bicopter. The consistent velocity conditions are achieved during a hover or in short durations in forward flight. An accelerometer alone cannot be used in a bicopter to achieve stability. in which the bicopter is pointing at. will place the bicopter in a level hover when utilizing a gyro and accelerometer. 3. A full load out would include a wireless real-time video uplink which will transmit video to the operator inorder control the bicopter through a First Person View (FPV) system and a command uplink to receive telemetry and re-task mission profiles from a ground station during autonomous flight. From an operator perspective. the basic mission of the bicopter for use by commercial or military applications will be of surveillance. This will ensure proper orientation in helping achieve level flight and dampening small perturbations which result from vibrations transmitted through the frame and excessive correction over shots from gyro corrections. In real world conditions wind can cause the bicopter to drift from its desired position in an x. This is also when the bicopter is maintaining a constant angle making it most susceptible to drift.acceleration being provided by the earth’s gravitational pull. acceleration in the direction of the slope will occur.3 Magnetometer A 3 axis magnetometer is used to measure the strength and direction of the magnetic field of the Earth. 3. Since the magnetometer is a compass. The accelerometer does provide an angle.z plane. Under perfect flight conditions (ie. no wind). along the Earth’s surface.3 Mission Payload Package Beside the sensor load out as described in the previous section. an accelerometer can be also used to maintain bicopter position. a center stick position (Hands off). The signal of the accelerometer. 14 . under this condition. 1 HD Camera The bicopter will use the 1080p HD HERO camera using a 170º wide angle recording 720p video at 60 frames per second.2 Wireless Video System The bicopter is equipped with a small 5. 3. The camera was selected for its relatively low cost and extensive use and versatility for applications such as this. in order to operate the bicopter federal regulations require it to be in direct line of sight of the operator.3.3. This will not be an issue since.8Ghz 8CH transmitter power at 200mW. With high gain antenna.3. it has an advertised unobstructed range of to 2km. It will transit a signal from an onboard forward facing camera with video interlaced with onboard navigational data to a ground display for use of the operator to control the bicopter. This system was selected for its operating frequency which reduces interference to other onboard wireless frequencies and commercial bands. Unfortunate the signal can be blocked if the bicopter travels behind an object. 15 . The two main frame designs. and modeling.Bicopter Design One of the most integral parts of bicopter is its frame. and a center plate. Even the geometry of the frame can affect the flight characteristics and performance of the bicopter. Figure 5. shown in Figure 11. To ensure the bicopter is well balanced and able to vector equally 360 degrees. The length of the rotor arms will also be dependent on several design factors: Propeller Size: For a given propeller diameter the boom needs to be of a length so that the propeller down wash is not blocked by the center of the frame and adversely affect the other propellers to ensure maximum lifting potential. which hold motors. testing. Bicopter frame configuration The basics parts of the frame include the rotor arms. 16 . Both need to be constructed from light weight material. The rotor arms need to be able to be strong enough to withstand the loads while in flight and dissipate vibrations. The frame supports the motors and other electronics and prevents vibrations. which holds the main electronics and the supports the rotor arms. The center plate must also be strong and rigid in order to provide a stable anchor point of the rotor arms to attach into it and also be able to mount the electronics. the geometry of the motors must equate to an equilateral triangle with the center of gravity in the middle of the triangle. are a Y and T configurations. The Y configuration was chosen do to its symmetry and less complex design for construction. 1 Material Selection The frame of the bicopter is composed of a combination of materials chosen for their strength. The booms need to be of sufficient length so that the length of the airfoil is can provide an appreciable lifting and drag reduction force in forward flight as explain in section 5. In any design of a machine capable of flight. a cyclic fatigue analysis and a vibration test analysis was completed on the candidate material to determine which will performance the best. Lifting capability and drag reduction: For the design of the bicopter in this project an airfoil will be adapted over the rotor arms to help generate lift and reduce drag in forward flight. and flexibility. which then evolved to aluminum and aluminum alloys.Vibration Transmissibility: Vibration dampening is not only function of material properties but also of dimensions to include length. weight. weight must be greatly considered.3 4. The first aircrafts were constructed of wood. Normally as the material length increases more vibrations become dissipated through the structure. unless a resonance condition is achieved. 17 . and today aircrafts are beginning to replace aluminum components with carbon fiber. wood. and carbon fiber. The materials considered for this project were aluminum. Since bicopters are exposed to cyclic stresses and vibrations. 18 .SPECIFICATIONS Motor-motor distance approximately Weight ESC Motor Servo Charger Battery Fuselage Flapping frequency Radio functions Recommended wind speed Flying time recorded 50 cm 800-1000gms 30A ESC 930Kv Motor Metal geared servos IMAX B6-AC (1-6 cells) Li-Po 3s 4000mAh CNC machined 8-layered carbon fibre Approximately 6 cycles/sec @ full throttle 3 0 .7Mph 6 to 9 minutes depending on power setting and flying technique. 19 . 00 3600.00 3000.00 800.00 1600.00 3500.C* Propellers* Transmitter and Reciever Video Camera Equipment Battery* Battery Charger Wires and connectors Miscellaneous* Controll board 1 3 5 4 8 1 1 3 1 1 1 1 3000.00 3500.00 600.00 3500.00 5500.00 6500.00 3000.00 20 .00 5500.S.00 2500.00 6000.00 800.NO REQUIREMENT QUANTITY RATE TOTAL COST 1 2 3 4 5 6 7 8 9 10 11 12 Body and Frame Electric Motors* Servos* E.00 3500.00 2500.00 4800.00 2000.00 3600.ESTIMATION OF COST S.00 900 400 6500. JNTUH College of Engineering. Mechanical Engineering Department. a financial assistance towards the Registration fee. B. Sudheer Prem Kumar.00 In this regard.TOTAL 46300. 21 . Hyderabad. Fabrication and Components costs and other logistics would be required for the successful completion of the project from UG Research under TEQUIP II Funds. Dr. Professor and Head of the Department.