P a g e |1 THE COPPERBELT UNIVERSITY SCHOOL OF ENGINEERING MECHANICAL DEPARTMENT PROJECT TITLE: DESIGN AND FABRICATION OF A HEXACOPTER DRONE FOR AGRICULTURE NAME OF STUDENT COMPUTER NUMBER MWANSA MUSONDA 20157728 MWAMBA MULENGA 18122767 EMMANUEL C.CLETUS 20157111 JOSEPH MUKUKA 20154324 SUPERVISOR: MR. L. KANIKI YEAR OF REPORT: 2024 P a g e |2 TABLE OF CONTENTS I. Declarations………………………………………………………….3 II. Approval…………………………………………………………….4 III. Acknowledgements………………………………………………...5 IV. Abstract…………………………………………………………….6 V. List of figures……………………………………………………….7 CHAPTER 1 1.0. INTRODUCTION……………………………………………….8 1.1. BACKGROUND………………………………………….9 CHAPTER 2 2.0. LITERATURE REVIEW……………………………………….17 CHAPTER 3 3.0. METHODOLOGY……………………………………………...25 3.1. COMPONENT DESIGN………………………………...26 CHAPTER 4 4.0. DESIGN SIMULATIONS AND RESULTS…………………...31 CHAPTER 5 5.0. SYSTEMS TESTING…………………………………………...33 CHAPTER 6 6.1. 6.2. 6.3. CONCLUSION…………………………………………………36 RECOMMENDATIONS……………………………………….37 FUTURE WORKS……………………………………………...38 APPENDICES APPENDICE A; GANTT CHART APPENDICE B; LIST OF MATERIALS APPENDICE C; BUDGET P a g e |3 I. DECLARATION We hereby declare that we carried out the work reported in this report in the Department of Mechanical Engineering, Copperbelt University, under the supervision of Mr.L.kaniki . We solemnly declare that to the best of our knowledge no part of this report has been submitted here or elsewhere in a previous application for award of a Degree. All the sources of knowledge used have been duly acknowledged Name of Students Signature EMMANUEL CLETUS ………………. MWANSA MUSONDA ………………. JOSEPH MUKUKA ………………. MWAMBA MULENGA ………………. P a g e |4 II. APPROVAL This is to certify that the project titled Design and Fabrication Stirling Engine carried out by EMMANUEL CLETUS, MWANSA MUSONDA, JOSEPH MUKUKA and MWAMBA MULENGA has been read and approved for meeting part of the requirements and regulations governing the EM/MC/AE500/EG401 Projects course in Mechanical Engineering (Hons) at the Copperbelt University, Kitwe, Zambia. Names Signature EMMANUEL CLETUS …………………. MWANSA MUSONDA …………………. JOSEPH MUKUKA …………………. MWAMBA MULENGA …………………. PROJECT SUPPERVISOR Signature MR. L. KANIKI. `…………………… Date ……………… P a g e |5 III. ACKNOWLEDGEMENT We would like to express our sincere gratitude to everyone who contributed to the successful completion of this Stirling engine project. First and foremost, we extend our appreciation to our supervisor, Mr Lameck kaniki, for his guidance, financial, enduring support and encouragement throughout this project. His expertise and dedication has been of great help in shaping the direction of this project. We are also grateful to our lecturers in the Mechanical Department, for providing the principles upon which the project was based. We wish to extend our appreciation to our guardians for their support. Above all, we thank the Almighty God for the abundant strength, safe travels and good health provided to us during the course of the project P a g e |6 IV. ABSTRACT Unmanned aerial vehicles or drones are a topic of interest to many academic and industrial research organizations. They find applications in several fields ranging from military functions to civilian functions. Consequently the UAVS are expected to perform a wide range of ,missions which necessitate a certain level of autonomy. Through this paper we introduce a short review on a particular type of UAV called HEXACOPTER or HEXAROTOR in which we discuss the items which compose a hexacopter from the very fundamental to the most elaborated parts, the report covers the flight mechanism the avionic sensors, the dynamic modelling and the various control techniques used on a hexacopter , the vision system the different localization and navigation techniques are also explored. P a g e |7 V. LIST OF FIGURES Figure 1. helicopter Figure 2. hexa-copter Figure 3. stress simulations and results Figure 4. displacements simulations and results Figure 5. strain simulations and results Figure 6. factor of safety simulations and results Figure 7. pump P a g e |8 CHAPTER 1 1.0. INTRODUCTION The agricultural hexacopter represents a groundbreaking synergy between cutting edge drone technology and evolving needs of modern agriculture. Unmanned aerial vehicles have seamlessly integrated into the farming landscape, offering the transformative approach to precision agriculture. Among these, the hexacopter stands out for its exceptional maneuverability and stability, making it an ideal platform for revolutionizing farming practices, providing farmers with unprecedented insight and tools to enhance the efficiency, optimize the resource management, and ultimately contribute to the sustainability of agricultural endeavors. The implementation of agricultural hexacopter introduces a novel set of challenges within the farming sector. Despite their potential to revolutionize precision agriculture, issues such as high initial costs, limited accessibility for scale farmers, and the need for specialized training pose significant barriers to widespread adoption. Additionally, concerns related to agricultural irrigation, pest control and fertilizer distribution have shown the most need for precision agriculture. The project entails multiple stages in the design process. Using computer-aided design (CAD) software such as Solidworks, a detailed 3D model of the hexacopter drone is developed, allowing for optimization and performance analysis. The manufacturing phases involve the selection of appropriate materials and techniques to construct the hexacopter prototype. 1.1. BACKGROUND ANALYSIS ON VARIOUS USES OF AGRICULTURAL DRONES. The Role of Drones in Precision Agriculture In the realm of precision agriculture, drones have emerged as indispensable tools for optimizing farming practices. These advanced flying devices play a crucial role in various aspects, including crop monitoring, imaging technologies, and data analytics. Equipped with state-of-the-art imaging sensors, drones provide real-time, site-specific information about crop health and potential issues, aiding farmers in making informed decisions to maximize productivity. P a g e |9 Enhancing Crop Monitoring and Analysis Drones equipped with hyperspectral and thermal sensors enable precise crop monitoring and analysis. By capturing high-resolution images and thermal data, drones can detect early signs of plant stress, disease, and pest infestation. This data allows farmers to take timely action, implementing targeted interventions to ensure the health and productivity of their crops. Drones also provide crucial insights into soil conditions, allowing farmers to optimize irrigation and fertilizer application, reducing waste and environmental impact. Surveying Damage and Assessing Unreachable Areas After natural disasters, such as floods or storms, drones can survey the extent of damage in agricultural areas that are difficult to access. By capturing aerial images, drones provide farmers with valuable information to assess and plan for recovery. In combination with mapping technologies, drones can create detailed 2D and 3D maps of fields, helping farmers analyze changes over time and make informed decisions about soil management, planting, and harvesting. Advantages of Drones in Precision Agriculture Detect early signs of plant stress, diseases, and pests Optimize irrigation and fertilizer application Survey damage after natural disasters Create detailed maps for soil management The utilization of drones in precision agriculture is revolutionizing the industry, providing farmers with invaluable insights and data. By leveraging the capabilities of drones, farmers can enhance crop yields, reduce costs, and optimize resource management. As drone technology continues to advance, the future of precision agriculture looks promising, with further integration of robotics and artificial intelligence facilitating even more precise and automated farming operations. Crop Surveying and Mapping with Drones Drones have revolutionized crop surveying and mapping in precision agriculture. By utilizing advanced technologies such as time-lapse drone photography and NDVI mapping, drones provide accurate and detailed information about crop growth, pests, diseases, and stress levels in plants. P a g e | 10 These data enables farmers to make timely interventions and adjustments to ensure higher productivity and optimize crop health. With the help of drones equipped with photogrammetry software, farmers can create comprehensive 2D maps and 3D models of their fields. These detailed representations allow for in-depth analysis of changes over time, helping farmers make informed decisions regarding soil management, planting strategies, and harvesting schedules. This information is invaluable in maximizing the efficiency of farming operations and improving overall crop yields. Table: Benefits of Crop Surveying and Mapping with Drones Benefits Description Accurate Monitoring Drones provide real-time, site-specific data on crop health, pests, diseases, and stress levels, enabling farmers to take immediate action. Timely Interventions By detecting issues early on, farmers can make necessary interventions and adjustments to prevent further crop damage and optimize productivity. Detailed maps and models created by drones allow farmers to Improved analyze changes over time and make informed decisions Decision-making regarding soil management, planting, and harvesting. Enhanced Efficiency Precise data from drones helps optimize farming operations, reduce resource wastage, and increase overall efficiency. In summary, drones have revolutionized the way farmers survey and map their crops. Through advanced imaging technologies and data analysis, drones provide accurate and timely information that helps farmers make informed decisions to maximize productivity, optimize crop health, and improve overall efficiency. Weed and Pest Control Management with Drones Drones are revolutionizing weed and pest control management in precision agriculture. Equipped with advanced imaging technologies and multispectral sensors, drones provide farmers with crucial insights for targeted strategies and efficient crop protection. Here, we explore how drones play a vital role in weed control and pest management, offering significant benefits to farmers. P a g e | 11 Weed Control Drones equipped with specialized cameras and sensors can identify and map out weeds in fields with exceptional accuracy. This information allows farmers to plan targeted interventions and implement precise herbicide application. By applying herbicides only where needed, farmers can reduce the use of chemicals, minimize environmental impact, and save costs. Additionally, drones enable farmers to monitor the effectiveness of weed control measures over time, providing valuable data for ongoing management. Pest Management Drones equipped with multispectral sensors provide valuable insights into pest populations and their distribution across fields. By identifying pest hotspots, farmers can develop targeted pest management strategies, minimizing the use of pesticides and reducing the risk of resistance development. Drones also enable farmers to assess the impact of pest infestations on crop health, allowing for timely interventions and preventive measures. Aerial spraying of crop protection products with drones ensures even coverage and reduces the spread of pests and diseases, leading to healthier crops and increased yields. Weed and Pest Control Benefits with Drones 1. Targeted interventions and precise herbicide application • Reduced use of chemicals • Minimized environmental impact • Cost savings 2. Insights into pest populations and distribution • Effective pest management strategies • Reduced pesticide use • Decreased resistance development 3. Timely interventions • Assessing impact • Improved crop and preventive on crop health protection measures • Increased yields In conclusion, drones equipped with advanced imaging technologies and multispectral sensors provide farmers with crucial tools for weed and pest control management. Through targeted interventions, precise herbicide application, and effective pest management strategies, farmers can reduce chemical usage, P a g e | 12 minimize environmental impact, and optimize crop protection. The use of drones in weed and pest control not only enhances agricultural practices but also contributes to sustainable farming and increased productivity in precision agriculture. Soil Inspection and Health Monitoring with Drones In precision agriculture, drones have become indispensable tools for soil inspection and health monitoring. Equipped with advanced multispectral sensors, drones provide real-time measurements and data to help farmers make informed decisions about soil management, nutrient application, and crop placement. By monitoring soil conditions throughout the growing season, farmers can proactively address any issues and optimize land management practices to enhance crop yields and reduce environmental impact. One of the key benefits of using drones for soil inspection is the ability to create detailed soil quality maps. By collecting data on soil density, nutrient levels, and moisture content, drones can generate accurate maps that highlight variations across the fields. These maps enable farmers to identify areas that may require additional attention or adjustments in irrigation, fertilization, or drainage. By targeting specific areas with tailored interventions, farmers can maximize the efficiency of their resources and minimize waste. Real-time Measurements and Analysis Another advantage of using drones for soil inspection is the ability to collect realtime measurements and perform on-site analysis. Multispectral sensors on drones can capture data on soil moisture, temperature, and other relevant parameters while flying over the fields. This real-time information allows farmers to assess soil conditions as they change and make timely decisions regarding irrigation, water management, and crop health. Soil Parameter Measurement Range Ideal Range Soil Moisture 10-40% 20-30% Soil pH 6.0-7.5 6.5-7.0 Organic Matter 1-5% 3-4% The table above showcases the typical measurement ranges and ideal ranges for key soil parameters. With real-time measurements from drones, farmers can P a g e | 13 quickly identify any deviations from the ideal range and take appropriate actions to maintain optimal soil health. This proactive approach helps prevent nutrient deficiencies, imbalances, and other issues that can negatively impact crop growth and productivity. In conclusion, drones offer a valuable tool for soil inspection and health monitoring in precision agriculture. By providing real-time measurements, data analysis, and detailed soil quality maps, drones empower farmers to make informed decisions about soil management and improve overall crop health. With the ability to optimize land management practices and reduce environmental impact, drones play a crucial role in the future of sustainable farming. Irrigation and Water Management with Drones Drones have become invaluable tools for precision agriculture, playing a vital role in irrigation and water management. Equipped with thermal sensors, drones provide real-time information about moisture levels in the soil, allowing farmers to optimize their irrigation practices and promote water efficiency. By monitoring soil moisture with drones, farmers can prevent overwatering, reduce water pollution, conserve water resources, and minimize the environmental impact of farming operations. With the help of thermal sensors, drones can accurately detect variations in soil moisture levels, even in large agricultural fields. This data allows farmers to make informed decisions about when and where to irrigate, ensuring that water is applied efficiently and only when necessary. By avoiding unnecessary water use, farmers can reduce their water consumption and lower costs, while also contributing to sustainable farming practices. Furthermore, drones equipped with thermal sensors enable farmers to identify areas within their fields that may suffer from poor drainage or excessive moisture retention. By pinpointing such problem areas, farmers can implement targeted drainage solutions or adjust their irrigation strategies accordingly. This precise approach to water management not only improves crop health and productivity but also helps maintain the long-term sustainability of agricultural practices. P a g e | 14 Benefits of Irrigation and Water Management with Drones Examples Water Efficiency Drones provide real-time data on soil moisture, enabling precise irrigation practices that minimize water waste. Cost Reduction By optimizing irrigation, farmers can reduce their water consumption and lower operational costs. Environmental Impact Precise water management with drones helps conserve water resources and minimize the ecological footprint of farming operations. Sustainability By promoting water efficiency and reducing water pollution, drones contribute to more sustainable agricultural practices. Types of Drones Used in Agriculture Drones play a pivotal role in precision agriculture, offering a range of capabilities to meet the diverse needs of farmers. Different types of drones bring unique advantages and are suited for various farming operations. Let’s explore the most common types of drones used in agriculture: Fixed-wing Drones Fixed-wing drones resemble airplanes and are ideal for large-scale aerial monitoring and data collection. These drones can cover extensive areas efficiently and provide valuable insights into crop health, soil conditions, and environmental factors. With their long flight endurance and stable flight characteristics, fixedwing drones are particularly useful for mapping and surveillance tasks in precision agriculture. P a g e | 15 Multi-rotor Drones Multi-rotor drones, characterized by their compact size and maneuverability, are widely used for mapping, modeling, and monitoring in precision agriculture. These drones can hover at specific locations, capturing detailed images and collecting data with high precision. They are ideal for tasks that require close proximity to crops and need quick deployment, such as inspecting individual plants or detecting potential issues in small areas. Hybrid VTOL Drones Hybrid VTOL (Vertical Take-Off and Landing) drones offer a combination of fixed-wing and multi-rotor capabilities, providing flexibility in various farming operations. These drones can take off and land vertically like a helicopter and then transition to horizontal flight like a plane. Hybrid VTOL drones are advantageous when both large-area coverage and pinpoint accuracy are required, making them suitable for tasks like crop surveying, mapping, and spraying. Single-rotor Helicopter Drones Single-rotor helicopter drones are designed for precision applications in agriculture. These drones offer superior stability, payload capacity, and endurance, making them well-suited for tasks that require high precision and control. Singlerotor drones are commonly used for activities like crop spraying, precision fertilization, and monitoring hard-to-reach areas. Their vertical take-off and landing capabilities enable efficient operations in challenging terrains and complex farming environments. Type of Drone Advantages Applications Efficient aerial monitoring Fixed-wing Drones Long flight endurance Stable flight characteristics Large-scale mapping and surveillance Environmental monitoring Crop health assessment Compact and maneuverable Multi-rotor Drones Precise data collection Quick deployment Crop inspection and monitoring Pest and disease detection Small-area mapping P a g e | 16 Hybrid VTOL Drones Combination of fixed-wing and Crop surveying and multi-rotor capabilities mapping Vertical take-off and landing Aerial spraying Large-area coverage and pinpoint Site-specific interventions accuracy Single-rotor Helicopter Drones Superior stability and payload capacity Vertical take-off and landing High precision and control Crop spraying Precision fertilization Monitoring challenging terrains P a g e | 17 CHAPTER 2 2.0. LITERATURE REVIEW A History of Drones and their Agricultural Evolution. 1960s-1980s: Early Drone Research and Development In the 1960s, drone technology found its way into agriculture with the invention of the Radio-controlled Model Helicopter. This would become the first drone for use in farming. Developed by crop dusters, the Model Helicopter would open the doors for a new style of farming. Three years later, in 1965, the U.S. military dreamt up a grand vision for future “farmer-pilots”: Remotely operated rotor craft that could enable farmers to view their entire land with the help of aerial images and surveying systems. Not long after, in the 1970s, public entities and researchers started utilizing drones for taking pictures in agricultural fields. This new technology was being used to map fields and accurately measure soil fertility to diagnose pest infestation. The method was also used to observe trends in crop growth throughout the year. As progress was made in the robotics field, it would lead to even better results. By the mid-1970s, the use of unmanned aerial vehicles (UAVs) was seen in various agricultural sectors. The way farmers use aerial technology has come a long way. marking a significant chapter in the history of drones in agriculture. It all started with basic surveying and mapping techniques, but today it’s about cutting-edge precision farming. The story begins in the early 1900s when airplanes and satellites first took to the skies to capture bird’s-eye views of farmland. This innovative approach allowed farmers to: • Monitor crop growth from a whole new perspective. • Spot potential problems like pests or irrigation issues before they become major threats. • Survey vast areas of land with incredible efficiency and accuracy, saving them time and resources. P a g e | 18 These aerial images weren’t just for looking. They became the foundation for creating detailed maps, digital elevation models (fancy 3D maps of the land), and powerful analytical tools. This information revolutionized farming by giving farmers the power to: 1. Make smarter decisions: With data on hand, farmers could plan their farming practices with precision. 2. Manage crops more effectively: They could track growth, identify issues, and take action to optimize yields. 3. Predict harvests: Data analysis helped them estimate how much they would harvest, allowing for better planning. 4. Analyze soil conditions: Understanding the soil allowed for targeted treatments and resource allocation. 5. Plan land use strategically: With a clear picture of their land, farmers could optimize its use for different crops. Who Invented the First Agricultural Drone? In The year was 1987, and a Japanese manufacturer named Yamaha took to the skies with a revolutionary invention: the R-50, the world’s first agricultural drone P a g e | 19 Figure 1 This wasn’t your average drone. It was specifically designed to assist farmers with field analysis and crop mapping. Equipped with a GPS and camera, the R-50 could gather valuable data on crop size, health, and development. This information proved to be a game-changer, allowing farmers to make informed decisions about their crops. While the R-50 marked a significant milestone, it wasn’t the first drone ever created. Since then, drone technology has advanced rapidly, leading to a wider range of agricultural drones for various purposes. Today’s agricultural drones can be used for tasks like sowing seeds, monitoring crop health, and even spraying crops. Uses of Drones in Agriculture 1. Transforming Agriculture The arrival of drones in agriculture has been nothing short of revolutionary. These unmanned aerial vehicles (UAVs) have become essential tools, completely changing how farmers work. Drones offer a wide range of applications that are P a g e | 20 redefining modern agriculture, with a focus on precision, efficiency, and sustainability. 2. Real-Time Data for Informed Decisions One of the biggest game-changers is drone-based crop monitoring. Equipped with high-tech cameras and sensors, drones can quickly and precisely scan large fields. This gives farmers valuable information about crop health, soil conditions, and potential problems like pests or diseases. The real-time data allows farmers to make data-driven decisions, such as applying fertilizer only where needed, controlling pests right away, and managing irrigation more effectively. This approach maximizes productivity while minimizing waste. 3. Optimizing Yields Drones are at the forefront of precision agriculture, a concept that uses technology to optimize crop production and minimize environmental impact. Advanced sensors like multispectral imaging cameras and LiDAR systems can capture intricate details about the soil, like moisture levels and nutrient distribution. This information is used to create detailed field maps, allowing for precision planting. By placing seeds in the ideal location and depth, farmers can maximize yields while using fewer resources. 4. More Than Just Crop Management Drones are incredibly versatile. They can be used to monitor livestock, conduct search and rescue operations, and even apply pesticides and fertilizers with extreme precision. This targeted approach minimizes chemical use and potential environmental harm, promoting sustainability and saving farmers money. 5. AI and Machine Learning Artificial intelligence (AI) and machine learning are taking drone data analysis to a whole new level. These technologies allow for predictive analytics, yield forecasting, and even automated decision-making. This means agriculture can become even more precise, optimizing resource use, minimizing environmental impact, and maximizing crop yields worldwide. As the agricultural industry continues to embrace innovation, drones will likely play an even bigger role. This powerful combination of technology and nature has P a g e | 21 the potential to ensure food security and promote environmental stewardship for future generations. The explosion of the human population makes high productivity, high performance and sustainable agriculture more important [1]. In the modern environment, agriculture is essential for the subsistence of more than 60 percent of total of the world's population. [2]. It is a critical element in the protection of the environment in the developed world. The agricultural modernization is mandatory when demand and food supply are increased. Drones are one of the most advantageous equipment for modern agriculture. The pesticides and fertilizers are critical components in the control of insects and the development of crops. Spraying pesticides and fertilizers by hand causes tumors, hypersensitivity, allergies, and other illnesses in people. Hence, Drone can be used to automate fertilizer application, pesticide spraying, and field tracking, which is also used for many applications such as search and rescue, police, code inspections, Emergency Management, fire. Other advantages of drones include their fast maneuverability, improved payload, high lifting power, and stability [3]. It comes with a universal sprayer for spraying both liquid and solid contents. The global nozzle sprays all pesticides and fertilizers, but the tension pump is only used when spraying P a g e | 22 pesticides and not when spraying fertilizer. In wide fields, the GPS can be used to automatically direct the quadcopter and power it remotely. A quad copter is piloted by an autopilot controller, and the payload is driven by an RF transmitter and motors. The figure 1 illustrates the pesticides spraying mechanism [4]. Figure 1: Pesticide spraying mechanism This paper usually depicts the characteristics of appropriate Drones for a particular agricultural purpose. Furthermore, it will be clear as to which Drone archetype is needed for specific farming tasks. The systematic review of this article is based on basic keyword and abstract searches in Scopus, WOS (Web of Science), and Google Scholar databases. Several trustworthy websites were also consulted for subject-related material. P a g e | 23 Figure 2 Yallappa (2017) improved an hexacopter with 6 BLDC motors and two LiPo batteries of 6 cells- 8000 mAh. Their research also includes a performance assessment of spray liquid discharge and pressure, spray liquid depletion, and droplet size and density determination. By means of their project, they eventually created a drone that can hold 5.5 L of liquid and has a 16-minute endurance period [5]. Dongyan (2015) investigated successful swath width and droplet distribution uniformity over aerial spraying systems such as the M-18B and Thrush 510G. The agricultural planes flowered respectively at 5m and 4m high, and by this experiment they conclude the disparity in swath width of M18B and Thrush 510G in flight height [6]. Prof. B. Balaji (2018) created a hexacopter UAV for pesticide spraying as well as crop and environmental surveillance using Raspberry Pi and the Python programming language. Their UAV also has a variety of sensors, including DH11, LDR and P a g e | 24 Water Level Monitoring sensors. As a result of this experiment, they eventually concluded that with proper implementation of UAVs in the agricultural sector, savings in terms of water, chemical abuse, and labour can be projected to range between 20% and 90%. [7]. Kurkute (2018) used basic cost-efficient equipment to work with UAV quadcopter and its spraying system. Spraying with both liquid and solid material is done using the universal sprayer method. During their analysis, they also compared various agricultural controllers and came to the conclusion that the quadcopter system with the Atmega644PA is the most suitable due to its successful implementation [8]. Huang (2015) developed a low-volume sprayer that can be used in unmanned helicopters. The helicopter has a 3 m main rotor diameter and a payload capacity of 22.7 kg. It used to take at least a gallon of gas every 45 minutes. This research paved the way for the development of UAV aerial application systems for crop production with a higher goal rate and a larger VMD droplet scale [9]. Shilpa Kedari has suggested a low-cost, lightweight Quadcopter (QC) framework. The quadcopter is also known as Unmanned Aerial Vehicle (UAV). This quadcopter is compact and can be used for both indoor and outdoor crops. The quadcopter is an unmanned flight that uses an android smartphone to spray pesticides and fertilizer. The contact P a g e | 25 between the quadcopter and the android smartphone is achieved in real time using a Bluetooth device. This method is used to reduce agricultural field problems while still increasing agricultural yield [10]. Sadhana improved on the above approaches and created the quadcopter UAV and shower module, which can be used to spray pesticides in agriculture fields to increase efficiency and protect materials. The total load for this project is 1 kg and is used to spray low altitude pesticide quadruple copter lift. The Arduino UNO AT mega328 and Brushless Direct Current (BLDC), Electronic Speed Control (ESC), MPU6050, which combines a MEMS accelerometer and a MEMS gyro into a single chip, Radio receiver, LIPO battery, and pesticide spraying module control this quadcopter [11]. P a g e | 26 CHAPTER 3 3.0. METHODOLOGY The first research design is a quantitative research which will be conducted through simulation using a computer-aided engineering software (solid works) Each of the individual components of the hexacopter drone are estimated, sketched and designed. The modelling and fabrication of the completed hexacopter. The testing of the hexacopter. 3.01. DESIGN CONSIDERATIONS weight - When it comes to the weight of a drone, the materials used in construction are crucial. We often find drones made from a variety of plastics, metals, and sometimes carbon fiber. Plastics offer affordability and lightweight, making them common in consumer-grade drones. Metals provide robustness and can increase the drone’s weight, especially if used in the internal framework. Carbon fiber is a high-end material prized for its strength-to-weight ratio. It’s used in professional drones where every ounce matters for performance and durability. Power -is a big piece of the puzzle influencing drone weight. The battery size and type are determining factors. Larger batteries provide longer flight times but come with additional heft. We often find lithium-polymer batteries in use for their balance of weight and power output. The type of battery also affects the weight, with newer technology usually leading to lighter and more efficient power sources. cost – low cost materials with good structural properties (strength, durability, rigidity etc.) Type of drone- the hexacopter is a type of drone that can fly more freely in the air that consist of 4 basic movements, throttle, roll motion, pitch motion and yaw motion Control system of drone- The control mechanism of a drone involves a combination of manual input from the operator and autonomous flight systems. Understanding these control mechanisms is vital for achieving precise and smooth flight maneuvers. Moreover, advancements in technology have enabled P a g e | 27 autonomous flight capabilities in drones. GPS systems, gyroscopes, and accelerometers help to stabilize the drone and maintain its position and orientation in the air Structural design- One of the key challenges in designing drones is achieving structural stability. The structural design of these drones plays a critical role in ensuring their stability, durability, and reliability during operation. A weak or poorly designed structure can lead to mechanical failure, resulting in a loss of control or damage to the drone. With our design considerations, it helps us select the most efficient, cost effective and widely accessible UAV 3.02. DESIGN CALCULATIONS ο΄ ESTIMATED WEIGHT: 3500g ο΄ THRUST TO WEIGHT RATIO: 2:1 π π 2 = 1 T= 7000g → total thrust Individual motor thrust = π ππ’ππππ ππ πππππ = 7000π 6 = 1166.67g or 11.4N POWER CALCULATIONS (www.wingflyingtech.com) P= π×π π = 11.4 π ×14.8 π 0.875 = 193.58 watts per motor ∴ π‘ππ‘ππ πππ€ππ = 1161.5 π€ππ‘π‘π V= voltage T=thrust P=power π= motor efficiency=0.875 Using 4-s batteries = 14.8 volts CURRENT CALCULATIONS P a g e | 28 ο΄ I= π = π 1161.5 π 14.8 π = 78.4 A ο΄ I=total current ο΄ V= voltage ο΄ P= power ο΄ Assuming a factor of safety of 1.25 ∴ total current becomes =78.4 × 1.25= 98.34 A ∴ πΆπ’πππππ‘ π‘π πππβ πππ‘ππ = π‘ππ‘ππ ππ’πππππ‘ ππ’ππππ ππ πππ‘πππ = 98.34 π΄ 6 = 16.39 A Therefore, based on the calculation above it is safe to assume an ESC rating of about 20A 3.03. PROPELLER CALCULATIONS 1 π 2 3 2 π =[ ×π· ×π×π ] 2 T= Thrust D=Propeller diameter P= power π = ππππ ππ‘π¦ ππ πππ Making D subject of the formular D= √( 2 ×π 3 2×11.43 ) =√(π×1.225×193.58)= 0.1433m≈ 143.3ππ π×π×π2 D=5.642 inches ∴ our preferred propeller is 6 inches 3.1. COMPONENT DESIGN AND ANALYSIS The choice of materials can have a significant impact on the overall performance, durability, cost and sustainability of a project. Different materials possess varying properties, such as strength, stiffness, corrosion resistance, thermal conductivity, electrical conductivity and aesthetic appeal. The selection of appropriate materials P a g e | 29 is crucial to ensure that the project meets its functional and design requirements. Overall, material selection influences the project’s efficiency performance, functionality, cost effectiveness and sustainability. Table 1 No. Part Material type advantages 1. Canopy plywood 2. Motor mounting pipe aluminum 3. Horizontal landing base aluminum 4. Vertical landing support PVC • It Resists Warping • It Is Relatively Lightweight • It Is Relatively Inexpensive • It Holds Nails and Screws Well • Good thermal conductivity. • Light in weight. • It is easily machined since it’s relatively soft, malleable, ductile. • It has good heat dissipation • Good thermal conductivity. • Light in weight. • It is easily machined since it’s relatively soft, malleable, ductile. • It has good heat dissipation • Lightweight • Durable and Strong • Resistant to Low Impact • Affordable • Easy to Mold P a g e | 30 It is important that design dimensions are considered in any design as they play a critical role in the design process for the following. Accurate dimension help in choosing the right materials and calculating costs, minimizing waste and selecting cost-effective materials. Materials act as a reference for producing parts or assembling components. Detailed and clear dimensions in drawings are essential for effective communication. They help ensure that a product or structure functions as intended and fits its intended purpose. Proper dimensions help ensure that designs meet the specific safety regulations and standards set that designs must adhere to. Proportions and sizes can greatly influence the overall aesthetics and attractiveness of a product or structure. Engineering designs often require specific tolerances to accommodate variations in manufacturing or assembly processes. Dimensions can impact the performance and efficient of a design. Below is a table showing the dimensions considered in our design of our hexacopter Drone. Table 2 COMPONENT DIMENSIONS Canopy 200mm/side Vertical leg support 225mm Horizontal landing base 250mm P a g e | 31 CHAPTER 4 DESIGN SIMULATIONS AND RESULTS Static analysis case for the frame Preparing the frame for simulation For performing FE analysis, it is important to define all the forces acting on the frame. The weight of the frame and all components (ESP, GPS module, light controller, motors-weight, battery, antenna, propellers and camera) is normal to the ground. Static loading involves a static study for calculating the response of bodies on which loads are applied statically or slowly. For simulation, it is very important to create customized SolidWorks coordinate system, for remote loads locations. • Simulations were conducted showing the stresses incurred on the drone when it is static or at zero thrust power. Thus, the propellers are not part of the drone. • The equivalent strains, displacements and the resultant factor of safety were also simulated. Stress simulations and results Figure 3 P a g e | 32 Displacements simulation and results Figure 4 Strain simulations and results Figure 5 P a g e | 33 Factor of safety simulations & results Figure 6 P a g e | 34 Chapter 5 5.1 SYSTEMS TESTING The drone prototype wasn’t ready to be tested for flight. We however managed to test its spraying system and the stability of the drone frame. We connected the pump to a 14.7volt laptop battery to test if our sprayer set up works. The test was successful. Figure 7 P a g e | 35 CHAPTER 6 6.1 CONCLUSION This project was aimed at in-cooperating the benefits of unmanned aerial vehicles into the agricultural sector. The benefits of course, of UAV’s include the fact that they do not require on-board human interference to operate. Rather, they can simply be programmed to traverse a given distance. This is key in agriculture because distance is notably a big part of the sector. Agriculture itself is the practice of cultivating land and rearing livestock to produce food. As such, agricultural practices on a commercial scale require large pieces of land. And with huge land comes the demand of manpower. These are the notable problems in agriculture. Our goal was to find a way to use UAV’s to eliminate these problems to better improve the sector and promote precision agriculture. More specifically, we opted to demonstrate how drones can lessen the need for manpower thereby eliminating the human errors that come with it. We designed a hexacopter drone that could carry a mass of fluid and spray it over a field. This design would allow farmers to spray larger fields in less time. Thereby eliminating the need for multiple men operating in the field, saving farmers on the cost they incur on payments. This project redefines the whole concept of agriculture as it provides a more precise way of performing various tasks. These include irrigation and pest control, to name a few. Basically practices that require the use of agricultural fluids. However, the use of drones is not limited to this, as they can also be used for land mapping and surveying. Drones can be equipped with ground monitoring electronics to help farmers see which parts of their land are most fertile and which ones need fertilizers. Drones can also be equipped with heat sensing cameras to help farmers monitor livestock health and number. Clearly, our project is evidence that drones are a groundbreaking invention and the use of drones in agriculture is a practice we need to invest in to better improve our lifestyle. They are the very definition of what engineering is all about. P a g e | 36 6.2 RECOMMENDATIONS • The team recommended that we make the drone automated. This would allow us to pre-program the drone to traverse a given field unsupervised or uncontrolled by remote. This would include the assigning of virtual longitude location co-ordinates called weigh points. Automating the drone would further eliminate the need for human intervention analogously eliminating the human errors that come with them. • The second recommendation is to in-cooperate the use of composite materials to further lighten the load. This would allow for more room to accommodate the agricultural fluid to be used. Thereby cementing the purpose of the drone even more. 6.3 FUTURE WORKS • The team would like to further our research in the use of drones in agriculture. Preferably using thermal imaging equipment. With the support of our coordinators, we hope this will be possible. Thank you. P a g e | 37 APPENDICES APPENDICE A; GANTT CHART APPENDICE B; SPECIFICATIONS OF COMPONENTS USED MATERIAL USE Ply wood Base of the frame Aluminum Bar Drone arms Aluminum Pipe Horizontal Landing gear PVC Pipe Vertical landing gear Epoxy Resin and Hardener adhesion P a g e | 38 APPENDICE B; BUDGET Component Quantity Price (ZMK) Flight Control 1 2500 Battery 1 1625 Pump 2 500 Tubes 6 100 Receiver 1 500 Tank 1 0 ESC 1 850 Speed controller 1 2500 Propeller 6 900 Rotor 6 1200 Drone frame 1 850 TOTAL 11,000 P a g e | 39 Refreeces [1] V. Artale, C. Milazzo and A. Ricciardello, "Mathematical modeling of hexacopter", Applied Mathematical Sciences, vol. 7, pp. 4805-4811, 2013. [2] J. Ligthart, P. Poksawat, L. Wang and H. Nijmeijer, "Experimentally Validated Model Predictive Controller for a Hexacopter. The authors gratefully acknowledge the partial sponsorship by DSTG, Australia.", IFAC-PapersOnLine, vol. 50, no. 1, pp. 4076-4081, 2017. [3] M. Moussid, A. Sayouti and H. 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