{'fraction_non_alphanumeric': 0.018404907975460124, 'fraction_numerical': 0.010736196319018405, 'mean_word_length': 4.958904109589041, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Design and Testing of a Quad Shrouded Rotor Micro Air Vehicle in Hover

Rotor hover performance can be enhanced by enclosing it in a shroud. This paper describes the design and testing of a quad rotor vehicle with a shroud structure incorporated, and the resulting improvements in aerodynamic efficiency over a conventional micro quad rotor are demonstrated. Parametric studies were conducted to study the effect of number of blades and root collective on shrouded rotor performance. Comparison of a 2.6” shrouded rotor with an optimized unshrouded rotor showed a 30% improvement in power loading at a power input of 2W. To minimize shroud weight, the structure consisted of a machined foam diffuser with carbon fiber inlets attached. A fully integrated proof of concept micro air vehicle (MAV) was designed with a gross weight of about 100 grams and a shroud structure weight of 12 grams. The vehicle had maximum dimensions of 6” 6”. Successful hover flight testing of the vehicle was achieved using an onboard attitude feedback controller. Comparison with data from another study (9.5” shrouded rotor) revealed that the hover performance of the shrouded rotor scales satisfactorily with size. The shrouded rotor concept appears feasible in improving the performance of a conventional micro quad rotor.