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MATRICE 100
Turner Anderson | Kevin Chen | Les Girard | Jack Hendershott | Lavanya Jawaharlal | John Norton
For this project, DJI is sponsoring The Hot Quads to design the mechanical and electrical accessories and
interface needed to achieve unlimited hover in a DJI Matrice 100 quadcopter. After providing us with an
M100 and the necessary funds for accessories, DJI expects that the quadcopter will be capable of at least
100 foot above ground level (AGL) hover. In addition, tether tension should be autonomously managed
from takeoff through landing, the power system should have at least 50W of free capacity for additional
communication systems, and the standard 22V battery should be absent from the system while it is tethered.
It is expected that a working demonstration of the tethered quadcopter will be given at the beginning of
May, including the tensioning system, electronics, and all other necessary interfaces. DJI has also provided
us with access to their DJI Developer software, which will allow us to program our own flight paths and
alter the quadcopter in ways that some standard users cannotwe have made it a stretch goal to create a
fully autonomous system using custom flight paths and hover commands.
The challenges associated with this project have been broken into three parts: the tensioning system, the
power transmission system, and the landing scheme. Tension is necessary in the tether in order to prevent
entanglement in the rotors, which would inevitably lead to a crash and damage the quadcopter. Tensioning
will be achieved using sensors that can sense the tension force on the tether, an Arduino microcontroller,
and a motor. In order to keep the tether relatively light, it is also necessary to transmit power at a high
voltage, and therefore a low current, before inputting it to the quadcopter at 22V. In order to achieve this,
a DC Power Supply and a boost converter will be used in the base system to transform 120V AC into 240V
DC, and a buck converter will convert the signal to 22V DC on the quadcopter. Finally, in order to
confidently land the quadcopter in a predefined space, the tether will pull the quadcopter in on landing.
While this may require a higher torque motor, we believe a predictable landing zone will be more valuable
than slight weight or cost savings.
At this point in the project, all systems have been designed and analyzed, and they are ready for
manufacture. The DC Power Supply has been acquired, the boost and buck converters have been designed,
and all electronic components for the power transmission system have been acquired. The design of the
tensioning system is complete, and we are planning on ordering all parts during the week of Monday, March
28th. While the tensioning system is important, it is not quite as integral to the success of the power
transmission system, and because of this the power transmission system has been slightly prioritized. April
will be spent assembling, testing, and troubleshooting all aspects of the quadcopter before it is to be
demonstrated on April 29th.
i
1. Introduction In the future, ground-based batteries could be used to
DJI, a world leader in easy-to-fly drones and aerial extend the M100s range beyond the limits of the power
photography systems, was founded in 2006 in grid. There is currently a paucity of products
Shenzhen, China, and has recently begun operations in commercially available for use as temporary
Palo Alto, California. DJI designs and manufactures a communication towers, so the successful completion of
wide range of products including quadcopters (Figure this project will allow DJI to gain a large market share
1), flight controllers, quadcopter accessories, and in an emerging and lucrative market.
camera gimbals. While DJI drones excel in recreational
endeavors, their commercial applications are currently 2. Customer Specifications
restricted because of short flight times associated with
limits in battery technology. If a quadcopter could fly,
or even hover, indefinitely, a wide range of applications The customer, DJI, specified the following
would be divulged, particularly in the realm of requirements for this project:
Achieve 100 ft. tethered operational ceiling
temporary communications towers. One can imagine
Autonomously manage tether tension
that this could be useful in instances of large sporting
Have a minimum 50W peak power margin
events or humanitarian aid, where enhanced
Operate independent of standard battery pack
communication systems are often needed only
Hover indefinitely while tethered
temporarily but at a moments notice. While there are
multiple obvious applications for unlimited quadcopter
hover, there are currently no widely available products Based on these specifications, we need to select a wire
that allow a quadcopter to hover any longer than its gauge appropriate for the tether, design the tethering
standard battery allows. system, and create multiple circuits including a boost
converter, a buck converter and tensioning system.
Target values were selected for our Quality Function
Deployment (QFD) (Figure 2) based on specifications
and calculations that maximize the current running
through the tether. Through this QFD, we are able to
quantify the relative importance of each specification
and compare our goals to those of the competition.
2
using a flight-time of twenty minutes in our benchmark
current calculation. A 4500 mAh battery will have a
13.5A rms current draw during a 20-minute flight. Using
equation 1 shows us that the drones power consumption
will be roughly three hundred watts.
: = (1)
4
requires a rectifier and buck converter; whereas DC 4.3 Landing Scheme
transmission requires a rectifier, boost converter, and
buck converter. The addition of a boost converter is As previously mentioned, we had several ideas
further complicated by the fact that boosts are very prone regarding how to land the quadcopter. The two main
to current overload. ideas entailed running the tether out of a hole in the
Pelican case and landing the quadcopter on the case
Ultimately, we decided to utilize DC power itself, or having the tether run around a pulley connected
transmission, largely because of payload requirements. to a fold out table hinged to the case. With the help of
AC power transmission requires the installation of a our decision matrix (Figure 6), we decided that although
heavy rectifier on the drone itself, whereas DC power the hole in the top of the case would provide for the safer
transmission only requires the installation of a buck design, the fold out table would be a better solution with
converter, which is much smaller and lighter than a regards to system complexity, as well as likely be a
rectifier. DC power transmission also lacks the wiring better landing surface.
and insulation requirements that AC demands, further
relaxing system demand on the drones thrust
capabilities. As a minor design note, we elected to use
regulated voltage circuits to supply power to the
converters, rather than give them mounted batteries,
because attaching batteries to the system increases
weight and limits drone flight time.
Figure 3: Two of the pros vs. cons tables that were created for concept selection
6
5. Concept Description
5.2 Power Transmission System
The Matrice 100 and its platform were modeled using
SolidWorks to show the ultimate assembly we are The tether system will require three major components:
aiming to create (Figure 7). Ideally, the user is able to 1) AC/DC rectifier
carry the quadcopter in one hand, and the Pelican case, 2) boost converter
with all components in it, in the other hand. 3) buck converter
Operationally, set up would include opening the Pelican
case and unfolding the platform. The tether would be The rectifier will be implemented using commercial, off-
inside and connect to the platform for the tensioning the-shelf technology. We have acquired a 24V DC
system. All materials for the power transmission system power supply that is compatible with 60Hz 120 AC or
will fit inside the case. 50Hz 240 AC power. This will be mounted directly in
the tether casing and securely connected to the boost
converter. The boost converter will take the 24V DC
5.1 Tensioning System input from the power supply and step it up to 120V DC,
with a ripple voltage of 2V. The 120V DC output will
The tensioning system will require a spool, an Arduino travel up the tether at approximately 1.5A, with a ripple
controller, and a strain gauge. The Arduino controller current of 0.3A [3]. A buck converter mounted on the
will control the motor. The spool will be connected to drone will take the 120V DC signal from the tether and
the motor, allowing the quadcopter to elevate to the 100 step it down to the 22.2V that the drone requires, with a
foot height requirement. Although the isometric view ripple voltage of 1V and a ripple current of 0.3A [4].
below shows the spool outside of the case, in the final Accommodating the peak power margin requested by
design, the spool will lay within the Pelican Case. As for DJI translates to 15.75A of current at the drone, the
sensors, we have two options. We will either use a force aforementioned 1.5A of current in the tether, and 14.5A
sensor on the tensioning system at the base or use the from the DC power supply. All of the individual
onboard SDK to get real time flight altitude data circuitry components are rated for the expected current
(acceleration, velocity, etc.) to obtain data necessary to and voltage conditions [5-9]. The parameters for the
control the motor appropriately. The force sensor would boost converter were determined from equations given
control the tensioning system directly through the in Texas Instruments datasheets and from speaking with
tension in the wire at the base, whereas using the SDK Tom Clark. All designs were verified in Multisim.
would allow us to use in flight data for control.
Voltage output for
boost/buck converters (2)
7
Figure 8: Boost Converter Circuit
8
5.3 Landing Scheme acceleration, and the size of the landing platform. For
power transmission, our calculations began with basic
As mentioned previously, its important to note that the circuit design to determine the necessary voltages and
current CAD model is not to scale and only to be used currents in the systems multiple stages. We then used
for visual purposes. The overall electrical layout these values to design the buck and boost converters,
however, will remain the same as shown in Figure 8. In which were then simulated using readily available circuit
the final design, the electrical components will be placed simulation tools such as SPICE. Further detail regarding
closer to the bottom of the Pelican case and we will have these calculations is given in the following subsections.
a hinged fold-out landing table that collapses into the 6.1 Tensioning System
case. The tether connected to the boost converter will be
routed out through a hole in the case, around a pulley, After deciding on a tether and spool, the main
and through a hole in the landing table. The pulley will parameters to be determined for the tensioning system
allow us to keep constant tension on the quadcopter were the tether tension and motor torque. With a
without causing damage to the tether. Finally, the maximum vertical velocity of 3 m/s2, a spool radius of
quadcopter will be free to hover and at the end of its 5.1 cm (2 inches), and a total spool and tether mass of
mission, it will descend onto the landing table. This 0.71 kg (1.57 pounds), we calculated that the necessary
initial landing scheme design can be seen in the Figure holding torque for the stepper motor was 0.081 N-m, or
10, below.
11.5 oz-in. This torque calculation was found using the
following equation
= 2 (3)
where T is the required torque, m is the total mass, R is
the spool radius, and is the angular acceleration, which
was replaced by the linear acceleration divided by the
spool radius. We have purchased a stepper motor that
has a holding torque of 68 oz-in, well beyond what is
required for spooling.
Figure 10: Foldable platform for landing scheme In order to ensure efficient reeling in of the tether and
prevent jamming, a linear actuator will be used to couple
5.4 DJI Software Development Kit (SDK) the spool rotation and translation. With a linear velocity
of 1 m/s, a spool diameter of 10.2 cm (4 inches), and a
The DJI Developer provides a mobile, onboard, and conductor diameter of 0.25 cm, it was calculated that the
guidance SDK. Time permitting, a milestone would be actuator will need a maximum linear velocity of 11 cm/s.
to use the mobile and onboard SDK to develop an This calculation was completed using the following
automated flight path. This would allow the user to equation
specify hover time, location, and automatic takeoff and
landing. The onboard SDKs motion control interface
= (4)
would allow us to focus on altitude without worrying
about stability [10]. Automated takeoff and landing where v is the linear velocity of the M100, d is the
would be a stretch goal, as the focus is to first achieve a
conductor diameter, and D is the spool diameter.
tensioning system and landing scheme.
The minimum bending radius of the tether is a relevant
6. Parameter Analysis parameter for the design of the tension sensor. For a 0.25
cm conductor diameter, it was calculated that the
For the tensioning and landing systems, our calculations minimum bending radius is 14.13 mm [11]. This
mostly consisted of using known values such as minimum bending radius was taken into consideration
quadcopter mass or vertical acceleration to determine for the design of the rollers on the tension sensor.
parameters such as motor torque, tether tension, spool
9
6.2 Power Transmission System to handle and landing force from the M100 without
significant deflection.
As mentioned before, the end-state parameters for the
power transmission system were stipulated by DJI to be
22.2V at 16A. We decided to use 24V as the output of 7. Final Design
our DC power supply because 24V power supplies were After determining the specific parameters of our design,
widely available and easy to acquire. Designing the we began designing the final layout of the subsystems,
boost converter to have a 10x gain boosting voltage to both as individual systems and relative to each other. A
240V and lowering current to 1.5 A - allowed us to use completed CAD model of the entire assembly can be
19 gauge wire in the tether, which kept the final payload seen in Figure 11, and engineering drawings can be
within the drones thrust capabilities. The boost found in Appendix 3. In addition, all off-the-shelf parts
converter gain was modulated by altering the duty cycle have either been ordered or will be ordered shortly so
of the n-channel MOSFET using a 555 timer chip that we can begin to manufacture the entire system. A
integrated into a dedicated converter switching IC. The bill of materials can be found in Appendix 4, and
transfer functions for the boost (Eq. 5) and buck (Eq. 6) detailed descriptions of each subsystem can be found in
the following sections.
converter may be seen below, along with the equation
for duty cycle of the 555 timer (Eq. 7). A 10x gain for
the boost requires a 90% duty cycle (Appendix 1), while
the 0.0925x gain for the buck requires a 9.25% duty
cycle (Appendix 2). All other components affect the rise
time of the system, which is generally negligible (< 1
second), and are rated for proper currents (>15A) and
voltages (240V) to ensure the tether system can operate
safely and reliably.
0 1 (5)
=
1
0 (6)
=
(7)
=
+ 2
Figure 11. Isometric View of Final Base Design
7.1 Tensioning System
6.3 Landing Scheme
Because commercial tension sensors that would meet
The main design parameters for the landing scheme arise
our needs are all in the range of $1000, we decided to
from the size of the Matrice 100. The platform is
develop our own using aluminum rod, a Wheatstone
designed such that the tether rises from the center and
bridge, and three bearings. By attaching the bearings to
pulls the M100 in, which allows for accurate and
three cantilevered aluminum rods and running the tether
consistent landing. By descending slowly enough, any
through the bearings, we will be able to measure the
amount of tension will result in the M100 landing on top
tension in the tether relative to a threshold value using
of the platform. Because of this, the same motor torque
the voltage output of the Wheatstone bridge. When the
requirement for the tensioning system can be applied to
voltage output is higher than the threshold value, the
the landing scheme. In the scenario of an emergency
Arduino Uno will rotate the motor shaft such that tether
landing with rapid descent, the M100 can land outside of
is released, and when the voltage output is lower than the
the platform without damaging the system. Because the
threshold, tether will be reeled in. This tensioning
landing platform is made out of aluminum, it will be able
system will operate autonomously of the M100 without
10
input from the user. A CAD of the tension sensor can be 7.3 Landing Scheme
seen in Figure 12, and an engineering drawing is shown
Although we originally decided on a fold-out landing
in Appendix 5.
platform in our Concept Description and Design Review
1, we have since revised this design because of the added
weight of a dedicated platform and the reaction force
necessary for the platform to counteract tether tension.
For our final design, the M100 will still descend slowly
enough to be pulled in by the tether, but it will land on
top of the base system rather than on a landing platform
to the side. Because the base system is large enough to
accommodate the M100, using it as the landing platform
alleviates issues associated with system weight and with
tension reaction forces. If an unexpected, rapid landing
occurs, the system can accommodate a landing on
ground outside of the base system.
8. Problem Analysis
Figure 12. SolidWorks Model of Tension Sensor
At this stage in our project, the most significant
A mechanism also had to be designed to ensure that the
problems will most likely arise from unforeseen
tether spreads evenly on the spool during reeling. It was
challenges during manufacture and assembly of the three
unreasonable to translate the tether, as is done in a subsystems. There is the chance that some electronics
fishing rod, because of difficulties associated with also could be fried during initial power transmission testing,
translating the tension sensor. Because of this, we thereby leading to delays in the timeline. Furthermore,
decided it would be more plausible to couple the linear the tensioning and landing systems both require accurate
translation of the spool to its rotation using a linear tension measurement, which depends the precise
actuator and the Arduino microcontroller. By translating calibration of our strain gauge.
the spool linearly while it is rotating, we ensure that the
tether will be reeled evenly onto the spool. This 8.1 Tensioning System
mechanism will also operate autonomously without
input from the user. The main challenge currently associated with the
tensioning system is strain gauge calibration. After
7.2 Power Transmission System determining the ideal tether tension, we need to
Off-the-shelf components were deemed too expensive or determine the corresponding voltage output from the
heavy to allow the M100 to operate within its mission strain gauge. Given our goal to control the motor based
parameters so we designed and fabricated our own, with upon this voltage output, large fluctuations in
the exception of the AC rectifier. The rectifier turns US measurement based upon wind conditions or GPS
inaccuracy will need to be considered.
120V 3-phase 60Hz AC power into 24V DC power. The
rectifiers 24V output is then fed into our boost Improper tensioning could also cause entanglement,
converter, which steps up the current to 240V, allowing leaving the quadcopter in danger of crashing. Because of
it to be safely transmitted through 19 AWG wire at a this entanglement danger, we will need to ensure that a
moderate 1.5A. At the drone, a buck converter steps the sudden and unexpected high tension scenario would lead
voltage down to 22.2V so that it can replace the six-cell to immediate tension release. This will be done by
LiPo battery normally used by the M100. The power having the motor release large amounts of tether if the
transmission system is turned on and off by a switch tension increases above a certain threshold value.
located in the storage case containing the tensioning
system, rectifier, and boost converter. Finally, reeling in of the tether will be challenging
because of the necessity of translating the spool while it
11
is rotating. Without either spool or tether translation, the circuits and we will likely turn to him for guidance when
wire will build up in one location on the spool, which it comes time to test them.
would lead to eventual inoperability of the system.
While we have considered these problems in our final 8.3 Landing Scheme
design, we will still need to be diligent in avoiding these
issues during development and testing. The landing scheme needs to be compact and
lightweight. Ideally, the landing platform will fold out
8.2 Power Transmission System on top of the Pelican Case. However, we foresee issues
with the size of the platform as the Matrice 100s GPS is
The most difficult part about power transmission was the accurate to about a one meter radius. To address this
design of the boost and buck converter circuits. This is a issue, we will be relying on the tensioning system to reel
unique design case that requires both high voltage and in the Matrice 100. To do this, the tensioning system
high current, meaning many off-the-shelf converters must be able to maintain a high level of tension as the
were not suitable for this projects needs. This lack of quadcopter descends. As the quadcopter is reeled in, the
commercial technology necessitated that we design and tensioning system should also decrease in speed to
build our own converters, a time-consuming and energy- increase accuracy. Additionally, the tether spool needs
intensive process for engineers who specialize in to fit into the Pelican case. In order for this to compactly
fit, we must also consider the wrapping of the wire gauge
mechanical rather than electrical systems. Now that the
and how this affects the feeding system for tensioning.
circuits have been designed, our most pressing concern
is safely implementing them, especially given the high
power levels we are dealing with. If we believe these 9. Action Plan
circuits are unsafe after development, we may be forced Our Gantt chart, shown in Figure 13, reviews our
to change our design to allow for AC power timeline for the project. To accomplish our goals, we
transmission. However, with AC power transmission, a have divided the team in three main subgroups: Tension
DC Power Supply would need to be placed on the Team, Power Team, and Landing Team. The landing
scheme design process is just beginning now that we
quadcopter during operation. Tom Clark has already
have a better idea of what type of tensioning system we
been a great deal of assistance to us in designing these will be working with.
12
Our timeline was created based on three phases with the way, quadcopter operation would not be limited to areas
Design Reviews being pre-set dates determined by the with working electrical grids, and the tethered M100
course schedule. To adhere to this, Design Review I could me more useful in natural disaster or humanitarian
focuses on initial concept designs, Design Review II situations when AC power is not always available.
relies heavily on the electronics and tether final designs,
and Phase 3 includes prototype and testing. With the ME In order to realize this goal, we would need to allow the
102B Demo on April 29th, Phase 3 will follow the most user to bypass the DC Power Supply and connect a 22V
strict timeline in order to compensate for any battery directly to the boost converter. We believe this is
complications that may arise in the first three weeks of a plausible goal because it would only require additional
April. We believe that these three weeks will be electrical connections for a battery and a switch to tell
adequate to address any issues or questions that may the boost converter whether to draw power from the
stem from the landing scheme and tensioning system. battery connection or the DC Power Supply.
The sub teams are divided as follows: 10.2 Autonomous Flight Path
Tensioning System Team - Kevin Chen, Jack
Hendershott & Lavanya Jawaharlal Our second stretch goal is to use DJI Developer, which
Power Transmission Team Turner allows us to access the DJI Mobile and Onboard SDKs
Anderson, Les Girard, & John Norton for our M100, to implement autonomous flight paths for
Landing Scheme Team Turner Anderson, the tethered drone. In this way, the user would only have
Kevin Chen, Jack Hendershott, Lavanya to select a hover height and a flight length, at which point
Jawaharlal the quadcopter would autonomously, without any
SDK Development John Norton & Jack further user input, fly to the specified height and hover
Hendershott for the specified time while transmitting and receiving
any necessary communications.
The milestones chart, shown in Figure 14 defines the
deadlines, milestones, and team assignments. To achieve this goal, we would need to gain access to
DJI Developer and quickly familiarize ourselves with
the interface. Then, we would need to code the necessary
flight paths in iOS or Android using real-time flight data
from the quadcopter. Compared to the battery
interconnection, this would be a much more difficult
goal to achieve because of our limited experience with
iOS or Android software. However, any
commercialized, tethered quadcopter that is being used
for communications purposes should not need to have a
user at the controls for the entirety of its flight, so this is
a very desirable function for our quadcopter. While an
Figure 14: Milestones along with designated team role autonomous flight path is not directly related to the
tethered operation of the quadcopter, it would make a
tethered quadcopter a much more usable platform.
10. Stretch Goals
If we are able to fulfill all the project specifications with 11. Information Sources
time to spare, we have a couple stretch goals that, if they
were to be implemented, would make the tethered drone All of the information regarding the project and drone
much more commercially applicable. specifications came from Darren Liccardo, vice-
president of engineering at DJI. We have spoken
10.1 Battery Interconnection extensively with Tom Clark, Research Engineer II with
Rather than plugging the base system into a standard the mechanical engineering department at University of
electrical outlet, it would be useful to have the option to California, Berkeley. Tom has provided us with
extensive assistance on the power transmission aspects
power the quadcopter with a large 22V battery. In this
of the project. Most of the mechanical and systems
13
engineering design has come from our own experiences 6. LM78XX/LM78XXA 3-Terminal 1 A Positive
on past projects, and we do not anticipate needing any Voltage Regulator, Fairchild Semiconductor,
further help in that direction. We may speak to Tom September 2014.
more about how to safely test the electrical components,
7. LMx93, LM2903 Dual Differential Comparators,
especially given that we will be dealing with high
voltage and high current systems. Texas Instruments, June 2015.
8. LM555 Timer, Texas Instruments, January 2015.
9. RURG3060 30A, 600V, Ultrafast Diode, Fairchild
12. Conclusion
Semiconductor, November 2013.
For this project, we will modify a DJI Matrice 100 to 10. "Onboard SDK." DJI Developer. Web. 04 Mar.
include a 100-foot tethered system that utilizes a DC 2016.
power system. It was determined that DC power 11. Wire Bending Radius West Florida Components.
transmission in the tether was favorable over AC power Web. 27 Mar. 2016.
transmission due to the quadcopters payload limits. DC
power transmission will place less load on the
quadcopter because the only on-board addition will be a
buck converter, rather than a rectifier. Furthermore, we
will be using regulated voltage circuits to power the
converters instead of batteries to minimize the weight of
the drones. Based on our concept selection for the
tensioning system, we will be developing a ground-
based, motor-controlled tensioning system while
emphasizing indefinite hovering capability, autonomous
tensioning, and safety. As we move forward with
development, we will be focusing on electrical safety as
we are dealing with high power circuits. Finally, we have
already purchased the majority of the necessary
electronics, the tensioning and landing designs have
been completed, and we will be following our Gantt
chart to maintain a strategic and effective timeline. If we
continue to follow our timeline and do not have to
confront any major unforeseen challenges, we will be
prepared to demonstrate a tethered M100 on April 29th,
2016.
References
1. M-100 Instruction Manual, v1.0, DJI, June 2015.
2. DJI Drone Project Team, DJI, January 2016.
3. Basic Calculation of a Boost Converters Power
Stage, Texas Instruments, January 2014.
4. Basic Calculation of a Buck Converters Power
Stage, Texas Instruments, January 2016.
5. FCA47N60/FCA47N60_F109 N-Channel
SuperFET MOSFET, Fairchild Semiconductor,
June 2014.
14
Appendix 1: Boost Converter Calculations
I
Appendix 2: Buck Converter Calculations
II
Appendix 3: Engineering Drawing of Final Base System
III
Appendix 4: Bill of Materials
Manufacturer Part No. Part Name Unit Cost No. Units Total Cost
(USD) (USD)
SparkFun 42BYGHM809 Stepper Motor 16.95 1 16.95
SuperBrightLEDs WP18-2 18AWG Power Wire 0.19/ft 125 ft 23.75
Reds B00L0GOMCA Bones Bearings (x6) 14.25 1 14.25
The Pelican Store 47253 iM2200 Storm Case 104.60 1 104.60
Arduino 50 Uno R3 24.95 1 24.95
McMaster Carr 8974K28 Multipurpose 6061 Al 3.08/ft 3 ft 9.24
SainSmart 10201 Microstep Driver ST-M5045 N/A 1 0
Switching Power LC-045 24VDC 14.6A 350W Supply 46.00 1 46.00
Fairchild Semiconductor LM555CN 555 Timer 0.25 2 0.50
Fairchild Semiconductor LM7812CT Voltage Regulator 0.29 2 0.58
Fairchild Semiconductor LM393N Dual Comparator 0.29 2 0.58
Jameco 3201-H-VP 10 H Toroidal Inductor 1.25 16 20.00
Fairchild Semiconductor RURG3060 Ultrafast Diode 2.81 2 5.62
Fairchild Semiconductor FCA47N60F N-Channel MOSFET 11.75 2 23.50
C&K Slide Switches S802C31S2WCQ 2-Channel Slide Switch 6.09 1 6.09
IV
Appendix 5: Engineering Drawing of Tension Sensor