This paper describes the development of a centimeter-scale rotorcraft for use as an atmospheric sensor platform. The aerodynamic design of the rotor system is highlighted, while approaches to fabrication, control, and power systems are summarized. 2D Navier-Stokes analysis and design of the rotor sections was combined with 3D nonlinear optimization of the rotors. Results of prototype tests suggest that the concept can be successfully produced and that design methodology is appropriate, despite the insect-like scale of the rotors.
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