This Paper explores the development of a novel hybrid air vehicle for package delivery called the quadrotor biplane tail-sitter. This vehicle uses differential thrust to effect body attitude changes like a traditional quadrotor, ensuring full transitional control between hover and forward flight modes. This method of control also allows the vehicle to remain mechanically simple. A vehicle was designed with a 1 lb (0.45 kg) payload, resulting in an 8 lb (3.63 kg) gross takeoff weight. The vehicle can hover using 15 in. (0.381 m) diameter proprotors and has two wings that span 3.35 ft (1.03 m), which provide lift in forward flight. Sensors were implemented onboard the vehicle to monitor individual dc brushless motor revolutions per minute, body attitude angles, electrical power consumption, and airspeed relative to wind. Stable hover was demonstrated with package delivery, and it was found that 18% less power was used when hovering with no payload compared to full payload. Package delivery was also successfully demonstrated after transitioning from hover to forward flight and back. In forward flight mode with no payload, the power consumption at a forward flight speed of $19\mathrm{ft}/\mathrm{s}$ ($6\mathrm{m}/\mathrm{s}$) was seen to be 50% less than the power consumed in hover.

本文探讨了一种称为四旋翼双翼机尾翼的新型混合动力包裹递送飞行器的开发。这种飞行器像传统的四旋翼飞行器一样使用不同的推力来影响身体姿态的变化，确保悬停和前飞模式之间的完全过渡控制。这种控制方法还允许车辆保持机械简单。一辆车的设计有效载荷为 1 磅（0.45 千克），导致总起飞重量为 8 磅（3.63 千克）。该飞行器可以使用直径为 15 英寸（0.381 米）的螺旋桨悬停，并有两个跨度为 3.35 英尺（1.03 米）的机翼，在向前飞行时提供升力。传感器安装在车辆上，以监测单个直流无刷电机每分钟转数、车身姿态角、电力消耗和相对于风的空速。包裹交付展示了稳定的悬停，结果发现与满载相比，在没有有效载荷的情况下悬停时使用的功率减少了 18%。在从悬停过渡到前飞和返回后，包裹递送也得到了成功演示。在无有效载荷的前飞模式下，前飞速度下的功耗为$19\mathrm{英尺}/\mathrm{秒}$ ($6\mathrm{米}/\mathrm{秒}$) 比悬停时消耗的功率低 50%。