# Mini Glider Design and Implementation with Wing-Folding Mechanism
## 1 Introduction
For different approaches in literature, although the same mechanical equipment is used, we can see that sensor data retrieval experiences mishaps during the launch process [8; 9]. With this method, the amount of energy needed will be kept at a minimum, resulting in a light and compact structure. There are different autonomous studies that perform sudden dive to the target point [22]. It is observed that the success at higher wind speeds (>3 m/s) and the pitch error (avg 33.29\({}^{\circ}\)) are considerably high, although diving with an average error of 1 m to the desired point is carried out with low altitude release (30-40 m). Although it can dive to the target point from a lower altitude than our study, autonomous separation and wing-folding mechanism have been not mentioned. In addition, despite having an open loop controller, the pitch error is quite high. There are also works related to the folding of the wings [23]. Wing deploying and folding times, efficiency and stress analyses are not given and no real test results are available. This work is a mini-glider that can be autonomously separated at a certain height and autonomously open its wings. To the best of our knowledge, the speed optimization of the wing-unfolding and mechanical analysis regarding its unfolding speed have never been studied. Moreover, as a contribution to literature, passive glider design and implementation under certain limitations are given with application details. What should be considered in a lightweight (<1 kg) of a glider and firm foldable structure of wings are reported. Such a work, which has a mechatronics approach, can influence other works done in miniature level in future. It is worth mentioning that this mini-glider design is not just for a competition, but also for use in the other areas by further improving the design. Some possible areas in which the designed can be implemented into are as follows: transportation of medical and surgery supplies, exploration of chemical and radioactive areas, search and rescue operations, communication systems, and agriculture. With its lightweight design and low power consumption, the glider can obtain relevant flight data from all sensors. Thus, aerodynamically, a more successful design has been made. In our work, six-degree-of-freedom movement systems were first created and simulated in MATLAB/Simulink(r) (version R2015a, MathWorks Inc., Natick, MA, USA) Mechanical design and the analysis of the planer is made in the 3D Solidworks(r) (version 2015, Dassault Systemes, Velizy-Villacoublay, France) program. Electronic card design is made through the Proteus(r) (version 7.6, Labcenter Electronics Ltd., North Yorkshire, UK) program. While the ground station software required for communication structure is completed with Labview\({}^{\textregistered}\) and C\(\sharp\) language, the microprocessor structure of the planner is made with Arduino IDE (version 1.6, Ivrea, Italy). In the second part of the work, measurement models used with satellite kinematic and dynamic equations are presented. In the third part, after the system analysis is made by COMSOL\({}^{\textregistered}\) (version 5.3, COMSOL Inc., Stockholm, Sweden) and the simulated studies, the fourth and last, the result section is discussed and evaluated.