Project Status Update R09230: Open Architecture, Open Source Unmanned Aerial Vehicle for Imaging Systems A. Benjamin Wager (ME) B. Michael Skube (ME) C. Matthew Greco (ME) D. James Hunt (ME) E. Stephen Sweet (ME) F. Joshua Wagner (ME)

Project Status Update Project Family Open Architecture, Open Source Unmanned Aerial Vehicle for Imaging Systems Family Number R09230 Start Term 2008-2 planned academic quarter for MSD1 End Term 2013-3 planned academic quarter for MSD2 Faculty Guide Dr. Jason Kolodziej (ME) Faculty Consultant Dr. Agamemnon Crassidis (ME) – Possible Consultant Dr. Mark Kempski (ME) – Possible Consultant Dr. P. Venkataraman (ME) – Possible Consultant Primary Customer R09560 - Open Architecture, Open Source Aerial Imaging Systems Law Enforcement Agencies (Marijuana Eradication)

Mission Statement Product Description /Project Overview The Unmanned Aerial Vehicle family of projects is intended to create an open source, open architecture platform to hold imaging systems for research projects and law enforcement. Key Business Goals/Project Deliverables The primary business goals of this product are to Create a product that is more cost effective than existing solutions. Create a stable, easily controlled aerial platform. Create an open source UAV platform that can carry and control an imaging system. Primary Market / Project Opportunities The primary market for the Unmanned Aerial Vehicle is the RIT College of Imaging Science. It is intended as a tool to facilitate imaging research, and to enhance their image capturing abilities. Secondary Market / Project Opportunities The secondary market for the Unmanned Aerial Vehicle is Public Safety Officials. Primarily for Law Enforcement to increase their response capabilities, and decrease their reliance on manned aircraft, thus decreasing their aerial costs. This can also be used by fire departments to track wildfires or realtors who sell large tracts of land. Stakeholders Stakeholders in the design of our product include the following: R09560 - Open Architecture, Open Source Aerial Imaging Systems College of Imaging Science Law Enforcement Agencies Fire Departments Realtors / Appraisers The Communities in which our law enforcement customers reside

Identify Customer Needs Conducted Interviews Police Departments Mr. Anand Badgujar Det. Steve McLoud Accident Reconstructionists John Desch Associates Real Estate Agents Mr. Len DiPaolo Fire Departments Mr. Dave Wardall Customs and Border Patrol Mr. Don Lyos Past Senior Design Teams P08110 – UAV Digital Imaging System: Interface between R/C aircraft and mounted imaging system P07122 – Modular, Scalable, Autonomous Flight Vehicle: Autonomous aircraft to carry a payload P07301 – Vehicle Data Acquisition DAQ Subsystem: Data processing and transmission P06003 – Schweizer 1-26 Flight Simulator: Flight control systems with intuitive user interface P06010 – Constant Surveillance UAV: Autonomous vehicle control and GPS waypoint navigation

Concept Development Identify Customer Needs - Interpret Needs Statements: Minimize vibrations for clear images/video Ability to loiter over one particular area High top speed to arrive at destination quickly Airspeed Altitude Pitch Heading GPS Position Oblique angle of image (could be calculated from other measurements) Control engine speed Control flaps, rudder, etc. Pass along measured flight data Remote control of the plane Autonomous flight via offboard computing Autonomous flight via onboard computing Aircraft must survive several rough landings Protect payload in the event of a crash Easily assembled/disassembled or collapsed to fit in an SUV or truck Carry a sufficient amount of imaging equipment Easily interchange different imaging systems

Affinity Diagram Flight Characteristics Controls Take Off / Landing Autonomous Patrol RC Control Preprogrammed Flight Route Third Party Pilot / Data Collection Pre-Programmable Flight Characteristics Loiter Fast Stable Short Flight Time Long Flight Time Take Off / Landing Conventional Landing Net On Roof Thrown / Parachute VTOL Data Collection Third Party Pilot / Data Collection 3D Mesh Imaging Capability Real Time Site Data Report Photo Information (scale, angle) GPS Camera Down-looking Camera Wide Angle Lens Still Pictures Video Straight Down Camera Angle Angled Camera Airframe Easy / No Assembly Needed Able to Disassemble Small Package Modular / Removable Wings

Objective Tree Inexpensive - Cheaper than currently fielded systems Easy to Fly - for targeted end user groups Stable - Low maintenance cost Economic Objective Sustainable - Long life between maintenance and replacement Time - Complete sub projects in 22 weeks & quick assembly of vehicle if portable Unmanned Aerial Vehicle for Imaging Systems Objective Tree Technological Objective Resource Objective Rugged - Simple but powerful technology Small User Groups - Small operator and maintenance staff Raw Materials - Funding and material source Unmanned - Use of technology to automate flight Scope Objective Open Source - Develop all aspects for in house production Team Integration - Both UAV sub groups and Imaging team Marketable - Public Safety and Research Usage

Hierarchy of Needs Fast, stable aircraft Minimize vibrations for clear images/video Ability to loiter over one particular area High top speed to arrive at destination quickly Ability to measure flight parameters Airspeed Altitude Pitch Heading GPS Position Oblique angle of image (could be calculated from other measurements) Ability to control the aircraft and the payload Interface with the imaging system to pass along commands Control engine speed Control flaps, rudder, etc. Communication between the aircraft and user Pass along measured flight data Remote control of the plane Autonomous flight via offboard computing Autonomous flight via onboard computing Structural integrity and features Aircraft must survive several rough landings Protect payload in the event of a crash Easily assembled/disassembled or collapsed to fit in an SUV or truck Payload Carry a sufficient amount of imaging equipment Easily interchange different imaging systems

Customer Requirements House of Quality Customer Requirements Customer Weights Weight Airspeed Energy Consumption Controls Maintenance Survivability Fast 3 9   1 Stable Long Flight Time Cheap Easy to Fly Raw Score 120 66 99 171 48 Relative Weight 21 % 12 % 17 % 30 % 08 %

Track Phase I Phase II Phase III Phase IV Airframe Design initial Balsa plane scalable, anticipate future changes in camera Select Single Design, Build Multiple,(Airfoil/material/engine/lift capacity), use foam & fiberglass Finalize design, use of composites, crashworthy Tweak, Light Advanced Materials, build final planes Communications Short Range Communication, R/C controls, Forward looking camera data Wireless test rig DAQ, Signal Processing (Borrow R/C from Measurements/Controls I) Build Home Base & Transmitter, non line of sight Hands off Tracking, Long Range, Reduce Time Delay, Large Bandwidth, (2yrs) Measurements Pressure/Temp Sensors, Test rig for measurements, GPS, Fuel, Accelerometers Test Rig - Integrated Balsa Plane, on board data processing Propulsion Reverse Engineer Motor, generator/power source Open Source Motor Build Payload/ Special Ops Trainer A/C + Camera Module Bays, Hard points Camera bay for Balsa Plane, Incorporate Fuel Battery, Integrate forward Looking camera Landing Gear (extra strength), Recovery System Finalize and Integrate, Test Final design to design specs Controls/ Dynamics Model R/C Plane Dynamics, EoM, wind tunnel Output Controlled Signal to Servo, Use Wireless test rig to control servos Integrate into plane, semi-autonomous, self stabilizing Stable, fully autonomous Interface Flight Simulator Model UAV, Use actual flight data in simulator Route Mapping Integrate into airplane, VR goggles (user friendly), HUD

Preliminary Schedule Graphical Representation of Rough Schedule

Module Phase I Phase II Phase III Phase IV Airframe 5 Mechanical 1 Industrial 6 Mechanical 2 Industrial Communications 1 Mechanical 2 Electrical 2 Computer 2 Software 1 Electrical 3 Computer 3 Electrical 1 Software Propulsion - 4 Mechanical Measurements 3 Mechanical 1 Computer Payload / Special Ops Controls / Dynamics 2 Mechanical 1 Computer/Software Interface 3 Software

Future Plan Where do we go from here? Further specification of individual discipline specialties and requirements. Reexamine individual projects’ complexity and time constraints Separation of phase segments into annual cycles Analysis of budgetary needs and constraints

Considerations Competitions –SAE Heavy Lift –AMA Heavy Lift •FAA Regulations –Classification –Altitude Restrictions

Questions?