1. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 1: Slide 1 Chapter 1 Introduction

2. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 1: Slide 2 Civil and Commercial: Monitoring environment − meteorology, pollution, mapping, mineral exploration Monitoring disaster areas − forest fires, avalanches, nuclear contamination Communications relays − news broadcasts, disaster relief, sports events Law enforcement − road traffic, border patrol, drug control Precision agriculture − crop monitoring Military: Special Operations: Situational Awareness Intelligence, surveillance, and reconnaissance Communication node Battle Damage Assessment Homeland Security: Boarder patrol Surveillance Rural/Urban Search and Rescue Potential Applications for Small UAVs

3. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 1: Slide 3 Kestrel Autopilot v2.2 3-Axis Angular Rate & Acceleration Measurement 20 Point Sensor Temperature Compensation Kalman Filter Attitude Estimation Optional “piggy-back” Modem Configurable Failsafes 2-Axis Magnetometer 2-Axis Gimbal Support Dead reckoning filter gracefully handles GPS outages Multiple-UAVs Smart Loiters Auto-Trim 16.7 grams 2” x 1.37” x.47”

4. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 1: Slide 4 UAV Test Platforms Gimbal: 76 grams 360 pan, 90 tilt EPP Foam, rugged – gimbal or fixed cameras Commbox: wireless comm. 46 inch Platform:  COTS airframe  Wing Area: 2.83 ft 2  Unloaded Weight: 11.5 ounces.  Wing loading factor: 4 ounce/ft 2.  Cruise speed: 13 m/s.  Flight time: 40 min.  Additional payload: 8 ounces.

5. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 1: Slide 5 Design Process

6. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 1: Slide 6 Architecture

7. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 1: Slide 7 Architecture w/ Camera