1. 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)

2. Project Status Update Project Family
Open Architecture, Open Source Unmanned Aerial Vehicle for Imaging Systems
Family Number
R09230
Start Term
planned academic quarter for MSD1
End Term
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
R Open Architecture, Open Source Aerial Imaging Systems
Law Enforcement Agencies (Marijuana Eradication)

3. 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:
R 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

4. 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

5. 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

6. 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

7. 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

8. 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

9. 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 %

10. 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

11. Preliminary Schedule
Graphical Representation of Rough Schedule

12. 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

13. 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

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

15. Questions?