Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing.

• Proposed UHV focuses on the following functions:

Remote controllableStream, lake-floor surveyingPositioning using GPS and INSReal-time data processing and displaying results

The Objective of the proposed UAV

Components of Proposed UAV

1. UHV platform including frame, motors and controller board

and remote control

2. Ultrasonic sensor

Components of Proposed UAV

PART NUMBER ST-601

Nominal Frequency 70/190

Overall sensitivity -30dB distance : 100cm

Capacitance [pF] 1,400

Total Beam angle[˚](3dB down) 20±5

Detectable range [m] 50/20Resolution [mm] 3min

Dimension[ mm] [Diameter × thickness] 62 X 63h

Weight [kg] 1.2(with 10m cable)

3. Microcontroller main board (MCU)

Arduino mega 2560 board (one mounted in UAV, and one for base station)

Components of Proposed UAV

4. Wireless data transmission module for remote controlling:

XBee Pro 900 RPSMA 50mW (http://goods.ruten.com.tw/item/show?21304077019543)

Highest 9.6kbps baud rate   100 mW (+17 dBm) power output Up to 10 Km

Components of Proposed UAV

5. INS/GPS module for determining position and orientation and path planning

(developing from previous researches)

Components of Proposed UAV

Operation principle

Operation principle

Operation principle

• Software to process INS/GPS data to provide position and orientation of the UHV

• Software to process the Ultrasonic data acquired from UHV and transform them into a Geo-reference frame that can be used for multi-purpose– water-floor mapping– Detecting underwater object– Monitoring underwater infrastructure

Post-processing works

Post-processing works

Components with cost estimated (for reference)

Components with cost estimated

Components Price (Tw NT)

Quantity Cost(NTD)

UHV platform 5,000 1 5,000

Arduino mega 2560

1,000 2 2,000

Xbee pro (10 km) 3,000 1 3,000

GPS module 2,000 1 2,000

MEMS IMU 2,000 1 2,000

Untrasonic sensor 5,000 1 5,000

Total 19,000