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FY18RWDCStateUnmannedAerialSystemChallenge:PracticalSolutionstoPrecisionAgriculture
DetailedBackgroundDocument
October2018Version2.0Developedby
RobertDeters,Ph.D.BSinEngineeringTechnology,ProgramChair,Embry-RiddleAeronauticalUniversity-Worldwide
JeffreyCoppola,MBA
DeputyDirector,RealWorldDesignChallenge
BrentA.Terwilliger,Ph.D.MSinUnmannedSystems,ProgramChair,ERAU-Worldwide
ContributingAuthorsAndrewShepherd,Ph.D.
Director-UAS,SinclairCommunityCollege
BrianSanders,Ph.D.AssistantProfessor,ERAU-Worldwide
JamesMarion,Ph.D.AssistantProfessor,ERAU-Worldwide
PaulLangeFaculty,ERAU-Worldwide
DebraBourdeau,Ph.D.AssociateProfessor,ERAU-Worldwide
StefanKleinke
AssistantProfessor,ERAU-Worldwide
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TableofContentsI.Overview:WhatisanUnmannedAircraftSystem?.............................................................................. 1
PayloadElement(s) .............................................................................................................................. 3
AirVehicleElement ............................................................................................................................. 4
Command,Control,andCommunications(C3)Element..................................................................... 5
SupportEquipmentElement ............................................................................................................... 6
OperatorElement ................................................................................................................................ 6
II.PracticalSolutionstoPrecisionAgricultureChallengeDetail .............................................................. 8
ChallengeScenario .............................................................................................................................. 9
Approach ........................................................................................................................................... 10
CropDetails ....................................................................................................................................... 11
PestDetails ........................................................................................................................................ 12
FieldInfestation ................................................................................................................................. 14
SOLVITALPesticide ............................................................................................................................ 14
CompliantUASSolutionSpecifications.............................................................................................. 15
III.FAARegulations................................................................................................................................ 17
OperationalLimitations ..................................................................................................................... 17
RemotePilotinCommandCertificationandResponsibilities ........................................................... 18
AircraftRequirements ....................................................................................................................... 19
IV.PayloadSelectionGuidelinesandCatalogOptions .......................................................................... 20
AerialSprayingEquipment ................................................................................................................ 20
Visual(Exteroceptive)Sensors........................................................................................................... 23
ProcessingofData ............................................................................................................................. 33
V.AirVehicleElementSelectionGuidelinesandCatalogOptions ........................................................ 35
OptionA:Fixed-WingPusherPropellerDesign ................................................................................. 37
OptionB:Fixed-WingTractorPropellerDesign................................................................................. 39
OptionC:Rotary-wingDesign............................................................................................................ 41
OptionD:MultirotorDesign .............................................................................................................. 43
OptionE:Hybrid(Fixed-wing/Quadrotor)Design ............................................................................. 45
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AlternativeAirVehicleElementOptions ........................................................................................... 47
AdditionalAirVehicleElement-ComponentOptions ...................................................................... 49
VI.Command,Control,andCommunications(C3)SelectionGuidelinesandCatalog .......................... 61
VII.SupportEquipmentSelectionGuidelinesandCatalog .................................................................... 80
VIII.UASPersonnel/LaborGuidelines.................................................................................................... 84
Engineering/DesignPersonnelandTeamMemberRoles ................................................................. 84
DesignConstruction/AssemblyPersonnel......................................................................................... 86
OperationalandSupportPersonnel .................................................................................................. 86
IX.FlightPlanningGuidelines ................................................................................................................ 88
TakeoffandInitialClimb.................................................................................................................... 88
DataCaptureduringStraightandLevelFlight ................................................................................... 88
DataCaptureduringaCoordinatedTurn .......................................................................................... 89
FlightPathforFullCoverageoftheSubjectArea .............................................................................. 89
Approach,Landing,andRefueling/Maintenance .............................................................................. 90
TotalMissionTimeCalculation.......................................................................................................... 90
CommunicationsConsiderations ....................................................................................................... 90
X.BusinessCaseGuidelines................................................................................................................... 95
Rationale................................................................................................ Error!Bookmarknotdefined.
ReturnonInvestment............................................................................ Error!Bookmarknotdefined.
FeasibilityandRisk................................................................................. Error!Bookmarknotdefined.
CompetitiveLandscape ......................................................................... Error!Bookmarknotdefined.
Scope,Schedule,andBudget................................................................. Error!Bookmarknotdefined.
Summary................................................................................................ Error!Bookmarknotdefined.
XI.3DCADModelRequirements ......................................................................................................... 100
XII.AdditionalInformationandResources .......................................................................................... 101
PTCTools ......................................................................................................................................... 101
TeamSubmissions ........................................................................................................................... 101
Scoring ............................................................................................................................................. 101
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ListofFigures
Figure1.BasicUASconfigurationwithmajorelementsidentified........................................................... 2Figure2.UASdesignapproachwithmajorelementoptionsidentified. .................................................. 3
Figure3.ExampleC3configurationandassociatedinterfaces. ................................................................ 5Figure4.Dentcorn.................................................................................................................................... 11Figure5.Damagetocornfromthebillbug. ............................................................................................. 12
Figure6.Lifecycleofthecornbillbug. ..................................................................................................... 13Figure7.DJIAgrasMG-1octocopter. ....................................................................................................... 15Figure8.eBeeSQagriculturaldrone........................................................................................................ 16
Figure9.AsthealtitudeoftheUASchanges,thesensorfootprintwillvary. ........................................ 31Figure10.Theoverlappingsensorfootprintsmustsufficientlyoverlapforsensingwithoutgapsordataholidays. .................................................................................................................................................... 32
Figure11.Theoverlappingsensorfootprintsmustsufficientlyoverlapfordetectionduringacoordinatedturnattheinsideoftheturnandtheoutsideoftheturntoensurecompletecoverageandnodataholidays. ............................................................................................................................... 32
Figure12.Exampleofanassembledcoverageareafrompre-calculatedflightmaneuversandtheirindividualcoverageareas. ........................................................................................................................ 33Figure13.Fixed-wingpusherpropellerdesign. ....................................................................................... 37
Figure14.Fixed-wingtractorpropellerdesign. ....................................................................................... 39Figure15.Rotary-wingdesign. ................................................................................................................. 41Figure16.Multirotordesign. .................................................................................................................... 43
Figure17.Hybrid(fixed-wing/quadrotor)design. ................................................................................... 45Figure18.SixUASwithlow-powercommunicationsoperatinginsubjectarea(interference)............. 91Figure19.UASfeaturinguseofamultiplexer(inred). ........................................................................... 92
Figure20.TrackingAntennaexample. ..................................................................................................... 93Figure21.Multipleaircraftanddirectionalantennaseparationexample. ............................................ 94Figure22.3Dcubeswithonecommonedge. ........................................................................................ 100
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ListofTablesTable1.PayloadElement–AerialSprayingEquipmentOptions ............................................................ 21
Table2.PayloadElement–VisualSensorOptions.................................................................................. 24Table3.AirVehicleElement–AdditionalFlightControlOptions ........................................................... 49Table4.AirVehicleElement–AdditionalOnboardSensorOptions ...................................................... 51
Table5.C3Element–Control/DataProcessingandDisplayEquipmentOptions .................................. 62Table6.C3Element–CommunicationEquipmentOptions.................................................................... 66Table7.DescriptionofUAVComponents ................................................................................................ 80
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I.Overview:WhatisanUnmannedAircraftSystem?Anunmannedaircraftsystem(UAS)canbedefinedasanaircraftwithoutanoperatororflightcrew
onboard.Theyareremotelycontrolledusingmanualflightcontrol(i.e.,teleoperation)orautonomouslyusinguploadedcontrolparameters(e.g.,waypoints,altitudehold,orminimum/maximumairspeed).
UASaretypicallyusedtoperformavarietyoftasksorapplicationsthatareconsideredtoodull,dangerous,dirty,ordeepforhumansormannedplatforms(i.e.,4Ds).Theircivilian/commercialuses
includeaerialphotography/filming,agriculture,communications,conservation/wildlifemonitoring,damageassessment/infrastructureinspection,fireservicesandforestrysupport,lawenforcement/security,searchandrescue,weathermonitoringandresearch.Theyprovideanoption
thatiseconomicalandexpedient,withoutputtingahumanoperator(i.e.,pilot)atrisk.
UASarecommonlyreferredtoasunmannedaerialvehicles(UAV)s,unmannedaerospace,aircraftoraerialsystems,remotelypilotaircraft(RPA),remotelypilotedresearchvehicle(RPRV),andaerialtargetdrones.However,thetermUASitselfisreflectiveofasystemasawhole,whichhasconstituent
componentsorelementsthatworktogethertoachieveanobjectiveorsetofobjectives.Thesemajorelements,depictedinFigure1,includetheairvehicleelement,payload,data-link(communications),commandandcontrol(C2),supportequipment,andtheoperator(humanelement).
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Figure1.BasicUASconfigurationwithmajorelementsidentified.
TheUASyouwilldevelopinthischallengeiscomprisedofthesamesuchelements.NOTE:Forpurposesofcomponentcategorizationandfunctionalitysimplification,thedata-link/communicationsandcommandandcontrol(C2)havebeencombinedintoasingleelement(i.e.,command,control,and
communications[C3]).Eachteamwillchoosedifferentquantities,sizes,types,andconfigurationsofthevariouscomponentstocreateauniqueUASdesignusingtheapproachdepictedinFigure2.
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Figure2.UASdesignapproachwithmajorelementoptionsidentified.
Ahigh-leveldescriptionofeachofthesystemelements,tailoredtothischallenge,follows.Manyoftheseitemsaredescribedinmoredetailinlatersections.
PayloadElement(s)ThepayloadsrepresentthefirstelementtobeexaminedinthedesignofaUASasittraditionally
representstheprimarypurposeoftheplatform.Inthecaseofthischallenge,thepayloadmustbeselectedinordertodetectpestsoveracropareatwo(2)milebytwo(2)milefield.ThefollowingprovidescommonexamplesofVisual/exteroceptivesensors.Thesesensorsareusedtocapture
informationregardingtheoperatingenvironment.Thisinformationcanbeusedtoprovidesituationalawarenessrelativetotheorientationandlocationoftheaerialvehicleelementand/orprovideinformationaboutthepestcontentinthecroparea.Thefollowingrepresentthemajorprimarypayload
categoriestoconsiderinthedesignanddevelopmentofaUAS:
• Visual/exteroceptivesensors–usedtocaptureinformation(e.g.,visualdata)regardingtheoperatingenvironmenttoprovidetheoperatorwithsituationalawarenessrelativetotheorientationandlocationoftheaerialvehicleelement(e.g.,unmannedaerialvehicle[UAV])ofaUAS.Thefollowingrepresenttheexamplesofcommonpayloadsensors:
o CCD/CMOScamera(e.g.,DaytimeTV,colorvideo)–digitalimagingsensor,typicallyreturnscolorvideoforlivedisplayonthegroundcontrolstation(GCS)terminal
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o Thermal(e.g.,infrared[IR])–sensorusedtomeasureandimageheat(i.e.,thermalradiation)
o LiDAR–measuresdistanceandcontoursofremotebodies(e.g.,terrain)throughuseofreflectedlaserlight,typicallyrequiressignificantamountofpreorpost-processingtorenderanddisplaythedata
o SyntheticApertureRadar(SAR)–measuresdistanceandcontoursofremotebodies(e.g.,terrain)throughuseofreflectedradiowaves,typicallyrequiressignificantamountofpreorpost-processingtorenderanddisplaythedata
o Multispectralcamera–anall-encompassingvisualsensorforcapturingimagedataacrosstheelectromagneticspectrum(e.g.,thermal,radar,etc.)NOTE:Whiletheseoptionsareoption,itishighlysuggestedthataminimumofaCCD/CMOS
camerabeincludedintheUASdesigntovisuallyconfirmorientation/locationoftheaircraft(seePrimaryvideodataequipment[non-payload]inthefollowingsubsection).Additionally,
proprioceptive(onboard)sensorscanbeusedtoaugmentthepayloadsensorstoimprovesituationalawarenessanddetermineamoreaccuratedepictionofthestateoftheaircraft.
• AerialSprayingEquipment–usedtotransportandapplythepesticide/watermixturetotheaffectedareasofthesubjectcrop
o Boomtubing–usedtoprovidesupportlatticefornozzlesanddeliveryofpesticidemixturefluidfordispersal
o Nozzles–componentsusedtoatomizethismixtureintodropletsforsprayingo Spraypump–usedtotransferfluidfromstoragetanktotubingandnozzleso Spraytank–usedtostoreandcarrypesticidemixturealoftfordispersal
Thedetailsconcerningtheseelements,includingcatalogequipmentoptions,canbefoundintheCatalogOptionssectionofthisdocument.
AirVehicleElementTheairvehicleelement(i.e.,UAV)representstheremotelyoperatedaerialcomponentoftheUAS.
TherecanbemorethanoneUAVinaUASandeachiscomposedofseveralsubsystemcomponents,suchasthefollowing:
• Airframe–thestructuralaspectofthevehicle.Theplacement/locationofmajorcomponentsontheairframe,includingpayload,powerplant,fuelsource,andcommand,control,and
communications(C3)equipment,willbedeterminedbyyourteam.Thiselementcanbepurchasedasacommercially-off-the-shelf(COTS)optionfromthecatalogorcustomdesignedbyyourteam
• FlightControls–theflightcomputer(e.g.,servocontroller),actuatorsandcontrolsurfacesoftheairvehicle
• Powerplant(propulsion)–thethrustgeneratingmechanism,includingtheengine/motor,
propeller/rotor/impeller,andfuelsource(e.g.,batteryorinternalcombustionfuel)• Sensors(onboard)–thedatameasurementandcapturedevices
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NOTE:ThesesubsystemcomponentscanbepurchasedasasingleCOTSoptionfromthecatalog(i.e.,includedinCOTSairframe),modified/supplementedusingotheroptions,orentirelycustomdesignedby
yourteam.
Thedetailsconcerningthiselement,includingcatalogequipmentoptions,canbefoundinthesectionAirVehicleElementSelectionGuidelinesandCatalogOptionsofthisdocument.
Command,Control,andCommunications(C3)ElementC3representshowyourteamwillgetdatato(e.g.,controlcommands)andfrom(e.g.,telemetryandonboardsensorvideo)theairvehicleelement(oranyadditionalunmanned/roboticsystems),whileinoperation.Yourconfigurationwilldependonthedesignchoicesmadebyyourteam.Someofthese
itemswillbeincludedintheweightandbalancecalculationsfortheAirVehicleElement(i.e.,airborneelements),whiletheremainingwillbeincludedinthegroundcontrolstation(GCS).Thefollowingimage(Figure3),depictsanexampleC3interfaceoverviewofamediumcomplexityUAS.
Figure3.ExampleC3configurationandassociatedinterfaces.
ThefollowingrepresentstheprimaryC3elementsubsystemcomponents:
• Controlcommandsandtelemetryequipment–thecapture,processing,transmission,receipt,execution,anddisplayofalldataassociatedwithcontrolandfeedbackoftheairvehicleelement.Thefollowingrepresentthetypesofcontrols:
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o Manual–operatorperformsremotecontroloftheUAVo Semi-autonomous–operatorperformssomeoftheremotecontroloftheUAV,system
performstherest(pre-determinedpriortoflight)o Autonomous–operatorsupervisessystemcontroloftheUAV(pre-determinedpriorto
flightanduploadedduringflight)
o Controlswitching–useofamultiplexerdeviceprovidesamethodtoswitchbetweendifferentcontrolmethods(e.g.,switchbetweenmanualandautonomouscontrol)
• Primaryvideodataequipment(non-payload)–thecapture,transmission,receipt,anddisplay
ofvisualdatafromtheprimaryvideosensor(non-payload),ifapplicable.NOTE:Primaryvideoistypicallyusedtooperatetheaircraftfromanegocentric(i.e.,firstpersonview[FPV])perspective
• Remotesensing(primarypayloadsensor)equipment–thecapture,storageortransmissionanddisplayofdatafromtheprimarypayloadsensor.
Thedetailsconcerningthiselement,includingcatalogequipmentoptions,canbefoundintheCommand,Control,andCommunications(C3)SelectionGuidelinesandCatalogsectionofthis
document.
SupportEquipmentElementSupportequipmentrepresentsthoseadditionalitemsrequiredtoassistinUASoperationandmaintenanceinthefield.Thesecaninclude,butarenotlimitedtothefollowing:
• Launchandrecoverysystems–componentsusedtosupporttheUAVtotransitionintoflightorreturntheaircraftsafely
• Flightlineequipment–componentsusedtostart,align,calibrate,ormaintaintheUAS
o Refueling/rechargingsystemo Internalcombustionenginestarter
• Transportation–usedtodeliverequipmenttotheoperatingenvironment/field
• Powergeneration–portablesystemcapableofproducingsufficientpowertoruntheGCSandanyadditionalsupportequipment;typicallyinternalcombustionusinggasoline
• Operationalenclosure–portableworkareaforthecrew,computers,andothersupportgear
Thedetailsconcerningthiselement,includingcatalogequipmentoptions,canbefoundintheSupport
EquipmentSelectionGuidelinesandCatalogsectionofthisdocument.
OperatorElementTheoperatorelementrepresentsthosepersonnelrequiredtooperateandmaintainthesystem.Theseroleswillbedependentonthedesignofthesystem.Thesecaninclude,butarenotlimitedtothefollowing:
• Pilotincommand(PIC)• Secondaryoperator(co-pilotorspotter)• Payload/sensoroperator
• Sensordatapost-processerspecialist• Support/maintenancepersonal
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NOTE:YouwillidentifyyourcrewneedsbasedonyourUASdesignaccordingtotheprovidedguidelines.Forexample,iftheaerialsprayerpayloadisconfiguredtoautomaticallyreleasethepesticideoverspecific
areasidentifiedusingGPS,aspecificpayloadoperatorwillnotbenecessary.However,theappropriatesystemdesignwouldneedtobeestablishedtosupportsuchoperations.
ThedetailsconcerningthiselementcanbefoundintheUASPersonnel/LaborGuidelinessectionofthisdocument.
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II.PracticalSolutionstoPrecisionAgricultureChallengeDetailBy2050,therewillbeanestimatedadditionaltwobillionpeopleonEarth,whichwillsignificantlyimpact
theavailabilityoffood.Ithasbeenestimatedthattherewillbeaneedtoproduce70%morefoodtoaddresssuchapopulationgrowth.Throughouthistory,advancesintechnologyhaveallowedfarmerstoproducemorefood.Onepieceofcurrenttechnologythathasthepotentialtogreatlyhelpthemodern
farmeristheunmannedaircraftsystem(UAS).ByusingaUAS,thefarmercanmorepreciselymonitorafieldofcropsandbeabletoapplywater,fertilizer,orpesticidesinamannerthatsavestime,savesmoney,savesresources,andincreasescropyield.
TheFY18RWDCStatechallengewillcontinuethefocusonunmannedsystemsandprecisionagriculture
throughthedesignandimplementationofaUAStosupportprecisionagricultureintheproductionofcorn.TheteamswilluseconceptsfromEngineeringTechnology(i.e.,applicationofscienceandengineeringtosupportproductimprovement,industrialprocesses,andoperationalfunctions)to
identify,compare,analyze,demonstrate,anddefendthemostappropriatecomponentcombinations,system/subsystemdesign,operationalmethods,andbusinesscasetosupportthechallengescenario.Throughuseofaninquiry-basedlearningapproachwithmentoringandcoaching,thestudentswillhave
anopportunitytolearntheskillsandgeneralprinciplesassociatedwiththechallengeinahighlyinteractiveandexperientialsetting.Forexample,thestudentswillneedtoconsiderandunderstandthevariousunmannedsystemelemental(subsystem)interactions,dependencies,andlimitations(e.g.,
poweravailable,duration,rangeofcommunications,functionalachievement)astheyrelatetotheoperation,maintenance,anddevelopmenttobestsupporttheirproposedbusinesscase.
Tosupporttheinquirybasedlearningapproach,eachteamwillperformanddocumentthefollowing:1) TaskAnalysis-analyzethemission/tasktobeperformed
2) StrategyandDesign-determineengineeringdesignprocess,roles,theoryofoperation,designrequirements,systemdesign,crewresources,integrationtesting,anddesignupdates
3) Costs-calculatecostsandanticipatedcapabilitiesassociatedwithdesignandoperation,
includingmodificationofthedesigntofurthersupportacompetitiveandviablebusinesscase4) AlternativeUses-identifyalternativeusesofsystemtoimprovemarketabilityandusecases
Asyouprogressthroughthechallenge,yourteamwillincrementallybepresentedwithbackgroundrelatingtothecompositionandoperationofunmannedsystemdesigns,engineeringdesignprinciples,
unmannedsystemapplicationtoprecisionagriculture,businessmanagement,anddevelopmenttools.Youwillneedtoworktogetherasateamwithcoachesandmentorstoidentifywhatyouneedtolearnwhilepursuingthecompletionofthischallenge.Byconnectingyourownexperienceandinterest,you
willhaveanopportunitytogainfurtherinsightintotheapplicationofdesignconcepts,betterunderstandapplicationofunmannedsystemtechnology,andworkcollaborativelytowardscompletionofacommongoal.
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ChallengeScenarioYourCompanyhasbeentaskedwithmakingacasewhetherornotthepart107regulationsarerestrictingtheabilitytoimprovecropyieldwhileminimizingprofits.Youwillbecomparingyouraircraft
totwoaircraftthatdoprecisionagricultureintheUnitedStates.YourUASdesignshouldperformsprayingand/orsurveyingbetterthantheoneorbothoftheaircraftsgiven.WhileyoumaychoosetohavecapabilitiesofbothUASdesignsgiveninyourdesign,youmustdobetterthantheDJIAgrasMG-1
atspraying,dobetterthantheeBee SQ at surveying, or do better at both.Todemonstratetheabilitiesofyouraircraft,youwillbeusingthetestfieldownedbyyourcompany.Thefieldis2milesby2milesinsize(2560acres)andthecropiscorn.Itwillalsobeassumedthatyoumustprovideyoursurveyingand
sprayingasaservicetothefarmer,youmayNOTsayyourbusinesscaseistoselltheaircraft.
IfyoudecidethatyourUAVwillonlytakecareofoneofthe2featuresdonebytheDJIAgrasMG-1(spraying)ortheeBee SQ (surveying), you will need to come up with a way of completing those tasks through traditional methods. For example, if you make a surveying UAV that is unable to do any spraying, you will need to research another method of getting the pesticide to the affected areas. The cost of performing the additional tasks that your UAV design does not complete must be accounted for in your costs for servicing the field. You must however have at least one UAV that completes the survey and/or spraying tasks of the DJIAgrasMG-1(spraying)ortheeBee SQ (surveying). You should be comparing your system to the given performances of the two given designs. The performance of the DJIAgrasMG-
1(spraying)andtheeBee SQ (surveying) are listed in the detailed background.
Bothdesignsmayuseunmannedgroundvehiclesorotherroboticsystemsifdesired.Inaddition,multipleaircraftmaybeusedatthesametime.
Field:Asmentionedearlier,thesizeofthetestfieldis2milesby2miles(2560acres).Dirtaccessroadssurroundthefield.Aircraftwithawidthof9ftorlessmayusetheaccessroadsfortakeoffandlanding.
Largeraircraftmustusethegrasslandingstripownedbythecompanythatislocated1milenorthofthenorthernborderofthetestfield.
AlthoughthisfieldsizeisthetestingsiteforyourUAS,youshouldtrytofindatwhatrangeoffieldsizesdoesyourUASbestperform.
Safety:Foreachareathatyourteamdecidestogooutsideofpart107withyourUAS,youshouldinclude
waysofaddressinganypossiblesafetyissuesthatmightarise.Besidesanysafetyconcernsfrombeingoutsideofpart107,youraircraftshouldalso,ataminimum,havethefollowingsafetyfeatures:
• ProceduresforlossofsignalfromthepilotandGPS• Proceduresforobstacledetectionandavoidance
Specificpart107regulationscanbefoundat
http://realworlddesignchallenge.org/resources/021515_sUAS_Summary-1.pdf
BusinesscaseTeamswillbelookingtoseeiftheycanmakeacasethattheirdesignsoutsideofpart107
regulationswillleadtoanincreasedopportunityforprofit.Theincreasedprofitshouldbemadefroma
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reductionofcostsoranimprovementinrevenue(throughincreasedcropyield).Teamsshouldlookathowchangestothefieldsizechangesthecostperacre.Thechangesinthecostperacreshouldbeused
tofindarangeofoptimalfieldsizestoreduceyourcosts.TeamsshouldNOTjustraisethepriceoftheirsystemtoimproveitsprofitability.Anyincreaseinpriceshouldbewithinareasonablepriceforafarmertospendandstillmakemoneyhimself.
Comparison:Theoutcomefromyourteamwillbeanunmannedsystemcapableofsurveyingafieldand
sprayingpesticides.Youwillbecomparingyoursystemsperformancewiththeonesgiventoyouinthedetailedbackground.Youwilltrytomakeacasethatifyougooutsideofthepart107regulationsthenyouwillhavetheopportunitytosignificantlyimprovetheprofitabilityofyoursystem.
ApproachEachteamistooperatefromtheperspectiveofasmallcompanyseekingfundingforthedemonstration
ofaprototypesystem.ThechallengeproposalshouldutilizethePACEmodelofproductdevelopment(asadvocatedbytheProductDevelopmentManagementAssociation;www.pdma.org)suchthattheengineeringdevelopmentcostsareminimizedbutalsoincludeinformationabouttheacquisitioncost
andoperationsandsupportcostofthesystemtoshowthattheproductcanbecompetitiveinthemarketplace.Thefollowingstepsarerecommendedinpursuitofaresponsetothechallengescenario:
1. Considerallaspectsandrequirementsofthechallenge2. Performbackgroundresearchonthetopic,availabletools,andexistingdesigns
3. Reviewtheprovidedinformationonthesubjectcrop(corn)andpest4. Developatheoryofoperationthatcanbeadaptedasyoulearnmoreaboutthechallengetopics
andprecisionagriculturemethods5. Createaninitialdesign(conceptualdesign)6. Analyzethedesignanddetermineeffectiveness(i.e.,identifyprocess[es]tovalidateandverify
preliminarydesignandoperation;ensureaircraftiscapableofthelimitloadfactorandultimateloadfactor;determinesurveyefficiency,airframeefficiency,airframecost,andbusinessprofitability,thencalculateobjectivefunction;redesignandreviseasnecessary)
7. Continueresearchanddesign(documentdetaileddesign,designdecisions,lessonslearned,recalculatevariables;redesignandreanalyze,asnecessary)
Thesuccessfulproposalshouldincludeanestimateofthetimelinetorecovertheinitialinvestmentandanypotentialfutureyearprofitsforafive-yearperiod(e.g.,five-yearbreakevenanalysis),whilestriving
todemonstrateandillustratethesolutionefficientlysurveysandspraysthefieldeffectively.Itisstronglyrecommendedthatyouconductyourownresearchonthetopictoanswerthefollowingquestionsasyoubegintodevelopyourchallengesolution:
• Whatpayloadcomponentsarebestsuitedtodetectpestsapplythepesticide(SOLVITAL)? • Areyoudirectly(quantifyingamountofinfestation)orindirectly(colorofcrop,heightofcrop)
measuringinfestation?• HowmanyUAVswouldbeappropriatetoaddressthechallenge?• Howwillthemethodofdetectiondifferduringthegrowthphasesofthecrop?
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• Whatarethecurrentmethodstodetectpestsinregardstocorn(satellite,mannedaircraft,persononfootorinatruck)?
• WhataretheuniqueadvantagesorlimitationsassociatedwithcompliancewithPart107comparedwithnoncompliantmethods?
• WhatbenefitsofcapabilitiesofUAScanbeenhancedoraugmentedtosupporttheiruse? • HowdoestheDJIAgrasaccomplishpesticidespraying? • WhataresomeoftheareasforpossibleimprovementorefficiencygainbygoingoutsideofPart
107regulations?Fromabusinessperspective,youmayalsowanttoconsiderthevariousoperationalfactorsanddesigncapabilitiesthatmayaffectthecostfortreatmentanddetection.
CropDetailsThestandardforthechallengethisyearisZeamaysvar.indentata,commonlyknownasdentcorn.
YellowdentcornisthemostcommonlygrowncornintheUnitedStatesandisusedforcornmeal,tortillas,theproductionofplastics,andfructose(acommonsweetenerinprocessedfoods).Thisspeciesofcorntypicallygrowstoaheightof2-3m(6-9ft).Thespeciesofdentcornusedforthischallengeis
assumedtonotbeaBtcornthathasbeengeneticallydesignedforpestresistance.
Figure4.Dentcorn.1
Currently55%ofallcornfarmlandintheUSispartofafarmthatis2,000acresormore.In2016,cornproductionintheUnitedStatesaveraged175.3bushelsperacre.Forthechallenge,wewillassumeamarketpriceof$3perBushel.2
Performanceofyoursystemisbasedonthechallengefieldsizeof2miby2mi(2560acres).Although
youmaychoosetolookathowyoursystemperformsinfieldsofdifferentsizes,the2560-acrefieldwill
1ByJonathunder-Ownwork,CCBY-SA3.0,https://commons.wikimedia.org/w/index.php?curid=112745432http://www.cornandsoybeandigest.com/blog/usda-projects-record-corn-and-soybean-crop-2016
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beusedinthecomparisonofyourUAS’sperformancetotheDJIAgrasMG1andeBeesSQperforminginsideoftheFAAPart107regulations.
PestDetails3Thepestyoursystemwillberemovingfromthefieldisthecornbillbug.SOLVITALsprayedonafieldin
theappropriatevolumewilleliminateallcornbillbuginfestations.Typically,themosteffectivetreatmenttimetoeliminatetheinfestationisearlyinthecorn’slifecycle.
Reddish-browntoblack,adultbillbugrangeinlengthfrom3/8"-1/2"in(10to15mm).Thisbeetleisactiveatnightandhidesinthesoilduringtheday.Althoughithaswings,thecornbillbugtypically
crawlsoverthegroundinsearchoffood,anditcanmigrate0.25mi(0.4km)ormore.Thepresenceofyellownutsedgehadbeenassociatedwithbillbuginfestations.
SymptomsofCornBillbugs
Figure5.Damagetocornfromthebillbug.
• Cornleavestwistedandfailtouncurlbecauseofcornbillbugs• Rowsofovalholesinwhorlleaves
• Smallplantsmaybekilled
• Excessivetillersonsurvivingplants
• Injuryoftenmoresevereinborderrows• CornsusceptibletoinjurytotheV6leafstage
• Larvaewilltunnelintothebaseoftheplant
3Informationaboutthecornbillbugisfromhttps://www.pioneer.com/home/site/us/agronomy/crop-management/corn-insect-disease/corn-billbugsandhttps://extension.entm.purdue.edu/fieldcropsipm/insects/maize-billbug.php.Figuresarefromhttps://www.pioneer.com/home/site/us/agronomy/crop-management/corn-insect-disease/corn-billbugs
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PestFactsandImpactonCrop
Adultsfeedontheinnerplanttissueofthestemthroughgougedsmallholes.Whilelargerplantsmaycontinuetogrow,smallplantsmaybekilled.Figureshowsthetraverserowofholes,whichisonevisiblesignofbillbugactivity.Thestemandrootsaresusceptibletoinjuryfromgrubs.Severefeedingcanresultinplantlodgingandstoppingthegrowthofanear.Billbugdamagedplantsareusuallystunted.
• Nosignificantnaturalenemiesknown• Hostrangeisprimarilylargergrasses,sedgesandrushes
• Smallcornplantsmaybekilledormisshapenbyadultfeeding
• PlantstoV6leafstagemaytillerandbedeformed
• Severeinfestationshavereducedyieldsupto40%• Damageismostsevereinyellownutsedge-infestedfieldsoralongborderrowswiththisweed
• BillbugsthatsometimefeedoncornexistacrosstheUnitedStatesbutaremoreofaproblemintheSoutheastandtheSouthernCornBelt
Lifecycle
Figure6.Lifecycleofthecornbillbug.
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FieldInfestation Forthischallenge,youwillassumethat10%ofthetestfieldhasbeeninfestedwithbillbugs.Forthefieldsizeof2560acres,yoursystemwillneedtotreat256acreswithpesticide.
SOLVITALPesticide SOLVITALrepresentsthefictionalpesticidefortheFY18RealWorldDesignChallenge(RWDC)State
Challenge.Itisaliquidsuitableforuseinallconventionalagriculturalsprayequipmentagainsttheall
speciesofthecornbillbug.
MixtureDetails Forthediscussionofvolumes,galloninthisdocumentmeansU.S.liquidgallon.Thefollowingrepresents
theweightandeffectivenessofSOLVITAL.
• Weightof8.36lb/gal(1kg/L).Wewillassumethatthereisnosignificantchangeindensitywithinreasonablechangesintemperature.
• 0.35gal(1.32L)isenoughpesticidetotreat1acreofinfestedfield.Iftheamountperacreisreduced,SOLVITALwillnolongerbeeffective.
HandlingandStorage HAZARD:Hazardoustohumansanddomesticanimals.Maybefatalifswallowed,harmfulifabsorbedthroughskin;causesmoderateeyeirritation;prolongedorfrequentlyrepeatedskincontactmaycause
allergicreactionsinsomeindividuals.Avoidcontactwithskin,eyes,orclothing. Applicatorsandotherhandlersmustwear:
• Coverallsovershort-sleevedshirtandshortpants • Chemical-resistantgloves • Chemical-resistantshoesplussocks • Protectiveeyewear • Chemical-resistantheadgearforoverheadexposure • Chemical-resistantapronwhencleaningequipmentandmixingorloading
WARNING:SOLVITAListoxictobirdsandwildlife,andextremelytoxictofishandaquaticorganisms.Do
notapplydirectlytowater,toareaswheresurfacewaterispresent,ortointertidalareasbelowthemeanhighwatermark.
Storage–thefollowingrepresenttherequirementsforstorageofSOLVITAL: • Donotcontaminatewater,foodorfeedbystorageordisposalofwastes • Storeinoriginalcontainerinsecureddrystoragearea • Preventcross-contaminationwithotherpesticidesandfertilizers • Donotstoreabove98.6°Fforextendedperiodsoftimeasstoragebelow43.88°Fmayresultin
formationofcrystals NOTE:Ifproductcrystallizes,storeat50to69.8°Fandagitatetoredissolvecrystals
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• Ifcontainerisdamagedorspilloccurs,useproductimmediatelyordisposeofproductand damagedcontainer.
AssumetheSOLVITALisalreadyavailableonsite(deliveredtothelocationbyavendorinastorage
vessel;deliverycostincludedinthe$45pergallonprice);however,eachsolutionshouldaddresshowtosafelyhandleandaddittotheaircraftfromthestoragevesselusingappropriatesafetypractices.
SpecialtrainingisnotrequiredtohandleSOLVITAL.
CompliantUASSolutionSpecificationsThissectionprovidesbackgroundinformationontheDJIAgrasMG-1andeBeeSQ.Usetheinformationprovidedasthebenchmarkforthecomparisonwithyoursystem.
DJIAgrasMG-1Information,specifications,andfigurearefromDJI’swebsite(https://www.dji.com/mg-1)
Figure7.DJIAgrasMG-1octocopter.
TheDJIAgrasMG-1isanoctocopterdesignedforprecisionapplicationofliquidpesticides,fertilizers,andherbicides.Ithasapayloadcapacityof10kg(22lb)ofliquidsandcandispersetheliquidusingfour
nozzles.Thepayloadcontainerhasavolumeof10L(2.64gal).Eachnozzlehasamaximumsprayrateof0.43L/min.Theaircrafthasaspraywidthof4-6mwhenusingallfournozzleandis1.5-3mabovethecrops.Thestandardtakeoffweightfortheaircraftis22.5kg(49.6lb).Ithasamaximumflyingspeedof
22m/s(49mph),butthemaximumoperatingspeedis8m/s(18mph).TheDJIAgrasMG-1cancover4,000-6,000m2ofcropsin10min,andcanspray7-10acres/hr.Thesprayingefficiencyofthisaircraftisabout40-60timesfasterthanmanualspraying.
Touseasacomparisontoyourdesign,assumethefollowingperformanceoftheDJIAgrasMG-1.Using
SOLVITAL,theAgrascanspray7acres/hr.Bycovering6,000m2perflight,asingleaircraftwillneed4.7flightstocomplete7acres.Assumingittakes10mintocompleteastandardflight,anhourofapplicationtimewillincludeatotalof47minofflighttimewith3.25minbetweeneachflighttoswitch
thebatteryandrefillthepayloadcontainer.Forthe4-mi2(2560-acre)fieldwitha10%infestation,theaircraftwillneedtospray256acres.At7acres/hr,asingleaircraftwilltake36.6hr,orthreedaysofdaylightflights,tocompletethesprayingofthefield.
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eBeeSQInformation,specifications,andfigurearefromSenseFly’swebsite(https://www.sensefly.com/drones/ebee-sq.html)
Figure8.eBeeSQagriculturaldrone.
TheeBeeSQisanagriculturaldronedesignedtocapturecropdataacrossfourmultispectralbandsplus
RGBimagery.Theaircraftcanmonitorhundredsofacresinasingleflight.Theaircrafthasawingspanof110cm(43.3in)andonlyweighs1.1kg(2.42lb).Itscruisespeedis11-30m/s(35-68mph)andhasamaximumflighttimeof55min.Atanaltitudeof120m(400ft)abovegroundlevel,itcancoverabout
500acresinaflight.Thesensorhasagroundsampledistance(GSD)resolutionforthemultispectralof12cm/px(4.72in/px)and3.1cm/px(1.22in/px)fortheRGB.
Touseasacomparisontoyourdesign,assumethefollowingperformanceoftheeBeeSQ.Assumethat
ittakesafull55-minflighttocover500acresat400-ftaltitudeforasingleaircraft.Withacoupleofminutesonthegroundtochangethebattery,itwilltakeabout5hrforasingleaircrafttocoverthefull4-mi2(2560-acre)field.
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III.FAARegulationsInsummer2016,theFAAreleasedtheSmallUnmannedAircraftRegulations(Part107).Thefullrules
canbereadathttp://www.faa.gov/uas/media/RIN_2120-AJ60_Clean_Signed.pdf.Asummaryoftherulesareincludedinthissectionbasedonthedocumentfoundathttp://www.faa.gov/uas/media/Part_107_Summary.pdf.MoreinformationontheFAArulesand
additionalinformationonflyingaUAScanbefoundathttp://www.faa.gov/UAS/.
OperationalLimitations• Unmannedaircraftmustweighlessthan55lbs.(25kg).• Visualline-of-sight(VLOS)only;theunmannedaircraftmustremainwithinVLOSoftheremote
pilotincommandandthepersonmanipulatingtheflightcontrolsofthesmallUAS.Alternatively,theunmannedaircraftmustremainwithinVLOSofthevisualobserver.
• AtalltimesthesmallunmannedaircraftmustremaincloseenoughtotheremotepilotincommandandthepersonmanipulatingtheflightcontrolsofthesmallUASforthosepeopletobecapableofseeingtheaircraftwithvisionunaidedbyanydeviceotherthancorrectivelenses.
• Smallunmannedaircraftmaynotoperateoveranypersonsnotdirectlyparticipatingintheoperation,notunderacoveredstructure,andnotinsideacoveredstationaryvehicle.
• Daylight-onlyoperations,orciviltwilight(30minutesbeforeofficialsunriseto30minutesafterofficialsunset,localtime)withappropriateanti-collisionlighting.
• Mustyieldrightofwaytootheraircraft.• Mayusevisualobserver(VO)butnotrequired.• First-personviewcameracannotsatisfy“see-and-avoid”requirementbutcanbeusedaslongas
requirementissatisfiedinotherways.• Maximumgroundspeedof100mph(87knots).• Maximumaltitudeof400feetabovegroundlevel(AGL)or,ifhigherthan400feetAGL,remain
within400feetofastructure.• Minimumweathervisibilityof3milesfromcontrolstation.• OperationsinClassB,C,DandEairspaceareallowedwiththerequiredATCpermission.• OperationsinClassGairspaceareallowedwithoutATCpermission.• NopersonmayactasaremotepilotincommandorVOformorethanoneunmannedaircraft
operationatonetime.• Nooperationsfromamovingaircraft.• Nooperationsfromamovingvehicleunlesstheoperationisoverasparselypopulatedarea.• Nocarelessorrecklessoperations.• Nocarriageofhazardousmaterials.• Requirespreflightinspectionbytheremotepilotincommand.• Apersonmaynotoperateasmallunmannedaircraftifheorsheknowsorhasreasontoknow
ofanyphysicalormentalconditionthatwouldinterferewiththesafeoperationofasmallUAS.• Foreign-registeredsmallunmannedaircraftareallowedtooperateunderpart107iftheysatisfy
therequirementsofpart375.
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• Externalloadoperationsareallowediftheobjectbeingcarriedbytheunmannedaircraftissecurelyattachedanddoesnotadverselyaffecttheflightcharacteristicsorcontrollabilityoftheaircraft.
• Transportationofpropertyforcompensationorhireallowedprovidedthato Theaircraft,includingitsattachedsystems,payloadandcargoweighlessthan55
poundstotal;o Theflightisconductedwithinvisuallineofsightandnotfromamovingvehicleor
aircraft;ando TheflightoccurswhollywithintheboundsofaStateanddoesnotinvolvetransport
between(1)HawaiiandanotherplaceinHawaiithroughairspaceoutsideHawaii;(2)theDistrictofColumbiaandanotherplaceintheDistrictofColumbia;or(3)aterritoryorpossessionoftheUnitedStatesandanotherplaceinthesameterritoryorpossession.
• Mostoftherestrictionsdiscussedabovearewaivableiftheapplicantdemonstratesthathisorheroperationcansafelybeconductedunderthetermsofacertificateofwaiver.
RemotePilotinCommandCertificationandResponsibilities• Establishesaremotepilotincommandposition.• ApersonoperatingasmallUASmusteitherholdaremotepilotairmancertificatewithasmall
UASratingorbeunderthedirectsupervisionofapersonwhodoesholdaremotepilotcertificate(remotepilotincommand).
• Toqualifyforaremotepilotcertificate,apersonmust:o Demonstrateaeronauticalknowledgebyeither:
! PassinganinitialaeronauticalknowledgetestatanFAA-approvedknowledgetestingcenter;or
! Holdapart61pilotcertificateotherthanstudentpilot,completeaflightreviewwithintheprevious24months,andcompleteasmallUASonlinetrainingcourseprovidedbytheFAA.
o BevettedbytheTransportationSecurityAdministration.o Beatleast16yearsold.
• Part61pilotcertificateholdersmayobtainatemporaryremotepilotcertificateimmediatelyuponsubmissionoftheirapplicationforapermanentcertificate.OtherapplicantswillobtainatemporaryremotepilotcertificateuponsuccessfulcompletionofTSAsecurityvetting.TheFAAanticipatesthatitwillbeabletoissueatemporaryremotepilotcertificatewithin10businessdaysafterreceivingacompletedremotepilotcertificateapplication.
• Untilinternationalstandardsaredeveloped,foreign-certificatedUASpilotswillberequiredtoobtainanFAA-issuedremotepilotcertificatewithasmallUASrating.
Aremotepilotincommandmust:
• MakeavailabletotheFAA,uponrequest,thesmallUASforinspectionortesting,andanyassociateddocuments/recordsrequiredtobekeptundertherule.
• ReporttotheFAAwithin10daysofanyoperationthatresultsinatleastseriousinjury,lossofconsciousness,orpropertydamageofatleast$500.
• Conductapreflightinspection,toincludespecificaircraftandcontrolstationsystemschecks,toensurethesmallUASisinaconditionforsafeoperation.
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• Ensurethatthesmallunmannedaircraftcomplieswiththeexistingregistrationrequirementsspecifiedin§91.203(a)(2).
Aremotepilotincommandmaydeviatefromtherequirementsofthisruleinresponsetoanin-flightemergency.
AircraftRequirementsFAAairworthinesscertificationisnotrequired.However,theremotepilotincommandmustconductapreflightcheckofthesmallUAStoensurethatitisinaconditionforsafeoperation.
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IV.PayloadSelectionGuidelinesandCatalogOptionsThereisavarietyofpayloadsandcapabilitiesthatcouldbeappliedtosatisfytherequirementsofthechallenge.Thissectiondescribesseveralpossibleoptionsthatcanbeselectedforincorporationinto
yourdesign.Itissuggestedthateachteamalsoresearchotherpossiblepayloadsthatcanbeusedinthesurveyandsprayingmissions.Itisimportantthatyouconsiderpayloadattributes,includingcost,capacity,weight,powerrequired,andcapabilities(e.g.,sensorresolutionandfield-of-view).Also,you
shouldconsiderhowthepayloadyouselectwillbeintegratedwithyourplatform.Besuretoaddresssize,weight,power,andstabilizationrequirements.Theselectionmustconsiderenvironmentalfactorssuchasoperatingtemperatureranges,humidity,andcoolingmethod.Ananalysisofcostand
integrationofselectedpayloadsmustbeincluded.
TheUASplatformshouldbethoughtofasadeploymenttoolforthepayloadandshouldbeoptimizedforoptimalpayloadperformance(i.e.surveying,spraying,orboth).RWDChascreatedthefollowingpayloadoptionstobeusedasareferenceinthedesignoftheUASsystem.Sincetechnologyis
constantlyadvancing,especiallyforsensors,youareencouragedtoexplorewhatotheroptionsmaybeavailable,andmakeyourownselectionsbasedonyouranalysis(pleaseprovidesupportingrationaleandatleastthesamelevelofdetailasisprovidedhereintheengineeringnotebook).Keepinmindyou
willneedtoobtainaccuratecostsforanynon-catalogoptionpayloadsyouincorporate.
AerialSprayingEquipment Theaerialsprayingequipmentisusedtostore,transport,anddispersetheSOLVITALpesticideacrosstheinfestedareasofthesubjectcrop.Performinvestigativeresearchtoexplorehowthistechnologyhas
beenusedinconventionalmannedplatformsandisnowbeingusedinthelatestgenerationofunmannedequipment.
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Table1.PayloadElement–AerialSprayingEquipmentOptions
Component Description CostPerItem
BoomTubing
Providesstructuralsupportandconveyspesticidemixturetonozzles:
• 0.25”diameter(0.1466ozperinch) • 0.5”diameter(0.2133ozperinch) • 0.75”diameter(0.28ozperinch)
$0.15perinch(0.25”)
$0.20perinch(0.5”)
$0.30perinch
(0.75”)
FlatFanNozzle
Usedforbroadcastsprayingofpesticidesandherbicides,producestapered-edge,spraypattern(flatfan);idealrangebetween30-40PSI
• 0.125”diameter(0.25ozweight)–0.75”(L)x0.4375”(W)
• 0.25”diameter(0.75oz)–0.9375”(L)x0.5625”(W)
• 0.375”diameter(1.25oz)–1.1875”(L)x0.75”(W)
$1.00(0.125”)$2.50(0.25”)
$4.00(0.375”)
FloodNozzle
Usedtoapplysuspensionmixtureswherecloggingisapotentialconcern(nozzlesrequirespacingof60”)
• Sameweights/dimensionsasflat-fan
$2.00(0.125”)$3.00(0.25”)
$4.00(0.375”)
RaindropNozzle
Usedtoproducelargedispersantdropsinahollow-conepattern
• Sameweights/dimensionsasflat-fan
$1.00(0.125”)$2.50(0.25”)
$4.00(0.375”)
Hollow-coneNozzle
Usedtoapplypesticidewhenpenetrationoffoliageortotalcoverageoffoliagesurface(leaf)isrequired;spraydriftpotentialishigher
• 0.125”diameter(2ozweight)–1.4063”(L)x0.8125”(W)
• 0.25”diameter(2oz)–1.5313”(L)x0.8125”(W)
$3.00(0.125”)$5.00(0.25”)
Full-coneNozzleUsedtocounteractpotentialissuesofdriftbyproducingalargerdropletthanfloodnozzle(requiresflowcontroller)
• 0.125”diameter(0.25ozweight)–0.625”(L)x
$1.00(0.125”)$2.50(0.25”)
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0.5”(W) • 0.25”diameter(0.34oz)–0.75”(L)x0.5625”(W)
Component Description CostPerItem NozzleScreens
Preventsplugging/cloggingofnozzlesbyremovinglargeparticlesfrommixture
• Nominalweightperunit
$0.10(0.125”)$0.25(0.25”)
$0.70(0.375”)
SprayPump Providespressurefortransferofpesticidemixturefromspraytanktoboomtubing/nozzlesatrequisite40PSI
• 0.89lb(14.24oz)
$20
ControlBox
Providescontrolofspraypump(requiresoneservoinputforon/offfunctionality;doesnotvaryspeedorpressure)
• 0.67lb(10.72oz)
$10
SprayTank
Providesstorageofpesticidemixture • Plastic16ozvolume(4ozweight)-2.375”(H)x
5.875”(L)x2.6875” (W)
• Plastic24ozvolume(5ozweight)–2.5”(H)x7.5”(L)x3”(W)
• Aluminum24ozvolume(2.2lbweight)–4.5”(H)x10”(L)x7”(W)
• Plastic32ozvolume(6.4ozweight)–3”(H)x7.75”(L)x3.6875” (W)
• Plastic50ozvolume(7.5ozweight)–3.5”(H)x8.375”(L)x4.375”(W)
$4.50(plastic16oz)$5.00(plastic24oz)
$20(alum24oz)$8.00(plastic32oz)
$12.00(plastic50oz)
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Visual(Exteroceptive)Sensors Visualexteroceptivesensorsareusedtocaptureinformation(e.g.,visualdata)regardingtheremoteoperatingenvironmenttoprovidetheoperatorwithsituationalawarenessrelativetotheorientation
andlocationoftheaerialvehicleelement.CommonpayloadsensorsincludeCCD/CMOScameras,thermal,LiDAR,SAR,andmultispectralcamera.Itissuggestedthateachteamalsoresearchotherpossiblesensorsthatmightfitbetterwiththeirmissiongoals.Itisimportantthatyouconsiderpayload
attributes,includingcost,capacity,weight,powerrequired,andcapabilities(e.g.,sensorresolutionandfield-of-view).Makesuretoconsiderthedatatreatmentandpost-processingrequirementsaspartofthesensorselectioncriteria(e.g.sensordataonboardprocessingvs.downlinkrequirements,post-flight
dataanalysisrequirements,andassociated/requiredcost/manpower/time/equipment).Also,youshouldconsiderhowthesensoryouselectwillbeintegratedwithyourplatform.Besuretoaddresssize,weight,power,andstabilizationrequirements.Theselectionmustconsiderenvironmentalfactors
suchasoperatingtemperatureranges,humidity,andcoolingmethod.Ananalysisofcostandintegrationofselectedpayloadsmustbeincluded.
RWDChascreatedthefollowingsensoroptionstobeusedasareferenceinthedesignoftheUASsystem.However,youareencouragedtoexplorewhatotheroptionsmaybeavailable,andmakeyour
ownselectionsbasedonyouranalysis(pleaseprovidesupportingrationaleandatleastthesamelevelofdetailasisprovidedhereintheengineeringnotebook).Keepinmindyouwillneedtoobtainaccurate
costsforanynon-catalogoptionpayloadsyouincorporate.
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Table2.PayloadElement–VisualSensorOptions
Component Description CostPerItem
X250Camera
ThisisatypicalCCD/CMOScamera:• Stabilization:Poor• Imager: DaylightElectro-OpticalCamera• RollLimitsaboutx-axis: NA• PitchLimitsabouty-axis:NA• Roll/PitchSlewRate:Fixed• VideoFormat:NTSC• VideoFrameRate:30framesper1.001second• VideoScan:Interlaced• ContinuousZoom:NoZoom• CameraProfile:
o Resolution(Horizontal):656pixelso Resolution(Vertical):492pixelso WideAngleFieldofView(Horizontal):62°o WideAngleFieldofView(Vertical):30°o TelescopicFieldofView:n/a
• Weight:0.18oz(8g)• DimensionswhenMounted:
o xLength:0.94inches(24mm)o yWidth:0.71inches(18mm)o zHeight:0.39inches(10mm)
• VoltageIn:3.6-24V• PowerDraw:1W(nominal),1.5W(maximum)
$30
X500Camera
ThisisanimprovedCCD/CMOScamera:• Stabilization:Poor• Imager:DaylightElectro-OpticalCamera• RollLimitsaboutx-axis: NA• PitchLimitsabouty-axis:NA• Roll/PitchSlewRate:Fixed• VideoFormat: NTSC• VideoFrameRate:30framesper1.001second• VideoScan:Interlaced• ContinuousZoom:NoZoom• CameraProfile:
o Resolution(Horizontal): 656pixels o Resolution(Vertical):492pixelso WideAngleFieldofView(Horizontal):90°o WideAngleFieldofView(Vertical):80°o TelescopicFieldofView:n/a
• Weight:0.18oz(5g)• DimensionswhenMounted:
o xLength:0.89inches(22.5mm) o yWidth:0.45inches(11.5mm)o zHeight:0.31inches(8mm)
• VoltageIn:3.6to24V• PowerDraw:1W(nominal),1.5W(maximum)
$50
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Component Description CostPerItem
X1000
• Stabilization:Good• Imager:DaylightElectro-OpticalCamera• RollLimitsaboutx-axis:30°panleft,30°panright• PitchLimitsabouty-axis:30°tiltup,30°tiltdown• Roll/PitchSlewRate:50°persecond• VideoFormat: NTSC• VideoFrameRate:30framesper1.001second• VideoScan:Interlaced• ContinuousZoom:NoZoom• CameraProfile:
o Resolution(Horizontal):640pixels o Resolution(Vertical):480pixelso WideAngleFieldofView(Horizontal):40°o WideAngleFieldofView(Vertical):20°o TelescopicFieldofView:n/a
• Weight:0.50lb(0.227kg)• CenterofGravity(measuredfromfront,rightcorneratredX)
o x:1.75inches(44.5mm)o y:1.75inches(44.5mm)o z:1.00inches(25.4mm)
• DimensionswhenMounted: o xLength:2.5inches(63.5mm) o yWidth:2.5inches(63.5mm)o zHeight:2.0inches(50.8mm)
• VoltageIn:5to12V• PowerDraw:1.5W(nominal),2.0W(maximum)
$5,000
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Component Description CostPerItem
X2000
• Stabilization:Excellent• Imager:DaylightElectro-OpticalCamera• RollLimitsaboutx-axis:80°panleft,80°panright• PitchLimitsabouty-axis:80°tiltup,80°tiltdown• Roll/PitchSlewRate:200°persecond• VideoFormat: NTSC• VideoFrameRate:30framesper1.001second• VideoScan:Interlaced• ContinuousZoom:1xWideAngleto10xTelescopic• CameraProfile:
o Resolution(Horizontal):640pixels o Resolution(Vertical):480pixelso WideAngleFieldofView(Horizontal):55°o WideAngleFieldofView(Vertical):5.5°o TelescopicFieldofView(Horizontal):41.25°o TelescopicFieldofView(Vertical):4.125°
• Weight:2.1lb(0.95kg)• CenterofGravity(measuredfromfront,rightcorneratredX)
o x:2.00inches(50.8mm)o y:2.00inches(50.8mm)o z:0.75inches(19.1mm)
• DimensionswhenMounted: o xLength:4.0inches(102mm) o yWidth:4.0inches(102mm)o zHeight:1.0inches(25.4mm)
• VoltageIn:9to24V• PowerDraw:10W(nominal),14W(maximum)
$15,000
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Component Description CostPerItem
X3000
• Stabilization:Excellent• Imager:ThermalInfraredandVisualSpectrumCamera• RollLimitsaboutx-axis:85°panleft,85°panright• PitchLimitsabouty-axis:85°tiltup,85°tiltdown• Roll/PitchSlewRate:50°persecond• VideoFormat:JPEGImagesandMPEG-4Video• VideoFrameRate:25framespersecond• VideoScan:Interlaced• ContinuousZoom:4xContinuousZoomIR,8xContinuousZoom
Visual• CameraProfile:
o Resolution(Horizontal):640pixels o Resolution(Vertical):480pixelso WideAngleFieldofView(Horizontal):25°o WideAngleFieldofView(Vertical):19°o TelescopicFieldofView(Horizontal):n/ao TelescopicFieldofView(Vertical):n/a
• Weight:3.5lb(1.6kg)• CenterofGravity(measuredfromfront,rightcorneratredX)
o x:2.5inches(63.5mm)o y:2.5inches(63.5mm)o z:0.0inches(0.0mm)
• DimensionswhenMounted: o xLength:5.0inches(127mm) o yWidth:5.0inches(127mm)o zHeight:2.25inches(57.2mm)
• VoltageIn:5to12V• PowerDraw:12W(nominal),16W(maximum)
$17,000
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Component Description CostPerItem
X4000
• Stabilization:Excellent• Imager:ThermalInfrared• RollLimitsaboutx-axis:80°panleft,80°panright• PitchLimitsabouty-axis:80°tiltup,80°tiltdown• Roll/PitchSlewRate:65°persecond• VideoFormat:JPEGImagesandMPEG-4Video• VideoFrameRate:25framespersecond• VideoScan:Interlaced• ContinuousZoom:8xContinuousZoomIR• CameraProfile:
o Resolution(Horizontal):640pixels o Resolution(Vertical):480pixelso WideAngleFieldofView(Horizontal):30°o WideAngleFieldofView(Vertical):25°o TelescopicFieldofView(Horizontal):n/ao TelescopicFieldofView(Vertical):n/a
• Weight:3.0lb(1.4kg)• CenterofGravity(measuredfromfront,rightcorneratredX)
o x:2.00inches(50.8mm)o y:2.00inches(50.8mm)o z:0.75inches(19.1mm)
• DimensionswhenMounted: o xLength:4.0inches(102mm) o yWidth:4.0inches(102mm)o zHeight:1.0inches(25.4mm)
• VoltageIn:5to12V• PowerDraw:10W(nominal),12W(maximum)
$20,000
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Component Description CostPerItem
X5000
• Stabilization:Excellent• Imager:MultispectralImager(3-FixedFilters:Green,Red,NIR)• RollLimitsaboutx-axis:30°panleft,30°panright• PitchLimitsabouty-axis:30°tiltup,30°tiltdown• Roll/PitchSlewRate:50°persecond• VideoFormat:NTSCorPAL• VideoFrameRate:1framepersecond• VideoScan:Interlaced• ContinuousZoom:NoZoom• CameraProfile:
o Resolution(Horizontal):2048pixelso Resolution(Vertical):1536pixelso WideAngleFieldofView(Horizontal):40°o WideAngleFieldofView(Vertical):20°o TelescopicFieldofView(Horizontal):n/ao TelescopicFieldofView(Vertical):n/a
• Weight:1.4lb(0.64kg)• CenterofGravity(measuredfromfront,rightcorneratredX)
o x:1.75inches(44.5mm)o y:1.75inches(44.5mm)o z:1.00inches(25.4mm)
• DimensionswhenMounted: o xLength:2.5inches(63.5mm) o yWidth:2.5inches(63.5mm)o zHeight:2.0inches(50.8mm)
• VoltageIn:9to12V• PowerDraw:2W(nominal),3W(maximum)
$5,500
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Component Description CostPerItem
X6000
• Stabilization:Excellent• Imager:MultispectralImager(3-FixedFilters:Green,Red,NIR)• RollLimitsaboutx-axis:70°panleft,70°panright• PitchLimitsabouty-axis:70°tiltup,70°tiltdown• Roll/PitchSlewRate:150°persecond• VideoFormat:NTSCorPAL• VideoFrameRate:2framepersecond• VideoScan:Interlaced• ContinuousZoom:NoZoom• CameraProfile:
o Resolution(Horizontal):1280pixels o Resolution(Vertical):1024pixelso WideAngleFieldofView(Horizontal):40°o WideAngleFieldofView(Vertical):20°o TelescopicFieldofView(Horizontal):n/ao TelescopicFieldofView(Vertical):n/a
• Weight:7.0lb(3.2kg)• CenterofGravity(measuredfromfront,rightcorneratredX)
o x:6.00inches(152mm)o y:6.00inches(152mm)o z:0.00inches(0.0mm)
• DimensionswhenMounted: o xLength:12.5inches(318mm) o yWidth:12.5inches(318mm)o zHeight:4.75inches(121mm)
• VoltageIn:9to12V• PowerDraw:5.6W(nominal),8W(maximum)
$15,000
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Itisimportanttoconsidersensorcapabilitieswhenselectingyourplatformandproposedmissionplans.Forexample,increasesinaltitudewillincreasetheareacollectedbythesensorinagivenperiodbutit
willalsoreducetheresolutionorthedetailcollected(seeFigure9).
Figure9.AsthealtitudeoftheUASchanges,thesensorfootprintwillvary.
Youshouldalsoconsiderthespeedatwhichthesensorcollectsimages,thevelocityandaltitudeofthe
platform,andthelayoutofthecollectionflightstoensuretherearenodataholidaysorgapsincollecteddataoverthesurfaceoftheareaofinterest(seefollowingfigures).
(a)
(b)
(c)
UAVSpeed
Footprint
UAVSpeed
Footprint
UAVSpeed
Footprint
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FY18RealWorldDesignChallenge Page32
Figure10.Theoverlappingsensorfootprintsmustsufficientlyoverlapforsensingwithoutgapsordataholidays.
Figure11.Theoverlappingsensorfootprintsmustsufficientlyoverlapfordetectionduringacoordinatedturnattheinsideoftheturnandtheoutsideoftheturntoensurecompletecoverage
andnodataholidays.
UAVForwardSpeed
PreviousCameraFootprintsOverlapping…
CameraFootprintHeight
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Figure12depictstheflightpathofaUASoverahypotheticalfield.Notethattheflightpathsfollowastraightlineuntilpassingtheedgeofthecollectionarea.Thesepathsshouldbespacestoensurethat
boththeend-lap(theoverlapofcollectedimagesalongasingleflightline)andtheside-lap(theoverlapofcollectedimagesinneighboringparallelflightlines)aresufficienttoensurecompleteareacoveragewithnogaps.AlsonotethatthedistancethattheUASmustactuallytravelislongerthansimplyflying
overthecollectionarea.Again,rememberthedesignofyoursystemistheactofbalancingthecompetingrequirementsofthesensorandplatformtomeetthemissionneeds.
Figure12.Exampleofanassembledcoverageareafrompre-calculatedflightmaneuversandtheirindividualcoverageareas.
ProcessingofDataOncedatahavebeencollectedbyasensor,theymustbeprocessedtoprovideusefulinformationfromwhichtomakedecisions.Youshouldconsiderthefollowingfactorsrelatedtothestorage,transmission,andanalysisofthecollecteddataaspartofthedesignchallenge:1. Willyourdatabestoredonboardtheplatform?Ifso,youmustconsiderthestoragemedium,
requiredstoragecapacity,andhowthedatawillberetrievedonceontheground(i.e.,USB,Ethernet,Firewire,WiFi,ormemorycardreader).
2. Willyoursystembecapableoftransmittingthecollectedimagerytoareceiveronthegroundduringtheflight?Ifso,whatequipmentwillberequiredtosupportlivetransmission?Whatfrequencieswillyouuse?Arethereanylimitstothevolumeorqualityofdatathatcanbetransmitted?Youshouldalsoconsidertheaddedpower,space,weight,andcostofincludingalivedatatransmissioncapability.
3. Youmustincludetheabilityforyourremotesensingsystemtocollectandcorrelateprecisepositionalinformationrelatedtothecollectedimageryorvideotosupportdataprocessing.
StraightandLevelManeuver250feetwidex2,000feetlong
flightdistance2,000feet
TurnManeuverA250footinnerradius,
500footouterradiusflightradius375feet
flightdistance1179feet
TurnManeuverB500footinnerradius,
750footouterradiusflightradius625feet
flightdistance1964feet
AssembledCoverageArea
FieldofInterest
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4. Youmustidentifytherequiredsoftwaretoprocessthecollecteddataandaddresstheacquisitionandcontinuingownershipcostsforthesoftwareandpersonneltrainingandexperienceneededtooperateit.Also,besuretoincludethenecessarycomputersandanyotherrequiredequipmentinyouranalysis.
Youmustconsiderthetotalownershipandoperationalcostforyourproposedsystemsolution.Rememberthatthereareoperationalcostsbeyondtheinitialacquisitionoftheplatform,sensor,ancillarysupportequipment,etc.Youshouldalsoaddresstheongoingcostsassociatedwithcollecting,
analyzing,storing,anddevelopingactionablestepsbasedonyourdataanalysis.ThereasonforconductingtheUASflightsistocollectdatathatcanbeprocessedtoprovideinformationtodetectpests.Therefore,youshouldconsiderthetechnical,operational,andbusinessaspectsforallofyour
decisionsthroughouttheentireprocessofconductingamissionandprovidingactionableproducts.
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V.AirVehicleElementSelectionGuidelinesandCatalogOptionsYourselectionofAirVehicleElement(s)andassociatedsubsystemcomponentswillbeprimarilydirectedbythetypeofapplicationortasktobeperformedandthepayloadtobecarried.Asstatedinthechallenge,theairvehiclemustbeabletocompletethesurveymission,thesprayingmission,orboth.It
issuggestedthatbeforestartingthedesignprocessyoufullyexaminetherequirementsoftheapplication/taskanddetermineanoverviewtheoryofoperation(i.e.,howyouexpectanoveralldesigntoworkinrelationtoapplicationplanning,briefing,launch,execution,recovery,anddebrief).Consider
thefollowing:
1) Whatoperationalspeed,duration,andrangewouldbestsupportthischallengescenario?2) Whattypeofflightoperationwouldbestsuiteyourapproach?
• Forwardflight
o Fixed-wing(fasttoslowspeeds,bestpowereconomy/performancewithapayload)o Hybrid(fasttoslowspeeds,improvedpowereconomywithapayload)o Rotary-wing(mediumtoslowspeeds,reducedpowereconomywithapayload)
o Multirotor(slowspeeds,leastpowereconomywithapayload)• Translational(i.e.,transitionfromhovertoforward,lateral,orreverse)andhoveringflight
o Rotary-wing(mediumtoslowspeeds,mostverticalliftingpotential)
o Hybrid(fasttoslowspeeds,mediumliftingpotential)o Multirotor(slowspeeds,leastverticalliftingpotential)
3) Whatperformancewouldyoubewillingtotradeforadditionalcapability?
a. None-onlyforwardflightandpayloadcapabilityisimportant(fixed-wing)b. Someduration/payloadliftcapability–highspeedforwardflight,abilitytotakeoffin
smallspace,andabilitytohoverisimportant(hybridorrotary-wing)
c. Fastforwardflightandduration–abilitytotakeoffinsmallspace,stoppingtohoveroften,andlowcostisimportant(multirotor)
Youareprovidedwiththefollowingbaselineairvehicleelementoptionsforthischallenge:• Fixed-wingPusherPropeller
• Fixed-wingTractorPropeller• Rotary-wing/helicopter• Multirotor
• Hybrid(fixed-wing/quadrotor)
ThiscatalogofAirVehicleElementoptionswascreatedasastartingpointforthedesignofyourUAS.Youarefreetomodifyorchangeeachoftheseoptionsasyoudeemnecessary,oryoucanstartfromscratch(providesupportingrationaleandatleastthesamelevelofdetailasisprovidedhereinthe
engineeringnotebook).Keepinmind,youwillneedtocalculatecoststomodifytheairframesaspurchasedorbuildfromscratch(e.g.,materials,labor,andcomponents).Youwillalsoneedto
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determineallofthemetricsidentifiedforeachexampleairframeintheirrespectivedetaileddescriptionsbelow.
ThefollowingsubsectionscontainthedetailsforthebaselineAirVehicleElementconfigurations.Please
notethatadditionaloptionsfortheAirVehicleElementareavailableintheAlternativeAirVehicleElementOptionssection.
NOTE:Itisessentialthatyoucompareallofthefeatures,capabilities,andlimitationsofeachoptionandnotselect
basedsolelyonprice.Yoursuccessinthisprojectwillbedependentonprovidingrationaljustifyingyourselectionsincludingthefollowing:
• Abilitytoliftselectedpayload(s)• Capabilitytocapturesensordatafromtheentiresubjectarea(i.e.,sufficientrangetocovercropusing
youridentifiedmethod)
• Sufficientflightdurationcapabilitytocoverapplicablesubjectarea• Establishment/maintenanceofsafeoperation(e.g.,continualvisualtracking,minimizingpotentialfor
aircraftlossoraccident,andcontinuityofcommunications)• Ensuringsufficientpersonneltosupportproposedoperations
• Costtointegratedesign(i.e.,engineeringdevelopmenteffort)andoperatethesystemasproposed
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OptionA:Fixed-WingPusherPropellerDesign
Figure13.Fixed-wingpusherpropellerdesign.
Airframe:• Compositeairframe• V-tail(mixedrudder/elevator)• High-mountedwingwithailerons• Tricyclelandinggear
FlightControls• Push-pullconnectors• Servos:
o (2)aileronso (2)mixed-elevator/rudder(v-tail)o (1)steerablenosegear
• Electronicspeedcontrol(ESC,lessthan100A)• UniversalBatteryeliminationcircuitry(BEC)
Powerplant(propulsion)• ElectricBrushlessMotor(7.7;1geareddrive)
o Weight:22.4ozo Dimensions:2.5”(diameter)x2.4”(caselength),8mmdiametershaft(.98”length)o RPM/V(kVRating):250o InputVoltage:44.4Vo Motorstaticefficiency:62.8%o Suppliedpower:2.68hp(1998W)
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o Staticthrust:15.24lb(with19x11propellerstaticRPMof5650)o Maxconstantcurrent:45Ao Maxsurgecurrent:72Ao MaxconstantWatts:2500W
• Propeller(pusher,19x11,efficiency80%)• Battery(640Wh44.4V,LithiumPolymer[Li-Po])
OnboardSensors• None
Metrics• Cost:$15,000.00• EmptyWeight:32.85lb(14.9kg)• Wingspan:129”(3.3m)• Length:89.37”(2.27m)• Maximumpayload:14.55lb(6.6kg)• Endurance:110minuteswith6.17lb(2.8kg)payload• Cruisespeed:42.76kt(49.21mph)
RequiredEquipment/Components• Autopilotand/orservocontrol(i.e.,primaryandsecondarycontrol;e.g.,servoreceivers[RX]sor
serialservocontrollers)• Sensor(payload)• Onboardsensors• Antennas(primaryandsecondarycontrol,telemetry,andvideo)• Groundcontrolandcommunications(primaryandsecondary)
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OptionB:Fixed-WingTractorPropellerDesign
Figure14.Fixed-wingtractorpropellerdesign.
Airframe:• Reinforcedcarbonfiberairframe• Fiberglasspayloadbaymodule• Conventionaltail(elevatorandrudder)• High-mountedwingwithailerons
FlightControls• Servos:
o (2)aileronso (1)ruddero (1)elevator
• Push-pullconnectors• ESC• Independent1300mAhLi-Pobattery(forservopower)
Powerplant(propulsion)• Electricmotor(brushless)
o Weight:2.6ozo Dimensions:1.1”(diameter)x1.47”(caselength),4mmdiametershafto RPM/V(kVRating):880o InputVoltage:7.4Vo Motorstaticefficiency:65.4%o Suppliedpower:0.19hpo Staticthrust:.99lb(with10x6propellerstaticRPMof5150)o Maxconstantcurrent:20Ao Maxsurgecurrent:25Ao MaxconstantWatts:189W
• (2)5000mAhLi-Pobatteries(formotor)
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• Propeller(foldingtractor,10x6,efficiency78%)OnboardSensors
• NoneMetrics
• Cost:$5,000.00• EmptyWeight:2.78lb(1.26kg)• Wingspan:78.74”(2.0m)• Length:47.24”(1.2m)• Maximumpayload:0.88lb/14.12oz(0.4kg)• Endurance:55minuteswith0.88lb/14.12oz(0.4kg)payload• Cruisespeed:32.39kt(37.28mph)
RequiredEquipment/Components• Autopilotand/orservocontrol(i.e.,primaryandsecondarycontrol;e.g.,servoreceivers[RX]sor
serialservocontrollers)• Sensor(payload)• Onboardsensors• Antennas(primaryandsecondarycontrol,telemetry,andvideo)• Groundcontrolandcommunications(primaryandsecondary)
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OptionC:Rotary-wingDesign
Figure15.Rotary-wingdesign.
Airframe:• Plasticandaluminum
FlightControls• 120degreecollective/cyclicpitchmixingsystem(CCPM)• Singlemainrotor(810mmsymmetricalv-bladerotors)• Tailrotor(130mm)• Servos:
o (1)enginethrottleo (1)rotorpitcho (1)rotorrollo (1)rotorcollectiveo (1)yaw(tailrotor)o (1)Gyroscopemodeselection
Powerplant(propulsion)• 52CCtwo-stroke,two-cylinder,internalcombustionengine(8hp;ZenoahG-26engine)
o Weight:50oz(w/omuffler),57oz(withmuffler)o Dimensions:6.6”(L)x8”(W)x7.7”(H)o FuelConsumption:14.22fl-oz/hp/hro Suppliedpower:8hp(5965W)o Staticthrust:40lbo Singlecarburetormanifold
• Enginecoolingfan• Rotor(810mm,efficiency:90%)• Fuel:gasolinemixedwithtwo-cycleengineoil• Fueltank:32ozcapacity
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• Battery(servopower):3000mAh6.0VOnboardSensors
• GyroscopeMetrics
• Cost:$8,000• EmptyWeight:20lb(9.07kg)• Mainrotordiameter:63.78”(1.62m)• Tailrotordiameter:10.63”(0.27m)• Length(includingrotors):78.74”(2m)• Width:20.87”(0.53m)• Height:25.98”(0.66m)• Maximumpayload:25lb(11.34kg)• Endurance:30minuteswithoutpayload(32ozfuel)• Cruisespeed:21.6kt(24.85mph)
RequiredEquipment/Components• Autopilotand/orservocontrol(i.e.,primaryandsecondarycontrol;e.g.,servoreceivers[RX]sor
serialservocontrollers)• Sensor(payload)• Onboardsensors• Antennas(primaryandsecondarycontrol,telemetry,andvideo)• Groundcontrolandcommunications(primaryandsecondary)
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OptionD:MultirotorDesign
Figure16.Multirotordesign.
Airframe:• Plasticandaluminum• Includesstructuretoattach/holdpayload(i.e.,camera)
FlightControls• Multirotorflightcontrollerwithautopilotfunctionality(e.g.,Wookong-M)
o GPSpositioning,attitudehold,andheadingholdo Modesofoperation:Manual,attitude,andGPSattitudeo Failsafehovero Gohomeandautolanding
• ESC(6units,40A)Powerplant(propulsion)
• ElectricBrushlessMotor(6engines,41x14mm,320rpm/V,360Wmaximumpower)o Weight(each):5.22ozo Dimensions:1.8”(diameter)x1.26”(caselength),4mmdiametershafto RPM/V(kVRating):320o InputVoltage:22.2Vo Motorstaticefficiency:77.3%o Suppliedpower:0.6hpo Staticthrust:3.35lb(with15x4propellerstaticRPMof6235)o Maxconstantcurrent:30Ao Maxsurgecurrent:35Ao MaxconstantWatts:360W
• 6S10,000mAh,15C,22.2VLiPobattery• (6)Propellers(carbonfiber,15x4,efficiency85%)
o (3)clockwiserotation
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o (3)counter-clockwiserotationOnboardSensors
• GPS• Inertialmeasurementunit(IMU)builtintoflightcontroller
o (3)gyroscopeso (3)accelerometerso (3)magnetometer
Metrics• Cost:$6,000• EmptyWeight:15.43lb(7kg)• Diagonalspan:31.50”(0.80m)• Framearmlength:13.78”(0.35m)• Length(includingrotors):47.46”(1.18m)• Length(includingrotors):39.37”(1.00m)• Height:19.69”(0.50m)• Payload(supportsupto):5.51lb(2.50kg)• Endurance:16minutes• Maximumascent/descentspeed:3m/s• Maximumflightspeed:10m/sor19.44kt(22.37mph)
RequiredEquipment/Components• Secondaryservocontrol(e.g.,servoreceiver[RX]orserialservocontroller)• Sensor(payload)• Additionalonboardsensors• Antennas(primaryandsecondarycontrol,telemetry,andvideo)• Groundcontrolandcommunications(primaryandsecondary)
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OptionE:Hybrid(Fixed-wing/Quadrotor)Design
Figure17.Hybrid(fixed-wing/quadrotor)design.
Airframe:• Compositematerials
FlightControls• Quadrotor
o Multirotorflightcontrollerwithautopilotfunctionality(e.g.,Wookong-M)! GPSpositioning,attitudehold,andheadinghold! Modesofoperation:Manual,attitude,andGPSattitude! Failsafehover! Gohomeandautolanding
o ESC(4units,40A)• Fixed-wing
o Servos:! (2)ailerons! (1)rudder! (1)elevator
o Push-pullconnectorso (1)ESC
Powerplant(propulsion)• Fixed-wing:
o ElectricBrushlessMotor(7.7;1geareddrive,2700W,2.7kV)! Weight:22.4oz! Dimensions:2.5”(diameter)x2.4”(caselength),8mmdiametershaft(0.98”
length)! RPM/V(kVRating):250! InputVoltage:44.4V! Motorstaticefficiency:62.8%
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! Suppliedpower:2.68hp(1998W)! Staticthrust:15.24lb(with19x11propellerstaticRPMof5650)! Maxconstantcurrent:45A! Maxsurgecurrent:72A! MaxconstantWatts:2500W
o Propeller(pusher,19x11,efficiency80%)o Battery(640Wh44.4V,LithiumPolymer[Li-Po])
• Secondary(quadrotor):o ElectricBrushlessMotor(4engines,41x14mm,320rpm/v,360Wmaximumpower)
! Weight(each):5.22oz! Dimensions:1.8”(diameter)x1.26”(caselength),4mmdiametershaft! RPM/V(kVRating):320! InputVoltage:22.2V! Motorstaticefficiency:77.3%! Suppliedpower:0.6hp! Staticthrust:3.35lb(with15x4propellerstaticRPMof6235)! Maxconstantcurrent:30A! Maxsurgecurrent:35A! MaxconstantWatts:360W
o 6S10,000mAh,15C,22.2VLiPobatteryo (4)Propellers(carbonfiber,15x4,efficiency85%)
! (2)clockwiserotation! (2)counter-clockwiserotation
OnboardSensors• GPS• IMUbuiltintoflightcontroller
o (3)gyroscopeso (3)accelerometerso (3)magnetometer
Metrics• Cost:$25,000• EmptyWeight:25lb(11.34kg)• Wingspan:127.95”(3.25m)• Length:88.58”(2.25m)• Maximumpayload:5lb(2.27kg)• Endurance(forwardflight):60minuteswith5lb(2.27kg)payload• Endurance(hover):5minuteswith5lb(2.27kg)payload• Cruisespeed:35kt(40.28mph)
RequiredEquipment/Components• Fixed-wingflightcontrols:Autopilotand/orservocontrol(i.e.,primaryandsecondarycontrol;
e.g.,servoreceivers[RX]sorserialservocontrollers)• Quadrotorflightcontrols:Secondaryservocontrol(e.g.,servoreceiver[RX]orserialservo
controller)• Sensor(payload)• Onboardsensors• Antennas(primaryandsecondarycontrol,telemetry,andvideo)• Groundcontrol(primaryandsecondary)
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AlternativeAirVehicleElementOptionsInadditiontoselectingandadaptingthebaselinecatalogoptions,youareencouragedtoexploreotherCOTSunmannedaircraft(UAVs)toconsiderassuitableplatformstomeetthischallenge.Thefollowing
subsectionsareprovidedtoserveasastartingpointofexamplesasyoubegintoresearchsuchaircraftplatforms.
Group1UASThiscategoryconsistsofsmallUAS(sUAS)thatweighlessthan20lb,operateunder1200ftAGL,anddonotexceedanairspeedof100kt:
Fixed-wingexamples• Trimble
o UX5o GatewingX100
• AeroVironmento Wasp
• MarcusUAVInco Zephyr2
• UAVER o Avian
• FliteEvolutiono FE1800SAerobot
• senseFlyo SwingletCam
• Aeromaoo Aeromapper
• CropCamo CropCamUAV
• LockheedMartino DesertHawkIII
• TriggerCompositeso Pteryx
• L3o Cutlass
• Innocono MicroFalconLPo Spider
• C-ASTRALAerospaceo BramorgEOo BramorC4EYE
• SurveyCoptero Tracker120
• Airelectronicso Skywalker
• Mavincio SIRIUS
• IDETECUnmannedSystemso Stardust
• ARAo Nighthawk
• EMTo Aladin
• LehmannAviationo LM450o LM960o GoProPersonalUAV(LA100)
• Raphaelo SkyliteB(Patrol)
• TriggerCompositeso EasyMap
• IAIo BirdEye400o Mosquito
Group2UASThiscategoryconsistsofsUASthatweighbetween21to55lb,operateunder3500ftAGL,anddonotexceedanairspeedof250kt:
Fixed-wingexamples• SilentFalconUASTechnologies
o SilentFalcon• AAICorporation
o AerosondeMark4.7(J-typeEngine)
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o AerosondeMark4.7(K-typeEngine)
• Boeing/Insituo ScanEagle
• Aeronauticso Orbiter3STUASo Orbiter2MiniUAS
• Innocono MicroFalconLE
• SurveyCoptero DVF2000
• IAIo BirdEye650o MiniPanther
• UAVFactory
o PenguinBEo PenguinBo PenguinC
• ELILtd o SwanIII
• UMSGroupo F-330
• UAVSI/UniversalTargetSystemsLtdo Vigilant
• ROVAerospace o ROV-4(Electric)o ROV-4(InternalCombustion)
• AdvancedCeramicsResearcho SilverFox
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AdditionalAirVehicleElement-ComponentOptionsThefollowingrepresentadditionalcomponentoptionstoimproveormodifytheAirVehicleElement.Youarefreetoselectanyoftheseoptionsorlocatesimilaronesthatyoudeemnecessary(please
providesupportingrationaleandatleastthesamelevelofdetailasisprovidedhereintheengineeringnotebook).
FlightControlsTheoptionsidentifiedinthefollowingtablecanbeusedtoimprovetheredundancyorperformanceoftheflightcontrolsystem.
Table3.AirVehicleElement–AdditionalFlightControlOptions
Component Description CostPerItem
Universalbattery-
eliminationcircuitry(U-BEC)
Thisoptionrepresentsanalternativepowerregulationmodule
forprotectionofthecontrolsystem.Itprovidespowertotheservocontrols,withoutrequiringanadditionpowersource(i.e.,usesmainbatteryforpower).Whentheavailablepowerforthe
systemhasdiminishedtonolongersustainpowered/motoredflight,thesystemwillshiftpowersolelytotheflightcontrols(i.e.,servos)toenabletotheoperatortoperformacontrolleddescent
(e.g.,glideorautorotation).UseofaU-BECinsteadofabuilt-inBEC(partofESC)preventsgroundingorovertemperaturemalfunctionconditionsthatcouldleadtolossofallpowerinthe
system.Thedetailsofthisoptionincludethefollowing:
• Configurable5Vor6Vpower• Powerrequiredat5.5Vto23V• 1.63”(L)x.65”(W)x.28”(H)
• 0.26oz
$20
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Component Description CostPerItem
SerialServoController
Thisoptionprovidesaserialinterfacethatcanbeusedtocontroluptoeight(8)hobbyservosorESCs.Thismoduleprovidesaflight
controlalternativetotheservoRXofahobbyradio.Thedetailsofthisoptionincludethefollowing:
• NOTE:IfthisoptionistobeusedtocontrolservositREQUIREStheuseofadataradiowithareceiveror
transceiveronboardtheaircraftandaPCtocontroltheserialservocontrollerfromtheground(seeoptionsintheCommand,Control,andCommunications(C3)Selection
GuidelinesandCatalogsection)• Requiresphysicalconnection(RS232)todatareceiver/
transceiver(supportsbaudratesbetween1200to38400)
• 5to16Vpowerrequired• 0.35oz• 1.22”(L)x1.95”(W)x.4”(H)
• Mustusesoftwareapplicationtocontrolservos• Mustmapoutthefollowing:
o Servoconnections(i.e.,outputoncontrollerto
actualservo;e.g.,output1toengineESC)o UsercontrolinputsfromPC(e.g.,joystickaxis,
joystickbutton,orcontrolonapplicationtoservo
movement)
$25
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Component Description CostPerItem
Autopilot
DeviceonboardtheUAV,autonomouslycontrolsservos/actuators,canbeswitchedON/OFFordynamically
reprogrammedwithuploadedparametersfromGCS.Thedetailsofthisoptionincludethefollowing:
• Includes6-DOFIMU(3-axisgyroscopesandaccelerometers),digitalcompass,andbarometer
• Connectsin-linebetweenanexistingservocontrol(e.g.,serialservocontroller,microcontroller,orservoRX)andservos/ESCs
• Requires5to6Vpower• 0.81oz• 2.63”(L)x1.6”(W)x.26”(H)
• Requiresuseofcustomizable/re-configurablesoftware(e.g.,APMAutopilotSuite:http://ardupilot.com/?utm_source=Store&utm_medium
=navigation&utm_campaign=Click+from+Store)
$250
Multiplexer
Thisoptionprovidesaninterfacethatcanbeusedtoswitchcontrolofuptoseven(7)servosorESCfromtwoindependentcontrolsources(e.g.,servoRXorservocontroller).Thedetailsof
thisoptionincludethefollowing:
• Mastercontroller(inputA)determinescontrolorder(i.e.,whichinputhascontrol),unlesssignallossisdetected
(theninputBcontrolsservosuntilinputAconnectionrestored).
o Themastercontrollermusthaveaneighth(8)
channelavailabletoserveasaswitcho Replacesbuddy-boxconfigurationsofhobby
radios
• 4.8to6Vpowerrequired• 1.69”(L)x.7”(W)x.25”(H)• 0.53oz
$25
OnboardSensorOptionsThefollowingoptionscanbeusedtoobtaindatapertainingtoeithertheoperatingenvironment(e.g.,exteroceptive)orthestateoftheAirVehicleElement(e.g.,proprioceptive).Thefollowingtableissubdividedintoanalogsensors,digitalsensors,complexsensors,andsensorcapture,interpretation,and
loggingoptions.Table4.AirVehicleElement–AdditionalOnboardSensorOptions
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Component Description CostPerItem
NOTE:Useofthesesensorsrequiresadevice(eitherOPTIONAorOPTIONBundertheSensorCapture,Interpretation,andLoggingOptionssectionofthistable)tointerpret,log,storethecaptured/measured
data.
AnalogSensors
NOTE:Theuseoftheanalogsensorsrequiresanopenanaloginputconnectiononaprocessingdevicesuchasamicrocontrollerordatalogger.Digitalsensorsgenerateavariablesignal(i.e.,0to5V)thatisreportedtotheconnectedprocessingdevice.SeeTheBasics-SensorOutputValuesforfurtherdetail
regardinganalogsensors(http://www.seattlerobotics.org/encoder/jul97/basics.html)
Altimetersensor
• Measuresupto20,000’abovesealevel(ASL)with1’(0.3m)resolution
• 0.15oz
• 1.1”(L)x.62”(W)x.4”(H)• Requires4to16Vpower
$40
3-axisaccelerometer
• Measuresaccelerationsupto7G(intheX,Y,andZaxes
oftheairframe)• 0.15oz
• 1.1”(L)x.62”(W)x.4”(H)• Requires4to16Vpower
$30
Airspeedsensor
• Measuresfrom2to350mph(usingpitottube)with
1mphresolution• 0.15oz• 1.1”(L)x.62”(W)x.4”(H)
$45
Servocurrent
monitor
• Measuresfrom0to5Awith0.01Aresolution
• Weightandsizearenegligible(>0.01oz)
$25
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Component Description CostPerItem
Temperaturesensor
• Measurestemperatureupto420degreesF• Weightandsizearenegligible(>0.01oz)
$10
RPMsensor(halleffect)
• MeasuresRPMupto50K(usingattachedmagnet)• Weightandsizearenegligible(>0.01oz)
$10
RPMsensor(optical)
• MeasuresRPMupto50K(withoutuseofmagnet)• Weightandsizearenegligible(>0.01oz)
$15
Single-axisgyroscope
• Measuresangularratewitha+/-500degreespersecondrange
• Requires4to6Vpower• 0.28oz• 1.02”(L)x1.06”(H)x0.45”(H)
• NOTE:thissensorisnotcompatiblewithoptionA-OnscreenDisplay(OSD)andDataloggerwithLimitedTelemetryReporting
$35
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Component Description CostPerItem
DigitalSensors
NOTE:Theuseofthedigitalsensorsrequiresanopendigitalinputconnectiononaprocessingdevicesuchasamicrocontrollerordatalogger.Digitalsensors,alsoreferredtoasdigitalpulse-width
modulation(PWM)devices,generateadiscretesignal(i.e.,onorofforsteppedpositionssuchas9-bitvaluewithrangeof0to359)thatisreportedtotheconnectedprocessingdevice.SeeTheBasics-SensorOutputValues(http://www.seattlerobotics.org/encoder/jul97/basics.html)andPWM
(http://arduino.cc/en/Tutorial/PWM)forfurtherdetailregardingdigitalsensors.
DigitalThermometerSensor
• Measurestemperaturefrom-55to+125degreesCwithresolutionof+/-0.5degreeC
• Requires2.7to5.5VDC(1mAmaxcurrent)
• Connectstodigitalinputportonprocessingdevice• Weightandsizearenegligible(>0.01oz)
$6
DigitalCompassSensor
• Measuresmagneticheading(single-axis)with0.1degreeresolution(3to4degreesaccuracy)
• 5Vpowerrequired• Connectstodigitalinputportonprocessingdevice• 1.33”(L)x1.25”(W)x0.1”(H)
• 0.03oz
$45
Snap-actionSwitch
• Single-pole,double-throw(SPDT)momentaryswitch• Canbeusedtoidentifyifanybaydoors/accesspanels
areopenorifretractablegearareintheup/down
position• Connectstodigitalinputportonprocessingdevice• 0.39”(L)x0.25”(W)x0.40”(H)
• 0.1oz• 5A@125/250VAC
$1
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Component Description CostPerItem
InfraredDistanceSensor
• Measuresdistancesfrom2to10cm(configurablebetweenthisrange)
• Usefultodetermineifrotary-wingaircraftareontheground(i.e.,contactmadewithgroundduringlanding/takeoff)
• Requires5V(lessthan10mA)• Connectstodigitalinputportonprocessingdevice• Singlebitoutput(discretetrueorfalse)
• 1.02”(L)x0.79”(W)x0.15”(H)• 0.15oz
$10
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ComplexSensors
NOTE:Thefollowingareexamplesofsensorsthatrequirecomplexinterfacesuchastransistor-transistorlogic[TTL]serialormultipleformsofinterfacing(e.g.,analog,digital,orcombination).Useofthese
optionsrequirestheuseofeitheramicrocontrollertointerpretthedata(viaTTLinterface)oradedicateddataradiotosenddatatothegroundcontrolstationforinterpretation(alsoviaTTLinterface).Ifaradioisselectedastheinterfacemethod,oneradiopersensorwouldberequired(beawareof
frequencymappingconsiderations).
9-Degreeoffreedom(DOF)Inertialmeasurementunit
(IMU)
Adeviceusedtomeasurethevelocity,orientation,andgravitationalforces.Thisoptionisaprimarycomponentofaninertialnavigationsystemthatistypicallyusedtoprovidedata
toanautopilotorgroundcontrolstation.Thedetailsofthisoptionincludethefollowing:
• 3-axisgyroscope(one16-bitreadingperaxis;reconfigurabletoa+/-250,500,or2000degreeper
secondrange)• 3-axisaccelerometer(one12-bitreadingperaxis;
reconfigurabletoa+/-2,4,8,or16grange)
• 3-axismagnetometer(one12-bitreadingperaxis;reconfigurabletoa+/-1.3,1.9,2.5,4.0,4.7,5.6,or8.1gaussrange)
• Requires2.5to5.5Vpower• 0.02oz
• 0.8”(L)x0.5”(H)x0.1”(H)• Interface(s)
o Atransistor-transistorlogic(TTL)serialinterface
tomicrocontrollercanbeimplementedasasingleconnectiontoreportdatafromallsensorelementssimultaneously
o [or]Eachconstituentsensorelement(e.g.,eachgyroscopeaxis,accelerometeraxis,andmagnetometeraxis)canbeconnectedto
microcontrolleranaloginputs(requiresnine[9]analoginputconnections)
• NOTE:ThissensorisnotcompatiblewithoptionA-
OnscreenDisplay(OSD)andDataloggerwithLimitedTelemetryReporting
$40
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GlobalPositioningSystem(GPS)Sensor
DevicethatreceivesGPSsignalstodeterminepositionontheEarth.Thedetailsofthisoptionincludethefollowing:
• Provideslatitude,longitudeandaltitude
• ReceivesGPSsignals/dataonupto66channels• Outputsdatainmorethansix(6)differentNational
MarineElectronicsAssociation(NMEA)GPSsentencesto
aTTL-levelserialport• 10Hzupdaterate• Requires3to4.2Vpower
• RedLEDtoindicateGPSfixornofixconditions• Capableofsatellite-basedaugmentationsystem(SBAS)
orQuasi-ZenithSatelliteSystem(QZSS)
o Wideareaaugmentationsystem(WAAS)o EuropeangeostationaryNavigationOverlay
Service(EGNOS)
o Multi-functionalSatelliteAugmentationSystem(MSAS)
o GPSandGeoAugmentedNavigation(GAGAN)
• Integratedceramicantenna• Canacquireafixfromcoldstartwithin32seconds
(acquireswithhot-startinone[1]second)
• RequiresTTLserialinterfacetomicrocontroller• NOTE:Useofthisoptionrequirestheuseofeithera
microcontrollertointerpretthedata(viaTTLinterface)
oradedicateddataradiotosenddatatothegroundcontrolstationforinterpretation(alsoviaTTLinterface).
$50
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SensorCapture,Interpretation,andLoggingOptions
OnscreenDisplay(OSD)and
DataloggerwithLimitedTelemetryReporting
Low-fidelitytelemetry/onboardsensingoptionthatcanbeconnectedtoavideomoduletodisplaytheonboardsensordata
onthevisualfirstpersonview(FPV)camerafeedfromtheAirVehicleElement.Itprovidesthecapabilitytorecordthedatalocally(i.e.datalog)forreviewinpostprocess(i.e.,afterflight)
ortooverlayitontheFPVvideofeedfromaCCD/CMOScameraontheaircraft.Thedetailsofthisoptionincludethefollowing:
• NOTE:AnFPVcameraandassociatedtransmitter(onboard)/receiver(onground)combination
MUSTbeusedifthisoptionisselected• OSD–providesrealtimeaircraftsensordataover
existingvideolink
o 0.5ozo 0.5”(W)x1”(L)x0.25”(H)o 7to14Vpowerrequired
• Datalogger–torecordandstorethesensordataforlaterreview(i.e.postprocess;requiresuseofaPC)
o 0.8oz
o 0.75”(W)x1”(L)x0.25”(H)o 7to14Vpowerrequiredo Adjustableloggingrate(50samplespersecond
tooneeveryfiveminutes)! Powerreadings(current,voltage,
milliamp-hours,wattage)! Signalstrengthreading(receivedsignal
strengthindication[RSSI])
• GPS(position,altitude,speed,arrowtostartinglocation,distancefromstartinglocation)
o 0.4oz
o 0.5”(W)x0.5”(L)x0.25”(H)
$250
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Microcontroller
High-fidelity/onboardsensingoptionthatcanbeconnectedtoacommunicationdevice(i.e.,telemetryradio)usingaserial
interfacetotransmitanaloganddigitalsensordatatoaPC.Thedetailsofthisoptionincludethefollowing:
• High-fidelitytelemetrycapture,logging,andreporting• NOTE:Ifthisoptionistobeusedtogatherlive
telemetryfromtheAirVehicleElementitREQUIREStheuseofadata/telemetrytransceiver
• Limitedbytheavailabilityofinputs/outputs(i.e.,analog
ordigital)o 12analog(theseinputscanalsobeconfigured
toprovidecontrolofupto12hobbyservosor
ESCs)o 6digital(0to5V)
• 1.8”(L)x1.10”(W)x0.40”(H)
• 0.35oz• 5to16Vpowerrequired• MultipleinterfacesavailableforconnectionwithaPC
o USB–Directconnectionfordebugging,tetheredcontrol,ordatatransfer(e.g.,sensordata)
o TTLadapter/Serial(RS-232)–Directorremote
(usingtransceiver)connectionfordebugging,tetheredorremotecontrol,ordatatransfer
• Mustusesoftwareapplicationtocontrolservos,readsensordata,anddisplaydata
• Mustmapoutthefollowing:
o Analogsensorinputs/outputs(i.e.,identifytheconnectiontypeandfunctionofeachport)
o Digitalsensorinputs
o UsercontrolinputsfromPC(e.g.,joystickaxis,joystickbutton,orcontrolonapplicationtoservomovement)
$100
PropulsionThepropulsionsystemsforsmallaircraftareeitherinternalcombustionenginesorelectricmotors.Glowfuelorgasolinearethecommonfuelsourcesforinternalcombustionengineswithtwo-andfour-strokevarietiesavailable.Therearemanymanufacturersofsmallaircraftengines.Afewofthemare
listedbelow.
• O.S.Engines• SaitoEngines
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• EvolutionEngines• ZenoahEngines
Electricmotorsareeitherbrushlessorbrushed,butbrushlessmotorsaretypicallymoreoftenusedwithsmallaircraft.Therearemanymanufacturersofbrushlessmotors.Afewofthemarelistedbelow.
• AXi• E-flite• Hacker• Jeti• Neu
Therequiredpowerfromthepropulsionsystemwillbebasedonthesizeoftheaircraft.Forfixed-wingaircraft,thepropulsionsystemisdesignedtoprovidethethrustrequiredtocounterthedrag.Excessthrustisneededtoallowtheairplanetoaccelerateandclimb.Forrotorcraft,thepropulsionsystem
providestheliftinordertokeeptheaircraftintheair.OnlinehobbystoresforRCaircraftareagreatsourceofinformationonpricingofthedifferentpropulsionsystems.Thehobbystoresarealsoagoodresourcetodeterminethetypicalsizeofpropulsionsystemsusedonaircraftofdifferentweights.
Numerousonlinehobbystoresexist.Twolargehobbysitesareprovidedbelow
• HorizonHobby(https://www.horizonhobby.com)• TowerHobbies(http://www.towerhobbies.com)
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VI.Command,Control,andCommunications(C3)SelectionGuidelinesandCatalogWhileyourteamreviewsyourcurrenttheoryofoperation(thatyoudefinedbasedonguidanceinsectionVI.AirVehicleElementSelectionGuidelinesandCatalogOptions),thinkabouthowyouplantointeractingwithyoursystem.Considerthefollowingquestions:
• Willyourelyonthemajorityofyourflightoperationsbeingcontrolledautonomouslywith
parametersbeinguploadedtoanonboardautopilotorwillyouuseamixofautonomyandmanualflightcontrol(i.e.,semi-autonomy)topurposefullydeviatefromapre-establishedflightplantomovetospecificareas?
• Doyouplanonmanuallyflyingtheaircraftusinganegocentric/firstpersonview?Howwillyouobtainthevisualfromtheaircraft?
• Howwillyouincorporatesecondarycontroltoimprovesafetyofthesystem?Willyouusea
hobbygraderadioorasecondGCS?• WillyouneedtomapcontrolstouserinputdevicessuchasaUSBjoystickorhandheldhobby
radio?
o Elevator(pitch)control–JoystickY-axiso Ailerons(roll)control–JoystickX-axiso Rudder(yaw)control–JoystickZ-axis
o Throttle(engineRPM)control–JoystickRz• HowdoyouplantodisplaythevisualandtelemetrydatacomingbackfromyourUAV?Hereare
someexamplestoconsider:
o DisplaytheFPVcamerafeedonbothasetofgoggles(pilot)andasecondaryLCDscreenforothersontheteamtoobserve
o OverlaythetelemetrydataontheOSDanddepictontheGCSlaptop
o DisplaythetelemetrydataonadedicatedLCDscreen• Willyouhavetocontendwithanyvisuallineofsightobstructionsintheareayouwillbeflying?
Howwillyouensureyoumaintaincommunications?
• Whatisthemaximumrangeforthecommunicationssignalyouwillneedtoestablishandmaintain?
Carefullyconsideralloftheuserinteractionsandcommunicationthatwillbenecessarytosupportyourproposedtheoryofoperationforthischallengescenario.Aswithprevioussectionsyouarefreeto
modifyorchangeeachoftheseoptionsasyoudeemnecessary(pleaseprovidesupportingrationaleandatleastthesamelevelofdetailasisprovidedhereintheengineeringnotebook).Keepinmindyouwillneedtodetermineaccuratecoststopurchaseandintegratethecomponents.Thefollowingrepresent
thecontrolprocessing,display,andcommunicationsoptionsassociatedwithC3.
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Table5.C3Element–Control/DataProcessingandDisplayEquipmentOptions
Component Description CostPerItem
Hobby-gradeRemoteControl(R/C)Radio
Thisisatypical10-channelradiosystem(2.4Ghzspreadspectrum)usedtocontrolrobotics,modelairplanes,and
modelhelicopters.Thedetailsofthisoptionincludethefollowing:
• ServoReceiver(RX)–deviceonboardtheUAVthatcontrolsservos/actuatorsandreceivescontrol
commandsfromTX.NOTE:CommunicationsRXisbuiltintothisdevicesonofurthercommunicationsequipmentisnecessarytosupportoperations
o Requires4.8to6Vpower(e.g.,dedicatedbatteryorBEC)
o 2.4Ghzfrequency
o 2.06”(L)x1.48”(W)x0.63”(H)o 0.72ozo Diversityreceiver(selectsbestsignalfrom
dualbuilt-inantenna)• Transmitter(TX)–handhelddevicethatremains
onthegroundandsendscontrolcommandstoRX.
NOTE:CommunicationsTXisbuiltintothisdevicesonofurthercommunicationsequipmentis
necessarytosupportoperationo Twocontrolsticks(fourchannels)o Sixtoggleswitches
o Two(2)proportionalsliderswitches(replacesfunctionalityoftwoofthesixtoggleswitches)
o Requires9.6Vpower(fromincluded700mAhNiCdbattery)
• Thissystemisformanualorsemi-autonomous
operations(usinganautopilot)
$750
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Component Description CostPerItem
Tablet/PhoneControl
AportablesystemthatcanbeusedtocontroltheAirVehicleElement(UAV).Thedetailsofthisoptioninclude
thefollowing:
• Airbornecontroller-onboardtheUAV,receivescontrolcommandsfromandrelaysonboardsensordatatotheGCS(e.g.,pairingofserialservo
controlleranddatatransceiver).o Serialservocontrollerislimitedtomono-
directionalcommunication(controldata
fromGCStoUAV)o Microcontrollerrequiresbi-directional
communication(controldatafromGCSto
UAV,telemetrydatafromUAVtoGCS)o NOTE:Useofthisoptionrequiresselection
ofanAutopilot,SerialServoControlleror
MicrocontrollerunderAirVehicleElement-AdditionalAirVehicleElement-ComponentOptions(Table3andTable4)
andaDataTransceiverfromTable6.• Ground-basedcontroller–TabletorPhone–serves
asGCSsystemforcaptureofuserinput(control
commands),captureandinterpretationoftelemetrydata,anddisplayofvehiclestate.NOTE:
RequiresaDataTransceiverfromTable6.o Touchscreendisplay(inappropriatefor
manualcontrolmode)
o AndroidoriOSoperatingsystemo 64GBinternalmemory
Thissystemisappropriateforautonomousoperations(noadditionalGCSsidecomponentsnecessary)orsemi-
autonomous(whencombinedwithmanualcontrolsystem)
$400
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Component Description CostPerItem
PC(Laptop)Control
AsystemthatcanbeusedtocontroltheAirVehicleElement(UAV).Thedetailsofthisoptionincludethe
following:
• Airbornecontroller-onboardtheUAV,receivescontrolcommandsfromandrelaysonboardsensordatatotheGCS(e.g.,pairingofserialservo
controlleranddatatransceiver)o Serialservocontrollerislimitedtomono-
directionalcommunication(controldata
fromGCStoUAV)o Microcontrollerrequiresbi-directional
communication(controldatafromGCSto
UAV,telemetrydatafromUAVtoGCS)o NOTE:Useofthisoptionrequiresselection
ofanAutopilot,SerialServoControlleror
MicrocontrollerunderAirVehicleElement-AdditionalAirVehicleElement-ComponentOptions(Table3andTable4)
andaDataTransceiverfromTable6.• Ground-basedcontroller–Laptop(e.g.,Panasonic
Toughbook)–servesasGCSsystemforcaptureof
userinput(controlcommands),captureandinterpretationoftelemetrydata,anddisplayof
vehiclestate.o Requires12to32VDCpowerconnection
foroperationalperiodsthatexceedsfour
hourso 15.4”display(1920x1200)o Windows7operatingsystem
o Inteli5(2.80Ghzprocessor)o 4GBmemoryo 256GBSolidStateDrive(SSD)
o AMDRadeonHD7750MVideoCardo NOTE:Useofthisoptionrequiresselection
ofaDataTransceiverfromTable6.
• USBjoystick(e.g.,ThrustmasterHOTASWarthogJoystick)forcaptureofusercontrolinputs(frompilot)
• Thissystemisappropriateformanual,semi-autonomous,orautonomousoperations
$4,000(excluding
communicationsandservocontroller
equipment)
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Component Description CostPerItem
DedicatedPortableGroundControlStation
(GCS)
ThissystemoperateshasallthesamefeaturesandrequirementsofthePC(Laptop)Control,butalsoincludes
thefollowing:
• IntegratedLaptopDockingStation• Hot-swappablelithium-ionbatterieswithtwohour
duration
• Two(2)12V/50Wpoweroutputs• 17”TouchScreenDisplay• 12to32VDCinputrangeforexternalpower
• Over-voltage,overcurrent,andreversepolaritypowerprotection
• Integratedruggedizedcasefortransport(with
handles,wheels,andstraps)
$10,000
(excludingcommunications
andservocontroller
equipment)
PostProcessorPC(Desktop)
Thissystemisusedtoanalyzethecapturedsensordata.Thedetailsofthisoptionincludethefollowing:
• Desktopconfiguration(e.g.,HPZ820Workstation),builtforhigh-endcomputingandvisualization
• Requires12to32VDCpower(forPCandMonitor)• XEONProcessor(2.5GHz),64-bitSix-core
Processor
• 16GBDDR3Memory• 1TBharddrive• Windows10(64-bit)
• NVIDIAQuadroK40003GBGraphicsCard• 24”LCDMonitor(1920x1200)
$6,000
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Component Description CostPerItem
PostProcessorPC(Laptop)
Thissystemisusedtoanalyzethecapturedsensordata.Thedetailsofthisoptionincludethefollowing:
• Laptopconfiguration(e.g.,HPEliteBook8770w
MobileWorkstation)• Requires12to32VDCpowerconnectionfor
operationalperiodsthatexceeds5.5hours
• Inteli7(2.7GHz),64-bitfour-coreProcessor• 8GBDDR3Memory• 180GBSSD
• Windows10(64-bit)• NVIDIAQuadroK3000M2GBGraphicsCard• 17.3”LCDMonitor(1920x1080)
$3,500
AdditionalLCDDisplay
Provideadditionaldisplayformirroringofexistingviews
(e.g.,FPVview,telemetry,orcontrols)orextendingdesktopofcontrolsystem.Thedetailsofthisoptionincludethefollowing:
• 24”LCDMonitor(1920x1200)
• Requires12to32VDCpower
$200
FirstPersonView(FPV)Goggles
Videogogglesusedtoprovideaclosedvisualviewingenvironmentforoperator.Thedetailsofthisoption
includethefollowing:
• Glasslenswithrefractiveopticalengine• Rubbereyecupsforambientlightreduction• 30degreesfieldofview(FOV)
• Imagesize:45”@7’• Requires7to13Vpower• 640x480VGA
• NTSCorPAL(autoselected)• 3.5mmAVinport
$300
Table6.C3Element–CommunicationEquipmentOptions
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Component Description CostPerItem
DataandTelemetryCommunications
DataTransceiverSet
(900Mhz)–LowRange
Thissetoftransceiversallowsforwirelesscommunicationof
data(i.e.,controlcommandsortelemetry)onthe900Mhzfrequencyband.Thedetailsofthisoptionincludethefollowing:
o NOTE:Thisoptionisnotappropriatefortransferof
detailedPayload/visualsensordata.• Range
o Indoor/Urban:upto2,000’
o Outdoor/lineofsight:1milewith3dBidipoleantenna
• Sensitivity:-121dBm
• Transmitpowerupto20dBm(100mW)• Airdataratesupto250kbps• Frequencyhoppingspreadspectrum
• Airborneelement(onboard)o 0.2ozo Serialconnection
o 0.75”(L)x0.25”(W)x0.1”(H)o RP-SMAantennaconnector(3dBidipole
antennaincluded)
o 2.7to3.6Vpowerrequired• Groundbasedelement(connectedtoGCS)
o USBinterface(noexternalpowerrequired)o Allotherdetailssameasairborneelement
$90
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Component Description CostPerItem
DataTransceiverSet
(900Mhz)–HighRange
Thissetoftransceiversallowsforwirelesscommunicationof
data(i.e.,controlcommandsortelemetry)onthe900Mhzfrequencyband.Thedetailsofthisoptionincludethefollowing:
o NOTE:Thisoptionisnotappropriatefortransferof
detailedPayload/visualsensordata.• Range
o Indoor/Urban:upto2,000’
o Outdoor/lineofsight:6.3mileswith3dBidipoleantenna
• Sensitivity:-101dBmat200kbpsor-110dBmat10
kbps• Frequencyband:902to928MHz• Transmitpowerupto24dBm(250mW)
• Airdataratesupto250kbps• Frequencyhoppingspreadspectrum• Airborneelement(onboard)
o 0.4ozo Serialconnectiono 1.3”(L)x1”(W)x0.25”(H)
o RP-SMAantennaconnector(3dBidipoleantennaincluded)
o 2.1to3.6Vpowerrequired• Groundbasedelement(connectedtoGCS)
o USBinterface(noexternalpowerrequired)
o Allotherdetailssameasairborneelement
$135
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Component Description CostPerItem
DataTransceiverSet
(2.4Ghz)–LowRange
Thissetoftransceiversallowsforwirelesscommunicationof
data(i.e.,controlcommandsortelemetry)onthe2.4Ghzfrequencyband.Thedetailsofthisoptionincludethefollowing:
o NOTE:Thisoptionisnotappropriatefortransferof
detailedPayload/visualsensordata.• Range
o Indoor/Urban:upto300’
o Outdoor/lineofsight:1milewith3dBidipoleantenna
• Sensitivity:-100dBmat250kbps
• Frequencyband:2.4GhzISM• Transmitpowerupto18dBm(63mW)• Airdataratesupto250kbps
• Directsequencespreadspectrum• Airborneelement(onboard)
o 0.4oz
o Serialconnectiono 1.3”(L)x1”(W)x0.25”(H)o RP-SMAantennaconnector(3dBidipole
antennaincluded)o 2.8to3.4Vpowerrequired
• Groundbasedelement(connectedtoGCS)o USBinterface(noexternalpowerrequired)o Allotherdetailssameasairborneelement
$100
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Component Description CostPerItem
DataTransceiverSet
(2.4Ghz)–HighRange
Thissetoftransceiversallowsforwirelesscommunicationof
data(i.e.,controlcommandsortelemetry)onthe2.4Ghzfrequencyband.Thedetailsofthisoptionincludethefollowing:
o NOTE:Thisoptionisnotappropriatefortransferof
detailedPayload/visualsensordata.• Range
o Indoor/Urban:upto300’
o Outdoor/lineofsight:2milewith3dBidipoleantenna
• Sensitivity:-100dBmat250kbps
• Frequencyband:2.4GhzISM• Transmitpowerupto18dBm(63mW)• Airdataratesupto250kbps
• Directsequencespreadspectrum• Airborneelement(onboard)
o 0.4oz
o Serialconnectiono 1.3”(L)x1”(W)x0.25”(H)o RP-SMAantennaconnector(3dBidipole
antennaincluded)o 2.1to3.6Vpowerrequired
• Groundbasedelement(connectedtoGCS)o USBinterface(noexternalpowerrequired)o Allotherdetailssameasairborneelement
$125
Video/SensorCommunications
NOTE:Thefollowingoptionsarenotappropriateforpairingwithsensorsthatcapturevisualdata
requiringsignificantprocessing(e.g.,multispectralcameraorLiDAR).TheyaremostappropriateforusewithCCD/CMOScamerastocapturevisualdetailsoftheremoteoperatingenvironmenttoincreasesituationalawarenessoroperatetheAirVehicleElementusingFPVvisuals.
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Component Description CostPerItem
900MHzVideo
System–LowPower(200mW)
Thisradio(RXandTX)allowsforwirelesstransmissionand
receiptofcameravideo(e.g.,low-fidelityFPV)onthe900Mhzfrequencyband.Thedetailsofthisoptionincludethefollowing:
• Range:.5mile
• AirborneTX(onboard)o Power:200mW(23dBm)o ReceiverSensitivity:-85dBm
o 0.53ozo 12Vpowerrequiredo 1.22”(L)x.94”(W)x0.39”(H)
o 4channels(910MHz,980MHz,1010MHz,and1040MHz)
o RP-SMAantennaconnector(3dbigaindipole
antennaincluded)• GroundbasedRX
o 4.06oz
o 12VDCpowerrequiredo 4.53”(L)x2.64”(W)x0.83”(H)o 3.5mmAVoutport
o RP-SMAantennaconnector(3dbigaindipoleantennaincluded)
$60
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Component Description CostPerItem
900MHzVideo
System–HighPower(1500mW)
Thisradio(RXandTX)allowsforwirelesstransmissionand
receiptofcameravideo(e.g.,low-fidelityFPV)onthe900Mhzfrequencyband.Thedetailsofthisoptionincludethefollowing:
• Range:1.8miles
• AirborneTX(onboard)o Power:1,500mW(32dBm)o ReceiverSensitivity:-85dBm
o 3ozo 12Vpowerrequiredo 2.83”(L)x1.71”(W)x0.48”(H)
o 4channels(910MHz,980MHz,1010MHz,and1040MHz)
o RP-SMAantennaconnector(3dbigaindipole
antennaincluded)• GroundbasedRX
o 4.06oz
o 12VDCpowerrequiredo 4.53”(L)x2.64”(W)x0.83”(H)o 3.5mmAVoutport
o RP-SMAantennaconnector(3dbigaindipoleantennaincluded)
$120
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Component Description CostPerItem
2.4GHzVideoSystem
–LowPower(200mW)
Thisradio(RXandTX)allowsforwirelesstransmissionand
receiptofcameravideo(e.g.,low-fidelityFPV)onthe2.4GHzfrequencyband.Thedetailsofthisoptionincludethefollowing:
• Range:0.34miles
• AirborneTX(onboard)o Power:200mW(23dBm)o ReceiverSensitivity:-85dBm
o 0.09ozo 3.7to5Vpowerrequiredo 0.7”(L)x0.72”(W)x0.18”(H)
o 4channels(2.414GHz,2.432GHz,2.450GHz,and2.468GHz)
o Whipantenna(fixed,1.8dBigain)
• GroundbasedRXo 4.06ozo 12VDCpowerrequired
o 4.53”(L)x2.64”(W)x0.83”(H)o 3.5mmAVoutporto RP-SMAantennaconnector(3dbigaindipole
antennaincluded)
$35
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Component Description CostPerItem
2.4GHzVideoSystem
–HighPower(500mW)
Thisradio(RXandTX)allowsforwirelesstransmissionand
receiptofcameravideo(e.g.,low-fidelityFPV)onthe2.4GHzfrequencyband.Thedetailsofthisoptionincludethefollowing:
• Range:0.75miles
• AirborneTX(onboard)o Power:500mW(27dBm)o ReceiverSensitivity:-85dBm
o 3ozo 12Vpowerrequiredo 2.83”(L)x1.71”(W)x0.48”(H)
o 4channels(2.414GHz,2.432GHz,2.450GHz,and2.468GHz)
o RP-SMAantennaconnector(3dbigaindipole
antennaincluded)• GroundbasedRX
o 4.06oz
o 12VDCpowerrequiredo 4.53”(L)x2.64”(W)x0.83”(H)o 3.5mmAVoutport
• RP-SMAantennaconnector(3dbigaindipoleantennaincluded)
$75
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Component Description CostPerItem
5.8GHzVideoSystem
–LowPower(400mW)
Thisradio(RXandTX)allowsforwirelesstransmissionand
receiptofcameravideo(e.g.,low-fidelityFPV)onthe5.8GHzfrequencyband.Thedetailsofthisoptionincludethefollowing:
• Range:0.57miles
• AirborneTX(onboard)o Power:400mW(26dBm)o ReceiverSensitivity:-85dBm
o 1.0ozo 7to12Vpowerrequiredo 1.69”(L)x0.94”(W)x0.48”(H)
o 8channels(5.705GHz,5.685GHz,5.665GHz,5645GHz,5.885GHz,5.905GHz,5.925GHz,and5.945GHz)
o RP-SMAantennaconnector(3dbigaindipoleantennaincluded)
• GroundbasedRX
o 4.06ozo 12VDCpowerrequiredo 4.53”(L)x2.64”(W)x0.83”(H)
o 3.5mmAVoutporto RP-SMAantennaconnector(3dbigaindipole
antennaincluded)
$100
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Component Description CostPerItem
5.8GHzVideoSystem
–HighPower(1000mW)
Thisradio(RXandTX)allowsforwirelesstransmissionand
receiptofcameravideo(e.g.,low-fidelityFPV)onthe5.8GHzfrequencyband.Thedetailsofthisoptionincludethefollowing:
• Range:1.06miles
• AirborneTX(onboard)o Power:1000mW(30dBm)o ReceiverSensitivity:-85dBm
o 3ozo 12to15Vpowerrequiredo 2.83”(L)x1.71”(W)x0.48”(H)
o 8channels(5.705GHz,5.685GHz,5.665GHz,5645GHz,5.885GHz,5.905GHz,5.925GHz,and5.945GHz)
o RP-SMAantennaconnector(3dbigaindipoleantennaincluded)
• GroundbasedRX
o 1.0ozo 12VDCpowerrequiredo 4.53”(L)x2.64”(W)x0.83”(H)
o 3.5mmAVoutporto RP-SMAantennaconnector(3dbigaindipole
antennaincluded)
$125
AntennaOptions
NOTE:ThefollowingoptionsareappropriateforextendingtherangeoftheData/TelemetryCommunicationoptionsortheVideo/SensorCommunicationoptions.However,itisessentialthattheappropriatefrequencytypebematched(i.e.,900Mhzantennawith900MHzTXorRX),otherwisethe
antenna,RX,andTXwillnotworkcorrectly.Thefollowingcalculatorcanbeusedtocalculatewirelesscommunicationranges(andanticipatedincreasesthroughuseofdifferingantennae):http://hobbywireless.com/Easy%20Wireless%20Range%20Calculator.htm
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Component Description CostPerItem
PatchAntenna
(900Mhz)-GroundBased
Improvescommunicationrange,butmustbepointedinthe
samegeneraldirectionastheopposingunit(e.g.,transmitter,receiver,ortransceiver).Thedetailsofthisoptionincludethefollowing:
• Gain:8dBi
• BeamWidth:75degrees(Horizontal)x60degrees(Vertical)
• 8.5”(L)x8.5”(W)x0.98”(H)
• Expectarangeboostofapproximately100%(multipleexistingrangeby2)
• NOTE:NotsuitableformountingonAirVehicle
Element.Recommendconsiderationofadiversityreceiverandtrackingdevice(notincludedascatalogoptions)forusewiththiscomponent.
$55
YAGI-Directional
Antenna(900MHz)–GroundBased
Significantlyimprovescommunicationrange,butmustbe
alignedwiththeopposingunit(e.g.,transmitter,receiver,ortransceiver).Thedetailsofthisoptionincludethefollowing:
• Gain:13dBi• BeamWidth:30degrees(Horizontal)x30degrees
(Vertical)• 57”(L)x1”(W)x1”(H)
• Expectarangeboostofapproximately300%(multipleexistingrangeby4)
• NOTE:NotsuitableformountingonAirVehicle
Element.Recommendconsiderationofadiversityreceiverandtrackingdevice(notincludedascatalogoptions)forusewiththiscomponent.
$60
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Component Description CostPerItem
PatchAntenna
(2.4Ghz)-GroundBased
Improvescommunicationrange,butmustbepointedinthe
samegeneraldirectionastheopposingunit(e.g.,transmitter,receiver,ortransceiver).Thedetailsofthisoptionincludethefollowing:
• Gain:8dBi
• BeamWidth:75degrees(Horizontal)x65degrees(Vertical)
• 4.5”(L)x4.5”(W)x0.98”(H)
• Expectarangeboostofapproximately110%(multipleexistingrangeby2.1)
• NOTE:NotsuitableformountingonAirVehicle
Element.Recommendconsiderationofadiversityreceiverandtrackingdevice(notincludedascatalogoptions)forusewiththiscomponent.
$40
YAGI-Directional
Antenna(2.4GHz)–GroundBased
Significantlyimprovescommunicationrange,butmustbe
alignedwiththeopposingunit(e.g.,transmitter,receiver,ortransceiver).Thedetailsofthisoptionincludethefollowing:
• Gain:13dBi• BeamWidth:45degrees(Horizontal)x40degrees
(Vertical)• 22.8”(L)x1.5”(W)x1.5”(H)
• Expectarangeboostofapproximately360%(multipleexistingrangeby4.60)
• NOTE:NotsuitableformountingonAirVehicle
Element.Recommendconsiderationofadiversityreceiverandtrackingdevice(notincludedascatalogoptions)forusewiththiscomponent.
$60
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Component Description CostPerItem
PatchAntenna
(5.8Ghz)-GroundBased
Improvescommunicationrange,butmustbepointedinthe
samegeneraldirectionastheopposingunit(e.g.,transmitter,receiver,ortransceiver).Thedetailsofthisoptionincludethefollowing:
• Gain:8dBi
• BeamWidth:75degrees(Horizontal)x60degrees(Vertical)
• 4.5”(L)x4.5”(W)x1”(H)
• Expectarangeboostofapproximately115%(multipleexistingrangeby2.15)
• NOTE:NotsuitableformountingonAirVehicle
Element.Recommendconsiderationofadiversityreceiverandtrackingdevice(notincludedascatalogoptions)forusewiththiscomponent.
$55
YAGI-Directional
Antenna(5.8GHz)–GroundBased
Significantlyimprovescommunicationrange,butmustbe
alignedwiththeopposingunit(e.g.,transmitter,receiver,ortransceiver).Thedetailsofthisoptionincludethefollowing:
• Gain:13dBi• BeamWidth:30degrees(Horizontal)x30degrees
(Vertical)• 16.5”(L)x3.25”(W)x1.5”(H)
• Expectarangeboostofapproximately360%(multipleexistingrangeby4.60)
• NOTE:NotsuitableformountingonAirVehicle
Element.Recommendconsiderationofadiversityreceiverandtrackingdevice(notincludedascatalogoptions)forusewiththiscomponent.
$70
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VII.SupportEquipmentSelectionGuidelinesandCatalogAswithprevioussectionsyouarefreetomodifyorchangeeachoftheseoptionsasyoudeemnecessary
(pleaseprovidesupportingrationaleandatleastthesamelevelofdetailasisprovidedhereintheengineeringnotebook).Keepinmindyouwillneedtodetermineaccuratecoststopurchaseandintegratethecomponents.Thefollowingrepresentthesupportequipmentoptionstocompleteyour
UASdesign.
Table7.DescriptionofUAVComponents
Component Description CostPerItem
Shelter/Trailer
Streamline
Fleet
Armada
Essentiallyamobileofficeandworkshop,thiswillprovidethedeskspacefortheworkstationsoutlinedabove,aswellasroomtotransporttheaircraft,tools,fuel,
generators,andothersupportequipment.Thetrailerscanbeconnectedtoexternalpower(30A,120V)topowerlights,airconditioning,andequipment.
Thereareseveraldifferentsizestoaccommodateyour
team’sparticularUASconfigurationsandcontrolrequirements.ThesizeisindicatedbythenumberofUAVRacksthatcanbeinstalledwithintheShelter.A
singleUAVRackcanholdeithertwoUAVsthatare5ftorlessinlengthoroneUAVthatis10ftorlessinlength.Thefollowingrepresentthemodelsavailable:
• TheStreamlineSheltermodelsupportsone(1)
UAVRack(6’x12’,3,000GVWR,singleaxle)• TheFleetSheltermodelsupportstwo(2)UAV
Racks(6’x16’,7,000GVWR,tandemaxle)
• TheArmadaSheltermodelsupportsthree(3)UAVRacks(7’x10’,7,000GVWR,tandemaxle)
$5,000
Streamline
$7,500
Fleet
$10,000
Armada
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Component Description CostPerItem
AC/DCBatteryCharger
Deviceusedtobalanceandchargeuptotwobatteriessimultaneously(eachupto6cells).Thedetailsofthis
optionincludethefollowing:
• SupportsLi-Po,Li-Ion,LiFe,NiMh,andNiCdbatteries
• RequiresDC11to18V(30A)
• Dischargerate:0.1to5.0A(maximum25W,total50W)
• ChargeRate:0.1to10.0A(maximum200W,
total400W)
$150
InternalCombustionFlightLineKit
Equipmentusedtostartandtroubleshootaninternalcombustionengine.Thiskitincludesthefollowing:
• Storagecontainer• Enginestartermotor
• Glowplugstarter• Battery• Powermonitor
$130
CarTopLauncher
Deviceusedtolaunchafixed-wingAirVehiclefromtheroofofacar.Thedetailsofthisoptionincludethe
following:
• ReleaseMechanism:ActuatedbyUAVrotation• Starter:Heavyduty12-24VDC• BatteryType:Removable,Lithium-Ion
• BatteryCapacity:43Wh• CarMountType:THULERapidAero™LoadBars• Weight:21.39lb(9.7kg)
$3,000
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Component Description CostPerItem
PneumaticCatapult
Deviceusedtolaunchafixed-wingAirVehiclefromtheground.Thedetailsofthisoptionincludethefollowing:
• 6kJman-portablecatapult
• 23m/smaximumspeed• Remotecontrolboxwithadvancedsafety
features(e.g.,audiblealarm,voltageand
pressuredisplays,permanentlaunchcounter)• Integratedcompressorwithreversepolarity
protection,thermalshutdownandpressurerelief
valve• Reliablecarriagewithfoldablelegs,ropelength
adjustmentandsafetypin.Carriageismadeof
hardanodizedaluminumformaximumwearresistance
$28,000
PowerGenerator-Lightweight
Deviceusedtogeneratepower.Thedetailsofthisoptionincludethefollowing:
• Produces2,000W(16.7A)maximum/1,600W
(13.3A)rated• 12VDCoutput• Weight:47lb
• NoiseLevel:59dB(a)ratedload(1,600W),53dB(A)¼load
• Fuelefficiency:9.6hrpergallonofunleadedgasoline(0.95galloncapacity)
• Emptyweight:46.3lb
• Includespowerinverter(safeforPCequipment)• 98.5ccenginedisplacement• Thisgeneratorcanbeconnectedinparallelwith
anotherofthesametypetoproduceadditionalpower
$1,150
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Component Description CostPerItem
PowerGenerator–Heavy
Deviceusedtogeneratepower.Thedetailsofthisoptionincludethefollowing:
• Produces4,000W(33.3/16.7A)maximum,
3,500W(29.21/14.6A)rated• 120/240Voutput• Weight:155lb
• NoiseLevel:72dB(a)@ratedload(1,600W)• Runtimepertank(6.3gallons):9.4hr@rated
load(3,500W),15.7hr@½load
• Emptyweight:155lb• DoesNOTincludespowerinverter(unsafeforPC
equipmentwithoutlineconditioner)
• 270ccenginedisplacement
$1,800
LineConditioner
Devicethatconditionspowerforusewithsensitiveelectronics(i.e.,protectsfrombrownoutsandovervoltages).Thedetailsofthisoptionincludethe
following:
• 15Acircuitbreaker• 1200Woutputrating• EMI/RFIlinenoisefiltering
• 120VAC,10A,60Hz• Four(4)poweroutlets• 2.09lb
• NOTE:IfthePowerGenerator–HeavyoptionisselectedtopowerGCSequipment,this
componentwillbenecessary.
$100
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VIII.UASPersonnel/LaborGuidelinesThecostsofthesystemarenotsolelymeasuredintermsofthecosttopurchaseindividualcomponents,
butarealsoreflectiveoftheengineeringefforttodesignandtestthesystemandthecosttooperateandmaintainthesystem,onceithasbeencompleted.Thefollowingsubsectionsprovidethedetailsforbothofthesepersonnelandlaborareas.Whendocumentingdesign,consideryourownhoursspent
performingtasksinsupportofeachoftheseroles.However,doNOTentereachoftheserolesandtheassociatedhoursastheEngineeringLaborcostvaluesforyourdesigneffort.Instead,useyourownexperienceandobservations,coupledwithresearchregardingtypicaltimetoperformsuchactivities
andguidancefromyourindustrymentorstoidentifyestimatedeffortsrequiredtoperformnecessaryactionstocompile,deliver,andtestanequivalentdesign.Usethisexperiencetobetterunderstandwhatroleswouldberequired,ataminimum,tocreateyourdesignfromconceptiontofinaldelivery.
Engineering/DesignPersonnelandTeamMemberRolesTeammembersshouldberecruitedtoprovideavarietyofskillstotheteam.Thereshouldbedistinct
divisionsoflaborintherolesandfunctionsofeachteammember.Theexactsetofteamroleswillbeuptotheteamandmayvarybasedonlocalexpertiseandstrategy.Notethatnoteveryroleneedstobefilledandsometeammembersmayhavemultiplerolesdependingonavailableexpertiseandinterest.
NOTE:Pleasekeepinmind,itisnotnecessarytorecordactualtimespentworkingtowardscompletionoftasksin
assignedrolesasthesenumberswillnotbethevaluesenteredintothecostcalculations(i.e.,EngineeringLabor).Instead,thepurposeistogiveyouimportantexperiencetobetterunderstandtheintricaciesofdesignandprovide
anestimateofwhatwouldberequiredtoperformthiswork.Thevaluesenteredintothecostcalculationsshouldbeestimatesofwhatyoubelieveitwouldtakeexperiencedlabortodevelopandbuildyourteamsolution.Pleasetalk
toyourmentorstoworkongeneratingaccurateestimates.
Thenatureofeachteamwilldeterminehowitfunctions.Forinstance,teamsthatmeetafterschoolwillfaceadifferentsetofneedsthanteamsthatfunctionwithinaclassroom.YourTeacher/Coachwillhelp
youdecidewhichapproachwillworkbestinyourcommunity.Noteverymemberoftheteamneedstobeanexpertintheuseofallthetools.However,atleastoneteammember,theProjectEngineershouldpossessahighdegreeofskillwiththesoftware.Itisrecommendedthatallteammembershavea
workingknowledgeofthesetools.Thetoolsareprovidedtotheteamsforfree.Keepinmind,youshouldtrackyourlaborexpendedonthisprojectforeachroleinordertobetterunderstandengineeringlaborcostforthedeterminationofyourfinalUASdesigncost.Thefollowingrepresentthesuggested
rolesforyourteam:
NOTE:Full-timeEquivalent(FTE)isusedtoindicateonepersonassignedfull-timetothedesignatedrole.Forthis
competition,fractionalFTEswillnotbeallowed.Foroperationalcostcalculationpurposes,fractionsofanhour
shouldberoundeduptothenexthighestinteger.Costsarenotdependentonindividualsalaries,butareinstead
tiedtothevalueacompanyassignstotherolewhentheirservicesarequantifiedandpassedontoanexternal
customer.Usethisopportunitytodeterminecompetitiveratestoperformtherequiredtasksbyprofessionalsinthe
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industry.Researchperhourcostsandfeelfreetoreplacethesevalueswithwhatyoufind,aslongasthevaluescan
beconfirmedfrommultiplesourcesandaredocumentedinyourEngineeringDesignNotebook.
1) ProjectManager[$75/hr.costper1.0FTE]:TheProjectManagerwillberesponsibleforrecruitingawinningteamandleadingstrategydesign.TheProjectManagerisresponsiblefor
theoverallsuccessoftheproductorprogram.TheProjectManageristheindividualresponsibleformanagingtheprojectplananddeliverables,ensuringthatallprojectteammembershavethenecessaryresourcesrequiredtocompletetheproject,andreportingstatusfortheteam,
trackingtimelineandmilestones,andquality.Manytimesthisindividualplaysadditionalrolesintheproject.TheProjectManagerleadsthecross-functionalteamandistypicallyresponsibleforthedevelopmentoftheoverallproduct,program,orEngineeringDesignNotebook.Several
interrelatedsub-projectactivitiesengagedinbyteammembersareoftenmonitoredbythisrole.
2) DesignCoordinator[$50/hr.costper1.0FTE]:TheDesignCoordinatorrolearisesifyourteamis
composedofmembersthataregeographicallydispersed.Therolewillnotapplyifyourteamiswithinasingleclass.TheDesignCoordinatoractsastheliaisonbetweenthedesignpartnerandotherinternalengineeringteams.TheDesignCoordinatorisoftenresponsibleforintegrating
newormodifieddesigndataintotheoverallproductdesign.TheDesignCoordinatoristheprimaryinterfacewiththethird-partypartner.TheDesignCoordinatorcoordinatespartnerengineeringresourcesandiseitherlocatedlocallyinanotherclassattheteam'sschool,or
remotelyinanotherschool.3) Systems&TestEngineer[$50/hr.costper1.0FTE]:TheSystemsEngineerdefinestheproduct
architecture,itsmodules,andinterfaces.Heorshehasultimateresponsibilityforensuringthe
variouspartsoftheproductwillworktogetherasawholewhenfinallyassembled.Thisroleprovidesdirectiontothedesignteam,manageinterfaces,andparticipateindesignreviews.TheTestEngineerisresponsiblefortestingprototypesofdesignsandpre-productionproducts
createdbythedesignteam,reviewstestcasesgeneratedbythedesignteam,andcollaborateswiththedesignteamduringthetestingphase.Thisroleistheliaisonwithanengineeringmentor,assistingtheteamwiththeincorporationofengineeringadvice.Thispersonmayalso
beaprojectsimulationengineerontheteam.4) SimulationEngineer[$50/hr.costper1.0FTE]:TheSimulationEngineeristheexpertinthe
authenticsimulationandmodelingtools,suchas3DCADandWindchill.TheSimulationEngineer
managestheWindchillDigitalProjectSpaceandisresponsibleforsimulationandmodelingapplicationinteroperability,filecompatibilities,andfiletransfer.
5) ProjectScientist[$50/hr.costper1.0FTE]:TheProjectScientistshouldhaveabackgroundin
physicsorarelatedfield.Thisrolewillberesponsibleforthescientificintegrityoftheapproachandfortranslatingthescientificprinciplesintotheteam’sengineeringdesign.Thisroleistheliaisonwithasciencementor,assistingtheteamwiththeincorporationofscientificadvice.
6) ProjectMathematician[$50/hr.costper1.0FTE]:TheProjectMathematicianshouldhaveabackgroundinmathematics,withaminimumofalgebraandtrigonometry.Thisrolewillberesponsibleforthemathematicalintegrityoftheapproachandfortranslatingthemathematical
principlesandapplicationsintotheteam’sengineeringdesign.
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7) ProjectCommunicator(orCommunicationsSpecialist)[$50/hr.costper1.0FTE]:TheProjectCommunicatorintegratesideas,approaches,andapplicationsfromthedesignteamintowritten
documents,videos,andpresentations.Thisroleisresponsiblefortheteam'sbrand.Thispersonrepresentstheteamtothemediaandwillworkwiththeteacher/coachtocoordinateeventactivities.
DesignConstruction/AssemblyPersonnelSomeoftheelementsyouidentifyinyourdesignmayrequirecustomization,modification,and/or
assembly.Forthoseitemsyouwillneedtodeterminearole(notfilledbyanactualteammember),alaborrate,andtheamountoftimetocompletethetask.Forexample,ifyouareproposingthemodification/manualconstructionofanelementyouwouldidentifythatrole(e.g.,technician[wing
construction]),anappropriatelaborrate($25/hr),andtheestimatedhoursthetaskwouldtaketocomplete(e.g.,15hours).Thefollowingrepresentsamplerolesandrates:
1) AssemblyTechnician[$25/hr.costper1.0FTE]:AnAssemblyTechniciancanbeusedtoconstructandassembleawing,fuselage,orothercustomdesignedcomponent.Theyare
knowledgeableofmaterials,includingthemillingofmetal(e.g.,computernumericalcontrol[C&C]),coveringofwings(e.g.,applicationofplasticshrinkwrapfilm),applicationoffiberglass,andvacuumformingofplastics.
2) ElectronicsTechnician[$25/hr.costper1.0FTE]:AnElectronicsTechniciancanbeusedtodesign,develop,test,manufacture,install,andrepairbothelectricalandelectronicequipment.
TypicallyaFederalCommunicationsCommission(FCC)and/orAircraftElectronicsTechnician(AET)certificationisrequired.
3) AircraftMaintenanceTechnician[$25/hr.costper1.0FTE]:AnAircraftMaintenanceTechnician
(AMT)holdsamechaniccertificateissuedbytheFAAtoservice,troubleshoot,andrepairaircraft.
OperationalandSupportPersonnelAnyUASperformingremotesensingforprecisionagriculturerequireavarietyofrolestobefulfilledby
personnelonthegroundinordertoensuresafeandsuccessfulapplicationexecution.Differentaircraft
andapplicationtypeswillrequiredifferentrolesandthereforedifferentnumbersofgroundsupport
personnel.Forthepurposesofthiscompetitionabasicminimumgroundpersonnelconfigurationcan
beassumed.Deviationsarepermitted,butmustbejustifiedwithsupportingrationale.Thetypicalroles
areoutlinedasfollows:
1) PayloadOperator[$35/hr.fullyloadedcostper1.0FTE]:Thispersonisrequiredwhenpayload
dataistelemeteredfromtheaircraftorrequiresmanualoperationduringtaskexecution.This
personwilltypicallysitatagroundstationinteractingwithagraphicaluserinterface(GUI)for
thepurposeofcontrollingthepayloadoperationsinreal-time.Forasensorpayload,thiswill
involvemonitoringthesensorpayloadstatusanddatatelemetryfromtheaircraft,steeringthe
payload(i.e.directingwherethecameraispointing),anddirectingtheaircraftoperatorwhere
toflytheaircraft.Foraerialspraying,thisrolecouldbeutilizedtodeterminepositionofaircraft,
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enable/disablespraying,andverifyresults.Theexactnatureofthisrolewillbedrivenbythe
sensorpayloadselection.
2) DataAnalyst[$50/hr.fullyloadedcostper1.0FTE]:Thispersonisrequiredwhenpayload
sensordatafromtheunmannedaircraftcannotbeprocessedinreal-time.Thisrolecanbea
requirementfortelemetereddatawherereal-timesearchalgorithmsarenotavailableatthe
groundstation.Thisroleisalsoarequirementwhensensordataisrecordedonboardthe
aircraftfordownloadandanalysisuponaircraftrecovery(i.e.,nodatatelemetry).Thisrolemay
ormaynotberequired,dependingonthesensorpayloadselection.
3) RangeSafety/AircraftLaunch&Recovery/Maintenance[$35/hr.fullyloadedcostper1.0FTE]:
Thisindividualcanbeassignedmultiplenon-concurrentroles,andistypicallyahighlyqualified
technician.Rangesafetyincludesensuringfrequencyde-conflictionpriortoandduring
applicationexecutionaswellasairspacede-confliction.Thisindividualwillbetrainedintheuse
andoperationofaspectrumanalyzertoensurethatthecommunicationsandaircraft
operationsfrequenciesarenotconflictingwithotherpotentialoperationsinthearea.This
individualwillalsomonitorairtrafficchannelstoensurethattheairspaceremainsfreeduring
thetask.Thisindividualwillberesponsibleforcoordinatingwiththeairtrafficmanagement
personnelinadvanceoftheoperationtoensurethattheappropriateairspacerestrictionsare
communicatedtopilotedaircraftoperatinginthearea.Thisindividualmayalsoberesponsible
foraircraftlaunchandrecoveryoperationsaswellasanyrequiredmaintenance(e.g.refueling
orrepairs)inbetweenflights.
4) LaunchandRecoveryAssistants[$15/hr.fullyloadedcostper1.0FTE]:Inthecaseofsome
largerunmannedaircraftoperatinginunimprovedareas(e.g.,group3UAS),oneortwo
assistantsmayberequiredtohelppositiontheaircraftontothelaunchsystem(e.g.,catapult)
andtorecovertheaircraftfromthecapturemechanism(e.g.,snagline).
5) SafetyPilot[$35/hr.fullyloadedcostperassignedFTE]:Thisindividualisresponsiblefor
bringingtheaircraftsafelyinforrecovery.Forthiscompetition,wewillassumeline-of-sight
(LOS)operationatalltimes,meaningthatthesafetypilotwillneedtobeabletoobservethe
aircraftatalltimesduringflight.Duringsemi-autonomousflightoperations,thesafetypilotis
responsibleforimmediatelytakingovercommandoftheaircraftandbriningitsafelytothe
groundshoulditexhibitunanticipatedflightbehaviors,orinthecaseofpilotedaircraftentering
theflightoperationsareaascommunicatedbytherangesafetyofficer.Thisroleisalsoreferred
toasthe“Observer”,responsibleformaintainingVLOSwiththeaircraft.
6) OperationalPilot[$35/hr.fullyloadedcostper1.0FTE]:Inthecaseofautonomousorsemi-
autonomousoperations,theoperationalpilotisresponsibleformonitoringaircraftstate
(attitude,altitude,andlocation)toadjustingaircraftflightpathasrequiredforsuccessofthe
applicationtask.Thepilotwilltypicallyspendmostoftheoperationlookingatascreenatthe
groundcontrolstationmonitoringthetelemetryfromtheaircraft’son-boardflightcontrol
computer,andadjustingtheaircraft’sprogrammingasnecessary.
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IX.FlightPlanningGuidelinesYourteammustcreateaFlightPlanthatdocumentshoweachAirVehicleElement(UAV)inyourUAS
designwillbeflownandhowthepayloadwillbeoperatedinordertocompletetheapplication:• TakeoffandInitialClimb• Surveyingcroparea
• CoordinatedTurns• Approach,Landing,andRefueling/Maintenance• TotalFlightTimeCalculation
NOTE:Ahypotheticalprecisionagriculturalscenariocanincludeoperationalphasesbeingrepeated,and
performedinnon-sequentialorder.
ForallportionsoftheFlightPlan,payparticularattentiontotheforwardspeedoftheaircraft.Iftheaircraftistravellingtooquickly(tooslowly)ortoohigh(toolow)thentheaircraftmightnotusethedetectionpayloadtoitsfullestpotential.
TakeoffandInitialClimbDuringtakeoffandtheinitialclimb,thesizeofthesensorfootprintchangesbasedonaltitude.Untilthe
aircrafthasreachedasufficientaltitude,thegroundcoveredbythesensorfootprintwillnotbeusableforconsistentdatacapture,becauseofvariationinsensorperception.
DataCaptureduringStraightandLevelFlightOneofthebasicflightmaneuversforremotesensingisstraightandlevelflight.Duringstraightandlevelflight,theUAVtravelsinastraightlineataconstantspeedandaltitudewhilethesensorpayload
capturesdatabelow,coveringlongstretchesofterrain.Yourteammustdeterminehowitwantstooperatethesensorpayload(pan,tilt,zoom)whiletheUAVisinstraightandlevelflight.Twomethodsareoutlinedbelow.
Method1:(Basic)Keepthesensorpayloadpointeddownward.Ifthesensorpayloadispointedstraightdownwardduringstraightandlevelflight(zeroroll,zeropitch),
thenthecamerafootprintbecomesarectanglewithaforwardlengthandasidewayswidthdeterminedbycalculatingthepositionsofthecornersofthecamerafootprint.Thismethodcreatesalongrectangleofcoverageareawhosewidthisthesameasthesidewayswidthofasinglecamerafootprintandwhose
lengthisstretchedtobecomewhateverdistancetheUAVcontinuestotravelinstraightandlevelflight(seeFigure10earlier).
Forthismethod,yourteamwillpickaflightaltitude,flightspeed,andthezoomedcamerafieldofviewtobeusedinstraightandlevelflight.ShowthattheUAVflightspeedisslowenoughfordetection.This
canbedemonstratedbycalculatingthatthedistancetravelledbytheUAVduringthedetectiontime(flightspeedtimesdetectiontime)isnotgreaterthantheforwardcamerafootprintlength.
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Method2:(Advanced)Sweepthesensorpayloadbackandforth.Amoreadvancedmethodfordatacaptureduringstraightandlevelflightistosweepthesensorpayloadleftandrighttoincreasethewidthofthecoverageareabeyondthewidthofasinglecamerafootprint.Thismethodrequiresadditionalanalysistoconfirmthatthefullareatracedduringeachsweepcycleis
coveredforthefulldurationofthedetectiontimerequirement.Teamsusingthisoptionmustconsiderthefollowing:
• Whenthesensorpayloadisnotpointedstraightdown,itisnolongerrectangular.Ifcamera
pitchiszero,butthecameraisrolledtotheleftortheright,thenthecamerafootprintistrapezoidal.Ifboththepitchandrollvaluesarenon-zero,thecamerafootprintbecomesageneralquadrilateral.
• Theangularrateatwhichthesensorpayloadissweptbackandforthcannotexceedthelimitsofthesensorpayloadasspecifiedinthepayloadcatalog.
• Thecoverageareaforthesweepingmotionmustbeshownforafullcycle.
• Atthemaximumrollvalueused,thefarcornersofthecamerafootprintmustbeshowntobewithintheviewablecone.
• Thesensorpayloadmustbrieflypauseatthemaximumpanleftandpanrightpositionssothat
theedgesoftheseregionsarecovered.• TheUAVforwardflightspeedmustbeslowenoughtobecompatiblewiththesweepingmotion
sothatthesubjectarea(i.e.,sectionsorindividualcomponentsofthecrop)wouldremain
withinacamerafootprintwithnocoveragegaps.
DataCaptureduringaCoordinatedTurnTheUAVmustbeabletoturnaroundtocontinuescanningthearea.Yourteammayfinditusefultouseturnsofdifferentradiitofullycoveryourdatacapturearea.Duringacoordinatedturn,thebodyoftheUAVisrolledtoprovidealiftingforcewhichpointstowardthecenteroftheturningarc.Thetighterthe
turn,themore“g”sarepulledbytheUAV,increasingthestressonthewings.YourwingsmustbedesignedtosustainthetightestturnradiususedinyourMissionFlightPlanwiththeappropriatesafetyfactor.
Duringacoordinateturn,camerafootprintrotatesastheUAVrotatesabouttheturn(seeFigure11
earlier).Iftheforwardflightspeedismaintainedfromstraightandlevelflightduringacoordinatedturn,thenthemiddleofeachcamerafootprintwillcoverthegroundforthesameduration;however,attheinsideoftheturnthegroundwillbecoveredbyalongerdurationandattheoutsideoftheturnthe
groundwillbecoveredbyashorterduration.Thecoveragedurationofthisoutsideedgemustbelongerthantherequireddetectiontimetocontributetothetotalcoveragearea.
FlightPathforFullCoverageoftheSubjectAreaIntheprecisionagricultureremotesensingapplication,oneoftheprimarygoalsistoscantheentiresubjectcroparea.TheflightmaneuverscalculatedinyourMissionFlightPlanbecomebuildingblocksto
documenthowyourUAVswouldflytocovertheentirearea.StraightandLevelFlightManeuverscanbestretchedlongerasneeded.CoordinatedTurnFlightManeuverscanbecreatedfordifferentradius
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values(seeFigure12earlier).CreateaflightpathforfullcoverageofthesearchareainsupportofyourMissionFlightPlan.
Approach,Landing,andRefueling/MaintenanceWhileconductingamissionortask,eachUAVwillhavetoreturntobaseandlandatsomepoint.This
willhappenateitheraplannedtime,suchasforrefuelingorattheendofthemission,oratanunplannedtime,formaintenance,erraticbehavior,etc.InyourMissionFlightPlan,describethisprocessanddemonstratethateachUAVinthesystemhasenoughfueltocompleteitsportionofthe
taskandreturnhomeandland.Ifrefuelingisrequired,documentthiswiththeFlightPath.Forinternalcombustionenginedesigns,adda5%fuelmargintoaccountforfuelthatcouldgetstuckinthecornersofthefueltank.
TotalMissionTimeCalculationThefinalportionofyourteam’sMissionFlightPlanistotabulatethetotalmissiontimerequiredto
setuptheUAS,launcheachUAV,flythechosenflightpathtoscantheentireareawithallUAVs,refuelasrequired,returntobase,land,andbreakdownthesystemtoloaditbackintothetrailer/shelter.
CommunicationsConsiderationsYouwillwanttoprovideadetaileddescriptionofhowyouwillmaintaincommunicationand
coordinationamongalltheaircraft,ensuresafety,andfullycoverthesubjectarea.
SpectrumAuthorizationandTransmissionRulesInaccordancewiththeFAANotice8900.227UnmannedAircraftSystems(UAS)OperationalApproval,
thereareseveralimportantconsiderationsnecessarytousecommunicationsequipment.
1. Everyuser(operator)musthavetheappropriateNationalTelecommunicationsandInformationAdministration(NTIA)orFederalCommunicationsCommission(FCC)authorizationorapprovaltotransmitusingradiofrequencies(RF).TheseRFareusedintheuplinkanddownlinkportionof
theUAScommunicationsfortransmissionandreceiptofcontrolcommands,telemetry,andsensor/payloadinformation.Thisisachievableusinglicensedbands,whichrequireanoperatorlicensesuchasanAmateurRadioLicense–TechnicianClass(validfortenyears).Beawarethat
eachlicensetypehasrestrictionsconcerningtheuseofspecificfrequenciesandtransmissionpowerlimits.
2. Non-Federalpublicagencies(otherpublicentitiesandcivilUASusers)generallyrequireanFCC
approvedlicensetotransmitonfrequenciesotherthantheunlicensedbands(900MHz,2.4GHz,and5.8GHz).However,keepinmindthattherearelimitationsonthetransmissionpowerusedbyunlicensedoperatorsontheunlicensedbands(seePart15oftheCodeofFederal
RegulationsTitle47regardingRadioFrequencyDevicesandtheirtechnicalrequirements).Itshouldbenotedthatinaccordancewith47CFR97,§97.215Telecommandofmodelcraft,anamateurstationtransmittingsignalstocontrolamodelcraftmaybeoperatedasfollows:
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a. Thestationidentificationprocedureisnotrequiredfortransmissionsdirectedonlytothemodelcraft,providedthatalabelindicatingthestationcallsignandthestation
licensee'snameandaddressisaffixedtothestationtransmitter.b. Thecontrolsignalsarenotconsideredcodesorciphersintendedtoobscurethe
meaningofthecommunication.
c. Thetransmitterpowermustnotexceed1Watt(W).3. DepartmentofDefense(DOD)agenciestypicallydemonstrateUASspectrumauthorization
throughaSpecialTemporaryAuthorization(STA)issuedbytheNTIAorafrequencyassignment
intheGovernmentMasterFile(GMF).4. Non-DODFederalpublicagencies(e.g.,NASA,USCG,andUSCBP)alsorequireanSTAissuedby
theNTIAorfrequencyassignmentintheGMF.
PreventingInterferenceWhenoperatingmultipleaircraftorincloseproximitytootheraircraftinanareayouwillneedto
preventcommunicationsinterferenceamongthevariousaircraftandthegroundcontrol.Thiscanbeaccomplishedusingavarietyofmethods,includinguseoffrequencyhoppingequipment,frequencymanagement,staggeringflights,anddirectionaltrackingantennae.ThefollowingfiguredepictssixUAS
operatinginafivemilebyfivemilesubjectareausinglow-powercommunications(onemilerange)andtheresultinginterferencethatcouldoccurfromoverlappingcoverage.
Figure18.SixUASwithlow-powercommunicationsoperatinginsubjectarea(interference).
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UseofMultipleAntennaeItispossibletousemultiplecommunicationpathswithasingleaircraftthroughemploymentofamultiplexerdeviceonboardtheUAV.Amultiplexerisadevicethatprovidesauserwiththeabilitytoselectoneofseveralinputsanddesignateastheprimary(single)signal.Usingsuchadevicemakesit
possibletomonitorthereceivedsignalstrengthindication(RSSI)ofeachinputandselecttheonewiththeleastnoise,strongestsignal,ormostreliablesignal(strongestovertime;averaged).InmanycasesthesedevicescanbeconfiguredtomonitorRSSIandautomaticallyselectonethatmeetsdesired
conditions(e.g.,leastnoise,strongest,reliable).Whenamultiplexerisintegratedintoacommunicationsystem,itbecomespossibletouseseveraltransmittersfromthegroundcontrolstation;eachfittedwith
theirownantenna.Thisstrategycanbeemployedtosupportuseofomni-directional(circularradius)anddirectionalantennae(e.g.,Yagi-Uda,lens,orpatch).Thefollowingfiguredepictsuseofamultiplexerdevice(inred)tosupportbothlineofsight(LOS)andbeyondlineofsight(BLOS)
communications.
Figure19.UASfeaturinguseofamultiplexer(inred).
UseofTrackingAntennaTrackingantennafeatureamovingbasethatcanchangethepitchandyaw(heading)oftheantennaor
antennae.Theycanbemanuallycontrolledbyhandorautomatedthroughuseoftelemetry.Inorderto
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automate,thepositionandorientationofboththetrackingantennaandtheUAV(airvehicleelement)mustbeknownandcommunicatedtothegroundcontrolstation.Usinggeometry-basedalgorithmsthe
groundcontrolstationwilldeterminetheappropriatepitchandyawtoorientthetrackingantennasothatitpointsatandtrackstheaircraftwhileinflight(seethefollowingfigure).
Figure20.TrackingAntennaexample.
Inaddition,directional(highlyfocused;e.g.,patch,Yagi-Uda,orlens)antennacanalsobeusedin
combinationwithatrackingandpointingbasetoavoidoccurrencesofinterferencebymaintainingeitherverticalorhorizontalseparation(seethefollowingfigure).
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Figure21.Multipleaircraftanddirectionalantennaseparationexample.
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X.BusinessCaseGuidelines
TheRWDCcanbeviewedasaprojectthatprogressesthroughtheprovenprototypeoutsideofthecurrentFAApart107regulationstoshowthatthepart107islimitingtheopportunitiestomakemoneywithunmannedsystems.YourteamshoulddevelopabusinesscasethatincludesthenecessaryinformationrequiredbytheFAAandcompaniesthatyoucanperformthespecifiedmissionsforprecisionagriculturemoreeffectivelyandsafelyunrestrictedbythepart107regulations.YourplanshouldshowthatbygoingoutsideoftheregulationsthatyoucansafelymakeasignificantlygreaterprofitthantheDJIAgrasMG-1andtheeBeeSQthatoperateinsideoftheregulations.Tofollowisanelaborationofthefivekeycomponentsofabusinesscasethatwillassistyouincreatingasuccessfulplan.Thinkoffollowingkeycomponentsofabusinesscasetohelpyoudevelopyourbusinesscasesection:
1.Providestherationaleforaproductdevelopmenteffort
2.Explainsthemeansbywhichtheprojectwillproduceareturnoninvestment
3.Outlinestheoverallfeasibilityandrisks
4.Explainsthecompetitivelandscape
5.Providestheoverallscope,timeframe,andfundingrequirements
Rationale
Whywouldyoutakethisservicetomarket?Theinvestmentcommunityisbyitsverynaturehighlyskepticalofnewproductideas.Thisisbecausemostnewbusinessideasdonotsucceed.Thecaseforfullcommercialdevelopmentofaproductmustdemonstratethatitmeetsacompellingneedinthemarket.Further,potentialcustomerswhohavethiscompellingneedmustbeshowntobewillingtopayfortheproductatapricethataddressesallcostsoftheproductincludingresearchanddevelopment(R&D),manufacturing,operations,overheadcosts,thecostofcapital(i.e.,thereturnonthefundinginitiallyinvestedintheproduct),andtheFAAwantstomakesureyouareoperatingsafelywhereyouareoutsideoftheregulations.
ReturnonInvestment
Willyourproposedbusinessmakemoney?Itisuptoyoutoexplainhowyouintendtomakemoneywiththisservice,aswellasthelikelihoodofsuccess.Therearemanythingstoconsiderwhenyoumaketheargumentthatyourplanwilllikelybeprofitable.Forthisyearschallengewearegivingyouthecompetitorthatyouaretryingtodobetterthansofirst,youmustdecidehowyouwillprovidethe
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serviceswillareaskingyoutocomplete,alongwiththeassociatedtargetmarketanditssizeandgrowthparameters.Themarket,marketsize,andproposedcompellingneedforthebusinessprovidesomeindicationofthepossiblepricelevelofyourproduct,butitisimportanttorememberthatprofitabilityisthedifferencebetweenthecostoftheserviceanditsprice.Thecaseforthereturnoninvestmentmustalsodemonstratethattheservicemaybedoneatareasonablecostthatwillsupportatargetprofitmargin.Thisshouldbecarefullyconsideredassomeapplicationsforyourproductmaybemorecostlythanothers—andcorrespondingly—somemarketsmaybefarmorepricesensitivethanothers.Thebasicproductandmarketentrystrategyshouldbeclearlyunderstoodsothatyouhaveabasisformakingcost/benefittrade-offanalyses.
FeasibilityandRisk
Canyourdesignperformhowyousayitwillwhenperformingthisservice?Areyouadequatelyaccountingforsafelyintheareasthatyouplantogooutsideofthepart107regulations?Areyouabletoperformthetasksbetter/moreprofitablythanthegivenexistingsystem?BeforeattemptingtoconvincetheinvestmentcommunityandtheFAAthatyourteamiscapableofdevelopingandlaunchingthisplaninthemarket,youmustbeconvincedyourself.Itisatthisstageofdevelopingtheplanandthebusinesscasethatexperiencecounts.Ifyouarenotcertainoftherisksorofyourowncapability,don’tneglecttoreachouttosubjectmatterexperts.Also,rememberthatwhenseekingfundingfromtheinvestmentcommunitysuchasventurecapital,youaredealingwithindividualswhohavefundedmanysimilarventuresandarequiteawareofthelimitationsofdevelopmentteams,andtherisksthatcangetinthewayofsuccessfulmarketlaunches.Besure,therefore,tointensivelybrainstormpossiblerisks.Youdonotwanttoleavesomethingoutofyourbusinesscase,orbeaskedsomethingbyapotentialinvestor—andareunabletogiveananswer.
CompetitiveLandscape
ForthisyearsChallengeyouwillbecomparingyourdesigntotheDJIAgrasMG-1andtheeBeeSQaspairofUAV’susedtodetectandsprayforCornBillbugsonafieldofDentcorn(Zea mays var. indentata). ThedesignsgiventoyouoperateinsideofFAApart107regulations.YouareseeingifthereisanopportunitytoperformthetasksofsprayinganddetectionwithadesignthatisnotlimitedbythePart107regulations.Belowarethespecificationsofthepricingandexpensesthatthecombinedsystemhastocompletethemissionsoverafieldof2milesby2miles(2560acres).InthisChallengeyoushouldassumethatyoumustdoyourdetectionovertheentirefield.Whencalculatingcreatingasprayingplanyoumustassumethat10%ofthefieldisinfestedwithCornBillbugs(256acres).TheSolvitolPesticidewillkilloftheinfestationintheappropriatevolumesspecifiedinthevolumesection.Thecompetitorthatyouwillbeworkingagainstwillbeassumedtohave1DJIAgrasMG-1and1eBeeSQtocompletetheremissionandwewillnotbeaccountingforthecostofSolvitolPesticide.
CompetitorsPerformance
SpecificationsforDJIAgrasMG-1andtheeBeeSQtreatmentofthefield:
eBeeSQ
• Willcompletethefielddetectioninapproximately5hours(asspecifiedinperformance)• Thecostofthedetectionwillbe$175($35perhourX5hoursforthepilotfortheentirefield
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• BatteriesarechargedwithaDieselGeneratoratacostof.4gallonsperhour.Thecostofchargingthebatteriesis$4.10(.4gallonsperhourX5hoursX$2.05pergallonofDiesel)
• Aircraftcost$10,490• Dataanalysissoftwarecost$1,500(doneinrealtime).
DJIAgrasMG-1
• Willcompletethesprayinginapproximately36.6hoursoftreatmentdoneover3daysofdaylightflighttocompletethesprayingofthe256acreinfestedareaofthefield.
• Thecostofpilotingforthesprayingis$1281($35perhourX36.6hoursofpilotingtime)• Costoflaunchrecoveryassistancewhoalsoreplacespesticide$549($15perhourX36.6hours
ofmissiontime)• BatteriesarechargedwithaDieselGeneratoratacostof.4gallonsperhour.Thecostof
chargingthebatteriesis$30.02(.4gallonsperhourX36.6hoursX$2.05pergallonofDiesel)• Aircraftcost$15,000
Costtotreatjustthesamplefieldisapproximately$32,500($29,029.12+$3,470.88(profit))
Thecostperacrebasedonthesamplemissionflightisapproximately$12.70peracre($32,500/2560acres)
Forthiscompetitivelandscapeyouwillbecomparingyourselfwiththegivensystemabove.Youmaychoosetotargetfieldsofdifferentsizesandfindouthowyoursystemscalesincomparisontothesystemabove.Ataminimumyouwillbeabletoshowhowyoursystemisabletodothedetectionandsprayingofthefieldbetterthanthesystemabove.Youmaychoosetoamortizeorspreadyourcostsoverflyingovermultiplefieldsoryoumaydecidetojustbereallyefficientoverone.Themostimportantthingyoushouldkeepinmindfromabusinessstandpointisthatyoushouldbemakingagreaterprofit.Ifyouflythefieldfasteryoumaybeabletoflyovermorefieldsthanthegivensystem.Ifyoucandoitcheaperyoumightbeabletoperformthemissionsforlessmoneyorincreaseyourprofitmargins.Thesearethethingsyoushouldtakeintoaccountwhencomparingyoursystemwiththeexistingsystem.
MakingaCaseofCostSavingsforFarmers
Overallwhenyouaredesigningaplanforyoursystemyoushouldkeepinmindthatyourcustomerisafarmer.Keepinmindthatyouarenotthefarmerandthatyouarenotsellingyoursystemtoafarmer.Insteadyourdesignisusedtoperformaserviceforthefarmertohelpthefarmereliminateaninfestationthatishurtinghiscrops.Thedistinctionofyourselfasaseparatefromthefarmerandnotsellingaproducttothefarmerisanimportantonewhenyoudesignyoursystemandcreateabusinesscase.Whatisimportanttokeepinmindisthatyoushouldbetryingtoincreasethefarmer’sprofitsbyimprovinghiscropyield.ThewayyouhelphimwiththatisbyeliminatingtheCornBillbugthatisdestroyingthefarmer’scrops.Bypayingyoumoneyheorshecangetmoneyfromcropsthatwouldotherwisebedead.WhatyoushouldtrytodoismakesurethatthecostyougivetofarmersislessthatthetotallossesheorshewouldsufferfromtheCornBillbugsdamagetohisorherfield.Forthisscenariowehavegivenyouafewvariablesthatcanhelpyoufigureouthowmuchyoucansavethe
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farmer.Belowarethecalculationsofhowmuchafarmermightbeabletosaveperacreandforthesamplefieldfromyourtreatmentoftheinfestation.Forthesecalculationsrememberthatthegivenvaluesarearangeofpossibledamageover10%ofthefieldassumingthatthefieldhastheworstlevelofcropdeathfromtheinfestation.YoushouldtrytobewellundercosttothefarmergivenbelowbecausethereisachancetheCornBillbugsdoeslessdamagethantheamountgiven.
Potentialcroploss
Givens
• 10%offieldsinfested• 40%oftheinfestedcropsarelost• Thefieldis2560acres• Thecornproduces175.3BushelsperAcre• Thecostofthecornis$3PerBushel
GivenFieldLoss
$53,852.16totallossonthefield=(2560acresX175.3BushelsperacreX$3perBushelX10%infestation)X40%croplossperinfestedacre
Averagelossperacre
$21.04perAcre
Savingsthefarmermakeswithgivensolution
Peracresavings=$8.34
Fieldsavings=$21,350.40
Amortization(optional)
Youmayalsoseehowyoucanimproveyourcostsbyamortizingyourcostsspreadingyourfixedcostsorcostforyouraircraftovermorethanonemission.Amortizingyourcostsisfairlysimple,asabusinessyouwouldlikelywanttoflyovermorethanonefieldinayear.Amortizingyourcostsspreadsyourfixedcostsoverthecourseofthenumberofmissionsyouplanonflying.Amortizingisgreatforspreadingyourcostsoutoverthelifeoftheequipment.Seeasamplebelow.
Costpermission(field)=(fixedcost/numberofmissions)+variablecosts
Summary
Ifyourteamisabletodefinitivelyanswerthe“Who?(resources)What?(scope),When?(schedule),Where?(market),How?(feasibilityanddesigntradeoffs),andWhy?(compellingneed,returnoninvestment)”,thenyourchancesofreceivingfundingforacommercialdevelopmentandmarketlaunch
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riseconsiderably.Belowisadditionalinformationtohelpyouwitheachofthesectionsofthebusinesscaseinyourengineeringdesignnotebook.
MakingaStrategy
Youcanhaveyourdesigngetusedonlargerorsmallerfieldsthanthegivenoneassumingthe10%cropinfestation.Itisimportanttocomeupwithaplanforbecomingsuccessfulinyourbusiness.Creatingabusinessstrategywillhelpyoutokeepyourdesigndecisionsalignedwithyourbusinessplan.Ifyourdesigndecisionsaremadewithoutconsideringhowtheyfitintoyourstrategythenyourbusinessplanwillnotworkandyouwillhaveahardertimejustifyingyourdesigndecisionsinyourbusinesscasesection.Thereare2broadstrategiestoconsiderwhensellingaproduct,allproductsaretryingtodooneofthe2andproductsthattrytodobothstrategiesatthesametimetendtohavetroubleormaylosemoney.Thefirststrategyistobealowcostprovider.Alowcostprovidertriestosellthecheapestoptionpossibleforaproduct.Lowcostproviderstrytomakemoneybysellingalotofproductsmakingalowprofitoneachitemsold.Anexampleofalowcostproviderwouldbeaflipphoneorapayphone.Thesecondstrategyistobeadifferentiator.ADifferentiatortriedtodosomethingbetterthanthealternativeortriestoappealtoaparticulargroupinthemarket.DifferentiatorswhotrytodosomethingbetterthananyoneelseusuallypickoneareaofabusinesstobebetteratthaneveryoneelselikeNordstromclothingstoretriestohavebetterservicethanotherdressclothingstores.Becauseadifferentiatordoesajobormakesaproductbettertheyareabletochargemoremoneyforit.Theotherdifferentiatorthatcaterstoaparticulargroupmightnotbethebestinanareabutitcatersitsbusinesstoaparticulargroup.YoucouldforexamplebebetterthananyotherUAVathelpingcranberryfarmersbecauseofthedesignyouhave.Whenmakingyourmarketingstrategyyouneedtoresearchwhatisouttherethatdoesthejobsthatyouwantyouraircrafttodo.MakesuretogetasenseofthecostofthecurrentoptionanddecideifyourUAVcandothejobfaster,cheaperorbetter.UsetheresearchtoassesswhatotheroptionsfarmersmayuseinsteadofpurchasingyourUAV.Keepinmindsomeoftheoptionsmaybetocheckthingsbyhavingapersonwalkthroughthefield.
Cost/BenefitAnalysis
Whenyouareresearchingwhatoptionsareavailabletothefarmeryoushouldkeeptrackofthecostsofdifferentwaystodothejob(s)yourUAVcando.UseyourresearchtoassessthehowthemissionsyourUASdoescomparewiththewaysthosetasksaredonewithtraditionalagriculture.ExplainhowyourUASaccomplishesitsmissionseitherbetterorcheaperthanthegivensystem.ExplainwhyyouchosethecomponentsincludedonyourUAS.Describehowthecomponentsofyourdesignaddvaluebyeitheraddingmoremissionsorimprovingperformanceforyoursystem.Explainhowyoubalancedhigherperformanceofexpensivecomponentswithanincreasedcostofcomponents.Alsomakesuretohownotbeingconfinedbypart107allowedyoutoimproveyourdesignsefficiencyandperformancewhilemaintainingsafety.
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XI.3DCADModelRequirementsThree-dimensionalCADmodelsareprovidedtorepresentthethreebaselineexampleunmannedaircraftplatformsincludedinthechallenge(e.g.,fixed-wingpusher,fixed-wingtractor,andhybrid).Each
teamisencouragedtomodifythesemodelstobegraphicallyrepresentativeofanyunmannedaircraftdesignsincludedintheirsubmission.Itisalsopermissibletocustomcreatea3DCADmodelinCreoforeachunmannedaircraftdesign.Thefinished3DCADmodelmustmeetthefollowingrequirements(i.e.,
basicitemstokeepinmindwhendesigningfor3Dprinting):
NOTE:Whenyouaredesigninga3Dmodelforprintorvideothereislittleneedtopayanyattentiontoreality.Mostscenesandobjectswillonlycontainthemeshesthatarevisible;objectsdonotneedtophysicallyconnect.
1. Objectsmustbeclosed:3Dprintingcompaniesliketocallthisbeing'watertight'.Itcan
sometimesbeapaintoidentifywherethisproblemoccursinyourmodel.2. Objectsmustbemanifold:Thefulldefinitionofmanifoldisquitemathematic.Forourpurposes,
ameshwillbecomenon-manifoldifithasedgesthataresharedbetweenmorethantwofaces
(seeFigure22).
Figure22.3Dcubeswithonecommonedge.
3. Observethemaximumsizeandwall-thickness:Themaximumsizeofyourobjectandthe
minimumwall-thicknessdependontheproductionmethodthatyouareplanningtouse.4. Correctnormal:Allsurfacesofyourmodelshouldhavetheir“normal”pointinginthecorrect
direction.Whenyourmodelcontainsinverted“normal”3Dprinterscannotdeterminetheinside
oroutsideofyourmeshormodel.
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Whilemodelingfor3DPrintingisquitedifferentfrom'traditional',itisnotdifficult-ifyoukeeptheconstraintsinmindfromthestart.
XII.AdditionalInformationandResources• RWDCContentWebinars
o OverviewofUnmannedSystemso SystemsEngineeringandVehiclePerformanceFactors
o PrecisionAgricultureandApplicationofUnmannedSystemso BusinessCaseandCostConsiderations
• RWDCSitewithFAQs,tutorials,Mathcadmodules,materialallowables,andothersupporting
materials:http://www.realworlddesignchallenge.org/• Thefollowingrepresenttherecommendedbaselineremoteairvehicleelement(i.e.,UAV)
platformsforthischallenge:
o Fixed-wingPusherUASDesigno Fixed-wingTractorUASDesigno Rotary-wingUASDesign
o MultirotorUASDesigno HybridUASDesign
• Mentorsfromtheaerospaceanddefenseindustry,governmentagenciesandhighereducation
• BaselineCADmodelsforeachbaselineremotevehicleelementtobeprovided
PTCTools• PTCCreo2.0andMathcadPrime2.0• MathcadandExcelsizing,performance,andcostworksheets
TeamSubmissionsTheEngineeringDesignNotebooksubmissionincludingthebusinessplanandappendicesmustbe80
pagesorless.DetailedinformationregardingwhatmustbedocumentedcanbefoundintheScoringRubric.
Scoring• Teams’submissionswillbeevaluatedbasedoncriteriaoutlinedintheRWDCFY18State
ChallengeScoringRubricandinreferencetotheexamplemissionscenario
• TechnicalscoringwillbebasedondeliverablestobeincorporatedintheEngineeringDesignNotebook
• EngineeringDesignNotebooksshouldfollowtheparagraphorderoftheScoringRubric
• Judgeswillbelookingforabilitytoexpresscomprehensionandlinkagebetweenthedesignsolutionswithwhatstudentshavelearned
• Specificrecognitionwillbegivenfordesignviability,manufacturability,innovation,business
plandevelopment,andadditionalapplicationbeyondprecisionagriculture