Terrestrial Aircraft for Reconnaissance Applications

(Project T.A.R.A.)

Members: James Daniels, Ashley Deal, Robert Floyd, Nsilo Greene, John
Patrick Harris, Jazlyn Jones, Tristan Skinner, Kelsea Yarbrough
Advisor Dr. Geddis and Dr. Mead
EEN/OEN 499

SUAS Competition 2016

The Association for Unmanned Vehicle Systems International (AUVSI)

14th Annual Student Unmanned Air Systems (SUAS) Competition
June 15-19 at Paxtuxent River, Maryland
Aimed at stimulating and fostering interest in this innovative technology and encouraging
careers in the field, the competition challenges the students to design, fabricate, and
demonstrate a system capable of completing a specific and independent aerial operation.

Presentation Outline

Abstract/problem statement

Platform

Constraints and Solutions to be implemented

Implementation Plan

System Block Diagram

Timeline

Cost Estimate

Safety Checklist

Summary

Abstract/Problem Statement

To design an Unmanned Aerial Vehicle (UAV) with the capacities to identify electro-optic (EO)
and Infrared (IR) targets and precise locations on Earth.

To program a control system that allows the UAV to operate in autonomous and remote/ manual
modes.

To incorporate systems such as a Global Positioning System (GPS), autopilot system, a camera
imaging system, inertial measurement unit (IMU) and a communication link between the UAV,
remote control and a surface laptop.

To incorporate a fail-safe mode system.

To keep the weight of the UAV under 55 lbs.

Firefly 6 Model

Platform

Platform

The FireFLY6 is a VTOL aircraft. A VTOL aircraft (vertical take-off and landing),
is a type of aircraft (like a plane) that can take off vertically, then fly
horizontally. The advantages of VTOL planes is that they can take off in small
spaces just like a quadcopter, but also fly longer and faster like a plane.

The plane is design to evenly spread its payload and does not have that
military look.

The unit does not require a launcher.

Constraints met in the project?

Maximum weight 55 lbs: The Firefly 6 is constructed of composition foam material,
every component that will be installed weights less than one pound and batteries are
being used instead of fuel.
The UAV must charge completely and hold a charge for a set time:
Lithium Polymer batteries
The UAV has a standard hover time of 8 minutes:
The team in cooperating a two battery system with lighter batteries.
The UAV must not exceed 100 miles per hour: Our UAV maximum speed is 65 mph
Maximum wingspan is 80 inches: To insure this wouldn't happen our group measured
the wingspans and came up to 60 inches

Implementation Plan
Team T.A.R.A.
Power System
Imaging System

Team S.P.A.R.T.A.
Navigation
System
Solar panel
System

System Block Diagram

Left
Motor
Speed control

Camera

Pixhawk

signal

Telemetry

RCR

GPS

Motors
Switch

Power
module

Left
Batter
y

Solar
Panel

Laptop
Xmitter
(RC)

Right
Battery
Right
Motor

Iterative Design Process

Power System
Electronic Speed Controller
is connected to the motors
of the propellers and
receiver
Voltage
LiPo battery 12.6V
Capacity
4 Ah (4000mAh)
Discharge rate

LiPo battery
supplies power to
the ESC and BEC

Battery Elimination
Circuit lead will be
plugged into the
receiver to provide

Networking Installation
Interoperability

Required to participate in tasks with AUVSI

Used to communicate with the Judges Server

Software Installations
- Use a dedicated computer to install Linux based OS

Install Ubuntu, Git, Puppet, Python, and Django

Test deployment to see if installation works

Navigation: Mission Planner

Software: Mission Planner

Designated Software used to program flight path.

Tasks Completed

Designated area of flight input

Flight Boundaries input

Assists with flight within the proper boundaries.

Returns to return location when outside boundaries

Future Tasks

Connect Plane and software

Test autopilot in flight

Mission Planner

Camera
Through heavy research we decided to use the GoPro Hero 4 design.
This camera has amazing resolution. It can record up to 4k at 15 fps
(frames per second) and 720p at 120 fps. It also very light weight,
small in design, and waterproof. The camera being used is the 3DR
VIDEO/OSD System Kit. This video allows us to stream live viewing
of our autopilots telemetry on top of a live video stream from the
aircraft. We can also easily keep tabs on your battery condition,
direction home, altitude, current waypoint, heading, and many other
useful pieces of information. We will be using Raspberry Pi to send
signals between the go pro and PixHawk 4.

Optical System

Hardware

Components delivered.

Assemble components

Obtain Raspberry Pi for OS on plane

Software

Program localization and classification using MATLAB.

Chart Timeline
Jan 11-16

Jan 1823

Jan 2530

Feb 1-6 Feb 8-13

Feb 1520

Feb 2227

Feb 29Mar5

Mar 7-12

Mar 1419

Mar 21- Mar 28- Apr

Apr 11- Apr 18- Apr 2526
2
Apr 4-9
16
23
29

Build Plane
Code software testing for the camera and pixhawk
Building Basic Structure
Simulation pilot training
Coding for the remain components
Major components installation
Creating safety check list
Testing
Real flight training
Spring Break
Autonomous Flight Prepation and testing
Final Report Preparation
Final Presentation Preparation

Competition Deadlines

Cost Estimates

Airframe

Motors

Battery

ESCs

3DR Pixhawk

3DR uBlox GPS with Compass Kit

RC Transmitter, 2.4GHz, 9-CH, FrSky Taranis

3DR Radio Set
3DR Video/OSD System Kit

5.8 Ghz Light weight Video Transmitter Kit

FPV Monitor

Safety Switch for PX4/Pixhawk

Pessimisti
Optimistic
c
$
$
1,000.00
1,500.00
$
$
500.00
1,000.00

$
100.00
$
70.00
$
199.99
$
89.99
$
250.00
$
100.00
$
189.99
$
99.99
$
229.00
$
8.00

$
170.00
$
120.00
$
199.99
$
89.99
$
550.00
$
100.00
$
99.99
$
99.99
$
229.00
$
8.00

General Criteria
Most
Likely

Simple Avg PERT Est.

$
$
$
1,250.00

1,250.00
1,250.00
$
$
$
750.00

750.00
750.00
$

$
$
130.00
133.33
131.67
$

$
$
100.00
96.67
98.33
$

$
$
199.99
199.99
199.99
$

$
$
89.99
89.99
89.99
$

$
$
300.00
366.67
333.33
$

$
$
100.00
100.00
100.00
$

$
$
99.99
129.99
114.99
$

$
$
99.99
99.99
99.99
$

$
$
229.00
229.00
229.00
$

$
$
8.00
8.00
8.00

Safety Checklist

Key pre-Mission Inspection

Inspect Propellers, and Electric Motors

Inspect flight Control Servos, linkages,

and surfaces for loose fasteners
Inspect all payload modules and
associated wiring for security
Inspect pilot and static ports for
obstruction
Test failsafe

Immediately prior to engine start

Airframe Checklist

Batteries charged and secure

Wing Attachments secure

Ensure Flight controls are free and move in

correct direction

Airspace is clear of traffic

Autopilot checklist

Boundaries and Waypoints correctly

loaded

Ensure Payload and control system voltage

are Normal

GPS lock is acquired

Summary
The main goal of this project is to create a more power efficient
UAV using solar cells and by designing a more conservative power
system to improve the current hover time of the Firefly 6 from the
standard four to five minute hover to about 10 minutes.

QUESTIONS