1. Proposed UHV focuses on the following functions: Remote controllable Stream, lake-floor surveying Positioning using GPS and INS Real-time data processing and displaying results The Objective of the proposed UAV

2. Components of Proposed UAV

3. 1.UHV platform including frame, motors and controller board and remote control

4. 2. Ultrasonic sensor Components of Proposed UAV PART NUMBERST-601 Nominal Frequency70/190 Overall sensitivity -30dB distance : 100cm Capacitance [pF]1,400 Total Beam angle[˚](3dB down) 20±5 Detectable range [m]50/20 Resolution [mm]3min Dimension[ mm] [Diameter × thickness] 62 X 63h Weight [kg]1.2(with 10m cable)

5. 3. Microcontroller main board (MCU) Arduino mega 2560 board (one mounted in UAV, and one for base station) Components of Proposed UAV

6. 4. W ireless data transmission module for remote controlling: XBee Pro 900 RPSMA 50mW ( http://goods.ruten.com.tw/item/show?21304077019543) http://goods.ruten.com.tw/item/show?21304077019543 Highest 9.6kbps baud rate 100 mW (+17 dBm) power output Up to 10 Km Components of Proposed UAV

7. 5. INS/GPS module for determining position and orientation and path planning (developing from previous researches) Components of Proposed UAV

8. Operation principle

11. Software to process INS/GPS data to provide position and orientation of the UHV Software to process the Ultrasonic data acquired from UHV and transform them into a Geo-reference frame that can be used for multi-purpose – water-floor mapping – Detecting underwater object –Monitoring underwater infrastructure Post-processing works

13. Components with cost estimated (for reference) Components with cost estimated ComponentsPrice (Tw NT) QuantityCost(NTD) UHV platform5,0001 Arduino mega 2560 1,00022,000 Xbee pro (10 km)3,0001 GPS module2,0001 MEMS IMU2,0001 Untrasonic sensor5,0001 Total19,000