Development of Mission Based Micro Air vehicles and Unmanned Ground Vehicle. Team Reg # 1015 Team Members: National Aerospace Laboratories M S Ramaiah School of Advanced Studies CORAL Technologies Pvt. Ltd. E.N.R. Models

Aim To develop MAV & UGV systems to complete the mission stated for the MAV08 event

Plan of completing the Mission Fixed Wing MAVs – Locate Terrorist Squad and the Hideout Location building where hostages are kept. Mines and Obstacles to be located. Mines and Obstacles to be marked on the Terrain Map. The UGV will move through the terrain avoiding the obstacles by selecting an optimum path to reach 100 meters from the building. The Rotary MAVs latched on to the UGV will take off autonomously and move closer to the building and sound sensors in the Rotary MAVs will locate the hostages by their shouting relayed through a sound box (simulated sound). Commandos assigned to the team will get the instruction and rescue the hostages from the room.

4 of 38 VideoMosaicTerrain Object’s Location Detection Covered Positions (CP) UGV Ingress Point (IP) MAV Land Point (LP) UGV End Point (EP) Perching Point (PP) Land Mines (LM) Obstacles (OB) Path Finding UGV Path R-MAV Path UGV Control To Next Location PathF-MAV UGV Sensors Obstacle Detection UGV, MAV Location If EP Y N R-MAV Launch From UGV R-MAV Control To Next Location R-MAV Sensors Obstacle Detection R-MAV AV Control Analysis Room Video Audio End Y N AV Control System Flowchart

Equipment Used Fixed Wing MAVs – 3nos UGV – 1no Rotary MAV – 1nos 300mm Sphere325mm Sphere500mm Sphere

“BLACK KITE”

Fixed Wing MAV – “Black Kite” (S) Specifications Planform: Inverse Zimmermann. Airfoil: “Selig 4083”- Mean Camber Payload: Miniature Color Camera. Weight with Payload: Size: Fits in 300mm Sphere. Wing Span: 262mm Wing Area: e6 mm 2 Chord Length: 211mm Aspect Ratio: Propulsion: AXi2204/54 Brushless Motor APC 6”x4”

Planform: Inverse Zimmermann. Airfoil: “Selig 4083”- Mean Camber Payload: Miniature Color Camera. Weight with Payload: Size: Fits in 325mm Sphere. Wing Span: 316.6mm Wing Area: e6 mm 2 Chord Length:245mm Aspect Ratio: 1.69 Propulsion: AXi2204/54 Brushless Motor APC 6”x4” Fixed Wing MAV – “Black Kite” (M) Specifications

Planform: Inverse Zimmermann. Airfoil: “Selig 4083”- Mean Camber Payload: Miniature Color Camera. Weight with Payload: Size: Fits in 500mm Sphere. Wing Span: 432mm Wing Area: e6 mm 2 Chord Length: 359mm Aspect Ratio: 1.48 Autopilot: CORAL Autopilot Pearl-mAP-0701 Propulsion: AXi2204/54 Brushless Motor APC 7”x6” Fixed Wing MAV – “Black Kite” (XL) Specifications

NAL MAVs MEGHDOOTH FEATHER 1 NAGA 1 FEATHER 2FEATHER 3 DISC NAGA 2 Under Development: MEGHA and FEATHER 4 and SURYA

All composite weather proof/crash proof “BLACK KITE”

“BLACK KITE” FLIGHT

UGV: “ Kainos ” Specifications Size: Wheel Base: 1.5m Width: 0.9m Ground Clearance: 0.3m Weight: 400kgs approx Drive: DC Motor Power: 4.5kW Average Speed: 40 m/s. Steering Control: Electronic Power Module Payload: Miniature Color Camera. Autonomy: Point to Point movement. Collusion Avoidance: Optic Flow Sensors and Ultrasonic Sensors

“Kainos”

Kainos VIDEO

Rotary MAV Size: Fits in 300mm Sphere

Activity chart Fixed MAV will complete the required circuit and simultaneously capture video images. Stills from the video will be used to locate the mines and obstacles. This will be marked on the terrain map and the UGV path will be generated. The UGV will follow the path defined and go to the parking point. The rotary MAV will be launched into the perch points and transmit sound and video. The commandos will be signaled to enter the hostage room.