2.  The ASD is an Aerial Surveillance Drone that is designed for use by corporate or military projects.  The ASD provides advanced reconnaissance and much needed intel on tactical locations.  Autonomous drones are expendable.

5. Fully constructed quad-copter with limited capability. This includes: Designed and constructed frame and test area Hover function Balance function

6. Fully constructed and functional quad- copter This includes: Hover and Balance functionality Turn left/right Ascend Descend Wireless communication established

7. A completed quad-copter with mounted camera and fully autonomous functionality.

8. Daniel PCB Design Core circuit design Peripheral design V1 and V2 board layout Power Systems Primary and auxiliary power design Ryan Software Algorithm development Software development Hardware Motor mount design Prop mounting Material testing Ken Software Lead software design Software development Algorithm design Hardware Frame design Material research Travis PCB Design Core circuit design Peripheral design Circuit construction Software Software development Test Design Test area design Test data collection Andy Documentation and Budget CDR compilation. Resource tracking Timesheet upkeep Hardware Frame construction Test Design Construct test area

9. Bought ItemsPartQtyCostTotal+tax LiPo Balance ChargerEXTR7595142.89 EDF Outrunner motorHK9013219.99 Brushless heli motorTP2415-07T111.99 Turnigy EDF OutrunnerT26101C4000113.45 GWS EP Propeller 127x76mm 6pc.GWS-DD-503013.4 Thunder Power 2250 mAh LiPolyLP-TP2250-3SP30257.99115.98 Tenergy LiPo Battery Tester116.24 Heli Series ESC (motor driver)115.12 E-Flite Balance Adapter CablesEFLA22917.99 balancer connectors33.259.75 PVC40 PIPE and Tees138.04 Nets314.9944.97 Motor Collars32.597.77 Tax14.38 Xbee Explorer USBWRL-98687124.95 Arduino Uno SMDDEV-10356136.05 Inclinometer Dual 1G551-1003-1-ND164.62 IC MCU AVR32AT32UC3B0256212.5225.04 Xbee Antenna ChipXB24-ACI-001-ND21938 IC 3 axis accelerometer497-8549-ND25.1210.24 40 MHz Crystal 18PF535-10650-1-ND21.653.3 shipping and tax19.58 Carbon Fiber TubeSM4548F144.55 shipping and tax115 Carbon Fiber SheetWCC-T0151116122.99

10. The total Spent amount for the quad copter test and build is at $932.75 of the asked for $1100. We are finished in buying the critical components except for the printed PCB.

12.  AT32UC3B0256 › AVR32 Architecture › 32kB Program Memory › 256kB Flash Memory › USB Bootloader › Up to 66MHz Clock

13.  General Purpose IO › 44 GPIO Pins › Secondary Functions  PWM Output  SPI Bus  USB Interface  Analog to Digital Converter  USART

14.  XBee › Indoor Range – 30m › 2.4 GHz Operating frequency › TX Current – 45mA › Rx Current – 50mA › UART Interface › 3.3V Supply Required

15.  Ping))) Ultrasonic Distance Sensor › 2cm – 3m › 30mA supply current › 5V Supply › Timed Response Pulse › Only requires one IO pin

19.  Main functions (Purple) › demo(): calls the control and led functions in a specified order to demo the capabilities of the quadcopter › patrol(): similar to demo but will follow the beacons for navigation › remote(): handles remote control input › kill(int killSig): shuts off all operations immediately if the killSig variable is true › launch(): launch sequence › land(): landing sequence  LED functions (Red) › blink(int led): sets the selected led to blink › on(int led): turns on selected led › off(int led): turns off selected led  Motor functions (Blue) › mControl(int motor, int speed): sets the motor to the speed given by changing the corresponding mArray[] index

20.  Control functions (Grey) › zMove(int alt): move to given altitude alt › xMove(int dist): move in the x direction to given distance dist › yMove(int dist): move in the y direction to given distance dist › rotate(int deg): rotate by given degree value › hover(): sets the copter into hover mode › balance(): constantly adjusts the copters set calibration variables set by the calArray[] › xAdj(): changes calArray[0] if needed › yAdj(): changes calArray[1] if needed › zAdj(): changes calArray[2] if needed › iAdj(): changes calArray[3] if needed › jAdj(): changes calArray[4] if needed

21.  Sensor functions (Yellow) › altRead(): reads altitude › xRead(): reads x acceleration › yRead(): reads y acceleration › zRead(): reads z acceleration › iRead(): reads tilt in i › jRead(): reads tilt in j  Wireless Com functions (Green) › rxLED(): handles rx from LED Mode button, cycles through on, blink, and off › rxKill(): handles requests from kill switch, sets killSig to 1 (0 is no kill sig) › rxHover(): handles requests from hover, overides all commands and calls hover() › rxLR(): handles requests from Left and Right buttons › rxUD(): handles requests from Up and Down buttons › rxFB(): handles requests from Forward and Backward buttons › rxLL(): handles launch and land requests

23.  Main body › 2 carbon fiber plates › IC board mounted to top  Mounting Hardware › 4-40 screw size › 4 standoffs (plastic) › 4 spacers (plastic) › 4 nuts (plastic) › 12 arm mount screws

24.  Battery › Mounted in between plates  Arm mounts › Delrin (Acetal)  Arms › Carbon fiber tube.45” › 6“ (5” pictured)

25.  Motor Mounts › Delrin (Acetal)  High strength and rigidity  Light weight › Motors mounted on inside of tube

26.  Motors › Mounted through the lid of a box › Tested the I-V characteristics › I-V graph is for unloaded motor

27.  Motors › We used a tachometer to measure RPM › RPM chart for loaded motor

28.  5’ foot cube made from PVC pipe  Cube will be surrounded by a net  Quadcopter will be tethered to the ground

29.  Balance testing › A stand will hold two opposing arms in place › The other arms are free to move. › This allows for actuation in one plane › We can use this to hone in balance control

30.  Broken components › We ordered doubles of most  Over budget › Remove camera  Structural failure › Evaluate material choices  Controller failure › Adjust schedule for revision › Arduino last resort  Controllability › Expect major delays › Test cage for safety