1. Property Surveillance UAV System Mid Semester Presentation Senior Design I October 10, 2013 [1]

2. Team Members Juan Sanchez Computer Engineer Team Leader Mickey Brown Computer Engineer Travis Priest Electrical Engineer Thomas Hartzler Electrical Engineer

3. Faculty Advisor Jenny Du Ph.D. Electrical Engineering

4. Overview  Problem  Solution  Constraints  Technical  Practical  System Overview  Approach  Timeline  Progress  Q&A

5. Problem Surveillance of large properties, such as farms, can only be done physically or through the use of expensive camera systems.

6. Solution An autonomous property surveillance system that consists of a quadcopter outfitted with a camera for video surveillance purposes.

7. Design Constraints

8. Technical Constraints NameDescription Transmission Distance The UAV’s transmitter/receiver must be able to transmit/receive within at least a 700 m unobstructed view. Operating Height The UAV must operate under 61 m depending on obstacles present on the property (e.g. power lines, trees, buildings). Persistence The quadcopter’s battery must have a life span of around 15 min. per flight and must operate at a speed of at least 4.5 m/s. Lift/Weight Ratio The UAV must be able to produce 6 kgs. of lift, providing a 2:1 lift ratio. Video Resolution The video transmitter must provide a video resolution of at least 640x480 pixels (standard resolution).

9. Practical Constraints NameDescription Safety and HealthThe Watchdog UAV may turn into a dangerous projectile if it were to malfunction mid-flight; precautions for this must be taken. EthicalThe system is strictly for the use of private property surveillance and must operate under any Federal Aviation Administration legal guidelines.

10. Safety and Health Lethal projectile Excessive altitudes – 61 meters operational height limit Fail-safe mechanisms Disposal of lithium ion battery

11. Ethical Private property surveillance ONLY! Federal Communications Commission (FCC) guidelines Federal Aviation Administration (FAA) guidelines – 122 meters max – No operation near airports IEEE Code of Ethics must be followed

12. System Overview Base StationUAV Battery ESCs Motors Flight Controller GPS Video Transmitter Telemetry Transmitter Compass Charging Station Linux PC Telemetry Receiver Personal Wifi Network Home PC Video Receiver

13. UAV [2][3] [4]

14. Approach Hardware: Frame NameConfigurationMaterialPrice DJI Flame Wheel 350 QuadPlastic$27.00 DJI Flame Wheel 450 Quad Plastic$32.00 3DRobotics Quad-C Quad Aluminum$99.99 3DRobotics Hexa-B HexaAluminum$129.99

15. Approach Hardware: Flight Controller NameMicrocontrollerAutonomous Capability SoftwarePrice Naza-MNaza IMU CPUNoProprietary$259.99 Wookong-M Atmel SAM3X ARM Cortex™-M3 YesProprietary$999.00 APM 2.6 ATMEGA2560 YesOpen Source$159.99 PX4 FMU ARM Cortex-M4 YesOpen Source$199.99

16. Approach Hardware: ESCs NameRatingFirmwarePrice Maytech ESC 20ASimonK$19.99 Maytech ESC 30ASimonK$24.99 Turnigy Multistar 30AMultistar$11.15 Maytech ESC 40ASimonK$29.99

17. Approach Hardware: Motors NameThrust (12x3/8 props) Rating (rpm/V) Price AC2836-358860g880 rpm/V$24.00 Hwc 22141990g700 rpm/V$32.00 AVROTO M2814-11S 1709g770 rpm/V$55.08 3DRobotics 850 880g850 rpm/V$18.00

18. 3DR uBlox GPS with Compass Kit Turnigy 9X 9Ch Transmitter 2.8 GHz 3DR ArduCopter Quad C Frame Kit 3DR Radio Telemetry Kit - 915 MHz (US) A/V Transmitter/Receiver 5.8 GHz Linux PC (personal laptop) GoPro Hero 3 Silver Edition (personal) Approach Hardware: Other Hardware

19. Approach Software Open Source

20. Mission Planner

21. Written in C#

22. New Functionality Extend Mission Planner to support control through server and client connection – ASP.NET – JavaScript Simple user interface

23. Base Station Charger Linux PC – Video receiver – Telemetry receiver – Host server – Wi-Fi

24. Timeline August – Research and create a preliminary list of the UAV's components September – Continue research if needed, finalize implementation decisions, order components, and begin software development October – Develop prototype and charging station, continue software development, and begin testing November – Complete testing of prototype and software

25. Progress August – Research and create a preliminary list of the UAV's components September – Began constructing UAV – Created design October – First test flight – Testing UAV – Software development – Charging station design

26. The Watchdog UAV

27. References [1] 3DR ArduCopter Quad C Frame. 2013. Photograph. 3DR ArduCopter Quad C Frame. Web. 1 Oct. 2013.. [2] Goodhead, Paul. Parrot AR.Drone. 2010. Photograph. Bit-Tech. 18 July 2010. Web. 1 Oct. 2013.. [3] Phantom. 2013. Photograph. DJI Innovations. Web. 1 Oct. 2013.. [4] Ott, Joshua. 3D Robotics Iris. 2013. Photograph. DIY Drones. 19 Aug. 2013. Web. 1 Oct. 2013..

28. Property Surveillance UAV System Juan Sanchez Travis Priest Mickey Brown Thomas Hartzler [1]