Critical Design Review of the AREND UAS (short version)

1. AREND Aircraft for Rhino and ENvironmental Defense
Critical Design Review
July 15, 2014

2. Agenda
1.Introduction (5 mins): Laura
2.Background & Conops (10 mins): Lelanie
3.Systems Engineering (10 mins): Andrew/AJ
4.Project Management (10 mins): Laura
5.Subsystems (10 mins each)
oAaron/Chris (Embedded Systems/Control/Communication)
oAaron (On-board Sensors)
oBreak (10 mins)
oAndrew (Power/Propulsion)
oLelanie (Fuselage)
oJohannes (Wings/tail/empennage)
oMatt (Testing & Integration)
4.Request for Actions: All
2
Overview
Systems Engineering
Project Management
Subsystems
Summary

3. Industry Advisors
CSIR Pretoria
NIST
Four Winds Interactive
Wildlife Protection Solutions
Denver Zoo
Center Wildlife Management
Blue Atmos LLC
First RF Corp
Athena ISR
Airspace Guardian
Helios Torque Fusion
AMA Pilots
Sans Souci Enterprise
sUAS News
Many thanks to our advisors and contributors!
3

4. Laura Kruger Andrew Levine Aaron Buysse Nikhil Shetty Justin George Chris Womack AJ Gemer Christine Fanchiang
4
University of Pretoria (South Africa) Lelanie Smith Karl Grimsehl Sune Gerber Byron Coetser Michael Kruger Joachim Huyssen
Mayank Bhardwaj Matt Busby John Russo David Soucie Anna Rivas Neel Desai Cameron Brown Prasanta Achanta
University of Stuttgart (Germany)
Johannes Schneider
Tarik Özyurt
Rick Lohmann
Tim Baur
Tim Wegmann
Team Members
University of Colorado Boulder (United States)
Metropolia University (Finland) Joe Hotchkiss John Malangoni Balázs Kovács Nikita Korhonen

5. Joe Tanner (CU) Donna Gerren (CU) Alexandra Musk (CU) Laurent Dala (UP) Wouter Van Hoven (UP) Joe Hotchkiss (MU) Holger Kurz (US) Peter Middendorf (US) Dominique Bergmann (US) Claus Dieter-Munz (US)
5
Team Members
Academic Advisors
Jason Coder David Novotny Jeffrey Guerrieri Molly Kainuma Rebecca McCloskey Brian Aucone Patrick Egan Richard Soto Eric Schmidt Rebecca Vandiver Philip Moffett Phelps Lane Dean Paschen Joe Pirozzoli Lee Jay Fingersh Jason Sand Luigi Moretti Will Fox
Tom Spendlove
Charlie Lambert
Marshall Lee
Matt Bracken
Tom McKinnon
Brandon Lewis
Amanda Harvey
Christensen Flemming
Dillon Jensen
Barbara Bicknell
Brett Anderson
Industry Advisors

6. Agenda
1.Introduction
2.Background & Conops
3.Systems Engineering
4.Project Management
5.Subsystems
oAaron/Chris (Embedded Systems/Control/Communication)
oAaron (On-board Sensors)
oAndrew (Power/Propulsion)
oLelanie (Fuselage)
oJohannes (Wings/tail/empennage)
oMatt (Testing & Integration)
4.Request for Actions: All
6
Overview
Systems Engineering
Project Management
Subsystems
Summary

7. Project Objectives
Find Poachers before they kill
within the 20,000km2 KNP
7

8. Project Objectives
8
Find Poachers before they kill
within the 20 000km2 KNP

9. 9
80km
Overview
Systems Engineering
Project Management
Subsystems
Summary
Project Objectives
300km

10. Search Sectors
with a Reach
of 30km
(Diameter 60km)
Warning System using Ground Sensors
10
Overview
Systems Engineering
Project Management
Subsystems
Summary
Concept of Operations

11. Radio Repeater
Command Centre
Search Sector
Search Footprint
Launch Station
Delivery Waypoint
Landing
1
2
3
4
Mission Segments:
1. Delivery
2. Arrival
3. Search
4. Return
Ground
Station
Concept of Operations
11
Overview
Systems Engineering
Project Management
Subsystems
Summary

12. Search Segment
Search
Height
12
Overview
Systems Engineering
Project Management
Subsystems
Summary

13. Design Objectives
13
Long Range
Far Reach
Quick response Vehicle
Low Noise
High Resolution Sensor
High Data Rate Transmission (*short-term)
(On-board Processing *long-term)
Autonomous Flight
Overview
Systems Engineering
Project Management
Subsystems
Summary

14. Agenda
1.Introduction
2.Background & Conops
3.Systems Engineering
4.Project Management
5.Subsystems
oAaron/Chris (Embedded Systems/Control/Communication)
oAaron (On-board Sensors)
oAndrew (Power/Propulsion)
oLelanie (Fuselage)
oJohannes (Wings/tail/empennage)
oMatt (Testing & Integration)
4.Request for Actions: All
14
Overview
Systems Engineering
Project Management
Subsystems
Summary

15. Systems Overview
15
Top System Requirements:
AREND_001
The AREND aircraft system shall be capable of manual/radio flight control with autonomous capabilities. Compliance Criteria: Autonomous capabilities include; 1) auto-stabilization, 2) flight to pre-programmed waypoint destinations, 3) flight to dynamically updated waypoints.
AREND_002
The AREND aircraft system shall be capable of quickly delivering a payload to any location within its sector, silently performing a search pattern, returning to a landing area, and landing safely within the South African Park or Reserve.
AREND_003
The AREND aircraft structure shall be capable of supporting payload sensor packages within a fixed mass and volume. The allotted structure and volume shall be designed to accept a variety of payload packages, and particularly sized to support the largest expected payload.
AREND_004
The AREND payload shall include a gimbal-stabilized visual camera system, capable of capturing quality image data throughout the search pattern of the flight mission.
AREND_005
The AREND aircraft system shall protect all ground systems and aircraft structure and components during mission phases. Protection includes KNP environmental hazards, impacts upon landing, and g-loading from maneuvering and take-off. Compliance Criteria: 1) mission phases include; a) take-off, b) delivery, c) arrival, d) search, e) return, and f) landing. 2) environmental hazards are listed in the KNP Environmental Hazards Table, 3) the aircraft shall utilize skid landings in unpaved fields, 4) maximum G-load expectations are listed in Flight Mission Parameters Table.
Overview
Systems Engineering
Project Management
Subsystems
Summary

16. Systems Overview
16
Overview
Systems Engineering
Project Management
Subsystems
Summary

17. Systems Overview
Data Flow
IMU Altimeter Accelerometer
17
Thermo-couples
Voltage meas.
State of Charge meas.
Overview
Systems Engineering
Project Management
Subsystems
Summary

18. Systems Approach
Balancing Payload: Design Constraints Component Selection & Mission Design
18
Short-term
Long-term
Overview
Systems Engineering
Project Management
Subsystems
Summary

19. Systems Approach
Balancing Aircraft:
Design Constraints
System Design
&
Total Mass
19
Overview
Systems Engineering
Project Management
Subsystems
Summary

20. Technical Risks
Consequence
In-Flight Battery Failure
Damage Aircraft/ Components Upon Landing
Deferred Launch Method Design
Final Aircraft Exceeding Budgeted Mass
Component Overheating
Harsh Environment
Possibility
20
Overview
Systems Engineering
Project Management
Subsystems
Summary

21. Technical Risks
21
Risk Mitigation
1.Damage Aircraft/ Components Upon Landing
Thorough stability analysis on landing skid design
Landing system design to keep aircraft above debris and from toppling over
Reinforced structure for nose gimbal and casing
2.Component Overheating
Placement of heat sensitive components away from heat sources
Custom venting designed into fuselage to promote heat dissipation
3.Final Aircraft Exceeding Budgeted Mass
1.Overdesign the wing to handle ~20% more than the expected total aircraft mass
2.Overdesign the propulsion system to support higher thrust/power needs
3.Allow flexibility in duration/range of flight
Overview
Systems Engineering
Project Management
Subsystems
Summary

22. Systems Conclusion
22
*Component Masses that are not included;
1)Gimbal structure
2)Landing Skids
3)Variable payloads
4)Screws, bolts, adhesive
5)Wiring
6)Various adapters and mounting surfaces
Budgeted Mass [kg]
Current Mass [kg]
Difference [kg]
% Over Budget
Total STRC
6.48
6.500
-0.020
0.31%
Total COMM
0.50
0.494
0.001
Good
Total EMBS
1.31
1.384
-0.079
6.04%
Total POWR
0.18
0.000
0.180
Good
Total PROP
7.47
7.462
0.008
Good
Total PYLD-A
1.80
0.701
1.099
Good
Margin
0.27
NA
NA
Good
Totals
18.00
16.54
39%
3%
9%
0%
45%
4%
PYLD-A Mass [kg]
Total STRC
Total COMM
Total EMBS
Total POWR
Total PROP
Total PYLD-A
Budgeted Mass [kg]
Current Mass [kg]
Difference [kg]
% Over Budget
Total STRC
5.76
6.500
-0.740
12.85%
Total COMM
0.44
0.494
-0.054
12.34%
Total EMBS
1.16
1.384
-0.224
19.29%
Total POWR
0.16
0.000
0.160
Good
Total PROP
6.64
7.462
-0.822
12.37%
Total PYLD-A
1.60
0.701
0.899
Good
Margin
0.24
NA
NA
Good
Totals
16.00
16.54
Overview
Systems Engineering
Project Management
Subsystems
Summary

23. Agenda
1.Introduction
2.Background & Conops
3.Systems Engineering
4.Project Management
5.Subsystems
oAaron/Chris (Embedded Systems/Control/Communication)
oAaron (On-board Sensors)
oAndrew (Power/Propulsion)
oLelanie (Fuselage)
oJohannes (Wings/tail/empennage)
oMatt (Testing & Integration)
4.Request for Actions: All
23
Overview
Systems Engineering
Project Management
Subsystems
Summary

24. PM Overview
•Team Structure
•Schedule
•Budget
•Risks
•Export Regulations
•Management Approach
24
Overview
Systems Engineering
Project Management
Subsystems
Summary

25. AREND
University Advisors
Industry/ Agency Advisors
AREND Global Team
25
Overview
Systems Engineering
Project Management
Subsystems
Summary

26. Academic Advisors & Leads
Jean Koster CU
Donna Gerren CU
Joe Tanner
CU
Laura Kruger
CU
Laurent Dala
UP
John Monk
UP
Wouter van Hoven UP
Lelanie Smith
UP
Jon Malangoni MU
Joe Hotchkiss MU
Ewald Kraemer
US
Claus-Dieter Munz
US
Peter Middendorf
US
Dominique Bergmann
US
Holger Kurz US
26
Overview
Systems Engineering
Project Management
Subsystems
Summary

27. Vehicle Structure
•AJ Gemer
•Lelanie Smith
•Johannes Schneider
Power & Propulsion
•Andrew Levine
•John Russo
•Prasanta Achanta
ES/Control
•Aaron Buysse
•Chris Womack
•Myank Bhardwaj
•Neel Desai
•Cameron Brown
Sensors
•Nikhil Shetty
•Jon Malangoni
Testing & Integration
•Justin George
•Matt Busby
Systems Engineer: Andrew Levine
Industry Advisors
CFO:
Phelps Lane
Project Manager: Laura Kruger
Academic Advisors
Deputy PM: Christine Fanchiang
27
CAD & Manufacture Engineer: AJ Gemer
Import/Export Regulations: Laura Kruger
Overview
Systems Engineering
Project Management
Subsystems
Summary

28. Schedule
28
Overview
Systems Engineering
Project Management
Subsystems
Summary
Major Milestones
July
Aug
Sept
Oct
Nov
Week
13-19
20-26
27-2
3-9
10-16
17-23
24-30
31-6
7-13
14-20
21-27
28-4
5-11
12-18
19-25
26-1
2-8
9-15
CDR
FRR Due
Flight Test Report Due
1st Hardware Shipment
Export/Import List Due
2nd Hardware Shipment
Manufacturing
Testing & Integration
Students Fly to SA
Final Demo and
Design Report Due

29. Wings/Tail/Empennage
Fuselage
Power/Prop
Embedded Systems
Ground Support
Ground Sensor Network
Systems Engineering
Project Management
Contingency
Budget
6.7%
20.0%
20.0%
13.6%
4.7%
Total Cost Estimate: $31,000
29
Overview
Systems Engineering
Project Management
Subsystems
Summary
10.0%
8.4%
6.9%
9.9%

30. Project Risks
Consequence
Budget
Project Timeline
Global Testing
Personnel
Regulations Conflict
Possibility
30
Overview
Systems Engineering
Project Management
Subsystems
Summary

31. Project Risk Mitigation
31
Overview
Systems Engineering
Project Management
Subsystems
Summary
•Project Timeline
oContinuous communications
oDetailed design
•Budget
oBegin second round of crowdfunding and pursue investment opportunities
oApproach companies for discounts
•Personnel
oNew semester can target more students
•Global Testing
oDetailed test and integration plans
oDetailed Interface Control Documents
•Regulations Conflict
oVigilant and early ITAR/export control reviews

32. Import/Export
•Key team members receive online export/ITAR training
•Coordinating with CU’s Office of Research Integrity and Regulatory Compliance
32
Overview
Systems Engineering
Project Management
Subsystems
Summary

33. STA Exception Checklist
•Notify the consignee of the ECCN (Export Control Classification Number) of each item shipped;
•Inform the consignee to submit the required consignee statement prior to export; and
•With each shipment, notify the consignee in writing that the shipment is made under STA
•Prior to departure, report the license exception STA transaction in the Automated Export System (AES) and include the appropriate AES license code C59 that designates that the shipment was made under License Exception STA.
•http://www.census.gov/foreign-trade/aes
33
Overview
Systems Engineering
Project Management
Subsystems
Summary

34. Management Approach
•Facilitate communications between team
•Engineering buildup (“grassroots”) cost estimating
•One procurement agent and budget revision signoffs
•Continued fundraising and awareness campaigns
•Reduce shipment time lag by coordinating fabrication, testing, & integration assignments
34
Overview
Systems Engineering
Project Management
Subsystems
Summary

35. Agenda
1.Introduction
2.Background & Conops
3.Systems Engineering
4.Project Management
5.Subsystems
oAaron/Chris (Embedded Systems/Control/Communication)
oAaron (On-board Sensors)
oJon (Sensor Network)
oAndrew (Power/Propulsion)
oLelanie (Fuselage)
oJohannes (Wings/tail/empennage)
oMatt (Testing & Integration)
4.Request for Actions: All
35
Overview
Systems Engineering
Project Management
Subsystems
Summary

36. Subsystems
Embedded Systems (ES)/Control/Communications
On-Board Sensors
Power/Propulsion
Fuselage
Wings/Tail/Empennage
Testing & Integration
36
Overview
Systems Engineering
Project Management
Subsystems
Summary

37. ES/Comm Conclusion
•On-board processor and autopilot support a variety of inputs and outputs for additional sensors
•Ground station software is user-friendly
oEasy point-and-click control of UAV
oDisplays telemetry and state of health data from batteries
•Communication system allows for long- range streaming of HD video
37
Overview
Systems Engineering
Project Management
ES/Control/ Comms
Summary

38. Subsystems
Embedded Systems (ES)/Control/Communications
On-Board Sensors
Power/Propulsion
Fuselage
Wings/Tail/Empennage
Testing & Integration
38
Overview
Systems Engineering
Project Management
Subsystems
Summary

39. Sensors Overview
EO/IR field
Poachers
A combination of sensors
• On the UAV
• Visual and IR cameras
• RFID
• Ground sensor network
Ground Sensors ( )
Sensor Field ( )
Overview 39
Systems
Engineering
Project
Management
Sensors Summary

40. Sensors Conclusion
•The system is being designed keeping in mind long term possible technologies
•Overdesigning the aircraft for power, mass and volume in order to accommodate advancements in technology
Overview
Systems Engineering
Project Management
Sensors
Summary

41. Subsystems
Embedded Systems (ES)/Control/Communications
On-Board Sensors
Power/Propulsion
Fuselage
Wings/Tail/Empennage
Testing & Integration
41
Overview
Systems Engineering
Project Management
Subsystems
Summary

42. Propulsion Overview
42
Overview
Systems Engineering
Project Management
Power/Prop
Summary

43. Propulsion Constraints
Design Constraints:
1.Noise < 45 dB from the audio horizon (275 m, or ~900 ft)
2.Mechanical output power > 0.79 kW
3.Propulsion system mass (incl. batteries) ≤ 42.5% total aircraft mass (7.47 kg for 18 kg aircraft or 6.64 kg for 16 kg aircraft)
Minimum range of 90 km, must be less than 300 km (ITAR)
4.Propulsion method not to be mounted in the nose
Camera gimbal constraint
5.Minimize the overall mass
Components & additional structural mass required
43
Overview
Systems Engineering
Project Management
Power/Prop
Summary

44. Propulsion Performance
0
500
1000
1500
2000
2500
3000
3500
0
2000
4000
6000
8000
Mech. Power [W]
RPMs
20x10 (2-Blade) Propeller
Req'd Power [W]
Max Tacon Power
Theoretical Performance: 20x10, 2-Blade
Max @4900 RPMs
0.95 kW Mech. Power
Tip Speed ~38% Mach 1
44
0
20
40
60
80
100
120
0
1000
2000
3000
4000
5000
6000
7000
8000
RPMs
20x10 (2-Blade) Propeller
Stat. Thrust [N]
Est. Speed [km/hr]
Max Tacon RPM
80 km/hr
46 N Thrust
Overview
Systems Engineering
Project Management
Power/Prop
Summary

45. Propulsion Performance
Theoretical Performance: 16x13, 4-Blade
Max @4820 RPMs
0.87 kW Mech. Power
Tip Speed ~30% Mach 1
45
95 km/hr
32 N Thrust
0
200
400
600
800
1000
1200
0
1000
2000
3000
4000
5000
6000
Mech. Power [W]
RPMs
16x13 (4-Blade) Propeller
Req'd Power [W]
Max Tacon Power
0
20
40
60
80
100
120
0
1000
2000
3000
4000
5000
6000
RPMs
16x13 (4-Blade) Propeller
Stat. Thrust [N]
Est. Speed [km/hr]
Max Tacon RPM
*Likely prop stall characteristics that are not included in this analysis. Experimental testing required
Overview
Systems Engineering
Project Management
Power/Prop
Summary

46. Propulsion Performance
Preliminary Noise Testing:
100% Throttle (averages)
300 ft => 60 dB (1 measurement)
200 ft => 53 dB (3 measurements)
100 ft => 61.25 dB (4 measurements)
50 ft => 67 dB (3 measurements)
50% Throttle (averages)
100 ft => 56 dB (3 measurements)
50 ft => 61 dB (5 measurements)
*Ambient Noise in Bush 45 dB
Further testing required to determine the static audio horizon for Tacon Bigfoot 160 w/ 20x10 APC (2-blade) prop (and other props).
46
Overview
Systems Engineering
Project Management
Power/Prop
Summary

47. Propulsion Conclusion
1.Motor: Tacon Bigfoot 160
2.Open Propeller, Pusher Configuration
3.Theoretical Optimal Propeller;
16x13, 5-blade prop lowest tip speed (~30% Mach 1) while achieving performance needs
20x10 APC (2-blade); tip speed ~38% Mach 1
4.Pheonix Edge 100 ESC
5.6S (22.2 V) Battery Pack
Capacity depends on propeller choice
Current estimated capacity required = 41.25 Ah *Further noise and propeller testing to achieve optimal configuration for mission needs
47
Overview
Systems Engineering
Project Management
Power/Prop
Summary

48. Power Overview
48
Overview
Systems Engineering
Project Management
Power/Prop
Summary

49. Power Constraints
Design Constraints:
1.Flight Battery Pack (90 minutes or 90 km)
Propulsion Power Needs => ~1014 Wh (45.68 Ah)
Embedded System Needs => ~220 Wh
2.Payload Battery Pack (90 minutes or 90 km)
Payload System Needs => ~42 Wh (peak voltage of 9 V)
3.Backup Battery Pack required for failover and support immediate landing
4.State of health (SOH) sensors; Temp, state of charge (SOC), & voltage per battery
5.Voltage regulation for components
49
Voltage Requirements
Motor – 22 V
Rx Hardware – 5 V
Tx Hardware/Amp – 12 V
Backup GPS – 5 V
Primary GPS – 3.6 V
Autopilot – less than 7 V
CPU – 5 V
IR camera – 5 V
Vis Camera – 9 V
LVDS to HD-SDI converter – 6 to 9 V
Rx for Snoopy – 2.7 to 5.5 V
Overview
Systems Engineering
Project Management
Power/Prop
Summary

50. Power Source(s)
50
1.Flight Battery Pack
Desire Power 35C 8300mAh 6s 22.2V Li-Po Battery
1234 Wh needed => 7 batteries (~4% margin)
2.Payload Battery Pack
Desire Power 35C 3300mAh 3s 11.1V Li-Po Battery
23.4 Wh needed => 1 battery (~36% margin)
3.Backup Battery Pack
E-Flite 30C 2600mAh 6s 22.2V Li-Po Battery
Provides ~57.7 Wh => ~10 min of 30% throttle for landing
Overview
Systems Engineering
Project Management
Power/Prop
Summary

51. Power Monitoring
51
Still to be analyzed:
1.Identify sensors to measure voltage, current, and temperature and provide raw data to Beagle Bone for transmission in telemetry.
Current data to be processed to calculate remaining state of charge (SOC)
2.Issues
Not commercially available
Current off-the-shelf products trigger LED or audio alert only (no raw data)
May need build from scratch or reverse engineer
Overview
Systems Engineering
Project Management
Power/Prop
Summary

52. Power Distribution
Overview
Systems Engineering
Power/Prop
Testing and Verification
Project Management
52

53. 53
Power Distribution
9V
5V
22V
Current Sensor
Autopilot
9V BEC
5V BEC
Overview
Systems Engineering
Project Management
Power/Prop
Summary

54. 54
Power Distribution
Components required:
1.Current/Voltage Sensor
The AutoPilot Current and Voltage sensor board was recommended for replacing the Pixhawk power module.
Must be able to handle a 6S LiPo battery pack
2.5V BEC/Voltage Regulator
Powers the CPU, autopilot, IR camera, and backup GPS
Must be able to output enough current to power servos (powered by the autopilot).
3.9v BEC/Voltage Regulator
Powers the transmitter, visual camera, and the LVDS to HD-SCI converter.
Overview
Systems Engineering
Project Management
Power/Prop
Summary

55. Power Conclusion
1.Two independent primary battery packs;
Flight systems – 7 6S 8300 mAh LiPos
Payload – 1 3S 3300 mAh LiPo
2.One backup battery pack
Emergency landings only
1 6S 2600 mAh LiPo
3.Regulated voltage using 9V and 5V BECs
Two 9V BECs
Two 5V BECs
4.Battery SOC and health monitoring
Still being worked
55
Overview
Systems Engineering
Project Management
Power/Prop
Summary

56. Subsystems
Embedded Systems (ES)/Control/Communications
On-Board Sensors
Sensor Network
Power/Propulsion
Fuselage
Wings/Tail/Empennage
Testing & Integration
56
Overview
Systems Engineering
Project Management
Subsystems
Summary

57. Fuselage Design Requirements
Fuselage design shall:
ohave the low possible drag characteristics[ CD < 0.035]
obe sufficiently sized to house the required payload
obe volumetrically efficient [Oval shape ideal]
oallow for sensor visibility [Nose cone = body of revolution]
ohave a durable and lightweight structure
oallow for easy modular mounting of sensors
obe easy to assemble, maintain, and manufacture
obe low cost
57
Overview
Systems Engineering
Project Management
Fuselage
Summary

58. Design Alternatives Open Propeller vs Integrated Propulsion Fuselage
Based on propulsion trade study the open propeller was selected – specifically the pusher propeller on the aftbody of the fuselage
58
Previous Open Propeller Fuselage Examples
Overview
Systems Engineering
Project Management
Fuselage
Summary

59. Open pusher propeller configurations
Low drag body (F2-49) sufficient to carry the payload
Clean aerodynamic shape to reduce noise
Propellers mounted the aftbody of the fuselage
Payload Layout
Overview
Systems Engineering
Project Management
Fuselage
Summary

60. Visual sensors in nose cone
Payload Layout
Overview
Systems Engineering
Project Management
Fuselage
Summary

61. Gimbal
•Use a design load factor of 16 g’s (industry standard for hard landings: no components allowed to yield plastically for any less than 16 g’s)
Overview
Systems Engineering
Project Management
Fuselage
Summary
•Gimbal will rotate about two axes (pitch and roll)
•Components manufactured from plate aluminium.

62. To Be Decided
•Landing gear Concept: Skid Landing
•Emergency parachute landing is considered
•Connection to fuselage: take the gimbal out of the load path of the spine.
•Damping shall be introduced to the gimbal- fuselage interface to reduce the effects of vibration.
Overview
Systems Engineering
Project Management
Fuselage
Summary

63. Subsystems
Embedded Systems (ES)/Control/Communications
On-Board Sensors
Power/Propulsion
Fuselage
Wings/Tail/Empennage
Testing & Integration
63
Overview
Systems Engineering
Project Management
Subsystems
Summary

64. Wings
Geometry Parameters
Aspect Ratio
12.7
Wing Area
2.134 m²
Wing Span
5.2m
Wing Load
91.93 N/m²
Wing Twist
-1°
Airfoil
Eppler E214
Dihedral
2°
Taper Ratio
0.4
Aerodynamic Parameters
Cl
0.5
Cd
0.013
Design Parameters
Cruise Speed
65 km/h
MTOW
20kg
Stall Speed
36 km/h
Re
~ 500000
Plain Flaps
Wing Shape
Plane Flaps
Ailerons
Overview
Systems Engineering
Project Management
Wings/Tail
Summary

65. Wings
Diagrams
Lift coefficient over drag coefficient
Lift distribution
Overview
Systems Engineering
Project Management
Wings/Tail
Summary

66. Tail / Empennage
Comments:
- Design based on CG 0.2 m behind the leading edge of the wing
- Distance from wing leading edge to empennage neutral point l=3m
Geometry Parameters
Aspect Ratio
5
Angel (Roof)
110°
Empennage Span
(half Tail)
0.768 m
Airfoil
HT 14
horizontal stabilizer volume
0.72
vertical stabilizer volume
0.06
Static margin
5.7%
Overview
Systems Engineering
Project Management
Wings/Tail
Summary

67. Manufacturing and Materials
Mold material: SICA Block M615
Wings / Empennage:
• glass and carbon fiber
• kevlar (aramid fibers) for highly stressed areas (wing tip, leading edge, flap hinge)
Budget Need Uni Stuttgart
Mold material $ 2.200,00
Mold manufacturing
(very unsure yet) $ 3.200,00
just the machine hour rate for best surface and less handiwork
maybe possible to halve
fiberglass, gum…. $ 200,00
carbon fiber tubes for empennage $ 130,00
servos not yet known
$ 5.730,00
Budget available Uni Stuttgart $ 4.000,00 approx.
Time Plan
42h first wings ( “junk” , OK for
testing)
Final wings
40h preparing molds
24h glass/carbon fiber lining
20h internal wing structure
10h wings finishing
empennage ~ 40h
~ 180h total
Budget Plan
Overview
Systems
Engineering
Project
Management
Wings/Tail Summary

68. Control System
l-Tail
r-Flap
l-Flap
r-Tail
FCU
r-aileron
l-aileron
: servos
FCU : Flight Control Unit
- Control System Voltage: 6V
- Slow servos for Flaps
- Digital servos
Overview
Systems Engineering
Project Management
Wings/Tail
Summary

69. Subsystems
Embedded Systems (ES)/Control/Communications
On-Board Sensors
Power/Propulsion
Fuselage
Wings/Tail/Empennage
Testing & Integration
69
Overview
Systems Engineering
Project Management
Subsystems
Summary

70. Testing & Integration (T&I)
Objectives:
•Support global manufacturing and integration of AREND system
•Accurately test the system’s ability to satisfy requirements throughout integration phases
Establishing T&I Plan:
1.List design hardware and software
2.Identify where components will be purchased/built
3.Define integration and logistics plan
4.Define test plan from lowest level requirements
70
Overview
Systems Engineering
Project Management
T&I
Summary

71. Hardware/Software and Their Locations
•32 hardware/software items across 4 universities and 4 countries
•Locations determined by ITAR restrictions, expertise location, and testing needs
71
Overview
Systems Engineering
Project Management
T&I
Summary

72. Integration and Logistics Plan
Integration done at 3 levels
Complete System
Ground System
Flight System
Ground Station
Power & Propulsion
Aircraft Structure
Comm.
Sensors
Software
Embedded Systems
Detection Alerts
Level 1: All components sent to South Africa for final test and integration
Level 2: Integrate all major subsystems (parts may need to be sent to other countries)
Level 3: Subsystems integrated separately at development location
72
Overview
Systems Engineering
Project Management
T&I
Summary

73. Test Plan Development
*(12)
PDR
CDR
TRR
AT
73
http://softwareandme.wordpress.com/2009/10/20/software-development-life-cycle/sdlc_v_model/
Implementation
Overview
Systems Engineering
Project Management
T&I
Summary

74. Test Plan Development
•Defined from lowest level requirements
•Encompasses 34 unit/subsystem tests and 11 integrated and operational tests
•Test plan designed to address:
1.Why/When is test needed?
2.Who is doing test?
3.What are the test objectives?
4.What is being tested?
5.Where is test conducted?
6.How will test objectives be met?
7.What are the reporting requirements?
74
Overview
Systems Engineering
Project Management
T&I
Summary

75. Test & Integration Plan
75
Fuselage Pretoria
Tail Stuttgart
Wings Stuttgart
Payload CU
Embedded
Systems
CU
Power CU
Autopilot CU
Assembled
Aircraft
Pretoria
Final Test
Date
Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine -15 Major Deadl ine
Phase # 1 2 3 4
Initial
Fabrication/
Assembly
Thermodynamic
Testing
Control Surface
Testing
Structural
Strength
Testing
Parts Sent
To South
Africa
Enitre Aircraft
Assembly
Structures
Fuselage
Tai l
Wings
Complete
Incomplete
Final Test
Date
Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine -15 Major Deadl ine -10 Major Deadl ine -5 Major Deadl ine -5 Major Deadl ine
Phase # 1 2 3 4 5 6 7
Initial
Fabrication/
Assembly
Functional Testing
Power Output &
Endur Testing
Thermodynamic
Testing (If Needed)
Vibration
Testing
Communication
Test
Resolution Test
Parts Sent
To South
Africa
Electronics
Payload
Power
Autopi lot
Final Test
Date
Major Deadl ine -45 Major Deadl ine -40 Major Deadl ine -35 Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine
Phase # 1 2 3 4 5 6
Ful l Integration
Testing
Foam Model
Testing
Communication/
Ground Station
Testing
RC Test Fl ight Autopi lot Testing
Operational
Testing
Demo Fl ight
AREND Test & Integration Plan (CAO: 10 Jul 2014)
8/17/2014
8/17/2014
8/12/2014
8/17/2014
10/9/2014
9/1/2014
10/14/2014 11/3/2014
8/27/2014
8/27/2014
8/22/2014
8/22/2014
9/1/2014
9/1/2014
8/22/2014 8/27/2014 8/27/2014
Assembled
Aircraft
8/2/2014 8/7/2014
10/4/2014
9/1/2014
9/1/2014
9/1/2014
9/1/2014
8/7/2014
8/7/2014
8/17/2014
9/19/2014 9/29/2014
8/2/2014
8/2/2014
8/12/2014
8/12/2014 8/17/2014
8/12/2014 8/17/2014
8/12/2014
8/2/2014
Embedded
Systems
8/2/2014
8/2/2014
8/2/2014
Overview
Systems
Engineering
Project
Management
T&I Summary

76. Example Test & Integration Plan
76
Overview
Systems Engineering
Project Management
T&I
Summary

77. Final Test
Date
Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine -15 Major Deadl ine
Phase # 1 2 3 4
Initial
Fabrication/
Assembly
Thermodynamic
Testing
Control Surface
Testing
Structural
Strength
Testing
Parts Sent
To South
Africa
Enitre Aircraft
Assembly
Structures
Fuselage
Tai l
Wings
Complete
Incomplete
Final Test
Date
Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine -15 Major Deadl ine -10 Major Deadl ine -5 Major Deadl ine -5 Major Deadl ine
Phase # 1 2 3 4 5 6 7
Initial
Fabrication/
Assembly
Functional Testing
Power Output &
Endur Testing
Thermodynamic
Testing (If Needed)
Vibration
Testing
Communication
Test
Resolution Test
Parts Sent
To South
Africa
Electronics
Payload
Power
Autopi lot
Final Test
Date
Major Deadl ine -45 Major Deadl ine -40 Major Deadl ine -35 Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine
Phase # 1 2 3 4 5 6
Ful l Integration
Testing
Foam Model
Testing
Communication/
Ground Station
Testing
RC Test Fl ight Autopi lot Testing
Operational
Testing
Demo Fl ight
AREND Test & Integration Plan (CAO: 10 Jul 2014)
8/17/2014
8/17/2014
8/12/2014
8/17/2014
10/9/2014
9/1/2014
10/14/2014 11/3/2014
8/27/2014
8/27/2014
8/22/2014
8/22/2014
9/1/2014
9/1/2014
8/22/2014 8/27/2014 8/27/2014
Assembled
Aircraft
8/2/2014 8/7/2014
10/4/2014
9/1/2014
9/1/2014
9/1/2014
9/1/2014
8/7/2014
8/7/2014
8/17/2014
9/19/2014 9/29/2014
8/2/2014
8/2/2014
8/12/2014
8/12/2014 8/17/2014
8/12/2014 8/17/2014
8/12/2014
8/2/2014
Embedded
Systems
8/2/2014
8/2/2014
8/2/2014
Test & Integration Plan
77
Fuselage Pretoria
Tail Stuttgart
Wings Stuttgart
Payload CU
Embedded
Systems
CU
Power CU
Autopilot CU
Assembled
Aircraft
Pretoria
Assembled Aircraft Test List
Phase Test ID Objective
1
1_AC_1
Aircraft fuselage, tail, wings, payload, embedded systems, power & power plant,
autopilot integration configuration check
1_AC_2
Flight Control Calibration and Testing - ensure flight control freedom of movement
and proper/expected deflections in response to control inputs
1_AC_3
Vibration Testing - Static engine run to Max/Cruise RPM to determine effect of
vibrations on equipment
1_AC_4 Aerodynamic Testing - verify C.G. location to determine longitudinal stability
1_AC_5 Thermo testing of integrated components
Overview
Systems
Engineering
Project
Management
T&I Summary

78. Test & Integration Plan
78
Final Test Date
Major Deadline -30
Major Deadline -25
Major Deadline -20
Major Deadline -15
Major Deadline -10
Major Deadline -5
Major Deadline
Major Deadline +15
Phase #
1
2
3
4
5
6
7
Initial Fabrication/ Assembly
Functional Testing
Aerodynamic Testing
Thermodynamic Testing
Control Surface Testing
Structural Strength Testing
Parts Sent To South Africa
Structure Assembly
Entire Aircraft Assembly
8/2/2014
8/17/2014
8/27/2014
9/1/2014
9/16/2014
8/2/2014
8/22/2014
8/27/2014
9/1/2014
9/16/2014
8/2/2014
8/22/2014
8/27/2014
9/1/2014
Final Test Date
Major Deadline -30
Major Deadline -25
Major Deadline -20
Major Deadline -15
Major Deadline -10
Major Deadline -5
Major Deadline -5
Major Deadline
Phase #
1
2
3
4
5
6
7
8
Initial Fabrication/ Assembly
Functional Testing
Power Output & Endur Testing
Thermodynamic Testing (If Needed)
Vibration Testing
Communication Test
Resolution Test
Parts Sent To South Africa
Electronics Assembly
8/2/2014
8/12/2014
8/17/2014
8/22/2014
8/27/2014
8/27/2014
9/1/2014
8/2/2014
8/7/2014
8/12/2014
8/17/2014
8/22/2014
8/27/2014
9/1/2014
8/2/2014
8/12/2014
8/17/2014
8/22/2014
9/1/2014
8/2/2014
8/7/2014
8/17/2014
8/22/2014
8/27/2014
9/1/2014
Final Test Date
Major Deadline -45
Major Deadline -40
Major Deadline -35
Major Deadline -30
Major Deadline -25
Major Deadline -20
Major Deadline
Phase #
1
2
3
4
5
6
Full Integration Testing
Foam Model Testing
Communication/ Ground Station Testing
RC Test Flight
Autopilot Testing
Operational Testing
Demo Flight
9/19/2014
9/29/2014
10/4/2014
10/9/2014
10/14/2014
11/3/2014
Fuselage
Pretoria
Tail
Stuttgart
Wings
Stuttgart
Payload
CU
Embedded Systems
CU
Power
CU
Autopilot
CU
Assembled Aircraft Test List
Phase
Test ID
Objective
1
1_AC_1
Aircraft fuselage, tail, wings, payload, embedded systems, power & power plant, autopilot integration configuration check
1_AC_2
Flight Control Calibration and Testing - ensure flight control freedom of movement and proper/expected deflections in response to control inputs
1_AC_3
Vibration Testing - Static engine run to Max/Cruise RPM to determine effect of vibrations on equipment
1_AC_4
Aerodynamic Testing - verify C.G. location to determine longitudinal stability
1_AC_5
Thermo testing of integrated components
Overview
Systems Engineering
Project Management
T&I
Summary

79. Final Test
Date
Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine -15 Major Deadl ine
Phase # 1 2 3 4
Initial
Fabrication/
Assembly
Thermodynamic
Testing
Control Surface
Testing
Structural
Strength
Testing
Parts Sent
To South
Africa
Enitre Aircraft
Assembly
Structures
Fuselage
Tai l
Wings
Complete
Incomplete
Final Test
Date
Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine -15 Major Deadl ine -10 Major Deadl ine -5 Major Deadl ine -5 Major Deadl ine
Phase # 1 2 3 4 5 6 7
Initial
Fabrication/
Assembly
Functional Testing
Power Output &
Endur Testing
Thermodynamic
Testing (If Needed)
Vibration
Testing
Communication
Test
Resolution Test
Parts Sent
To South
Africa
Electronics
Payload
Power
Autopi lot
Final Test
Date
Major Deadl ine -45 Major Deadl ine -40 Major Deadl ine -35 Major Deadl ine -30 Major Deadl ine -25 Major Deadl ine -20 Major Deadl ine
Phase # 1 2 3 4 5 6
Ful l Integration
Testing
Foam Model
Testing
Communication/
Ground Station
Testing
RC Test Fl ight Autopi lot Testing
Operational
Testing
Demo Fl ight
AREND Test & Integration Plan (CAO: 10 Jul 2014)
8/17/2014
8/17/2014
8/12/2014
8/17/2014
10/9/2014
9/1/2014
10/14/2014 11/3/2014
8/27/2014
8/27/2014
8/22/2014
8/22/2014
9/1/2014
9/1/2014
8/22/2014 8/27/2014 8/27/2014
Assembled
Aircraft
8/2/2014 8/7/2014
10/4/2014
9/1/2014
9/1/2014
9/1/2014
9/1/2014
8/7/2014
8/7/2014
8/17/2014
9/19/2014 9/29/2014
8/2/2014
8/2/2014
8/12/2014
8/12/2014 8/17/2014
8/12/2014 8/17/2014
8/12/2014
8/2/2014
Embedded
Systems
8/2/2014
8/2/2014
8/2/2014
Test & Integration Plan
79
Fuselage Pretoria
Tail Stuttgart
Wings Stuttgart
Payload CU
Embedded
Systems
CU
Power CU
Autopilot CU
Assembled
Aircraft
Pretoria
Unit Testing
Integration Testing Operational Testing
Overview
Systems
Engineering
Project
Management
T&I Summary

80. Testing & Integration Conclusion
1.List design hardware and software
2.Identify where components will be purchased/built
3.Define integration and logistics plan
4.Define test plan from lowest level requirements
80
Overview
Systems Engineering
Project Management
T&I
Summary

81. Agenda
1.Introduction
2.Background & Conops
3.Systems Engineering
4.Project Management
5.Subsystems
oAaron/Chris (Embedded Systems/Control/Communication)
oAaron (On-board Sensors)
oAndrew (Power/Propulsion)
oLelanie (Fuselage)
oJohannes (Wings/tail/empennage)
oMatt (Testing & Integration)
4.Request for Actions: All
81
Overview
Systems Engineering
Project Management
Subsystems
Summary

82. Next Steps
•Project definition
•Requirements
•Architectures
•Trade studies
Completed
•PDR
•Feasibility Studies
•Technology Selection
•CDR
Current
•Manufacture
•Testing/Integration
•Final Design Report
Future
82
Overview
Systems Engineering
Project Management
Subsystems
Summary

83. AREND is unique in several respects:
•UAS designed around sensors/mission objectives
•Implementation of input directly from anti-poaching rangers
•Payload modularity for defined operations
•International collaboration providing students with experience in global design and manufacturing environment
83
Overview
Systems Engineering
Project Management
Subsystems
Summary