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Conceptual Design Document Aerospace Senior Projects ASEN 4018 2017 University of Colorado Department of Aerospace Engineering Sciences Senior Projects – ASEN 4018 SHAMU Search and Help Aquatic Mammals UAS Conceptual Design Document 2 October 2017 1.0 Information Project Customers Jean Koster James Nestor 872 Welsh Ct. Louisville, CO 80027 San Francisco, CA Phone: 303-579-0741 Phone: Email: [email protected] Email: [email protected] Team Members Severyn V. Polakiewicz Samuel N. Kelly [email protected] [email protected] 818-358-5785 678-437-6309 Michael R. Shannon Ian B. Barrett [email protected] [email protected] 720-509-9549 815-815-5439 Jesse R. Holton Grant T. Dunbar [email protected] [email protected] 720-563-9777 720-237-6294 George Duong Brandon Sundahl [email protected] [email protected] 720-385-5828 303-330-8634 Benjamin Mellinkoff Justin Norman [email protected] [email protected] 310-562-3928 303-570-5605 Lauren Mcintire [email protected] 267-664-0889 Conceptual Design Assignment Conceptual Design Document 2017 Aerospace Senior Projects ASEN 4018 1.1 List of Acronyms AP Autopilot API Application Programming Interface ARM Advanced RISC Machine A(M)SL Above (Mean) Sea Level CETI Cetacean Echolocation Translation Initiative CLI Command Line Interface CPU Central Processing Unit CONOPS Concept of Operations COTS Commercial Off The Shelf EPS Expanded Polystyrene FBD Functional Block Diagram GCS Ground Control Station GPS Global Positioning System GPU Graphics Processing Unit IDE Integrated Development Environment IR Infrared ITAR International Traffic in Arms Regulations LoV Loss of Vehicle MTOW Maximum Takeoff Weight PID Proportional Integral Derivative RC Radio Control RISC Reduced Instruction Set Computer RTK Real Time Kinematic STO(L) Short Takeoff (and Landing) TBD To Be Determined TBR To Be Reviewed 2 Conceptual Design Document 2017 Aerospace Senior Projects ASEN 4018 UAS Unmanned Aerial System (includes the vehicle and auxiliary equipment) UAV Unmanned Aerial Vehicle VTO(L) Vertical Takeoff (and Landing) XPS Extruded Polystyrene 3 Conceptual Design Document 2017 Aerospace Senior Projects ASEN 4018 2.0 Project Description Marine sound pollution and ship strikes account for a significant number of annual sperm whale deaths. Sperm whales are now listed as vulnerable, and more than 600 studies have predicted that their populations will collapse precipitously in the next three decades (Whitehead, 2002). Cetaceans, like sperm whales, use clicks for echolocation, a form of sonar, to “see” underwater. Some cetaceans also use clicks in highly-detailed patterns in social behavior. Sperm whales can repeat clicks down to the exact millisecond and frequency, and re-organize them into new clicks. Some marine biologists believe that these clicks are encoded with communicative information, possibly sonographic images (Morozov, 1976). CETI (Cetacean Echolocation Translation Initiative - https://www.ceti.foundation) is an international team of engineers and conservationists that build audio and video technologies to record and process cetacean click communication. With this data, CETI hopes to decipher sperm whales’ sophisticated click communication while bringing the depth, awareness, and global importance of these animals to millions of people across the globe. The research may also allow the development of needed technology to deter whales away from ships, where whales are often killed by the propulsion system, or prevent large numbers of whale beachings. Searching for sperm whale pods while limited to the bounds of a ship is extremely time consuming, fuel wasting, and cost prohibitive. Currently, marine researchers spend weeks equipped with binoculars and underwater directional acoustic listeners scouting for whales within the vicinity of the ship. The multi-year UAS (Unmanned Aircraft System) project will allow CETI to efficiently locate and interact with sperm whale pods using CETI technologies. The mobile aerial platform will scan the ocean surface with an instrument payload capable of identifying migrating sperm whales. The UAS will aid marine researchers by providing GPS (Global Positioning System) location data of spotted whales. With GPS data received, the mothership will dispatch a smaller watercraft and divers to deploy a listening buoy at the whales’ location. The UAS provides an improved searching solution to binoculars and acoustics and makes more efficient use of time and resources while at sea. The first stage of the multi-year UAS project is scheduled for the 2017-2018 CU Boulder academic year. The first stage focuses on engineering a modular UAS with radio-controlled and autonomous flight, launch and landing systems, and ground station. The UAS shall be designed to carry a 2.27 kg whale scouting instrument payload based on instrument equipment weight estimates. The instrument payload will be developed by future teams in later project stages. As a result of the multi-year project structure, the first stage does not require flight over open ocean nor over whale simulated objects. To reduce unnecessary cost for travel and shipping, testing and validation will be based in Boulder, Colorado, which is located at 1,650m ASL. In order to account for density altitude in warmer months with a safety margin, the UAS shall have a service ceiling of 3 km ASL. These tests will focus on validating the UAS system platform for the future whale scouting instrument payload. A modular design will give marine researchers an efficient turnaround time from land to launch of 30 minutes for battery replacement and data transfer. Radio-controlled flight will allow marine researchers to actively search for whales and to take direct control in emergency, hazardous, or bad weather scenarios. RC flight is a precursor to autonomous flight and will assist in system validation in early stages. The need for autonomous flight arises from long mission flight ranges of up to 400 km and the desire to reduce human error in monotonous UAV operation. Autonomous flight systems will allow marine researchers to set and update flight path waypoints before and during the flight. The UAS search plane delivery system shall be launched and recovered from a representative, stationary 9.1m by 9.1m platform. This platform represents the open helipad in the aft section of research vessel Alucia, which is obstructed fore by the superstructure and aft by a crane. The UAS shall have a maximum flight displacement of 10 km from the ground communications station. A preference is given towards electric propulsion for environmental conservation. The first stage shall validate the UAS platform and associated systems for future CETI whale scouting instruments. 2.1 Concept of Operations (CONOPS) The two Concept of Operations diagrams offer a visual representation of the CETI (SHAMU) project’s final intended use and the first stage’s testing procedure. 4 Conceptual Design Document 2017 Aerospace Senior Projects ASEN 4018 Figure 2.1a: CONOPS for Ocean Operation (Multi-year Project) Figure 2.1b: Testing CONOPS (2017-2018 Academic Year) 5 Conceptual Design Document 2017 Aerospace Senior Projects ASEN 4018 2.2 Functional Requirements and Block Diagram The customer requires the UAV to search a 373 km2 area for whales. A nominal 60 deg sensor package FOV (field of view) was assumed to determine a required ground track endurance of 400 km to accomplish this at an altitude of 915 m with 1 km wide sensor sweeps. Functional Requirements: 1. Operate in remotely piloted and fully autonomous modes throughout all phases of flight. 2. Takeoff and land from/to a stationary 9.1 m x 9.1 m platform obstructed fore (represents ship superstructure) and aft (represents ship crane). 3. Modular with 30 minute land to launch by replacing battery and swapping data storage. 4. 10 km communication range from ground control station. 5. Aircraft does not exceed 22.69 kg gross takeoff weight. 6. Aircraft shall be operable and recoverable onto stationary platform in winds up to 10.29 m/s (TBR). 7. Specifications to support full CONOPS (concepts of operations) by follow on project groups: 7.1. 3 km AMSL (above mean sea level) service ceiling for testing at Boulder, CO. 7.2. Aircraft supports downward-facing 2.27 kg simulated instrument payload with 15 cm x 15 cm x 23 cm dimensions (TBR). 7.3. 400 km ground track range endurance A functional block diagram is shown in Figure 2.2a. The functional block diagram shows how each system component integrates into the UAS. The data lines, power lines, and acquired vs. designed indicators are of particular interest. Figure 2.2a: Functional Block Diagram 6 Conceptual Design Document 2017 Aerospace Senior Projects ASEN 4018 The Critical Project Elements are aerial vehicle design/acquirement, takeoff and landing systems, communication and ground station, flight computer (autonomous flight), and FAA approval. The levels of success objectives are included below in Table 2.2a. Note that at Level 1 success, the UAS is validated on the ground without flight required. At Level 2 and beyond, the UAS begins passing objectives in flight. Tab. 2.2a: Levels of Success Objectives. Aircraft Design Guidance, Structures Communications/ Ground Electrical Navigation, Radio Control Control System Lvl Aircraft construction Full manual Weight of Downlink Log incoming Using only 1 complete. Modularity: control over aircraft & suite Telemetry telemetry to onboard power disassembly/assembly servos and must remain (H&S/AHRS files/database. sources, of TBD (To Be control surfaces below 22.69 /GPS), Range: local, Mission/ equipment shall Determined) aircraft via RC link while kg. Wing external power. waypoints be powered for structures. Aircraft on the ground. structure passes programmable 1 hour while accommodates Hardware-in-the- a wing loading (Ground test) via files outside aircraft is instrument payload loop (HIL). test of 5 g of flight stationary on (TBD size) and 2.27 (TBR). operations. the ground. kg. Lvl Aircraft is airworthy Full manual Survive flight Uplink mission Display Using only 2 and proven to fly.
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