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Collision Encounter Reduction for Unmanned Aerial Systems (CERUNAS)

29 April 2014

Spring Final Review

Project Purpose and Objectives

Design Solution

Critical Project Elements

Design Requirements

Project Risks Verification and

Validation Project

Planning 2

Team Organization


Design Solution


Design Requirements


Validation Project

Planning


Design Description

Test Overview

Test Results

Systems Engineering

Project Management

3

Overview


Design Solution


Design Requirements


Validation Project

Planning 4

Project Purpose

and Objectives


Design Solution


Design Requirements


Validation Project

Planning

Co

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Critic

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2 Nonfunctional CPEs: - CPE 4: sUAS Components < 100g - CPE 6: Subsystems < $100

CPE 5: Record Telemetry

CPE 2: Transmit

MAC Data

CPE 3: Initiate Avoidance

Full descriptions of CPEs can be found in Backup

Low Speed, Propeller Driven A/C (100m/s ± 10%) in straight, level flight in uncontrolled airspace

sUAS (< 2lbs, 10m/s ± 10%)

CPE 1: Determine Collision Potential

Purpose Design Test

Results 5 Test

Overview Systems

Project Mgmt.


Design Solution


Design Requirements


Validation Project

Planning Purpose Design

Test Results

Test Overview

Systems Project Mgmt.

6

Project Levels of Success

(LOS)

LOS 1: Ability of System to sense

presence in MAEC

LOS 2: Ability of System to Trigger Removal of sUAS

from MAEC

LOS 3: Ability of System to

Sense Presence and Trigger Removal of sUAS from

MAEC

Manned A/C Encounter Cone (MAEC) is a geometric region based on the velocities of the sUAS and MAC


Design Solution


Design Requirements


Validation Project

Planning 7

Design Description


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


8

High Level HW Overview

Manned Aircraft Component sUAS Component

Mechanical components: • sUAS hardware enclosure Software: • sUAS code

Electrical Components: • Battery • sUAS PCB • Xbee receiver

CG

Mechanical Components: • Manned AC hardware

enclosure (6x6in, 1in deep)

Electrical Components: • Manned AC PCB • Xbee transmitter • GPS receiver • Battery Software: • Manned AC flight

software


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview

Systems Project Mgmt. 9

Pro

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Dia

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Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Ma

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A/C

Ha

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10

• PVC enclosure size: 5” x 6”


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Ma

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A/C

Ele

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Layo

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HW Item Description Purpose Key Details

Power System Power all componentry on PCB – CERUNAS developed using COTS components

Voltage from battery: 7.4V Voltage after regulator: 5V Voltage to components: 3.3V

Processor and Supporting System

Main processor handling outgoing position data – Support systems for PIC are CERUNAS-developed using COTS components

ICSP Headers: flash program PIC Breakout Headers: general purpose I/O PIC comm. w/ XBee: 32 MHz (1 instr. cycle/4 clock cycles) LEDs: alive, GPS lock, transmission indicator

Location Verification System

Determine manned A/C position – COTS

GPS connects to PIC by asynch. serial at 9600 baud Pressure sensor: 24 bit conversion, absolute pressure

Communication System Broadcast location of manned A/C – COTS

XBee transmitter frequency: 900 MHz, 9600 bps XBee power draw: 260 mW at 3.3 V

Printed Circuit Board (PCB) Backplane for all necessary systems – CERUNAS developed

Size to fit componentry: 2” x 6”


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


sUA

S H

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• PCB cavity in DataHawk: 2” x 3”


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


sUA

S E

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HW Item Description

Purpose Key Details

Power System Power all componentry on PCB – CERUNAS developed using COTS components

Voltage from battery: 7.4V Voltage after regulator: 5V Voltage to components: 3.3V

Processor and Supporting System

Main processor for unpacking manned A/C position data and triggering avoidance – CERUNAS developed using COTS components

ICSP Headers: flash program PIC Breakout Headers: one pin triggers avoidance via autopilot PIC comm. w/ XBee: 9600 bps PIC comm. w/ autopilot: 57600 bps LEDs: alive (PIC OS running), power

Communication System

Receive location of manned A/C – COTS XBee transmitter frequency: 900 MHz, 9600 bps XBee power draw: 29 mW at 3.3 V

Printed Circuit Board (PCB)

Backplane for all necessary systems – CERUNAS developed

Size to fit componentry: 2” x 3”


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Ma

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A/C

Flg

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Check Battery

Initialize sensors, LEDs

Read from pressure sensor

Read from GPS logger

Compute altitude

Packetize Data Send data to

Xbee transmitter

Check packet validity

Set TX LED On Set TX LED Off

Set Low Battery LED

Invalid Valid

Low

Nominal

Ke

y:

Functionality Check Code

Input/ Output Code

Code for Core Flight SW Functionality

Non-critical for proof of concept work if time permits

Calculation frequency:

10 Hz


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


sUA

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Initialize Read sUAS GPS data from UART

Read from Xbee

Have valid data?

Compute relative position vector

In MAEC

Set CAS pin high

Set CAS pin low

Write data to flash

Recent detection

Buffer 20 data points

No

Yes

No

Yes No

Yes

Key: Functionality Check Code

Input/Output Code

Code for Core Flight SW Functionality

Requires Autopilot Modification

Calculation frequency:

10 Hz


Design Solution


Design Requirements


Validation Project

Planning 16

Test Overview LOS 1 – Ground Test 1a

LOS 1 – Ground Test 1b

LOS 2 – Flight Test 2

LOS 3 – Flight Test 3


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


CER

UN

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Arc

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Electronics: individual component

Software

Subsystem

MAC component Validation

Hardware

sUAS component Validation

Populated PCB Validation

MAC enclosure

MAC mounting

sUAS component mounting

Level of Success 1 – Sensing Subsystem

Level of Success 2 – Avoidance Subsystem

HW Implementation &

Compliance

Level of Success 3 – Full System

Functionality

Factor of 1000 Reduction (SW

Model, Test Post-processing)

Integrated System

FAA Compliance

Ease of user Implementation

MAC, sUAS Unit Test

MAC, sUAS, Validation

Tests: 10 Reqts. Analyses: 17 Reqts. Inspections: 16 Reqts.

MAC, sUAS Subsystem Tests MAC/ sUAS mass &

C.G.


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Test 1a Goals: • Verify MAC Xbee can

transmit required beamwidth from MAC mock cockpit (CPE 2)

• Verify sUAS Xbee can receive MAC transmissions at 2km (CPE 1)

• Verify CERUNAS sensing at 2km decoupled from avoidance (CPE 1)

Required Output • MAC packet validity

indicators & heading • sUAS packet validity

indicators & GPS coordinates

• Physical measurements from range marking

Level of Success 1 – Sensing Subsystem Characterization, Range Test


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Required Output • Detection times • MAC packet validity,

coordinates, and heading • Pos/Neg MAEC

encounter indicators • Physical measurements

from range marking

Test 1b Goals: • Characterize accuracy of

CERUNAS sensing subsystem in relation to geometric MAEC (CPE 1)

• Verify that CERUNAS sensing system has capability to sense presence in MAEC decoupled from avoidance (CPE 1)

Level of Success 1 – Sensing Subsystem Characterization, MAEC Detection Test


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Test 2 Goals: • Verify CERUNAS

Avoidance capability decoupled from sensing capability (CPE 3)

• Verify that CERUNAS allows return to nominal flight after avoidance

• Characterize latency time required for switch-on of flight termination mode

• Characterize avoidance maneuver descent speed and expected duration

Required Output • FTM

initiation/termination indicators

• Latency time between FTM command and execution

• FTM initiation altitude

Level of Success 2 – Avoidance Subsystem Characterization


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Test 3 Goals: • Verify that CERUNAS can

sense presence in MAEC and trigger avoidance

• Characterize expected avoidance times for full system.

• Gather data for verification of geometric definition of factor of 1000 reduction

Required Output • Times for maneuver

start/stop • MAC packet validity

indicators, coordinates, & heading

• sUAS GPS coordinates saved to flash memory

• MAEC entry/exit indicators and FTM initiation/termination indicators

Level of Success 3 – Full System

Functionality

NOTE: LOS 3 testing not complete


Design Solution


Design Requirements


Validation Project

Planning 22

Test Results Modeling

LOS 1 – Ground Test 1

LOS 2 – Flight Test

Project Validation


Design Solution


Design Requirements


Validation Project

Planning 23

Modeling - Monte Carlo Simulation

Comparison

Parameter Initial

Parameter Value Percent

Varied [%] Parameter Range

sUAS X Position 1000 m 21 790 – 1210 m

sUAS Y Position 2000 m 10 1800 – 2200 m

sUAS Z Position 10000 m 0.7 9930 – 10070 m

sUAS Lateral Speed 10 m/s 20 8 – 12 m/s

sUAS Vertical Speed (Operational Mode)

3 m/s 20 2.4 – 3.6 m/s

sUAS Vertical Speed (Flight Termination

Mode) 10 m/s 20 8 – 12 m/s

Latency to Initiate FTM 5 sec 90 0.5 – 9.5 sec

Latency to Exit FTM 5 sec 90 0.5 – 9.5 sec

Manned A/C Speed 100 m/s 20 80 – 120 m/s


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview



Comparison

Collisions without CAS: 739/100,000 = 0.739%

Collisions with CAS: 653/100,000=0.653%

𝐹𝑎𝑐𝑡𝑜𝑟 𝑜𝑓 𝑅𝑒𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝐹𝑂𝑅 =# 𝐶𝑜𝑙𝑙𝑖𝑠𝑖𝑜𝑛𝑠 𝑤𝑖𝑡ℎ𝑜𝑢𝑡 𝐶𝐴𝑆

# 𝐶𝑜𝑙𝑙𝑖𝑠𝑖𝑜𝑛𝑠 𝑤𝑖𝑡ℎ 𝐶𝐴𝑆=

739

653= 1.13


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview



Comparison


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview



Comparison

Iteration MAEC Horizontal

Size [m] MAEC Vertical

Size [m]

Number of Collisions (out

of 100,000)

Factor of Reduction

1 200 66 (60+10%) 653 1.13

2 200 72 (60+20%) 505 1.46

3 200 78 (60+30%) 384 1.92

4 220 (200+10%) 78 (60+30%) 283 2.61

5 240 (200+20%) 78 (60+30%) 232 3.18

6 240 (200+20%) 84 (60+40%) 162 4.56

7 240 (200+20%) 90 (60+50%) 107 6.90

8 240 (200+20%) 96 (60+60%) 79 9.35

9 240 (200+20%) 102 (60+70%) 62 11.91

10 260 (200+30%) 102 (60+70%) 42 17.59

11 280 (200+40%) 102 (60+70%) 33 22.39

12 300 (200+50%) 108 (60+80%) 22 33.59

• MAEC horizontal and vertical size were increased to see impact on number of collisions (out of 100,000)


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Level of Success 1 – Sensing Subsystem Characterization, Range Test

Test Location: Manned A/C - NCAR sUAS - CU East Campus

Legend

Packets Received

Packets Not Received

Sensing Subsystem Characteristics: • Distance

Required – 2km Achieved – 4km

• Cross-sectional area:

Required – 120m x 415m Achieved – 256 x 300m

• Transmission along lateral

axis impeded by obstructions between South Campus testing site and NCAR


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Level of Success 2 – Flight Test 1 CONOPS

CAS light triggers red on ground

station

40 m

30 m

Launch James takes manual RC

control

Autopilot takes control Data Hawk begins helix flight

path

At 70 m, sUAS board triggers FTM

for 2 secs


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview




Design Solution


Design Requirements


Validation Project


Test Results

Test Overview



Repetition FTM

Altitude (m) CAS

Verification Latency Time (s)

1 90 No -

2 70-75 Yes -

3 70-75 Yes -

4 70-75 Yes -

5 70-75 Yes -

6 70-75 No -

7 73 Yes 3.40

8 73 Yes 3.90

9 70 Yes 2.80

10 72 Yes 3.50

11 75 No -

12 70 Yes 2.10

13 71 Yes 2.20

14 71 Yes 2.70

15 70 Yes 4.10

16 70 No -

Avoidance Subsystem Characteristics: • CAS successful 12/16

trials

• FTM Switch-on Latency:

Expected – 2.00s Average – 3.08s

• FTM Initiation Altitude

Expected – 70.00m Average – 71.25m

• Variable in test code

times out after 4 repetitions, negating CAS, requires soft reset


Design Solution


Design Requirements


Validation Project

Planning 31

Systems Engineering Approach

Engineering Issues

Key Lessons


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Systems Engineering Approach

Systems Engineer

Requirements verified and validated?

Structures Engineer

Develop requirements

Manufacturing Engineer

Design hardware components

Construct hardware

components

Electronics Engineer

Develop PCB architecture

SW and Modeling Engineer

Write code for interface between

mA/C and sUAS

Test Engineer

Design and perform tests for

requirements V&V

Project Completion

Key: Verification

and Validation Systems

Engineering Electronics & RF Equipment

Physical Componentry

Software and Modeling


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Connection between autopilot and CERUNAS

Code parsed data in different ways

Clock speed (57600 on autopilot) to change on CAS

Interfacing SPI between pressure sensor and mA/C PIC

33

Systems Engineering Issues

Components foregone in interest of time:

Interfacing between flash memory and PIC

*Given lower priority – have ground station telemetry

Second Xbee receiver for packet integrity

No time for battery power indicator

Original requirements not specific enough for full design outline

Project evolves in time with new information

Requirements rewritten as appropriate


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Key Lessons

Aspect of Project

Lesson

Requirement Development

- Keep project focused toward specific goals from customer, regulations, and mission success

- Requirements must evolve during entire process

System Interfaces

- Do not underestimate difficulty of tracking connections between individual components and subsystems

- Make sure to understand clocks, baud rates, transmission frequencies between existing technology and that developed for project

Verification and Validation

- Ensure tests track to established requirements, or else make changes to existing architecture

- “Verification means you built the right thing; validation means you built the thing right.”


Design Solution


Design Requirements


Validation Project

Planning 35

Project Management Approach

Budget

Industry Cost Analysis


Design Solution


Design Requirements


Validation Project

Planning

• Management via a systems level consideration of team activities • Activities monitored via inquiry, involvement, and

status meetings

• Scheduling based on understanding of development progress and team inputs regarding process • Adjusted based on progress and design changes • Personnel tasking based on skillsets and critical path

identification

• Ongoing documentation to ensure updated picture of system


Design Solution


Design Requirements


Validation Project

Planning

Issue: Unexpected difficulty of integration with existing platform. Lesson: Account for additional time when integrating with existing systems

Issue: Critical path delays due to SW incompletion and personnel transition Lesson: Ensure that critical path tasking is allocated sufficient support at an early date

Issue: Insufficient time between completion of development and SWIT Lesson: Allocate additional buffer before test to allow for possibility of issues with SWIT


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


Planned CDR Cost: $2242.63 Current Cost: $2434.51

Data Hawk HW borrowed from customer

PCB manufacture and remanufacture more

expensive than anticipated

Differences due to component

pricing


Design Solution


Design Requirements


Validation Project


Test Results

Test Overview


$37,850 $39,517

$51,562

$28,977

$57,788

Estimated Total Project Cost: $215,690 Estimated Total Project Hours: 3450 • 24% SW • 27%

Electronics • 18% SEIT • 18% PM • 13% HW


Design Solution

Critical Project

Elements

Design Requireme

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Project Risks

Verification and

Validation

Project Plannin

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Design Solution

Critical Project

Elements

Design Requireme

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Project Risks

Verification and

Validation

Project Plannin

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Backup Charts


Design Solution

Critical Project

Elements

Design Requireme

nts

Project Risks

Verification and

Validation

Project Plannin

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Design Solution

Critical Project

Elements

Design Requireme

nts

Project Risks

Verification and

Validation

Project Plannin

g Overview Schedule Manufacturing Status

Budget 41

Critical Project Elements CPE ID CPE Description Rationale

1

CERUNAS must determine that the sUAS is in the encounter cone of a manned A/C based on reception of a signal provided by the manned A/C

Indication of potential manned A/C-sUAS collisions

2

The manned A/C component of CERUNAS must be able to indicate either or both: The location and heading of the A/C Encounter cone boundaries for a sUAS

Indication of potential manned A/C-sUAS collisions

3 CERUNAS must initiate any sUAS maneuvers required to move the sUAS outside of the manned aircraft encounter cone

Avoidance of manned A/C-sUAS collisions

4 The sUAS elements of CERUNAS must have a mass of less than 100g

Weight key to effective integration of CERUNAS with existing sUAS components

5 Telemetry data for the sUAS must be collected and downlinked for any collision avoidance maneuvers

Need to understand CAS effectiveness in real-world flight and to validate mission success

6 CERUNAS transmitter and receiver units must each be mass producible for less than $100

- Cost-effective compared to cost of sUAS - Cost-effective for private pilot implementation


Design Solution


Design Requirements


Validation Project

Planning

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Requirement Number Requirement Text

Syst

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CAS.1

The CAS shall determine that the sUAS is in

the encounter cone of a manned A/C based on

reception of a signal provided by a manned

A/C in order to reduce the volume of the

MAEC by a factor of 1000.


Design Solution


Design Requirements


Validation Project

Planning

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Requirement Number Requirement Test Sy

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CAS.1

The CAS shall determine that the sUAS is in

the encounter cone of a manned A/C based on

reception of a signal provided by a manned

A/C in order to reduce the volume of the

MAEC by a factor of 1000.

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CAS.1.1

The initial volume of the MAEC for the

manned A/C shall extend 2km in front of the

manned A/C at an angle defined by the

expected velocities for both the sUAS and

manned A/C.


Design Solution


Design Requirements


Validation Project

Planning

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Requirement Number Requirement Test

Syst

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CAS.3

The CAS shall complete any sUAS maneuvers required to

move the sUAS outside of the MAEC while placing

primary focus on avoidance and secondary focus on

preservation of the sUAS.

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CAS.3.2.1 sUAS post-MAEC recovery shall return control of sUAS

flight operations to autopilot immediately after leaving

MAEC.

CAS.3.2.2 sUAS autopilot shall be allowed full control of sUAS

flight operations for remainder of mission following

avoidance.

CAS.3.2.3 Upon leaving MAEC, CERUNAS shall return control of

sUAS to the installed autopilot.

CAS.3.2.4 Recovery of sUAS shall return vehicle to original, pre-

encounter flight regime.


Design Solution


Design Requirements


Validation Project

Planning

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Requirement Number

Requirement Test

Syst

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CAS.1

The CAS shall determine that the sUAS is in the encounter

cone of a manned A/C based on reception of a signal

provided by a manned A/C in order to reduce the volume of

the MAEC by a factor of 1000.

CAS.2

The CAS shall complete any sUAS maneuvers required to

move the sUAS outside of the MAEC while placing

primary focus on avoidance and secondary focus on

preservation of the sUAS.

CAS.3 Telemetry data for the sUAS shall be collected and

downlinked or saved for later download for any collision

avoidance maneuvers.

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CAS.3.2.1 sUAS post-MAEC recovery shall return control of sUAS

flight operations to autopilot immediately after leaving

MAEC.

CAS.3.2.2 sUAS autopilot shall be allowed full control of sUAS flight

operations for remainder of mission following avoidance.

CAS.3.2.3 Upon leaving MAEC, CERUNAS shall return control of

sUAS to the installed autopilot.


encounter flight regime.

CAS.4.1.3 Added mass of CERUNAS to sUAS shall reduce sUAS

flight time limitations based on power supply by no more

than 10%.


Design Solution


Design Requirements


Validation Project

Planning

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CAS.5 Telemetry data for the sUAS shall be collected and

downlinked or saved for later download for any collision

avoidance maneuvers.

CAS.6

Testing shall be carried out to allow for characterization and

validation of CERUNAS system behaviors and to provide

discrete data for post-processing analysis of system

functionality. Fu

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CAS.2.2

The manned A/C mountable element of the CAS shall not

impact the functionality of any manned A/C HW or

communications systems and shall have the ability to comply

with applicable FAA regulations.

CAS.4.1 The sUAS elements of the CAS shall have a mass of less than

100g.

CAS.4.2 The sUAS elements of the CAS shall draw no more than 0.3

W from pre-existing UAV power.

CAS.2.1.1 Manned A/C mountable element of CAS shall have a

redundant system to ensure packet integrity.

CAS.2.2.4 Manned A/C mountable element power supply shall operate

as a single cell, with at least 5000 mAh and 3.3 V.

CAS.2.2.5 Manned A/C mountable element power supply shall be

rechargeable, with ~8 hr between charges.

CAS.2.3.1 Manned A/C component of CAS shall be functional without

impingement on pilot field of vision.


Design Solution


Design Requirements


Validation Project

Planning

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CAS.2.5.1

Manned A/C component shall have the abliity to maintain

stationary functioning location in the manned A/C cockpit for

at least eight hours.

CAS.2.5.2 Manned A/C component of CAS shall be mounted via

industrial suction cups to A/C windshield.

CAS.4.1.1 Added mass to sUAS shall be distributed about center of mass

to maintain original mass distribution.

CAS.4.2.1 Power supply for sUAS mountable component of CAS shall

be rechargeable.

CAS.4.2.2 Power supply for sUAS mountable component of CAS shall

provide charge after a single charge cycle for a minimum of

30 minutes.

CAS.4.3.2 Technical installation of manned aircraft component should

require <5 minutes for full functionality.

CAS.4.3.3 LEDs shall be implemented into manned A/C component

circuitry to indicate power to component, sufficient battery

life, GPS lock, and packet integrity.

CAS.4.3.5 LEDs shall be implemented into sUAS mountable component

circuitry to indicate power to component and verify system is

on and software running.


Design Solution


Design Requirements


Validation Project

Planning

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Syst

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CAS.2.4 Manned A/C CAS component printed circuit boards (PCBs)

shall be shielded from cockpit environmental factors

detrimental to electronics functioning.

CAS.2.5 Manned A/C component housing shall be detachable from any

stationary functioning location in the manned A/C cockpit. Fu

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CAS.1.1.1 Initial MAEC shall have a semi-minor half-angle of 1.71° and

a semi-major half angle of 5.71°, as defined by expected

manned A/C and sUAS velocities in a typical flight regime.

CAS.1.1.2

MAEC volume shall enclose the manned A/C such that the

cross-section of the cone will grow from an ellipse enclosing

the manned A/C dimensions to one that adds 60m to the minor

axis and 200m to the major.

CAS.2.1.1 Manned A/C mountable element of CAS shall have redundant

system to ensure packet integrity.

CAS.2.2.2 Manned A/C mountable element of CAS shall comply with 14

CFR §91.21 so as not to impinge upon the operation of the

existing navigation or communication systems.

CAS.2.2.3 Manned A/C mountable element of CAS shall be powered by

a designated power supply external to all A/C systems.


Design Solution


Design Requirements


Validation Project

Planning

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CAS.2.5.2 Manned A/C component of CAS shall be mounted via

industrial suction cups to A/C windshield.

CAS.4.3.3 LEDs shall be implemented into manned A/C component

circuitry to indicate power to component, sufficient battery

life, GPS lock, and packet integrity.

CAS.4.3.4 sUAS elements of CAS shall be secured within the sUAS

airframe.

CAS.4.3.6 LEDs shall be implemented into sUAS mountable component

circuitry to indicate power to component and verify system is

on and software running.

CAS.5.1.1 Telemetry data for collision avoidance maneuvers shall be

stored on sUAS onboard memory.

CAS.5.1.2 Telemetry system for CERUNAS avoidance maneuvers shall

be included in full sUAS component mass budget for test

vehicle.

CAS.5.1.3 Telemetry shall be stored in a format which allows for direct

download to a standard laptop or desktop computer.

CAS.6.1.1 Unit count to lower per unit price by mass production shall be

driven by conservative manufacturer price.


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CAS.2

The manned A/C mountable element of the CAS shall not

interface with existing manned A/C components while

maintaining the capability to indicate either the location and

heading of the A/C or encounter cone boundaries.

CAS.4 The sUAS elements of the CAS shall have minimal impact on

existing sUAS componentry.

CAS.6 Elements of the CERUNAS system designed for both the

manned A/C and sUAS platforms shall be mass reproducible for

less than $100.

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CAS.1.2 The post-CERUNAS avoidance region shall be determined by

the initial MAEC.

CAS.2.1 The sUAS mountable element of CERUNAS shall be able to

sense edge of MAEC with an error of no greater than 3m.

CAS.2.3 The manned A/C mountable element of the CAS shall not impact

manned A/C flight dynamics or characteristics.

CAS.3.1 All avoidance maneuvers implemented by the CAS shall comply

with applicable FAA guidelines for sUAS operation.

CAS.4.2 The sUAS elements of the CAS shall draw no more than 0.3 W

from pre-existing UAV power.


Design Solution


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sUAS and manned A/C CAS component development shall

promote ease of implementation.

CAS.5.1 Telemetry data for any collision avoidance maneuvers shall be

saved on implemented sUAS internal data storage.

CAS.5.2

Telemetry data for any collision avoidance maneuvers shall be

uniquely recorded for a period beginning at the maneuver start

time and extending one (1) maneuver duration beyond the

maneuver end time.

CAS.5.3 The CAS elements for both the manned A/C and sUAS

platforms shall be demonstrably reproducible for $100 +/-

10% based on manufacturer input.

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CAS.2.2.1

Manned A/C mountable element of CAS shall comply with

Title 14 Code of Federal Regulations (14 CFR) §21.21,

§21.19, and §21.113 such that no re-certification of aircraft

type is required by installation of element.


encounter flight regime within a 10% tolerance with respect to

pre-encounter sUAS velocity and maneuver

CAS.4.1.1 Added mass to sUAS shall be distributed about center of mass

to maintain the sUAS center of gravity.

CAS.4.1.2 The battery powering CERUNAS sUAS components shall

represent no more than 60% of the total CERUNAS mass

budget.

CAS.5.1.4 CAS telemetry system shall support sufficient memory to save

data for all avoidances maneuvers plus two (2) average

maneuver duration times.

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