CHAPTER 1

INTRODUCTION

An Unmanned Aerial Vehicle (UAV), commonly known as a drone,

is an aircraft without a human pilot aboard. UAVs for military use were
reduced to practice in the mid-1990s when the Global Hawk and the
Predator were developed. These were very large fixed wing aircraft with
wingspans in the 50 – 100 foot range. Payloads for these large UAVs
included radar, laser designators, cameras, and missile systems.

1.1 PROBLEM STATEMENT

UAVs are highly sensitive to control inputs. For example, the
mechanical structure of quadcopter comprises four rotors attached to the
four ends. To maintain a hover, the speed of each rotor need to be same.
Even a small disturbance can cause drifting and rotations. Feedback is
critical to stable the autonomous flight. As a result, a closed loop control
system is needed with low latency and precise prediction of future outputs.
UAVs can move quickly. Small and mid-sized quadcopters can accelerate
in the range of 0.5 - 0.7g and can exhibit 40-60 per second angular velocity
under normal operating conditions (Amidi, 1996). To keep up with the
quadcopters high degree of maneuverability, an on-board vision system
must be able to sample and process camera images at high frequency. On-
board image processing must be performed at frame rate (30 Hz) or higher
for e↵ective vision-based object tracking. UAVs are always moving which
can cause motion blur and sensor data is noisy. To make the UAVs stable
enough, some techniques must be used to filter noisy data and get usable
data.

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1.2 MOTIVATION

Typical UAVs are controlled by humans and experiences are needed

but still have low precision. The missions of autonomous UAVs require
flying at low speed to follow a path or to track an object of interest and
take a series of actions. Imagine a scenario that there are some tunnels.
Inside the tunnels are full of unknown dangers. Since the ground
environment inside the tunnels are unstructured, the best choice would be
dispatching a UAV to explore it. The UAV takes o↵ from a ground robot
and starts tracking it. Then ground robot will navigate the UAV to the
entrance of the tunnel. Upon arrival, the UAV will scan for the entrance
and fly into the tunnel after confirmation of the entrance using its on-board
vision algorithm. Inside the tunnel, wireless signals are unreliable and there
may not be a consistent signal for a human operator to control the UAV.

Therefore, the UAV will perform autonomous flight using vision-

based navigation system and complete a series of missions. Finally, it flies
out from the exit of the tunnel, then the ground robot will navigate it to
another tunnel and so on. As you can see from the scenario, accurate
autonomous flight control and vision-based navigation are necessary to
perform such tasks.

1.3 OVERVIEW

Fires spread around the Indian forest in an unpredictable way.

Because of this, most of the times it is hard for fire fighting departments
across the country to control them, as well as eradicate the flames and
smoke of the affected area in an inexpensive and timely manner.

2
 Knowing these facts, our team had designed and built an UAV that
will have purposes like fire fighting and inspection. Fire prevention and
Fire fighting will be achieved through the ejection of a fire extinguishing
ball or grenade in the area in which the fire is taking place. Inspection will
be accomplished by installing cameras in the UAV which will be done
while upgrading the project.

Designs were considered in order to accomplish our goal, which is

releasing a fire extinguishing ball in a determined location. The eradication
of fires in a manner that no lives are lost, and that the cost of extinguishing
the flames is reduced to a minimum comes from prevention and having a
well educated population.

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 CHAPTER 2

PROJECT ANALYSIS

2.1 EXISTING SYSTEM

The existing system to reduce the impact of fire is the water

sprinklers, fire fighting roots and extinguishers. Generally this is done by
using some typical optical detectors that can detect the sense the fire place
and pass on the information and by using thermo switch, thermo couple
and tubular type. Automatic fire fighting area unit is used to prevent the
fire place but the extinguisher does not seem to reach the required
potential. The thermostat sensors present in the FFD senses the fire place
but it have to ready to build a correct vary for sensing a fireplace.

2.2 PROPOSED SYSTEM

A 2200mAh Li-Po battery is used to provide the power required for

quad copter. From the power obtained, the Flight Controller (FC) controls
the accelerometer, altimeter, gyrometer and firmware.

The 30 Amps Electronic Speed Controller (ESC) controls the speed

of the motor and provides the appropriate level of electrical power. The
four 1000-1400 KV motors produces torque, lesser the KV higher the
torque is obtained. A pair of motor rotates clockwise while the another
pair rotates anticlockwise and vice versa to meet the stability of the quad
copter.

On having the maximum thrust the quad copter takes off vertically
to certain height and moves horizontally to reach the location.
4
 On sensing the fire using the sensors the quad copter drops the
grenade from a certain height.

The grenade, on sensing the fire get released from the servo and on
reaching the fire it burst open the extinguishing material that have been
filled in it. Thus the fire would have been extinguished.

CIRCUIT DIAGRAM

Fig 2.1.a Circuit Diagram of the proposed system

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 CHAPTER 3

LITERATURE SURVEY

3.1 HISTORY OF QUADCOPTER

The beginning of the development of remote controlled devices

started with the invention of the radio, back in the 1880’s, when Nikola
Tesla invented the induction coil, a necessary device to send and receive
radio waves. At first, these radio signals were intended for communications
purposes, but during World War I the Germans started using remote
control stations for manipulating tanks loaded with explosives. Between
1914 and 1918, the development of various radio controlled unmanned
aircraft were intended to be used for military purposes; however none of
the prototypes was fully functional to be used during the war. This also
marked the beginning of the use of radio waves for commanding machines
and computers, such as power plants and satellites.

After the increasing development in computer technologies in the

1940’s, the use of UAVs had opened new frontiers, mostly military
purposes for reconnaissance missions and also pilot trainings, but their
civilian applications were moving slowly along with research. One clear
example is the incorporation of GPS technologies. Since World War II, the
preliminary research into general relativity led to the base for our actual
GPS technologies, this was called ground-based radio-navigation systems.
Although, it was not until the 1990’s that the US began incorporating this
technology into the UAVs of that period.

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 CHAPTER 4

PROJECT SPECIFICATION

4.1 DRONE TECHNOLOGY

After deciding to create the Drone, we had to decide what

electronics to use and which sensors we would incorporate into it. After a
lot of research on the web, we found a couple forums that discussed open
source electronic and software components suitable for making a Drone.
Also, very basic but highly customizable Drone bodies were available that
were suitable for us to use to create our baseline system. The DIY drone
forum provided good information on what was being done in the amateur
drone community and provided important information on what would be
possible for us to use for our project.

Motivated by the UAV forge challenge, we believed that the Drone

would be a good design starting point since it could lift off vertically,
travel some distance to a specific location, hover if necessary, and return
home upon completion. This scenario led us to the conclusion that we
would need sensors including gyroscope, accelerometer, compass, GPS,
and a battery monitor. We would also need payload components including
a grenade and a servo motor. Furthermore, we would need a control
mechanism that would allow flight beyond the line of sight since that was
also a requirement. We thought of two approaches for control beyond the
line of sight. One was to use the camera and video to allow us to view the
flight path from the Drone point of view while guiding it with an RC
controller.

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 Second, a more ambitious approach would be to use on-board GPS
and guidance .We decided to attempt the second goal as a stretch goal for
our project. At this point in the design process, we believed that it would
be possible to perform most of the tasks required by the UAV forge
challenge but we had no idea if the components we would be able to
assemble would meet the performance requirements. We also had to
realistically scope our project given a very small budget, a small team, and
a limited amount of time to complete. We therefore decided to leverage as
many commercial components as possible, get a baseline system working
as quickly as possible and then focus on problems we encountered in the
areas of payload design, body design, system integration, and mission
evaluation.

4.2 FLIGHT PLATFORM:

At the start of the spring, our team began to build the Drone. We
started by researching many different types of Drone platforms and looking
at current frames in use but we used the 3d printed plastic. With the frame,
we also got the motors and propellers. These components determined how
much room I had for the electronics as well as how much weight I could
put on the helicopter and still have lift.

The next thing we chose was the microcontroller which was an

flight controller board. This board included all of the major sensors that we
would need to achieve flight. Finally we purchased a Lithium-ion polymer
(Li-po) battery because they have the best ratio of weight to power. The
particular battery we chose has been sufficient to complete the design,
assembly, and testing of the Drone systems and our experiments have
shown that since we have plenty of thrust we can chose a larger battery for
our mission flights to improve the flight time.
8
 Fig:4.1.a Drone

We also had to provide a way to control the Drone from the ground.
We decided to use an RC controller which is displayed in Figure (4.2.b)
below. We bought the Fly sky fsi6 series which has 6 channels and runs at
2.4 GHz. Currently we are using 6 channels for up/down movement, pivot,
left/right, and finally forward/backwards. We also can program the other
two channels to perform functions such as altitude hold, a take-off
command or control the payload.

Fig:4.2.b Remote Control

9
4.3 REGULATIONS

Similar to what has happened with incorporating new technologies

into our lives, UAVs are part of ethics discussions and companies that hold
the technologies to create such flying devices, and their components, are
waiting to start profiting from the results.

So far, the use of UAVs in the civilian sector is mainly for

surveillance purposes, which is one of the functions of drones, for military
purposes, but there are no limits for what they can be useful in research
and governmental purposes. To name a few, Vertical Profiles of Shortwave
Atmospheric Heating Rates, Imaging Spectroscopy,Topographic Mapping;
and non-research, Coastal Patrol, Forest Fire Damage Assessment, Forest
Fire Mapping, Invasive Plant Assessment. Most of these applications are in
early developments and there is lack of regulations and specifications for
starting with new projects.

These regulations concern the following:

• Lack of airspace regulation that covers all types of UAV systems
(encompassing ‘sense and avoid’)
• Affordability - price and customization issues
• Efforts to establish joint customer requirements
• Liability for civil operation

The lack of precise regulations has not stopped the enthusiasm of

individuals and known universities, to create or modify existing UAVs into
what could possibly be helpful in the future. The Swiss Federal Institute of
Technology Zurich has a department focused only in the development of
intelligent aircraft.
10
 In there, competitions are held often and individuals can share open
source code for their UAVs. The development of UAVs must be
accompanied by a high ethical sense and preservation of privacy of
everyone. This does not mean that research should be stopped or restricted,
just the opposite, it should be open to everyone to get more contributions
and increase the capabilities of any application. Until now, the computing
and programming part of the UAVs had been moving along side, which
means that the faster and more accurate technology becomes, better, more
interesting and helpful ideas for UAVs can be designed.

11
 CHAPTER 5

COMPONENT SPECIFICATIONS

5.1 MAJOR COMPONENTS

There are many important components that are part of the quad
copter structure. Therefore, the UAV for fire extinguishing grenade release
and inspection could be examined as a set of individual components
according to the function of each system that conform a set. There are three
main sets shown in the following list:
1) Fire Ball Extinguish Grenade.
2) Quad copter Components : Frame, motors, motor controller and flight
controller, battery, receiver and Ardu-Pilot.
3) Release Mechanism: Release mechanism platform, rails and servo
motor.

5.2 ASSEMBLY OF FRAMES

Frames:

A Drone Frame is like a suit of armor for all of the sensitive

electrical components that constitute a Quad Copter. It is essential that a
frame is as durable and rugged as possible, while still accommodating to
the needs of the pilot without hindering the flying experience and the
inevitable maintenance that will ensue.

Each frame has a designated size class, based upon the longest
distance from motor to motor measured in millimeters, typically taken by
measuring diagonally across the frame. A frame measuring less than
150mm motor-to-motor is categorized as a micro. A frame larger than
150mm motor-to-motor is considered a mini. When measuring an
12
unconventional multicopter frame, such as a hexacopter or tricopter, the
size will always be given by the greatest motor-to-motor distance

The majority of mini and micro frames are cut from carbon fiber
sheet. Carbon fiber is a composite material, being made up of many layers
of interwoven carbon fibers that have been rigidly cemented within a
binding matrix of epoxy. The popularity of carbon fiber as a frame material
is due to its low weight and high strength. It is important to note that
carbon fiber is an electrically conductive material. The average 5” frame
has arms milled from 4mm carbon fiber and other plates 1.5-2mm thick.

Fig.5.2.a Frame

Apart from carbon fiber, the next most popular frame material is
high-density polyethylene, or HDPE. HDPE is not as strong as carbon
fiber, therefore designs that incorporate HDPE are typically heftier. HDPE
frames are more flexible and forgiving than carbon fiber which allows
improvement of overall durability. There are many frames that use a
combination of carbon fiber and another material such as aluminium or 3D
printed TPU (a flexible polymer) in their construction. The use of these
13
materials is a great way to improve the strength of a frame, better protect
components or simply to add flair to a design.

5.3 MOUNTING OPTIONS

A mounting pattern is the distance and distribution of holes that are

milled into a drone Frame, the two that are to be considered are the motor
and flight controller mounting geometry. The mounting patterns available
on a frame are another factor that must be carefully investigated prior to
frame purchase, as they will limit the compatibility of the frame with
certain electronics and components.

Concerning the flight controller, there are three different varieties of

mounting patterns: 30.5×30.5, 20×20 and 16×16. 30.5 is the most common
mounting arrangement, being more mature than the newer, smaller
patterns.

Most frames in the 5” range are designed solely for 30.5×30.5,

although some have options for only 20×20 or both 20×20 and 30.5×30.5.
Frames smaller than 5” most often accommodate 20×20 or 16×16, 16×16
being most common in micro frames smaller than 70mm motor-to-motor.
In terms of motor mounting, there are four key configurations to consider.
16x19mm, found on 220X/230X motors, 16x12mm, for 180X motors,
12x12mm on 130x/140X motors and 9x9mm for tiny 110X motors.

5.4 FREESTYLE AND RACING

There is no particular reason that a Drone Frame must be

appropriated for only freestyle or racing, that choice is solely for the pilot
to decide. Usually, a true X or stretch X configuration 180-220mm motor-
to-motor and weighing less than 80g is most at home on the race track. A

14
true X XH or wide X XH, approximately 220-250mm motor-to-motor with
a preferable weight of 140g or less is often more favorable for freestyle.

5.5 MOTOR

Fig 5.5.a: Brushless Motor

Having a symmetrical vehicle with four motors and placed at the

same distance with respect to the center allows the pilot to have great
maneuverability and trust. Out of the four motors, two have to rotate
clockwise and the other two counter-clockwise to have a resulting net
torque over the rotational axis as zero.

No. of Cells: 2 - 3 Li-Poly6 - 10 Ni Cd/Ni MH

KV: 1000 RPM/V
Max Efficiency: 80%
Max Efficiency Current: 4 - 10A (>75%)
No Load Current: 0.5A @10V
Resistance: 0.090 ohms
Max Current: 40A@10S
Max Watts: 150W
Weight: 64 g / 1.86 oz
Size: 28 mm dia x 28 mm bell length
Shaft Diameter: 3.17 mm

15
Poles: 14
Model Weight: 300 - 800g / 10.5 - 28.2 oz

A small yet powerful motor for planes up to 800 grams (28 oz)
using 3 li-poly cells. We suggest propping for around 140 watts continuous
power with short bursts up to 180 watts. An excellent higher-powered
replacement for geared Speed 400-480 motors in slow-flying or 3D planes
that require a larger 10" propeller. Use on sailplanes up to 28 oz, trainers
up to 25 oz, aerobatic aircraft up to 18 oz and 3D airplanes up to 15 oz.
Recommended prop is10 x 4.5 on 3 Li-Po cells. The motor features a
3.2mm hardened steel shaft, dual ball bearings, and has 3.5mm gold spring
male connectors already attached and includes 3 female connectors for
your speed control. Now includes collect type prop adapter and radial
motor mount. Mounting holes have 16mm and 19mm spacing on centers
and are tapped for 3mm (M3) screws.

5.6 FLIGHT CONTROL

Fig 5.6.a Arduino UNO board

16
 The quad copter has to include a motor and flight controller. Both
components are in charge of receiving and processing the signal from the
remote control. Using this signal, these two components provide stability
once the quad copter is on the air.

In case the vehicle suddenly loses balance, for a reason such as a

wind current, the motor controller and the flight controller have the
capability of resetting the quad copter to its initial position and generate the
final decision to operate the motors in such way that they stabilize the
vehicle.

Both devices are extremely relevant at the time of releasing the fire
extinguishing grenade, since they will provide the necessary stability in
order for the quad copter not to crash with the structure or lose steadiness
and crash with the ground.

5.7 BATTERY

The element that is going to provide energy to the quad copter will
be a set of two batteries that are going to offer approximately 20 minutes of
flight.
Having this period of time, the vehicle will have the ability of
deploying and recharging the ball grenade several times, even though this
still needs to be confirmed when the tests are performed.

17
5.8 PROGRAMMING OF FLIGHT CONTROL AND BATTERY

STEP-1 :Mount the FC on the frame with the LCD facing front and
the buttons facing back. You can use the supplied anti-static foam
container as a form of protective case for the Flight Controller on the craft.

STEP-2 Connect the receiver outputs to the corresponding left-hand

side of the controller board. Ensure the negative (black or brown) is
orientated so that it is on the pin that is nearest to the edge of the Flight
Controller Board, so looking at the board the colour sequence will be
Black, Red and Orange. The channels are connected as follows from the
front of the board towards the push buttons: -

STEP-3 Connect the ESC’s to the right side of the Flight Controller
Board. M1 is towards the front of the board and M4 is nearest to the push
buttons. The negative (black or brown) lead towards the edge of the FC.
The negative (black or brown) lead is connected to the edge of the Flight
Controller.

Fig 5.8.a: Li Po Battery

18
5.9 MODELLED CASE

3D printing, also known as additive manufacturing (AM), refers to

processes used to synthesize a three-dimensional object in which
successive layers of material are formed under computer control to create
an object. Additive Manufacturing refers to a process by which digital 3D
design data is used to build up a component in layers by depositing
material. The term "3D printing" is increasingly used as a synonym for
Additive Manufacturing.

In traditional manufacturing, costing is a vital process for charting

production expenses; costing is the act of assigning costs to particular
production activities and steps. The goal is to assign costs to the parts of
production that actually produce related value, known as the matching
principle. The creation of a 3D printed object is achieved using additive
processes. In an additive process an object is created by laying down
successive layers of material until the object is created. Each of these
layers can be seen as a thinly sliced horizontal cross-section of the eventual
object. In real terms, however, the origins of 3D printing can be traced
back to 1986, when the first patent was issued for stereo lithographic
apparatus (SLA). This patent belonged to one Charles (Chuck) Hull, who
first invented his SLA machine in 1983.

5.11 SERVO MOTOR

In order to move the rails to the angle desired in order to release the
grenade, a servo motor will be used.

19
 A servomotor is a structural unit of a servo system and is used with a
servo drive. The servomotor includes the motor that drives the load and a
position detection component, such as an encoder. The servo system vary
the controlled amount, such as position, speed, or torque, according to the
set target value (command value) to precisely control the machine
operation.

5.11.1 FEATURES

• Servomotors excel at position and speed control.

• Precise and flexible positioning is possible.
• Servomotors do not stall even at high speeds. Deviations due to large
external forces are corrected because encoders are used to monitor
movement.

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 CHAPTER 6

TESTING AND EVALUATION

Several tests were planned in order to confirm the capabilities of the

vehicle and the release mechanism. In the following sections, explanations
of each test planned to perform will be provided.

6.1 VEHICLE PERFORMANCE TEST

This is the first stage in the testing plan designed for the Quad
Copter. The tests included in this section will be performed as soon as the
Quad Copter is assembled. Since these tests are only for the structure and
electronic systems of the vehicle, the release mechanism will not be
attached to the quad copter while performing them.

During this stage, the vehicle will be tested in regards to its flight
capabilities. At the moment, the tests included in the plan are: time taken
for takeoff and landing, ease of maneuverability once the vehicle is flying;
if the quad copter loses stability, how much time does it take for it to have
balance again, how much time takes the vehicle to get to certain altitudes,
how fast is the response of the vehicle if a change of direction is made,
how accurate is the image received from the camera, how accurate is the
GPS and if the vehicle can go to a point specified by the operator if the
UAV goes out of range.

21
6.2 OVERALL PERFORMANCE TEST

Once the release mechanism is attached to the Quad Copter, the

effectiveness of the overall system will be tested by dropping the fire
extinguishing ball in open and closed spaces and recording the time it took
for the vehicle to perform the entire mission. It will also be tested the time
it took for the operator to load the grenade to the UAV and how much time
it takes to place the Quad Copter in position to drop the grenade if the
space provided to do so does not have that much clearance from the rails.

Another important test to perform in this section is how the vehicle

will behave if stability is lost and the vehicle is carrying the grenade. These
are the tests in the current design plan of this section; however, the plan
will change according to the criteria of the team.

22
 CHAPTER 7

DOCUMENTATION AND ORGANISATION

Our team followed a development model similar to that of the

Scrum, agile software development life cycle. Each week during
development we will have a meeting to status, discuss current tasks, and
plan ahead. These meetings, are documented discussing the topics,
concerns, and successes from the week prior. This will help the team to
track problems faster and prioritize work to be accomplished.

7.1 TEAM ORGANISATION:

As was mentioned in earlier sections the team is organized into two

groups: hardware and software. Each group will remain separate on their
portions of the project till testing and integration is required to bring parts
together. This section entails the teams work on technical assignments,
management assignments, working guidelines, safety guidelines and
communication and accountability.

7.2 OPERATIONAL PLANNED BUDGET:

Currently we are projecting our budget based upon receiving no

additional funding. Given the opportunity that we receive funding from
corporate sponsorship, we may look into expanding our budget for either
stronger parts or more functionality. The hope would be that the sponsor
donates a set amount of money so that we can divide the money
accordingly and possibly find a better deal for parts than would be
available at the time of donation.

23
 Additionally, if we receive just money, then we can enhance what
we currently have, which may be more efficient than starting from scratch.
Monetary donations also decrease risk of having to give the donated items
back in their original conditions.

Method of Approach:

We plan to use the exact process for problem and issue solving as
mentioned in early sections. Using this process we can layout the design
and assign tasks as needed based on levels of importance. This approach is
easier to document as well as each change is monitored by the group as a
whole.

Design Methodology:

This consisted of our team designating tasks and try to complete that
task on the time. We felt that this would be the best approach with a system
that has a number of subcomponents.

We would be able to effectively target our needs and be able to build

a working product from the ground up focusing on the small pieces as we
built the big picture. Often times this resulting in getting a small baseline
version completed within a week.

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 CHAPTER 8

COST ESTIMATION

S.NO MATERIAL QUANTITY PRICE

1 Frame 1 1650

2 Electronic sensor 4 3500

controller
3 Flight controller 1 2000

4 Power Distribution 1 900

Board
5 2.4HZ Tx 1 4800

6 Motor 4 3200

7 Tx antenna 1 800

11 Buzzer 2 500

12 Battery 1 2000

13 Servo Motor 1 300

14 Propeller 4 1200

15 Li-po charger 1 2000

16 Charged cells 4 560

17 Connector 1 200

Total 23,110

25
 CHAPTER 9

CONCLUSIONS

This project had went through some complications, and quickly realized
that communication was going to be key to ensure we would meet our goals.
The project is presently in the final design stages and we have completed
several tethered test flights. We have resolved several issues encountered in
this project to date, and we continue to work on outstanding issues. Although a
lot of work remains, we continue to be optimistic that we will complete the
project on schedule.

When the basic flight control systems are complete, the Drone will be
ready for experimental missions. At that point the project could go in a variety
of directions since the platform seems to be as flexible as we initially intended.
As a team, we can completely change what function it performs and we are
able to integrate any technology that would prove to be useful. This project
will clearly demonstrate the goals of proving that small scale UAVs are useful
across a broad range of applications.

Here we tried to implement new technology that might be very much

useful for the forest rangers, fire servicing people and as well as for the urban
area peoples. This is an economic and eco friendly process that wont affect
humans and animals at any cause with unwanted pollutants.

26
 REFERENCES

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Conway, A. R. (1995). Autonomous control of an unstable model helicopter

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(2007). Energyecient autonomous four-rotor flying robot controlled at 1 khz.
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Hjalmarsson, H., Gevers, M., Gunnarsson, S., & Lequin, O. (1998). Iterative
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