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Collision Encounter Reduction for Unmanned Aerial Systems (CERUNAS)
6 March 2014
Test Readiness Review
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning 2
Team Organization
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning 3
Overview
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 4
Co
nc
ep
t o
f O
pe
ratio
ns
an
d
Critic
al P
roje
ct
Ele
me
nts
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
Test Readiness
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
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 5
Project Levels of Success
(LOS)
Test Readiness
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
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Manufacturing
Status Budget 6
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
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning 7
Schedule
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 8
Ge
ne
ral S
ch
ed
ulin
g
Test Readiness
NOTE: SW and Test Scheduling Detailed on Next Slide
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 9
SW
an
d T
est
Sc
he
du
ling
Test Readiness
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning 10
Test Readiness Test Architecture and Reqts. & Verification
Key Tests System Development and Progress
Contingency Planning
CER
UN
AS T
est
Arc
hite
ctu
re
Electronics: individual component
Software
Subsystem
MAC component Validation
Hardware
sUAS component Validation
Populated PCB Validation
MAC enclosure
MAC mounting
sUAS component mounting
MAC/ sUAS mass & C.G.
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
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning
Level of Success 1 – Sensing
Subsystem Characterization Test 1a Goals: • Verify MAC Xbee can transmit
required beamwidth from MAC cockpit or cockpit mockup
• Verify sUAS Xbee can receive MAC transmissions at 2km
• Verify CERUNAS sensing at 2km decoupled from avoidance
Test 1b Goals: • Characterize accuracy of
CERUNAS sensing subsystem in relation to geometric MAEC
• Verify that CERUNAS sensing system has capability to sense presence in MAEC decoupled from avoidance
Required Output • UTC time stamps saved to
CERUNAS flash memory • Manned A/C packet validity,
coordinates, and heading from CERUNAS flash memory.
• Physical measurements from range marking
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget Overview Schedule Budget 13
Componentry for LOS Test 1
Test Readiness
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 14
Ma
nn
ed
A/C
Ele
ctr
on
ic T
est
Re
ad
ine
ss
Test Readiness
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 15
sUA
S E
lec
tro
nic
s
Test
Re
ad
ine
ss
Test Readiness
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 16
Manned A/C Hardware Test
Readiness
Test Readiness
1.433 lb at 1g
30 lb (x2)
Manned A/C Hardware Test • Attach completed housing vertically to glass and verify
it remains attached after 8 hours • Combined weight of manned A/C Electronics and
Housing: 1.433 lbf (6.374 N) • Single suction cup capability = 30 lbf (133.4 N) (x2 • Total Suction Cup Holding Power for two suction
cups = 60 lbf (1660.8 N) • Designed Suction Cup holding power results in a
Factor Of Safety of 42
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget
Ma
nn
ed
A/C
Flg
iht
So
ftw
are
Test
Re
ad
ine
ss
17 Test Readiness
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
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Planning Overview Schedule Budget
sUA
S F
ligh
t So
ftw
are
Te
st
Re
ad
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ss
18 Test Readiness
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning
Level of Success 2 – Avoidance
Subsystem Characterization Test 2 Goals: • Verify CERUNAS Avoidance
capability decoupled from sensing capability
• Verify that CERUNAS allows return to nominal flight after avoidance
• Characterize latency time required for switch-on of flight termination mode
• Characterize avoidance descent speed and expected duration
Required Output • UTC time stamps for
maneuver start/stop saved to CERUNAS flash memory
• sUAS GPS coordinates and heading saved to CERUNAS flash memory
• MAEC entry/exit indicators and FTM initiation/termination indicators saved to CERUNAS flash memory
40
m (La
rge
st Po
ssible
d
esc
en
t pe
r Co
A)
Project Purpose and Objectives
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Planning Overview Schedule Budget Test Readiness 20
Componentry for Level Of
Success Test 2
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget 21
sUAS Hardware Test Readiness
Test Readiness
sUAS Hardware Test • Determine CG without alterations using hang
test • Verify CG is unchanged with CERUNAS
components • Verify CERUNAS components remain in place
with sUAS inverted
PCB (0.4 N)
Battery (0.17 N) and Ballast (0.23 N)
5.5” 5.5”
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Manufacturing
Status Budget 22
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning
Level of Success 3 – Full System
Functionality 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 (discussed later)
Required Output • UTC time stamps for maneuver
start/stop saved to CERUNAS flash memory
• MAC packet validity information, coordinates, and heading saved to CERUNAS flash memory
• sUAS coordinates saved to CERUNAS flash memory
• MAEC entry/exit indicators and FTM initiation/termination indicators saved to CERUNAS flash memory
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Budget Test Readiness 24
Componentry for Level Of
Success Test 3
Project Purpose and Objectives
Design Solution
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Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Manufacturing
Status Budget 25
Geometric Factor of
Reduction
𝐹𝑎𝑐𝑡𝑜𝑟 𝑜𝑓 𝑅𝑒𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝐹𝑂𝑅 =𝑀𝐴𝐸𝐶 𝑉𝑜𝑙𝑢𝑚𝑒
𝑅𝑒𝑑𝑢𝑐𝑒𝑑 𝑉𝑜𝑙𝑢𝑚𝑒
𝑑𝑟𝑒𝑑 = 211 m
d = 2000 m
Reduced Volume
MAEC Volume
𝑑𝑡𝑒𝑠𝑡 = 𝑋 m
Test Measurements: • Distance 𝑑𝑡𝑒𝑠𝑡 at which sUAS cannot
exit MAEC in time to avoid collision • Time sUAS takes to exit MAEC
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Manufacturing
Status Budget 26
Contingency Planning
Two Potential Threats to Test: Weather, SW Incompletion Weather
Tests scheduled across multiple weekends to allow for tests to be rescheduled in the event of inclement weather
Will monitor weather. Indoor tests designed as necessary. If at least one flight test not carried out by 3/26, redesign will
occur. Characterization of flight performance will be sacrificed. All Requirements can still be verified.
SW Incompletion SW must be complete by 3/23. If delayed, tests will be redesigned to
allow for as thorough of verification as possible without SW elements Off ramp for test redesign: 3/14 Will prevent full verification of requirements
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning 27
Budget
Project Purpose and Objectives
Design Solution
Critical Project Elements
Design Requirements
Project Risks Verification and
Validation Project
Planning Overview Schedule Manufacturing
Status Budget 28
Planned CDR Cost: $1874.00 Current Cost: $1760.11
Test Components not Procured: Estimate $300.00
Project Purpose and Objectives
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Elements
Design Requireme
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Verification and
Validation
Project Plannin
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Project Purpose and Objectives
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Project Plannin
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Backup Charts
Project Purpose and Objectives
Design Solution
Critical Project
Elements
Design Requireme
nts
Project Risks
Verification and
Validation
Project Plannin
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Project Purpose and Objectives
Design Solution
Critical Project
Elements
Design Requireme
nts
Project Risks
Verification and
Validation
Project Plannin
g Overview Schedule Manufacturing Status
Budget 30
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
Project Purpose and Objectives
Design Solution
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Design Requirements
Project Risks Verification and
Validation Project
Planning LOS T
est
1b
CO
NO
PS
Project Purpose and Objectives
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Requirement Number Requirement Text
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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.
Project Purpose and Objectives
Design Solution
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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.
Project Purpose and Objectives
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Av
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Requirement Number Requirement Test
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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.
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Requirement Number
Requirement Test
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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.
CAS.3.2.4 Recovery of sUAS shall return vehicle to original, pre-
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%.
Project Purpose and Objectives
Design Solution
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Validation Project
Planning
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Requirement Number Requirement Test
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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.
Project Purpose and Objectives
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Planning
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Requirement Number Requirement Test
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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.
Project Purpose and Objectives
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Requirement Number Requirement Test
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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.
Project Purpose and Objectives
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Requirement Number Requirement Test
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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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Requirement Number Requirement Test
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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.
Project Purpose and Objectives
Design Solution
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Design Requirements
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Validation Project
Planning
An
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Requirement Number Requirement Test
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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.
CAS.3.2.2 Recovery of sUAS shall return vehicle to original, pre-
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.