S.

No Content Page No

1. Introduction 02

2. Aim 03

3. Scope 03

4. Terms of Reference 04

5. Technical Details 05-19

6. Various Approaches 20

7. Time Plan 21-22

8. Cost Analysis 23-25

9. Conclusion 26

10. Bibliography 27

11. Remarks by Directing staff 28

12. Remarks by Dean 29

13. Remarks by DCCI 30

INDEX

1
 INTRODUCTION

1. As with the increase of security requirement day by day, we all want to have that
cutting edge over the technological advancements in security field as well and by using
new technologies not only using them for security purpose, we can use them for other
purposes as well. Same is the idea of miniature drone that is equipped with a live
feeding camera in it, that can be used in monitoring a particular area by dominating it by
keen and sharp observation.

2. A quadcopter, also known as UAV (Unmanned Aerial Vehicle) uses four

propellers for lift and stabilization. The rotors are directed upwards and they are placed
in a square formation with equal distance from the center of mass of the quadcopter.
The quadcopter is controlled by adjusting the angular velocities of the rotors which are
spun by electric motors. Now-a-days, quadcopters have received considerable attention
from researchers as the complex phenomena of the quadcopter has generated several
areas of interest.

3. The idea of miniature drone with live feed camera is inspired by bird eye view
concept, i.e. by making a light weight fast moving and easily controllable machine that
can monitor a particular area and give the continuous video coverage of that area.

4. A miniature drone comes in handy and gives live coverage of the area that has to
be dominated by observation and is also used in day to life for other activities as well,
for example, for live coverage for the party or concert or any rallies that is conducted for
a communal gathering.

5. The purpose of this Project is to provide the power of observation to the user
over a particular area in conjunction with its other requirements. The foremost criteria of
the design are to make a miniature drone that can be controlled by a remote controller
and perform function of a video recording, image capturing and live video coverage. The
Project will feature superior miniature drone created by high speed motor, that is remote
controlled from its base station.

2
 AIM

9. To design and fabricate a miniature drone with live feeding camera.

SCOPE

10. The scope of this Project is as under:

(a) Study the concept of using a motor to create propulsion effect for a
miniature drone in particular.

(b) To study the design, parts, construction and working principle involved in a
miniature drone with live feeding camera.

(c) To study and design frame and remote-controlled transmitter and receiver.

(d) The syndicate shall develop a prototype model of a miniature drone with
live feeding camera using Wi-Fi module.

3
 TERMS OF REFERENCE

7. The following terms of reference will be adhered to:

(a) Carry out literature review on use of DC motor to be used as propellers to

create controllable down thrust effect using motors.

(b) Syndicate shall design a prototype of a quadcopter using four motors that
will give individual propulsion to each arm of the quadcopter using four DC
motors, RC transmitter, RC receiver, electronic speed controller (ESC), motion
camera, four propellers for each motor and lithium polymer chargeable battery for
suppling power.

(c) The syndicate must carry out tests on the duration for which the battery
can sustain the drone function, the propulsion created by motor, live feeding
capability of the drone and the operational range of the drone. All calculations
shall be brought out in the report with relevant graphs and diagram.

(d) The syndicate must carry out market survey for various components
required for the Project, work out the total cost and clearly present in their
‘Project Feasibility’ report and presentation.

(e) The syndicate must regularly interact with the DS and maintain Project
diary.

(f) Detailed instruction on construction, operation and maintenance will be

submitted as a user manual.

(g) Cost analysis will be done through market survey and website survey and
the same will be incl. in the report along with screenshots of websites with price.
Separate booklet on Cost Analysis, duly approved by Dean, shall be
submitted.

(h) All hard copies of the reports will be accompanied with soft copies.

(j) Details of vendors will be incorporated in the report.

4
 TECHNICAL DETAILS

11. The basic concept of flight mechanism are as follows:

(a) Yaw: (turning left and right) is controlled by turning up the

speed of the regular rotating motors and taking away power from
the counter rotating; by taking away the same amount that you put
in on the regular rotors produces no extra lift (it won’t go higher) but
since the counter torque is now less, the quadcopter rotates.

(b) Roll: (Tilting left and right) is controlled by increasing speed

on one motor and lowering on the opposite one.

(c) Pitch: (moving up and down, similar to nodding) is controlled the same
way as roll but using the second set of motors. This may be confusing but roll and
pitch are determined from where the “front” of the drone is. To roll or pitch, one
rotor’s thrust is decreased and the opposite rotor’s thrust is increased by the
same amount. This causes the quadcopter to tilt. When the quadcopter tilts, the
force vector is split into a horizontal component and a vertical component.

5
 Fig 1: fig showing yaw, roll and pitch of the quadcopter.

12. Quad copter uses four propellers, each controlled by its own motor and electronic
speed controller. Using accelerometers, we are able to measure the angle of the Quad
copter in terms of X, Y, and Z and accordingly adjusts the RPM of each motor in order
to self-stabilize its self. The Quad copter platform provides stability as a result of the
counter.

Fig. 2: Take-Off Motion Fig. 3: Landing Motion

Forward and Backward Motion Mechanism

13. Forward (backward) motion is controlled by increasing (decreasing) speed of rear

(front) rotor. Decreasing (increasing) rear (front) rotor speed simultaneously will affect
the pitch angle of the Quadcopter. The forward and backward motions of Quadcopter
are represented in Figure 3 and figure 4 respectively.

6
 Fig. 4: Forward Motion Fig. 5: Backward Motion
Left and right motion

14. For left and right motion, it can control by changing the yaw angle of Quadcopter.
Yaw angle can control by increasing (decreasing) counter-clockwise rotors speed while
decreasing (increasing) clockwise rotor speed. Figure 3.9 and 3.10 show the right and
left motion of Quadcopter.

Fig 6: Right motion

Fig7: Left motion

7
FLOW CHART

Fig. 8:Flow chart of miniature drone

8
BLOCK DIAGRAM

Fig. 9: Block diagram of the proposed miniature drone model

9
Working Principle

15. First, we are making a frame of light weight material.

16. Quadcopter is a device with a intense mixture of Electronics,
Mechanical and mainly on the principle of Aviation.
17. The Quadcopter has 4 motors whose speed of rotation and the
direction of rotation changes according to the users desire to move the
device in a particular direction (i.e Takeoff motion, Landing motion, Forward
motion, Backward motion, Left motion, Right Motion.)
18. The rotation of Motors changes as per the transmitted signal send
from the 6-Channel transmitter.
19. The signal from microcontroller goes to ESC’s which in turn control
the speed of motor

Fig. 10: Free Body Diagram of Miniature Drone

10
Component Requirements

(a) Flight controller APM 2.8

(b) BLDC Motors 2200Kv
(c) Power Distribution Board
(d) Propellers
(e) Electronic Speed Controllers
(f) 2.4 GHz Flysky radio transmitter and receiver
(g) Noise play SE camera
(h) Redmi 7 Smart phone
(j) Mini screws
(k) Quadcopter frame with landing gear
(l) zip ties
(m) Li Po battery
(n) Li Po battery charger
(o) Tool kit
(p) DJI smart controller

Components for ESC Fabrication

(a) IRF 3205 MOSFET

(b) IR 2301 Driver
(c) 100uF 25V capacitor
(d) 1uF 0805 resistor 100,1K,2K
(e) 5V AMS 1117 regulator
(f) Huge 4700uF 16V capacitor
(g) Arduino NANO
(h) Jump cables
(j) 22uF capacitor
(k) 22uF capacitor
BLDC Motors
11
20. Four 12V BLDC motors will be required for the miniature drone as they will be
placed on the far edge of each arm of the frame to lift the complete load of the
quadcopter. BLDC motors will be only used because they are light weight and has very
high power to weight ratio. As the Project requirements are such that it has to be as light
as possible and the motor has to lift the whole weight of all the components.

Calculation
Weight of motor =4*50gm= 200 gm

Weight of Li-Po battery =(120*4) gm

Weight of controller (1 board) =20 gm

Weight of 4 ESC =64 gm

Weight of Frame =200 gm

Total weight =964 gm + Weight for additional props =1250 gm

Total thrust required from motor =1250*2 =2500 gm

Thrust to be produced by each motor =2500/4 =625 gm

Voltage from battery =11.1 V

Voltage to controller =5 V

We used plastic propeller of size 10” * 4 ,

12
For which motor is used of size =11.1V * 30A = 333W

Motor Controllers (ESCs)

21. The microcontroller board’s firmware monitors measurement devices

(gyroscope, magnetometer and accelerometer) that make up the Inertial Measurement
Units (IMU) to get the current state of the quadcopter, along with the operator’s input
(desired state) and sends signals to the ESCs attached to each of the motors. The
ESCs use these inputs received from the microcontroller to deliver the power required
to control the speed of the motors. Each ESC has processor, firmware and other
electronics that manage this task by rapidly switching the power to the motor on and off.
Each motor moves either in a clockwise or anticlockwise direction.

Calculation
ESC rating= Max Amp rating of motor = 30A

Transmitter and receiver

22. A manual transceiver was also used to override the Autopilot mode of the
quadcopter. Transceiver was used. The transceiver system has a nine channel
Transmitter and an eight-channel receiver. It uses pulse position modulation encoding
scheme at the transmitter and pulse code modulation encoding scheme at the receiver.

13
APM 2.8 Flight Controller

23. Flight controller refers to an open-source electronics platform or board and the
software used to program it. Flight controller is designed to make electronics more
accessible to artists, designers, hobbyists and anyone interested in creating interactive
objects or environments. In our Project, an Arduino APM 2.8 mega microcontroller is
used to control the quadcopter flight dynamics.

14
Power Distribution Board

24. Power distribution board is required to transfer power from li polymer battery to
various components of the miniature drone like BLDC motors etc. In our Project we will
be using 2200Kv BLDC motors.

15
Wireless live feeding camera

25. To get the live video streaming from the miniature drone there is a requirement of
fast image capturing high resolution camera because basic purpose of this Project is to
use this miniature drone as a surveillance purpose. In our Project we shall be using
noise Play SE model of the camera to achieve our aim.

Smart phone

26. To get the display of the input received by the miniature drone we require a
display unit along with a Wi-Fi connection enabled with it. To achieve this objective, we
shall use Redmi 7.

16
Propellers

28. Propellers will be required to provide thrust as per the required direction.

Type- 1045 propellers*4

Length: 10 inch (25.4cm) , slope: 4.5 inch (11.43cm)
Thrust produced by one propeller ,
T= ((π/2)*D2*ρ*P2 )1/3

(0.625*9.81)3 = ((3.14/2) * (D*D) * (1.225) * (60*60)

230.48/10053.069=D*D D=0.1824m

Diameter of propeller = 10 inch= 25.40 cm

Density of air= 1.225Kg/m3
Power absorbed by propeller, P=60W, Static Thrust produced= 625gm

17
Li poly battery and charger

29. This component gives the power supply to the complete unit and charger help to
recharge the discharged battery. So, to achieve the flight time if 9 min 44 sec we will
use 5200mAh Li poly battery with B3 charger.

Li poly 5200mAh , 11V 3s 30C rechargeable battery

Max current withdrawal by motor = No. of motors * Max current withdrawal by single
motor =4*30A = 120A
Discharge current = 156A

Flight time = (Battery capacity )/ Amps

= (4*5200mAh)*(60 min/hr)*(1/4*30)*(1/1000)

= 9 min 44 seconds

18
Frame with landing gear

30. The frame is required to hold the components and to support the complete
dynamics of the miniature drone and landing gears will be required to land the drone
safely without any physical damage to the system design. We will be using f450 frame
for our Project.

Zip ties

31. Zip ties well be required to tighten the loose wires of the system preventing the
sytem from wire entanglement.

19
 VARIOUS APPROACHS

32. Approach 1: First approach is to use the previously made Projects and use the
components of those Project.
The main problem regarding this approach is that the components of those Project are
unserviceable and cannot be used again.

33. Approach 2: Second approach is to build a new miniature drone having live
feeding camera from the scratch. This approach will cost more and will take more time
as compared to the first approach.

34. Chosen Approach: As due to the unserviceability of the previously made

Projects we would have to implement the second approach.

(a) The serviceability of the previously made quadcopter was checked and
reviewed.
(b) The components of the previous projects were faulty and were non-
functional in their state.
(c) The battery was not functional.
(d) The frame was of metal in nature and was heavier in weight, but as per
our requirement carbon fiber body of the frame is appropriate.

TIME PLAN
MONTH WK ACTION

Project Diary will be in manuscript form and will contain time frames, tasks to
be achieved, problem areas etc. Whether Project is within time frame will
also be clearly endorsed.
Market survey and updation of Project Diary.
SEP 19 4th Endorsement of DS and Dean on or before 30 Sep 2019.

Project Feasibility Report to be submitted to respective DS and Dean on or

before 12 OCT 2019.

21 and PROJECT FEASIBILTY PRESENTATION

24 0CT 2nd Layout for Project Feasibility Report will be as per Appx ‘B’ of CTI-21.
19 Project feasibility report and presentation will be assessed as per Para 12(b)
of CTI-21 for one credit.

20
 4th Submission of Booklet on Cost Analysis – Endorsement by DS & Dean &
submission to TSG.
Budgetary Support. As per Para 9 of CTI- 21 all syndicate officers will
Project the requirement of stores as per format given at Appx ’A’ of CTI-21
31 oct and also in consultation with OIC TSG of the fac. Ex-post-facto sanction
19 should be avoided.

4th Problems & prog to be updated in Project diaries & endorsement by DS &
Dean.

1st Problems & prog to be updated in Project Diaries & endorsement by DS &
Dean.
Nov 19 2nd Updation of Project Diaries.

3rd Updation of Project Diaries and endorsement by DS.

4th
Updation of Project Diaries & Endorsement by DS & Dean.
MID TERM EVALUATION OF PROJECT. Layout of Project for Dean.
Liaison with OIC TSG. Progress of design finalisation, fabrication and
Jan 20 2nd materialisation of component demands. Difficulties being faced in execution
of the Project and find viable solution.

3rd Updation of Project Diaries and endorsement by DS. Prep Final Project
Apr 20 Reports
3rd
Updation of Project Diaries and endorsement by DS.
4th
Updation of Project Diaries and endorsement by DS.

FINAL PROJECT PRESENTATION. As mentioned at Para 10(d) of CTI-21,

the Project study report should be comprehensive, analytical and bring out
all tech details, problems encountered and effort put in by syn officers. The
May 20 3rd aspects of major and minor staff duties will be kept in mind while preparing
Project study reports. The format/ layout for prep of Project study report is in
Appx ’C’ of CTI-21.

Synopsis & Writeup. Synopsis comprising of three pages and write-up of

Project on one page and submitted along with the main Project report .

21
22
 COST ANALYSIS

Sl.
Component name Quantity Price (Rs.)
No
1 IRF 3205 MOSFET 6 6
2 IR 2301 Driver 3 375
3 100uF 25V Capacitor 1 3
4 1uF 0805 Size Capacitor 1 2
5 0805 resistor 100,1K,2K 3 9
6 5V AMS 1117 volt regulator 1 3
7 Huge 4700uF 16V Capacitor 1 1
8 Arduino NAMO 1 280
9 Jump cables 20 50
10 22uf capacitor 1 5
11 22uF capacitor 1 5
TOTAL COST 739/-

23
 COST ANALYSIS

Sl.
Component name Quantity Price (Rs.)
No
1 Flight controller APM 2.8 1 3,275
2 B3 Li Poly battery charger 1 389
3 Zip ties 1 54
4 Power distribution board 1 648
5 BLDC motors 4 2,396
6 ESCs 4 1,645
7 Propellers 4 479
8 Fly sky transmitter and receiver 1 4,900
9 F450 frame with landing gears 1 1,499
10 Li-Po battery 5200mAh 4 16,596
11 Noise Play SE camera 1 3,999
12 Smart phone Redmi 7 (3GB RAM) 1 8,499
13 Components for ESC fabrication - 739
TOTAL COST 45,118/-

24
 COST ANALYSIS

Sl.
Component name Quantity Price (Rs.)
No
1 Flight controller APM 2.8 1 3,275
2 B3 Li Poly battery charger 1 389
3 Zip ties 1 54
4 Power distribution board 1 648
5 BLDC motors 4 2,396
6 ESCs 4 1,645
7 Propellers 4 479
8 Fly sky transmitter and receiver 1 4,900
9 F450 frame with landing gears 1 1,499
10 Li-Po battery 5200mAh 4 16,596
11 Noise Play SE camera 1 3,999
12 DJI Smart controller 1 51,049
13 Components for ESC fabrication - 739
TOTAL COST 96,137/-

CONCLUSION

25
35. The overall goal of this feasibility report is to present the broad overview of the
Project for making a miniature drone with live feeding camera. The platform which
we have created is capable of sustained autonomous flight. This report Projects the
basic requirements of the Project, basic components required, the financial aspect of
the Project. Various approaches to go for the Project are being shown and the best
approach is being taken into account. Our platform can be outfitted with additional
sensors (cameras, IR sensors, wireless technology) to expand the overall
usefulness and flexibility the miniature drone design.

(a) The proposed model of the miniature drone with live feeding camera
shall be having the operational range of 100 meters and can fly upto the
height of 6 meters.

36. Given the stable platform produced by this group, further research and
development can and should be done to improve the functionality of our design. This
Project has increased our interests in robotics and autonomous design, knowledge
which will serve useful throughout our professional careers. We feel that this form of
thinking and engineering will be prevalent in the modern world and beyond as new
applications are found which will test the limits of current technologies.

BIBILIOGRAPHY

26
37. Allison Ryan and J. Karl Hedrick (2005). “A mode-switching path planner for
UAV- assisted search and rescue.” 44th IEEE Conference on Decision and
Control, and the European Control Conference 2005.

38. Atheer L. Salih, M. Moghavvemil, Haider A. F. Mohamed and Khalaf Sallom

Gaeid (2010). “Flight PID controller design for a UAV Quadcopter.” Scientific
Research and Essays Vol. 5(23), pp. 3660-3667, 2010.

39. A. Zul Azfar and D. Hazry (2011). “Simple GUI Design for Monitoring of a
Remotely Operated Quadcopter Unmanned Aerial Vehicle.” 2011 IEEE 7th
International Colloquium on Signal Processing and its Applications.

40. Kong Wai Weng (2011). “Quadcopter” Robot Head To Toe Magazine
September 2011 Volume 3, pp. 1-3.

41. Quad Copter Flight Dynamics [INTERNATIONAL JOURNAL OF SCIENTIFIC

& TECHNOLOGY RESEARCH VOLUME 3, ISSUE 8, AUGUST 2014 by Mohd
Khan] 6. Design and Assembling of a Low UAV [Umberto Papa1, Giuseppe Del
Core2 Department of Science and Technology, University of Naples "Parthenope"]

42. Low Cost Microcontroller Based Hover Control Design of a Quad Copter
[Bernard Tat Meng Leong, Sew Ming Low, Melanie Po-Leen Ooi, School of
Engineering, Monash University, Sunway Campus, Bandar Sunway, 46150 Selangor
Darul Ehsan, Malaysia]

27
REMARKS BY DIRECTING STAFF

28
` REMARKS BY DEAN

29
REMARKS BY DCCI

30