UNDERGRADUATE MID YEAR PROJECT REPORT

Department of Mechanical Engineering

NED University of Engineering and Technology

Social Distancing & Mask Monitor

Drone for COVID Prevention

Group Number: 65 Batch: 2018 – 2019

Group Member Names:

Usman Akram ME-17315

Yazdan Noor ME-18305
Hasan Arshad ME-18311
Muhammad Uzair Rafi ME-18312

Approved by
……………………………………………………………………………………………...
Muhammad Azam
Lecturer
Project Advisor

© NED University of Engineering & Technology. All Rights Reserved – March 2022
 Author’s Declaration

We declare that we are the sole authors of this project. It is the actual copy of the project
that was accepted by our advisor(s) including any necessary revisions. We also grant
NED University of Engineering and Technology permission to reproduce and distribute
electronic or paper copies of this project.

Signature and Date Signature and Date Signature and Date Signature and Date

................................. ................................. ................................. .................................

. . . .

Usman Akram Yazdan Noor Hasan Arshad Uzair Rafi

ME-17315 ME-18305 ME-18311 ME-18312

farooqui3902991@clo
[Email address] noor3903920@clo arshad3903202@clo rafi3805867@clo
ud.neduet.edu.pk ud.neduet.edu.pk ud.neduet.edu.pk ud.neduet.edu.pk

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 Table of Contents
Author’s Declaration ................................................................................................................. ii
Table of Contents ..................................................................................................................... iii
Similarity Index Report............................................................................................................ iv
Chapter 1 Introduction .............................................................................................................. 1
1.1 Background Information ........................................................................................................ 1
1.2 Significance and Motivation................................................................................................... 2
1.3 Aims and Objectives............................................................................................................... 2
1.4 Methodology .......................................................................................................................... 3
1.5 Report Outline ........................................................................................................................ 5
Chapter 2 Literature Review ..................................................................................................... 6
2.1 Introduction ............................................................................................................................ 6
2.2 Project Background ................................................................................................................ 6
2.3 Previous Work ........................................................................................................................ 6
2.4 Comparitive Study .................................................................................................................. 7
2.5 Summary ................................................................................................................................ 8
Chapter 3 System Design .......................................................................................................... 9
3.1 Introduction ............................................................................................................................ 9
3.2 Design Restrictions.................................................................................................................9
3.3 Design Constraints.................................................................................................................10
3.4 Design Methodology.............................................................................................................13
Chapter 4 System Evaluation and analysis ............................................................................. 26
4.1 Introduction .......................................................................................................................... 26
4.2 Sub system 1..........................................................................................................................26
4.3 Sub system 2..........................................................................................................................26
4.4 Results and analysis...............................................................................................................27
Chapter 5 Project Analysis...................................................................................................... 28
5.1 Introduction..............................................................................................................28
5.2 Lifelong Learning..................................................................................................................28
5.3 Impact of Engineering Solutions...........................................................................................28
5.4 Conclusion.............................................................................................................................28
Chapter 6 Conclusions ............................................................................................................ 30
6.1 Summary .............................................................................................................................. 30
6.2 Future Work ......................................................................................................................... 30
References ............................................................................................................................... 31

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 Similarity Index Report
Following students have compiled the final year report on the topic given below for
partial fulfillment of the requirement for Bachelor’s degree in Mechanical Engineering.

Project Title: Social Distancing & Mask Monitor Drone for COVID prevention

Seat Number
S. No. Student Name Signature

1. Usman Akram ME-17315

___________________________ ___________ _____________

2. Yazdan Noor ME-18305

___________________________ __________ _____________

3. Hasan Arshad ME-18311

___________________________ _____________ _____________

4. Muhammad Uzair Rafi ME-18312

___________________________ _____________ _____________

This is to certify that Plagiarism test was conducted on complete report, and overall
similarity index was found to be less than 20%, with maximum 5% from single source, as
required.

Signature and Date

..................................

Muhammad Azam

iv
 Chapter 1
Introduction

1.1 Background Information

The ongoing COVID pandemic is ravaging the globe. As of February 2022, the
number of infections worldwide has exceeded 400 million, and the cumulative death toll
has exceeded 5 million according to the WHO. The virus spreads mainly through
respiratory droplets and contact transmission . Therefore, if we can avoid crowds ,
monitor personal contact and remind the public to wear masks, we can control and
prevent the spread of the epidemic. To prevent the rapid transmission of COVID-19,
many solutions, such as confinement and closure, were proposed by most governments.
Some researchers have focused on government skepticism about setting in serious but
necessary measures to contain the virus (i.e. stay home orders and lockdowns). For
example, some governments argue that because strict home-based methods can have a
significant impact on people's lives, the cost of living at home (accompanied by lockdown
fatigue) could eventually outweigh the risk of infection. Since individual-level decisions
have a direct impact on the effectiveness of societal compliance, governments may refrain
from using them because of low standards of compliance, especially for economically
disadvantaged people who do not have the luxury of staying at home. Some governments
may also hope that herd immunity and high vaccination rates will allow them to avoid
imposing these undesirable measures completely.

With the number of rising cases and due to the strong human-to-human transmission
characteristics of the coronavirus, authorities are not able to visit infection hotspots to
understand the situation while performing the task of preventing and controlling the
epidemic. Therefore, many agencies around the globe use drones to inspect key locations
and use wireless imaging transmitters to relay data and help personnel monitor the
situation. For this goal, the use of unmanned aerial vehicles or 'drones' can be a powerful
tool for any government or organization.

1
1.2 Significance and Motivation

1.2.1 What is a drone ?

Drone is a term usually used for an aerial vehicle that flies like other aircraft but is
unmanned or pilotless. Traditionally, aircraft are operated by pilots and even with the use
of autopilot, they are still considered to be manned. This is what differentiates drones
from other piloted aircraft. A drones airframe is termed as “Platform”. External hardware
or embedded systems integrated to the platform is termed as “Payload”. This integration
of a payload to the platform results in a drone that can be used in various applications
ranging from civilian to military use.

1.2.2 Significance

The use of drones in these unprecedented times has the significance to reshape the way
we use and think about drones and the way we tackle challenges that such a pandemic
presents or may present in the future. It may also be used in the future with some
modifications for purposes other than ours. It can be used in favor of many institutions to
record attendance by detecting faces without wasting time or effort. In other words, this
project can grab the attention of people and make them fascinated in new technologies
and hence give them many opportunities and possibilities to modify and enhance it.

1.2.3 Motivation

The primary motivation behind the design of such a drone is to solve some of society's
most pressing issues using the engineering knowledge we have gained over our past years
of education.

1.3 Aims and Objectives

The main aims and objectives of this work are:

 To design a system that collects the data through drones, analyze and provides
the necessary measures.

 Based on intelligent voice warning technology, the system can remind, dissuade
and publicize the policy regarding face masks to ensure compliance with
epidemic prevention and control statutes.

2
  Face mask detection to detect the face of pedestrians on the ground and identify
whether they are wearing masks

1.4 Methodology
1.4.1 STEEPLE/PESTLE Analysis

STEEPLE/PESTLE analysis is assessed as one of the more well-known methods for the
operational activities of corporations and business examination.

 Social: This work will allow people to use our work for purposes beyond the
scope of this work.

 Technological: Feasible technologies in drone use already exist, making it

possible. Many people have been able to create drones; however, careful
research should be done taking into account the available components and
ultimately provide a personal touch.

 Economic: This work hasn't envisioned the economics of such a project in

depth, however, preliminary research agrees with the thought that this system
may have a positive economic effect.

 Legal/Political: This project is thought to not infringe massively on a country's

legal boundaries and governments that wish to make use of our system will
have no issues as such.

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  Environmental: This system is will not have any negative effects on the
environment.

 Ethical: The use of the drone is ethically controversial. As it all depends on the
user’s intention, which can lead to dire consequences if the user has unethical
aims. Nevertheless, this should not stop the development of this technology and
its different applications to serve society.

1.4.2 Gantt Chart

Gantt Chart attached below:

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1.5 Report Outline
The main objective of this project is to design and develop a drone that fulfills our
required purpose. The drone should be able to support lifting a phone or similar weight,
and some minor modifications should be applied to it. The drone’s flying system will be
in a form in which a brushless motor will be inserted in each of the four arms. As for the
control part, a remote controller in which a transmitter will be inserted inside that will
communicate to the receiver placed in the drone, will be used. The project falls into
multiple disciplines that can be categorized under the mechatronics branch of
engineering. Two main domains need to be analyzed which are hardware and software.
The hardware is composed of mechanical, electronic, and electrical parts. The
components that will be used will be discussed later on in this report, and as for the
battery autonomy it should allow the drone to fly at least for fifteen minutes. A stability
sensor needs to be used in order to allow the system to fly steadily enough so that it gives
a steady video feed which is augmented by a vibration cancellation system.

5
 Chapter 2
Literature Review

2.1 Introduction
In this chapter we will compare our work with previous already established works and see
how it is different.

2.2 Project Background

The US armed forces and the Israeli Defense Forces were among the first to recognize the
potential of drones. The research and investment in these machines have been bolstered
by the advancement of manufacturing techniques and better, lighter and smaller
components. Rising interest in drones for both military and civilian purposes has led to
the development of many commercial 'Quadcopter' solutions being available on the
market today.
The Quadcopter is a favored drone design, mainly because of its properties. A major
advantages of this type of drone is its VTOL (Vertical Take Off and Landing)
capabilities. This allows it to be operated in nearly any type of environment, such as
spaces with limited maneuverability.
A typical helicopter with one main rotor and one tail rotor shares much of the same
properties as a quadcopter. However, quadcopters has no moving parts except for the
rotating motors and propellers, while a helicopter require a complex system to rotate the
motor axis to induce a translating movement. The Quad-copter is also less prone to
vibrations and it is more flexible when it comes to the position of the center of gravity.
Due to the smaller size of the rotors, they can also be flown indoors.

2.3 Previous Work

In this section, similar projects have been studied to enable better implementation options.
Cases from three different institutions will be used for a comparative study.

6
Case 1: FPV Flying UAV by MIT, Department of aerospace engineering [1]
Summary:
 UAV is stabilized in using an onboard flight stabilization system. The
directional control will be done by the pilot through long Range FPV system
using rudder controls.

 UAV will carry a camera. Videos captured will be fed back to the ground
station by radio link..

 Ground Station will control the UAV so as to navigate and guide the UAV
according to the desired track.

Case 2 : Oculus Rift QuadCopter Controller, UCF, 2016 [2]

Summary:
 Working Quadcopter drone.

 Working glove controller.

 Glove successfully controls the system.

 Oculus rift programmed for use with the drone.

Case 3: UAV Quadcopter, ECE [3]

Summary:
 The Quadcopter must be capable of flying and landing in a stable manner.

 The Quadcopter must be programmed in such a way so as to be flown in all

directions.

 The Quadcopter should be able to log all flight data.

2.4 Comparative Study

7
 Project Case 1 Case 2 Our Work

Autonomous 

Accelerometer   

Camera system  

Custom Frame   

Custom Design   

FPV  

Complexity Difficult Difficult Moderate

2.5 Summary
Therefore in summary, our project blends the best of other projects in a less difficult to
manage project.

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 Chapter 3
System Design

3.1 Introduction
In this chapter we will be going through the different design hurdles that we've faced during the
completion of this project.

3.2 Design Restrictions

The smart security FPV was created with the goal of sending live video from the system
back to the user. Several engineering standards were adhered to throughout the
development of the Quadcopter. These have been discussed in detail in the following
sections.
1. CE standard

The CE marking on a product signifies the manufacturer's declaration that the product
meets the essential requirements of all applicable directives and regulations. It informs
the appropriate authorities that the product is legal to sell in their country.
CE marking requirements differ across all Directives and Regulations, and they may also
differ for different products within a Directive/Regulation. CE marking can range from as
simple as creating a technical file to as complicated as having to submit your products to
regular independent inspection. Third-party testing, systems evaluations, and technical
file evaluations may be required, but sometimes all that is required is the manufacturer's
unverified claim.

2. ASTM F963-11 standard

ATSM is a CPSC approved lab that performs toy safety testing and product certification
in accordance with many industry standards. Toys must be tested to ASTM F963-11,
which is the "Standard Consumer Safety Specification for Toy Safety," according to
Section 106 of the Consumer Product Safety Improvement Act (CPSIA) of 2008. This
requirement applies to all products intended for children aged 12 and under that are
imported or manufactured in the United States. Several sections of ASTM F963-11 deal
with toy mechanical hazard testing. To determine if any hazards exist, a large portion of

9
the toy safety testing involves simulating the use and misuse of a toy as if it were being
played with by a child. Other sections deal with the presence of others.
 Soluble (Heavy) Metals Analysis.
 Small Part Testing.
 Sharp Point Testing
 Sharp Edge Testing.
 Magnet Testing.
 Strangulation Hazard Assessment.
 Seam Testing
 Flammability Testing.
 Product Labeling

3. ISO 8124-1:2018 standard

The necessities in ISO 8124-1:2018 apply to all toys, i.e. any item or material designed or
clearly expecting for utilize in play by children beneath 14 a long time of age. They are
applicable to a toy because it is at first gotten by the buyer and, in expansion, they apply
after a toy is subjected to sensibly predictable conditions of ordinary utilize and
manhandle unless specifically famous otherwise.

3.3 Design Constraints: Quadcopter (4 motors)

A quadcopter, also known as a multi-rotor drone or Quadrotor, is a simple flying
mechanical vehicle with four arms and a motor attached to a propeller in each arm.
Multicopters with three, six, or eight arms are also possible, but they operate in the same
way as quadcopters. Two of the rotors rotate in a clockwise direction, while the other two
rotate in a counterclockwise direction.
Quadcopters are aerodynamically unstable, so we will need a flight computer to translate
our commands into commands that change the RPMs of the propellers to achieve the
desired motion. The way these drones generate lift and control forces differs from that of
a helicopter or a fixed-wing aircraft. Lift is generated by the wings of an aeroplane, but
the propellers of a quadcopter generate the lift. A helicopter generates lift with its main
rotor, but it can also generate control forces by varying the pitch of the rotor blades.

10
Quad-Copter Hovering:
Hovering occurs when the upward lift equals the downward gravity force. The lift force
must be greater than the force of gravity in order for the drone to fly higher. This is
accomplished by increasing the RPM on all four propellers at the same time, resulting in
more lift. To lower the altitude, the RPM on all four propellers is reduced at the same
time. We change the angle of the lifting force so that it has a vertical and horizontal
component in order to move the drone left, right, forward, and backwards. The quad-
vertical copter's component continues to keep it in the air, while the horizontal component
produces control thrust.

Quad-Copter Motion:
Using the right stick on the controller, we adjust the pitch to make the quadcopter move
forward or backwards. The front propellers reduce RPMs, whereas the back propellers
increase RPMs. The lift force now has a horizontal component, causing the quadcopter to
move forward. Our quadcopter will fly backwards if the opposite occurs. The RPM of the
front propeller is increased, while the RPM of the back propeller is decreased.
A similar change in RPM is required to move the quadcopter sideways, but this time it is
on the left and right propellers.

Yaw Maneuvers:
It's a little more difficult to visualize yaw. Have you ever wondered why a helicopter has
a tail rotor? Its purpose is to prevent the helicopter's body from rotating. Due to torque
reaction, if the main blades are rotating anti-clockwise, as they are in most helicopters,
the fuselage will begin to rotate clockwise. This is due to Newton's Third Law of
Dynamics. The tail rotor prevents the helicopter fuselage from rotating by balancing the
torque reaction on it.
If all four propellers on a quadcopter rotate in the same direction, the quadcopter's body
will rotate in the opposite direction. However, it is clear that it does not. This is because
two of the propellers rotate clockwise, while the other two rotate counterclockwise.
We do want the quad-copter to rotate for a yaw manoeuvre. This is accomplished by
lowering the RPM on one set of rotors while raising the RPM on the other.

11
3.3.1 Design Constraints: The controller
A four-channel controller is included with most quadcopters, and it sends commands to
the drone to control its throttle, yaw, pitch, and roll. The majority of controllers
communicate at a frequency of 2.4 GHz. This is also the most common WiFi connection
frequency.
The controller also includes four trim buttons for fine-tuning the quadcopter's flight
behaviour. If one notices that the drone drifts in a certain direction when no control input
is given, applying trim for that control input in the opposite direction will eliminate the
drift.

3.3.2 Design Constraints: Flight control system

Change the RPMs of each propeller to fly and move the quadcopter. As a result, when we
move a stick on our controller, this command must be converted into the proper
commands for each of our quadcopter's motors. The flight control system is in charge of
this. The flight computer's job is to make it easier to coordinate the control of all four
propellers required to make your drone fly. The flight control computer can communicate
with a variety of other devices and sensors. The remote-control receiver, which is linked
to our remote transmitter, is the primary device to which it connects.
The flight controller on advanced quadcopters also has a transmitter to communicate with
our controller, allowing for two-way communication.

3.3.3 Design Constraints: Propellers

A quadcopter is affected by four main forces:
1. Gravity – due to its mass, this is the force that pulls the quadcopter down.
2. Lift – the upward reaction force exerted by the propellers on the quadcopter.
3. Thrust – the horizontal reaction force exerted by the propellers on the quadcopter.
4. Drag - the backward force applied to the quadcopter by the air.

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3.4 Design Methodology
Before we talk about the 6-DoF and start discussing the quadcopter’s dynamics, we need
to be introduced to the two frames. The first frame is called the inertial frame defined by
its position that is with respect to the ground along with the gravity pointing in the
negative z-direction. The latter is called the body frame which is defined by the quad
copter’s different orientation. The figure explains that.

We can control the position and altitude of the quadrotor by changing the speed of each
motor to a desired value. Some moments and forces are performed on the drone such as:
the thrust produced by the rotation of the motors the gyroscopic effect which only appears
in the lightweight drone construction, the gravity, and the yawing moment which may be
cancelled out when 2 rotors rotate in the opposite direction.

The propellers and motors are divided into two parts, each part has two opposite motors
of same diameter. Because of rotation’s direction, we can identify that left and right
propellers are rotating clockwise while rear and front ones are rotating counterclockwise.

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 1. Six Degrees of Freedom (6-DOF)

It is required to describe any time space motion of a rigid body that can be divided into
two groups, which is the barycenter and the movement around it. There are three
barycenter movements named as three translation motions that make the quad copter
move longitudinally (forward and backward), vertically (upward and downward), and
laterally (right and left). In addition, there are three rotation motions along three axes
which make the drone move rotationally among each axis to produce roll, pitch, and yaw
movements.

The quad copters yaw motion is produce by rotor that produces a reactive torque. The
reactive torque’s size is relative to the speed of the rotor. When the speed of the four
rotors is the same, the reactive torques will balance each other and hence the quad rotor
will not rotate. However, when the speed of the four rotors is not absolutely the same,
there will not be a balance in the reactive torque; thus, the quadrotors will start to rotate.

We have made some assumption to stabilized the drone like:

 it has a symmetric structure,
 it has a rigid body
 ground effect is ignored.

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Throttle Movements:
By decreasing or increasing the speed of all the propellers we can control the movement.
With the same amount, which leads to a vertical force with respect to the body frame that
lowers or raises the quadrotor. The vertical direction of the body frame coincides with the
one of the inertial frames when the quadcopter is in a horizontal position.

Roll Movements:
This movement is happens by decreasing or increasing the left and right propellers speed
which makes the quadcopter moves side to side .

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Pitch Movements:
This movement is same as the roll one and it happens by decreasing or increasing the
rear and front of the propellers’ speed. With respect to the y- axis, this leads to a torque
which would make the quadcopter tilt up and down from front to back. In hovering, it is
the same as the overall vertical thrust; thus, this movement yields only to a pitch angle
acceleration.

Yaw Movements:
This movement occurs by reducing or increasing the rear and front propulsion of the
propeller and by increasing and decreasing that of the left-hand couple. With respect to
the z-axis, this leads to torque, which causes the quadcopter to move in a clockwise
direction clockwise as it stays at a low level. The fact that the front propellers rotated in
counter-clockwise motion while the left-wing rotators rotated clockwise, making the
drone yaw. Therefore, as mentioned earlier, the quadcopter turns itself when the total
torque is not even. The figure below shows a quadcopter yawing.

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 2. The Newton-Euler Mathematical Model

Most importantly before defining any movement, two reference frames have been
described earlier and now in figures above, which were the inertial (Framework) frame
and the B-frame. Movement calculations are best done in Frame B for the following
purposes: Inertia matrix does not change over time, calculations can be simplified
because body measurements can be used effectively, board measurements can be easily
adjusted B-frame, and control power is always provided in B-frame.

 Moments and Forces

There are two types of forces generated by each propeller. The propeller produces the
upward thrust that is provided by: 𝐹 = 𝐾𝑓 × 𝜔2, which is represented by the forces
specified as F1, F2, F3, F4 in the above figure where omega (𝜔) is the number of rotation.
𝐾𝑓 depends on many factors such as constant torque balance, ambient density, rear EMF,
and more. 𝐾𝑓 and 𝐾𝑚 (mentioned below) are obtained empirically.

All four propellers upward thrust are provided by making a total of each upward thrust i =
1 to 4 as follows: 𝐹𝑖 = 𝐾𝑓 × 𝜔2. In addition to the upward force, it rotates around it
producing a rotating spin called moment or torque, which is indicated by the moment
stated M1, M2, M3, and M4. For example, the torque that causes the drone body to rotate
on the CCW side is produced by a rotor that rotates on the CW side. The mean torque is

17
𝑀 = 𝐾𝑚 × 𝜔2. The total time produced near the axis of the quadcopter is given by the sum
of all four moment. Not to mention that the times for CCW and CW will be the opposite
symptoms. 𝑀z = 𝑀1 + 𝑀2 + 𝑀3 + 𝑀4.
In contrast to 𝑀𝑧, the totals of movement produced by x and y are slightly different. We
can see that engines 1 and 3 lie on the x axis. However, the motor 2 and 4 forces
produced separately will cause the drone body to tilt along the x-axis. Therefore, the sum
of the time around the x-axis is 𝑀𝑥 = (𝐹2 - 𝐹4) × 𝐿, where L is the distance from the
rotating axis of the rotor to the center of the quadcopter. In a similar sense, 𝑀𝑦 is
produced 𝑀𝑦 = (𝐹3 - 𝐹1) × 𝐿. In conclusion, the total movement around three axes can be
provided by: 𝑀𝑇 = [𝑀𝑥, 𝑀𝑦, 𝑀𝑧] 𝑇 , where T stands for transpose
.
 Position and Orientation

Undoubtedly, the quadcopter has both physical and spatial features. In other words, it can
make certain angles (psi (𝜓), theta (𝜃), where (𝜙), and can be in any position (x, y, z
coordinates) in relation to the world-inertial frame as clearly shown above. A vector that
makes a good description of the quadrotor position and the position in relation to the w-
frame is written as follows:
𝑆 = [𝑋 𝑌 𝑍 𝜙 𝜙 𝜃 𝜓] 𝑇

18
 3. MATLAB Simulation

After the completion of the motion statistics that describe the dynamics of the flight
system, now a simulation and viewing environment for a few controls and inputs can be
created. Even if other, more advanced methods are available, a template using the Euler
method can be written quickly to solve various calculations that change the state of the
system. All the values required for all ourx physical constants, which have not been
indicated are: The functions to be converted from yaw output, yaw, pitch, and roll to
angular velocity vector omega and vice versa, as well as function including rotation
matrix R. Then, a 3D visualization quadcopter is drawn with angular speed and rotation
as the simulation works as shown below

4. Mechanical Analysis

CAD Design and Analyses

As a CAD project we used SolidWorks, a 3-D modeling CAD and CAE software that
works primarily for Windows operating systems. It is used for the development of
mechatronics systems from start to finish. Initially, SolidWorks was used to plan,
visualize ideas, model, feasibility tests, prototype, and project management. After that, it
is used to design and build software, equipment, and electronics.

19
4.1 Frame
One of the most important parts is the frame in all designs. It needs to be organized,
durable (material is carefully selected), and it can withstand the pressures and weather of
the year such as rain, wind, etc. so that the drone does not fail. In addition, it can be used
as an input for all important components (mechanical, electrical, and propulsion).
To prepare the design for the drone project, many designs were seen from various
websites. However, our choice is a wooden drone frame from a website called GrabCad,
and many changes have been made depending on the material, size, and size required..
The two figures below show the selected frame in both the folded view and explosion.

( a) (b)

4.2 Von-Mises Stresses

It used as a value to determine if something will fracture. The von mises criterion states
that if a material’s von Mises stress under load is greater or equal the yield limit of the
same material then the material will yield.
4.3 Displacement
This shows how the model moves in the chosen direction, and if the deformation scale
given is one then it is a real deformation; otherwise, it is not the case.
4.4 Strain
Is a geometric response measure and the shape change due to its applied forces. It is
expressed as: 𝜀 = Δ𝑙/𝑙

20
The figures below show the drop test analysis results of each material
 Plywood:

In Figure (a), it shows that the material yield capacity is 15.6 MPa, and after the drone is
lowered from a height of 100 meters von Mises pressure is around 16 MPa, which means
von Mises pressure > Harvest energy then material will be yield. In Figure (b), it shows
that the minimum displacement is 9.634 mm, and the maximum is 10.43 mm. The red
area indicates where it will be deformed.

 Acrylic (Plexiglass):

In Figure (a), it shows that the material yield strength is 45 MPa, and after the drone is
lowered from a height of 100 meters von Mises pressure is around 45.2 MPa, which
means von Mises stress > Harvest energy then material will be yield. In Figure (b), it
shows that the minimum migration is 8.726 mm and the limit is 10.16 mm. The red area
indicates where it will be deformed.

(a) (b) (c)

21
  ABS

(a) (b)

(c)

Figure (a), indicates that the material yield strength is 40 MPa, and after the drone is
lowered from a height of 100 meters von Mises pressure is close to 41 MPa, meaning von
Mises pressure> yield strength then the material will yield. In Figure (b), it shows that the
minimum migration is 7.516 mm and the maximum 9.856 mm. The red area indicates
where it will be disabled. When we have a region with a large factor of safety, it indicates
that the material can be saved from that specific region. Several codes require a minimum
FOS between 1.5 and 3.0. The interpretations of FOS are:
• When FOS < 1.0, it indicates that failure has occurred at that location of the
material.
• When FOS = 1.0, it means that the material at that specific location is at failure.
• When FOS > 1.0, it indicates that the material at that location is safe.
• A FOS of 3 for example indicates that it is three times stronger.

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The figures below show the Factor of Safety of each material at a pressure of 25 MPa:

 Plywood

The plywood material has failed because as we can see the minimum FOS = 0.56

 Acrylic:

In the figure , the Acrylic material is safe because as we can notice the minimum FOS =
1.6 and is bigger than 1
.

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  ABS:

The ABS material is safe because as we can notice the FOS = 1.3 and is bigger
than 1.

4.4 Propellers
One of the most important parts of the quadcopter is its propellers. The wings are these
spinning blades that lift the system into the air by creating air flow. There are various
sizes and shapes but the same purpose in all the drone propellers come with; However,
the features of each aircraft can be significantly different.
In order to choose the right drone propeller, we must consider various factors. The
strength and smoothness of the drone plane can greatly affect the propeller; therefore, the
flight efficiency of the aircraft is one of the most important things to consider. The size
and number of blades are important factors when choosing new drone propellers.
Depending on the platform, payment, and usage requirements, the number of blades per
blower required will vary. Small blades (less than 8 inches) are often used for acrobatics
and racing drones. Typically, small motors with high kV ratings are paired with small
blades. Larger blades (over 8 inches) can be used to carry heavy loads such as agricultural

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spray containers and video resources. They are usually paired with low kV motors. When
choosing a propeller, we need to choose wisely considering its diameter and pitch
4.4.1 Pitch
It is known as the propeller traveling distance per each rotation. Usually, depending on
the specific system of the quadcopter platform to get the right pitch. Lower volume often
results in lower movement and increased torque; as a result, it relieves the engine of
having to work hard to lift heavy loads that lead to increased flight time because less
power is absorbed by the battery. High-pitch propellors can move a lot of air, but they
create less torque and turbulence.
4.4.2 Diameter
A larger diameter propeller blade allows for more air contact. The latter has to do with the
efficiency of the aircraft flight, where there is a slight decrease or increase in width, it can
alter the efficiency of the drone operation. It is said that when flying, the large propellers
are more stable than the smaller ones. However, less effort is required for smaller
propeller blades to slow down or to accelerate over larger ones, making them more
responsive. As mentioned earlier, low-powered propellers are best suited for aerial video
cameras as well as heavy payloads while smaller high-powered propellers are more
suitable for fast movements.

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 4. System Evaluation and Analysis
4.1 Introduction
To ensure that all channels are working on the quadcopter transmitter and receiver.
4.2 Sub-system 1
Transmitter with KK board
Setup:
1. Connect the battery.
2. Enable KK board.
3. Open or receiver and pair.
4. Open the recipient software.

Conclusion: All data from channels was received with 100% accuracy. This can be seen in the
screenshot below

Figure 9: All channels were working on the copter

4.3 Sub-system 2
Flight problems
1. The ESC burned several times.
2. Spinning.
3. It is difficult to sit still.

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 4. Damage engines and broken arms, seat gears and propeller.
5. The battery is damaged during the process.

4.4 Overall Results and Analysis

The system is integrated and tested. And here are the results:
1. PI values had to be adjusted to avoid ESC overheating.
2. PI Aileron value is 60 ideal plane.
3. Transmitter successfully installed.
4. ESC successfully planned.
5. KK board successfully suspended.

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 5. Project Analysis
5.1 Introduction:
In this section, we will analyze our project as follows

5.2 Lifelong Learning

Designing the FPV quadcopter has been a challenge and we have overcome many of
these challenges. As a result of this much learning has been done and group members
have been able to expand their knowledge
The following new skills have been learned during the execution so far.
 New hardware (BLDC, Li-Po battery).
 Flying power.
 Energy management.
 Reconciling the receiver and the controller.
 New software tools.
 Project management skills.
 Time management skills.
 Group work.
 Budgeting.
 Problem analysis.

5.3 Impact of Engineering Solutions

The overall impact of drones on our economy and society is likely to be wider and deeper
than what economic statistics say. In PwC's Innovation for the Earth, we explore how
emerging Fourth Industrial Revolution technology, including autonomous vehicles and
drones, can accelerate new solutions to help address the world's most pressing
environmental challenges. Drones work very well in environmental monitoring; for
example, by monitoring the flow of ice and whale movements in the Arctic or monitoring
the spread of the COVID virus.

5.4 Summary
As drones become a commonplace, businesses and public services will need to use drones
responsibly and ethically to alleviate public concern for safety, privacy and abuse,
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especially as independent drones. By adopting Technology for the Greater Good, the
drone industry will help to play a significant role in the sustainable development over the
next few decades, so we will see a shift in the drones' public perception of technology that
brings positive social, environmental and financial implications. Drones differ from other
emerging technologies such as artificial intelligence in that the government is responsible
for the safety of its airspace, so all use of drones will be required by law to ensure the
safety of the airspace. Other restrictions on flying in crowded areas and collecting
personal data, for example by flying near buildings and people or over roads, also need to
be considered.

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 6. Conclusions and Future Recommendations
6.1 Conclusions
This project is part of a design project for the last two semesters of our final year. During
the first semester we've achieved the following:
 Completed the design.
 We have found all the parts.
 Draft integrated.
 Pair the receiver with the transmitter.
 Pair the receiver with the KK board.
 KK board enabled.
 Estimated ESC.
 Check engines.
 Overcome the issue of ESC heating
 Overcome the problem of rotating engines

6.2 Future Work

 Explore the use of a carbon fiber frame instead of plastic as it has better resistance
to heavy loads and is lighter.
 Use KK 2.1 flight controls as it is easy to use for beginners.

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 References

[ 1] Ohad Gur and Aviv Rosent “Optimizing Electric Propulsion Systems for Unmanned
Aerial Vehicles” 2009.
[2] Prof.A.V.Javir, Ketan Pawar, Santosh Dhudum, Nitin Patale, Sushant Patils Design,
Analysis and Fabrication of Quadcopter JIAATS March 2015
[3] Anand SS, and Mathiyazaghan R “Design and Fabrication of Voice Controlled Unmanned
Aerial Vehicle”2016

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