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Application for a Special Flight Operations Certificate
University of Waterloo
WARG Hyperion UAV
Date:
March 31, 2006
Prepared by: Brent Tweddle
WARG Hyperion UAV
Table of Contents
TABLE OF CONTENTS .......................................................................................................................................................... 2
TABLE OF FIGURES ............................................................................................................................................................... 3
APPLICANT & CONTACT INFORMATION: ..................................................................................................................... 4
OPERATION MANAGER AND CONTACT INFORMATION: ......................................................................................... 5
EXECUTIVE SUMMARY: TYPE/PURPOSE OF OPERATION ....................................................................................... 6
DATES AND TIMES................................................................................................................................................................. 7
DESCRIPTION OF UAV SYSTEM ........................................................................................................................................ 8
AIR VEHICLE IN NORMAL OPERATIONS: .................................................................................................................................. 8
CONTROL, AVIONICS, PAYLOAD AND GROUND STATION......................................................................................................... 9
PERSONNEL............................................................................................................................................................................ 10
ABNORMAL EVENTS AND EMERGENCY OPERATIONS ............................................................................................................ 11
AREA USED FOR OPERATION .......................................................................................................................................... 13
SECURITY PLAN ................................................................................................................................................................... 16
EMERGENCY CONTINGENCY PLAN .............................................................................................................................. 17
GROUND SUPERVISOR ....................................................................................................................................................... 18
ADDITIONAL INFORMATION ........................................................................................................................................... 19
PILOT INFORMATION .............................................................................................................................................................. 19
DOCUMENTATION .................................................................................................................................................................. 19
INSURANCE ............................................................................................................................................................................ 19
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WARG Hyperion UAV
Table of Figures
FIGURE 1: PARTIAL ASSEMBLY, OCTOBER 2005........................................................................................................................... 8
FIGURE 2: PARTIAL CAD DRAWING ............................................................................................................................................. 9
FIGURE 3: RC EQUIPMENT ILLUSTRATION .................................................................................................................................. 10
FIGURE 4: WRESTRC & SURROUNDING AREA.......................................................................................................................... 14
FIGURE 5: WRESTRC FACILITY ................................................................................................................................................ 14
FIGURE 6: TORONTO VTA & WRESTRC................................................................................................................................... 14
FIGURE 7: WRESTRC OVERHEAD VIEW ................................................................................................................................... 15
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WARG Hyperion UAV
Applicant & Contact Information:
University of Waterloo
200 University Avenue West
Waterloo, Ontario, Canada
N2L 3G1
The Hyperion UAV will be operated by the Waterloo Aerial Robotics Group (WARG) which is part of
the University of Waterloo.
The following people have read and agreed to this application and have the necessary signing authority
to legally bind the University of Waterloo.
Adel S. Sedra, PhD, FRSC, FCAE, PEng
Professor
Dean of Engineering
Phone: (519) 888-4567 x3347
Fax: (519) 746-1457
sedra@uwaterloo.ca
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David W. L. Wang, PhD, MASc, BASc
Professor
Faculty Advisor of WARG
Phone: (519) 888-4567 x3968
Fax: (519) 746-3077
dwang@uwaterloo.ca
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WARG Hyperion UAV
Operation Manager and Contact Information:
Brent E. Tweddle
President and Technical Leader of WARG
Candidate for Bachelor of Applied Science in Honours Computer Engineering with Options in
Mechatronics and Cognitive Science
Phone: (519) 888-4567 x5109
Cell: (416) 574-1483
Fax: (519) 746-3077
betweddl@uwaterloo.ca
Brent Tweddle has been involved with WARG since 2002 and has been heavily involved with the initial
concept, design and construction of the Hyperion UAV.
Matthew D. Black, BASc
Technical Council Member of WARG
Candidate for Masters of Applied Science in Electrical and Computer Engineering
Phone: (519) 888-4567 x7263
Cell: (519) 721-6602
Fax: (519) 746-3077
mdblack@uwaterloo.ca
Matthew Black has been involved with WARG since 2004 and has been heavily involved with the initial
concept, design and construction of the Hyperion UAV.
Brent Tweddle and/or Matthew Black will be on duty during the operation. During operation they can be
reached on their cell phone at the numbers listed above. However cell phone reception is unreliable at
the WRESTRC. The land-line phone number for the WRESTRC facility is (519) 883-4750.
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WARG Hyperion UAV
Executive Summary: Type/Purpose of Operation
WARG competes in the International Aerial Robotics Competition1 (IARC) to educate its members who
are typically students at the University of Waterloo.
Currently, WARG has plans to develop a fixed wing UAV that can autonomously travel three
kilometres, search a small city for an opening to a marked building. Once the opening is found, the fixed
wing UAV will drop a guided parachute that will enter the window and deploy a small ground vehicle.
WARG intends to build a system that can accomplish this in under 15 minutes.
The Hyperion UAV has been designed and built by WARG and will be the main UAV that will fly this
course and search the city. This aircraft has not been flight tested at this time. The primary purpose of
this operation is to flight test the aircraft to ensure its reliability before moving to more complex
operations. The secondary purpose is to use this aircraft as a vehicle to carry other payloads that can be
tested while the human pilot is in control.
The scope of this application covers a subset of the above mentioned functionality. Specifically, it
covers non-autonomous operation that is within visual range of a human pilot who is using standard
radio controlled (RC) components and techniques to fly the aircraft. This application does not cover the
use of this aircraft to drop any objects.
Future applications will be submitted to cover additional functionality as this technology matures
including autonomous flight and dropping payloads from the aircraft.
This aircraft will only be flown at the Waterloo Region Emergency Services Training and Research
Complex2 (WRESTRC). This facility is restricted from the public and located in a rural area. This
facility may be shared by other users; however all users must sign in with the WRESTRC management
and will be notified of the operation, its associated risks and emergency plans.
1
http://avdil.gtri.gatech.edu/AUVS/IARCLaunchPoint.html
2
http://www.region.waterloo.on.ca/web/region.nsf/8ef02c0fded0c82a85256e590071a3ce/7d750c4f75cf4dd585256eae0066ace
8!OpenDocument
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WARG Hyperion UAV
Dates and Times
These operations may occur at any date or time up until December 31, 2006.
Flight tests may occur if the following criteria are met:
1.
2.
3.
4.
Visibility of greater than 1 mile
Winds below 15 knots
Cloud ceiling greater than 700 feet AGL
No precipitation
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WARG Hyperion UAV
Description of UAV System
Air Vehicle in Normal Operations:
The Hyperion is UAV that was designed and built by WARG members. The UAV is a high wing
airplane that is meant to carry a significant payload and drop a parachute from inside its fuselage.
Available vehicle parameters are listed below. Other parameters (i.e. minimum take off distance,
operating limits etc) will not be available until the vehicle is flight tested.
Wingspan:
Length:
Aspect Ratio:
Weight:
Material:
Propulsion:
Propeller Diameter:
Motor Battery:
Pilot Control:
Control Surface Actuators:
Landing Gear:
Colour:
Estimated Max Speed:
Estimated Min Speed:
Estimated Max Flight Time:
15’
10’
7.9
50lbs to 70lbs depending on payload
Foam, Balsa Wood, Plywood, Aluminium
Dual Wing-mounted electric motors driving forward mounted (tractor) propellers
14” to 26”
2 x Lithium Polymer (37V, 8Ah, 3.5lbs)
Standard RC Control - 72 MHz range
High Power Digital RC Servos
Non-Retractable Tricycle
Red and White
40 knots
20 knots
45 minutes
Figure 1: Partial Assembly, October 2005 shows the aircraft partially complete in October 2005 with a
number of WARG members. Figure 2: Partial CAD Drawing shows a partially complete computer
drawing of the aircraft.
Figure 1: Partial Assembly, October 2005
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WARG Hyperion UAV
Figure 2: Partial CAD Drawing
The UAV will takeoff and land using a paved runway. Pneumatic brakes will be used to slow the aircraft
after it has landed. The UAV does not have any special requirements to be transported to the launch site.
It can be disassembled and will fit inside standard minivans.
Control, Avionics, Payload and Ground Station
The aircraft will be controlled by a human pilot using standard RC equipment. Figure 3: RC Equipment
Illustration shows an illustration of this equipment. This system incorporates a number of safety systems
and redundancies to mitigate the risks of the human pilot loosing control of the aircraft and a method to
remove electrical power from the motors should something go wrong.
The UAV will be able to be controlled by two separate RC receivers marked Channel A and B in the
illustration. Both of these channels will be in the 72 MHz spectrum that is typically used for model
aircraft. If one channel fails or is interfered with, the pilot will be able to switch to the other channel.
The Emcotec DPSI Twin3 is a commercially available unit designed to switch between two RC receivers
and two batteries to provide redundancy.
Additionally, Channel C will be used to control a WARG designed kill switch that will remove power
from the propellers.
3
http://www.rc-electronic.com/html/pdf/bedienungsanleitungen/DPSI_TWIN_Anleitung_V11_EN.pdf
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WARG Hyperion UAV
Figure 3: RC Equipment Illustration
The UAV may carry additional avionics for testing purposes that may communicate with a ground
station. These systems will be independent from the RC system in Figure 3: RC Equipment Illustration
used to fly the UAV. These electronics may require additional wireless links. A one Watt, 900 MHz
radio from Microhard Systems4 will be used for avionics testing. This device does not require an
amateur radio license. Other communications systems may be used as testing progresses. It will be
ensured that the appropriate licenses are obtained if necessary.
Personnel
During normal operations the following personnel will be present and in constant communication using
FRS radios:



1 Operations manager
1 Pilot
1 Kill Switch Operator/Spotter
The kill switch operator and spotter must be near the pilot and watching the aircraft at all times during
flight. The following personnel may be present:



One or more avionics operators
One or more ground crew
One or more Faculty members of the University of Waterloo
Anyone else who is present will be considered a spectator.
4
http://www.microhardcorp.com/Products/SpectraNT920.htm
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WARG Hyperion UAV
Abnormal Events and Emergency Operations
The following table illustrates the actions to be taken in a number of emergency situations. Under
normal operations the UAV will always be operated within visual range over an area that is off limits to
the general public. The propulsion system can be terminated using a kill switch. An air horn will be
available and used to notify people on WRESTRC property in the event that the UAV may not be
landing on the runway. All people on the WRESTRC property will be notified of the aircraft’s operation
and what the use of the air horn signifies. The WRESTRC manager will be notified in the event of an
emergency.
1
2
3
4
5
Failure Mode
Single RC Channel Failure
(CH A or CH B)
Dual RC Channel Failure
(CH A & CH B)
Triple RC Channel Failure
(CH A & CH B & CH C)
Single RC Channel Failure
(CH C)
Single engine failure
6
Dual engine failure
7
Control lost due to physical
damage (bird strike,
aircraft contact)
Line of sight lost
8
9 Sudden severe weather
10 Unauthorized person on
field
11 Medical emergency
requiring EMS on ground
(non-pilot)
12 Medical emergency
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Action To Be Taken
 Switch to other channel





























Activate engine kill switch
Sound air horn
Call 911 if UAV causes personal injury.
Sound air horn
Immediately notify Region of Waterloo Airport ATC and call
911 if the UAV goes out of visual range
Call 911 if UAV causes personal injury.
No action taken (this is an undetectable failure unless kill
switch is used)
Sound air horn
Either attempt a single engine landing or kill the other engine
to attempt dead stick landing.
Call 911 if UAV causes personal injury.
Sound air horn
Attempt dead stick landing
Call 911 if UAV causes personal injury.
Sound air horn
Attempt dead stick landing
Call 911 if UAV causes personal injury.
Activate engine kill switch
Sound air horn
Notify Region of Waterloo Airport ATC
Call 911 immediately
Search for UAV
Land UAV immediately
Human pilot should attempt to fly UAV as far from the
unauthorized person as possible, but within visual range
Contact person and inform them that they are trespassing
If they will not leave call 911
Call 911 immediately
Move person to safe area
Land aircraft if it is safe to do so
Kill engine
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WARG Hyperion UAV
requiring EMS on ground
(pilot) while UAV is in
flight
13 Accidental entry of
controlled airspace while
UAV is controllable
14 Accidental entry of
controlled airspace while
UAV is out of control
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




Sound air horn
Call 911 immediately
Spotter should attempt dead stick landing in safe area
Attempt to exit controlled airspace
Notify Waterloo Region Airport ATC





Attempt to exit controlled airspace
Notify Waterloo Region Airport ATC
Sound air horn
Call 911 immediately
Attempt dead stick landing
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WARG Hyperion UAV
Area Used for Operation
The UAV will always be flown at the WRESTRC. WARG has obtained verbal permission from the
property owners of the farm to the west of the WRESTRC facility to fly over their land. The WRESTRC
facility and the farm land to its west can be seen in Figure 4: WRESTRC & Surrounding Area, which is
looking in a north-west direction. The facility is located at the following GPS coordinates:
N 43o 26.023’
W 80o 34.600’
The closest airport is the Region of Waterloo International Airport (YKF). WRESTRC is located 8.47
nautical miles away from the airport on a bearing of 279 degrees. The airspace is Class E above 700 feet
AGL. Below 700 feet AGL is uncontrolled airspace. Since the UAV will only operate within visual
range, operations will typically occur at 200 feet to 400 feet AGL and will never exceed 700 feet AGL
during normal operations.
WRESTRC is located in a rural area, which can be seen in Figure 4: WRESTRC & Surrounding Area.
Figure 5: WRESTRC Facility shows the facility in more detail. These pictures show a paved track that is
typically used for training emergency service drivers. The large skid pad will be used as the runway. It is
900 feet long and 134 feet wide and on a bearing of 297 degrees. On the inside of the track there are 13
light standards that are 40 feet high and are spaced 100 feet to 300 feet apart. The two tallest buildings
on the facility can be seen in the photograph and are 8 storeys and 5 storeys tall and are uninhabited. The
forest on the east side of the facility has trees that are approximately 80 feet AGL.
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WARG Hyperion UAV
Figure 4: WRESTRC & Surrounding Area
Figure 5: WRESTRC Facility
Figure 6: Toronto VTA & WRESTRC
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WARG Hyperion UAV
Figure 6: Toronto VTA & WRESTRC shows the location of the WRESTRC facility. The facility has
underground gas pipes and hydro lines nearby. According to the WRESTRC facility manager,
helicopters have flown at low altitudes near the facility; however he has never seen a helicopter fly
directly over the WRESTRC.
Figure 7: WRESTRC Overhead View shows an overhead view of the WRESTRC facility and its
surrounding area. The property limit of the WRESTRC facility and its neighbours to the west are shown
in green. The runway is outlined in red and areas that may contain spectators are outlined in blue. White
areas were not available from the aerial photographs.
Figure 7: WRESTRC Overhead View
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WARG Hyperion UAV
Security Plan
The Hyperion UAV will be operated below 700 feet AGL during normal operations and during
emergency operation will not be intentionally operated above 700 feet AGL.
The entire WRESTRC facility is enclosed by a fence and the public cannot accidentally get onto the
runway. Flights will not be open to the general public; however invited guests and media may be present
during flights. Additionally, the facility may be used by other groups during operations. Other users,
invited guests and media will be considered spectators. The UAV will be kept at least 50 meters from
the spectators at all times.
Operations may occur over people on the neighbours farm land. The property owners have been notified
and are aware of the associated risks.
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WARG Hyperion UAV
Emergency Contingency Plan
If an emergency were to develop, the appropriate authorities would be contacted by calling 911, which
handles all emergency requests in this area. A portable air horn will be sounded at any time where an
emergency poses a continued risk to people on the ground, for example when the UAV is still flying.
The WRESTRC facility has first aid kits available in the event of an emergency.
If the aircraft cannot be kept within visual range and below 700 feet, the Region of Waterloo
International Airport ATC Tower will be notified and 911 will be called immediately.
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WARG Hyperion UAV
Ground Supervisor
Normally the duties of the ground supervisor will be carried out by the operations manager. However if
there are invited guests present to watch the operation, one or more ground supervisors may be assigned
to ensure the safety of these guests and will be in constant communication with the operation manager.
This person would be responsible for ensuring these people remain within the designated spectator area
and that their actions do not pose an additional risk to themselves or the operation. This person would
also be responsible for instructing them in the event of an emergency.
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WARG Hyperion UAV
Additional Information
Pilot Information
Mr. Steve Buchanan will be the human pilot for the Hyperion UAV. He has flown model aircraft for 12
years and has logged over 415 hours flying model airplanes and over 2324 hours with a model aircraft
simulator. Mr. Buchanan is a member of the Model Aeronautics Association of Canada and is an
instructor at the Kitchener Waterloo Flying Dutchmen Radio Control Flying Club. He also holds a glider
pilot’s license and has logged 41 hours in a glider. Mr. Buchanan holds a B.Sc. in Physics from the
University of Waterloo
Mr. Buchanan has been involved with WARG as a pilot since 2002 and has been heavily involved with
the initial concept, design and construction of the Hyperion UAV.
Documentation
A risk assessment has been conducted and is attached to this application.
Insurance
The Hyperion UAV is insured for $5,000,000, including public liability which exceeds the minimum
requirement specified by the Canadian Aviation Regulations Section 606.02
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