WHOI APH

- 22

– Page 1



### WHOI APH

- 22 UAS DESCRIPTION, OPERATIONAL PROCEDURES

Prepared by:

Michael Moore

– WHOI



### Table of Contents

Background 2 UAS Description 4 Operational Procedures 6

APPENDIX 1 1WHOI APH

- 22

– Page 2



### Background Information

Project Goal: WHOI primary objective is to use the APH

- 22 hexacopter unmanned aircraft system (UAS) equipped with a high resolution digital camera for marine mammal photogrammetry and survey . Aerial images will be c aptured by the UAS of individual whale s when t hey surface, and of seal haulouts. Measurements will be made using calibration images of the vessel and of a calibration target. Using this same small UAS, the National Marine Mammal Laboratory (NMML) and NOAA Southwest Fisheries Science Center have successfully conducted with Steller Sea Lions and killer whales in the Queen Charlotte Islands, British Columbia (see http://www.fisheries.noaa.gov/podcasts/2014/10/aerial_vehicle_killer_whale.html#.VIcXxjHF_T o)

. The same safety measures, mission protocols, and restrictions will be adhered to as were implemented in these surveys.

Project Description:

The images collected by the UAS will be used to measure the overall length, and length width ratios at every 10% of length from rostrum to fluke notch. These data will be compared with boat based health assessments (Pettis et al., 2004), and other aerial images obtained (Miller et al., 2012) to compare the measurements collected in hand. Images of seal haul outs wi ll be used to assess population size and fishing gear entanglement prevalence. Images of marine mammal stranding events will also be acquired.

Aircraft Operations: All missions will be flown under in Class G airspace under Class E VFR

weather conditions

. Pertinent marine mammal research permits from NOAA Office of Protected

Resources will be in hand. Additionally, for any missions flown within the boundaries of the NOAA Stellwagen Bank National Marine Sanctuary, any necessary authorization/permits with

be obtained.

The aircraft will be operated by at least a 2 person team. One individual will fulfill the role of Pilot in Command (PIC). This person will lead the flight and operate the UAS with the RC unit and monitor the video feed, battery status, altitud e and orientation and relate to the PIC. The

second individual will be the Visual Observer (VO) and will observe the UAS and surrounding airspace throughout each flight and provide the PIC information on the UAS’s flight path and proximity to all aviation hazards necessary to prevent collision.

To accomplish our whale photogrammetry objective, photographic surveys will be flown above the targeted animals at an altitude above 75 feet ASL and the UAS will not be flown over 2 00

feet ASL. All surveys will be f lown in manual control. The PIC will pilot the UAS over targeted

animals based on their view of the UAS and what is shown on the video downlink at the Ground Control Station (GCS) relayed by the ground station observer.

Another objective will be to obtai n exhalate samples. For this, brief descents to no less than 10

feet ASL will be undertaken. An inverted standard skirtless 96 well plate (12 x 7 x 2 cm, weighing 13.7 gm) will be securely attached to the underside of the multicopter, behind theWHOI APH

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camera. Be nch trials suggest that 4

- 6 mls of exhalate could be collected, with surface tension holding the samples in the wells of the inverted plate until the plate can be retrieved from the UAS and processed appropriately

.

Flights to survey seal haulouts and cetacean stranding events will be piloted from an adjacent beach, at least 500 feet from non participating persons.

Flights to assess entangled animals will enable documentation of entanglement configurations

from 15 to 100 feet ASL.

Other at sea project s that may arise will follow the above general parameters.

Flights will only be conducted in the following conditions:

● Daylight hours

● Visibility 3 statute miles or greater

● UAS able to operate at least 500 feet below clouds and 2,000 feet horizontally from

clouds.

● Wind less than 20 knots.

● Rain less than 0.25 inches per hour

The PIC will not operate the UAS beyond line of sight and under no circumstances will the UAS be oper ated beyond visual range or 0.5 nm, whichever is less. Each flight operation will be preceded and followed by working through the appropriate check lists (see pre

- flight checklist below). UA will not be operated within 5 nautical miles (NM) of an airport h aving an operational control tower, or 3 NM of an airport with a published instrument flight procedure but not an operational control tower, or 2 NM of an airport without a published instrument flight procedure or operational control tower, or 2 NM of a he liport with a published instrument flight procedure.



### UAS Description

The APH

- 22 hexacopter is designed and built by Aerial Imaging Solutions, Old Lyme, CT. The

APH

- 22 is a small vertical takeoff and landing (VTOL) UAS that will be used to collect digital photographs with its Olympus OLEPM2S camera payload. The aircraft is powered by a 4 cell Lithium polymer battery that drives 6 brushless electric motors. It weighs approximately 4 pounds and measures 32 inches from propeller to propeller. Depending on pa yload and environmental conditions the aircraft can achieve flight durations of up to 35 minutes. The UAS’s attitude, altitude, and heading are stabilized by an electronic control system that incorporates 3 gyros, 3 accelerometers, a magnetic compass, a b arometric pressure sensor, a GPS receiver, and 8 microprocessors. The radial arms and core of the aircraft are aluminum, the electronic support chassis and landing struts are carbon fiber, and the landing support struts are ABS. Foam landing pads are att ached to the skids to dampen the impact of landing and increase surface area in contact with the ground. These landing pads also provide floatation to the UAS in the unlikely event of a water landing.WHOI APH

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Figure 1. APH

- 22 system

.

Specifications:

Manufact urer: Aerial Imaging Solutions

Model: APH

- 22 Diameter: 32.4 inches from prop tip to prop tip Height: 11.3 inches Empty weight: 3.8 pounds

Max Take

- off weight: 4.5 pounds Engine type: 6 x flat core brushless motors Engine Power: 48.2 N Battery: Custom 4 cell Lithium Polymer Battery Capacity: 16.8 volts / 6200 mAH

Performance: Max Cruise Speed: 30 knots Min Cruise Speed: Hover Max Range: 1 nautical mile

Endurance: 25

– 35 minutes

Max Altitude: 2 00 feet

Communication System Description: There are three transmitter/receiver pairs used in the operation of the APH

- 22: one pair is used for Radio Control (RC) of the aircraft, one pair is used for the video downlink, and one pair is for the telemetry downlink.

To control the UAS, the pilot u ses a 2.4 GHz, 10 channel radio control transmitter with the corresponding receiver integrated into the UAS. Similarly, to broadcast video and telemetryWHOI APH

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information the transmitters are integrated into the UAS and the corresponding receivers are integrated into the ground station.

The video downlink provides the PIC with real time video for situational awareness and target acquisition.

The telemetry downlink provides real time information such as attitude, altitude, location, distance from ‘home,’ flig ht time, and battery life. Frequencies used for each data type follow:

2.4 GHz for radio control

- transmitter at GCS

5.8 GHz for video downlink

- transmitter on UAS 910 MHz for telemetry downlink

- transmitter on UAS

Ground Control Station Description: The GCS consists of a handheld controller and a real

time data display mounted on an eye level tripod. The PIC controls the UAS at the GCS using a

handheld Futaba 10

- Channel Radio Control System with the data display as a reference.

The data display is composed of a small video monitor and a digital LED display unit that are mounted on front pack worn by the PIC. The video monitor receives analogue video output from the camera mounted on the UAS. The digital LED disp lay shows the telemetry data downlink from the aircraft, which includes altitude, attitude, orientation, battery output, elapsed time since start of engines, distance from ‘home,’ and position. By mounting this system on frontpack it is always visible the PIC. The GCS data display is powered by the same Lithium Polymer batteries that are used to power the UAS. The full unmanned aircraft system (UAS and GCS consisting of handheld controller and data display) is shown below in Figure 2 with a flight team.WHOI APH

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Figure 2. Hand launch of the APH

- 22 prior to imaging a blue whale in Chile

.



### Operational Procedures

UAS equipment deployments from the Research Vessel: Procedures will be discussed before each deployment and if there are any objections by any member of th e team, the mission will be postponed until deemed safe by all members or cancelled due to unfavorable conditions (i.e., inclement weather such as high seas or winds).

Weather Considerations: Missions will not be deployed unless all involved and the Rese arch Vessel crew deem it safe. This means sea swell is not excessively high and will remain favorable throughout the day.

Deployment/Recovery: APH

- 22 will be safely secured in a pelican case while still on board the Research Vessel. For launching, the research vessel will be held stationary, head to wind. The PIC will stand on the aft deck, immediately behind the VO who will stand on the level platform at the aft end of the vessel. The VO will be standing behind a waist high safety rail.

Routine Proce dures: Gyro will be calibrated on land before boarding the vessel. This UAS now retains gyro calibration for sustained periods, even after shut down. Land calibration will be repeated whenever opportunity arises.WHOI APH

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Launch

— Prior to the first flight of the day a briefing will be held on the research vessel with the ship’s captain, chief scientist, and flight crew (PIC and VO), present. Prior to beginning any UAS flight the operation will be briefed with a minimum of the flight crew present. Briefing topics will include:

● A review of the previous relevant UAS missions (within or outside of the current project)

● Safety concerns regarding the previous or upcoming UAS operation

● UAS status

● Mission objectives

● Weather conditions and forecast

● Identification of roles

● Scheduled launch time

● Launch procedures

● Recovery procedures

● Limiting airspace factors

● Emergency procedures

Following the pre

- flight briefing the flight crew will complete the pre

- flight checklist:

● Conduct visual inspection of arms, rotor blades, motors and landing gear

● Check charge level in lithium polymer batteries (charge as required)

● Turn on RC unit / verify all switches forward (off position) on RC unit

● Install battery in aircraft

– verify proper UAS self

- check (one beep followed by 4 beeps)

● C heck for communication with RC unit

● Install fresh battery in ground station

● Check battery integrity, check voltage of UAS battery as indicated on ground station display

● Turn on camera

● Verify GPS lock

● Calibrate magnetic compass (only required if location di ffers from previous flight

– see Appendix B )

● Check for SD card

● Check camera settings

● Menu > Image Quality > “Large (5184x3456)

● Menu > Aspect Ratio > 4:3

● Menu > Power Saving > Disable ‘Camera Auto Off’ and set LCD
Auto Off to ’30 min.’

● Focus

o Automatic

● Exposure settings

o Aperture Priority (A

v )

o F/5.6

- F/8

o ISO 800

● Remove lens cap

● Plug in camera/Tx ConnectorWHOI APH

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● Sync up time output on camera and hexacopter

● Check video output at ground station

● Start motors (see Appendix C )

● Conduct hand test of pitch, roll and head ing control and responses in VO’s hands

● The standard method of launch will be conducted by hand

– the VO will lightly hold the UAS above their head. Proper PPE will be worn including long sleeves, Kevlar gloves, glasses, and hat

● The VO will notify the PIC they are ready for launch

● The PIC will power up the UAS motors and take

- off from the VO’s hands

● Once airborne the VO will begin monitoring the surrounding airspace

● Once airborne, activate altitude hold and ensure that altitude hold is operational

● Confirm hexacopter is responding appropriately by testing all directional controls. Trim if necessary

● Briefly ensure that ‘return to home’ is working as expected

● Begin mission

Recovery

—

● At the conclusion of the flight mission the PIC will manually pilot the UAS home, or may initiate the ‘automatic return home’ procedure. The UAS has capacity to be programmed to return to the current location of the vessel if the vessel has moved

from the the laucnch location.

● Following instruction from the PIC, the VO will posit ion themselves for hand recovery of the UAS. Proper PPE will be worn including, long sleeves, Kevlar gloves, glasses, and hat

● The PIC will slowly bring the UAS down and the VO will reach up and grab the landing skids

● The PIC will immediately power off the motors and the flight team will begin the
post

- flight checklist:

1. Disconnect hexacopter battery

2. In the event of a hard landing on the previous flight, disconnect battery and then reconnect to initiate system checks.

3. Check motor and battery temperatures

4. Tu rn off camera

5. Turn off RC unit

6. Turn off ground station

7. Unplug camera/Tx Connector

8. Replace lens cap

9. Conduct visual inspection of arms, rotor blades, motors and landing gear

Emergency Procedures: The most likely emergency situation to develop during the ope ration of

the APH

- 22 is a rapid loss of battery power. A fully charged APH

- 22 Lithium Polymer battery has a charge of 16.8 volts and a capacity of 6200 mAH. During flight operation the voltage of the battery progressively declines. The UAS has integrated low voltage alarms to audibly notify the flight crew of low voltage. When the voltage of the UAS battery measures 14.2 volts anWHOI APH

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alarm sounds at the GCS. When the voltage of the UAS battery reaches 13.2 volts another alarm

will sound on the UAS and the PIC will immediately land the UAS.

Unlike some multi

- rotor drones, the APH

- 22 hexacopter has the ability to continue controlled flight, despite the loss of up to one engine. In the event of an engine failure, the PIC will be instructed to retrieve the UAS immediately, if possible, if not to ditch it.

Loss of propulsion

—

The most likely cause of power loss to the UAS is depleting the UAS battery or the internal failure of one or more cells within the UAS Lithium Polymer battery. As such, the PIC will monitor the UAS battery voltage.

● While i n flight the PIC will monitor the UAS battery voltage reading.

● The PIC will pilot the UAS home when battery voltage reaches 15.2V, reserving a
considerable amount of battery capacity.

● If at any time during a flight the battery voltage begins to drop rapid ly and inexplicably
the PIC will retrieve immediately.

● If at any time during a flight a propulsion loss occurs (can lose one motor and still remain
operational) the PIC will retrieve immediately if possible, or ditch it.

● The UAS has adequate buoyancy to r emain afloat in the event of a water landing. If the
UAS loses propulsion over water it will be recovered by the vessel or small boat.

● Following a malfunction of the UAS the cause will be identified and addressed before
flying the next mission.

Fire

—

● T he lithium polymer batteries may ignite under significant impact. Lithium polymer

batteries will be handled using fire proof bags for charging, storage and transport

.

Aircraft Observed in Vicinity

—



### ● If an aircraft is observed operating within the vicinity the VO will immediately alert the
PIC. The PIC will immediately reduce altitude, return the hexacopter to the GCS, and
land the UAS. When the area is clear of aircraft, UAS flight operations will res ume.

Lost Link

—

● Prior to launch and during the startup procedures, the UAS logs its launch position and altitude using GPS and pressure sensor. This position and altitude is known as ‘home.’
The launch position will also be recorded by the vessel operator to enable return to that

location if need be.

● If the link between the GCS and the UAS is lost for a specified period of time the UAS
will automatically adjust altitude to a previously specified safe altitude for the mission (not to exceed 400’ AGL ) and return to a point above its home position. If the link is notWHOI APH

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reestablished between the UAS and GCS, the UAS will autoland after reaching this
position.

● The default period of time to initiate the ‘automatic return home’ procedure is 10

seconds. The d efault ‘automatic return home’ altitude will be set to 50 feet above the highest point of the vessel, which is 70’above sea level.

All attempts will be made to re

- establish link as UAS returns home and begins the descent to autoland. Realistically, the li nk should be reestablished as the UAS approaches the GCS and RC and the signal strength from the GCS and RC increases.

Record Keeping: The flight crew will track flight information as follows:

● Number of flights conducted

● Operational time per flight

● GCS operational time in support of each flight

● Pilot duty time per flight

● Equipment malfunctions with the GCS or aircraft

● Operational/coordination issues

● The number and duration of lost link events per aircraft per flight.

Incident/Accident Procedures: All incidents/accidents will be reported immediately to a designated contact at Woods Hole Oceanographic Institution Environmental Health and Safety

Office

.

Additional Checklists: After shipment

– out of the box check list

● Charge RC unit and all Lithium bat teries

● Conduct visual inspection of arms, motors and landing gear

● Verify tight fit on all motor mounts

● Remove lid and check all connectors, solder connections and verify installation of SD

card

● Confirm balance of propellers

● Secure propellers to arms

● Turn on transmitter, check battery voltage and verify settings

● Install battery in aircraft and conduct “self check” (1 beep system check ok; then 4 beeps to indicate it detects a 4 cell battery)

● Put hexacopter on a level surface and calibrate accelerometers (see Appendix A )

● Rotate aircraft around three axis to calibrate magnetic compass (see Appendix B )

● Check for GPS lock and fix (requires 6 satellites) (blue light flashes)

● Conduct hand test to de termine whether aircraft responds properly to movement (fore, aft, pitch and yaw)

● Set up camera

APPENDIX A

— Accelerometer CalibrationWHOI APH

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Calibrating the accelerometers establishes what the flight controller considers ‘level‘ attitude. Therefore, the bird m ust be leveled before calibration. This procedure needs to be performed only once, unless the flight control board is removed, or the firmware is updated.

1. Level the bird

2. Use the transmitter to initiate calibration

Function Example

Throttle up + Yaw right Listen for 3 beeps that confirm calibrationWHOI APH

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APPENDIX B

— Compass Calibration



### Step Function Example

Step 1 Initiate compass

calibration Pitch stick down

then Throttle up + Yaw left (1 beep)

Step 2
Start Calibration Pitch stick down (2 beeps and clicking begins)

Calibration of the X

Axis (Pitch

- Axis) Point nose North or South

.

Rotate the bird around the Pitch

Axis until the clicking stops.

Calibration of the Y

Axis (Roll

- Axis) Rotate the bird 90°

The clicking starts again.

Rotat e the bird around the Roll

Axis until the clicking stops.

Step 3 & 4

Finish the

calibration of the X

and Y

- Axis Pitch stick down (3 beeps. Do nothing.)

Pitch stick down (4 beeps) The clicking starts again.

Calibration of the Z

Axis (Yaw

- Axis) Rotate the bird around the Roll

Axis until the clicking stops.WHOI APH

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Step 5 Finish calibrating

the Z

- Axis. Pitch stick down

Listen for 2 beeps that confirm

calibration.WHOI APH

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Appendix C

— Gyro Calibration, Startup and Shutdown

Function Example

Calibrating Gyros (Before every start.) Throttle up + Yaw left (3 beeps)

Starting the motors Throttle down + Yaw right

Stopping the motors

Throttle down + Yaw leftWHOI APH

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Literature Cited

Miller, C. A., Best, P. B., Perryman, W. L., Baumgartner, M. F., and Moore, M. J. 2012. Body shape changes associated with reproductive status, nutritive condition and growth in right whales Eubalaena glacialis and E. australis. Mar Ecol Prog Ser, 459: 135

- 156. Pettis, H., Rolland, R., Hamilton, P., Knowlton, A., Kraus, S., and Br ault, S. 2004. Visual health assessment of North Atlantic right whales ( Eubalaena glacialis ) using photographs. Can. J. Zoo., 82: 8

- 19.WHOI Mariner Manual

– Page 1



### WHOI MARINER UAS DESCRIPTION, OPERATIONAL PROCEDURES

Prepared by:

Michael Moore

– WHOI



### Table of Contents

Background 2 UAS Description 3 Operational Procedures 5

APPENDIX 9WHOI Mariner Manual

– Page 2



### Background Information

Project Goal: WHOI’s primary objective is to use the Mariner hexacopter unmanned aircraft system (UAS) to collect breath samples from large whales

. Breath samples of whale individuals will be captured by the UAS when t hey surface. Using a slightly larger UAS , the APH

- 22 , the National Marine Mammal Laboratory (NMML) and NOAA Southwest Fisheries Science Center have successfully conducted UAS surveys with Steller Sea Lions and killer whales in the Queen

Charlotte Island s, British Columbia (see http://www.fisheries.noaa.gov/podcasts/2014/10/aerial_vehicle_killer_whale.html#.VIcXxjHF_T o)

. The same safety measures, mission protocols, and restrictions listed below will be adhered to as were implemented in these surveys. Rece ntly in Chilean airspace we have successfully collected breath from a blue whale in Chile (Figure 1).

Figure 1

– Frame shot of video during breath sampling of a blue whale in Chile. Note the calf on

the left of the mother.

Project Description: Acquisition of breath samples has great value for studying stress response, endocrinology and microbiology in large whales. These disciplines will be uniquely served by such samples.

Aircraft Operations: All missions will be flown under in Class G airspac e under Class E VFR

weather conditions . Pertinent marine mammal research permits from NOAA Office of Protected

Resources will be in hand. Additionally, for any missions flown within the boundaries of the NOAA Stellwagen Bank National Marine Sanctuary, any necessary authorization/permits with

be obtained.

The aircraft will be operated by at least a 2 person team. One individual will fulfill the role of Pilot in Command (PIC). This person will lead the flight and operate the UAS with the RC unit

and monitor the video feed, battery status, altitude and orientation and relate to the PIC. The

second individual will be the Visual Observer (VO) and will observe the UAS and surrounding airspace throughout each flight and provide the PIC information on the UAS’s fl ight path and proximity to all aviation hazards necessary to prevent collision.WHOI Mariner Manual

– Page 3

The UAS will be flown as low as 10 feet above the animal (and not more than 2 00 feet ) during a surfacing and exhalation in order to collect the exhalate on sterile collection plates located on the underside of the UAS. If there is an immediate behavioral response to the approach, i.e. increased avoidance through evasive maneuvering, approaches on the animal will cease for the day and a new animal will be targeted. Additionally, the flight crew will reassess the protocols and increase the altitude above the animal if necessary during subsequent approaches to minimize the negative response from the animal, while still attempting to collect the animal’s exhal ate. All surveys will be flown in manual control. The PIC will pilot the UAS over targeted animals based on their view of the UAS and what is shown on the video downlink at the Ground Control Station (GCS) (Figure 1) relayed b y the ground

station observer

. All video will be saved to disc for later review of any subtle behavioral changes.

An inverted sterile standard skirtless 96 well plate (12 x 7 x 2 cm, weighing 13.7 gm) will be securely attached to the underside of the multicopter, behind the camera (F igure 2 ) . Bench trials suggest that 4

- 6 mls of exhalate could be collected, with surface tension holding the samples in the wells of the inverted plate until the plate can be retrieved from the UAS and processed appropriately

.

Additionally the Mariner may also be flown to document large whale entanglement cases. For this low altitude flights will be combined with the UAS landing on the water beside the whale with an underwater video camera to fully document the entanglement.

F lights will only be conducted in the following conditions:

● Daylight hours

● Visibility 3 statute miles or greater

● UAS able to operate at least 500 feet below clouds and 2,000 feet horizontally from

clouds.

● Wind less than 20 knots.

● Rain less than 0.25 inches per hour

The PIC will not operate the UAS beyond line of sight and under no circumstances will the UAS be operated beyond visual range or 0.5 nm, whichever is less. Each flight operation will be preceded and followed by working through the appropriate ch eck lists (see pre

- flight checklist below). Flights (Figure 3) will not be operated within 5 miles of any airport (such as Provincetown or Chatham, and not within Nat ional Park Service land or beac h areas. A common right whale area in Cape Cod Bay is Wood End, 5 miles south of Provincetown airport. We will only operate outside of that range to the airport. Thus we will not operate near Herring Cove Beach, which is another common location for right whales.



### UAS Description

The Mariner quad copter is designed and built by fpvfactory.com

. It is a small vertical takeoff and landing (VTOL) UAS that is designed for high humidity operations , including landing on the water to acquire underwater surface video . The aircraft is powered by a 4 cell Lithi um polymerWHOI Mariner Manual

– Page 4

batt ery that drives 4 brushless electric motors. It weighs approximately 3.6 pounds and measures

20 inches from propeller to propeller. Depending on battery configuration and payload the flight duration can be up to 30 minutes . The UAS’s attitude, altitude, and heading are stabilized by an electronic control system that incorporates 3 gyros, 3 accelerometers, a magnetic compass, a barometric pressure sensor, a GPS receiver, and 8 microprocessors. The buoyant body of the

aircr aft is rugged plastic and the landing support struts are impact resistant nylon tubing

.

Figure 1

– Mariner Base Control Station

Figure 2

. Mariner Quadcopter

.

a. Top side
, b. Front view showing exhalate collection plate , c. S ide showing camera.

Note camera shou ld be shifted fore or aft to balance overall payload. Be sure to secure video cable with hook and loop straps to keep it flush with body in midli ne to avoid rotating propellers

a b cWHOI Mariner Manual

– Page 5

Sp ecifications:

Manufa cturer: pfvfactory.com

Model: Mariner

Diameter: 20 inches from prop hub to prop hub Height: 9 inches

Unloaded weight: 3.8 pounds

Max Take

- off weight: 4.4 pounds Engine type: 4 x flat core brushless motors Engine Power: 64 N Battery: 4 cell Lithium Polymer Battery Capacity: 1 4 .8 volts / 4 200 mAH

Performance: Max Cruise Speed: 30 knots Min Cruise Speed: Hover Max Range: 1000 yards

Endurance: Up to 30 minutes

Max Altitude: 2 00 feet

Communication System Description: There are two transmitter/receiver pairs used in the operation of the Mariner : one pair is used for r adio c ontrol of the aircraft (2.4 GHz) and one pair

is used for the video downlink (5.8 GHz)

.

To control the UAS, the PIC uses a 2.4 GHz, 7 channel radio control transmitter with the corresponding receiver integrated into the UAS. Similarly, to broadcast video information in

real

- time, the transmitter is integrated into the UAS and the corresponding receiver integrated

into the GCS.

The vide o downlink provides the PIC with real time video for situational awareness and target acquisition.

Frequencies used for each data type follow:

2.4 GHz for radio control

- transmitter at GCS

5.8 GHz for video downlink

- transmitter on UAS

Ground Control Station Description: The GCS consists of a handheld controller and a real

time video display mounted on the controller . The PIC controls the UAS at the GCS using a

handheld DeVo 7

- Channel Radio Control System with the video as a reference.

The video mo nitor receives analogue video output from the camera mounted on the UAS. The

GCS video display is powered by an internal Lithium Polymer battery

.WHOI Mariner Manual

– Page 6



### Operational Procedures

UAS equipment deployments from the Research Vessel: Procedures will be discussed with all members of the flight crew before each deployment and if there are any objections by any member of the team, the mission will be postponed until deemed safe by all members or cancelled due to unfavorable conditions (i.e., inclement weather such as high seas or winds).

Weather Considerations: Missions will not be deployed unless all involved and the Research Vessel crew deem it safe. This means sea swell is not excessively high and will remain favorable throughout the d uration of the flight.

De ployment/Recovery: The Mariner will be safely secured in a pelican case while still on board

the r esearch v essel. For launching, the research vessel will be held stationary, head to wind. The PIC will stand on the aft deck, immediately behind the VO who wi ll stand on the level platform at the aft end of the vessel. The VO will be standing behind a waist high safety rail.

Routine Procedures:

Launch

— Prior to the first flight of the day a briefing will be held on the research vessel with the ship’s captain, chief scientist, and flight crew (PIC and VO), present. Prior to beginning any UAS flight the operation will be briefed with a minimum of the flight crew present. Briefing topics will include:

● A review of the previous relevant UAS missions (within or outs ide of the current project)

● Safety concerns regarding the previous or upcoming UAS operation

● UAS status

● Mission objectives

● Weather conditions and forecast

● Identification of roles

● Scheduled launch time

● Launch procedures

● Recovery procedures

● Limiting airspace factors

● Emergency procedures

Following the pre

- flight briefing the flight crew will complete the pre

- flight checklist:

● Conduct visual inspection of arms, rotor blades, motors and landing gear

● Check charge level in lithium polymer batteries (charge as required)

● Turn on RC unit / verify GPS/ATTI switch in forward position on RC unit

● Verify Intelligent Orientation Control is in the off position (switch in back position on RC unit).

● Install battery in aircraft

– verify proper UAS self

- check (one beep followed by 4 beeps)

● Check for communication with RC unit

● Check battery status in ground stationWHOI Mariner Manual

– Page 7

● Check battery integrity, check voltage of UAS battery as indicated by UAS arm LED’s not flashing

● Verify GPS lock (flashing green belly LED on U AS when in GPS/ATTI mode)

● Calibrate magnetic compass (only required if location differs from previous flight

– see Appendix B )

● Turn on camera

● The PIC will power up the UAS motors and perform the hand check of pitch, roll and heading control and responses i n VO’s hands

● The standard method of launch will be conducted by hand

– the VO will lightly hold the UAS above their head. Proper PPE will be worn including long sleeves, Kevlar gloves, glasses, and hat

● The VO will notify the PIC they are ready for launch

● Record Latitude and longitude of launch position

● The PIC will take

- off from the VO’s hands

● Once airborne

, the VO will begin monitoring the surrounding airspace

● Once airborne, activate altitude hold and ensure that altitude hold is operational

● Confirm aircr aft is responding appropriately by testing all directional controls. Trim if

necessary

● Briefly ensure that ‘return to home’ is working as expected

● Begin mission

Recovery

—

● At the conclusion of the flight mission the PIC will manually pilot the UAS home, or may initiate the ‘automatic return home’ procedure. Given the ability of the Mariner to land on water, if it comes home to the launch position, the vessel can return to th at position to retrieve it in such an eventuality.

● Following instruction from the PIC, the VO will position themselves for hand recovery of the UAS. Proper P ersonal P rotective E quipment (PPE) will be worn including, long sleeves, Kevlar gloves, glasses, and hat

● The PIC will slowly bring the UAS down and the VO will reach up and grab the landing skids

● The PIC will immediately power off the motors and the flight team will begin the
post

- flight c hecklist:

1. Disconnect aircraft battery

2. In the event of a hard landing on the previous flight, disconnect battery and then reconnect to initiate system checks.

3. Check motor and battery temperatures

4. Turn off camera

5. Turn off RC unit

6. Turn off ground control st ation

7. Unplug camera c onnector
8. Conduct visual inspection of arms, rotor blades, motors and landing gearWHOI Mariner Manual

– Page 8

Emergency Procedures: The most likely emergency situation to develop during the operation of

the Mariner is a rapid loss of battery power. A fully char ged Mariner Lithium Polymer battery has a charge of 1 4 .8 volts and a capacity of 4 200 mAH. During flight operation the voltage of the battery progressively declines. The UAS has an integrated low voltage LED alarm to visually notify the flight crew of low voltage by flashing the four arm LED’s

. T he PIC will immediately

land the UAS.

Loss of propulsion

—

The most likely cause of power loss to the UAS is depleting the UAS battery or the internal failure of one or more cells wit hin the UAS ’s Lithium Polymer battery.

● While in flight the PIC will monitor the UAS LED alarm

.

● The UAS has adequate buoyancy to remain afloat in the event of a water landing. If the
UAS loses propulsion over water it will be recovered by the research vessel or small boat.

● Following a malfunction of the UAS the cause will be identified and addressed before
flying the next mission.

Fire

—

● The lithium polymer batteries may ignite under significant impact. Lithium polymer

batteries will be handled using fire proof bags for charging, storage and transport

.

Aircraft Observed in Vicinity

—



### ● If an aircraft is observed operating within the vicinity the VO will immediately alert the
PIC. The PIC will immediately reduce altitude, return the UAS to the GCS, and land.
When the area is clear of aircraft, UAS flight operations will resume.

Lost Link

—

● Prior to launch and during the startup procedures, the UAS logs its launch position and
altitude using GPS and pressure sensor s . This position and altitude is known as ‘home.’
The launch position will also be recorded by the vessel operator to enable return to that

location if need be.

● If the link between the GCS and the UAS is lost for a specified period of time the UAS
will automatically adjust altitude to a previo usly specified safe altitude for the mission (not to exceed 400’ AGL) and return to a point above its home position. If the link is not
reestablished between the UAS and GCS, the UAS will autoland after reaching this
position.

● The default period of time to initiate the ‘automatic return home’ procedure is 10

seconds. The default ‘automatic return home’ altitude will be set to 50 feet above the highest point of the vessel, which is 70’above sea level.WHOI Mariner Manual

– Page 9

All attempts will be made to re

- establish link as the UAS returns home and begins the descent to autoland. Realistically, the link should be reestablished as the UAS approaches the GCS and RC and the signal strength from the GCS and RC increases.

Record Keeping: The flight crew will track flight information as follows:

● Number of flights conducted

● Operational time per flight

● GCS operational time in support of each flight

● Pilot duty time per flight

● Equipment malfunctions with the GCS or aircraft

● Operational/coord ination issues

● The number and duration of lost link events per aircraft per flight.

Incident/Accident Procedures: All incidents/accidents will be reported immediately to a designated contact at Woods Hole Oceanographic Institution Environmental Health an d Safety

Office

.

Additional Checklists: After shipment

– out of the box check list

● Charge RC unit and all Lithium batteries

● Conduct visual inspection of arms, motors and landing gear

● Verify tight fit on all motor mounts

● Remove lid and check all connecto rs, solder connections and verify installation of SD

memory card

● Confirm balance of propellers

● Secure propellers to arms

● Turn on radio transmitter, check battery voltage and verify settings

● Install battery in aircraft and conduct “self check” (1 beep syste m check ok; then 4 beeps to indicate it detects a 4 cell battery)

● Put aircraft on a level surface and enable start up (see Appendix C )

● Rotate aircraft around three axis to calibrate magnetic compass (see Appendix B )

● Check for GPS lock and fix (requires 6 satellites) (blue light flashes)

● Conduct hand test to determine whether aircraft responds properly to movement (fore, aft, pitch and yaw)

● Set up cameraWHOI Mariner Manual

– Page 10

APPENDIX A

—WHOI Mariner Manual

– Page 11

APPENDIX B

— Compass CalibrationWHOI Mariner Manual

– Page 12

Appendix C

— Startup and ShutdownWHOI Phantom Manual

– Page 1



### WHOI PHANTOM UAS DESCRIPTION, OPERATIONAL PROCEDURES

Prepared by:

Michael Moore

– WHOI



### Table of Contents

Background 2 UAS Description 3 Operational Procedures 5

APPENDICES 9WHOI Phantom Manual

– Page 2



### Background Information

UAS Project Goals: WHOI’s primary objective is to use the DJI Phantom quadcopter unmanned aircraft system (UAS) to collect high resolution digital imagery and biological samples (Eg. exhalate or breath samples) from marine mammals. The primary target animals will

be those th at are in immediate need of assessment and documentation (Eg. entangled free

swimming animals; beached animals in inaccessible areas; injured animals; etc.) in order to facilitate a safe and effective response to maintain animal and general public safety.

Acquisition of digital imagery by a fairly inexpensive UAS platform has great value in providing critical assessment images and video before first responders get in close to the animal for either closer examination or removal of entangling fishing gear ( in the case of entangled whales). Collection of breath samples has great value for studying individual animal health through analyzing stress response, endocrinology and microbiology in large whales. These disciplines will be uniquely served by such sample s.

Using UAS platforms, the National Marine Mammal Laboratory (NMML) and NOAA Fisheries Southwest Fisheries Science Center have successfully conducted UAS surveys with Steller Sea Lions and killer whales in the Queen Charlotte Islands, British Columbia (s ee http://www.fisheries.noaa.gov/podcasts/2014/10/aerial_vehicle_killer_whale.html#.VIcXxjHF_T o)

. The same safety measures, mission protocols, and restrictions that were implemented in these surveys, and listed below will be adhered to for all UAS operatio ns.

Aircraft Operations: All missions will be flown under Class G airspace when possible and under Class E VFR weather conditions. If operation in other airspace is required, the relevant controlling agency will be notified at least 24 hours prior to th e operation and, if required, any necessary permission obtained. All applicable marine mammal research and response permits from NOAA Fisheries Office of Protected Species will be acquired and in place for any UAS operations. Additionally, for any missions flown within the boundaries of a NOAA National Marine Sanctuary (Eg. Stellwagen Bank National Marine Sanctuary), any necessary authorization/permits with be obtained.

The aircraft will be operated by at least a 2 person team. One individual will fulfill the role of Pilot in Command (PIC). This person will lead the flight and operate the UAS with the Radio Control (RC) unit and monitor the video feed, battery status, altitude and orientation and relate

this information to the PIC. The second individual wi ll be the Visual Observer (VO) and will observe the UAS and surrounding airspace throughout each flight and provide the PIC information on the UAS’s flight path and proximity to all aviation hazards necessary to prevent

collision.

The UAS will typically b e flown approximately at 50 feet AGL 1 above the animal for digital imagery and assessment, and as low as 10 feet above the animal (and not more than 300

1 All measurements in manual are in feet and listed as absolute altitude or AGLWHOI Phantom Manual

– Page 3

feet ) for biological sampling. Exact protocols may differ slightly based on if the animal is stationary on the beach or in the water free

- swimming. All appropriate sampling methodologies will be implemented in order to collect the biological sample (i.e. exhalate collection on sterile collection plates located on the underside of the UAS).

For free

- swimmi ng animals that are the focus of research, if there is an immediate behavioral response to the approach, i.e. increased avoidance through evasive maneuvering, approaches on that animal will cease for the day and a new animal will be targeted. Additionally, the flight crew will reassess the protocols and increase the altitude above the animal if necessary during subsequent approaches to minimize the negative response from the animal, while still attempting to collect the data on the target animal.

All sur veys will be flown in manual control. The PIC will pilot the UAS over targeted animals

based on their view of the UAS and what is shown on the video downlink at the Ground Control Station (GCS) relayed by the ground station observer. All digital imagery (i .e. images or video) will be saved to disc for later review of any subtle behavioral changes or thorough visual

assessment.

Flights will only be conducted in the following conditions:

● Daylight hours

● Visibility 3 statute miles or greater

● UAS able to operate at least 500 feet below clouds and 2,000 feet horizontally from

clouds.

● Wind less than 20 knots.

● Rain less than 0.25 inches per hour

The PIC will not operate the UAS beyond line of sight and under no circumstances will the UAS be oper ated beyond visual range or 0.5 nm, whichever is less. Each flight operation will be preceded and followed by working through the appropriate checklists (see pre

- flight checklist below). Flights will not be operated within 5 nautical miles (NM) of an airpo rt having an operational control tower, or 3 NM of an airport with a published instrument flight procedure but not an operational control tower, or 2 NM of an airport without a published instrument flight procedure or operational control tower, or 2 NM of a heliport with a published instrument flight procedure. Flights will be operated in Class G airspace whenever possible. If operation in other airspace is required, the relevant controlling agency will be notified at least 24 hours prior to the operation a nd, if required, any necessary permission obtained.



### UAS Description

The Phantom quadcopter 2 is designed and built by DJI. It is a small vertical takeoff and landing (VTOL) rotorcraft UAS that is designed for high resolution aerial imaging and relative ease of use. The aircraft is powered by a 3 cell Lithium polymer battery that drives 4 brushles s electric

2 The DJI Phantom 2 Vision + is the model specifically discussed in this manual but may change based on the release of subsequent models that offer enhanced safety and ope rational featuresWHOI Phantom Manual

– Page 4

motors. It weighs approximately 2.7 pounds and measures 14 inches from propeller to propeller. Depending on battery configuration and payload the flight duration can be up to 25 minutes. The UAS’s attitude, altitude, and heading are stabilized by an electronic control system that incorporates 3 gyros, 3 accelerometers, a magnetic compass, a barometric pressure sensor, a GPS receiver, and 8 microprocessors.

Specifications:

Manufacturer: DJI

Model: Phantom 2 Vision+

Class: SUAS

- rotorcraft

Diam eter: 14 inches from prop hub to prop hub Height: 7 inches Unloaded weight: 1.9 pounds

Take

- off weight: 2.7 pounds Engine type: 4 x flat core brushless motors Engine Power: 64 N Battery: 3 cell Lithium Polymer Battery Capacity: 11.1 volts / 5200 mAH

Perf ormance: Max Cruise Speed: 30 knots Min Cruise Speed: Hover Max Range: 1000 yards Endurance: Up to 25 minutes

Max Altitude: 2 00 feet

Communication System Description: There are two transmitter/receiver pairs used in the operation of the Phantom 2 Vision+: one pair is used for radio control of the aircraft and one pair

is used for the video downlink via a local Wifi network connection that is created for connection to a DJI smartphone or tablet App.

To control the UAS, the PIC u ses a 5.728

- 5.85 GHz radio control transmitter with the corresponding receiver integrated into the UAS. Similarly, to broadcast video information in

real

- time, the transmitter is integrated into the UAS and the corresponding receiver integrated

into the GCS with a range extender using 2.412

- 2.462 GHz.

The video downlink provides the PIC with real time video and flight data for situational awareness and target acquisition.

Frequencies used for each data type follow:

5.8 GHz for radio control

- trans mitter at GCS

2.4 GHz for video downlink

- through range extender at GCS

Ground Control Station Description: The GCS consists of a handheld controller and either a smartphone or tablet with the DJI ground station App. The real

- time video is broadcast to theWHOI Phantom Manual

– Page 5

smartphone or tablet via a local Wifi network that the UAS creates. Control of the camera settings as well as starting or stopping image or video collection can be done on the App. The PIC controls the UAS at the GCS using a handheld Radio Control Syst em with the video as a

reference.



### Operational Procedures

UAS equipment deployments: Procedures will be discussed with all members of the flight crew before each deployment and if there are any objections by any member of the team, the mission will be po stponed until deemed safe by all members or cancelled due to unfavorable conditions (i.e., inclement weather such as high seas or winds). All non

- essential personnel and bystanders will be kept at a safe distance from the flight crew and UAS operations.

W eather Considerations: Missions will not be launched unless all involved deem it safe. For

land

- based missions, this encompasses wind and rain, as well as visibility. For on

- water missions, in addition to wind, rain and visibility, sea swell also has to be taken into consideration and is not excessively high and will remain favorable throughout the duration of the flight.

Deployment/Recovery: The Phantom 2 Vision+ will be safely secured in a pelican case while not

in use or in transit.

For launching fr om land, the flight team will be in close proximity to each other with open and clear views of the horizon with no obstructions to interfere with safe operation of the UAS (i.e. power lines, trees, etc.). The PIC will coordinate with the VO and when ready to launch the UAS will be hand launched by the VO.

For launching from a vessel, the vessel will be held stationary, head to wind. The flight team will be in close proximity to each other with open and clear views of the horizon with no obstructions

to interfere with safe operation of the UAS (i.e. vessel rigging). All appropriate safety measures (i.e. waist high safety railing, PFDs, etc.) should be implemented for safe operation of the UAS

from a vessel. The PIC will coordinate with the VO and when rea dy to launch the UAS will be hand launched by the VO.

Routine Procedures:

Launch

— Prior to the first flight of the day a briefing will be held with all appropriate staff present (i.e. on a research vessel: the ship’s captain, chief scientist, and flight crew). Prior to beginning any UAS flight the operation will be briefed with a minimum of the flight crew present. Briefing topics will include:

● A review of the previous relevant UAS missions (within or outside of the current project)

● Safety concerns regarding the previous or upcoming UAS operation

● UAS status

● Mission objectives

● Weather con ditions and forecast

● Identification of roles

● Scheduled launch timeWHOI Phantom Manual

– Page 6

● Launch procedures

● Recovery procedures

● Limiting airspace factors

● Emergency procedures

Following the pre

- flight briefing the flight crew will complete the pre

- flight checklist (a PDF

p reflight checklist has been created and is to be used in the field, this document is listed as Appendix B):

● Conduct visual inspection of arms, rotor blades, motors and landing gear

● Check charge level in lithium polymer batteries by pushing button on batte ry (charge as required)

● Turn on Range Extender

● Turn on RC unit / verify GPS/ATTI switch (S1 switch on right side of RC unit) in rear position on RC unit

● Verify Intelligent Orientation Control is in the on position with switch (S2 switch on

left side of RC unit) in rear position on RC unit

● Install battery in aircraft and push and hold button on battery to power up aircraft

– verify proper UAS self

- check

● Open settings on iPhone or iPad, select Wifi and connect to Phantom_*** network

● Launch DJI Ground Station App on iPhone or iPad

● Verify battery status on ground station

● Verify number of GPS satellites acquired ( Do NOT launch with less than 6 or more satellites acquired )

● Orient the range extender to right angle to flight direction

● Confirm SD card is in the camer a and that the lens cap is off

● Calibrate compass by either operating S1 switch up and down 10 times or by selecting calibration in the DJI App options menu (Successful calibration is indicated by green lights on the underside of the Phantom’s arms)

● Orient the RC antenna to a vertical position

● The PIC will power up the UAS motors and perform the hand check of pitch, roll and heading control and responses in VO’s hands

● The standard method of launch will be conducted by hand

– the VO will lightly hold

the UAS above their head. Proper PPE will be worn including long sleeves, Kevlar gloves, glasses, and hat

● The VO will notify the PIC they are ready for launch

● Record Latitude and longitude of launch position

● The PIC will take

- off from the VO’s hands

● Once airborne, the VO will begin monitoring the surrounding airspace

● Once airborne, activate altitude hold and ensure that altitude hold is operational

● Confirm aircraft is responding appropriately by testing all directional controls. Trim if

necessary

● Briefly ensure that ‘return to home’ is working as expected

● Begin mission

Recovery

—WHOI Phantom Manual

– Page 7

● At the conclusion of the flight mission the PIC will manually pilot the UAS home, or may initiate the ‘automatic return home’ procedure. Given the ability of the Phantom

2 Vision+ to u pdate its home position every 2 seconds based on the iPhone or iPad’s

GPS location

● Following instruction from the PIC, the VO will position themselves for hand recovery of the UAS. Proper Personal Protective Equipment (PPE) will be worn including, long sle eves, Kevlar gloves, glasses, and hat

● The PIC will slowly bring the UAS down and the VO will reach up and grab the landing skids

● The PIC will immediately and the flight team will begin the post

- flight checklist:

1. Power off the motors by moving the left stick to the lower right and the right stick to the lower left

2. Push and hold button on aircraft battery to power down the aircraft

3. In the event of a hard landing on the previous flight, Inspect Phantom 2 Vision+ for damage and if needed, cycle the power o n the battery to initiate system checks.

4. Turn off Range Extender

5. Turn off RC unit

6. Turn off ground control station App

7. Conduct visual inspection of arms, rotor blades, motors, landing gear and body for damages

8. Remove battery from UAS

9. Pack away in Pelican ca se

Emergency Procedures: The most likely emergency situation to develop during the operation of the Phantom 2 Vision+ is a rapid loss of battery power. A fully charged Phantom 2 Vision+ Lithium Polymer battery has a charge of 11.1 volts and a capacity of 5200 mAH. During flight operation the voltage of the battery progressively declines. The UAS has an integrated low voltage LED alarm to visually notify the flight crew of low voltage by flashing the four arm LED’s. The PIC will immediately land the UAS. If the battery level gets too low the UAS will automatically return to home position.

Loss of propulsion

—

The most likely cause of power loss to the UAS is depleting the UAS battery or the internal failure of one or more cells within the UAS’s Lithium P olymer battery.

● While in flight the PIC will monitor the UAS LED alarm.

● The UAS has adequate buoyancy to remain afloat in the event of a water landing. If the
UAS loses propulsion over water it will be recovered by the research vessel or small boat.

● Follo wing a malfunction of the UAS the cause will be identified and addressed before
flying the next mission.

Fire

—

● The lithium polymer batteries may ignite under significant impact. Lithium polymerWHOI Phantom Manual

– Page 8

batteries will be handled In Accordance With (IAW) with best practices for handling (i.e.
transport and charging in lithium polymer fire suppression bags.

Aircraft Observed in Vicinity

—



### ● If an aircraft is observed operating within the vicinity the VO wi ll immediately alert the
PIC. The PIC will immediately reduce altitude, return the UAS to the GCS, and land.
When the area is clear of aircraft, UAS flight operations will resume.

Lost Link

—

● During the startup procedures and throughout the flight, the U AS logs its position and
altitude using GPS and pressure sensors, as well as tracking the location of the GCS. The
GCS position can be dynamically updated if necessary through the options menu in the GCS App and is known as the ‘home’ position. The initial launch position will also be
recorded by the vessel operator.

● If the link between the GCS and the UAS is lost for a specified period of time the UAS
will automatically adjust altitude to a previously specified safe altitude for the mission
(not to exceed 400’ AGL) and return to a point above its home position. If the link is not
reestablished between the UAS and GCS, the UAS will autoland after reaching this
position.

● The default period of time to initiate the ‘automatic return home’ procedure is 10

secon ds. The default ‘automatic return home’ altitude will be set to 50 feet . This value
may be altered based on the operating platform, i.e. above the highest point of the vessel.

All attempts will be made to re

- establish link as the UAS returns home and beg ins the descent to autoland. Realistically, the link should be reestablished as the UAS approaches the GCS and RC and the signal strength from the GCS and RC increases.

Record Keeping: The flight crew will track flight information as follows:

● Number o f flights conducted

● Operational time per flight

● GCS operational time in support of each flight

● Pilot duty time per flight

● Equipment malfunctions with the GCS or aircraft

● Operational/coordination issues

● The number and duration of lost link events per aircraft per flight.

Incident/Accident Procedures: All incidents/accidents will be reported immediately to a designated contact at FAA immediately.WHOI Phantom Manual

– Page 9

APPENDIX A

- Figures

Figure 1

– Phantom 2 Vision+ Co ntroller and Base Control Station via iPhone

Figure 2. Sample Screenshot of Phantom Ground Station App on iPadWHOI Phantom Manual

– Page 10

Figure 3. Sample Screenshot of Phantom Ground Station Camera Control App on iPad

Figure 4. Phantom 2 Vision+ showing cameraWHOI Phantom Manual

– Page 11

APPENDIX B

— Field Card with Preflight, Postflight Checklists and Emergency

ProceduresWHOI Phantom Manual

– Page 12