## 4 Specific to UAS Technology
In this consideration we are classifying the following potential actors in driving the state of the art forward. Commercial technology is what could be described as \"General\" technology for example that associated with telephones or composite materials. We designate the driver \"Hobby\" for developments created for hobby applications. \"UAS\" indicates research in institutions and industry is the natural driver. \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Subsystem** & **Improvement** & **Discipline** & **General** & **Hobby** & **UAS** \\ \hline Battery & Energy Density & Chemistry & \(\blacklozenge\) & \(\bigcirc\) & \(\bigcirc\) \\ \hline Propeller & Efficiency & Aerodynamics & \(\bigcirc\) & \(\blacklozenge\) & \(\blacklozenge\) \\ Wing & Efficiency & Aerodynamics & \(\bigcirc\) & \(\blacklozenge\) & \(\blacklozenge\) \\ \hline Motors & Efficiency & Electromechanics & \(\blacklozenge\) & \(\bigcirc\) & \(\blacklozenge\) \\  & Reliability & Electromechanics & \(\bigcirc\) & \(\bigcirc\) & \(\blacklozenge\) \\ \hline Actuators & Robust Precision & Electromechanics & \(\blacklozenge\) & \(\blacklozenge\) & \(\blacklozenge\) \\  & Miniaturization & Electromechanics & \(\bigcirc\) & \(\blacklozenge\) & \(\blacklozenge\) \\ Flapping & Miniaturization & Electromechanics & \(\bigcirc\) & \(\bigcirc\) & \(\blacklozenge\) \\ \hline HMI & Effectiveness & Software & \(\bigcirc\) & \(\blacklozenge\) & \(\blacklozenge\) \\  & Size & Hardware & \(\blacklozenge\) & \(\blacklozenge\) & \(\bigcirc\) \\  & Ergonomics & Human Factors & \(\bigcirc\) & \(\bigcirc\) & \(\bigcirc\) \\ \hline Autonomy & Effectiveness & Software & \(\bigcirc\) & \(\bigcirc\) & \(\blacklozenge\) \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Strong drivers of technology advances are indicated with \(\blacklozenge\), weak drivers or highly applied research needs are indicated with \(\blacklozenge\), and drivers that are not likely to be effective with \(\bigcirc\). This analysis is based on the historical contributions to these fields and the current level of investment. By far the most aerodynamics research on small wings and propellers happens in institutions funded by Government with UAS in mind. Batteries on the other hand are a technology of interest to the huge industry of mobile telephones and power tools. The research required to effectively use new sources of power in UAS is rather specific, but limited compared to actually inventing a power source. Most small UAS today have variations of commercial actuators adapted from the commercial hobby world and often electrically compatible with them. The micro UAS discipline moves further away from the hobby industry and towards UAV research programs when flapping wings [44; 45] and extreme miniaturization [46] are involved. Autonomy is typically specific to the domain of UAS and mainly in institutions, although developments like the Robot Operating System [47] are causing a convergence of autonomy effort on problems rather than platforms and starting to involve effective hobbyists. Historically human machine interfaces for UAS have been poorly done on both large and small UAS, with expensive lessons learned [48]. There are substantial research opportunities in this area.