## 4 Experiment Setup and Results
### Experiment Setup and Technical Specifications  
This subsection gives a brief outline of the experiment setup and the hardware specifications of its components. Table 2 highlights the configurations of the experiment's components in both ground and space segments. A FLIR Lepton 2.5 thermal camera was used for aerial imaging to scan and search for lost persons in disaster zones. Raspberry Pi 3 B+ was used for controlling the thermal camera and GPS sensor of the universal asynchronous receiver transmitter (UART); these two components were linked synchronously to detect missing persons and identify their GPS coordinates. A BME280 sensor was used to sense the humidity, altitude, air pressure, and temperature measurements, since these are important for any aerial missions. A FOXEER 5.8 GHz Circular Polarized Omni Antenna is used. This circular, polarized, omnidirectional antenna can be used on both sides of the transmitters and receivers. A video transmitter and video receiver were used with wireless devices for transmitting and receiving the FLIR camera video. \begin{table}
\begin{tabular}{l} Thermal camera and GPS connection with Raspberry Pi 3 B+ \\ \end{tabular}
\end{table} 
Table 2: The configurations of the experiment’s components. The proposed drone used in this experiment features four propellers and few components. It has a frame that uses an F450 multicomputer quadcopter kit frame (PCB Version). An electronic speed controller (ESC) was used to control the speed of the motor and protect the batteries. Four propellers were used to provide lift to the drone by spinning to obtain different pressures between the top and bottom surfaces, which counteracts the force of gravity. Brushless DC motors were used and powered by a DC electric source via a switching power supply, which produced an AC electric signal to drive the motor. A drone battery was used due its advantages (e.g., light weight, high power, and quick charging). A flight controller (Pixhawk-4) was used to provide the standard for readily available, high-quality, and low-cost autopilot hardware designs. A transmitter remote controller was used to control the drone wirelessly; the signal/commands were then received by a radio receiver connected to a flight controller. An air receiver was used to receive commands from the transmitter to help to control the drone. \begin{table}
\begin{tabular}{c} Plug Wi-Fi antenna in Raspberry Pi USB port \\ \end{tabular}
\end{table} 
Table 2: Cont. The rest of this subsection gives a briefed outline of the hardware specifications of the experiment's components, which were:  
FLIR Lepton 2.5 Thermal Camera used as a thermal sensor for imaging to scan and search for lost persons in disaster zones. The technical specifications are as follows. (50\({}^{\circ}\) HFOV, 60\({}^{\circ}\) diagonal, 80 (h) \(\times\) 60 (v) active pixel. Thermal sensitivity \(<\)50 mK, Pixel Size: 17 micrometers. Frame rate: 9 Hz. Output format: User-selectable 14-bit, 8-bit, or 24-bit RGB. SPI video interfaces. Two-wire I2C-like serial-control interface. Fast time to image (\(<\)1.2 s). Low operating power, nominally 150 mW). Raspberry Pi 3 B+ used for controlling the thermal camera and GPS sensor. The technical specifications are as follows. CPU: Quad-Core 64-bit 1.4 GHz. RAM: 1 GB LPDDR2 SDRAM. Wi-Fi: Dual-band 2.4 GHz + 5 GHz. Ethernet: 300 Mbps Gigabit. PoE HAT compatible. GPIO: Extended 40-pin header. Storage: Micro-SD card slot. Video: HDMI, DSI display port, CSI camera port, USB: 4 \(\times\) USB 2.0 ports + Micro USB 5 V/2.5 A power. GPS Module used to connect this module to the Raspberry Pi, controlled by a universal asynchronous receiver transmitter (UART). The technical specifications are as follows: Supply voltage: DC 3-5 V. Interface: UART (Serial). Data transfer rate: 9600 bits per second. Module size: 2.5 \(\times\) 3.5 cm. Size of the ceramic antenna: 2.5 \(\times\) 2.5 \(\times\) 0.8 cm). Drone Frame using an F450 multicomputer quadcopter kit frame (PCB Version). The technical specifications are as follows. Color: white/red.