I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
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n
(
I
J
RA)
Vo
l.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
,
p
p
.
1
29
~
1
42
I
SS
N:
2722
-
2
5
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DOI
:
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.
1
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i
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.
pp
1
29
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42
129
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O
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c
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iza
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ra
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a
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d
a
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rial
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e
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icle
s
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Vs
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c
u
rre
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tl
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k
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o
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h
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siv
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id
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y
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a
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ti
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n
d
u
ra
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e
a
n
d
e
fficie
n
c
y
,
th
e
re
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y
li
m
it
in
g
i
n
d
u
stry
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o
wth
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is
p
a
p
e
r
a
n
a
ly
z
e
s
fa
c
to
rs
a
ffe
c
t
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g
UA
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e
n
d
u
ra
n
c
e
a
n
d
e
sta
b
l
ish
e
s
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h
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n
d
u
ra
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c
e
m
o
d
e
l
f
o
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tri
c
ro
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rc
ra
ft
tran
sp
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rt
UA
Vs
th
r
o
u
g
h
t
h
e
o
re
t
ica
l
d
e
riv
a
ti
o
n
a
n
d
tes
ti
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g
.
Ba
se
d
o
n
th
is
m
o
d
e
l,
we
in
tr
o
d
u
c
e
th
e
c
o
n
c
e
p
t
s
o
f
th
r
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st
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n
d
a
n
c
y
c
o
e
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t
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n
d
l
o
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d
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t
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o
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e
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ro
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n
d
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ra
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e
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o
n
fig
u
ra
ti
o
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ry
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is
th
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ry
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a
teg
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rize
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ra
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ter
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a
l
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o
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fig
u
ra
ti
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o
a
d
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n
d
e
n
d
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ra
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e
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ra
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s.
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in
g
c
u
rre
n
t
o
p
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ra
ti
o
n
a
l
p
a
ra
m
e
ters
,
we
e
v
a
lu
a
te
a
n
d
o
p
ti
m
ize
UA
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p
e
rfo
rm
a
n
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e
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rifi
c
a
t
io
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su
lt
s
d
e
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o
n
stra
te
h
i
g
h
m
o
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e
l
a
c
c
u
ra
c
y
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th
e
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r
ra
tes
ra
n
g
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fro
m
1
.
8
9
%
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o
5
.
6
9
%
.
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fter
o
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ti
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iza
ti
o
n
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h
e
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a
y
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o
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d
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a
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c
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ies
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rt
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se
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n
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ir
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sp
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ti
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ly
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e
n
h
a
n
c
in
g
o
v
e
ra
ll
e
fficie
n
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y
.
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h
is
m
o
d
e
l
p
ro
v
id
e
s
a
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m
e
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rk
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g
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n
d
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ra
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e
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a
p
a
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it
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a
n
d
o
ffe
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targ
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ted
o
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iza
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sti
o
n
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m
a
k
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ial
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v
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g
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p
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rm
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e
.
K
ey
w
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r
d
s
:
E
n
d
u
r
a
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ce
Mo
d
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Op
tim
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Par
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m
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CC B
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C
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p
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A
uth
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r
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L
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J
iy
u
C
o
lleg
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n
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,
So
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Ag
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ltu
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Un
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C
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a
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m
ail: lijiy
u
@
s
ca
u
.
ed
u
.
cn
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
g
r
o
win
g
d
em
an
d
f
o
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lo
g
is
tics
tr
an
s
p
o
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tatio
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as
ex
p
o
s
ed
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e
lim
itatio
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s
o
f
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ad
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u
m
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eliv
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h
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t
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ly
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lab
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elate
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n
t
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f
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C
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d
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a
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,
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ak
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d
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o
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tr
an
s
p
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t
a
n
im
p
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ta
n
t
ch
o
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ac
r
o
s
s
v
ar
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u
s
in
d
u
s
tr
ies
[
1
]
–
[
4
]
.
On
e
o
f
th
e
s
ig
n
if
ican
t
ch
alle
n
g
es
in
d
ep
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r
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es
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o
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h
o
wev
er
,
is
o
p
tim
izin
g
th
eir
en
d
u
r
a
n
ce
—
th
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am
o
u
n
t
o
f
ti
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e
th
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ate
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atter
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ce
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tific
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r
o
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r
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in
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p
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m
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ed
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(
UAVs
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s
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f
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atter
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ar
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o
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er
s
tan
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
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J
R
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&
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to
m
,
Vo
l
.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
:
1
29
-
1
42
130
m
o
d
u
lar
d
esig
n
s
f
o
r
ea
s
y
an
d
q
u
ick
m
ain
ten
an
ce
an
d
r
ep
lace
m
en
t.
T
h
ey
ex
ten
s
iv
ely
u
s
e
lig
h
tweig
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t
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d
co
r
r
o
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n
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esis
tan
t
co
m
p
o
s
ite
m
ater
ials
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wh
ich
r
ed
u
ce
th
e
w
eig
h
t
o
f
th
e
air
f
r
a
m
e
an
d
en
h
a
n
ce
ad
ap
tab
ilit
y
to
v
ar
io
u
s
en
v
ir
o
n
m
en
ts
.
Fo
r
p
o
wer
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h
ig
h
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p
o
wer
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r
u
s
h
less
m
o
to
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s
ar
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m
m
o
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ly
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u
e
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p
le
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eliab
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s
tr
u
ctu
r
e
an
d
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elativ
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ly
lo
w
co
s
t,
f
ac
ilit
atin
g
lar
g
e
-
s
ca
le
p
r
o
d
u
ctio
n
.
C
o
n
t
r
o
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tem
s
o
f
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r
e
h
ig
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ter
f
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t,
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ed
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n
d
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t
in
tellig
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t
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ller
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co
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in
ed
with
GP
S/R
T
K
p
o
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itio
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in
g
m
o
d
u
les
[
5
]
,
e
n
ab
lin
g
h
ig
h
ly
p
r
ec
is
e
au
to
m
ated
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p
e
r
atio
n
s
.
Fo
r
en
er
g
y
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lith
iu
m
p
o
ly
m
e
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b
atter
ies
ar
e
u
s
ed
d
u
e
to
th
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s
tr
o
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in
s
tan
tan
e
o
u
s
d
is
ch
ar
g
e
ca
p
a
b
ilit
y
,
m
ee
tin
g
th
e
h
i
g
h
-
p
o
wer
o
u
tp
u
t d
em
an
d
s
o
f
th
e
m
o
to
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s
.
Ho
wev
er
,
th
e
lo
w
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g
y
d
en
s
ity
o
f
lith
iu
m
b
atter
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p
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d
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r
atio
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t
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r
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ltin
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ally
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o
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ce
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e
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atio
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ce
[
6
]
,
[
7
]
.
I
n
cr
ea
s
in
g
b
atter
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ca
p
ac
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ca
n
e
n
h
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o
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e
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te
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t,
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u
t
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s
iv
e
b
atter
y
weig
h
t
lead
s
to
ad
d
itio
n
al
en
er
g
y
co
n
s
u
m
p
tio
n
.
T
h
e
o
p
er
atio
n
al
lo
ad
d
eter
m
in
es
th
e
co
n
tin
u
o
u
s
wo
r
k
i
n
g
ca
p
ab
ilit
y
o
f
elec
tr
ic
r
o
to
r
cr
af
t
UAVs
an
d
m
u
s
t
b
e
r
ea
s
o
n
ab
l
y
m
atch
ed
with
en
d
u
r
a
n
ce
ti
m
e
to
ac
h
ie
v
e
o
p
tim
al
co
n
tin
u
o
u
s
o
p
er
atio
n
.
T
h
e
p
o
wer
s
y
s
tem
,
co
m
p
r
is
in
g
m
o
to
r
s
,
elec
tr
o
n
ic
s
p
ee
d
co
n
t
r
o
ll
er
s
(
E
SC
s
)
,
an
d
p
r
o
p
eller
s
,
d
et
er
m
in
es
th
e
o
v
er
all
o
p
er
atio
n
al
o
u
tp
u
t
p
o
wer
o
f
th
e
UAV,
s
ig
n
if
ican
tly
im
p
ac
tin
g
its
en
d
u
r
an
ce
ca
p
ab
ilit
ies.
I
n
s
u
m
m
ar
y
,
th
e
en
d
u
r
a
n
ce
o
f
t
r
an
s
p
o
r
t
d
r
o
n
es
is
m
ain
ly
in
f
lu
en
ce
d
b
y
th
e
p
o
wer
s
y
s
tem
,
b
atter
y
p
a
r
am
et
er
s
,
an
d
o
p
er
atio
n
al
lo
ad
.
E
f
f
ec
tiv
e
im
p
r
o
v
em
en
t
o
f
d
r
o
n
e
en
d
u
r
an
ce
an
d
o
p
er
atio
n
al
ef
f
icien
cy
u
n
d
er
cu
r
r
en
t
tech
n
o
lo
g
ical
co
n
d
itio
n
s
r
elies o
n
t
h
e
o
p
tim
al
m
atch
in
g
o
f
th
ese
th
r
ee
c
o
m
p
o
n
e
n
ts
.
C
u
r
r
en
t
r
esear
ch
r
elate
d
to
U
AV
en
d
u
r
an
ce
o
p
tim
izatio
n
m
ain
ly
f
o
c
u
s
es
o
n
th
e
o
p
tim
i
za
tio
n
o
f
t
h
e
f
u
s
elag
e
s
tr
u
ctu
r
e
lay
o
u
t
an
d
th
e
p
ar
am
eter
m
atc
h
in
g
th
e
p
o
wer
s
y
s
tem
.
Z
h
an
et
a
l.
[
8
]
s
tu
d
ied
th
e
ef
f
ec
t
o
f
m
u
lti
-
win
g
s
in
g
le
-
a
r
m
tan
d
e
m
lay
o
u
t
elec
tr
ic
UAV
r
o
to
r
s
p
ac
in
g
o
n
en
er
g
y
co
n
s
u
m
p
tio
n
,
a
n
d
t
h
r
o
u
g
h
ex
p
er
im
en
ts
,
th
e
y
o
b
tain
ed
t
h
e
b
est
r
o
to
r
s
p
ac
in
g
u
n
d
er
d
i
f
f
er
en
t
lay
o
u
ts
.
Ho
wev
er
,
th
e
i
m
p
ac
t
o
f
ch
an
g
es
in
th
e
f
u
s
elag
e
co
n
f
i
g
u
r
atio
n
o
n
th
e
test
r
esu
lts
was
n
o
t
c
o
n
s
id
er
ed
;
Yan
g
[
9
]
u
s
ed
Flu
en
t
s
o
f
twar
e
to
o
p
tim
ize
th
e
p
ar
a
m
eter
s
o
f
a
s
in
g
le
r
o
t
o
r
.
Z
h
an
g
an
d
Xie
[
1
0
]
u
s
ed
m
o
m
en
tu
m
leaf
elem
en
t
th
eo
r
y
an
d
c
o
n
s
id
er
ed
th
e
ef
f
ec
t
o
f
v
is
co
s
ity
to
o
p
tim
ize
th
e
s
tr
u
ctu
r
al
p
ar
am
eter
s
o
f
t
h
e
b
lad
e.
B
o
th
m
eth
o
d
s
ef
f
ec
tiv
ely
im
p
r
o
v
e
th
e
r
o
to
r
p
u
ll
co
ef
f
icien
t
b
u
t
o
n
ly
co
n
s
id
er
th
e
im
p
ac
t
o
f
th
e
U
AV
p
o
wer
s
y
s
tem
,
wh
ich
h
as
a
lim
ited
ef
f
ec
t
o
n
th
e
ef
f
icien
c
y
o
f
th
e
wh
o
le
a
ir
cr
af
t.
L
iu
an
d
Ma
[
1
1
]
u
s
e
d
g
en
etic
o
p
tim
izatio
n
alg
o
r
ith
m
s
to
m
u
ltit
ar
g
et
UAV
b
o
d
y
p
a
r
am
eter
s
.
Z
h
a
n
g
an
d
L
iu
[
1
2
]
p
r
o
p
o
s
ed
o
p
tim
i
za
tio
n
,
wh
ich
is
a
s
p
ec
if
ic
m
et
h
o
d
f
o
r
im
p
r
o
v
i
n
g
th
e
en
d
u
r
a
n
ce
o
f
elec
tr
ic
r
o
t
ar
y
-
win
g
UAVs;
h
o
wev
er
,
th
is
m
eth
o
d
d
o
es
n
o
t
co
n
s
id
er
th
e
im
p
ac
t
o
f
lo
ad
ch
an
g
es
o
n
th
e
en
d
u
r
an
ce
tim
e
an
d
is
o
n
ly
ap
p
licab
le
wh
en
UAVs
d
o
n
o
t
ca
r
r
y
a
p
ay
lo
ad
.
C
o
m
b
in
in
g
th
e
tr
ad
itio
n
al
m
u
ltiro
to
r
UAV
with
th
e
h
elico
p
ter
r
o
to
r
s
tr
u
ctu
r
e
ef
f
ec
tiv
ely
im
p
r
o
v
es
th
e
lo
ad
ca
p
ac
ity
an
d
f
lig
h
t
s
tab
ilit
y
o
f
s
ix
-
r
o
to
r
U
AVs.
Du
an
et
a
l.
[
1
3
]
p
r
o
p
o
s
ed
a
B
P
n
eu
r
al
n
etwo
r
k
al
g
o
r
ith
m
b
ased
o
n
t
h
e
b
ee
tle
alg
o
r
ith
m
.
T
h
e
p
o
wer
o
p
tim
izatio
n
co
n
tr
o
l
s
tr
ateg
y
o
f
th
e
v
ar
iab
le
-
p
itch
elec
tr
ic
p
o
wer
s
y
s
tem
ca
n
o
b
tain
th
e
b
est
co
m
b
i
n
atio
n
o
f
r
o
to
r
s
p
ee
d
a
n
d
p
itch
,
wh
ic
h
p
r
o
v
es
th
e
p
er
f
o
r
m
an
ce
ad
v
an
tag
es
o
f
th
e
n
ew
v
ar
iab
le
-
p
itch
r
o
to
r
s
tr
u
ctu
r
e.
Ho
wev
er
,
th
e
r
elate
d
r
esear
ch
r
esu
lts
ar
e
n
o
t
ap
p
licab
le
t
o
co
n
v
en
tio
n
al
elec
tr
i
c
UAVs a
n
d
h
av
e
lim
ited
p
r
ac
tical
g
u
id
an
ce
v
alu
e.
I
n
s
u
m
m
ar
y
,
cu
r
r
e
n
t
r
esear
ch
o
n
o
p
tim
izin
g
t
h
e
en
d
u
r
an
ce
o
f
elec
tr
ic
m
u
lti
-
r
o
to
r
tr
an
s
p
o
r
t
d
r
o
n
es
p
r
im
ar
ily
f
o
cu
s
es o
n
th
e
im
p
a
ct
o
f
in
d
iv
i
d
u
al
p
ar
a
m
eter
s
o
n
o
v
er
all
f
lig
h
t tim
e.
Ho
wev
er
,
t
h
is
s
tu
d
y
f
in
d
s
th
at
o
p
tim
al
en
d
u
r
an
ce
p
er
f
o
r
m
a
n
ce
ca
n
o
n
ly
b
e
ac
h
ie
v
ed
th
r
o
u
g
h
th
e
co
o
r
d
in
ate
d
o
p
tim
iza
tio
n
o
f
th
e
UAV
’
s
p
o
wer
s
y
s
tem
,
b
atter
y
c
o
n
f
ig
u
r
atio
n
,
an
d
o
p
e
r
atio
n
al
lo
a
d
.
Ad
ju
s
tin
g
th
e
p
ar
a
m
eter
s
o
f
in
d
iv
id
u
al
m
o
d
u
les
h
as
lim
ited
im
p
ac
t
o
n
th
e
o
v
er
all
s
y
s
tem
,
as
th
e
co
n
f
ig
u
r
atio
n
s
o
f
d
if
f
er
en
t
c
o
m
p
o
n
en
ts
ca
n
in
ter
ac
t
an
d
in
f
lu
en
ce
o
p
er
atio
n
al
p
er
f
o
r
m
an
ce
[
1
4
]
–
[
1
7
]
.
On
ly
b
y
co
n
s
id
er
in
g
th
e
i
n
ter
ac
tio
n
s
am
o
n
g
th
ese
f
ac
to
r
s
ca
n
o
p
tim
al
en
d
u
r
an
ce
b
e
r
ea
lized
.
T
h
er
ef
o
r
e,
u
n
d
er
s
tan
d
in
g
th
e
p
atter
n
s
o
f
en
d
u
r
an
ce
tim
e
v
ar
iatio
n
is
cr
itical,
an
d
a
h
o
lis
tic
ass
ess
m
en
t
o
f
th
e
d
r
o
n
e
’
s
o
v
er
all
en
d
u
r
a
n
ce
p
er
f
o
r
m
an
ce
is
n
ec
ess
ar
y
.
T
h
i
s
ap
p
r
o
ac
h
allo
ws
f
o
r
tar
g
eted
o
p
tim
izatio
n
an
d
u
p
g
r
a
d
e
r
ec
o
m
m
en
d
atio
n
s
,
u
ltima
tely
en
h
an
ci
n
g
t
h
e
o
p
er
at
io
n
al
ef
f
icien
c
y
o
f
tr
an
s
p
o
r
t d
r
o
n
es.
T
h
is
s
tu
d
y
f
o
cu
s
es
o
n
elec
tr
ic
tr
an
s
p
o
r
t
d
r
o
n
es
as
th
e
p
r
i
m
ar
y
r
esear
ch
o
b
ject.
B
y
m
a
in
tain
in
g
a
f
ix
ed
f
r
am
e
s
tr
u
ctu
r
e,
we
c
o
n
d
u
cte
d
th
eo
r
etica
l
d
er
iv
ati
o
n
s
b
ased
o
n
th
e
o
p
e
r
atio
n
a
l
p
r
in
cip
les
o
f
k
e
y
co
m
p
o
n
en
ts
,
in
clu
d
in
g
th
e
p
o
wer
s
y
s
tem
,
b
atter
y
co
n
f
ig
u
r
atio
n
,
an
d
p
ay
l
o
ad
d
esig
n
.
T
h
ese
d
er
i
v
atio
n
s
cu
lm
in
ated
i
n
th
e
d
e
v
elo
p
m
e
n
t
o
f
an
en
d
u
r
an
ce
ca
lcu
latio
n
m
o
d
el,
e
n
ab
lin
g
a
s
y
s
tem
atic
ev
alu
atio
n
o
f
d
r
o
n
e
en
d
u
r
a
n
ce
u
n
d
er
v
a
r
y
in
g
o
p
er
atio
n
al
s
ce
n
ar
io
s
.
T
o
v
alid
ate
t
h
e
ac
cu
r
ac
y
o
f
th
e
m
o
d
el,
f
ield
ex
p
er
im
e
n
ts
wer
e
co
n
d
u
cte
d
at
s
ev
en
v
alid
atio
n
p
o
in
ts
,
test
in
g
th
e
en
d
u
r
an
ce
o
f
th
e
d
r
o
n
e
u
n
d
er
d
if
f
er
e
n
t
co
n
f
ig
u
r
atio
n
s
an
d
co
m
p
ar
in
g
th
e
r
esu
lts
with
th
eo
r
etica
l
v
alu
es.
T
h
r
o
u
g
h
th
e
an
aly
s
is
an
d
d
is
cu
s
s
io
n
o
f
th
e
m
o
d
el
im
ag
es,
th
e
co
n
f
ig
u
r
atio
n
ch
a
r
ac
ter
is
tics
o
f
ea
ch
en
d
u
r
an
ce
a
r
ea
ar
e
s
u
m
m
ar
ized
,
a
n
d
a
s
et
o
f
tar
g
eted
tr
an
s
p
o
r
t
UAVs
o
p
er
atio
n
ef
f
icien
c
y
o
p
tim
izatio
n
th
eo
r
ies
is
ex
tr
ac
ted
.
T
h
e
m
o
d
el
an
d
r
eg
u
lar
ity
ca
n
b
e
u
s
ed
to
o
b
tain
th
e
o
p
tim
al
ad
ap
tatio
n
s
ch
e
m
e
b
etwe
en
th
e
tr
an
s
p
o
r
t
UAVs
b
atter
y
an
d
th
e
o
p
er
atin
g
lo
ad
,
im
p
r
o
v
e
th
e
en
d
u
r
a
n
ce
o
f
UAVs,
an
d
in
cr
ea
s
e
th
e
o
p
er
atio
n
ef
f
icien
cy
.
I
t
also
h
as
a
ce
r
tain
g
u
id
in
g
s
ig
n
if
ican
ce
f
o
r
th
e
d
esig
n
an
d
o
p
tim
izatio
n
o
f
tr
an
s
p
o
r
t
UAVs.
Op
tim
izin
g
d
r
o
n
e
e
n
d
u
r
an
ce
will
s
ig
n
if
ican
tly
im
p
r
o
v
e
tr
an
s
p
o
r
t
atio
n
ef
f
icien
cy
,
r
ed
u
ce
co
s
ts
,
an
d
p
r
o
m
o
te
wid
er
a
d
o
p
tio
n
i
n
lo
g
is
tics
,
esp
ec
ially
in
ex
p
r
ess
d
eliv
er
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
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2
5
8
6
Op
timiz
a
tio
n
mo
d
el
fo
r
en
d
u
r
a
n
ce
p
erfo
r
ma
n
ce
o
f
elec
tr
ic
r
o
to
r
cra
ft tr
a
n
s
p
o
rt
d
r
o
n
es
…
(
Hu
a
n
g
Zih
a
n
)
131
an
d
r
em
o
te
ar
ea
s
.
I
t
also
h
el
p
s
r
ed
u
ce
r
elian
ce
o
n
tr
a
d
itio
n
al
m
eth
o
d
s
,
allev
iatin
g
tr
a
f
f
ic
co
n
g
esti
o
n
an
d
lo
wer
in
g
ca
r
b
o
n
e
m
is
s
io
n
s
,
b
en
ef
itin
g
en
v
ir
o
n
m
en
tal
p
r
o
tectio
n
.
2.
T
HE
C
O
M
P
RE
H
E
NS
I
VE
T
H
E
O
RE
T
I
CA
L
B
ASI
S
2
.
1
.
E
lect
ric
ro
t
o
r
t
r
a
ns
po
rt
UAVs e
nd
ura
nce
m
o
del
I
n
ac
tu
al
f
ield
f
lig
h
t
o
p
er
atio
n
s
,
th
e
en
d
u
r
an
ce
o
f
tr
an
s
p
o
r
t
UAVs
i
s
af
f
ec
ted
b
y
m
an
y
f
a
cto
r
s
[
1
8
]
,
[
1
9
]
.
T
o
s
im
p
lify
t
h
e
s
tr
u
ctu
r
e
o
f
th
e
m
o
d
el
in
t
h
is
p
ap
er
,
t
r
an
s
p
o
r
t
UAVs
ar
e
tak
en
in
th
e
h
o
v
e
r
in
g
s
tate
as
th
e
m
ain
r
esear
ch
o
b
ject.
T
h
e
f
ac
to
r
s
a
f
f
ec
tin
g
its
en
d
u
r
an
c
e
in
clu
d
e
tak
e
-
o
f
f
q
u
ality
,
n
u
m
b
er
o
f
r
o
to
r
s
,
an
d
to
tal
b
atter
y
en
er
g
y
.
Am
o
n
g
t
h
em
,
th
e
tak
e
-
o
f
f
m
ass
is
co
m
p
o
s
ed
o
f
t
h
e
em
p
ty
air
c
r
af
t
m
ass
W
1
,
p
ay
lo
ad
m
ass
W
2
,
an
d
b
atter
y
m
ass
W
3
.
T
h
e
to
tal
p
u
llin
g
f
o
r
ce
o
f
th
e
m
o
to
r
in
th
e
h
o
v
er
in
g
s
tate
is
eq
u
al
to
t
h
e
tak
e
-
o
f
f
m
ass
.
Fo
r
a
UAV
with
n
r
o
to
r
s
,
th
e
s
in
g
le
-
m
o
t
o
r
p
u
ll T
c
an
b
e
r
e
g
ar
d
e
d
as 1
/n
o
f
th
e
ta
k
e
-
o
f
f
m
ass
; th
at
is
=
1
+
2
+
3
(
1
)
I
f
th
e
m
o
to
r
p
u
ll
ch
a
n
g
es,
th
e
to
tal
o
u
tp
u
t
p
o
wer
o
f
th
e
UA
V
will
ch
an
g
e
ac
co
r
d
in
g
ly
,
w
h
ich
will
af
f
ec
t
th
e
en
d
u
r
a
n
ce
tim
e.
W
h
en
th
e
b
r
u
s
h
less
m
o
to
r
is
wo
r
k
in
g
,
th
e
c
o
r
r
esp
o
n
d
in
g
r
elatio
n
s
h
ip
b
et
wee
n
th
e
o
u
tp
u
t p
u
l
l
an
d
th
e
o
u
t
p
u
t
p
o
wer
ca
n
b
e
r
ep
r
esen
ted
b
y
a
cu
r
v
e.
W
ith
t
h
e
h
elp
o
f
th
e
m
an
u
f
ac
t
u
r
er
’
s
f
o
r
ce
e
f
f
icien
cy
test
d
ata
in
th
e
m
o
to
r
tech
n
ical
p
a
r
am
eter
m
an
u
al,
th
r
o
u
g
h
p
o
ly
n
o
m
ial
f
itti
n
g
,
th
e
co
r
r
esp
o
n
d
in
g
f
itti
n
g
f
u
n
ctio
n
P(T
)
o
f
th
e
m
o
to
r
p
u
ll
an
d
p
o
wer
ca
n
b
e
ca
lcu
lated
,
an
d
t
h
en
th
e
m
o
t
o
r
o
u
tp
u
t
p
o
wer
u
n
d
er
d
if
f
er
e
n
t
p
u
lls
ca
n
b
e
ac
cu
r
ately
o
b
tain
ed
.
T
h
e
p
o
wer
o
f
ea
ch
m
o
to
r
is
ac
cu
m
u
lated
an
d
s
u
m
m
e
d
,
an
d
th
e
r
esu
lt is
th
e
o
u
tp
u
t
p
o
wer
o
f
t
h
e
p
o
wer
s
y
s
tem
.
I
n
th
e
h
o
v
er
in
g
p
o
wer
d
is
tr
ib
u
tio
n
s
y
s
tem
o
f
elec
tr
ic
r
o
t
o
r
UAVs,
th
e
m
o
to
r
p
o
wer
o
f
th
e
p
o
wer
s
y
s
tem
ac
co
u
n
ts
f
o
r
9
0
%
[
2
0
]
.
Af
te
r
ad
d
in
g
th
e
p
o
wer
co
m
p
en
s
atio
n
co
ef
f
icien
t
K
(
ac
co
r
d
in
g
to
th
e
p
o
wer
r
atio
r
elatio
n
s
h
ip
,
th
e
v
al
u
e
is
1
.
1
)
,
1
1
0
%
o
f
th
e
o
u
t
p
u
t
p
o
wer
o
f
th
e
p
o
wer
s
y
s
tem
ca
n
b
e
ap
p
r
o
x
im
ated
as
th
e
t
o
tal
h
o
v
er
in
g
o
u
t
p
u
t
p
o
wer
o
f
th
e
UAV.
C
o
m
b
in
ed
with
th
e
d
is
ch
ar
g
e
law
o
f
lith
iu
m
b
atter
ies
[
2
1
]
–
[
2
4
]
,
in
th
e
u
n
if
o
r
m
d
is
ch
ar
g
e
s
tate,
th
e
d
is
ch
ar
g
e
tim
e
o
f
th
e
UAV
b
atter
y
is
th
e
en
d
u
r
a
n
ce
tim
e
t,
w
h
ich
is
c
o
m
p
o
s
ed
o
f
th
e
b
atter
y
en
e
r
g
y
W
,
th
e
n
u
m
b
er
o
f
r
o
to
r
s
n
,
an
d
th
e
h
o
v
er
in
g
o
u
tp
u
t
p
o
wer
o
f
a
s
in
g
le
m
o
to
r
(
)
.
T
h
e
r
elatio
n
s
h
ip
b
etwe
en
th
ese
th
r
ee
p
ar
am
eter
s
is
as f
o
ll
o
ws:
=
3
⋅
1
.
1
⋅
(
)
(
2
)
wh
er
e
e
is
th
e
en
er
g
y
d
en
s
ity
o
f
th
e
b
atter
y
,
an
d
th
e
p
r
o
d
u
ct
o
f
th
e
en
er
g
y
d
en
s
ity
an
d
th
e
m
ass
o
f
th
e
b
atter
y
is
th
e
to
tal
en
er
g
y
o
f
th
e
b
atter
y
.
I
n
s
u
m
m
ar
y
,
(
1
)
an
d
(
2
)
ar
e
th
e
th
eo
r
etica
l
ca
lcu
latio
n
m
o
d
el
o
f
th
e
h
o
v
er
in
g
life
tim
e
o
f
elec
tr
ic
r
o
tar
y
-
win
g
tr
an
s
p
o
r
t
UAVs.
T
h
e
in
p
u
t
p
ar
am
eter
s
o
f
th
e
m
o
d
el
in
clu
d
e
b
atter
y
q
u
al
ity
,
b
atter
y
en
e
r
g
y
d
en
s
ity
,
p
ay
l
o
ad
q
u
ality
,
e
m
p
ty
air
cr
af
t
q
u
ality
an
d
m
o
t
o
r
th
r
u
s
t
f
itti
n
g
f
u
n
ctio
n
.
M
o
r
eo
v
e
r
,
th
e
o
u
tp
u
t
p
ar
am
eter
is
th
e
h
o
v
er
in
g
e
n
d
u
r
an
ce
tim
e.
T
h
is
m
o
d
el
ca
n
ca
lcu
late
th
e
h
o
v
er
in
g
e
n
d
u
r
an
ce
tim
e
u
n
d
er
d
if
f
er
en
t
p
a
r
am
eter
co
n
f
ig
u
r
a
tio
n
s
in
co
m
b
in
atio
n
with
s
p
ec
if
ic
m
o
d
el
p
ar
am
eter
s
,
p
r
o
v
id
in
g
a
th
eo
r
etica
l
b
asis
f
o
r
th
e
en
d
u
r
an
ce
ev
alu
a
tio
n
an
d
a
n
aly
s
is
o
f
tr
an
s
p
o
r
t
UAVs.
2
.
2
.
M
o
del a
na
ly
s
is
a
nd
re
g
ula
rit
y
2
.
2
.
1
.
E
nd
ura
nce
m
o
del a
na
ly
s
is
T
o
co
p
e
with
ex
tr
em
e
wo
r
k
in
g
co
n
d
itio
n
s
,
a
tr
an
s
p
o
r
t
UAVs
n
ee
d
s
to
h
av
e
a
ce
r
t
ain
p
o
wer
r
ed
u
n
d
an
cy
[
2
5
]
.
W
h
en
th
e
UAV
is
f
ly
in
g
h
o
r
izo
n
tally
an
d
at
a
co
n
s
tan
t
s
p
ee
d
,
t
h
e
an
g
le
b
etwe
en
th
e
m
o
to
r
’
s
p
u
llin
g
f
o
r
ce
ax
is
an
d
th
e
f
u
s
elag
e
’
s
g
r
av
ity
ax
is
is
θ,
as
s
h
o
wn
in
Fig
u
r
e
1
.
As
th
e
f
lig
h
t
s
p
ee
d
in
cr
ea
s
es,
th
e
in
clu
d
ed
an
g
le
g
r
ad
u
ally
i
n
cr
ea
s
es.
At
th
is
ti
m
e,
th
e
m
o
to
r
n
ee
d
s
to
in
c
r
ea
s
e
th
e
p
u
llin
g
f
o
r
ce
o
u
tp
u
t
to
m
ain
tain
t
h
e
f
o
r
ce
b
alan
ce
in
a
v
er
tical
d
i
r
ec
tio
n
an
d
en
s
u
r
e
t
h
at
th
e
f
lig
h
t
h
eig
h
t
r
em
ain
s
u
n
ch
an
g
ed
.
I
f
th
e
tilt
an
g
le
is
to
o
lar
g
e
o
r
th
e
m
o
to
r
o
u
tp
u
t
p
u
ll
is
in
s
u
f
f
icien
t,
it
wi
ll
ca
u
s
e
th
e
UAV
to
lo
s
e
altitu
d
e
an
d
th
r
ea
ten
f
lig
h
t
s
af
ety
.
T
ak
in
g
th
e
Pix
h
aw
k
f
lig
h
t
co
n
tr
o
ller
as
an
ex
am
p
le,
t
h
e
m
ax
im
u
m
f
lig
h
t
an
g
le
o
f
th
e
UAV
is
s
et
in
th
e
f
lig
h
t
c
o
n
tr
o
ller
d
ef
au
lts
at
4
5
°.
T
h
is
m
ea
n
s
th
at
wh
en
th
e
in
clin
atio
n
o
f
th
e
f
u
s
elag
e
r
ea
ch
es
4
5
°,
th
e
UA
V
ca
n
s
till
m
ain
tain
h
o
r
izo
n
t
al
f
lig
h
t
to
en
s
u
r
e
f
lig
h
t
s
af
et
y
.
At
th
is
tim
e,
th
e
r
atio
o
f
th
e
v
er
tical
co
m
p
o
n
en
t
o
f
th
e
m
o
to
r
p
u
ll
to
th
e
to
tal
m
o
to
r
p
u
ll
is
th
e
p
u
ll
r
ed
u
n
d
an
cy
co
ef
f
icien
t
η
.
T
h
e
ca
lcu
latio
n
s
h
o
ws
th
at
wh
en
th
e
in
clin
atio
n
an
g
le
o
f
th
e
f
u
s
elag
e
is
4
5
°,
th
e
p
o
wer
r
ed
u
n
d
a
n
cy
co
ef
f
icien
t
η
is
tak
en
as
0
.
7
0
7
.
T
h
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
m
ax
im
u
m
tak
e
-
o
f
f
m
ass
W
T
an
d
th
e
m
ax
im
u
m
th
r
u
s
t o
f
th
e
m
o
to
r
.
=
⋅
⋅
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
:
1
29
-
1
42
132
Fig
u
r
e
1
.
Fo
r
ce
an
aly
s
is
o
f
U
AVs
I
n
f
ac
t,
th
e
cu
r
r
en
t
v
alu
e
o
f
t
h
e
p
u
llin
g
f
o
r
ce
r
ed
u
n
d
an
c
y
c
o
ef
f
icien
t
ca
n
o
n
ly
m
ee
t
th
e
b
a
s
ic
s
af
ety
r
eq
u
ir
em
e
n
ts
o
f
tr
an
s
p
o
r
t
UA
Vs.
I
f
t
h
e
r
ele
v
an
t
p
ar
am
eter
s
ar
e
co
n
f
i
g
u
r
e
d
ac
c
o
r
d
in
g
t
o
t
h
e
m
a
x
im
u
m
lo
ad
ca
p
ac
ity
,
tr
an
s
p
o
r
t
UAVs
ar
e
p
r
o
n
e
t
o
b
o
d
y
s
tr
u
ctu
r
e
f
atig
u
e
d
ef
o
r
m
atio
n
[
2
6
]
,
m
o
to
r
o
v
er
h
ea
tin
g
d
em
ag
n
etiza
tio
n
[
2
7
]
a
n
d
o
th
er
ad
v
e
r
s
e
co
n
s
eq
u
en
ce
s
d
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ter
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l
o
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ig
h
-
f
r
eq
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e
n
cy
u
s
e,
wh
ich
s
h
o
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ten
s
th
e
life
o
f
th
e
p
r
o
d
u
ct.
T
h
e
r
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o
r
e
,
in
th
e
p
r
o
d
u
ct
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esig
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tag
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o
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tr
a
n
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p
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r
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r
elev
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f
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ce
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h
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atin
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eq
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ip
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d
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.
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d
u
n
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o
f
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e
m
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m
tr
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s
p
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r
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r
e
s
h
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wn
in
T
ab
le
1
.
T
ab
le
1
.
Pu
ll f
o
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e
d
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m
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AVs
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M
o
t
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M
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m
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m
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(
N
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m
b
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m
t
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.
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1
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1
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1
.
1
4
41
0
.
5
2
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X
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0
A
2
5
1
9
6
4
48
0
.
6
T
ab
le
1
s
h
o
ws
th
at
th
e
d
y
n
am
ic
r
ed
u
n
d
an
cy
co
ef
f
icien
t
o
f
m
ain
s
tr
ea
m
tr
an
s
p
o
r
t
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v
ar
ies
f
r
o
m
0
.
5
1
6
to
0
.
6
8
9
.
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o
ta
k
e
in
t
o
a
cc
o
u
n
t
b
o
th
th
e
o
p
e
r
atio
n
al
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f
icien
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a
n
d
th
e
f
lig
h
t
s
tab
ilit
y
,
0
.
5
is
u
s
ed
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er
e
as
th
e
lo
west
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ed
u
n
d
an
cy
f
ac
to
r
.
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n
s
u
m
m
ar
y
,
th
e
s
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g
ch
an
g
e
r
an
g
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o
f
t
h
e
p
u
llin
g
f
o
r
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r
ed
u
n
d
an
c
y
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ef
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icien
t
is
0
.
5
～
0
.
7
0
7
.
W
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en
th
e
v
alu
e
o
f
th
e
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u
n
d
a
n
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y
co
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f
icien
t
is
clo
s
e
to
0
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7
0
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,
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e
lo
ad
ca
p
ac
ity
o
f
th
e
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o
le
m
ac
h
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is
s
tr
o
n
g
e
r
,
an
d
th
e
o
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atio
n
e
f
f
icien
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im
p
r
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v
ed
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o
wev
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e
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er
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ice
life
o
f
th
e
m
ac
h
in
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o
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y
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s
h
o
r
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ed
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h
en
th
e
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alu
e
o
f
th
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d
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n
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e
f
f
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t
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clo
s
e
to
0
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5
,
th
e
s
er
v
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life
o
f
th
e
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o
le
m
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h
i
n
e
is
p
r
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g
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d
,
b
u
t t
h
e
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p
ac
ity
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wea
k
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,
a
n
d
th
e
o
p
er
atio
n
ef
f
ici
en
cy
is
r
ed
u
ce
d
.
T
o
f
u
r
th
er
an
al
y
ze
th
e
th
eo
r
et
ical
m
o
d
el
o
f
en
d
u
r
a
n
ce
,
th
e
AX
-
1
0
0
0
UAV
is
tak
en
as
an
ex
am
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le.
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ts
m
ain
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er
f
o
r
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ce
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ar
a
m
et
er
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ar
e
s
h
o
wn
in
T
ab
le
2
.
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h
e
p
u
ll
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p
o
wer
f
itti
n
g
f
u
n
ctio
n
(
)
o
f
th
e
s
tan
d
ar
d
m
o
to
r
is
=
15
.
01
2
+
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−
3
.
936
(
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=
0
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,
an
d
th
e
m
a
x
im
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m
m
o
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ll is
5
8
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N.
T
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le
2
.
Per
f
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r
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ar
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et
er
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o
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th
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1
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r
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z
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m)
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8
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Su
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im
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s
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wn
in
Fig
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2
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a
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in
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3
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at
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.
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atter
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o
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also
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f
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ted
b
y
th
e
m
ass
o
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th
e
em
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ty
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t,
th
e
b
atter
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y
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en
s
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d
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e
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o
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ec
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o
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h
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g
e
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e
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ality
o
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th
e
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ty
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f
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en
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u
r
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e
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ilar
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ay
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d
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o
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ality
o
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ty
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n
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e
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i
v
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to
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ad
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ich
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ep
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y
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e
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k
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ay
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ad
ch
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g
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o
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0
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g
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u
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e
2
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a
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.
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th
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o
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air
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y
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e
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m
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2
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2
5
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5
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en
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r
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r
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t
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in
s
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o
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th
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r
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r
f
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e.
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h
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ig
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atter
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lin
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h
e
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ad
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p
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ity
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r
e
d
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ce
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f
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m
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a
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m
en
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r
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ce
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e
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ed
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o
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5
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2
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.
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h
e
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atter
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er
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y
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I
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134
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Fig
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2
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O
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Fig
u
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atter
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AF
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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J
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N:
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-
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Op
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t
s
u
itab
le
f
o
r
th
e
o
p
er
atio
n
p
ar
am
eter
co
n
f
ig
u
r
atio
n
o
f
tr
an
s
p
o
r
t
UAVs.
Ho
wev
er
,
f
o
r
lig
h
t
-
l
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ad
UA
Vs,
th
e
lig
h
t
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lo
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f
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r
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ar
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is
th
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l
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r
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ar
ea
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T
h
e
p
ar
a
m
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s
in
th
is
ar
ea
ca
n
p
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v
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e
a
th
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l
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asis
f
o
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t
h
e
o
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tim
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o
f
th
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en
d
u
r
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o
f
lig
h
t
-
lo
ad
m
o
d
els
s
u
ch
as
r
em
o
te
s
en
s
in
g
an
d
s
u
r
v
ey
in
g
.
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h
e
th
eo
r
etica
l e
x
p
r
ess
io
n
s
o
f
th
e
ab
o
v
e
r
e
g
io
n
s
ar
e
(
6
)
.
{
≤
4
⋅
(
0
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5
m
ax
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(
−
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4
⋅
(
0
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5
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(
0
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707
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(
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(
0
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707
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ℎ
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(
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I
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th
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id
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co
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f
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ar
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m
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cu
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in
cr
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ically
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th
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b
atter
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d
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m
ax
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m
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atter
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ass
is
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lo
n
g
est
en
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u
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ce
c
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ig
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r
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tio
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wev
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m
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m
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els,
wh
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p
ay
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ad
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a
ce
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tain
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r
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ce
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er
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s
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m
ax
im
u
m
b
atter
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ality
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o
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tin
u
in
g
to
in
c
r
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s
e
th
e
b
at
ter
y
o
n
th
e
b
asis
o
f
th
e
ex
tr
e
m
e
p
o
i
n
t
will
ca
u
s
e
th
e
en
d
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r
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ce
o
f
tr
a
n
s
p
o
r
t
UA
Vs
to
d
eter
io
r
ate.
Af
te
r
co
n
n
e
ctin
g
th
ese
ex
tr
em
e
p
o
i
n
ts
o
f
en
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u
r
a
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ce
in
s
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th
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r
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p
a
r
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b
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with
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o
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p
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d
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d
its
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p
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is
,
=
2
+
+
(
7
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h
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c
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in
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h
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E
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n
d
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r
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ce
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at
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en
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f
te
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te
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d
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cu
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D
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d
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r
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n
d
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B
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d
t
h
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m
a
x
i
m
u
m
l
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d
c
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t
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o
f
f
li
n
e
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is
t
h
e
o
p
ti
m
al
en
d
u
r
a
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ce
co
n
f
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g
u
r
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o
n
li
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e
o
f
t
h
e
en
d
u
r
a
n
ce
c
o
n
f
ig
u
r
at
io
n
a
r
ea
.
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h
e
c
o
n
f
i
g
u
r
a
ti
o
n
li
n
e
c
o
n
t
ai
n
s
th
e
l
o
n
g
est
UAV
e
n
d
u
r
an
ce
co
n
f
i
g
u
r
a
ti
o
n
p
o
in
t
u
n
d
er
a
n
y
p
ay
lo
a
d
.
I
n
p
r
ac
tic
al
a
p
p
li
ca
t
io
n
s
,
t
o
a
c
h
ie
v
e
t
h
e
lo
n
g
est
e
n
d
u
r
a
n
c
e
t
im
e,
th
e
o
p
e
r
at
in
g
p
a
r
a
m
e
te
r
co
n
f
i
g
u
r
a
ti
o
n
p
o
in
t
s
h
o
u
l
d
f
all
o
n
t
h
e
o
p
ti
m
al
e
n
d
u
r
a
n
c
e
c
o
n
f
ig
u
r
at
io
n
li
n
e
AB
D;
t
o
t
a
k
e
in
to
a
cc
o
u
n
t
en
d
u
r
a
n
ce
a
n
d
o
p
e
r
at
in
g
s
ta
b
il
ity
,
w
h
en
s
et
ti
n
g
t
r
a
n
s
p
o
r
t
UA
V
o
p
er
ati
n
g
p
a
r
a
m
e
te
r
s
,
a
p
p
r
o
p
r
iat
e
co
n
f
i
g
u
r
ati
o
n
p
a
r
a
m
e
te
r
s
s
h
o
u
ld
b
e
s
el
ec
te
d
in
t
h
e
i
d
ea
l
co
n
f
i
g
u
r
ati
o
n
ar
ea
ac
c
o
r
d
in
g
t
o
ac
t
u
al
o
p
e
r
ati
o
n
al
r
eq
u
i
r
em
en
ts
.
Fig
u
r
e
2
(
d
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is
th
e
lef
t
s
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e
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ie
w
o
f
t
h
e
en
d
u
r
a
n
ce
s
u
r
f
ac
e,
r
e
f
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e
in
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lu
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n
ce
o
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th
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p
ay
lo
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o
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en
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r
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ce
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ased
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n
th
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co
r
r
esp
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n
d
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o
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ce
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f
th
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u
n
d
er
d
if
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e
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en
t
b
atter
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n
f
ig
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(
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p
r
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if
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n
d
u
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cu
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ig
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r
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d
r
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f
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o
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,
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d
th
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r
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lt
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s
h
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in
Fig
u
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e
3
(
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o
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two
lo
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f
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tire
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Fig
u
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(
c)
.
Sin
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ig
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m
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k
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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136
T
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Fi
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s
3
(
b
)
a
n
d
3
(
c
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a
r
e
al
l
r
el
ate
d
t
o
t
h
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m
o
t
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r
p
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d
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co
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3
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u
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3
(
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k
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3.
M
E
T
H
O
D
3
.
1
.
Ver
if
ica
t
io
n po
int
s
elec
t
io
n
T
h
e
m
ain
co
n
cl
u
s
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s
o
f
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ex
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UAV
en
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p
lan
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p
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u
la
r
ity
in
clu
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i)
t
h
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t
o
tal
lo
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r
em
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u
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ch
a
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d
th
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ate
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ch
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ch
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d
u
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ce
tim
e
;
ii)
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h
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f
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n
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p
ar
a
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eter
s
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iii)
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①
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s
h
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Fig
u
r
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4
.
Fig
u
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4
.
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icatio
n
p
o
i
n
ts
3
.
2
.
E
x
perim
ent
a
l e
qu
ipm
e
nt
T
h
e
ex
p
er
im
en
tal
m
o
d
el
is
an
AX
-
1
0
0
0
r
o
ta
r
y
-
win
g
tr
an
s
p
o
r
t
UAVs.
I
ts
f
u
s
elag
e
s
tr
u
ctu
r
e
is
s
h
o
wn
in
Fig
u
r
e
5
.
T
o
o
b
tai
n
th
e
o
u
t
p
u
t
p
o
we
r
d
ata
d
u
r
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n
g
th
e
h
o
v
er
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g
p
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s
s
o
f
t
h
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tr
an
s
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r
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th
e
r
esear
ch
team
s
elec
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th
e
Z
FT
-
8
c
u
r
v
e
p
o
wer
m
eter
as
th
e
a
u
x
iliar
y
m
ea
s
u
r
e
m
en
t
eq
u
ip
m
en
t.
T
h
e
r
elev
an
t
p
ar
am
eter
s
ar
e
s
h
o
wn
in
T
ab
l
e
3
.
T
h
e
p
o
wer
m
eter
in
clu
d
e
s
a
p
o
wer
in
ter
f
ac
e,
wh
ich
is
co
n
n
ec
ted
in
s
er
ies
with
th
e
m
ain
cir
cu
it
o
f
th
e
U
AV
d
u
r
in
g
o
p
er
atio
n
an
d
ca
n
r
ec
o
r
d
t
h
e
cu
r
r
en
t,
v
o
ltag
e
an
d
p
o
wer
d
ata
d
u
r
in
g
th
e
b
atter
y
d
is
ch
ar
g
e
p
r
o
ce
s
s
in
r
ea
l
tim
e
an
d
s
to
r
e
it
in
s
id
e
th
e
d
ev
ice.
Af
ter
th
e
test
is
c
o
m
p
leted
,
th
e
d
ata
ca
n
b
e
s
en
t
to
th
e
co
m
p
u
ter
i
n
th
e
f
o
r
m
o
f
an
x
ls
-
f
ile
th
r
o
u
g
h
t
h
e
h
o
s
t
co
m
p
u
ter
,
wh
ic
h
is
co
n
v
en
ien
t
f
o
r
s
u
b
s
eq
u
en
t d
ata
p
r
o
ce
s
s
in
g
an
d
an
aly
s
is
.
3
.
3
.
Ca
lcula
t
i
o
n m
et
ho
d o
f
t
he
endu
ra
nce
t
im
e
Du
e
to
th
e
d
if
f
er
e
n
ce
s
in
th
e
d
is
ch
ar
g
e
p
er
f
o
r
m
a
n
ce
o
f
d
i
f
f
er
en
t
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atter
ies,
ev
en
if
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h
e
d
is
ch
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e
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o
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ain
s
th
e
s
am
e,
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e
d
is
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g
e
tim
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th
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b
atter
ies
o
f
th
e
s
am
e
s
p
ec
if
icatio
n
will
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o
t b
e
th
e
s
am
e.
T
o
r
ed
u
ce
th
e
ex
p
er
im
en
tal
er
r
o
r
,
th
e
v
er
if
icatio
n
ex
p
er
im
en
t
ad
o
p
ts
th
e
eq
u
iv
alen
t
e
n
d
u
r
an
ce
tim
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ca
lcu
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n
m
eth
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d
to
ca
lcu
late
th
e
h
o
v
er
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g
tim
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as
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o
llo
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Af
ter
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ain
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g
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e
h
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v
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t
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wer
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if
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r
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r
o
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g
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eter
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t
h
e
s
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le
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f
o
r
3
m
i
n
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tes.
T
h
e
d
ata
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o
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tp
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tted
,
t
h
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a
g
e
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t
p
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t
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(
)
,
is
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lcu
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t
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atter
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E
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atter
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a
r
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eter
s
.
T
h
e
f
in
al
eq
u
iv
alen
t e
n
d
u
r
an
ce
tim
e
t is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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I
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J
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b
&
A
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to
m
I
SS
N:
2722
-
2
5
8
6
Op
timiz
a
tio
n
mo
d
el
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u
r
a
n
ce
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Hu
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g
Zih
a
n
)
137
=
(
)
(
8
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Af
ter
ap
p
l
y
in
g
th
is
m
eth
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d
t
o
th
e
m
o
d
el
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d
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atter
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r
af
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ts
th
e
m
o
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el
v
er
if
icatio
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r
esu
lts
.
1.
B
r
u
s
h
less
m
o
to
r
2.
Po
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b
atter
y
in
ter
f
ac
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3.
B
atter
y
tr
ay
lo
ck
4.
Sp
r
ay
liq
u
id
p
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m
p
5.
T
o
p
co
v
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o
f
th
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f
u
s
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e
6.
L
E
D
s
tatu
s
in
d
icato
r
7.
B
atter
y
ca
r
r
iag
e
Fix
ed
m
ed
icin
e
b
o
x
Fig
u
r
e
5
.
AX
-
1
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0
0
UAV
f
u
s
elag
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s
tr
u
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d
ia
g
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am
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ab
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3
.
Po
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m
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eter
s
M
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M
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(
g
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1
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3
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4
.
Ver
if
ica
t
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x
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T
h
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test
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s
ca
r
r
ied
o
u
t
o
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th
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lawn
n
ex
t
to
th
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lo
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Dis
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S
o
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a
Ag
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Un
iv
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zh
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C
ity
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Pro
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er
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2
0
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1
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Du
r
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is
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eg
r
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atis
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ies
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d
itio
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s
.
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h
e
test
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lig
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t b
ef
o
r
e
th
e
test
is
s
h
o
wn
in
Fig
u
r
e
6
.
Fig
u
r
e
6
.
Pre
p
a
r
atio
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ef
o
r
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UAV
ex
p
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im
en
t
Af
ter
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ig
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r
r
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if
icatio
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u
r
v
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p
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eter
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p
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atter
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.
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n
th
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GPS
f
lig
h
t
m
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n
tr
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lled
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er
s
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ly
f
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r
5
m
in
u
tes,
an
d
th
e
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r
v
e
p
o
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eter
will
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ec
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d
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ata
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.
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o
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eter
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ata
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p
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to
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ex
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p
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v
er
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ts
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an
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er
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icatio
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p
o
in
t
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ee
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s
to
co
m
p
lete
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r
ee
r
ep
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ted
test
s
,
f
o
r
a
to
tal
o
f
2
1
test
s
.
T
h
e
f
in
al
ex
p
er
im
en
tal
d
ata
ar
e
s
h
o
wn
i
n
T
ab
le
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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2
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2
2
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29
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42
138
T
ab
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4
.
E
n
d
u
r
a
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cu
t
-
o
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f
lin
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if
icatio
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r
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Sam
p
l
i
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g
p
o
i
n
t
Bat
t
er
y
ma
s
s
(k
g
)
Pay
l
o
a
d
(k
g
)
T
e
s
t
1
(h
)
T
e
s
t
2
(h
)
T
e
s
t
3
(h
)
T
h
e
o
re
t
i
cal
v
al
u
e
(h
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A
v
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g
e
err
o
r
rat
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Co
n
c
l
u
s
i
o
n
①
#1
4
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5
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5
3
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5
3
1
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5
6
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5
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6
9
%
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3
4
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3
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7
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3
9
5
0
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3
9
6
0
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4
1
4
4
.
1
8
%
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2
5
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2
6
5
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2
6
3
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2
6
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0
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2
7
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.
5
0
%
Co
n
c
l
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s
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n
②
#2
3
4
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3
9
7
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3
9
5
0
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3
9
6
0
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4
1
4
4
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1
8
%
#4
3
.
5
7
5
0
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3
9
9
0
.
3
9
7
0
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3
9
7
0
.
4
1
1
3
.
2
5
%
Co
n
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l
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s
i
o
n
③
#5
10
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9
5
8
0
.
9
6
2
0
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9
6
3
1
.
0
0
4
4
.
3
3
%
#6
1
0
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5
0
0
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9
8
7
0
.
9
8
5
0
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9
8
6
1
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0
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5
1
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8
9
%
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11
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9
7
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6
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1
1
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0
0
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3
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1
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3
.
5
.
E
x
perim
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a
l r
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lt
s
a
nd
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na
ly
s
is
Acc
o
r
d
in
g
to
th
e
d
ata
o
f
Ver
if
icatio
n
Po
in
ts
1
,
2
,
an
d
3
,
wh
e
n
th
e
m
ass
o
f
th
e
b
atter
y
in
cr
e
ases
f
r
o
m
2
k
g
to
3
k
g
a
n
d
4
k
g
,
th
e
m
ass
r
atio
in
cr
ea
s
es
b
y
5
0
%
an
d
1
0
0
%,
r
esp
ec
tiv
ely
.
C
o
r
r
esp
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in
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ly
,
th
e
a
v
er
ag
e
en
d
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r
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in
cr
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s
es
f
r
o
m
0
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2
6
3
h
to
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3
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6
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d
0
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5
3
h
.
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h
e
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d
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r
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im
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r
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v
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tes
ar
e
5
0
.
5
7
%
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d
1
0
1
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2
%,
r
esp
ec
tiv
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.
T
h
u
s
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C
o
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clu
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io
n
1
is
p
r
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.
Fro
m
th
e
d
ata
o
f
Ver
if
icatio
n
Po
in
ts
2
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d
4
,
it
ca
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e
s
ee
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th
at
wh
e
n
th
e
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atter
y
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ass
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s
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y
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5
7
k
g
a
n
d
th
e
p
a
y
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cr
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s
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b
y
1
k
g
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th
e
av
er
a
g
e
en
d
u
r
a
n
ce
tim
e
is
b
asically
u
n
ch
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g
e
d
,
a
n
d
b
o
th
ar
e
0
.
4
h
.
T
h
u
s
,
co
n
cl
u
s
io
n
2
is
p
r
o
v
e
d
.
f
r
o
m
th
e
d
ata
o
f
v
er
if
icatio
n
p
o
in
ts
5
,
6
,
an
d
7
,
it
ca
n
b
e
s
ee
n
th
at
with
o
u
t
a
p
ay
lo
ad
,
th
e
b
atter
y
m
ass
co
r
r
esp
o
n
d
i
n
g
to
th
e
tu
r
n
in
g
p
o
in
t
o
f
th
e
e
n
d
u
r
a
n
ce
cu
r
v
e
is
1
0
.
5
k
g
.
W
h
en
th
e
m
ass
o
f
th
e
b
atter
y
in
cr
ea
s
es b
y
0
.
5
k
g
,
th
e
a
v
er
ag
e
en
d
u
r
a
n
ce
tim
e
d
r
o
p
s
f
r
o
m
0
.
9
8
6
h
to
0
.
9
7
h
,
an
d
th
e
th
r
ee
co
n
clu
s
io
n
s
ar
e
p
r
o
v
e
n
.
I
n
ad
d
itio
n
,
f
r
o
m
th
e
d
ata
in
T
ab
le
4
,
it
ca
n
b
e
s
ee
n
th
at
th
e
av
er
ag
e
er
r
o
r
r
ate
d
is
tr
ib
u
tio
n
r
an
g
e
o
f
th
e
v
er
if
icatio
n
p
o
in
ts
is
1
.
8
9
%
to
5
.
6
9
%,
a
n
d
t
h
e
o
v
er
a
ll
ac
cu
r
ac
y
o
f
th
e
th
e
o
r
etica
l
m
o
d
el
r
ea
ch
es
a
r
elativ
ely
h
ig
h
le
v
el,
wh
ich
m
ee
ts
th
e
r
eq
u
ir
em
en
ts
o
f
ac
tu
al
en
g
in
ee
r
in
g
ap
p
licatio
n
s
.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
cu
r
r
en
t
c
o
n
f
ig
u
r
atio
n
r
eg
u
lar
ity
is
s
u
itab
le
f
o
r
d
if
f
er
e
n
t
b
r
an
d
s
an
d
d
if
f
er
en
t
s
tr
u
ct
u
r
a
l
lay
o
u
ts
o
f
r
o
tar
y
-
win
g
tr
an
s
p
o
r
t
UAVs.
Af
ter
o
b
tain
in
g
th
e
p
ar
am
eter
s
o
f
th
e
s
p
ec
if
ic
m
o
d
el,
th
e
e
n
d
u
r
an
ce
tim
e
co
n
f
ig
u
r
atio
n
zo
n
e
m
a
p
ca
n
b
e
q
u
ick
ly
co
n
s
tr
u
cted
to
a
n
aly
ze
a
n
d
e
v
al
u
ate
th
e
cu
r
r
en
t
d
r
o
n
e
’
s
en
d
u
r
an
ce
ca
p
ab
ilit
ies.
T
ar
g
eted
o
p
tim
izatio
n
s
u
g
g
esti
o
n
s
ar
e
g
iv
en
b
ased
o
n
th
e
ev
alu
atio
n
r
esu
lts
.
T
o
d
em
o
n
s
tr
ate
th
e
p
r
ac
tical
ap
p
licatio
n
v
al
u
e
o
f
th
e
ab
o
v
em
en
tio
n
e
d
m
o
d
el
r
e
g
u
lar
it
y
,
f
o
u
r
m
o
d
els
with
h
ig
h
u
ti
lizatio
n
r
ates
in
th
e
tr
an
s
p
o
r
t
UAVs
m
ar
k
et
ar
e
tak
en
as
th
e
ev
alu
atio
n
o
b
jects.
T
h
e
d
etailed
co
n
f
i
g
u
r
atio
n
p
ar
am
eter
s
ar
e
s
h
o
wn
in
T
ab
le
5
.
T
h
e
e
x
p
r
ess
io
n
o
f
th
e
p
u
ll
-
p
o
wer
f
itti
n
g
f
u
n
ctio
n
o
f
th
e
s
u
p
p
o
r
tin
g
p
o
wer
m
o
to
r
s
o
f
ea
c
h
m
o
d
el
is
(
9
).
T
h
e
co
r
r
esp
o
n
d
i
n
g
f
itti
n
g
f
u
n
ctio
n
c
o
ef
f
icien
ts
ar
e
s
h
o
wn
in
T
ab
le
6
.
=
1
2
+
2
+
3
(
9
)
T
ab
le
5
.
Per
f
o
r
m
an
ce
p
ar
am
et
er
s
o
f
th
e
m
ain
m
o
d
els
Seri
al
n
u
m
b
er
Mo
d
e
l
Mo
t
o
r
Pro
p
e
l
l
er
A
i
rcra
ft
ma
s
s
(k
g
)
St
a
n
d
ar
d
p
a
y
l
o
a
d
(k
g
)
St
a
n
d
ar
d
b
a
t
t
er
y
（
kg
）
E
n
d
u
r
an
ce
t
i
me
(mi
n
)
Mo
d
e
l
o
u
t
p
u
t
(mi
n
)
U
A
V
1
MG
1
p
6
0
1
0
2
1
*
5
.
7
9
.
8
10
4
9
8
.
4
8
U
A
V
2
“
b
a
y
e
”
C8
0
1
7
3
0
*
8
22
20
5
.
1
8
.
5
8
.
1
U
A
V
3
T
A
X
1
6
M1
0
2
8
*
8
16
16
5
.
1
12
1
1
.
5
2
U
A
V
4
T
P3
2
T
1
5
3
0
*
9
9
25
32
9
.
7
8
9
T
ab
le
6
.
Po
wer
m
o
to
r
te
n
s
io
n
-
p
o
wer
f
itti
n
g
c
o
ef
f
icien
t ta
b
le
S
e
r
i
a
l
n
u
m
b
e
r
M
o
t
o
r
k1
k2
k3
R
-
sq
u
a
r
e
U
A
V
1
D
JI
6
0
1
0
2
1
.
3
4
6
0
.
1
3
-
2
.
1
4
7
0
.
9
9
9
9
U
A
V
2
C
8
0
1
7
9
.
8
0
2
9
2
.
5
-
4
3
.
1
8
0
.
9
9
9
7
U
A
V
3
M
1
0
1
0
.
4
5
6
0
.
6
1
-
3
.
3
3
9
0
.
9
9
9
6
U
A
V
4
T1
5
7
.
9
6
1
13
1
8
6
.
2
0
.
9
9
5
6
T
ab
le
5
s
h
o
ws
th
at
th
e
cu
r
r
e
n
t
en
d
u
r
a
n
ce
m
o
d
el
h
as
a
g
o
o
d
ap
p
licatio
n
ef
f
ec
t,
an
d
its
o
u
tp
u
t
is
b
asically
co
n
s
is
ten
t
with
th
e
m
an
u
f
ac
tu
r
e
r
’
s
en
d
u
r
a
n
ce
d
ata.
Ho
wev
er
,
d
u
e
to
m
o
d
el
er
r
o
r
s
an
d
th
e
in
co
n
s
is
ten
t
en
d
u
r
an
ce
test
s
tan
d
ar
d
s
o
f
v
ar
io
u
s
m
an
u
f
ac
tu
r
e
r
s
,
th
er
e
is
s
till
an
er
r
o
r
o
f
5
%
to
1
2
.
5
%
b
etwe
e
n
th
e
two
m
o
d
els.
Su
b
s
titu
tin
g
th
e
p
ar
am
eter
s
o
f
ea
ch
UAV
in
to
th
e
m
o
d
el,
th
e
d
r
awn
en
d
u
r
an
ce
tim
e
zo
n
e
ev
alu
atio
n
ch
a
r
t is sh
o
wn
in
F
ig
u
r
es 7
(
a
)
t
o
7
(
d
)
.
Fig
u
r
e
7
s
h
o
ws
th
at
th
e
s
tan
d
ar
d
o
p
er
atin
g
co
n
f
ig
u
r
atio
n
p
o
in
ts
o
f
th
e
a
b
o
v
e
m
o
d
els
ar
e
all
lo
ca
ted
in
th
e
id
ea
l
co
n
f
i
g
u
r
atio
n
ar
ea
.
Am
o
n
g
th
e
m
,
Fig
u
r
e
7
(
a
)
s
h
o
ws
th
at
th
e
o
p
er
atin
g
p
o
in
t
o
f
UAV1
is
clo
s
e
to
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