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Collision Encounter Reduction for Unmanned Aerial Systems (CERUNAS)

6 March 2014

Test Readiness Review

Project Purpose and Objectives

Design Solution

Critical Project Elements

Design Requirements

Project Risks Verification and

Validation Project

Planning 2

Team Organization


Design Solution


Design Requirements


Validation Project

Planning 3

Overview


Design Solution


Design Requirements


Validation Project

Planning Overview Schedule Budget 4

Co

nc

ep

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ratio

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Critic

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2 Nonfunctional CPEs: - CPE 4: sUAS Components < 100g - CPE 6: Subsystems < $100

CPE 5: Record Telemetry

CPE 2: Transmit

MAC Data

CPE 3: Initiate Avoidance

Full descriptions of

CPEs can be found in Backup

Test Readiness

Low Speed, Propeller Driven A/C (100m/s ± 10%) in straight, level flight in uncontrolled

airspace

sUAS (< 2lbs, 10m/s ± 10%)

CPE 1: Determine Collision Potential


Design Solution


Design Requirements


Validation Project


Project Levels of Success

(LOS)

Test Readiness

LOS 1: Ability of System to sense

presence in MAEC

LOS 2: Ability of System to Trigger Removal of sUAS

from MAEC

LOS 3: Ability of System to

Sense Presence and Trigger Removal of sUAS from

MAEC

Manned A/C Encounter Cone (MAEC) is a geometric region based on the velocities of the sUAS and MAC


Design Solution


Design Requirements


Validation Project

Planning Overview Schedule Manufacturing

Status Budget 6

High Level HW Overview

Manned Aircraft Component sUAS Component

Mechanical components: • sUAS hardware enclosure Software: • sUAS code

Electrical Components: • Battery • sUAS PCB • Xbee receiver

CG

Mechanical Components: • Manned AC hardware

enclosure (6x6in, 1in deep)

Electrical Components: • Manned AC PCB • Xbee transmitter • GPS receiver • Battery Software: • Manned AC flight

software


Design Solution


Design Requirements


Validation Project

Planning 7

Schedule


Design Solution


Design Requirements


Validation Project


Ge

ne

ral S

ch

ed

ulin

g

Test Readiness

NOTE: SW and Test Scheduling Detailed on Next Slide


Design Solution


Design Requirements


Validation Project


SW

an

d T

est

Sc

he

du

ling

Test Readiness


Design Solution


Design Requirements


Validation Project

Planning 10

Test Readiness Test Architecture and Reqts. & Verification

Key Tests System Development and Progress

Contingency Planning

CER

UN

AS T

est

Arc

hite

ctu

re

Electronics: individual component

Software

Subsystem

MAC component Validation

Hardware

sUAS component Validation

Populated PCB Validation

MAC enclosure

MAC mounting

sUAS component mounting

MAC/ sUAS mass & C.G.

Level of Success 1 – Sensing

Subsystem

Level of Success 2 – Avoidance Subsystem

HW Implementation & Compliance

Level of Success 3 – Full System Functionality

Factor of 1000 Reduction (SW

Model, Test Post-processing)

Integrated System

FAA Compliance

Ease of user Implementation

MAC, sUAS Unit Test

MAC, sUAS, Validation

Tests: 10 Reqts. Analyses: 17 Reqts. Inspections: 16

Reqts.

MAC, sUAS Subsystem Tests


Design Solution


Design Requirements


Validation Project

Planning

Level of Success 1 – Sensing

Subsystem Characterization Test 1a Goals: • Verify MAC Xbee can transmit

required beamwidth from MAC cockpit or cockpit mockup

• Verify sUAS Xbee can receive MAC transmissions at 2km

• Verify CERUNAS sensing at 2km decoupled from avoidance

Test 1b Goals: • Characterize accuracy of

CERUNAS sensing subsystem in relation to geometric MAEC

• Verify that CERUNAS sensing system has capability to sense presence in MAEC decoupled from avoidance

Required Output • UTC time stamps saved to

CERUNAS flash memory • Manned A/C packet validity,

coordinates, and heading from CERUNAS flash memory.

• Physical measurements from range marking


Design Solution


Design Requirements


Validation Project

Planning Overview Schedule Budget Overview Schedule Budget 13

Componentry for LOS Test 1

Test Readiness


Design Solution


Design Requirements


Validation Project


Ma

nn

ed

A/C

Ele

ctr

on

ic T

est

Re

ad

ine

ss

Test Readiness


Design Solution


Design Requirements


Validation Project


sUA

S E

lec

tro

nic

s

Test

Re

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ss

Test Readiness


Design Solution


Design Requirements


Validation Project


Manned A/C Hardware Test

Readiness

Test Readiness

1.433 lb at 1g

30 lb (x2)

Manned A/C Hardware Test • Attach completed housing vertically to glass and verify

it remains attached after 8 hours • Combined weight of manned A/C Electronics and

Housing: 1.433 lbf (6.374 N) • Single suction cup capability = 30 lbf (133.4 N) (x2 • Total Suction Cup Holding Power for two suction

cups = 60 lbf (1660.8 N) • Designed Suction Cup holding power results in a

Factor Of Safety of 42


Design Solution


Design Requirements


Validation Project

Planning Overview Schedule Budget

Ma

nn

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A/C

Flg

iht

So

ftw

are

Test

Re

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ss

17 Test Readiness


Design Solution


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Validation Project

Planning Overview Schedule Budget

sUA

S F

ligh

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ftw

are

Te

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Re

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ss

18 Test Readiness


Design Solution


Design Requirements


Validation Project

Planning

Level of Success 2 – Avoidance

Subsystem Characterization Test 2 Goals: • Verify CERUNAS Avoidance

capability decoupled from sensing capability

• Verify that CERUNAS allows return to nominal flight after avoidance

• Characterize latency time required for switch-on of flight termination mode

• Characterize avoidance descent speed and expected duration

Required Output • UTC time stamps for

maneuver start/stop saved to CERUNAS flash memory

• sUAS GPS coordinates and heading saved to CERUNAS flash memory

• MAEC entry/exit indicators and FTM initiation/termination indicators saved to CERUNAS flash memory

40

m (La

rge

st Po

ssible

d

esc

en

t pe

r Co

A)


Design Solution


Design Requirements


Validation Project

Planning Overview Schedule Budget Test Readiness 20

Componentry for Level Of

Success Test 2


Design Solution


Design Requirements


Validation Project


sUAS Hardware Test Readiness

Test Readiness

sUAS Hardware Test • Determine CG without alterations using hang

test • Verify CG is unchanged with CERUNAS

components • Verify CERUNAS components remain in place

with sUAS inverted

PCB (0.4 N)

Battery (0.17 N) and Ballast (0.23 N)

5.5” 5.5”


Design Solution


Design Requirements


Validation Project


Status Budget 22


Design Solution


Design Requirements


Validation Project

Planning

Level of Success 3 – Full System

Functionality Test 3 Goals: • Verify that CERUNAS can sense

presence in MAEC and trigger avoidance

• Characterize expected avoidance times for full system.

• Gather data for verification of geometric definition of factor of 1000 reduction (discussed later)

Required Output • UTC time stamps for maneuver

start/stop saved to CERUNAS flash memory

• MAC packet validity information, coordinates, and heading saved to CERUNAS flash memory

• sUAS coordinates saved to CERUNAS flash memory

• MAEC entry/exit indicators and FTM initiation/termination indicators saved to CERUNAS flash memory


Design Solution


Design Requirements


Validation Project

Planning Overview Schedule Budget Test Readiness 24

Componentry for Level Of

Success Test 3


Design Solution


Design Requirements


Validation Project


Status Budget 25

Geometric Factor of

Reduction

𝐹𝑎𝑐𝑡𝑜𝑟 𝑜𝑓 𝑅𝑒𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝐹𝑂𝑅 =𝑀𝐴𝐸𝐶 𝑉𝑜𝑙𝑢𝑚𝑒

𝑅𝑒𝑑𝑢𝑐𝑒𝑑 𝑉𝑜𝑙𝑢𝑚𝑒

𝑑𝑟𝑒𝑑 = 211 m

d = 2000 m

Reduced Volume

MAEC Volume

𝑑𝑡𝑒𝑠𝑡 = 𝑋 m

Test Measurements: • Distance 𝑑𝑡𝑒𝑠𝑡 at which sUAS cannot

exit MAEC in time to avoid collision • Time sUAS takes to exit MAEC


Design Solution


Design Requirements


Validation Project


Status Budget 26

Contingency Planning

Two Potential Threats to Test: Weather, SW Incompletion Weather

Tests scheduled across multiple weekends to allow for tests to be rescheduled in the event of inclement weather

Will monitor weather. Indoor tests designed as necessary. If at least one flight test not carried out by 3/26, redesign will

occur. Characterization of flight performance will be sacrificed. All Requirements can still be verified.

SW Incompletion SW must be complete by 3/23. If delayed, tests will be redesigned to

allow for as thorough of verification as possible without SW elements Off ramp for test redesign: 3/14 Will prevent full verification of requirements


Design Solution


Design Requirements


Validation Project

Planning 27

Budget


Design Solution


Design Requirements


Validation Project


Status Budget 28

Planned CDR Cost: $1874.00 Current Cost: $1760.11

Test Components not Procured: Estimate $300.00


Design Solution

Critical Project

Elements

Design Requireme

nts

Project Risks

Verification and

Validation

Project Plannin

g


Design Solution

Critical Project

Elements

Design Requireme

nts

Project Risks

Verification and

Validation

Project Plannin

g 29

Backup Charts


Design Solution

Critical Project

Elements

Design Requireme

nts

Project Risks

Verification and

Validation

Project Plannin

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Design Solution

Critical Project

Elements

Design Requireme

nts

Project Risks

Verification and

Validation

Project Plannin

g Overview Schedule Manufacturing Status

Budget 30

Critical Project Elements CPE ID CPE Description Rationale

1 CERUNAS must determine that the sUAS is in the encounter cone of a manned A/C based on reception of a signal provided by the manned A/C

Indication of potential manned A/C-sUAS collisions

2

The manned A/C component of CERUNAS must be able to indicate either or both: The location and heading of the A/C Encounter cone boundaries for a sUAS

Indication of potential manned A/C-sUAS collisions

3 CERUNAS must initiate any sUAS maneuvers required to move the sUAS outside of the manned aircraft encounter cone

Avoidance of manned A/C-sUAS collisions

4 The sUAS elements of CERUNAS must have a mass of less than 100g

Weight key to effective integration of CERUNAS with existing sUAS components

5 Telemetry data for the sUAS must be collected and downlinked for any collision avoidance maneuvers

Need to understand CAS effectiveness in real-world flight and to validate mission success

6 CERUNAS transmitter and receiver units must each be mass producible for less than $100

- Cost-effective compared to cost of sUAS - Cost-effective for private pilot implementation


Design Solution


Design Requirements


Validation Project

Planning LOS T

est

1b

CO

NO

PS


Design Solution


Design Requirements


Validation Project

Planning

Se

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Te

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A

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Requirement Number Requirement Text

Syst

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CAS.1

The CAS shall determine that the sUAS is in

the encounter cone of a manned A/C based on

reception of a signal provided by a manned

A/C in order to reduce the volume of the

MAEC by a factor of 1000.


Design Solution


Design Requirements


Validation Project

Planning

Se

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Te

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B

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Requirement Number Requirement Test Sy

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m L

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CAS.1

The CAS shall determine that the sUAS is in

the encounter cone of a manned A/C based on

reception of a signal provided by a manned

A/C in order to reduce the volume of the

MAEC by a factor of 1000.

Fun

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Lev

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CAS.1.1

The initial volume of the MAEC for the

manned A/C shall extend 2km in front of the

manned A/C at an angle defined by the

expected velocities for both the sUAS and

manned A/C.


Design Solution


Design Requirements


Validation Project

Planning

Av

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an

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Te

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Re

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Requirement Number Requirement Test

Syst

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CAS.3

The CAS shall complete any sUAS maneuvers required to

move the sUAS outside of the MAEC while placing

primary focus on avoidance and secondary focus on

preservation of the sUAS.

Fun

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CAS.3.2.1 sUAS post-MAEC recovery shall return control of sUAS

flight operations to autopilot immediately after leaving

MAEC.

CAS.3.2.2 sUAS autopilot shall be allowed full control of sUAS

flight operations for remainder of mission following

avoidance.

CAS.3.2.3 Upon leaving MAEC, CERUNAS shall return control of

sUAS to the installed autopilot.

CAS.3.2.4 Recovery of sUAS shall return vehicle to original, pre-

encounter flight regime.


Design Solution


Design Requirements


Validation Project

Planning

Fu

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Requirement Number

Requirement Test

Syst

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CAS.1

The CAS shall determine that the sUAS is in the encounter

cone of a manned A/C based on reception of a signal

provided by a manned A/C in order to reduce the volume of

the MAEC by a factor of 1000.

CAS.2

The CAS shall complete any sUAS maneuvers required to

move the sUAS outside of the MAEC while placing

primary focus on avoidance and secondary focus on

preservation of the sUAS.

CAS.3 Telemetry data for the sUAS shall be collected and

downlinked or saved for later download for any collision

avoidance maneuvers.

Fun

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CAS.3.2.1 sUAS post-MAEC recovery shall return control of sUAS

flight operations to autopilot immediately after leaving

MAEC.

CAS.3.2.2 sUAS autopilot shall be allowed full control of sUAS flight

operations for remainder of mission following avoidance.

CAS.3.2.3 Upon leaving MAEC, CERUNAS shall return control of

sUAS to the installed autopilot.


encounter flight regime.

CAS.4.1.3 Added mass of CERUNAS to sUAS shall reduce sUAS

flight time limitations based on power supply by no more

than 10%.


Design Solution


Design Requirements


Validation Project

Planning

Mis

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Test

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CAS.5 Telemetry data for the sUAS shall be collected and

downlinked or saved for later download for any collision

avoidance maneuvers.

CAS.6

Testing shall be carried out to allow for characterization and

validation of CERUNAS system behaviors and to provide

discrete data for post-processing analysis of system

functionality. Fu

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CAS.2.2

The manned A/C mountable element of the CAS shall not

impact the functionality of any manned A/C HW or

communications systems and shall have the ability to comply

with applicable FAA regulations.

CAS.4.1 The sUAS elements of the CAS shall have a mass of less than

100g.

CAS.4.2 The sUAS elements of the CAS shall draw no more than 0.3

W from pre-existing UAV power.

CAS.2.1.1 Manned A/C mountable element of CAS shall have a

redundant system to ensure packet integrity.

CAS.2.2.4 Manned A/C mountable element power supply shall operate

as a single cell, with at least 5000 mAh and 3.3 V.

CAS.2.2.5 Manned A/C mountable element power supply shall be

rechargeable, with ~8 hr between charges.

CAS.2.3.1 Manned A/C component of CAS shall be functional without

impingement on pilot field of vision.


Design Solution


Design Requirements


Validation Project

Planning

Mis

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Test

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(c

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CAS.2.5.1

Manned A/C component shall have the abliity to maintain

stationary functioning location in the manned A/C cockpit for

at least eight hours.

CAS.2.5.2 Manned A/C component of CAS shall be mounted via

industrial suction cups to A/C windshield.

CAS.4.1.1 Added mass to sUAS shall be distributed about center of mass

to maintain original mass distribution.

CAS.4.2.1 Power supply for sUAS mountable component of CAS shall

be rechargeable.

CAS.4.2.2 Power supply for sUAS mountable component of CAS shall

provide charge after a single charge cycle for a minimum of

30 minutes.

CAS.4.3.2 Technical installation of manned aircraft component should

require <5 minutes for full functionality.

CAS.4.3.3 LEDs shall be implemented into manned A/C component

circuitry to indicate power to component, sufficient battery

life, GPS lock, and packet integrity.

CAS.4.3.5 LEDs shall be implemented into sUAS mountable component

circuitry to indicate power to component and verify system is

on and software running.


Design Solution


Design Requirements


Validation Project

Planning

Insp

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CAS.2.4 Manned A/C CAS component printed circuit boards (PCBs)

shall be shielded from cockpit environmental factors

detrimental to electronics functioning.

CAS.2.5 Manned A/C component housing shall be detachable from any

stationary functioning location in the manned A/C cockpit. Fu

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CAS.1.1.1 Initial MAEC shall have a semi-minor half-angle of 1.71° and

a semi-major half angle of 5.71°, as defined by expected

manned A/C and sUAS velocities in a typical flight regime.

CAS.1.1.2

MAEC volume shall enclose the manned A/C such that the

cross-section of the cone will grow from an ellipse enclosing

the manned A/C dimensions to one that adds 60m to the minor

axis and 200m to the major.

CAS.2.1.1 Manned A/C mountable element of CAS shall have redundant

system to ensure packet integrity.

CAS.2.2.2 Manned A/C mountable element of CAS shall comply with 14

CFR §91.21 so as not to impinge upon the operation of the

existing navigation or communication systems.

CAS.2.2.3 Manned A/C mountable element of CAS shall be powered by

a designated power supply external to all A/C systems.


Design Solution


Design Requirements


Validation Project

Planning

Insp

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(c

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CAS.2.5.2 Manned A/C component of CAS shall be mounted via

industrial suction cups to A/C windshield.

CAS.4.3.3 LEDs shall be implemented into manned A/C component

circuitry to indicate power to component, sufficient battery

life, GPS lock, and packet integrity.

CAS.4.3.4 sUAS elements of CAS shall be secured within the sUAS

airframe.

CAS.4.3.6 LEDs shall be implemented into sUAS mountable component

circuitry to indicate power to component and verify system is

on and software running.

CAS.5.1.1 Telemetry data for collision avoidance maneuvers shall be

stored on sUAS onboard memory.

CAS.5.1.2 Telemetry system for CERUNAS avoidance maneuvers shall

be included in full sUAS component mass budget for test

vehicle.

CAS.5.1.3 Telemetry shall be stored in a format which allows for direct

download to a standard laptop or desktop computer.

CAS.6.1.1 Unit count to lower per unit price by mass production shall be

driven by conservative manufacturer price.


Design Solution


Design Requirements


Validation Project

Planning

An

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Test

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CAS.2

The manned A/C mountable element of the CAS shall not

interface with existing manned A/C components while

maintaining the capability to indicate either the location and

heading of the A/C or encounter cone boundaries.

CAS.4 The sUAS elements of the CAS shall have minimal impact on

existing sUAS componentry.

CAS.6 Elements of the CERUNAS system designed for both the

manned A/C and sUAS platforms shall be mass reproducible for

less than $100.

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CAS.1.2 The post-CERUNAS avoidance region shall be determined by

the initial MAEC.

CAS.2.1 The sUAS mountable element of CERUNAS shall be able to

sense edge of MAEC with an error of no greater than 3m.

CAS.2.3 The manned A/C mountable element of the CAS shall not impact

manned A/C flight dynamics or characteristics.

CAS.3.1 All avoidance maneuvers implemented by the CAS shall comply

with applicable FAA guidelines for sUAS operation.

CAS.4.2 The sUAS elements of the CAS shall draw no more than 0.3 W

from pre-existing UAV power.


Design Solution


Design Requirements


Validation Project

Planning

An

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Test

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(c

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Syst

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ts CAS.4.3

sUAS and manned A/C CAS component development shall

promote ease of implementation.

CAS.5.1 Telemetry data for any collision avoidance maneuvers shall be

saved on implemented sUAS internal data storage.

CAS.5.2

Telemetry data for any collision avoidance maneuvers shall be

uniquely recorded for a period beginning at the maneuver start

time and extending one (1) maneuver duration beyond the

maneuver end time.

CAS.5.3 The CAS elements for both the manned A/C and sUAS

platforms shall be demonstrably reproducible for $100 +/-

10% based on manufacturer input.

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CAS.2.2.1

Manned A/C mountable element of CAS shall comply with

Title 14 Code of Federal Regulations (14 CFR) §21.21,

§21.19, and §21.113 such that no re-certification of aircraft

type is required by installation of element.


encounter flight regime within a 10% tolerance with respect to

pre-encounter sUAS velocity and maneuver

CAS.4.1.1 Added mass to sUAS shall be distributed about center of mass

to maintain the sUAS center of gravity.

CAS.4.1.2 The battery powering CERUNAS sUAS components shall

represent no more than 60% of the total CERUNAS mass

budget.

CAS.5.1.4 CAS telemetry system shall support sufficient memory to save

data for all avoidances maneuvers plus two (2) average

maneuver duration times.

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