PRE2020 3 Group5

Emergency Drone

Group Members

Name	Student ID	Department	Email address
Pepijn Hundepool	1427520	Mechanical Engineering	p.c.j.hundepool@student.tue.nl
Lucas Commissaris	1451065	Mechanical Engineering	l.f.h.commissaris@student.tue.nl
Sven Passier	1448781	Mechanical Engineering	s.w.l.passier@student.tue.nl
Bram van den Buijs	1464647	Applied Physics	b.v.d.buijs@student.tue.nl
Stijn Borgers	1495968	Applied Physics	s.borgers@student.tue.nl

Problem statement and objectives

The popularity and usage of compact unmanned aerial vehicles (UAVs), better known as drones, has been increasing radically over the past few years [1]. For only a rather small amount of money, you can already get yourself a drone with some basic abilities. In general, three types of drone users are distinguished. The majority of the drone market is represented by military purposes. The remaining market share is represented by consumer usage (e.g. hobbyists) and commercial users. This latter group will be the point of focus for this project. These drones can have a broad range of different purposes, such as 3D mapping, delivery, inspections, data transmissions, and video collection. Although this group represents the least percentage of sales of the three aforementioned sectors, the revenue value in 2016 was about 60 percent more than the one following from consumer purchases. This phenomenom is mainly caused by the fact that price tags of about $100,000 are no exception in such industries.

A sector that does not really match the term 'comercially' as it regards the type of institution, but does regarding the production price tag, are drones used by governmental bodies. In specific it concerns departments that are of key-importance in emergeny situations, with the three most central ones being respectively the police, firefighting and medical (ambulance) departments. In these departments, try-outs and permanent involvements of drones become more and more part of the job [2]. However, since these drones often include high-advanced technologies, their production costs can rise to serious heights. A proper police drone for example lies in the purchasing range from $50,00 to $200,000 [3].

This project aims to develop a new type of drone, which will be able to carry out tasks for more than one of these departments. Roughly sketched, this will result in a drone with a range of standard functions, on which a specific variation of equipment can be (de)attached. This multifunctional drone will have multiple benefits over the development of drones that are specified per department. The most important one, as already indicated in the foregoing, will be the cost-effectiveness. This would for example be benefitial for regions that might lack budget to invest in innovative technologies such as drones, but still strive to develop the implementation of high-tech equipment in their daily work. A second benefit, partially cohesive with the previous one, is that drones can be used more efficiently at for instance an incident or natural disaster, where often more than one department is providing assistance. Since the equipment can be varied for multiple departments, different tasks can be executed with the same drone. As a result, when at a certain moment in time a department is not using their drone(s), other departments can make use of it instead.

To be added sources

[1] https://www.toptal.com/finance/market-research-analysts/drone-market

[2] https://www.politie.nl/nieuws/2020/november/16/00-nieuwe-drones-voor-politietaken.html

[3] https://www.meritalk.com/articles/government-saves-time-money-with-drones/

User, Society and Enterprise

In this section the different stakeholders of our project will be investigated and elaborated on.

Users

The primary users of the emergency drones are the civil servants that work in the fire, police and medical department. To be more specific: within the fire department the drone will be used to assist in extinguishing fires and as a fire-reconnaissance tool, within the police department it will be used for surveillance and as a criminal-reconnaissance tool and finally within the medical department the drone will be used for the transport of goods between hospitals and between hospital and civilian who makes the emergency call.

The secondary users are all civilians. Civilians could be trapped inside a burning building, they could be under surveillance, they could be in a hospital with the need for a certain essential good like blood or they could be in need of an AED to revive someone. In all these cases, civilians are on the receiving end of a emergency drone.

Questionnaire

To confirm some of our speculations on the user needs we set up a questionnaire for each of the three departments. We asked a few questions about technical specifications and how drones could be used best. We also asked them about their attitude towards the implementation of drones into their work to confirm the departments would want to use drones.

Questionnaire results

We realized the questionnaire was not as useful as we thought. The answers we got were the answers we expected but it would be way more beneficial to get some explanation on the answers we got. This is why we decided to conduct an interview. The reasoning was that if we were to get in contact with a person some people that are working with drones, we would be able to obtain way more knowledge then with an answer of a multiple choice question. Even an answer to an open question would be subpar.

Here we will still show some of the questions and answers from questionnaire, because some of them were still interesting.

Below the questions and results of the fire department survey can be seen.

The results of the fire department survey

Below the questions and results of the medical personnel survey can be seen.

The results of the medical personnel survey

We did not get any responses from the police department.

Interview

To have a more in-depth understanding of certain technical difficulties and choices, we interviewed some people from each of the three different sectors. These people specialized in the development of the drones to support their respective sectors. We have interviewed 5 people in total and summarized their answers to the different interview question. The questions and summarized answers are stated below.

The questions for the fire department:

- How do you see drones be used by the fire department?

The drones that are used in The Netherlands today are for aireal reconnaissance. These drones are equipped with an optical camera (DJI Zenmuse Z30) and an infrared camera that also has an optical camera inside of it (DJI Zenmuse XT2), so it can produce a video with both optical and infrared footage overlapped.

- Drones are not used to extinguish fires in The Netherlands. Why?

Water is quite heavy, so to compensate the forces to carry and fire this water, the drones will have to have quite a lot of power. This means these drones will be very heavy, think anywhere from 30 to 400 kg. China is already testing with these drones. Robert Nijl doubts that these things can extinguish fires that are inside the building. These drones might be able to carry a good amount of water up but a fire truck will most of the time be more useful. The one exception is if there is a fire in a high story building (which are quite common in China) where a fire truck will probably have difficulties reaching that high, but a drone can just fly up there. According to Mark Bokdam, The Netherlands will start experimenting with firefighting drones within 5 years.

- Do you think it is possible? Maybe even autonomously?

According to Mark Bokdam, The Netherlands will start experimenting with firefighting drones within 5 years. To have a drone be fully autonomous is a whole other question because a drone needs to be supervised otherwise we encounter a responsibility problem. Who will be held responsible for the things that the drone does? The supervisor? The software engineer? The person that mobilized the drone?

- In which range of fires do you see a drone being deployed? Is it useful to deploy a drone for all types of fire?

In most situations a birds eye view is a good information gatherer for a situation with a lot of unknowns.

- Would transporting equipment be useful? Which equipment?

Probably not, because most of the equipment of the fire department is quite heavy and most of the time the ground vehicles can arrive at the location within 5-10 minutes. In most situations this time is short enough to save the situation and the people inside them. Having a single fire extinguisher or a fire blanket arrive 3 minutes earlier does not have a major impact. Maybe in the future.

- How much should a drone be able to carry?

The current drones around 4.5 kg

- What type of drone would be the most useful? a quadcopter, a fixed wing drone, and a hybridcopter (which is a combination of both)?

Fixed wing/hybridcopter is useful for surveying large fires, such as forest fires. This type of drones has not yet been implemented, but it would be a good addition to the tools available. The drones that are currently in use at the fire department are quadcopters, these drones provide a birds eye view with both an infrared camera and an optical camera.

- How can your drones be improved?

Longer batteries, better sensor package, stronger rotors, basically just standard technological improvement. The other thing is the previously mentioned fixed wing drones which can survey large areas and can stay in the air longer.

- Do you have any other ideas of where a drones could be used to assist you in the sector?

Does not know enough about the subject to give a well-founded answer.

The questions for the medical personnel:

- How do you see drones be used by the medical personnel?

Mostly as an information gatherer, so the same as the eye in the sky concept the fire department stated. These types of drones will give a visual overview of the situation for the medical personnel so they wont get surprised by unexpected circumstances when they arrive.

- Would it be useful to transport an AED, organs, antidotes or a first-aid-kit using drones for an emergency call? - Would using drones to transport equipment between hospitals be useful? equipment examples: blood, vaccins, organs, antidotes or first-aid-kits

Helicopters are quite expensive to use. The cost of the vehicle, fuel and the education of a pilot is high. This creates a situation where only in very high demanding situations a helicopter is mobilized and not in all of the situations where the medical helicopter is required can it be mobilized. Transportation using drones is a nice mid-way solution between mobilizing a helicopter and a land vehicle. These drones can be instantly mobilized with small packages of whatever is necessary to whatever location.

- How much should a drone be able to carry?

around 5kg

- What type of drone would be the most useful? a quadcopter, a fixed wing drone, and a hybridcopter (which is a combination of both)?

Quadcopter: surveillance / eye in the sky. But sometimes not even this. Jaap Hatenboer argues that it will be more useful to have a fixed wing drone fly loops around the scene. This would make the drone more efficient in energy use and it will create a situation where the drone will have a view of the situation from a wide variety of angles. Fixed wing drone: long distance flights between developed locations, such as hospitals or bloodbanks Hybridcopter: long distance deliveries to for example an emergency caller. It will be difficult for a drone to be useful when the situation is indoors. But the drone might be able to transport aids for the person in distress.

So, most drones can be of use in the medical department, it just depends on the situation. The quadcopter might be the most useless one, especially when technology is able to create a virtual recreation of the situation by having imagery from different angles. This will make a fixed wing drone flying a pattern above the situation more useful.

- How can your drones be improved?

Standard technological improvements like stated in the fire department section.

Do you have any other ideas of where a drone could be used to assist you in the sector?

xx

Society

There are different stakeholders to be considered for the influence of the society. The government is a major stakeholder, because of the legislation of drones for emergencies usage. Animal rights and environmental organizations have a large interest in maintaining and/or improving the current situation. The drone technology could be dangerous and do damage to society. The flying stakeholder who are using the airspace now must be taken into account, like bird, planes or other drones.

The effect on society would be beneficial on a great scale. (source with death due to cardiac arrest). When drones could deliver an AED within 6 minutes, the survival changes would increase significantly. Other medical usage could be the transport of blood or organs. Not only transport of equipment, but also for investigation for the fire and police departments. All of this would increase the safety and save precious time.

Enterprise

In order to realize emergency drones, the product needs to be produced by a technology company. This company will only build, deliver, and repair these drones. The company will work closely together with a government agency. This agency will be responsible for the usage and quality of the drones, after they have been bought from the drone company. A close cooperation between both stakeholders will lead to an better end product.

Whenever an accident happens due to a drone or due to the usage of an drone, this government agency can be hold responsible. The agency will have to test each drone thoroughly, to limit the risks of accidents. The government agency will also be ultimately responsible for the usage of data gathered by drones. The government agency will have to check at police, medical and fire departments how they deal with the information and data form the drones and if all drone deployment regulations are complied. The relation between the agency and the departments could be seen as principal-agent relationship.

When civilians have an unpleasant experience with the usage of drones by a police, medical or fire department or when they simply feel disturbed by the usage of drones in general, the government agency should be contacted. The agency should write a simply report about each of these complains. The agency should also have the tools to track down the specific drone and flightpath, to see if any regulations on drone deployment where infringed.

State of the Art

Transport drones

Medical drone service

Drone company AVY and several partners are currently testing a long range drone delivery service [1]. The consortium, called Medical Drone Service, will research how the system can impact healthcare in the Netherlands. This consortium consists of several companies, that each have their own expertise; the most important ones are: The ANWB (who are also behind the medical helicopters), PostNL (postal logistics), Erasmus MC (hospital) and Sanquin (blood bank).

During this pilot, a distance of 15 km is travelled in a sparsely populated area, and in the current stadium no medical equipment is yet transported. The main transport is meant to consist out of e.g. medicines, blood and urgent medical deliveries [2].

The drone flies autonomously, but is constantly monitored and at any time the control can be taken over. This specific drone is the AVY Aera, which is also called a Vertical Take Off and Landing wing drone. This term, as you might expect, means that it can take off and land vertically, and subsequently fly horizontally. This can be of great advantage in crowded areas, as the vertical landing makes large landing strips redundant. The drone has a wingspan of 2.5 meters and flies with a speed between the 70 and 80 km/hour, which it can maintain for about an hour. The height it flies at is about 100 meters and at the moment it can only transport a maximum load of 1.5 kilograms. An example of a technical challenge that this drone faces is to maintain a certain temperature, as blood has for instance ideal temperatures at which it should be transported [3]. In addition, it doesn’t fly at bad weather conditions.

Medical drone service's drone

To be added sources:

[1] https://www.sbicnoordwijk.nl/avy-medical-drone-service-anwb/

[2] https://www.anwb.nl/nieuws/maa/testvluchten-medisch-transport-per-drone-van-start

[3] https://www.smarthealth.nl/2019/12/12/heeft-drone-delivery-toekomst-in-de-nederlandse-zorg/

Zipline drone network

Blood transport

The American drone company Zipline created the world’s first ever drone delivery network for blood transportation in Rwanda (Africa), in October 2016 [1]. Zipline has distribution centers from where the drones are launched. These centers also perform the function of storage and warehousing of blood and the drones. When a doctor places an order for blood to the distribution center (e.g. through a message or call), workers at Zipline takes the blood from the refrigerator, wraps it with insulated paper and packs it in an insulated cardboard box, after which it is loaded in the drone. Subsequently, the drone takes off to deliver the cargo to one of the clinics.

Zipline uses planes instead of quad copters (which uses four rotors), as quad copters uses far more energy to fly. They can’t manage the range from batteries necessary to travel longer distances and are relatively slow as well. On an average, one delivery is completed in 15-45 minutes and it takes 5-7 minutes to launch the drone after receiving the order. Zipline handles approximately 500 deliveries per day. These drones travel with a speed of 100 km/hour, with a range of over 160 km (allowing the drone an 80 km zone around the location). When the drone reaches the delivery location, it descends to 30 feet to deliver the packet.

Zipline's plane-like drone

About the physical components of the drone. It has a wingspan of 3 meters and the maximum load it can handle per flight is 1.8 kilograms. The batteries (lithium ion batteries with a total capacity of 1.2 kilowatt hours) are the heaviest part of the aircraft, making up half of the total weight of the aircraft, weighing a total of 10 kilograms.

The drone has a few specifics that are worth mentioning. Instead of a regular GPS circuit, a detachable battery is used in which a GPS is present. This was done as the regular one experienced delay when connecting to the satellite. Another point is the fact that the cargo is dropped with a little parachute. As a result, the clinic at which it is delivered does not require any additional infrastructure to land the drone, and the drone can immediately return to the distribution center. The landing system for the drone is impressive and complicated at the same time. At the distribution center, two actuated arms are located, between which a wire is strung. The drone flies towards the arms, which catch a hook attached to the drone, and brake and end the drone’s flight.

Takeoff Zipline's drone

Vaccine transport

The company Zipline, which is also behind the delivery drone network for blood discussed above, are starting this spring with delivering COVID-19 vaccines [2]. This will be done in the regions in which they are already active, for example Rwanda, Ghana and Tanzania, but also rural parts of the U.S.

A big challenge presented by many of the vaccines, is their temperature requirement. The Pfizer vaccine for instance has to be stored at minus 70 degrees Celsius. To overcome this issue, Zipline will store vaccines in ultra-cold freezers at its distribution centers, and when a clinic needs vaccines, the drones can make a delivery within roughly half an hour. As a result it allows rural and remote health facilities to bypass the need for having the freezers themselves.

To be added sources:

[1] https://pdfs.semanticscholar.org/e31b/8316c97a8a4082c5e736e703ede91ae9fad0.pdf

[2] https://www.fastcompany.com/90601106/these-drones-will-deliver-the-covid-19-vaccine-so-it-stays-cold

Surveillance/reconnaissance drones

Eye in the sky

On their website the West Midlands Police in the UK discuss the way drones can be used to assist officers in scanning large areas in a short amount of time. These areas being: crime scenes, hard to reach areas, major incidents or looking for missing persons. The drones cost between 2.000 and 10.000 pounds (2.320-11.600 euros). The drones are operated by specially qualified officers that have trained under the Civil Aviation Authority (CAA) regulations. The drones are used for a short 15 minute period of time to minimize noise concerns. The drones are allowed to fly up to 120 meters high. The smallest drone has a top speed of 65 km/h. The drones can fly within 500 meters of the pilot. They make use of a lithium-polymer battery that can be charged either in buildings or on police vehicles.

West Midlands Police Drone

The Fire Department of New York (FDNY) has been using tethered drones at incident scenes since March 2017, The HoverFly drones are equipped with video and infrared cameras. They are able to evaluate fire travel, structural issues like cracks in a building or danger of collapse, and roof operations to determine if anything is unsafe and needs corrective action. HoverFly drones have a constant power source and are able to give very clear pictures. The drones are operated by pilots that are part of a command tactical unit that is dispatched from the FDNY command center.

FDNY uses HoverFly drone

The Millstone Valley (NJ) Fire Department in Franklin Township Fire District No. 1 uses DJI drones. First they had an off-road search and rescue team that used Polaris Ranger utility terrain vehicles and a 4×4 brush truck but then they realized how practical a drone would be. In the first year of usage, they found multiple lost hikers using drones. Millstone Valley also has used its drones on special call from the New Jersey Forest Fire Service, for prescribed burns and uncontrolled wildfires. With the drones, they are able to determine where the fire is and to predict where it goes.

NJ use DJI drones

To be added sources:

[1] https://www.west-midlands.police.uk/frequently-asked-questions/police-drones

[2] https://www.fireapparatusmagazine.com/fire-apparatus/fire-department-drones-serve-a-variety-of-needs-on-incident-scenes/#gref

Design research

Drone requirements

Before I could make a start on the actual design of the drone, I first need to know what the purpose of the drone is (for what department will the drone work?). This is still not completely clear, however we were sure that the drone for the police department and the fire department will need to carry a large camera for surveillance/ air reconnaissance/ fire detection. The tasks of the two departments can be carried out by a somewhat similar drone. For the medical department the drone only needs to carry a relative small load. I now looked at what type of drone best fits these tasks. I first made a table with the requirements for the drones of each department, since the fire department and police department require somewhat the same, I placed them together.

Table with general drone requirements for each department

The correct drone type

I now had an idea on some requirements for each of the drones. I started looking at the state of the art of drones and what drones would fit the best for our cases. I looked at rotary drones (fig 2), fixed wing drones (fig 3) and VTOL (Vertical Take-Off and Landing) fixed wing drones (fig 4).

From left to right; DJI matrice 600, Lockheed Martin Stalker, ALTI transition VTOL

Table with general specs for every drone type

Recommendation: I would recommend to use a Fixed wing/VTOL fixed wing drone for police/fire department, it can hold a camera and has high flight durability And for the medical department I would advise a Fixed wing, the drone will usually always fly between certain locations, so a landing system and launch system/ location can be build on these locations. This drone will be the fasted since it does not have to carry additional weight of extra rotors and batteries like the VTOL fixed wing.

Propellor

Regarding a desired flight velocity and energy consumption, the design of a drone’s propellor is of great importance. For a multirotor propellor there are a few key variables that need to be considered in the its design: The size, the pitch, the blade configuration and the material [1]. These variables discussed here will mainly hold for rotary drones, but the general aerodynamics and energy consumption can be also be used for other drone types (e.g. fixed wing).

First of all, the size. The main difference between a small and large propellor is the power consumption and level of thrust. Larger propellors sweep more air and thus take more energy to get spinning. These will have more thrust and can fly more steadily. Smaller ones require less power and will be able to change altitude more rapidly. Just as important as these considerations, is the requirement of a well matched motor. If a small propellor is placed on a motor made for bigger sized propellors, it will lead to a too high RPM with very little thrust. A typical diameter is around 8 to 9 inches [2].

The pitch of a propellor refers to the angle of each of the blades on the propeller. A high pitch will lead to more overall thrust and top speed, while a low pitch increases the response time and uses less power. A propellor with low pitch is only efficient at low speeds, while a high pitch is more suitable for flying in large open areas.

Different propellor pitches

The amount of blades on a propellor is referred to as the blade configuration. Increasing the amount of blades will not have that much of an effect as increasing the size. Many blades are more suitable when flying in places where making fast turns is a requirement, while less blades are when thrust is less critical. In general, tri-blade propellors provide the best balance between efficiency and thrust.

Finally, the material of the propellor, for which polycarbonate is a very common option, known for its good stiffness. Material choice depends also on the climate in which the drone is operating. In a hot climate for instance, glass fiber might be needed to reinforce the propellor, as other materials (e.g. polycarbonate) can become soft and thus less efficient.

To be added sources:

[1] https://www.getfpv.com/learn/new-to-fpv/all-about-multirotor-fpv-drone-propellers/

[2] http://www.12charlie.com/Chapter_12/Chap12Page005.htm

[3] https://link.springer.com/content/pdf/10.1007/s11370-017-0224-y.pdf

Rotor

A rotor is the common name for the combination of a motor with a propellor. In general, multiple rotors are either symmetrically or co-linearly attached to a drone’s frame. There are a few key specifications for these motors. The operating voltage is typically 11.1 or 14.8 Volts, in combination with a three or four cell Li-Po battery. Another important variable is the amount of kilovolt of the motor, which is also indicated as the rotation speed per Volt. From this relation it becomes immediately clear that the propellor will spin faster at a higher kV (RPM/V) rating. However, it is important to keep the balance between the amount of kV and the size of the propellor. For instance, a too high kV combined with a too large propellor will require more torque and can subsequently generate too much heat or even overheating [1]. The weight of one single rotor is usually between the 12 and 20 grams.

The table below provides an indication of several components of a drone (a quadcopter specifically here) relate to each other [2].

Relation between rotor components quadcopter

For drones, two main types of motors are distinguished: Brushed and brushless [3]. This distinction is based on the way of generating a magnetic field, which is done through permanent polarity for a brushed one and switching polarity (with a permanent magnet) for the brushless one. The brushed version is commonly used for very basic (consumer) drones, while the brushless one is often used in larger drones, as it has a wider speed range and longer lifespan.

To be added sources:

[1] https://oscarliang.com/quadcopter-motor-propeller/

[2] https://www.rotordronepro.com/guide-multirotor-motors/#visitor_pref_pop

[3] https://oscarliang.com/brushed-vs-brushless-motor/

Power Source

A drone will need a power source to power the propellors and generate lift. There are different ways of powering a drone. Most drones use batteries to power their electric components. The most batterie for powering a drone is a Lithium-ion (Li-ion) battery. Not every battery is meets the requirements for powering a drone. The batterie needs to have a high discharge rate, high energy/weight ratio and a fuel gauge is essential for showing the user when a landing is required.

When drones get bigger, they generally have the ability to lift more weight. Especially in fixed wing and VTOL fixed wing drones, the market shows that when drones get larger in size the way of powering a drone changes. Since becomes bigger, the possibility of using an combustion powered engine opens up. These engines are able of powering the drone for long periods of, dependent on the size of the fuel tank. In 2017, MIT engineers build an gas powered fixed wing drone, that was able of staying in the air for 5 days. The engines used in these drones are usually one or two cylinder engines, weighing between 1.3 to 7.3kg and they have power outputs ranging from 1.6kW to 18.9kW [1]. A fixed wing drone will need one combustion engine to operate, however a VTOL fixed wing drone will also need additional batteries to supply power to the propellors performing the vertical take-off and landing. An endurance focussed VTOL fixed wing drone can be called a ‘hybrid’, since it combines multiple energy sources. An example of such endurance focused drone is the ALTI Transition [2], this drone combines an electric and fuel power and is ably to fly up to 12 hours.

To be added sources:

[1] https://www.unmannedsystemstechnology.com/company/sky-power-gmbh/

[2] https://altiuas.com/

Design

FEM Analysis

In order to model the consequences of loads on our drone, a FEM analysis was performed on our drone. To give a view of what this type of analysis does, a FEM analysis of a simple sphere can be seen below.

Use Cases

An use case for the medical department is with the company Zipline. Zipline is a California-based drone start-up that delivers medical supplies in Ghana and Rwanda. They want to deliver covid-19 vaccines throughout the country. The Nigeria’s state Kaduna allowed Zipline to deliver more than 1 million doses of other vaccines in Africa over the past year, also blood products, medications and other vaccines. When they want to deliver the covid-19 vaccines, they need to storage it at very cold temperatures. Zipline also wants to operate in the USA. https://www.cnbc.com/2021/02/04/role-of-medical-drones-in-global-covid-vaccine-campaign-is-growing.html

Planning milestones

In the figure below a planning of the project can be seen.

The planning for the project.

Workload

Here an overview is given of what everyone has done per week.

Week 1

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520	9	Intro videos + conference (1h), First meeting (1.5h), Meeting to choose subject's direction (1.5h), Studied and wrote summaries for papers (5h): , , , ,
Lucas Commissaris	1451065	10	Intro videos + conference (1h), First meeting (1.5h), Meeting to choose subject's direction (1.5h), Studied and wrote summaries for papers (6h): , , , , .
Sven Passier	1448781	9.5	Intro videos + conference (1h), First meeting (1.5h), Meeting to choose subject's direction (1.5h), Studied and wrote summaries for papers: (5.5h) , , , , .
Bram van den Buijs	1464647		Intro videos + conference (1h), First meeting (1.5h), Meeting to choose subject's direction (1.5h), Studied and wrote summaries for papers: , , , , .
Stijn Borgers	1495968	9	Intro videos + conference (1h), First meeting (1.5h), Meeting to choose subject's direction (1.5h), Studied and wrote summaries for papers (5h): , , , , .

Week 2

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520	8,5	Tutor feedback meeting (0,5h), Meeting with the group for setting up user needs (3h), Coming up with questions (2h), Another meeting with the group for setting up survey (3h)
Lucas Commissaris	1451065	8,5	Tutor feedback meeting (0,5h), Meeting with the group for setting up user needs (3h), Coming up with questions (2h), Another meeting with the group for setting up survey (3h)
Sven Passier	1448781	8	Tutor feedback meeting (0,5h), Meeting with the group for setting up user needs (3h), Coming up with questions (1.5h), Another meeting with the group for setting up survey (3h)
Bram van den Buijs	1464647	?	Tutor feedback meeting (0,5h), Meeting with the group for setting up user needs (3h)...
Stijn Borgers	1495968	8	Tutor feedback meeting (0,5h), Meeting with the group for setting up user needs (3h), Coming up with questions (1.5h), Another meeting with the group for setting up survey (3h)

Week 3

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520	7	Tutor feedback meeting (0,5h), Setup technical specifications of a firefighting drone (1.5h), Group meetings (3h), Editing planning and wiki (2h)
Lucas Commissaris	1451065	12,5	Tutor feedback meeting (0,5h), Looking for contact information of the respective departments (2h), Finishing up survey and sending it (3,5h), Group meetings (3h), Problem statement and objectives (3,5h)
Sven Passier	1448781	7	Tutor feedback meeting (0,5h), Setup technical specifications of a police drone (1.5h), Group meetings (3h), Writing about Enterprise on wiki (2hr)
Bram van den Buijs	1464647		Tutor feedback meeting (0,5h), Setup technical specifications of a medical drone (...h), Group meetings (3h)
Stijn Borgers	1495968	9	Tutor feedback meeting (0,5h), Making survey and help sending it (5h), Wiki: questionnaire and adding consent form to appendix (0.5h), Group meetings (3h)

Week 4

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520	9	Tutor feedback meeting (0,5h), Group meeting (0,5h), Research reconnaissance/surveillance drones for State of the Art (5h), Group meeting on finalizing survey (2h), Edit wiki page State of the Art (1h), put it in main page for now
Lucas Commissaris	1451065	11,5	Tutor feedback meeting (0,5h), Group meeting (0,5h), Research transport drones for State of the Art (3,5h), Create and edit wiki page State of the Art, put it in main page for now (1h), Group meeting on finalizing survey (2h), Design research on propellers and rotors (3,5h), Editing wiki (0,5h)
Sven Passier	1448781	9	Tutor feedback meeting (0,5h), Group meeting (0,5h), Starting on drone design, requirements and types of drones (3.5h), Group meeting on finalizing survey (2h), Design research to power sources (2hr), Editing wiki (0.5h)
Bram van den Buijs	1464647		Tutor feedback meeting (0,5h), Group meeting (0,5h)
Stijn Borgers	1495968	7	Tutor feedback meeting (0,5h), Wiki: finishing questionnaire, adding interview and editing overall layout (3h), Group meeting (0,5h), Research on privacy regulations (3h)

Week 5

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520		Tutor feedback meeting (0,5h), Group meeting (0,5h), Interview with Mark Bokdam and debriefing (1h)
Lucas Commissaris	1451065		Tutor feedback meeting (0,5h), Group meeting (0,5h), Interview with Jaap Hatenboer and debriefing (1h), Interview with Mark Bokdam and debriefing (1h), Interview with Robbert Nijs and debriefing (1h), Research on Simulink drone control, with importing NX model (3h)
Sven Passier	1448781		Tutor feedback meeting (0,5h), Group meeting (0,5h), Interview with Jaap Hatenboer and debriefing (1h), Interview with Mark Bokdam and debriefing (1h), Interview with Robbert Nijs and debriefing (1h)
Bram van den Buijs	1464647
Stijn Borgers	1495968		Tutor feedback meeting (0,5h), Group meeting (0,5h), Interview with Jaap Hatenboer and debriefing (1h), Interview with Robbert Nijs and debriefing (1h)

Week 6

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520
Lucas Commissaris	1451065
Sven Passier	1448781
Bram van den Buijs	1464647
Stijn Borgers	1495968

Week 7

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520
Lucas Commissaris	1451065
Sven Passier	1448781
Bram van den Buijs	1464647
Stijn Borgers	1495968

Week 8

Name	Student ID	Hours worked	Tasks done
Pepijn Hundepool	1427520
Lucas Commissaris	1451065
Sven Passier	1448781
Bram van den Buijs	1464647
Stijn Borgers	1495968

Appendix

This contains supplementary material for the text.

A. Consent Form

Information form for participants

This study is performed by Sven Passier, Pepijn Hundepool, Bram van den Buijs, Lucas Commissaris and Stijn Borgers students under the supervision of Elena Torta of the Control System Technology group at Eindhoven University of Technology.

Before participating, you should understand the procedure followed in this study, and give your informed consent for voluntary participation. Please read this page carefully.

About this study

The goal of this study is to examine what the requirements of (insert user) would be for a drone that could assist them in an emergency situation. You are asked to fill in the survey with questions about the functions of such a drone.

This study will take less than 5 minutes to complete and does not involve any risks.

Voluntary Participation

Your participation is completely voluntary. You can stop participation at any time. You can also withdraw your permission to use your data up to after completing this survey.

Confidentiality and use, storage, and sharing of data

This study has been approved by Elena Torta, teacher of the bachelor course Robots Everywhere of Eindhoven University of Technology. In this study experimental data will be stored. The anonymized dataset that, to the best of our knowledge and ability will not contain information that can identify you, will be used in this research and stored on a TU/e OneDrive account.

Further information

If you want more information about this study, the study design, or the results, you can contact Stijn Borgers (contact email: s.borgers@student.tue.nl). You can report irregularities related to scientific integrity to confidential advisors of the TU/e, whose contact information can be found on www.tue.nl.

Certificate of consent

By starting this study, I indicate that I have read and understood the study procedure, and I agree to voluntarily participate.

B. Summaries 25 sources

The 25 summaries of sources that were required in week 1 can be found on this separate page: Summaries.

References