Uncrewed Systems Technology 049 - April/May 2023

94 In operation | Cleo Robotics Dronut X1 “Also, carbon composite can act as a Faraday cage for radio signals, which isn’t good for maintaining clear data links for video and commands between the X1 and its operator,” Eleryan says. While putting antennas on the outside might have been a feasible workaround, such an approach would have left them unprotected against impacts, and so gone against Cleo’s electronics integration philosophy. The X1’s body consists largely of the duct itself, which is thicker towards the top for housing more electronics, and thinner towards the bottom. All the perception sensors are currently integrated at the front (turning as necessary towards whichever direction it needs to travel horizontally), and include a Lidar, a 4K camera and a global shutter camera. Its computer systems are also integrated at the front for easy connections of key data inputs for autonomous navigation and processing. A battery pack with about 3000 mAh of capacity snap-fits into the upper rear of the body. The pack is made up of three lithium-ion cells in a horseshoe- like shape, to achieve a half-doughnut geometry that conforms with that of the rest of the Dronut’s body. That though is to optimise the pull and flow of air into the duct, not necessarily for aerodynamic efficiency in forward flight. The two triple-bladed thrust fans sit in the middle, while four flaps sit around the bottom of the duct, being electromechanically actuated during flight for attitude control. Eleryan adds that the fans are also polycarbonate, and their shape as well as the duct’s geometry have been optimised in-house to the point that no Dronut has ever needed a prop replacement. Launch procedure To date, the Dronut has been successfully used by numerous organisations around theworld, including some governments and Fortune 500 companies, Eleryan says. “Some of our customers use it for inspecting inside tanks, pressure vessels, vents andmine shafts, although some also use it for factory floors where theoretically another, morematured or cheaper UAV could have been used,” he says. “One major car manufacturer here in the US used the Dronut above their factory floor, and we asked themwhy they didn’t use another UAV. They said that using pretty much any other kind of drone would have triggered their health and safety people to get involved. They’d then have to start barricading inspection areas, making sure no-one was around, and similar things that disrupt factory operations and make it harder to maintain productivity. “But they said that with the Dronut, it is safe enough and small enough that the health and safety people don’t have a problemwith it – they let it fly overhead while the factory workers continue with their day. People can bump into our drone, or push it away with their hand, and neither party is harmed.” In addition to the safety of having a solid wall of ducting around the propellers, the Dronut is inherently easy to use, with its requirements for launch being very minimal. Before launching, some visual inspections are recommended, such as checking that camera lenses are free from dust or any other debris that could hamper perception or photography. Similar checks of the propulsion and servo motors are also recommended. “We haven’t received our IP ratings yet, but we know the Dronut has worked well in beta tests with customers, in-house trials in some pretty harsh environments, and similar trials conducted by independent third parties on our behalf,” Eleryan says. The X1 automatically activates and establishes a 2.4 GHz wi-fi link with the operator’s tablet GCS. The process takes around 40-60 seconds, after which the user can begin flying. The standard-issue tablet is a Navigator Tab 3 system from UXV Technologies, although Cleo is flexible regarding the Dronut’s control software, to the point that smartphones can also be used as GCSs, or combined with PlayStation-type controllers for when an in-the-loop operator wants to take manual control for ad hoc point inspections or other purposes. April/May 2023 | Uncrewed Systems Technology The X1 can land and survey in a stationary capacity, its battery enabling up to 60 minutes of operation this way