Unmanned aerial vehicles (UAV) have become an important part of aerial carrier for various missions. As for flight safety concerns, UAV has much less reliability and less stability compared to general categories of transportation passenger aircrafts. In order to operate UAVs into National Airspace System (NAS), standard criteria are needed to show how the UAVs can be operated at a satisfactory level of safety. Based on the UAV development, it is difficult to establish an equivalent level of safety with the general categories of aircraft. Although the flight risk to the ground is relatively low, once any accident or failure happened, it may cause catastrophic crash even casualties to human life. This study uses a simulator to assess the crashing probability density and presents an adaptive set of the clearance region. The UAV specifications by different classifications, such as wing type, speed and altitudes when crashing happens for simulation. The crash scenarios of lose power, lose control, spiral drop and fuselage damage are simulated to find the probability of impact to ground objects and human beings. The results can be used to construct a UAV flight mission by combining with a path planning algorithm to keep off potentially high populated areas. The intended use of the tool is discussed and the adaptive clearance region is assessed by chosen UAVs.

REFERENCES

[1] Reg, Austin, Unmanned Aicraft Systems: UAV Design, Development and Deployment, West Sussex: John Wiley & Sons, Ltd., 2010.
[2] Liu, Hong, Mu Lin, Luyan Deng, "UAV Route Planning for Aerial Photography under Interval Uncertainties," International Journal for Light and Electron Optics, vol. 127, no. 20, pp. 9895-9700, 2016.
[3] Moorkamp, Matthijs, Jean-Luc Wybo, Eric-Hand Kramer, "Pioneering with UAVs at the battlefield," Safety Science, vol. 88, pp. 251-260, 2016.
[4] Rokhmana, Catur Aries, "The Potential of UAV-based Remote Sensing for Supporting Precision Agriculture in Indonesia," Procedia Environmental Sciences, vol. 24, pp. 245-253, 2015.
[5] FAA, "UAS Regulation," Federal Aviation Administration, 2016.
[6] Yu, Jie, Nachiappan Subramanian, Kun Ning, David Edwards, "Product delivery service provider selection and customer satisfaction in the era of internet of things: A Chinese e-retailers' perspective," Elsevier International Journal Production Economics, no. 159, pp. 104-116, 2015.
[7] EUROCONTROL, "Remotely Piloted Aircraft System (RPAS)," 2017. [Online]. Available: https://www.eurocontrol.int/rpas.. [Accessed 27 February 2017].
[8] Marsh & McLennan Companies, "Drones- a view into the future for the logistics sector," United Kingdom, 2015.
[9] Global Rail News, "Global Rail News," 2015. [Online]. Available: http://www.globalrailnews. com/2015/09/02/security-drones-to-be-used-bypolish-rail-freight-operator. [Accessed 27 December 2016].
[10] Business Insider Intelligence, "Amazon Gives Prime Air Public Demo," 27 March 2017. [Online]. Available: http://www.businessinsider.com/amazon-gives-prime-air-public-demo-2017-3. [Accessed 20 April 2017].
[11] M. Logan, J. Chu, M. A. Motter, D. L. Carter, M. Ol and C. Zeune, "Small UAV Research and Evolution in Long Endurance Electric Powered Vehicles," in AIAA Infotech@Aerospace, Rohnert Park, California, 2007.
[12] T. Matsumoto, K. Kita, R. Suzuki, A. Oosedo, K. Go, Y. Hosino, A. Konno and M. Uchiya, "A hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance," in IEEE International Conference on Robotics and Automation, Anchorage, USA, 2010.
[13] Chow, Emily, Alberto Cuadra, Craig Whitlock, "Washington Post," 2014. [Online]. Available: http://www.washingtonpost.com/wp-srv/special/national/drone-crashes/database/. [Accessed 25 December 2016].
[14] Hsu, Yi-Chieh and C. E. Lin, "Airspace Assessment forFixed-Wing UAV Flight Training in Taiwan," National Cheng Kung University Taiwan, Tainan, 2015.
[15] M. Shanmugavel, "Dynamic Risk Uncertainties by Cooperative Sites in Path Planning," Monash University Malaysia, Bandar Sunway, 2013.
[16] R. Yanishevsky, Guidance of Unmanned Aerial Vehicles, Boca Raton: Taylor and Francis Group, LLC, 2011.
[17] N. Crook, D. J. Harper and M. Wald, "Optimization of Distribution Centers for Amazon Prime Air Service," Amazon Prime Air, 2016.
[18] A. Chapman, "Drone Types," Operations of Australian UAV, 2017. [Online]. Available: https://www.auav.com.au/articles/drone-types/. [Accessed 15 June 2017].
[19] Amazon Prime Air, "Revising the Airspace for the Safe Integration of Small Unmanned Aerial System," Amazon, 2015.
[20] ICAO, "Unmanned Aerial System (UAS)," International Civil Aviation Organization, Montreal, 2011.
[21] EASA, "EASA Unmanned Aircraft," 22 August 2016. [Online]. Available: https://www.easa.europa.eu/system/files/dfu/UAS%20Prototype%20Regulation%20final.pdf. [Accessed 20 April 2017].
[22] R. E. Weibel and R. J. Hansman Jr., "Safety Considerations for Operations of Different Classes of UAVs in the NAS," in AIAA 3rd "Unmanned Unlimited" Technical Conference, Workshop and Exhibit, Chicago, 2004.
[23] Z. Xing, Y. He and C. Jian, "Design and Implementation of UAV Flight Simulation based on Matlab/Simulink," in International Conferenceon Advances in Mechanical Engineering and Industrial Informatics, Zhengzhou, 2015.
[24] A. A. Rodriguez, O. Cifdaloz, M. Phielipp and J. Dickeson, "Description of Modeling, Simulation, Animation, and Real-time Control (MoSART) Environment for Class of 6-DOF Dynamical System," in American Control Conference, New York, 2007.
[25] P. Lu and Q. Geng, "Real-time Simulation System for UAV Based on Matlab/Simulink," in Computing, Control and Industrial Engineering (CCIE) 2011 IEEE 2nd International Conference, Wuhan, 2011.
[26] X.-z. He and R.-c. a. Z. W. Wang, "Simulation and Research of UAV Based on MATLAB," Mechanical Engineering and Automation, vol. 4, pp. 32-34, 2010.
[27] L. Babel, "Flight Path Planning for Unmanned Aerial Vehicles with Landmark-based Visual Navigation," Robotics and Autonomous System , vol. 62, pp. 142-150, 2014.
[28] C. C. Murray and A. G. Chu, "The Flying Sidekick Traveling Salesman Problem: Optimization of Drone-Assisted Parcel Delivery," Transportation Research, pp. 86-109, 2015.
[29] Supsukbaworn, Thanakorn and C. E. Lin, "Development of Dual Power Multi-Rotor System," National Cheng Kung University, Tainan, 2016.
[30] Glenn Research Center, "Center of Gravity," NASA, 05 May 2015. [Online]. Available: https://www.grc.nasa.gov/www/k-12/airplane/cg.html. [Accessed 30 April 2017].
[31] Patel, Amit, "Amit's A* Pages," Stanford University, [Online]. Available: http://theory.stanford.edu/~amitp/GameProgramming/. [Accessed 9 February 2017].
[32] Nash, Alex, K. Daniel and S. Koenig, "Theta*: Any-Angle Path Planning on Grids," Journal of Artificial Intelligence Research, no. 39, pp. 533-579, 2010.
[33] Pingtung City Government, "Pingtung City Government: Pingtung CIty Population Density," [Online]. Available: http://www.ptcg.gov.tw/Default.aspx. [Accessed 05 June 2017].