METHODOLOGY:

The methodology for the design of the surveillance system has been divided into the following sections: The proposed design consists of the following sub units: 1. The Control unit: 2. The vehicle unit:. To keep the whole assembly working, we need a powerful motor mechanism. This task is performed by an assembly of tries and brushless motors. The CMOS sensors and the transmitter receiver pair are also placed in the vehicle unit as payload. Appropriate power supply is also to be accommodated. 3. The Image Capturing unit: To capture the real-time video, a CMOS sensor is to be placed atop the vehicle unit, facing the earth. This sensor captures real time video of the view underneath with an appreciable resolution. 4. Data Linkage: The output of the sensor is transmitted to the ground unit with the help of an antenna that is attached to the sensor. This antenna output travels through the air and is received by the receiver placed. 5. Image Processing: Once the images are received, they are processed with the help of an image processing technique known as Scale Invariant Feature Transform (SIFT). The coding of SIFT is done in MATLAB. 6. Embedded design: to connect this whole setup, embedded systems are made use of. Atmega644 microcontroller is used. The controller is made use of in three places, the control unit, the vehicle unit and the ground unit. For the control of the brushless motors, Atmega8 is used.

DESIGN UNITS:
There are various units used in the whole design. Their specifications and assembly is as follows:

1) Vehicle design 2) BRUSHLESS MOTOR:

The motors used are Brushless DC motors (Roxxy 2824-34). However, to use such motors the direct current of the batteries has to be converted to a tri-phasic alternating current with power output controlled so that the speed of the motors can be accurately controlled. The BL-Ctrl board is a sensor-less driver for brushless DC current motors. The advantages of using Brushless Motors are as under: High efficiency and performance Less risk of interference as there are no brushes or gears Numerous sources of motors with different power output and RPM per Volt.

3) MICRO CONTROLLER
The Atmel Atmega8, 644 are used as microcontrollers. It has some important features required for use in such speed controllers: the analog comparators with multiplexers. In

addition it has serial interfaces and an I2C interface integrated into the chip. The Atmega8 is cheap (<2EUR), is easy to program, requires limited peripherals and is fast enough for our required RPMs. .

IMAGE CAPTURING UNIT

Once placed the unit at the required height, the next requirement of the design is to capture the video of the target underneath. To capture the video, various cameras or sensors can be used as per the specifications required. The camera or the sensor that is used should be such that it easily captures clear images and of a good resolution. It should also be light weight so that it does not load the aerial unit much. The camera used by us has the following specifications: Image Sensor: 1/3" CMOS Sensor Resolution: 380TV Lines Min. Illumination: 1 Lux (IR off) S/N Ratio: >48dB (AGC off) Iris Method: Auto electronic exposure control Gain Control: Automatic White Balance: Automatic RF Output Power: 10mW Camera Dimensions: 22(L) x 22(H) x 22(D)mm The various advantages of using this camera are: Being a tiny camera (22(L) x 22(H) x 22(D) mm ) (20 g), it does not put much of weight on the aerial unit. The resolution of the camera, 380TV Lines, provides the required resolution that is necessary to clearly view an object at a distance of about 30m from it. The camera can be plugged into mains power with the plug connection that can be easily connected to a battery power supply.