FEATURES OF USE OF RESCUE MODE IN BETAFLIGHT FIRMWARE FOR UAV ON THE BASIS OF STM32F405 CONTROLLER

2020 ◽  
pp. 18-29
Author(s):  
A.A. Myasischev ◽  
S.V. Lienkov ◽  
L.A. Komarova ◽  
Ye.S. Lienkov
Keyword(s):  
Remote Control ◽  
Video Communication ◽  
Control Mode ◽  
Control Panel ◽  
Stable Operation ◽  
Toggle Switch ◽  
Gps Receiver ◽  
Correct Operation ◽  
Starting Point ◽  
Return Algorithm

The paper considers the practical possibility of implementing the GPS Rescue mode for Betaflight ver.4.1.1 firmware in order to return the quadrocopter (UAV) to a point close to the take-off point coordinates. In this regard, an experimental prototype was built with a 250mm frame, but with which the OMNIBUSF4V3 flight controller was installed based on the STM32F405 microcontroller with a GPS receiver and a directional video camera for FTP flights. Betaflight OSD was configured to receive flight data in order to analyze the correct operation of the copter return algorithm. During flight tests, it was shown that the GPS Rescue mode allows you to return the UAV to the launch zone, subject to the settings presented in the work on the assembled quadcopter. When performing GPS Rescue mode, an important condition is the stable connection of the GPS receiver with the number of satellites not less than those installed when setting the firmware. If the number of satellites becomes less than the set, then within a few seconds the motors turn off and the copter falls. It is shown that for stable operation of the GPS Rescue mode, the copter during flight should use the stabilization mode (Angle) with the accelerometer turned on, perform a flight with small angles of inclination. It was found that the greater the angle of inclination of the coprera, the smaller the number of satellites the GPS receiver catches. Therefore, the GPS rescue mode is not advisable to use in Acro, 3D, Horizon flight modes when making flip-s. It has been practically established that the GPS Rescue mode is more appropriate to use in the event of a break in video communication with the heading camera (FPV flights) while maintaining communication with the control panel. In this case, the flight orientation is lost and the copter in automatic mode must be returned to the video communication zone. To do this, the control mode sets the stabilization mode (angle) and turns on the GPS Rescue mode. When establishing a video connection, determining the location, GPS Rescue mode is disabled from the remote control and the copter can continue flying via FPV. It was noticed that in case of communication failure with the control panel, GPS Rescue mode is automatically turned on. In this case, the copter returns to the starting point and in case of restoration of radio communication, the copter automatically restores control with the remote control. This moment must be monitored by the pilot, otherwise the copter may crash. Therefore, it is advisable in case of loss of communication to set the toggle switch on the control panel to GPS Rescue mode. Then, when the radio is restored, the copter will operate according to the GPS Rescue mode from the remote control and will automatically return to the start area and can be detected visually with subsequent control from the remote control.

scholarly journals МОДЕРНІЗАЦІЯ ПРОГРАМНО-ТЕХНІЧНОГО КОМПЛЕКСУ ПТК-МСБ-2 ДЛЯ АВТОМАТИЗАЦІЇ РЕСУРСНИХ ВИПРОБУВАНЬ ВЕРТОЛЬОТІВ

2018 ◽  
pp. 128-132
Author(s):  
Нина Николаевна Лопунова ◽  
Вадим Владимирович Нерубасский
Keyword(s):  
Remote Control ◽  
Control Panel ◽  
General Description ◽  
Test Cycle ◽  
Sensors And Actuators ◽  
Test Stage ◽  
Communication Device ◽  
Upper Level ◽  
The Individual ◽  
Technical Complex

Today, Motor Sich JSC is developing its helicopter production. At the same time, great attention is paid to the creation of an infrastructure that should provide a full cycle of development and testing of new and modernized  helicopter assemblies. For resource testing of the power plant, the carrier system and transmission of the MSB-2 helicopter was created an open stand. To modernization the stand the program-technical complex PTK-MSB-2 was developed and implemented.A general description of the composition and structure of the open rig for resource testing of the MSB-2 light helicopter is given. The rig equipment includes a control panel with helicopter remote control, power supplies, sensors and actuators, communication channels. The control panel allows performing all technological operations for start/stop of two AI-450M turboshaft engines, helicopter remote control along seven channels (using seven servo-amplifiers/servomotors). It is indicated that the main means of automation of the rig is the PTC-MSB-2 program-technical complex. The basic elements and principles of operation of the hardware of PTC-MSB-2 are described. PTC-MSB-2 hardware consists of two hierarchical levels: the lower and the upper. Lower level consists of the cabs of the communication device with the object. The upper level of the PTC is two workstations (WS1 and WS2) and matrix printer. The software tools of PTC-MSB-2, their main functions and features of functioning are considered in detail. It is noted that the Running the software components is possible when the individual measuring channels fail, and when the WS2 fails. At the same time, the functions of the failed components are terminated.The goals of the modernization of the PTC-MSB-2 are listed, the principles for the implementation of algorithms for emergency protection and automation of helicopter resource testing are described. The chosen principle of automation of cyclic tests is based on the concepts of test mode, test cycle and test stage. There is a normal and emergency interruption of the test cycle. With a normal interruption, it is possible to resume the test stage from the next test cycle. The features of testing automation in regular and abnormal situations are briefly described.

scholarly journals Designing of the Aero Video Intelligence on the STM32H Microcontrollers Basis

2020 ◽  
Vol 9 (8) ◽  
pp. 88-93
Keyword(s):  
Video Camera ◽  
Rechargeable Batteries ◽  
Control Panel ◽  
Experimental Sample ◽  
Gps Receiver ◽  
Radio Communication ◽  
Telemetry Data ◽  
Main Attention ◽  
Small Areas ◽  
Windy Weather

The practical possibility of using the flying wing as an aero video intelligence is being considered. In this regard, an experimental sample was built with a wingspan of 1000 mm and a flight weight of up to 500 g, on that the SPRacingF3 Acro flight controller was installed on the basis of the STM32F303 microcontroller with a GPS receiver and a course video camera for FTP flights. Based on the INAV firmware, the main attention was paid to setting the flight modes NAV RTH, NAV FAILSAFE to ensure the guaranteed return of the wing to its launch zone in case of the radio communication loss with the video camera or control panel. The microOSD board has been configured for the possibility of the overlaying telemetry data on the images, that received on the monitor from the course camera. The setup and testing of the semi-automatic launch of the NAV LAUNCH flying wing was carried out, that greatly facilitated the start of the wing in windy weather and from the small areas. It has been practically shown that the flight time was about 40 minutes at an average speed of 40-45km/h with the 5x3 inch three-blade propeller on the three Sony / Murata US18650VTC5 rechargeable batteries with the capacity of 2600 mah.

scholarly journals Study on the Development Direction of Power Grid Dispatching Technical Support System

2019 ◽  
Vol 260 ◽  
pp. 01004 ◽  
Author(s):  
Renbo Wu ◽  
Hong Luo ◽  
Rui Qi ◽  
Ming Gao ◽  
Chao Liang
Keyword(s):  
Support System ◽  
Power Grid ◽  
Rapid Development ◽  
Technical Support ◽  
Control Mode ◽  
Stable Operation ◽  
Development Direction ◽  
Power Dispatching ◽  
New Generation ◽  
And Control

In order to ensure the safe, stable operation of Guangzhou power grid to meet the large city power grid requirements, reached the international advanced level, to realize the transformation of Guangzhou electric power dispatching control center strategy and control mode, it requires the construction of a new generation of intelligent dispatching technical support system. This paper analyzes the current situation and development of Guangzhou power grid. Based on the rapid development of smart grid technology and information technology, this paper puts forward the development direction of power grid dispatching technology support system. It also puts forward the construction work of reasonable planning, makes clear about construction content and technical support system to meet the overall business needs “integration of regulation and control, the integration of main distribution network, market-oriented support”. And we make theoretical exploration and practice and accumulated experience for the new generation of power dispatching intelligent technical support system development.

scholarly journals Evaluation of Interface Modality Effectiveness for Remotely-Controlled Locomotives

2019 ◽  
Vol 63 (1) ◽  
pp. 2211-2215
Author(s):  
So Young Kim ◽  
Neeraja Subrahmaniyan ◽  
James D. Brooks
Keyword(s):  
Remote Control ◽  
Interface Design ◽  
Control Unit ◽  
Control Mode ◽  
Game Controller ◽  
Control Units ◽  
Current Design ◽  
Command Input ◽  
Operator Control ◽  
New Generation

The use of remote-control locomotives has become prevalent in most major rail yards in North America. Despite their increased use, they are limited by the functionality and current design of the operator control unit. Human factors research has identified interface design issues with the controller, emphasizing the need to rethink a new generation of remote-control units that can accommodate the growing needs of operational functionality through effective interface design. Towards that goal, we present the preliminary findings of an exploratory study comparing the functional effectiveness and usability of two types of remote-control modalities – a traditional gaming controller and a multi-touch tablet – to drive a locomotive. Initial findings indicate that the game controller modality is preferred over multi-touch, with low variation among participants. However, the preference of control mode (i.e., vehicle power or speed command input) was different for the two modalities. These initial findings are the first of their kind in identifying initial design considerations for future remote locomotive operation and in comparing the use of traditional gaming and multi-touch controllers.

scholarly journals Control Method of Parallel Inverters with Self-Synchronizing Characteristics in Distributed Microgrid

Energies ◽  
2019 ◽  
Vol 12 (20) ◽  
pp. 3871 ◽  
Author(s):  
Yan ◽  
Cui ◽  
Cui
Keyword(s):  
Reactive Power ◽  
Control Method ◽  
Dynamic Performance ◽  
Synchronous Generator ◽  
Power Sharing ◽  
Control Mode ◽  
Stable Operation ◽  
Centralized Control ◽  
Local Data ◽  
Precise Control

The centralized control mode is no longer applicable for microgrid operation due to the high penetration rate of distributed energy, which is responsible for the widespread interest in the use of the distributed microgrid. Focusing on the issues of power coupling and uncontrollable droop coefficient at the terminal of the connecting line between the micro-source and AC bus, which is rarely considered, this paper proposes an improved virtual synchronous generator (VSG) control strategy based on local data considering precise control of the droop coefficient and realizing the power decoupling and the expected droop characteristics. Then, combined with the virtual rotor characteristic matching method, the reasonable active and reactive power sharing of the parallel microgrid inverters are realized in terms of static and dynamic performance without additional improvement of reactive power control. Finally, the effectiveness and feasibility of the proposed method are verified based on the MATLAB/Simulink simulation platform. The combination of the proved strategy and matching principle endows inverters with self-synchronization characteristics, forming the self-synchronizing voltage sources, which gives the distributed microgrid a higher self-stability, autonomy and robustness to ensure the stable operation of the microgrid.

MOUTH-CONTROLLED TEXT INPUT DEVICE WITH SLIDING FUZZY ALGORITHM FOR INDIVIDUALS WITH SEVERE DISABILITIES

2010 ◽  
Vol 22 (03) ◽  
pp. 223-237 ◽  
Author(s):  
Chung-Min Wu ◽  
Ching-Hsing Luo ◽  
Shu-Wen Lin
Keyword(s):  
Remote Control ◽  
Spinal Cord Injuries ◽  
Severe Disabilities ◽  
Recognition Algorithm ◽  
Control Mode ◽  
Input Device ◽  
Air Conditioner ◽  
Training Environment ◽  
Text Input ◽  
Practice Mode

This study presents a novel mouth-controlled text input (McTin) device that enables users with severe disabilities to access the keyboard and mouse facilities of a standard personal computer via the input of suitable Morse codes processed by sliding window averaging and a fuzzy recognition algorithm. The device offers users the choice of four different modes of operation, namely keyboard-, mouse-, practice-, and remote-control mode. In the keyboard-mode, the user employs a simple mouth-controlled switch to input Morse codes, which the McTin device then translates into the corresponding keyboard character, symbol, or function. In the mouse-mode, the user is able to control the direction of the mouse movement and access the various mouse functions by inputting a maximum of four Morse code elements. The remote-control-mode gives the user the ability to control some of the functions of household appliances such as TV, air conditioner, fan, and lamp. Finally, the practice-mode employs a training environment within which the user may be trained to input Morse codes accurately and quickly via the mouth-controlled switch. Although this study presents the use of a mouth-controlled switch for the input of Morse codes, the form of the input device can be modified to suit the particular requirements of users with different degrees of physical disability. The proposed device has been tested successfully by two users with severe spinal cord injuries to generate text-based articles, send e-mails, draw pictures, and browse the Internet.

The Influence of Hand Controls on Nurses' Operation in Emergency Surgery

2000 ◽  
Vol 44 (26) ◽  
pp. 185-188
Author(s):  
Fonggong Wu ◽  
Ming-che Tsai ◽  
I-heng Hsu
Keyword(s):  
Function Analysis ◽  
Regression Function ◽  
The Body ◽  
Control Panel ◽  
Toggle Switch ◽  
Joint Angles ◽  
Push Button ◽  
3D Motion Analysis ◽  
The Common ◽  
Analysis System

This study is based on the effects on human joint angles caused by the different form of hand controls used by emergency nurses, using the evaluation methods of bad joint angles, come up with a reasonable height and angle range of controls. This study is divided into mainly two sections, in section one we used filming, to group the postures shown by ten emergency medics operating the common seen hand controls, and take the common seen posture to be the basis of the second section experiment. In section two, using 3D motion analysis system, to study the change of height and angle of control panels while fifteen women operate the five common seen hand controls in emergency (push button, big rotation knob, detent positioning knob, small rotation knob and toggle switch), and the effects on the body bending angle, elbow angle and wrist angle. At last using ANOVA analysis and regression function analysis to conclude a suitable control panel height and angle.

Online shearer-onboard personnel detection method for the intelligent fully mechanized mining face

2021 ◽  
pp. 095440622110309
Author(s):  
Dong Wei ◽  
Zhongbin Wang ◽  
Lei Si ◽  
Chao Tan ◽  
Xuliang Lu
Keyword(s):  
Remote Control ◽  
Visible Light ◽  
Coal Mining ◽  
Detection Method ◽  
Industrial Test ◽  
Control Mode ◽  
Edge Preserving ◽  
Mining Technology ◽  
Visible Light Imaging ◽  
Mining Face

As unmanned coal mining technology gradually replaces the traditional mechanized coal mining technology, shearer operation mode is changed from local control to remote control in intelligent fully mechanized mining face. In remote control mode, it is difficult to protect the personnel who straying into the shearer operator space without observation and reminder from the shearer operator. Hence, it is necessary to establish an intelligent personnel detection method to protect the safety of coal miners in intelligent unmanned mining face. The environment of low and non-uniform illumination in fully mechanized coal mining face has seriously restricted the application of personnel detection technology based on visible light imaging. Therefore, a personnel detection method based on infrared thermal imaging is proposed in this paper to solve the disadvantages of using visible light imaging in downhole applications. On this basis, a spatiotemporal guided filter is proposed to harmonize the relationship between edge-preserving and noise-removing. Then, an improved Lucas-Kanade method based on the adaptive-size window is utilized to achieve a more robust personnel detection. Moreover, the personnel detection in the shearer operating space is realized based on epipolar geometry and morphology processing. Finally, the laboratory experiment and industrial test are carried out to evaluate the proposed method, and the results indicate the feasibility and superiority of the proposed methods which show considerable application prospects.

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