scholarly journals Method of an unmanned aerial vehicle composition route in space

2021 ◽  
Vol 5 (4) ◽  
pp. 26-33
Author(s):  
Denys Voloshyn ◽  
Veronika Brechko ◽  
Serhii Semenov
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Spatial Location ◽  
Starting Point ◽  
Aerial Vehicle ◽  
The Difference ◽  
Extended Graph ◽  
Three Dimensional Space ◽  
Vehicle Routes

The article is devoted to the development of a method of composition of the route of an unmanned aerial vehicle in three-dimensional space. The main difference of the presented method is the complex consideration of the features of the environment, which reflects the possible obstacles (active or passive) and other limitations of the problem when composing the route of the unmanned aerial vehicle in three-dimensional space. This allowed to increase the safety of the task in autonomous flight conditions. The article analyzes the main approaches to the composition of unmanned aerial vehicle routes in space. The conclusion about the shortcomings of the two-dimensional representation is made. The method presents four stages of the task. This is the stage of modeling the environment that reflects possible obstacles (active or passive) and other limitations of the task. Stage of construction of an extended graph of unmanned aerial vehicle routes in space. The difference of this stage is the adaptive consideration of the spatial location of active obstacles in space. The next stage is the route search stage, which connects the starting point with the end and bypasses all obstacles and allows you to build a starting route in the form of a broken line, which is formed by a sequence of waypoints, and connects the starting point with the end, bypassing obstacles. The last is the stage of obtaining the final result, which is provided by smoothing the obtained broken line. In this part of the composition method, to solve the problem of smoothing the trajectory of the unmanned aerial vehicle in space on the selected route, the expediency of using the method of non-uniform cubic B-spline is proved. With the help of this method the task of selection and optimization of the smoothing parameter is set and solved.

scholarly journals How deep is the difference?

2021 ◽  
Author(s):  
Taraneh Korkmaz
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
State Power ◽  
Application Form ◽  
Official Document ◽  
The Core ◽  
The Difference ◽  
Institutional Texts ◽  
Three Dimensional Space ◽  
Multimedia Installation

This paper follows the blurriness of the concept of difference as it relates to the Canadian idea of diversity, and its manifestation in governmental forms and official documents. It highlights the paradoxical (inconsistent) function of such documents in addressing diversity, individuation and change. This research was informed by the concept of difference, defined (interpreted) by Manuel DeLanda, and is expressed in a multimedia installation titled Illegal Entries, which reconfigures the Canadian Passport Application form (PPTC 153-154) as a three-dimensional space. This installation shows viewers that this official document, which operates to legitimize state power over citizens’ bodies, is designed to undermine the concept of difference, which is at the core of individuation and is the backbone of diversity and multiculturalism in Canada. This paper provides an account of how a document is transformed into a documentary. The installation creates a bilingual, audio-visual conundrum that consists of institutional texts, commands and warnings. This is juxtaposed with animated graphics, icons and shapes that appear in the document in addition to the image of the passport ID photograph.

Vectors

1996 ◽  
Author(s):  
Gerhard Oertel
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Sufficient Conditions ◽  
Unit Vector ◽  
Cross Product ◽  
Nonzero Vector ◽  
Algebraic Representation ◽  
The Difference ◽  
Necessary And Sufficient ◽  
Three Dimensional Space

The reader, even if familiar with vectors, will find it useful to work through this chapter because it introduces notation that will be used throughout this book. We will take vectors to be entities that possess magnitude, orientation, and sense in three-dimensional space. Graphically, we will represent them as arrows with the sense from tail to head, magnitude proportional to the length, and orientation indicated by the angles they form with a given set of reference directions. Two different kinds of symbol will be used to designate vectors algebraically, boldface letters (and the boldface number zero for a vector of zero magnitude), and subscripted letters to be introduced later. The first problems deal with simple vector geometry and its algebraic representation. Multiplying a vector by a scalar affects only its magnitude (length) without changing its direction. Problem 1. State the necessary and sufficient conditions for the three vectors A, B, and C to form a triangle. (Problems 1–9, 12–14, 19–23, and 25 from Sokolnikoff & Redheffer, 1958.) Problem 2. Given the sum S = A + B and the difference D = A – B, find A and B in terms of S and D (a) graphically and (b) algebraically. Problem 3. (a) State the unit vector a with the same direction as a nonzero vector A. (b) Let two nonzero vectors A and B issue from the same point, forming an angle between them; using the result of (a), find a vector that bisects this angle. Problem 4. Using vector methods, show that a line from one of the vertices of a parallelogram to the midpoint of one of the nonadjacent sides trisects one of the diagonals. Two vectors are said to form with each other two distinct products: a scalar, the dot product, and a vector, the cross product.

scholarly journals Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1232
Author(s):  
Wojciech Giernacki ◽  
Jarosław Gośliński ◽  
Jagoda Goślińska ◽  
Tadeo Espinoza-Fraire ◽  
Jinjun Rao
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Viscous Friction ◽  
Control Techniques ◽  
Aerial Vehicle ◽  
Altitude Control ◽  
Selection Of ◽  
Three Dimensional Space

In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into consideration the gyroscopic effect, influence of the Coriolis force, viscous friction and a several drag-like effects (blade flapping, rotor drag, translational drag and profile drag). In contrast to multirotor models available in the literature, this one is characterized by complementarity in relation to the available control techniques. Depending on selection of these techniques, the model can be narrowed (simplified) to meet the needs without the loss of behaviour adequacy to a real UAV.

scholarly journals A Predictive Control Strategy for Aerial Payload Transportation with an Unmanned Aerial Vehicle

Mathematics ◽  
2021 ◽  
Vol 9 (15) ◽  
pp. 1822
Author(s):  
Norberto Urbina-Brito ◽  
María-Eusebia Guerrero-Sánchez ◽  
Guillermo Valencia-Palomo ◽  
Omar Hernández-González ◽  
Francisco-Ronay López-Estrada ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Predictive Control ◽  
Control Strategy ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Lagrange Formulation ◽  
Aerial Vehicle ◽  
Load Swing ◽  
The Mathematical Model ◽  
Three Dimensional Space

This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimensional space, and the vehicle rotation, achieving a good balance between fast stabilization times and small swing angles. The mathematical model is based on the Euler–Lagrange formulation and considers the dynamics of the vehicle, the cable, and the load. Then, the mathematical model is represented as an input-affine system to obtain the linear model for the control design. A constrained MPC strategy was designed and compared with an unconstrained MPC and an algorithm from the literature for the case of study. The constraints to be considered include the limits on the swing angles and the quadrotor position. The constrained control algorithm was constructed to stabilize the aerial vehicle. It aims to track a trajectory reference while attenuating the load swing, considering a maximum swing range of ±10∘. Numerical simulations were carried out to validate the control strategy.

scholarly journals Stabilization of unmanned aerial vehicle on trajectory in high wind conditions

2021 ◽  
pp. 55-63
Author(s):  
Vitalii Burnashev
Keyword(s):  
Wind Speed ◽  
Unmanned Aerial Vehicle ◽  
Three Dimensional ◽  
Landing Site ◽  
Flight Simulation ◽  
Vertical Shear ◽  
Average Wind Speed ◽  
Control Laws ◽  
Starting Point ◽  
Aerial Vehicle

Stationary proportional control laws have been synthesized to ensure stable motion of an unmanned aerial vehicle along a trajectory under the action of a storm wind. We give the values of the regulator coefficients for all sections of the trajectory from the starting point to the landing. Shown are the realizations of wind disturbances and the parameters of the controlled motion of the aircraft under their action. We consider the accuracy of altitude control and the error of the coordinates of the landing site. The control laws use the values of constant coefficients obtained at five points of the trajectory. Three points are used for the climb phase and one for level flight and one for descent. We took into account the wind speed as the sum of the three-dimensional turbulent component, the average horizontal component, considering the vertical shear, and discrete vertical gusts. The parameters of the Dryden shaping filters, as well as the vertical shear, are calculated for an average wind speed at a height of 6 m equal to 23.15 m / s. The speed of discrete upward gusts is 40 m/s, and downward -25 m / s. In such conditions, the unmanned aerial vehicle successfully passes the specified trajectory from the launch to the landing. For thirty realizations of flight simulation, the standard deviation of the landing site error from the wind acting was calculated.

scholarly journals How deep is the difference?

2021 ◽  
Author(s):  
Taraneh Korkmaz
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
State Power ◽  
Application Form ◽  
Official Document ◽  
The Core ◽  
The Difference ◽  
Institutional Texts ◽  
Three Dimensional Space ◽  
Multimedia Installation

This paper follows the blurriness of the concept of difference as it relates to the Canadian idea of diversity, and its manifestation in governmental forms and official documents. It highlights the paradoxical (inconsistent) function of such documents in addressing diversity, individuation and change. This research was informed by the concept of difference, defined (interpreted) by Manuel DeLanda, and is expressed in a multimedia installation titled Illegal Entries, which reconfigures the Canadian Passport Application form (PPTC 153-154) as a three-dimensional space. This installation shows viewers that this official document, which operates to legitimize state power over citizens’ bodies, is designed to undermine the concept of difference, which is at the core of individuation and is the backbone of diversity and multiculturalism in Canada. This paper provides an account of how a document is transformed into a documentary. The installation creates a bilingual, audio-visual conundrum that consists of institutional texts, commands and warnings. This is juxtaposed with animated graphics, icons and shapes that appear in the document in addition to the image of the passport ID photograph.

Extension of the Spatial PDI Model to Three Dimensions

1997 ◽  
Vol 84 (1) ◽  
pp. 176-178
Author(s):  
Frank O'Brien
Keyword(s):  
Population Density ◽  
Dimensional Space ◽  
Finite Lattice ◽  
Three Dimensional ◽  
Upper Bounds ◽  
Three Dimensions ◽  
Lower And Upper Bounds ◽  
Density Index ◽  
Three Dimensional Space

The author's population density index ( PDI) model is extended to three-dimensional distributions. A derived formula is presented that allows for the calculation of the lower and upper bounds of density in three-dimensional space for any finite lattice.

A Peptoid with Extended Shape in Water

2019 ◽  
Author(s):  
Jumpei Morimoto ◽  
Yasuhiro Fukuda ◽  
Takumu Watanabe ◽  
Daisuke Kuroda ◽  
Kouhei Tsumoto ◽  
...  
Keyword(s):  
Spectroscopic Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Biomolecular Recognition ◽  
Biological Application ◽  
New Class ◽  
Proteolytic Resistance ◽  
Pharmacokinetic Properties ◽  
Optically Pure ◽  
Three Dimensional Space

<div> <div> <div> <p>“Peptoids” was proposed, over decades ago, as a term describing analogs of peptides that exhibit better physicochemical and pharmacokinetic properties than peptides. Oligo-(N-substituted glycines) (oligo-NSG) was previously proposed as a peptoid due to its high proteolytic resistance and membrane permeability. However, oligo-NSG is conformationally flexible and is difficult to achieve a defined shape in water. This conformational flexibility is severely limiting biological application of oligo-NSG. Here, we propose oligo-(N-substituted alanines) (oligo-NSA) as a new peptoid that forms a defined shape in water. A synthetic method established in this study enabled the first isolation and conformational study of optically pure oligo-NSA. Computational simulations, crystallographic studies and spectroscopic analysis demonstrated the well-defined extended shape of oligo-NSA realized by backbone steric effects. The new class of peptoid achieves the constrained conformation without any assistance of N-substituents and serves as an ideal scaffold for displaying functional groups in well-defined three-dimensional space, which leads to effective biomolecular recognition. </p> </div> </div> </div>

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