scholarly journals Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance

Drones ◽  
2019 ◽  
Vol 3 (3) ◽  
pp. 70
Author(s):  
Ye Bai ◽  
Srikanth Gururajan

This article describes the design, fabrication, and flight test evaluation of a morphing geometry quadcopter capable of changing its intersection angle in-flight. The experiments were conducted at the Aircraft Computational and Resource Aware Fault Tolerance (AirCRAFT) Lab, Parks College of Engineering, Aviation and Technology at Saint Louis University, St. Louis, MO. The flight test matrix included flights in a “Figure-8” trajectory in two different morphing configurations (21° and 27°), as well as the nominal geometry configuration, two different flight velocities (1.5 m/s and 2.5 m/s), two different number of waypoints, and in three planes—horizontal, inclined, and double inclined. All the experiments were conducted using standard, off-the-shelf flight controller (Pixhawk) and autopilot firmware. Simulations of the morphed geometry indicate a reduction in pitch damping (42% for 21° morphing and 57.3% for 27° morphing) and roll damping (63.5% for 21° morphing and 65% for 27° morphing). Flight tests also demonstrated that the dynamic stability in roll and pitch dynamics were reduced, but the quadcopter was still stable under morphed geometry conditions. Morphed geometry also has an effect on the flight performance—with a higher number of waypoints (30) and higher velocity (2.5 m/s), the roll dynamics performed better as compared to the lower waypoints and lower velocity condition. The yaw dynamics remained consistent through all the flight conditions, and were not significantly affected by asymmetrical morphing of the quadcopter geometry. We also determined that higher waypoint and flight velocity conditions led to a small performance improvement in tracking the desired trajectory as well.

Data ◽  
2019 ◽  
Vol 4 (3) ◽  
pp. 128
Author(s):  
Srikanth Gururajan ◽  
Kyle Mitchell ◽  
William Ebel

Data acquired from several flights of a custom-fabricated Hexacopter Unmanned Aerial System (UAS) with composite structure (carbon fiber arms and central hub) and composite (carbon fiber) propellers are described in this article. The Hexacopter was assembled from a commercially available kit (Tarot 690) and flown in manual and autonomous modes. Takeoffs and landings were under manual control and the bulk of the flight tests was conducted with the Hexacopter in a “position hold” mode. All flights were flown within the UAS flight cage at Parks College of Engineering, Aviation and Technology at Saint Louis University for approximately 5 min each. Several failure conditions (different types, artificially induced) on the composite (carbon fiber) propellers were tested, including failures on up to two propellers. The dataset described in this article contains flight data from the onboard flight controller (Pixhawk) as well as three accelerometers, each with three axes, mounted on the arms of the Hexacopter UAS. The data are included as supplemental material.


Author(s):  
FARHAD SAKHAEE ◽  
SAHAR AZIMNEZHAD

Floodplain delineation is an effective approach in either avoiding of water crisis or making pragmatic decisions in terms of water management strategies. In this study a flood plain extension has been developed in ArcGIS and HE-CRAS models and a comparison has been made within three different scenarios of discharge. The results showed in low and medium discharge scenarios the buffer zone acts as a safety factor zone to adjacent infrastructure either agricultural or residential, but in high discharge condition buffer zone is entirely filled with stream water hence yet more safety regulation should be considered in order to avoid human and resource loss or damage within adjacent areas. Keywords: Flood plain delineation, Water depth profile, HE-CRAS, F. Sakhaee. Parks College of Engineering, Aviation and Technology, Civil Engineering Dept., Saint Louis University, USA


2004 ◽  
Vol 1260 ◽  
pp. 23-28 ◽  
Author(s):  
J.E Morley ◽  
W.A Banks ◽  
V.B Kumar ◽  
S.A Farr

2020 ◽  
Author(s):  
Siao Ye ◽  
Brian Ko ◽  
Huy Phi ◽  
David Eagleman ◽  
Benjamin Flores ◽  
...  

Traditional pen and paper based neuropsychological tests (NPT) for cognition assessment have several challenges limiting their use. They are time consuming, expensive, and require highly trained specialists to administer. This leads to testing being available to only a small portion of the population and often with wait times of several months. In clinical practice, we have found results tend not to be integrated effectively into assessment and plans of the ordering provider. Here we compared several tests using BrainCheck (BC), a computer-based NPT battery, to traditional paper-based NPT, by evaluating individual tests as well as comparing composite scores to scores on traditional screening tools. 26 volunteers took both paper-based tests and BC. We found scores of four assessments (Ravens Matrix, Digit Symbol Modulation, Stroop Color Word Test and Trails Making A&B Test) were highly correlated. The Balance Examination and Immediate/Delayed Hopkins Verbal Learning, however, were not correlated. The BC composite score was correlated to results of the Saint Louis University Mental Status (SLUMS) exam [1], the Mini-Mental State Examination (MMSE) [2], and the Montreal Cognitive Assessment (MoCA). Our results suggest BC may offer a computer-based avenue to address the gap between basic screening and formal neuropsychological testing.


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