scholarly journals Closed Loop Performance Analysis of Classical PID and Robust H-infinity Controller for VTOL Unmanned Quad Tiltrotor Aerial Vehicle

2021 ◽  
Vol 15 ◽  
pp. 211-222
Author(s):  
Navya Thirumaleshwar Hegde ◽  
Aldrin Claytus Vaz ◽  
C. G. Nayak
Keyword(s):  
High Speed ◽  
Main Idea ◽  
Attitude Dynamics ◽  
H Infinity ◽  
Research Article ◽  
Aerial Vehicle ◽  
Noise Disturbances ◽  
Set Up ◽  
Rotor Structure ◽  
Control Designs

Unmanned Aerial Vehicles (UAVs) guidance, control and navigation have directed the attention of many researchers in both aerospace engineering as well as control theory. Due to the unique rotor structure of Tiltrotor hybrid UAVs, they exhibit special application value. Quad Tiltrotor UAVs set up a distinctive platform that satisfies the needs of the varying mission requirements by combining the conventional features of high-speed cruise capabilities of an aircraft and hovering capabilities of a helicopter and by tilting its four rotors. The aim of this research article is to control the attitude and altitude of the UAV in the presence of uncertainty using two different control techniques. This paper addresses the comparative analysis of the robust H-infinity controller with classical PID control designs for the transition manoeuvre of a hybrid UAV: the VTOL Tiltrotor UAV. The proposed controllers achieve hover to cruise mode transition and vice-versa. The main idea behind the design of controller is to model and analyze the UAV’s position and attitude dynamics. The desired flight trajectory and the transition manoeuvre is achieved by controlling the tilt angle in 15° intervals from 90° to 0° and vice-versa. Performance index subjected to IAE is estimated and compared for both the controllers in the presence of noise, disturbances and uncertainties. The results of simulation illustrate that the robust H-infinity controller achieves better transition, good adaptability, robust performance and robust stability for the whole flight envelope when compared with the PID controller.

scholarly journals Transition flight modeling and robust control of a VTOL unmanned quad tilt-rotor aerial vehicle

2020 ◽  
Vol 18 (3) ◽  
pp. 1252
Author(s):  
Navya Thirumaleshwar Hegde ◽  
V.I. George ◽  
C Gurudas Nayak ◽  
Kamlesh Kumar
Keyword(s):  
High Speed ◽  
Human Life ◽  
Research Work ◽  
H Infinity ◽  
Tilt Rotor ◽  
H Infinity Control ◽  
Aerial Vehicle ◽  
Key Issues ◽  
Rotor Structure ◽  
Transition Flight

<span>The development of fully autonomous Unmanned Aerial Vehicles (UAV) plays a major contribution towards reducing the risk to human life in various applications including rescue teams, border patrol, police and inspection of buildings, pipelines, coasts, and terrains. Tiltrotor hybrid UAV exhibit special application value due to its unique rotor structure. The variation in the model dynamics and aerodynamics due to the tilting rotors are the major key issues and challenges which attracted the attention of many researchers. This vehicle combines the hovering capabilities of a helicopter along with the high-speed cruise capabilities of a conventional airplane by tilting its four rotors. In the present research work, the authors attempt to model a quad tilt rotor UAV using Newton-Euler formulation. A dynamic model of the vehicle is derived mathematically for horizontal, vertical and transition flight modes. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics of the different modes of the UAV. Simulation results shows that the tiltrotor UAV achieves transition successfully.</span>

scholarly journals Robust autonomous flight in cluttered environment using a depth sensor

2020 ◽  
Vol 12 ◽  
pp. 175682932092452
Author(s):  
Liang Lu ◽  
Alexander Yunda ◽  
Adrian Carrio ◽  
Pascual Campoy
Keyword(s):  
High Speed ◽  
Point Clouds ◽  
Depth Sensor ◽  
Cluttered Environments ◽  
Industrial Plants ◽  
Cluttered Environment ◽  
Navigation Strategy ◽  
Physical Sensors ◽  
Aerial Vehicle ◽  
Planning Objective

This paper presents a novel collision-free navigation system for the unmanned aerial vehicle based on point clouds that outperform compared to baseline methods, enabling high-speed flights in cluttered environments, such as forests or many indoor industrial plants. The algorithm takes the point cloud information from physical sensors (e.g. lidar, depth camera) and then converts it to an occupied map using Voxblox, which is then used by a rapid-exploring random tree to generate finite path candidates. A modified Covariant Hamiltonian Optimization for Motion Planning objective function is used to select the best candidate and update it. Finally, the best candidate trajectory is generated and sent to a Model Predictive Control controller. The proposed navigation strategy is evaluated in four different simulation environments; the results show that the proposed method has a better success rate and a shorter goal-reaching distance than the baseline method.

Study on Magnetic Barrel Machine Equipped with Three-Dimensional Arrangement of Magnets

2007 ◽  
Vol 329 ◽  
pp. 761-766 ◽  
Author(s):  
Y. Zhang ◽  
Masato Yoshioka ◽  
Shin-Ichiro Hira
Keyword(s):  
High Speed ◽  
Permanent Magnets ◽  
Three Dimensional ◽  
Video Camera ◽  
High Speed Video ◽  
High Speed Video Camera ◽  
The Media ◽  
Set Up

At present, a commercially available magnetic barrel machine equipped with permanent magnets has some faults arising from constructional reason. That is, grinding or finishing ability is different from place to place in the machining region, resulting in the limitation on the region we can use in the container of workpieces. Therefore, in this research, authors made the new magnetic barrel machine equipped with three dimensional (3D) magnet arrangement to overcome these faults. The grinding ability of the new 3D magnetic barrel machine converted was experimentally examined, and compared with that of the traditional magnetic barrel machine. As a result, it was shown that we can use much broader region in the new 3D machine. It was also shown that the grinding ability became higher. The distribution of barrel media in action was recorded by means of a high speed video camera. It was clarified that the media rose up higher and were distributed more uniformly in the container by the effect of the magnet block newly set up. It was supposed that this must be the reason for the above-mentioned improvement of grinding ability.

Effect of Nanosized Filler on Matrix Dominated Properties of Fiber Reinforced Epoxy

2011 ◽  
Author(s):  
Yuanxin Zhou ◽  
Shaik Jeelani
Keyword(s):  
Compression Strength ◽  
High Speed ◽  
High Vacuum ◽  
Trapped Air ◽  
Nano Fiber ◽  
Open Hole ◽  
Set Up ◽  
Mechanical Agitator ◽  
Laminar Shear ◽  
Nanosized Filler

In this study, a high-intensity ultrasonic liquid processor was used to obtain a homogeneous molecular mixture of epoxy resin and carbon nano fiber. The carbon nano fibers were infused into the part A of SC-15 (diglycidylether of Bisphenol A) through sonic cavitations and then mixed with part B of SC-15 (cycloaliphatic amine hardener) using a high-speed mechanical agitator. The trapped air and reaction volatiles were removed from the mixture using high vacuum. Nanophased epoxy with 2 wt.% CNF was then utilized in a vacuum assisted resin transfer molding (VARTM) set up with carbon fabric to fabricate laminated composites. The effectiveness of CNF addition on matrix dominated properties of composites has been evaluated by compression, open hole compression and inter-laminar shear. The compression strength, open hole compression strength and ILS were improved by 21%, 23% and 15%, respectively as compared to the neat composite.

Effect of Air Fraction on Force Coefficients in Oscillatory Flow

2021 ◽  
Author(s):  
Malene Hovgaard Vested ◽  
Erik Damgaard Christensen
Keyword(s):  
High Speed ◽  
Offshore Structures ◽  
Air Injection ◽  
Wave Loads ◽  
Morison Equation ◽  
Force Coefficients ◽  
Air Content ◽  
Set Up ◽  
High Level ◽  
Spilling Breakers

Abstract The forces on marine and offshore structures are often affected by spilling breakers. The spilling breaker is characterized by a roller of mixed air and water with a forward speed approximately equal to the wave celerity. This high speed in the top of the wave has the potential to induce high wave loads on upper parts of the structures. This study analyzed the effect of the air content on the forces. The analyses used the Morison equation to examine the effect of the percentage of air on the forces. An experimental set-up was developed to include the injection of air into an otherwise calm water body. The air-injection did introduce a high level a turbulence. It was possible to assess the amount of air content in the water for different amounts of air-injection. In the mixture of air and water the force on an oscillating square cylinder was measured for different levels of air-content, — also in the case without air. The measurements indicated that force coefficients for clear water could be use in the Morison equation as long as the density for water was replaced by the density for the mixture of air and water.

scholarly journals Pitting Corrosion of Natural Aged Al–Mg–Si Extrusion Profile

Materials ◽  
2019 ◽  
Vol 12 (7) ◽  
pp. 1081 ◽  
Author(s):  
Quanmei Guan ◽  
Jing Sun ◽  
William Wang ◽  
Junfeng Gao ◽  
Chengxiong Zou ◽  
...  
Keyword(s):  
Pitting Corrosion ◽  
High Speed ◽  
Three Dimensional ◽  
Optical Microscope ◽  
Damage Initiation ◽  
Coarse Grains ◽  
Corrosion Risk ◽  
Heterogeneous Microstructures ◽  
Set Up ◽  
Pit Depth

With the quick development of the high-speed railway and the service of the China Railway High-speed (CRH) series for almost a decade, one of the greatest challenges is the management/maintenance of these trains in environmental conditions. It is critical to estimate pitting damage initiation and accumulation and set up a corresponding database in order to support the foundations for interactive corrosion risk management. In this work, the pitting corrosion of a nature-aged commercial 6005A-T6 aluminum extrusion profile for 200 days was studied comprehensively. The heterogeneous microstructures were conventionally identified by the in situ eddy current, suggesting which investigated regions to fabricate samples for. After constant immersion for 240 h in 3.5 wt % NaCl, the shapes and depths of the pits were captured and measured by optical microscope (OM) and three-dimensional optical profilometry (OP), providing detailed quantification of uniform pitting corrosion. The typical features of the pits dominated by the distribution of precipitates include the peripheral dissolution of the Al matrix, channeling corrosion, intergranular attack, and large pits in the grains. Due to the high density of continuous anodic and cathodic particles constituted by alloying elements in coarse grains, the number of pits in the coarse grains was the highest while the number in the fine grains was the lowest, indicating that fine grains have the best corrosion resistance. The experimental dataset of the pit depth integrated with its corresponding microstructure would set the benchmark for further modeling of the pit depth and the remaining ductility, in order to manage the damage tolerance of the materials.

scholarly journals A New Rotor Structure for High Speed Flywheel Permanent Magnet Synchronous Machine

2019 ◽  
Vol 24 (3) ◽  
pp. 463-470
Author(s):  
Zichong Zhu ◽  
Yunkai Huang ◽  
Jianning Dong ◽  
Fei Peng
Keyword(s):  
Permanent Magnet ◽  
High Speed ◽  
Synchronous Machine ◽  
Permanent Magnet Synchronous Machine ◽  
Rotor Structure

scholarly journals Optimal Falling Track Design for Twice detonating Fuze of Double event Fuel air Explosive with High Speed

2020 ◽  
Vol 70 (4) ◽  
pp. 366-373
Author(s):  
Congliang Ye ◽  
Qi Zhang
Keyword(s):  
High Speed ◽  
High Efficiency ◽  
Single Point ◽  
Design System ◽  
Motion Trajectory ◽  
Novel Approach ◽  
Scale Experiment ◽  
Set Up ◽  
Point Center ◽  
Double Event

To prevent the initiation failure caused by the uncontrolled fuze and improve the weapon reliability in the high-speed double-event fuel-air explosive (DEFAE) application, it is necessary to study the TDF motion trajectory and set up a twice-detonating fuze (TDF) design system. Hence, a novel approach of realising the fixed single-point center initiation by TDF within the fuel air cloud is proposed. Accordingly, a computational model for the TDF motion state with the nonlinear mechanics analysis is built due to the expensive and difficult full-scale experiment. Moreover, the TDF guidance design system is programmed using MATLAB with the equations of mechanical equilibrium. In addition, by this system, influences of various input parameters on the TDF motion trajectory are studied in detail singly. Conclusively, the result of a certain TDF example indicates that this paper provides an economical idea for the TDF design, and the developed graphical user interface of high-efficiency for the weapon designers to facilitate the high-speed DEFAE missile development.

scholarly journals Study and Investigation on 5G Technology: A Systematic Review

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 26
Author(s):  
Ramraj Dangi ◽  
Praveen Lalwani ◽  
Gaurav Choudhary ◽  
Ilsun You ◽  
Giovanni Pau
Keyword(s):  
Mobile Networks ◽  
High Speed ◽  
Future Research ◽  
Mobile System ◽  
Fifth Generation ◽  
Research Article ◽  
Next Generation Mobile Networks ◽  
Multiple Input ◽  
Multiple Challenges ◽  
Mobile Communication Technology

In wireless communication, Fifth Generation (5G) Technology is a recent generation of mobile networks. In this paper, evaluations in the field of mobile communication technology are presented. In each evolution, multiple challenges were faced that were captured with the help of next-generation mobile networks. Among all the previously existing mobile networks, 5G provides a high-speed internet facility, anytime, anywhere, for everyone. 5G is slightly different due to its novel features such as interconnecting people, controlling devices, objects, and machines. 5G mobile system will bring diverse levels of performance and capability, which will serve as new user experiences and connect new enterprises. Therefore, it is essential to know where the enterprise can utilize the benefits of 5G. In this research article, it was observed that extensive research and analysis unfolds different aspects, namely, millimeter wave (mmWave), massive multiple-input and multiple-output (Massive-MIMO), small cell, mobile edge computing (MEC), beamforming, different antenna technology, etc. This article’s main aim is to highlight some of the most recent enhancements made towards the 5G mobile system and discuss its future research objectives.

scholarly journals Kinematics and Injury Analysis of Front and Rear Child Pillion Passenger in Motorcycle Crash

2018 ◽  
Vol 15 (3) ◽  
pp. 5522-5534 ◽  
Author(s):  
Saiprasit Koetniyom ◽  
J. Carmai ◽  
K. A. A. Kassim ◽  
Y. Ahmad
Keyword(s):  
Head Injury ◽  
High Speed ◽  
Severe Head Injury ◽  
Longitudinal Axis ◽  
Upper Body ◽  
Accelerometer Data ◽  
Neck Injuries ◽  
Car Crash ◽  
Set Up ◽  
Crash Tests

The purpose of this work is to study the kinematics and injury of child pillion passenger from motorcycle-to-car crash tests. Two crash tests for rear and front child pillions were set up. The kinematics of dummies were analysed from accelerometer data and high speed camera pictures. The kinematics and injury mechanisms of the child passenger from both tests are significantly different. For the rear child pillion test, the rider impacted the car before the child passenger. Both rider and child were ejected upward. The child’s head motion was curvilinear towards the car structure. This results in severe head injury due to high HIC. The child sitting at front translated in the longitudinal axis of the motorcycle and impacted the car before the rider. The child’s torso strongly hit to the handlebar first then head hit the car. This results in low value of HIC. The child’s upper-body including neck were compressed between the car and the rider’s torso leading to high risk of severe thorax and neck injuries. The results reveal that the child sitting behind the rider has higher risk of severe head injury while the child sitting before the rider has higher risk of thorax and neck injuries. 

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