Identifikasi kebutuhan sarana-prasarana pemantauan radiasi nirawak dalam pengawasan radiasi reaktor riset di Indonesia

2021 ◽  
Vol 1 (2) ◽  
pp. 20-30
Author(s):  
Muhammad Rifqi Harahap ◽  
Keyword(s):  
Control System ◽  
Radiation Exposure ◽  
Unmanned Aerial Vehicles ◽  
Monitoring System ◽  
Navigation System ◽  
Research Reactor ◽  
Radiation Monitoring ◽  
Aerial Vehicles ◽  
Communication Module ◽  
Radiation Monitoring System

The facility’s licensee conducts environmental radiation monitoring in nuclear facilities to monitor radiation exposure in the facility’s vicinity. This activity is carried out also to monitor radiation release as a result of nuclear reactor operation. Aside from that, monitoring also works as a device to monitor radioactive release in a nuclear emergency. Therefore, the radiation monitoring system is crucial in nuclear utilization facilities to determine the number of radiation exposure to the surrounding environment. However, the existing stationary monitoring system has a risk of being unable to work if the system is down in case of natural disaster occurs. One way to mitigate this risk is to deploy an unmanned radiation monitoring system to monitor radiation exposure without putting personnel at risk. To define a suitable unmanned radiation monitoring system, identification of facilities and infrastructure required to design an unmanned radiation monitoring system for a research reactor in Indonesia is carried out. Facilities and infrastructure needed for unmanned radiation monitoring systems are unmanned aerial vehicles, radiation detector, control and communication module, navigation system, and software for the control system. These required facilities and infrastructure are then specified to determine the necessary specification for monitoring research reactor in Indonesia. The facilities’ required specifications are unmanned aerial vehicles with rotary-wing type, CdZnTe Detector, and GPS/GLONASS based navigation system. For infrastructure specification, control and communication module and software for the control system is not specified in how the system could meet the expected required performance rather than in detail. However, the system must provide and process measurement data in real-time to be presented in a radiation heatmap. Keywords: Identification, Radiation Monitoring, Unmanned

Design of a fault detection and diagnose system for intelligent unmanned aerial vehicle navigation system

2018 ◽  
Vol 233 (6) ◽  
pp. 2170-2176 ◽  
Author(s):  
Qian Zhang ◽  
Xueyun Wang ◽  
Xiao Xiao ◽  
Chaoying Pei
Keyword(s):  
Neural Network ◽  
Control System ◽  
Fault Detection ◽  
Unmanned Aerial Vehicles ◽  
Navigation System ◽  
Fuzzy System ◽  
Fault Detection And Diagnosis ◽  
Sensor Faults ◽  
Aerial Vehicles ◽  
Detection And Diagnosis

A secure control system is of great importance for unmanned aerial vehicles, especially in the condition of fault data injection. As the source of the feedback control system, the Inertial navigation system/Global position system (INS/GPS) is the premise of flight control system security. However, unmanned aerial vehicles have the requirement of lightweight and low cost for airborne equipment, which makes redundant device object unrealistic. Therefore, the method of fault detection and diagnosis is desperately needed. In this paper, a fault detection and diagnosis method based on fuzzy system and neural network is proposed. Fuzzy system does not depend on the mathematical model of the process, which overcomes the difficulties in obtaining the accurate model of unmanned aerial vehicles. Neural network has a strong self-learning ability, which could be used to optimize the membership function of fuzzy system. This paper is structured as follows: first, a Kalman filter observer is introduced to calculate the residual sequences caused by different sensor faults. Then, the sequences are transmitted to the fault detection and diagnosis system and fault type can be obtained. The proposed fault detection and diagnosis algorithm was implemented and evaluated with real datasets, and the results demonstrate that the proposed method can detect the sensor faults successfully with high levels of accuracy and efficiency.

scholarly journals Virtual Electric Dipole Field Applied to Autonomous Formation Flight Control of Unmanned Aerial Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4540
Author(s):  
Leszek Ambroziak ◽  
Maciej Ciężkowski
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Electric Dipole ◽  
Potential Field ◽  
Control Algorithm ◽  
Formation Flight ◽  
Potential Fields ◽  
Dipole Potential ◽  
Aerial Vehicles

The following paper presents a method for the use of a virtual electric dipole potential field to control a leader-follower formation of autonomous Unmanned Aerial Vehicles (UAVs). The proposed control algorithm uses a virtual electric dipole potential field to determine the desired heading for a UAV follower. This method’s greatest advantage is the ability to rapidly change the potential field function depending on the position of the independent leader. Another advantage is that it ensures formation flight safety regardless of the positions of the initial leader or follower. Moreover, it is also possible to generate additional potential fields which guarantee obstacle and vehicle collision avoidance. The considered control system can easily be adapted to vehicles with different dynamics without the need to retune heading control channel gains and parameters. The paper closely describes and presents in detail the synthesis of the control algorithm based on vector fields obtained using scalar virtual electric dipole potential fields. The proposed control system was tested and its operation was verified through simulations. Generated potential fields as well as leader-follower flight parameters have been presented and thoroughly discussed within the paper. The obtained research results validate the effectiveness of this formation flight control method as well as prove that the described algorithm improves flight formation organization and helps ensure collision-free conditions.

Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

2021 ◽  
pp. 095965182110504
Author(s):  
Hongbo Xin ◽  
Yujie Wang ◽  
Xianzhong Gao ◽  
Qingyang Chen ◽  
Bingjie Zhu ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Euler Angle ◽  
Level Flight ◽  
Aerial Vehicles ◽  
Flight Mode ◽  
Aerial Vehicle ◽  
Hover Flight ◽  
And Control

The tail-sitter unmanned aerial vehicles have the advantages of multi-rotors and fixed-wing aircrafts, such as vertical takeoff and landing, long endurance and high-speed cruise. These make the tail-sitter unmanned aerial vehicle capable for special tasks in complex environments. In this article, we present the modeling and the control system design for a quadrotor tail-sitter unmanned aerial vehicle whose main structure consists of a traditional quadrotor with four wings fixed on the four rotor arms. The key point of the control system is the transition process between hover flight mode and level flight mode. However, the normal Euler angle representation cannot tackle both of the hover and level flight modes because of the singularity when pitch angle tends to [Formula: see text]. The dual-Euler method using two Euler-angle representations in two body-fixed coordinate frames is presented to couple with this problem, which gives continuous attitude representation throughout the whole flight envelope. The control system is divided into hover and level controllers to adapt to the two different flight modes. The nonlinear dynamic inverse method is employed to realize fuselage rotation and attitude stabilization. In guidance control, the vector field method is used in level flight guidance logic, and the quadrotor guidance method is used in hover flight mode. The framework of the whole system is established by MATLAB and Simulink, and the effectiveness of the guidance and control algorithms are verified by simulation. Finally, the flight test of the prototype shows the feasibility of the whole system.

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