scholarly journals ALGORITHM FOR DIGITAL CONTROL OF THE ANTENNA OF THE GROUND CONTROL POINT OF THE UNMANNED AVIATION COMPLEX

2019 ◽  
pp. 144-151
Author(s):  
V. V. Vortnikov ◽  
I. V. Zimchuk ◽  
R. V. Netrebko
Keyword(s):  
Digital Control ◽  
Control Algorithm ◽  
Tracking System ◽  
Control Point ◽  
Unmanned Aircraft ◽  
Digital Controller ◽  
Object A ◽  
Dynamic Accuracy ◽  
Aerial Vehicle

Every year, unmanned aircraft systems are increasingly used in both the civilian and military spheres. Stable communication with an unmanned aerial vehicle is provided by high-precision pointing of the antenna of the ground control point. In the automatic tracking mode of an unmanned aerial vehicle, the antenna guidance is carried out by the automatic tracking system in the direction. It is shown that the main requirement that is put forward in the direction of the auto tracking system is high dynamic accuracy under conditions of disturbances and noises of various kinds. The traditional directional tracking system is not able to provide high precision antenna pointing. It is proposed to improve the quality of the tracking system in both transient and steady-state operating modes by supplementing the existing analog system with a digital correction subsystem. That is why the work is devoted to the synthesis of the digital control algorithm for the electric drive of the antenna of the ground receiving and transmitting station of an unmanned aircraft complex. The digital control algorithm is synthesized as a result of solving difference equations determined by the discrete transfer function of the digital controller. In practice, preference is given to simple controls, the dimension of which is less than the dimension of the object. A simplification of the controller structure was achieved by using a reduced model of the antenna control system in the synthesis process. The reduction is implemented by a method that is based on the proximity of the transition characteristics of mathematical models of initial and reduced control objects covered by a single negative feedback. To assess the degree of proximity, indirect indicators of the quality of the transition process are used. The direct synthesis of the controller is performed by a method that is based on the theory of invariance and provides for the compensation of zeros and poles of the transfer function of the control object. A distinctive feature of the method used is the ability to take into account the stability requirements and the given dynamic accuracy of the control system at the stage of synthesis of the digital controller. The simulation results confirming the efficiency and effectiveness of the synthesized control algorithm are presented.

HEXAPOD DIGITAL CONTROL USING THE INVERSE DYNAMICS AND IT IMPLEMENTATION ON THE RADIATION-RESISTANT ARM-MICROCONTROLLER

2018 ◽  
pp. 103-110
Author(s):  
D. J. Djukic ◽  
Yu. A. Zhukov ◽  
E. B. Korotkov ◽  
A. V. Moroz ◽  
N. S. Slobodzyan
Keyword(s):  
Control System ◽  
Digital Control ◽  
Control Algorithm ◽  
Inverse Dynamics ◽  
Ministry Of Education ◽  
Inverse Dynamic ◽  
Quality Of Control ◽  
Contour Control ◽  
Radiation Resistant

The researches are part of the actual work carried out by BSTU Voenmeh with the financial support of the Ministry of Education and Science of the Russian Federation for the design and creation of a precision mechanism with parallel kinematics of the «hexapod» type. In modern developments of robot control systems, the approach based on the solution of the inverse dynamic model is most popular. In this article, we study the quality of control and the feasibility of this approach in the control system based on the domestic radiation-resistant microcontroller. A mathematical description of the hexapod dynamics model and control algorithm is given. A model of a digital control system for the hexapod of space intended for use in Matlab Simulink is described. Estimates of the quality of hexapode regulation in the contour control regime are obtained. Evaluated the software implementation of the control algorithm in the real-time operating system Keil RTX in the programming language C++. The quantization period necessary for the implementation of the algorithm under investigation is determined.

A Miniature Wildlife Tracking UAV Payload System Using Acoustic Biotelemetry

2013 ◽  
Author(s):  
Miguel Leonardo ◽  
Austin M. Jensen ◽  
Calvin Coopmans ◽  
Mac McKee ◽  
YangQuan Chen
Keyword(s):  
Tracking System ◽  
Low Cost ◽  
Unmanned Aircraft ◽  
State University ◽  
Utah State University ◽  
Wildlife Tracking ◽  
Tracking Process ◽  
Aerial Vehicle ◽  
Effort Reduction ◽  
Usage Flexibility

Studying the biological processes of wildlife and how they react and prevail with human population growth and development has become very important to sustain species and prevent extinction. Wildlife tracking has become a very important tool in this matter by giving researchers an idea of animal territory and habitat. However, the process of finding the animal after it has been tagged can be very tedious and costly. To make this tracking process more efficient, researchers at Utah State University (USU) are developing a low cost RF telemetry system for wildlife tracking using an autonomous Unmanned Aerial Vehicle (UAV) for triangulation and geo-location of the target. The use of small unmanned aircraft systems (UAS) for wildlife tracking offer many advantages such as cost reduction, human effort reduction and data acquisition efficiency due to the usage flexibility offered by the system in comparison to conventional methods. This paper presents the design of this tracking system, and shows some experimental data.

scholarly journals DESIGN PECULIARITIES OF THE AERIAL PHOTOGRAPHY FROM AN UNMANNED AIRCRAFT

2021 ◽  
Vol 26 (2) ◽  
pp. 65-81
Author(s):  
Vladislav I. Yurchenko ◽  
◽  
Keyword(s):  
Aerial Photography ◽  
Initial Level ◽  
Unmanned Aircraft ◽  
Depth Of Field ◽  
Image System ◽  
High Rise ◽  
Aerial Vehicle ◽  
Image Format ◽  
Shutter Speed

The existing publicly available programs for the design of unmanned aerial vehicle (UAV) flights assume an initial level of personnel training and do not provide for a detailed study of the aerial pho-tography project (APP) in terms of photogrammetric and visual (photographic) quality of photographic materials, requirements of regulatory documents for the accuracy of the final product. In order to achieve the topographic quality of the APP with UAV, it is necessary to take into account a number of its features. The paper considers the issues of determining the optimal duration of the aerial photog-raphy day and the effective image format when using interchangeable lenses. It also provides the rec-ommended procedure for calculating the parameters of the topographic APP, taking into account the data of the exposure triangle "shutter speed - aperture - photosensitivity (ISO)", requirements for the maximum quality and theoretical resolution of the "lens - digital image" system. The technique of de-termining the position of high-rise objects relative to the boundaries of the depth of field (DOF) at giv-en exposure parameters of the camera and the possibility of their correction is described. Based on the theoretical provisions, the author has developed a program that allows it possible to carry out the com-prehensive design of aerial photography works with UAVs, including consumer cameras to obtain re-sults of topographic quality. According to the results of the carried out research, it was concluded that an iterative approach to the design of APP parameters is necessary based on the data on shoot location, the customer's requirements for accuracy, the characteristics of the UAV, and the used photographic equipment.

scholarly journals Studies of 4-rotor unmanned aerial vehicle UAV in the field of control system

2018 ◽  
Vol 210 ◽  
pp. 05009 ◽  
Author(s):  
Lucjan Setlak ◽  
Rafał Kowalik
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Traffic Control ◽  
Structural Instability ◽  
Unmanned Aircraft ◽  
Vertical Takeoff And Landing ◽  
Aerial Vehicle ◽  
Vertical Takeoff ◽  
Linear Nature

The key goal of this work was to develop a functional mathematical model of a 4-rotor UAV, including regulatory apparatus and identification of its parameters. The functionality of a quadrocopter traffic control has been reduced to solving differential equations that define the motion and dynamics of an unmanned aerial vehicle. It should be noted that the synthesis of the quadrocopter control system is not an easy task, due to the non-linear nature of the dynamics of this object and its structural instability. Therefore, in this article the tested object UAV was accepted as a physical model, which may cause potential material damage resulting from damage to the device as well as other elements that are located in its immediate surroundings. In addition, the article discusses the problem of improving the quality of the estimation rate of climb of unmanned aircraft of vertical takeoff and landing UAV, this problem was considered for the object in the low-ceiling range, i.e. in the range of 0-6 m, so the issue concerns autonomous take-off and landing. For the presentation of the results, the 4-rotor UAV was used, with the use of a proportional-integral-derivative PID controller in the context of the control system. The obtained results were supported by research and analysis of real results - the discussed algorithm was implemented in the 4-rotor UAV driver.

scholarly journals Effect of Aerodynamic Configuration Parameters on Lateral-Directional Stability of Double-Swept Flying Wing Aircraft

2019 ◽  
Author(s):  
Ya Lin Pan ◽  
Jun Huang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Three Dimensional ◽  
Shape Parameters ◽  
Three Dimensional Model ◽  
Object A ◽  
Aerodynamic Shape ◽  
Directional Stability ◽  
Aerial Vehicle ◽  
Dutch Roll

Poor lateral-directional stability due to the absence of vertical stabilizer is a great risk to the aircraft with flying wing layout. In this paper, an unmanned aerial vehicle with this kind of configuration is chosen as the research object. A three-dimensional model of the unmanned aerial vehicle is established, and then the sensitivity analysis is performed to obtain the effects of main aerodynamic shape parameters on lateral-directional flying quality. The results show that the roll mode and spiral mode of the aircraft meet the requirements of Level 1 flying quality in MIL-F-8785C. But the Dutch roll mode is generally divergent, which means that the flying quality of the aircraft is unacceptable. Thus it can be seen that the Dutch roll mode is the key to the dynamic stability of the aircraft. Further studies show that increasing the value of wing aspect ratio or decreasing the values of dihedral angle and torsion angle are useful for improving the Dutch roll mode. It is valuable to reveal the influence mechanism of aerodynamic shape parameters on lateral-directional flying quality for the design of flying wing aircraft.

scholarly journals A Comparative Study on Application of Unmanned Aerial Vehicle Systems in Agriculture

Agriculture ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 22
Author(s):  
Mohammad Fatin Fatihur Rahman ◽  
Shurui Fan ◽  
Yan Zhang ◽  
Lei Chen
Keyword(s):  
System Development ◽  
Low Cost ◽  
Unmanned Aircraft ◽  
Field Analysis ◽  
Potential Productivity ◽  
Agricultural Revolution ◽  
Financial Investments ◽  
Aerial Vehicle ◽  
Aircraft System

Presently in agriculture, there is much ample scope for drone and UAS (Unmanned Aircraft System) development. Because of their low cost and small size, these devices have the ability to help many developing countries with economic prosperity. The entire aggregation of financial investments in the agricultural area has increased appreciably in recent years. Sooth to say, agriculture remains a massive part of the world’s commercial growth, and due to some complications, the agriculture fields withstand massive losses. Pets and destructive insects seem to be the primary reasons for certain degenerative diseases. It minimizes the potential productivity of the crops. For increasing the quality of the plants, fertilizers and pesticides are appropriately applied. Using UAVs (Unmanned Aerial Vehicles) for spraying pesticides and fertilizing materials is an exuberant contraption. It adequately reduces the rate of health dilemma and the number of workers, which is quite an impressive landmark. Willing producers are also adopting UAVs in agriculture to soil and field analysis, seed sowing, lessen the time and costs correlated with crop scouting, and field mapping. It is rapid, and it can sensibly diminish a farmer’s workload, which is significantly a part of the agricultural revolution. This article aims to proportionally represent the concept of agricultural purposed UAV clear to the neophytes. First, this paper outlines the harmonic framework of the agricultural UAV, and then it abundantly illustrates the methods and materials. Finally, the article portrays the outcome.

scholarly journals A mobile app for tracking non-motor symptoms of people with Parkinson’s disease: A usability study

2020 ◽  
Vol 4 (Supplement_1) ◽  
pp. 890-890
Author(s):  
JuHee Lee ◽  
Yujin Suh ◽  
Yielin Kim
Keyword(s):  
Parkinson’S Disease ◽  
Parkinson's Disease ◽  
Tracking System ◽  
Smart Phone ◽  
Telephone Counseling ◽  
Mobile App ◽  
Motor Symptoms ◽  
Hand Tremor ◽  
Non Motor Symptoms

Abstract Smart phone-based technology for people with Parkinson’s disease has been developed worldwide. Unmonitored non-motor symptoms decrease quality of life of people with Parkinson’s disease, so the needs for technology to manage non-motor symptoms are increasing. The technology is needed to detect subtle changes in non-motor symptoms by healthcare professional. There is no mobile app which manage comprehensive symptoms of Parkinson’s disease including non-motor symptoms. It is necessary to develop a new tracking system that can effectively manage non-motor symptoms as well as motor symptoms of Parkinson’s disease. We developed a prototype of mobile app for Android smartphones, with cooperation with Mazelone company. we also have shaped functions for monitoring of motor symptoms and medication adherence. It also provided a section for caregivers to use on behalf of people with Parkinson’s disease who have difficulty to use app due to hand tremor. Through Delphi technique, we obtained content validity from eight medical and nursing experts on the contents of the application. We provided regular telephone counseling to improve and encourage their app usage. Fifteen participants used the app for 6 weeks. To evaluate usability of mobile app, we provided constructed questionnaire and conducted individual telephone interview. A mobile app for tracking non-motor symptoms demonstrated high usability and satisfaction. We learned lessons about facilitators and barriers when implementing an app such as perception and acceptance of mobile technology. The mobile app will improve continuum of care. Future studies need to improve the contents and refine technical approach for people with Parkinson’s disease.

Research of H∞ Robust Control for the Giant Die Forging Hydraulic Press’s Synchronous Control System under the Uncertainty Coefficient

2012 ◽  
Vol 190-191 ◽  
pp. 819-824 ◽  
Author(s):  
Ying Jian Deng ◽  
Zhong Wei Liu
Keyword(s):  
Control System ◽  
Robust Control ◽  
Control Algorithm ◽  
Hydraulic Press ◽  
National Defense ◽  
Synchronous Control ◽  
Performance Quality ◽  
System Synchronization ◽  
Uncertainty Coefficient

The giant hydraulic die press is our country national defense and the infrastructure essential equipment, the synchronous control system is the essential device to the giant forging hydraulic press, its synchronization control performance quality is good or bad will directly determine the quality of the product. This article through the proof of the theorem, gives the specific steps to achieve H∞ robust control algorithm. The simulation results show that: this control strategy has good inhibition to the change of system parameters, robustness is very strong, can well eliminate the system synchronization error.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

scholarly journals High Speed Running and Sprinting Profiles of Elite Soccer Players

2017 ◽  
Vol 58 (1) ◽  
pp. 169-176 ◽  
Author(s):  
Javier Miñano-Espin ◽  
Luis Casáis ◽  
Carlos Lago-Peñas ◽  
Miguel Ángel Gómez-Ruano
Keyword(s):  
Physical Performance ◽  
High Intensity ◽  
Repeated Measures ◽  
High Speed ◽  
Tracking System ◽  
Camera Tracking ◽  
The Real ◽  
Multiple Camera ◽  
Repeated Measures Analysis

AbstractReal Madrid was named as the best club of the 20th century by the International Federation of Football History and Statistics. The aim of this study was to compare if players from Real Madrid covered shorter distances than players from the opposing team. One hundred and forty-nine matches including league, cup and UEFA Champions League matches played by the Real Madrid were monitored during the 2001-2002 to the 2006-2007 seasons. Data from both teams (Real Madrid and the opponent) were recorded. Altogether, 2082 physical performance profiles were examined, 1052 from the Real Madrid and 1031 from the opposing team (Central Defenders (CD) = 536, External Defenders (ED) = 491, Central Midfielders (CM) = 544, External Midfielders (EM) = 233, and Forwards (F) = 278). Match performance data were collected using a computerized multiple-camera tracking system (Amisco Pro®, Nice, France). A repeated measures analysis of variance (ANOVA) was performed for distances covered at different intensities (sprinting (>24.0 km/h) and high-speed running (21.1-24.0 km/h) and the number of sprints (21.1-24.0 km/h and >24.0 km/h) during games for each player sectioned under their positional roles. Players from Real Madrid covered shorter distances in high-speed running and sprint than players from the opposing team (p < 0.01). While ED did not show differences in their physical performance, CD (p < 0.05), CM (p < 0.01), EM (p < 0.01) and F (p > 0.01) from Real Madrid covered shorter distances in high-intensity running and sprint and performed less sprints than their counterparts. Finally, no differences were found in the high-intensity running and sprint distances performed by players from Real Madrid depending on the quality of the opposition.

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