scholarly journals INTEGRAL ADAPTIVE AUTOPILOT FOR AN UNMANNED AERIAL VEHICLE

Aviation ◽  
2018 ◽  
Vol 22 (4) ◽  
pp. 129-135 ◽  
Author(s):  
Volodymyr Gritsenko ◽  
Oleksandr Volkov ◽  
Mykola Komar ◽  
Dmytro Voloshenyuk
Keyword(s):  
Control Systems ◽  
Unmanned Aerial Vehicle ◽  
Control Algorithm ◽  
Linear Models ◽  
Autonomous Systems ◽  
Complex Interaction ◽  
Dimensional System ◽  
Automatic Control Systems ◽  
Intellectual Control ◽  
Aerial Vehicle

The aim of research is to study the modern algorithms used in autopilots of unmanned aerial vehicles and formulation of the problem of development and usage of new intellectual methods for automatic control systems. The approach considered in the article is based on the theory of high-precision remote control of dynamic objects and on the complex interaction of methods of theory of invariance, adaptive control and intellectualization of processes of UAV control. One of the features of the proposed method of intellectual control for unmanned aerial vehicle autopilot is the procedure of transforming a multi-dimensional system into an aggregate of virtual autonomous processes, for each of which the control algorithm is easily generated by an autonomous subsystem. Coming up next is the procedure of coordination of actions of all the autonomous systems into single functioning complex. This provides an opportunity to improved precision and sustainability of control. Using the method described in the article allows creating integral and adaptive autopilots to perform complicated spatial maneuvering an unmanned aerial vehicle being based on usage of full non-linear models without simplifications and linearization.

scholarly journals Canopy Top, Height and Photosynthetic Pigment Estimation Using Parrot Sequoia Multispectral Imagery and the Unmanned Aerial Vehicle (UAV): Norway Spruce Forest Case Study

2021 ◽  
Author(s):  
Veronika Kopačková-Strnadová ◽  
Lucie Koucká ◽  
Jan Jelenek ◽  
Zuzana Lhotakova ◽  
Filip Oulehle
Keyword(s):  
Norway Spruce ◽  
Unmanned Aerial Vehicle ◽  
Linear Models ◽  
Photosynthetic Pigment ◽  
Ground Truth ◽  
Needle Age ◽  
Vegetation Indexes ◽  
Pigment Contents ◽  
Aerial Vehicle ◽  
Uav Images

Remote sensing is one of the modern methods that have significantly developed over the last two decades and nowadays provides a new means for forest monitoring. High spatial and temporal resolutions are demanded for accurate and timely monitoring of forests. In this study multi-spectral Unmanned Aerial Vehicle (UAV) images were used to estimate canopy parameters (definition of crown extent, top and height as well as photosynthetic pigment contents). The UAV images in Green, Red, Red-Edge and NIR bands were acquired by Parrot Sequoia camera over selected sites in two small catchments (Czech Republic) covered dominantly by Norway spruce monocultures. Individual tree extents, together with tree tops and heights, were derived from the Canopy Height Model (CHM). In addition, the following were tested i) to what extent can the linear relationship be established between selected vegetation indexes (NDVI and NDVIred edge) derived for individual trees and the corresponding ground truth (e.g., biochemically assessed needle photosynthetic pigment contents), and ii) whether needle age selection as a ground truth and crown light conditions affect the validity of linear models. The results of the conducted statistical analysis show that the two vegetation indexes (NDVI and NDVIred edge) tested here have a potential to assess photosynthetic pigments in Norway spruce forests at a semi-quantitative level, however the needle-age selection as a ground truth was revealed to be a very important factor. The only usable results were obtained for linear models when using the 2nd year needle pigment contents as a ground truth. On the other hand, the illumination conditions of the crown proved to have very little effect on the model’s validity. No study was found to directly compare these results conducted on coniferous forest stands. This shows that there is a further need for studies dealing with a quantitative estimation of the biochemical variables of nature coniferous forests when employing spectral data acquired by the UAV platform at a very high spatial resolution.

scholarly journals Modern Unmanned Aerial Vehicle Control Systems

2018 ◽  
pp. 84-90
Author(s):  
Sergiy V. Melnikov ◽  
◽  
Sergiy O. Bondar ◽  
Oleksiy Yu. Gospodarchuk ◽  
◽  
...  
Keyword(s):  
Control Systems ◽  
Unmanned Aerial Vehicle ◽  
Vehicle Control ◽  
Aerial Vehicle

scholarly journals APPROACH TO INCREASING THE SURVIVABILITY OF CLASS I UNMANNED AERIAL VEHICLE IN EMERGENCY OPERATIONS

2020 ◽  
pp. 54-63
Author(s):  
O. M. Pereguda ◽  
A. V. Rodionov ◽  
S. P. Samoilyk
Keyword(s):  
Information System ◽  
Unmanned Aerial Vehicles ◽  
Control Systems ◽  
Unmanned Aerial Vehicle ◽  
Unmanned Aircraft ◽  
Class I ◽  
Control Action ◽  
Emergency Operations ◽  
Aerial Vehicles ◽  
Aerial Vehicle

The article proposes an approach to increasing the survivability of class I unmanned aerial vehicles in emergency operations which involves development of an onboard information system for identifying emergency occasions in flight and the synthesis of a control action on the unmanned aircraft in case of hazardous factors influence. As the result of the analysis of the main trends in the development of unmanned aerial vehicles onboard control systems, it was found that the leading countries are paying significant attention to increasing their intellectualization level. This is necessary to ensure the fulfilment of complex tasks that are assigned to modern unmanned aerial vehicles in the military and civilian spheres. The main directions of such researches are identifying the problem of swarm application of unmanned aerial vehicles and expanding the capabilities of onboard control systems maintain automatically the values of certain parameters when the flight conditions changes. As the approach to increasing the survivability of a class I unmanned aerial vehicle, a vision of an onboard information system for identifying emergency occasions in flight and synthesis of control action is proposed, the functional purpose of its components is described. It is suggested that this system will be comprised of a subsystem for identifying emergency cases in flight and determining the class I unmanned aerial vehicle threat level and a subsystem for synthesizing control action. Governing documents and regulations for the state aviation of Ukraine determines the list of aircraft emergency occasions. Article mentions the necessity of detailing emergency occasions in flight, which are typical for class I unmanned aerial vehicles and an approach to their classification is proposed. A vision of the nearest partial scientific tasks and a list of expected scientific results of research in this direction are given.

Processor Performance Required for Decentralized Kinematic Control Algorithm of Module-Type Hyper-Redundant Manipulator

1996 ◽  
Vol 8 (5) ◽  
pp. 442-446 ◽  
Author(s):  
Shinichi Kimura ◽  
◽  
Toshiyuki Okuyama
Keyword(s):  
Control Systems ◽  
Local Control ◽  
Control Algorithm ◽  
Autonomous Systems ◽  
Careful Consideration ◽  
Autonomous Control ◽  
Redundant Manipulators ◽  
Processor Performance ◽  
Microgravity Conditions ◽  
Module Type

Based on the great progress of studies on decentralized autonomous systems, the decentralized autonomous control mechanism has expand its territory of applications to the control of redundant manipulators. Because local control systems are closely related in the decentralized autonomous control of redundant manipulators, the performance of local control systems requires careful consideration, particularly in treating the dynamic aspects of manipulators. In this paper, computer simulation is used to assess the effects of the processor performance of a decentralized autonomous control algorithm in adaptation to the reactive motion caused by the failure of actuators under microgravity conditions. The results show that the algorithm is so simple that conservative 16-bit processors are feasible as the local processor of the decentralized autonomous control algorithm. These results suggest that the decentralized autonomous control algorithm may have great advantages in hardware architecture cost and resources. The effect of conflicts among local processors on system performance is also discussed.

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