This paper presents a PyQt6 server-based application design for controlling a quadrotor multibody system in a simulated environment using the Gazebo 3D model and ROS2 on Linux. The combination of PyQt6 with ROS2 offers an intuitive graphical interface that simplifies access to control parameters and flight modes. The system incorporates a unique Gazebo plugin that connects to a proportional-derivative (PD) controller, providing stable quadrotor flight control. Notably, this plugin facilitates precise quadrotor movements and establishes reliable communication between the server and quadrotor, distinguishing it from other plugins. Moreover, simulation results demonstrate the effectiveness of the proposed PyQt6 server-based application in real-time quadrotor control. The results exemplify the system's capability to achieve stable and precise quadrotor movement by effectively controlling motion along the three axes (x, y, and z) along with yaw. However, the primary contribution of the system presented in this paper lies in the development of a robust PyQt6 server-based application designed to control a quadrotor multibody system. Furthermore, the system exhibits inherent potential for extension to encompass the control of a physical quadrotor, thereby substantiating its viability in real-world applications.
Quadrotors, a type of unmanned aerial vehicle, utilize four rotors for precise lift and control, making them highly versatile for a variety of tasks, such as delivery, inspection, mapping, and monitoring. The growing importance of quadcopters is due to their ability to perform a variety of tasks, such as mapping, inspection, surveillance, and delivery. However, their design and four motors make them inherently unstable and difficult to control, which can limit their potential. To improve stability, four controllers (Proportional Derivative, Proportional Integral Derivative, Linear Quadratic Regulator, and Linear Quadratic Regulator-Proportional Derivative) were tested on a quadcopter Simulink model created with MATLAB/SIMULINK. Simulation results showed that the Linear Quadratic Regulator-Proportional Derivative controller was the most effective in terms of stabilization and speed, particularly for hovering along the x and y axes. This controller was found to be reliable and efficient, providing a smooth and fast response. Tuning these controllers can optimize the quadcopter's stability, accuracy, and speed, enabling them to perform a wider range of tasks.
Today the use of plant fibers in industrial fields and especially in composite materials appears as a good alternative and it has become widespread due to the interest of these fibers and their physical, biological and economic properties. So for that, composites or bio-composites are fairly developed materials and well involved in the industry. Our research has focused on the characterization of new fibers behavior and understanding their mechanical behavior regarding chemicals treatments to build better bio-composites. In this context, we are studying the fibers of Agave Americana Marginata, which is a widespread plant in Algeria with yellow and green leaves up to a length of two meters but it is not yet exploited. The first step that has been made is the extraction of the fibers by a simple ecological method is to immerse the cut leaves in a barrel of water closed at a temperature of about 30° for 25 days so that we can extract and treat these fibers with three chemicals: NaOH, KMnO4 and Na2CO3. In each product nine bundles of fibers are considered as samples, each bundle contains 50 fibers for tensile tests. These sheaves are treated at room temperature with different durations and for several concentrations. After the treatments, a microscope observed these fibers and the results show the perfect elimination of the porosity and the increase of the roughness of the fibers, which constitutes an important advantage for us because the mechanical properties of the composites will be improved. In addition, these fibers are subjected to tensile tests to observe the effect of the three chemical treatments on their properties.
Nowadays, the use of quadcopters in daily life has become important due to its capabilities and ability to carry out many tasks in many fields like civil, military, industrial, and agricultural fields. The modelling of the quadcopter and deeply understanding its movements is very important to ensure that the simulations of its behaviour are as close as possible to reality and also helps us to design a flight controller. In this work, we used a modern technique on MATLAB (Simscape) to simulate a quadcopter in real-time. At first, we build a quadcopter using Simscape multibody then we simulated the PID regulator, the command algorithms, and the motor model with the applied forces on the body to achieve the global model that we can use to study the movement of the quadcopter on the three-axis which ensure a stable functioning. The results obtained show the stability of the four movements of the quadcopter (roll, pitch, yaw, and altitude).
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