Control design for an under-actuated UAV model

De, Simone M.C.; Guida, Domenico

doi:10.5937/fmet1804443d

Cited by 42 publications

(10 citation statements)

References 53 publications

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“…The conical helicoid screw system with variable pitch induces a volume change, which depends on the geometry of the helicoidal surface considered [13,[30][31][32]. Therefore, the study of helicoidal surfaces interacting with the grape pomace volume, as well as how they change along the axis of the machine, is important and necessary [14,[33][34][35][36].…”

Section: Methodsmentioning

confidence: 99%

Design and Development of a New Press for Grape Marc

et al. 2019

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The purpose of this research was to determine the optimal geometry of a variable pitch conical helicoid to be used in a pressing machine for grape pomace, also known as grape marc. This study attempted to understand if the optimized geometry of the considered helicoid after every pitch resulted in volume decrease DVc, equal to that obtained during the pressing phase of grape pomace DVp, using an optimized membrane press. The conical helicoid with variable pitch was replaced in a machine that offered continuous pressing of grape pomace using a cylindrical helicoid with constant pitch (constant pressure distribution, not optimized, along the cochlea axis). As this was a machine already available in the market, the overall dimensions were already established—5.95 m in length and 1.5 m in width. The pressure distribution p1 and volume change DVp, obtained during the grape pomace pressing phase in the optimized membrane press (producing high-quality wine) was taken into consideration in this research. Furthermore, the optimized pressure distribution p1 was applied in seven phases during the pressing process, and a consequent volume change value DVp was obtained for each phase. Therefore, this study determined the geometry of the variable pitch conical helicoid, which, after every pitch, resulted in volume changing DVc that was similar to the volume changing DVp obtained by the optimized membrane press. For this scope, calculations were realized using the Mathematica 10 program code, which, on being assigned the overall dimensions, slope angle of the helicoid, and volume for the first pitch value, determined the radius and pitch values of the helicoid, total volume, and volume change DVc. It was also noted that by appropriately varying the geometric parameters (taper and pitch of the helicoid), different options of pressure distribution on grape pomace can be obtained, thus enabling improvement and optimization of product quality.

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Section: Methodsmentioning

confidence: 99%

Design and Development of a New Press for Grape Marc

et al. 2019

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“…If the drag force increases, it will cause imbalance and rapid battery depletion. This force value depends on the effective frontal area, velocity, and air density, as in the following [40]:…”

Section: Aerodynamic Behavior Assessmentmentioning

confidence: 99%

Quadcopter Unmanned Aerial Vehicle Structural Design Using an Integrated Approach of Topology Optimization and Additive Manufacturing

Al-Haddad,

Jaber,

Giernacki

et al. 2024

Designs

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The performance of quadcopter frames, particularly in terms of weight and crash resistance, is significantly influenced by their structural design and manufacturing process. In this work, a methodology is proposed that integrates advanced principles of topology optimization (TO) and additive manufacturing (AM) techniques to optimize the frame structure for improved performance. First, an analysis is conducted to evaluate existing quadcopter frame configurations, identifying areas for improvement. Experimental evaluations of thrust and moment of motors are performed to assess the performance of the enhanced quadcopter frame, with a focus on advancing the design through computer-aided simulations of static structural analysis and impact tests. The TO technique is then employed to determine the optimal distribution of material within the frame, governed by constraints such as weight reduction and mechanical strength. The results demonstrate that the overall performance of a quadcopter frame is significantly improved by the proposed methodology, showcasing advancements in stability, weight reduction, and crashworthiness. The resulting optimized frame design is subsequently manufactured using AM methods, which offer advantages such as design flexibility and the ability to produce complex geometries. The findings of this study contribute to the field of quadcopter design and optimization by highlighting the synergies between TO and AM techniques. An avenue is offered for the development of lightweight and robust quadcopter frames, as the capabilities and performance of quadcopter systems are advanced. The insights gained from this research open up opportunities for further advancements in the design and manufacturing of UAVs.

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“…It has a conventional geometry that facilitates the study of control design application, identification techniques and autonomous navigation algorithms. Furthermore, it is normally used for educational activities in order to provide a first approach to robotics for our students [60,61]. The chassis of the three-wheeled mobile robot is made of metal-acrylic and has a combination several sensors for performing different tasks.…”

Section: Wheeled Robot Modelling In a Gazebo-based Environmentmentioning

confidence: 99%

Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Rivera¹,

Simone

Guida

2019

Machines

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The fusion of different technologies is the base of the fourth industrial revolution. Companies are encouraged to integrate new tools in their production processes in order to improve working conditions and increase productivity and production quality. The integration between information, communication technologies and industrial automation can create highly flexible production models for products and services that can be customized through real-time interactions between consumer, production and machinery throughout the production process. The future of production, therefore, depends on increasingly intelligent machinery through the use of digital systems. The key elements for future integrated devices are intelligent systems and machines, based on human–machine interaction and information sharing. To do so, the implementation of shared languages that allow different systems to dialogue in a simple way is necessary. In this perspective, the use of advanced prototyping tools like Open-Source programming systems, the development of more detailed multibody models through the use of CAD software and the use of self-learning techniques will allow for developing a new class of machines capable of revolutionizing our companies. The purpose of this paper is to present a waypoint navigation activity of a custom Wheeled Mobile Robot (WMR) in an available simulated 3D indoor environment by using the Gazebo simulator. Gazebo was developed in 2002 at the University of Southern California. The idea was to create a high-fidelity simulator that gave the possibility to simulate robots in outdoor environments under various conditions. In particular, we wanted to test the high-performance physics Open Dynamics Engine (ODE) and the sensors feature present in Gazebo for prototype development activities. This choice was made for the possibility of emulating not only the system under analysis, but also the world in which the robot will operate. Furthermore, the integration tools available with Solidworks and Matlab-Simulink, well known commercial platforms of modelling and robotics control respectively, are also explored.

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Control design for an under-actuated UAV model

Cited by 42 publications

References 53 publications

Design and Development of a New Press for Grape Marc

Design and Development of a New Press for Grape Marc

Quadcopter Unmanned Aerial Vehicle Structural Design Using an Integrated Approach of Topology Optimization and Additive Manufacturing

Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

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