Flight Mode Research Articles

Time Optimal Altitude-Hold Flight Mode Transition Strategy for a Class of Ducted Fan Tail Sitter UAV

For special tail sitter configurations such as the ducted fan tail sitter unmanned aerial vehicle (UAV), the widely used trajectory planning methodology based on differential flatness might not be applicable due to complex aerodynamic coupling effects. As a result, the flight mode transition remains a challenging task. In this paper, we address the time optimal altitude-hold flight mode transition issue for a class of ducted fan tail sitter UAV. The foundation of the framework is the dynamic transition corridor in which the limitation of jerk is particularly considered, aiming to thoroughly reflect the dynamic feature of aggressive maneuvers. Based on this, we propose a time optimal strategy to generate feasible altitude-hold transition trajectories. Simultaneous, by fully utilizing the manifestation of time optimal altitude-hold flight behavior revealed by the transition corridor, we try to tackle the time optimal altitude-hold transition by means of a novel model-free control scheme. Comparative simulations show that both of the transition strategies achieve satisfactory performance on time optimal altitude-hold transition in the absence of disturbance, while the model-free control scheme exhibits better robustness under external disturbance.

Atmospheric Aircraft Conceptual Design Based on Multidisciplinary Optimization with Differential Evolution Algorithm and Neural Networks

A methodology for selecting rational parameters of atmospheric aircraft during the initial design stages using a differential evolutionary optimization algorithm and numerical mathematical modeling of aerodynamics problems is proposed. The technique involves implementing weight and aerodynamic balance in the main flight modes, considering atmospheric aircraft with one or two lifting surfaces, applying parallel calculations, and auto-generating a three-dimensional geometric model of the aircraft’s appearance based on the optimization results. A method for accelerating the process of optimizing aircraft parameters in terms of takeoff weight by more than three times by introducing an objective function into the set of design variables is proposed and demonstrated. The reliability of mathematical models used in aerodynamics and the accuracy of the objective function calculation considering various constraints are explored. A comprehensive test of the performance and efficiency of the methodology is conducted by solving demonstration problems to optimize more than ten main design parameters for the appearance of two existing heavy-class unmanned aerial vehicles with known characteristics from open sources.

Numerical simulation of the transition flight aerodynamics of cross-shaped quad-tiltrotor UAV

In order to enhance the stability of the tilt transition process, a new configuration of Quad-Tiltrotor UAV was presented in this paper. Firstly, numerical simulation was used to calculate and analyze the aerodynamic interaction between the front rotor/fuselage/rear rotor during the transition state mode. The calculation model of the isolated rotor, front-rear rotor, front rotor-fuselage, and front rotor-rear rotor-fuselage combination states are established. Besides, the effects of pitch, roll, and yaw moment on the fuselage at different tilt angles are analyzed. It is concluded that the front rotor is the leading factor in the aerodynamic interference of the whole UAV in the different combination states. The research results can provide a reference for the optimization design of the overall layout, structure, and flight control strategy of the cross-shaped quad-tiltrotor UAV, and can also provide solutions for the logistics application of urban air traffic.

Decentralized UAV Swarm Control: A Multi-Layered Architecture for Integrated Flight Mode Management and Dynamic Target Interception

Decentralized UAV Swarm Control: A Multi-Layered Architecture for Integrated Flight Mode Management and Dynamic Target Interception

Design and Implementation of a Land-Air Omnidirectional Mobile Robot

This paper proposes a new type of omnidirectional mobile robot for land and air, which has three motion modes, combines the motion characteristics of land motion and air flight, has the ability to climb walls, and can be actively deformed to adapt to the working conditions according to the current working environment. The robot incorporates an innovative “rotor blade–single row omnidirectional wheel” composite structure, which is mainly characterized by a single row of continuous switching wheels covering the outside of each rotor blade, and does not need to provide additional power when moving on the ground and walls, relying on the driving force generated by the rotor blades to drive the continuous switching wheels driven by the rotor blades. This structure can effectively combine the land movement mode, wall crawling mode, and air flight mode, which reduces the energy consumption of the robot without increasing the weight, and we design a deformation device that can realize the transformation of the three modes into each other. This paper mainly focuses on the design of the robot structure and the analysis of the movement method, and the land omnidirectional movement experiments, wall crawling experiments, and air flight experiments were, respectively, carried out, and the results show that the proposed land and air omnidirectional mobile robot has the ability to adapt to the movement of each scene, and improves the upper limit of the robot’s operation.

Low-Energy Transfers to Lunar Distant Retrograde Orbits from Geostationary Transfer Orbits

This study focuses on the low-energy transfers to lunar distant retrograde orbits (DROs) from geostationary transfer orbits (GTOs) in the bicircular-restricted sun–Earth–moon four-body problem. The low-energy transfer is essential for low-cost small satellites reaching out to the Moon, and the departure from GTO allows more rideshare opportunities. We first created several large-scale databases of trajectory segments, such as GTO to apogee in the weak-stability area, apogee to perilune, and DRO to perilune. Then, millions of GTO–DRO transfer trajectories with double powered lunar flybys (PLFs) and weak stability boundary (WSB) ballistic transfer were constructed through trajectory patching. The key flight information, such as the ΔV–time-of-flight Pareto fronts, launch windows, and the flight mode via WSB ballistic transfer, is obtained from feasible solutions. Results show that low-energy GTO–DRO transfers can be achieved by exploiting PLFs and WSB ballistic arcs, which suggests potential applications in the cislunar space.

Full Envelope Flight Control System Design and Optimization for a Tilt-Wing Aircraft

Novel vertical take-off and landing advanced air mobility aircraft which are overactuated and transition between vertical and forward flight modes pose unique challenges for the design of safe and robust full‐envelope fly‐by‐wire flight control systems. This paper presents a methodology for designing and optimizing a control system architecture for a tilt-wing urban air mobility concept. It features the total energy control system algorithm, which is extended to be applicable to hover and transitioning flight and explicit model following inner loops. Control system parameters are optimized using a genetic algorithm optimization scheme, subject to constraints on closed-loop dynamic stability and control response characteristics. Control system performance is demonstrated by simulation of lateral, longitudinal, and directional maneuvering for hover, transition, and forward flight conditions, followed by simulation of departure and arrival transitions while tracking a prescribed flightpath and speed profile in calm and turbulent air. The results demonstrate the effectiveness of the proposed control system architecture and the demonstrated optimization methodology.

Интеллектуальная поддержка экипажа при выводе гражданского воздушного судна из сложного пространственного положения

<p>A new approach to development of the mathematical and software tools for synthesis of the control actions recovering an aircraft from a difficult spatial position is presented, using the sufficient accumulated empirical data. When calculating control actions, an aircraft behavior pattern, which is relevant to the flight situation arisen and containing information about piloting by a qualified crew, is in use. Synthesized actions can be employed within newly created autopilots when performing difficult flight modes or used to correct control influences performed by an average or low-skilled pilot in real time.</p>

Modified snake optimizer based multi-level thresholding for color image segmentation of agricultural diseases

Image segmentation is crucial for early identification and diagnosis of crop diseases in agriculture. It helps identify disease areas and characteristics, laying the groundwork for disease diagnosis and treatment. However, color image thresholding segmentation method faces challenges in finding the optimal threshold as the number of thresholds increases, which affects segmentation quality. In this paper, a modified snake optimizer (MSO) is proposed to address the color image thresholding segmentation problem using Kapur’s entropy as the objective function. MSO incorporates a dynamic adaptive parameter adjustment method. The improved global position update formula introduces guidance from the optimal individual and disturbance from random individuals, effectively achieving a balance between global and local search capabilities. A dynamic parameter adjustment method is added to accelerate convergence speed during snake movement to food. Lévy flight is introduced to the Flight mode to help the algorithm escape local extremums. A balancing strategy is implemented in the Mating mode, incorporating guidance from the optimal individual and information exchange between sub-populations, enabling balanced exploration and local exploitation capabilities. The hill-climbing jump operation for the optimal individual is added to help the algorithm overcome local stagnation. The proposed MSO is evaluated on CEC 2017 test functions and color test images, and the obtained results are compared with other segmentation methods and other intelligent optimization algorithms. The results demonstrate that MSO exhibits stable and excellent performance in both complex global optimization problems and color image thresholding segmentation problems. Finally, MSO is applied to segment rice disease images, and the results reveal significantly better segmentation performance compared to other algorithms. MSO shows great potential in solving the thresholding segmentation problem for agricultural disease images, thereby assisting in the accurate identification, diagnosis, and treatment of agricultural diseases and insect pests.

Nonlinear modeling and designing transition flight control scenarios for a dual thrust hybrid UAV

Nonlinear modeling and designing transition flight control scenarios for a dual thrust hybrid UAV

Evolution of flight control systems and aerial photography in unmanned agricultural aircraft

The advancement of UAV technologies has enabled the automated capture of photos and videos, eliminating the need for manual intervention in flight control. (Research purpose) This research aims to conduct a retrospective analysis of the evolution offlight control systems and the development of aerial photography equipment for agricultural land, covering the period from the mid-19th century to present. (Materials and methods) A systematic literature review was conducted using the historical-analytical method. The paper examines original works by both domestic and international authors, including monographs, scientific journals, conference proceedings, museum exhibitions, photographic archives, and open-source software code. (Results and discussion) The paper identifies six distinct phases in the development of aerial photography and flight control systems. The classification is based on key innovations in camera types, control systems, and aircraft designs. Each phase highlights the predominant cameras, control systems, and aircraft utilized for agricultural applications. (Conclusions) Over the past 165 years, notable changes have occurred in aerial photography parameters, including the type of photographic material, image spatial and spectral resolution, camera weight and mounting, shutter types and their mechanisms, inertial control units, integrated GPS/GLONASS receivers, and light sensors. In terms of flight control systems for UAVs, significant developments over the last 106 years include variations in flight control types, the number offlight-stabilizing sensors, obstacle detection systems, size of the flight control units, flight modes, and takeoff/landing techniques, along with interfaces for attachments. It is anticipated that future intellectualization and miniaturization of flight control systems will not only boost UAV performance but also reduce the economic costs associated with the aerial monitoring of agricultural biological assets.

2-Methoxyestradiol, an Endogenous 17β-Estradiol Metabolite, Induces Antimitogenic and Apoptotic Actions in Oligodendroglial Precursor Cells and Triggers Endoreduplication via the p53 Pathway.

The abnormal growth of oligodendrocyte precursor cells (OPCs) significantly contributes to the progression of glioblastoma tumors. Hence, molecules that block OPC growth may be of therapeutic importance in treating gliomas. 2-Methoxyestradiol (2ME), an endogenous tubulin-interacting metabolite of estradiol, is effective against multiple proliferative disorders. Based on its anti-carcinogenic and anti-angiogenic actions, it is undergoing phase II clinical trials. We hypothesize that 2ME may prevent glioma growth by targeting OPC growth. Here, we tested this hypothesis by assessing the impact of 2ME on the growth of an OPC line, "Oli-neu", and dissected the underlying mechanism(s). Treatment with 2ME inhibited OPC growth in a concentration-dependent manner, accompanied by significant upregulation in the expression of p21 and p27, which are negative cell-cycle regulators. Moreover, treatment with 2ME altered OPC morphology from multi-arm processes to rounded cells. At concentrations of 1uM and greater, 2ME induced apoptosis, with increased expressions of caspase 3, PARP, and caspase-7 fragments, externalized phosphatidylserine staining/APOPercentage, and increased mitochondrial activity. Flow cytometry and microscopic analysis demonstrated that 2ME triggers endoreduplication in a concentration-dependent fashion. Importantly, 2ME induced cyclin E, JNK1/2, and p53 expression, as well as OPC fusion, which are key mechanisms driving endoreduplication and whole-genome duplication. Importantly, the inhibition of p53 with pifithrin-α rescued 2ME-induced endoreduplication. The pro-apoptotic and endoreduplication actions of 2ME were accompanied by the upregulation of survivin, cyclin A, Cyclin B, Cyclin D2, and ppRB. Similar growth inhibitory, apoptotic, and endoreduplication effects of 2ME were observed in CG4 cells. Taken together, our findings provide evidence that 2ME not only inhibits OPC growth and triggers apoptosis, but also activates OPCs into survival (fight or flight) mode, leading to endoreduplication. This inherent survival characteristic of OPCs may, in part, be responsible for drug resistance in gliomas, as observed for many tubulin-interacting drugs. Importantly, the fate of OPCs after 2ME treatment may depend on the cell-cycle status of individual cells. Combining tubulin-interfering molecules with drugs such as pifithrin-α that inhibit endoreduplication may help inhibit OPC/glioma growth and limit drug resistance.

Aerodynamic Feedforward-Feedback Architecture for Tailsitter Control in Hybrid Flight Regimes

This paper presents a guidance-control design methodology for the autonomous maneuvering of tailsitter transitioning unmanned aerial systems (t-UASs) in hybrid flight regimes (i.e., the dynamics between VTOL and fixed-wing regimes). The tailsitter guidance-control architecture consists of a trajectory planner, an outer-loop position controller, an inner-loop attitude controller, and a control allocator. The trajectory planner uses a simplified tailsitter model, with aerodynamic and wake effect considerations, to generate a set of transition trajectories with associated aerodynamic force estimates based on an optimization metric specified by a human operator (minimum time transition). The outer-loop controller then uses the aerodynamic force estimate computed by the trajectory planner as a feedforward signal alongside feedback linearization of the outer-loop dynamics for 6DOF position control. The inner-loop attitude controller is a standard nonlinear dynamic inversion control law that generates the desired pitch, roll, and yaw moments, which are then converted to the appropriate rotor speeds by the control allocator. Analytical conditions for robust stability are derived for the outer-loop position controller to guarantee performance in the presence of uncertainty in the feedforward aerodynamic force compensation. Finally, both tracking performance and stability of the control architecture are evaluated on a high-fidelity flight dynamics simulation of a quadrotor biplane tailsitter for flight missions that demand high maneuverability in transition between flight modes.

COMPARATION OF PHOTOGRAMMETRY AND TERRESTRIAL LASER SCANNING METHODS FOR EROSION MONITORING IN THE AREA OF DEVIL’S TOWN: PROJECT “DEMONITOR”

<p>Project "Devils’ town Erosion MONITORing - DEMONITOR" involves the monitoring of accessible earth pillars in the area of Devil’s town, by using a combination of several non‐invasive methods. Terrestrial laser scanning (TLS) and photogrammetric imaging with unmanned aircraft (UAV) as a platform showed as great solutions for 3D modeling of this site and erosion monitoring. In this work it is shown that using manual free flight mode for imaging with UAV gave much better results than the missions performed with predefined flight plans. The desired long‐term effect from this research should have a significant part in the overall socioeconomic development of the municipality of Kuršumlija, and the entire Toplica district.</p>

Design of a UAV Trajectory Prediction System Based on Multi-Flight Modes

With the burgeoning impact of artificial intelligence on the traditional UAV industry, the pursuit of autonomous UAV flight has emerged as a focal point of contemporary research. Addressing the imperative for advancing critical technologies in autonomous flight, this paper delves into the realm of UAV flight state recognition and trajectory prediction. Presenting an innovative approach focused on improving the precision of unmanned aerial vehicle (UAV) path forecasting via the identification of flight states, this study demonstrates its efficacy through the implementation of two prediction models. Firstly, UAV flight data acquisition was realized in this paper by the use of multi-sensors. Finally, two models for UAV trajectory prediction were designed based on machine learning methods and classical mathematical prediction methods, respectively, and the results before and after flight pattern recognition are compared. The experimental results show that the prediction error of the UAV trajectory prediction method based on multiple flight modes is smaller than the traditional trajectory prediction method in different flight stages.

Refined Aircraft Positioning Based on Stochastic Hybrid Estimation with Adaptive Square-Root Unscented Particle Filtering

The positioning of civil aviation aircraft relative to a geographic reference point on Earth in a Cartesian frame is significant to detect the deviations from the desired path, especially for high-altitude airports or special airports based on performance-based navigation (PBN). To obtain these critical deviations during aircraft approach and landing, it is fundamental to estimate the continuous flight variables and discrete flight modes simultaneously with enough accuracy. With the coordinate conversion between the North, East, and Down (NED) frame and the geographic coordinate system based on World Geodetic System 1984 (WGS-84) considered, this study proposed a non-linear stochastic hybrid estimation algorithm with adaptive square-root unscented particle filtering (ASR-UPF) to estimate the true path. The probabilities of mode transition, represented by the normal cumulative density function of continuous states, determine whether to proceed with mode transitions. In addition, the adaptive update characterized by tracking variable noise and the importance sampling distributions based on the results of square-root unscented Kalman filtering (SR-UKF), as a comparative study of continuous system filtering, were used. The experiments illustrated the ASR-UPF is able to reduce the state estimation error more effectively, and more promptly track the error caused by incorrect mode estimation with adaptability compared to the SR-UKF. A further test with real flight data indicates that the proposed method gives the refined estimation of position and azimuth in NED frame.

Mathematical modelling for compliance-assisted artificial muscle based ornithopter

PurposeThis study aims to discuss the mathematical modelling of a compliance-assisted flapping mechanism and morphable structures for an UAV.Design/methodology/approachA compliance-assisted flapping wing was designed and modelled mathematically, and signals for the corresponding curves were calculated. The actual wing tip trace of a hummingbird was taken, and variables a, b, h and k were calculated from the image. This data was given to the mathematical model for plotting the graph, and the curve was compared with the input curve. The wing frame and mechanism for control surfaces using morphing is modelled along with single pivoted spine for centre of gravity augmentation and flight orientation control.FindingsThe model efficiently approximates the 2D path of the wing using line segments using the muscle and compliance mechanism.Practical implicationsUsing a compliance-assisted flapping mechanism offers practical advantages. It allows us to synchronize the flapping frequency with the input signal frequency, ensuring efficient operation. Additionally, the authors can enhance the torque output by using multiple muscle strands, resulting in a substantial increase in the system’s torque-to-weight ratio. This approach proves to be more favourable when compared to conventional methods involving motors or servos, ultimately offering a more efficient and robust solution for practical application.Social implicationsThis model focuses on creating a flexible and tunable mechanism that can at least trace four types of wing traces from the same design, for shifting from one mode of flight to another.Originality/valueConventional ornithopter flapping mechanisms are gear or servo driven and cannot trace a wing tip, but some can trace complicated curves, but only one at a time. This model can trace multiple curves using the same hardware, allowing the user to program the curve based on their needs or bird. The authors may vary the shape of the wing tip trace to switch between forward flight, hovering, backward flying, etc., which is not conceivable with any traditional flapping mechanism.

Design and Development of an Air–Land Amphibious Inspection Drone for Fusion Reactor

This paper proposes a design method for a miniature air–land amphibious inspection drone (AAID) to be used in the latest compact fusion reactor discharge gap observation mission. Utilizing the amphibious function, the AAID realizes the function of crawling transportation in the narrow maintenance channel and flying observation inside the fusion reactor. To realize miniaturization, the mobile platform adopts the bionic cockroach wheel-legged system to improve the obstacle-crossing ability. The flight platform adopts an integrated rotor structure with frame and control to reduce the overall weight of the AAID. Based on the AAID dynamic model and the optimal control method, the control strategies under flight mode, hover mode and fly–crawl transition are designed, respectively. Finally, the prototype of the AAID is established, and the crawling, hovering, and fly–crawling transition control experiments are carried out, respectively. The test results show that the maximum crawling inclination of the AAID is more than 20°. The roll angle, pitch angle, and yaw angle deviation of the AAID during hovering are all less than 2°. The landing success rate of the AAID during the fly–crawl transition phase also exceeded 77%, proving the effectiveness of the structural design and dynamic control strategy.

Rational design of the aerodynamic rudder structure taking into account strength, rigidity and aeroelastic stability

The paper considers a design process of an aerodynamic rudder, which structure comprises the skin of constant thickness, a load-bearing structure and a trimmed nose that plays the role of an anti-flutter balancer. The aim of the work is to set and solve the design problem of a rational structural and technological solution of the rudder that meets the requirements of strength, rigidity, aeroelastic stability and minimum mass. To solve this problem, a design algorithm for the rudder, using topological and parametric optimization, is proposed. The main parameters of the design area and the trimmed nose required for topological optimization are determined. The ANSYS Workbench software package was used for the finite element analysis and topological optimization. Based on the results of optimization, post-processing was carried out. A structural and technological solution, that combines structural layouts with constant and variable width of the trimmed nose, was proposed. An analysis of the stress-strain state was carried out, and it was found that the designed structure meets the strength requirements for the given design case. A scheme for solving the parametric optimization problem of the rudder under the condition of aeroelastic stability is proposed. Within the framework of solving this problem, a flutter study was conducted, using a multi-mode model, which makes it possible to study the rudder and body-rudder flutter forms of an unmanned aerial vehicle (UAV) equipped with aerodynamic rudders. The results of the flutter study for the design mode of the UAV flight are obtained in the form of dependencies of the critical flutter velocity and frequency on the average width of the trimmed nose. The analysis of these dependencies allowed us to derive the optimal values of the trimmed nose parameters from the minimum weight condition for two rudder configurations: with a constant and variable width of the trimmed nose.

Flying qualities based time-varying stability augmentation system design for tiltrotor conversion control

Tiltrotors have three flight modes that pose control problems and quality defects during the conversion process. To address this, a novel flying qualities-based time-varying stability augmentation system is designed to achieve multi-mode, nonlinear, and time-varying stability. The system integrates a nonlinear time-varying control law with the flying qualities requirements for all three flight modes. It consists of an inner and outer loop control framework, where the control law in the inner loop is designed based on the Lyapunov theorem of stability. The reference models in the outer loop are derived from the flying qualities criteria to meet level one flying qualities requirements. To evaluate the conversion process, a time-varying flying qualities evaluation method is developed, which includes the conversion path, pilot model, and time-varying flying qualities index. The proposed time-varying stability augmentation control system is then tested through simulation during the conversion process. A pilot-aircraft closed-loop system is established for conducting experiments. Comparison between simulation results and pilot-in-loop experiment results demonstrates the effectiveness of the proposed control system. Furthermore, it proves that the evaluation method is suitable for analyzing time-varying systems. This research can be valuable in designing and evaluating stability augmentation controls for strongly time-varying systems.