Long-distance Flights Research Articles

Evaluation of Current and Future Aviation Fuels at High-Pressure Rich-Quench-Lean-Type Combustor Conditions

Abstract Decarbonizing the aviation sector is one of the biggest challenges to minimize climate change effects associated with carbon dioxide emission. Sustainable aviation fuels will play a major role in this context especially for long-distance flights where hydrogen or all-electric propulsion systems do not present a feasible alternative. In addition, aromatic-free sustainable aviation fuels offer a promising solution to lower soot emissions of aeroengines. Jet A-1 as reference fuel, two blends, and two neat synthesized paraffinic kerosenes (SPKs) from hydroprocessed esters and fatty acids (HEFA) were tested to characterize the combustion behavior of drop-in/near drop-in fuels. Experiments in an optically accessible high-pressure rich-quench-lean (RQL)-type combustor at typical aeroengine conditions were performed using optical diagnostics, exhaust gas, and particle sampling measurements to delineate the fuel effects on spray, flame, and emission characteristics. Measurements were performed at pressures up to 10 bar, air preheating temperatures up to 773 K and primary zone equivalence ratios up to 1.66. Liquid fuel distribution and fuel placement were found to be sensitive to fuel properties. By contrast, no pronounced influence on flame position and shape were observed. As a consequence, NOx and CO emissions of the tested fuels differed only moderately. However, particulate matter measurements at the fuel richest operating condition showed a clear fuel ranking with the lowest particle emissions evident for the two neat HEFA-SPK samples. Moreover, the particle volume concentration at the fuel richest condition followed the expected trend with fuel H-content.

Marking Helicoverpa zea (Lepidoptera: Noctuidae) with fluorophores for use in mark-release-recapture research

Abstract Knowledge of insect dispersal and long-distance migratory flight capacity and patterns represent key factors needed for risk assessment of invasive pest species, insecticide resistance management, and more effective pest control. Having operative tools to both mark and track insect pest movement is therefore critical to achieving such goals. Here, we describe a new procedure for marking Helicoverpa zea (Boddie) (Lepidoptera: Noctuidae), one of the most economically important crop pests in the United States. Adult H. zea moths were effectively marked using the liquid fluorophore cartax green, a persistent UV-fluorescent pigment, both directly by topical application and indirectly by briefly submerging pupae in the marking solution prior to adult emergence. Regardless of the application method, the cartax mark was retained on the moths throughout their entire adult lifespan. No mortality differences were observed between cartax green-marked and water-marked (control) moths. Additionally, using rotary flight mills, we found no significant differences in several flight parameters, including total number of flights, flight speeds, flight distances, or flight durations between unmarked and cartax-marked moths. Under laboratory conditions, we did observe the lateral transfer of different colored fluorophores between moths, indicating that undesirable marking could potentially occur. Moreover, we found that not all fluorophores were equally retained on H. zea moths, with cartax green remaining intact on moths longer than did a corresponding magenta fluorophore. The results show that cartax green fluorophore could be a practical marker for H. zea and other holometabolous species targeted for large-scale mark-release-recapture research.

Restoration of the ecological network structure based on the spatiotemporal changes of the wintering Grus japonensis habitat in the Yancheng coastal area

As an Asian endemic species, Grus japonensis (G. japonensis) reproduction and survival rely on natural wetland resources. G. japonensis is adept at long-distance flight, thereby displaying distinct network structural characteristics in its utilization of habitat within its range. Therefore, scientific restoration and management of the ecological network (ENs) are urgently needed. On the basis of the data of G. japonensis and environmental data, this study used the MaxEnt model, stepping-stone theory, and circuit models to analyze the spatiotemporal changes in the ENs structure of G. japonensis habitat. The primary factors influencing the habitat suitability of G. japonensis was the distance to Phragmites australis (P. australis) community. The area of ecological source areas decreased from 56,528.59 hm2 in 1987 to 14,040.20 hm2 in 2021, with the distribution range contracting from Beihuan (BH), Nanhuan (NH), Hexin (HX) and Tiaozini (TZN) to Hexin (HX). Between 1987 and 2007, there were dense ecological corridors along the coastal areas. However, by 2021, only BH and HX had dense ecological corridors between them. The node centrality of HX decreased from 900.78 in 1987 to 264.64 in 2021, with the most significant decrease between 2007 and 2021. On this basis, the expanded habitat area, the stepping stone area in 2021 and the ecological source area of 2007 with low development intensity were taken as restoration areas. The restoration areas were classified into two types based on their distribution: landing nodes and expansion nodes. The addition of landing nodes enhanced the overall stability of the ENs, resulting in an increase in the centrality of nodes from 264.64 to 398.08. Finally, an optimization and restoration framework for the habitat network based on identifying priority restoration areas, land use type transformation, and enhancing ENs stability for habitat restoration was proposed.

The Turbofan Engine Remaining Useful Life Prediction Using 1-Dimentional Convolutional Neural Network

Turbofan engines have been the dominant type of engine in aircraft for the last forty years. Ensuring the quality of these engines is crucial for flight safety, particularly for long-distance flights. However, their performance degrades over time, impacting flight safety. To address this issue, it is essential to predict potential engine failures by estimating the Remaining Useful Life (RUL) of the engines Deep learning, especially Convolutional Neural Networks (CNNs), has demonstrated exceptional proficiency in handling intricate, non-linear data, leading to improved RUL predictionsdue to their ability to process complex and non-linear data. In this project, a 1-D CNN is used to predict RUL using the NASA C-MAPSS FD001 dataset, which consists of 3 settings and 21 sensors, though sensors with stagnant readings are excluded. The dataset is normalized using min-max and z-score methods, and then segmented into sequences for input into the 1-D CNN model. Various training scenarios were evaluated, with the best RMSE of 3.26 achieved using 10 epochs, a learning rate of 0.0001, and z-score normalization. The results indicate that feature selection can produce a lower RMSE compared to scenarios without feature selection.

Thrombosis and Thrombotic Risk in Athletes.

The hemostatic system is characterized by a delicate balance between pro- and anticoagulant forces, and the smallest alteration can cause serious events such as hemorrhages or thrombosis. Although exercise has been shown to play a protective role in athletes, several factors may increase the risk of developing venous thromboembolism (VTE), including hemoconcentration induced by exertion, immobilization following sports injuries, frequent long-distance flights, dehydration, and the use of oral contraceptives in female athletes. Biomarkers such as D-dimer, Factor VIII, thrombin generation, inflammatory cytokines, and leukocyte count are involved in the diagnosis of deep vein thrombosis (DVT), although their interpretation is complex and may indicate the presence of other conditions such as infections, inflammation, and heart disease. Therefore, the identification of biomarkers with high sensitivity and specificity is needed for the screening and early diagnosis of thromboembolism. Recent evidence about the correlation between the intensity of physical activity and VTE is divergent, whereas the repeated gestures in sports such as baseball, hockey, volleyball, swimming, wrestling, or, on the other hand, soccer players, runners, and martial art training represent a risk factor predisposing to the onset of upper and lower DVT. Anticoagulant therapy is the gold standard, reducing the risk of serious complications such as pulmonary embolism. The aim of this review is to provide a general overview about the interplay between physical exercise and the risk of thromboembolism in athletes, focusing on the main causes of thrombosis in professional athletes and underlying the need to identify new markers and therapies that can represent a valid tool for safeguarding the athlete's health.

NAJVEČJE SILE ZA DOSEGANJE NAJBOLJŠE VIŠINI IN DALJAVE LETA NA PRESKOKU V MOŠKI ORODNI TELOVADBI

Analysing the take-off forces on the vaulting table can help to inform the athlete about the vaulting technique. A measuring device was used to measure the forces during the Artistic World Championships 2019. The greatest forces were measured during Forward handspring. The mean maximum values were 5.4 times body weight (BW). The highest peak height was calculated for Forward handspring (tucked) at 2.9 m. The longest flight distance was 3.62 m for forward handspring and 3.59 m for tsukahara/kasamatsu. The statistical correlations between the forces and the peak height and flight distance could only be verified for Forward handspring. For the Tsukahara/Kasamatsu and the Yurchenko vaults, no correlation could be proven.

The small hive beetle’s capacity to disperse over long distances by flight

The spread of invasive species often follows a jump-dispersal pattern. While jumps are typically fostered by humans, local dispersal can occur due to the specific traits of a species, which are often poorly understood. This holds true for small hive beetles (Aethina tumida), which are parasites of social bee colonies native to sub-Saharan Africa. They have become a widespread invasive species. In 2017, a mark-release-recapture experiment was conducted in six replicates (A–F) using laboratory reared, dye-fed adults (N = 15,690). Honey bee colonies were used to attract flying small hive beetles at fixed spatial intervals from a central release point. Small hive beetles were recaptured (N = 770) at a maximum distance of 3.2 km after 24 h and 12 km after 1 week. Most small hive beetles were collected closest to the release point at 0 m (76%, replicate A) and 50 m (52%, replicates B to F). Temperature and wind deviation had significant effects on dispersal, with more small hive beetles being recaptured when temperatures were high (GLMM: slope = 0.99, SE = 0.17, Z = 5.72, P < 0.001) and confirming the role of wind for odour modulated dispersal of flying insects (GLMM: slope = − 0.39, SE = 0.14, Z = − 2.90, P = 0.004). Our findings show that the small hive beetles is capable of long-distance flights, and highlights the need to understand species specific traits to be considered for monitoring and mitigation efforts regarding invasive alien species.

A haplotype-resolved reference genome of a long-distance migratory bat, Pipistrellus nathusii (Keyserling & Blasius, 1839).

We present a complete, chromosome-scale reference genome for the long-distance migratory bat Pipistrellus nathusii. The genome encompasses both haplotypic sets of autosomes and the separation of both sex chromosomes by utilizing highly accurate long-reads and preserving long-range phasing information through the use of three-dimensional chromatin conformation capture sequencing (Hi-C). This genome, accompanied by a comprehensive protein-coding sequence annotation, provides a valuable genomic resource for future investigations into the genomic bases of long-distance migratory flight in bats as well as uncovering the genetic architecture, population structure and evolutionary history of Pipistrellus nathusii. The reference-quality genome presented here gives a fundamental resource to further our understanding of bat genetics and evolution, adding to the growing number of high-quality genetic resources in this field. Here, we demonstrate its use in the phylogenetic reconstruction of the order Chiroptera, and in particular, we present the resources to allow detailed investigations into the genetic drivers and adaptations related to long-distance migration.

Mechanisms that Alter Capacity for Adenosine Triphosphate Production and Oxidative Phosphorylation: Insights from Avian Migration

Synopsis Avian migration is among the most energetically demanding feats observed in animals. Studies evaluating the physiological underpinnings of migration have repeatedly shown that migratory birds display numerous adaptations that ultimately supply the flight muscle mitochondria with abundant fuel and oxygen during long-distance flights. To make use of this high input, the organs and mitochondria of migrants are predicted to display several traits that maximize their capacity to produce adenosine triphosphate (ATP). This review aims to introduce readers to several mechanisms by which organs and mitochondria can alter their capacity for oxidative phosphorylation and ATP production. The role of organ size, mitochondrial volume, substrate, and oxygen delivery to the electron transport system are discussed. A central theme of this review is the role of changes in electron chain complex activity, mitochondrial morphology and dynamics, and supercomplexes in allowing avian migrants and other taxa to alter the performance of the electron transport system with predictable shifts in demand. It is my hope that this review will serve as a springboard for future studies exploring the mechanisms that alter bioenergetic capacity across animal species.

Tracheal hyperallometry and spatial constraints in a large beetle

Insects exchange respiratory gases with their environment through their gas-filled tracheal system, a branched tracheal tree extending from segmental openings and terminating at fine tissue penetrating tracheoles. It was shown that the tracheal volume increases hyperallometrically with insect body size (Mb), both interspecifically and across developmental stages. In this study, we used the sixfold Mb variation in adult Batocera rufomaculata(Cerambicidae; Coleoptera) examining the allometry of adult tracheal volume (Vtr). We further explored the effect of sex and sexual maturity on tracheal gas conductance, testing the hypotheses that (i) larger body size and (ii) egg volume in gravid females would result in lower safety margins for tracheal oxygen transport due to structural restriction. We report a hyperallometric tracheal growth in both sexes of adult B. rufomaculata(mean mass exponent of 1.42 ± 0.09), similar in magnitude to previously reported values. Tracheal gas conductance was independent of Mb and reproductive state, but was significantly higher in females compared with males. We suggest that females may have pre-adapted a higher tracheal conductance required for the higher flight power output while gravid. Lack of compliant air sacs and rigid trachea may explain how gravid females retain their Vtr. However, we show that Vtr outgrows thoracic dimensions with increased B. rufomaculatasize. Hyperallometric growth of the giant cerambycid thoracic trachea could explain the previously reported hypometric scaling of flight muscles in B. rufomaculata, and the compromised long-distance flight performance of larger compared with smaller conspecifics.

Bistable Aerial Transformer: A Quadrotor Fixed-Wing Hybrid That Morphs Dynamically Via Passive Soft Mechanism

Abstract Aerial vehicle missions require navigating trade-offs during design, such as the range, speed, maneuverability, and size. Multi-modal aerial vehicles enable this trade-off to be negotiated during flight. This paper presents a Bistable Aerial Transformer (BAT) robot, a novel morphing hybrid aerial vehicle that switches between quadrotor and fixed-wing modes via rapid acceleration and without any additional actuation beyond those required for normal flight. The design features a compliant bistable mechanism made of thermoplastic polyurethane (TPU) that bears a large mass at the center of the robot’s body. When accelerating, inertial forces transition the vehicle between its stable modes, and a four-bar linkage connected to the bistable mechanism folds the vehicle’s wings in and out. The paper includes the full robot design and a comparison of the fabricated system to the elastodynamic simulation. Successful transitions between the two modes in mid-flight, as well as sustained flight in each mode indicate that the vehicle experiences higher agility in the quadrotor mode and higher flight efficiency in the fixed-wing mode, at an energy equivalent cost of only 2 s of flight time per pair of transitions. The vehicle demonstrates how compliant and bistable mechanisms can be integrated into future aerial vehicles for controllable self-reconfiguration for tasks such as surveillance and sampling that require a combination of maneuverability and long-distance flight.

Retinal Adaptation in Response to Light and Dark Regimes in the Oriental Armyworm Mythimna separata (Lepidoptera: Noctuidae).

The oriental armyworm, Mythimna separata (Walker), is a well-known nocturnal migratory pest that relies on its exceptional nocturnal vision for navigation during long-distance flights. In this study, we investigated the ultrastructure of the compound eyes of adult M. separata using transmission electron microscopy and quantitatively evaluated adaptational changes in the retina under light and dark conditions. The compound eyes of M. separata are superposition eyes with a clear zone. The retina shows remarkable anatomical differences under light and dark adaptation, primarily characterized by distinct patterns of rhabdoms within the clear zone: the rhabdoms are nearly absent under light adaptation, but become more voluminous under dark adaptation. In the distal, middle, and proximal sections of the clear zone, the cross-sectional areas of retinulae and rhabdoms, as well as the rhabdom occupation ratio, are significantly larger under dark adaptation than under light adaptation. Conversely, the opposite trend is observed beneath the clear zone. These results indicate remarkable plasticity in the M. separata retina throughout a normal daily cycle, providing a theoretical basis for improving searchlight and ground light trap techniques for the management of this migratory species.

High-Frequency Local Field Potential Oscillations for Pigeons in Effective Turning

Flexible turning behavior endows Homing Pigeons (Columba livia domestica) with high adaptability and intelligence in long-distance flight, foraging, hazard avoidance, and social interactions. The present study recorded the activity pattern of their local field potential (LFP) oscillations and explored the relationship between different bands of oscillations and turning behaviors in the formatio reticularis medialis mesencephali (FRM). The results showed that the C (13–60 Hz) and D (61–130 Hz) bands derived from FRM nuclei oscillated significantly in active turning, while the D and E (131–200 Hz) bands oscillated significantly in passive turning. Additionally, compared with lower-frequency stimulation (40 Hz and 60 Hz), 80 Hz stimulation can effectively activate the turning function of FRM nuclei. Electrical stimulation elicited stronger oscillations of neural activity, which strengthened the pigeons’ turning locomotion willingness, showing an enhanced neural activation effect. These findings suggest that different band oscillations play different roles in the turning behavior; in particular, higher-frequency oscillations (D and E bands) enhance the turning behavior. These findings will help us decode the complex relationship between bird brains and behaviors and are expected to facilitate the development of neuromodulation techniques for animal robotics.

Divergent impacts of the neonicotinoid insecticide, clothianidin, on flight performance metrics in two species of migratory butterflies.

Long-distance flight is crucial for the survival of migratory insects, and disruptions to their flight capacity can have significant consequences for conservation. In this study, we examined how a widely used insecticide, clothianidin (class: neonicotinoid), impacted the flight performance of two species of migratory butterflies, monarchs (Danaus plexippus) and painted ladies (Vanessa cardui). To do this, we quantified the free-flight energetics and tethered-flight velocity and distance of the two species using flow-through respirometry and flight mill assays. Our findings show differential effects of the pesticide on the two species. For painted ladies, we found that clothianidin exposure reduced average free-flight metabolic rates, but did not affect either average velocity or total distance during tethered flight. Other studies have linked low flight metabolic rates with reduced dispersal capacity, indicating that clothianidin exposure may hinder painted lady flight performance in the wild. Conversely, for monarchs, we saw no significant effect of clothianidin exposure on average free-flight metabolic rates but did observe increases in the average velocity, and for large individuals, total distance achieved by clothianidin-exposed monarchs in tethered flight. This suggests a potential stimulatory response of monarchs to low-dose exposures to clothianidin. These findings indicate that clothianidin exposure has the potential to influence the flight performance of butterflies, but that not all species are impacted in the same way. This highlights the need to be thoughtful when selecting performance assays, as different assays can evaluate fundamentally distinct aspects of physiology, and as such may yield divergent results.

Exposure to Cry1 Toxins Increases Long Flight Tendency in Susceptible but Not in Cry1F-Resistant Female Spodoptera frugiperda (Lepidoptera: Noctuidae).

The fall armyworm (JE Smith) (Spodoptera frugiperda) is a polyphagous pest targeted by selected Cry and Vip3A insecticidal proteins from the bacterium Bacillus thuringiensis (Bt) that are produced in transgenic Bt corn and cotton. Available evidence suggests that sublethal larval exposure to Cry1Ac increases flight activity in adult Spodoptera spp. However, it is not known whether this effect is also observed in survivors from generally lethal exposure to Cry1Ac. Moreover, while multiple cases of field-evolved resistance to Bt proteins have been described in the native range of S. frugiperda, the effect of resistance on flight behavior has not been examined. Long-distance migratory flight capacity of S. frugiperda is of concern given its ongoing global spread and the possibility that migrants may be carrying resistance alleles against pesticides and Bt crops. In this study, we used rotational flight mills to test the effects of generally lethal exposure to Cry1Ac in susceptible and sublethal exposure in Cry1F-resistant S. frugiperda strains. The results detected altered pupal weight after larval feeding on diet containing Cry proteins, which only translated in significantly increased tendency for longer flights in female moths from the susceptible strain. This information has relevant implications when considering current models and assumptions for resistance management of Bt crops.

Collaborative relay for achieving long-term and low-AoI data collection in UAV-aided IoT systems

In Internet of Things (IoT) systems, sensor nodes are frequently placed in remote and unattended locations to monitor environmental data. One significant challenge is ensuring the timely and efficient transmission of data generated by these sensor nodes back to the base station. The use of unmanned aerial vehicles (UAVs) can provide a practical solution to this challenge by acting as mobile relay nodes for facilitating data transmission. In most existing works, UAVs are typically restricted to collecting data within their designated areas and returning to the base station for data offloading, resulting in suboptimal data timeliness due to long-distance flights. A limited number of works have explored the utilization of relay collaboration by UAVs for data collection, enabling efficient and immediate transmission of sensor node data to the base station. Nevertheless, UAVs positioned at significant distances from the base station face challenges in obtaining timely energy replenishment. This makes them unable to effectively support long-duration data collection missions. In order to tackle these challenges, we develop a UAV-aided IoT collaborative data collection mechanism and propose a matching games-based data collection (MGDC) scheme. In this scheme, we begin by identifying convergence nodes within the ground sensor network, responsible for uploading sensor-generated data to passing UAVs. Furthermore, we divide the mission area into multiple subareas based on the number of available UAVs. Subsequently, using a matching game algorithm, we establish relay relationships between UAVs to enable efficient relay transmissions among paired UAVs. To achieve efficient data collection of UAVs, we employ an improved adaptive large neighborhood search (IALNS) algorithm for UAV flight path planning. Finally, we incorporate an alternating charging mode to ensure all UAVs have the opportunity to return to the base station for energy recharge. Through comprehensive experimentation, we confirm the significant enhancement provided by our proposed data collection scheme compared to existing schemes. This scheme effectively reduces system age of information (AoI) and extends the runtime of the system.

Determination of Cetane Numbers Via Chemical Kinetic Mechanism

Abstract Minimizing global warming is a major task of todays' society. For air transport, sustainable aviation fuels (SAF) produced from renewable sources are a promising key solution. While electric flight is intriguing for short distances, SAF are required for mid- and long-distance flights and in addition, enable fuel design strategies to minimize environmental effects. The qualification and approval for SAF are standardized in the ASTM D4054, which include fuel properties as an essential part. Among others, lean blow-out (LBO) limits are a key performance parameter. The experimental determination of LBO is very time-consuming and cost-effective. The LBO of a specified engine is highly dependent on the fuel properties affecting evaporation, mixing, and ignitability. Therefore, prediction tools are desired to identify early promising SAF for decreasing the certification cost. Due to the correlation between LBO and derived cetane numbers (DCN), a tool for the prediction of the DCN is presented in this study. The DCN model uses chemical kinetic ignition delay time (IDT), simulated in a constant volume combustion chamber based on the ASTM D6890 standard, and seven representative physical properties of a fuel. A high agreement of the predicted DCN to the literature DCN with root-mean-square errors of 4.7 and correlation coefficients of 0.95 was found.

The pace of mitochondrial molecular evolution varies with seasonal migration distance.

Animals that engage in long-distance seasonal migration experience strong selective pressures on their metabolic performance and life history, with potential consequences for molecular evolution. Species with slow life histories typically show lower rates of synonymous substitution (dS) than "fast" species. Previous research suggests long-distance seasonal migrants have a slower life history strategy than short-distance migrants, raising the possibility that rates of molecular evolution may covary with migration distance. Additionally, long-distance migrants may face strong selection on metabolically-important mitochondrial genes due to their long-distance flights. Using over 1,000 mitochondrial genomes, we assessed the relationship between migration distance and mitochondrial molecular evolution in 39 boreal-breeding migratory bird species. We show that migration distance correlates negatively with dS, suggesting that the slow life history associated with long-distance migration is reflected in rates of molecular evolution. Mitochondrial genes in every study species exhibited evidence of purifying selection, but the strength of selection was greater in short-distance migrants, contrary to our predictions. This result may indicate effects of selection for cold tolerance on mitochondrial evolution among species overwintering at high latitudes. Our study demonstrates that the pervasive correlation between life history and molecular evolutionary rates exists in the context of differential adaptations to seasonality.

Phased Array Radio Navigation System on UAVs: In-Flight Calibration

Global Navigation Satellite Systems (GNSS) has been the primary positioning solution for Unmanned Aerial Vehicles (UAVs) due to their worldwide coverage, high precision and lightweight receivers. However, GNSS is prone to electromagnetic interference and malicious assaults, including jamming or spoofing because of its low signal-to-noise ratio (SNR). To ensure the continuity and protection of UAV operations, using redundant navigation systems is essential. In recent years, the phased array radio system (PARS) has established itself as a local navigation solution. PARS is robust towards malicious assaults because of an much higher SNR than GNSS regarding directed and encrypted transmission. An essential factor of PARS is that the orientation of the radio antenna at a ground station needs to be precisely determined to obtain the correct positioning of UAVs. This paper presents a method for extending a previously proposed calibration algorithm to estimate the ground antenna orientation with an inertial navigation system (INS) aided by redundant positioning sensors (GNSS, PARS or barometer) using a multiplicative extended Kalman filter (MEKF) so that the calibration can be activated during flights whenever GNSS is available. In other words, the proposed navigation system is essentially an aided-INS which switches between two modes depending on the availability of GNSS: calibration and GNSS aiding mode when GNSS is available (Mode 1) and PARS and barometer aiding mode when GNSS is unavailable (Mode 2). Considering that the navigation system needs to include the effect of Earth’s curvature for a long-distance flight, PARS horizontal measurement and the barometer measurement were treated independently, and the navigation equations were propagated in Earth Centred Earth Fixed (ECEF) frame. The independent treatment of barometer measurement, and the propagation in ECEF frame were also beneficial when using multiple ground antennas to have a common reference point and reference frame. The proposed method was validated using data (Inertial Measurement Unit (IMU), GNSS, PARS, Pixhawk autopilot (including barometer) measurements) collected during a field test. In the validation, GNSS was made available at the middle of the flight and the calibration mode was activated for 200s. The proposed navigation system successfully estimated the precise orientation of multiple ground antennas and the navigation solutions were verified using GNSS and Pixhawk autopilot solutions as ground truth.

Energy-Harvesting Strategy Investigation for Glider Autonomous Soaring Using Reinforcement Learning

Birds and experienced glider pilots frequently use atmospheric updrafts for long-distance flight and energy conservation, with harvested energy from updrafts serving as the foundation. Inspired by their common characteristics in autonomous soaring, a reinforcement learning algorithm, the Twin Delayed Deep Deterministic policy gradient, is used to investigate the optimal strategy for an unpowered glider to harvest energy from thermal updrafts. A round updraft model is utilized to characterize updrafts with varied strengths. A high-fidelity six-degree-of-glider model is used in the dynamic modeling of a glider. The results for various flight initial positions and updraft strengths demonstrate the effectiveness of the strategy learned via reinforcement learning. To enhance the updraft perception ability and expand the applicability of the trained glider agent, an extra wind velocity differential correction module is introduced to the algorithm, and a strategy symmetry method is applied. Comparison experiments regarding round updraft, the Gedeon thermal model, and Dryden continuous turbulence indicate the crucial role of the further optimized methods in improving the updraft-sensing ability of the reinforcement learning glider agent. With optimized methods, a glider trained in a simplified thermal updraft with a simple training method can have more effective flight strategies.