Aerial Robotics

En el siguiente documento se describe el desarrollo de una herramienta de adquisición de datos para un invernadero, implementada en un vehículo aéreo no tripulado con el fin de medir distintas variables climatológicas. Esta herramienta se compone de cuatro partes fundamentales; primera, el vehículo aéreo no tripulado (UAV, siglas en inglés Unmanned Aerial Vehicle) modelo Quadcopter SK450 Turnigy con un controlador de vuelo kk2.1.5, compuesto de 4 motores sin escobillas Brushless Multistar 2213 935kv y un empuje máximo de 850 g por cada motor, dato fundamental para el correcto funcionamiento del sistema debido al peso total de éste. Segunda, el sistema de monitoreo con el cual se podrá realizar una aproximación del clima en el invernadero, compuesto de cuatro sensores: sensor de luz (TSL2561), sensor de calidad del aire (MQ-135), sensor de temperatura (DHT11) y sensor de humedad relativa (DHT11), agregando un último sensor ultrasónico HC-SR04, para medir la altitud del vehículo, variable que se toma en cuenta como referencia para graficar las distintas variables físicas medidas. Tercero, el sistema de programación implementado en el microcontrolador PsoC 5 LP CY8CKIT-059 que cuenta con el dispositivo CY8C5888LTI-LP097 con el cual se realiza la programación y registro del sistema de monitoreo y de cada uno de los sensores, para el posterior envió de datos mediante los módulos de comunicación Xbee serie 2 implementando un protocolo de comunicación Zigbee. Cuarto, por último se tiene la interfaz de usuario realizada en el entorno de programación LabView donde se visualiza cada una de las gráficas de las distintas variables climatológicas medidas para su posterior análisis.

declaramos bajo juramento que el trabajo aquí descrito es de nuestra autoría; que no ha sido previamente presentada para ningún grado o calificación profesional; y que hemos consultado las referencias bibliográficas que se incluyen en este documento. A través de la presente declaración cedemos nuestros derechos de propiedad intelectual correspondiente a este trabajo, a

IMU) implementando el método de Allan variance, el cual se basa en análisis estadísticos de las medidas obtenidas con el sensor IMU. Una IMU es un dispositivo compuesto por un acelerómetro, el cual mide los cambios de fuerza producidos por el movimiento del dispositivo; un giroscopio, que se encarga de registrar la variación de la posición de los ejes representamos por la IMU y un magnetómetro, que interactúa con el campo magnético terrestre. Los datos que proporcionara la IMU serán leídos por medio de una placa raspberry pi, estos son de suma importancia para la navegación de vehículos terrestres coches, camiones y motocicletas de gama alta), aéreos (aviones y helicópteros), marítimos y espaciales (exploración extraterrestre), permitiendo que se orienten y desplacen de la forma más segura y precisa posible. De la misma manera, el programa que se desarrolla para la gestión del sensor IMU proporciona una herramienta muy útil cuyo objetivo, no es solo la obtención, gestión y manipulación de los datos ofrecidos por la IMU, si no permitirá caracterizarlo aplicando el método estadístico ALLAN VARIANCE. Para el desarrollo de dicho programa se ha recurrido a uno de los lenguajes de programación más utilizados en este tiempo, como es Python.

The use of simulators in robotics research is widespread, underpinning the majority of recent advances in the field. There are now more options available to researchers than ever before, however navigating through the plethora of choices in search of the right simulator is often non-trivial. Depending on the field of research and the scenario to be simulated there will often be a range of suitable physics simulators from which it is difficult to ascertain the most relevant one. We have compiled a broad review of physics simulators for use within the major fields of robotics research. More specifically, we navigate through key sub-domains and discuss the features, benefits, applications and use-cases of the different simulators categorised by the respective research communities. Our review provides an extensive index of the leading physics simulators applicable to robotics researchers and aims to assist them in choosing the best simulator for their use case.

Someter las ideas a proyectos concretos y tener que lidiar con factores como la luz natural, temperatura, humedad, desplazamiento de cuerpos y límites concretos, nos permitió experimentar avances y frustraciones que debieron ser resueltas con replanteos y cambios de rumbo en las investigaciones. En muchos casos el sensor de mayor costo y precisión no es necesariamente el más beneficioso para lograr los resultados deseados.

System of a Down as a Metaphysical Meal I assert that System of a Down, an Armenian-American band, serves not just music but a metaphysical meal-a layered dish of existential inquiry, cultural trauma, and archetypal confrontation. Their titles-"Lonely Day," "Chop Suey!," and "Aerials"-are deliberately misleading, functioning as semiotic misdirections that destabilize the listener's expectations. This refusal to anchor meaning is a linguistic rebellion, a postmodern gesture that invites interpretation rather than delivers it. System of a Down is not just a band-they are a cultural eruption. Born from the ashes of genocide and diaspora, they channel the soul of Armenia through a fusion of metal, folk, punk, and political poetry. Their music is a battleground where history, trauma, and resistance collide.

Air transport is the fastest way to reach areas with no direct land routes for ambulances. This paper presents the development of a quadcopter-based rapid response unit in an efficient aerial aid system to eliminate the delay time for first aid supplies. The system comprises a health monitoring and calling system for a field person working in open areas and a base station with the quadcopter. In an uncertain situation, the quadcopter is deployed from the base station towards the field person for immediate help through the specified path using constant Global System for Mobile (GSM)- and Global Positioning System (GPS)-based connections. The entire operation can be monitored at the base station with a Virtual Reality (VR) head-tracking system supported by a smartphone. The camera installed on the quadcopter is synchronized with the operator’s head movement while wearing a VR head-tracking system at the base station. Moreover, an Infrared (IR)-based obstacle-evasion model is implement...

This paper details the design and implementation of a remotely operated unmanned aerial vehicle (UAV), specifically a quadcopter, integrated with image capture capabilities. Driven by Nigeria's over-reliance on foreign expertise and technology for drone applications in both civilian and military sectors, this project aimed to demonstrate a viable pathway for indigenous drone development using locally sourced materials where feasible. The methodology involved hardware selection based on empirical and mathematical analysis, software implementation for flight control using a PID controller, and the integration of a wireless transceiver system for remote operation. This document presents the design rationale, system architecture, and control principles, offering a foundational module for future enhancements in remote sensing, flight autonomy, and payload integration within the Nigerian context.

This paper presents a conceptual design for a flying humanoid robot that combines aerial mobility with a high learning capability. Unlike traditional ground-based humanoids or drones, this robot aims to integrate human-like body balance with flight dynamics. The system is envisioned to learn from real-world tasks through interaction and adaptation, enabling advanced behavior in unstructured environments. This innovation opens up new possibilities in rescue, exploration, and personal assistance robotics.

This paper describes a 2D target loiterin g problem addressed to UAV applications. While targ et tracking and loitering problems have been studied f or long time in literature, here a new and particul ar type of loitering trajectory around the target (fix o moving) is considered: a Lemniscate-type traject ory. The proposed way to track this particular curve der ives from the Lyapunov Vector Field theory, a recently developed methodology that has been used a nd tested for simpler cases before, such as circles or basin-like trajectory tracking. A stability analysi s and preliminary simulation results are given in t his paper.

Computer vision is much more than a technique to sense and recover environmental information from an UAV. It should play a main role regarding UAVs' functionality because of the big amount of information that can be extracted, its possible uses and applications, and its natural connection to human driven tasks, taking into account that vision is our main interface to world understanding. Our current research's focus lays on the development of techniques that allow UAVs to maneuver in spaces using visual information as their main input source. This task involves the creation of techniques that allow an UAV to maneuver towards features of interest whenever a GPS signal is not reliable or sufficient, e.g. when signal dropouts occur (which usually happens in urban areas, when flying through terrestrial urban canyons or when operating on remote planetary bodies), or when tracking or inspecting visual targets -including moving ones-without knowing their exact UMT coordinates. This paper also investigates visual servoing control techniques that use velocity and position of suitable image features to compute the references for flight control. This paper aims to give a global view of the main aspects related to the research field of computer vision for UAVs, clustered in four main active research lines: visual servoing and control, stereo-based visual navigation, image processing algorithms for detection and tracking, and visual SLAM. Finally, the results of applying these techniques in several applications are presented and discussed: this study will encompass power line inspection, mobile target tracking, stereo distance estimation, mapping and positioning. Keywords UAV • visual servoing • image processing • feature detection • tracking • SLAM

This paper deals with the automatic flight control system for an unmanned target drone which is operated by an army as an anti-air gun shooting training. By automation of unmanned target drone that is manually operated by external pilot, pilot can reduce workload and an army can reduce the budget. Most UAVs which are developed until today use high-cost sensors as AHRS and IMU to measure the attitude, but those are contradictory for the reduction of budget. This paper says the development of low-cost automatic flight control system which makes possible of automatic flight with low-cost sensors. We have developed the integrated automatic flight control system by integrating electricity module, switching module, monitoring module and RC receiver as an one module. We also prove the performance of automatic flight control system by flight test.

This is to certify that the project entitled "SMART VACUUM CLEANER ROBOT" is the major project work, students of III-year Diploma, Electronic Engineering in Government Polytechnic Kishanganj, for the academic year 2024-2025. Signature of the Project guide Head of the department Signature of the extranal committee

It is quite difficult to develop an effective obstacle detection system capable of providing a collision avoidance path for small unmanned aerial vehicles. The system can only be supplied with a few detection sensors due to size and weight restrictions. Previous research has concentrated on a single sensing device, such as a camera or a range sensor. Sensors, on the other hand, have advantages and disadvantages when it comes to sensing an obstacle. This paper describes the design and implementation of an obstacle detection system for an unmanned aerial vehicle (UAV) with quad rotors using ultrasonic and infrared sensors. The ultrasonic sensor's range detecting accuracy was increased by 8% of the possible distance from an obstacle by using an algorithm that compensated for the atmospheric condition of the surroundings, which restricts the sensor through the use of a temperature sensor. At the 50cm point, prototype displayed correct measuring of obstacles, as expected.

The developments in arithmetic and procedure capabilities facilitate the design and implementation of control and management. To boot, vast developments in engineering science and its accessibility attract many of the researchers towards embedded systems significantly the embedded management. Among the important applications are the unmanned air vehicles (UAV), that's the state of art among the last few years significantly the four rotors vertical takeoff and landing (VTOL) craft referred to as the Quadcopter, as a result of their quality, simple style and management. although it remains a complete theme, this paper manipulate with mathematical illustration of the quadcopter and modelling of the supposed system. A linearization of the obtained mathematical model has been achieved via algebrical manipulation, resultant objective for this paper is that the autopilot style victimization with justification against previous work concerning the performance desires of time responses an...

The developments in arithmetic and procedure capabilities facilitate the design and implementation of control and management. To boot, vast developments in engineering science and its accessibility attract many of the researchers towards embedded systems significantly the embedded management. Among the important applications are the unmanned air vehicles (UAV), that's the state of art among the last few years significantly the four rotors vertical takeoff and landing (VTOL) craft referred to as the Quadcopter, as a result of their quality, simple style and management. although it remains a complete theme, this paper manipulate with mathematical illustration of the quadcopter and modelling of the supposed system. A linearization of the obtained mathematical model has been achieved via algebrical manipulation, resultant objective for this paper is that the autopilot style victimization with justification against previous work concerning the performance desires of time responses an...

In the world of photography, surveillance of larger areas and military operations, Unmanned Aerial Vehicles (UAV) are increasingly used. Many fixed wing Unmanned Aerial Vehicles are designed and used for these applications and much analysis is performed for such cases. To solve the disadvantages of fixed wing Unmanned Aerial Vehicles, rotary wing Unmanned Aerial Vehicle can be used. Again, among the rotary wing Unmanned Aerial Vehicles, hexacopter is an attractive alternative. Hexacopters are more stable than tri-copter and quad-copter. This paper represents the design and fabrication of a hexacopter and flight control unit by using Arduino Uno.

This project presents a systematic approach towards the stability analysis and control of a real dynamic system. A very interesting mechatronics platform, namely, quadrotor helicopter, which is a highly nonlinear and crosscoupled dynamic system and poses challenges for many classical control techniques, has been considered as a candidate system to illustrate the proposed control law. A novel methodology has been presented to analyze the stability of the nonlinear system by using LyapunovKrasovskii method and stabilize the system by implementing the control law. Lyapunov-Krasovskii method for analyzing the stability offers distinct advantages over other control methods. PD and PID control law have been implemented to stabilize the system and produce satisfactory results. Therefore, PD and PID controller can make quadcopter approaching the stationary state.

Street light is simply a device installed on roads, streets and walk-ways to illuminate the environment when the day is dark at night or a dark cloudy day in order improve night vision of users. It has become an essential structural design in every city as it helps to reduce road accidents and increase security. Many designs and construction have been made by researchers and engineers and all has been geared toward the design of a streetlight that is energy conservative, less expensive and automatically operated to eliminate the error associated with manual operation by humans. Most streetlights installed in are powered by batteries charged by a solar panel. Due to inadequate charging of the batteries, they end up being drained and are unable to be charged to power the streetlight. This design provides a system that helps maintain the batteries by keeping them from over-drained condition. A 12V dc battery which is mostly used is fully charged to 12.6V dc and when used, reduces to a ...

Unmanned aerial vehicles (UAVs) require effective path planning algorithms to navigate through complex environments. This study investigates the application of Deep Q-learning and Dyna Q-learning methods for UAV path planning and incorporates fuzzy logic for enhanced control. Deep Q-learning, a reinforcement learning technique, employs a deep neural network to approximate Q-values, allowing the UAV to improve its path planning capabilities by maximizing cumulative rewards. Conversely, Dyna Q-learning leverages simulated scenarios to update Qvalues, refining the UAV's decision-making process and adaptability to dynamic environments. Additionally, fuzzy logic control is integrated to manage UAV movements along the planned path. This control system uses linguistic variables and fuzzy rules to handle uncertainties and imprecise information, enabling real-time adjustments to speed, altitude, and heading for accurate path following and obstacle avoidance. The research evaluates the effectiveness of these methods individually, with a focus on model-free learning in a gradual training approach, and compares their performance in terms of path planning accuracy, adaptability, and obstacle avoidance. The paper contributes to a deeper understanding of UAV path planning techniques and their practical applications in various scenarios.

En este artículo se presenta el desarrollo de hardware y software de un dispositivo para el seguimiento y control de cualquier vehículo empleando el Sistema de Posicionamiento Global (GPS), el Sistema Global para las Comunicaciones Móviles (GSM), el Servicio General de Paquetes vía Radio (GPRS) y las redes de Fidelidad Inalámbrica (Wi-Fi). Este desarrollo responde a una demanda real del programa nacional de gestión y control de flotas del Ministerio del Transporte (MITRANS), para su producción por el grupo de la electrónica del Ministerio de Industria (MINDUS); dirigido a la creación de un nuevo producto para sustituir importaciones con independencia y soberanía tecnológica. El hardware se concibe de forma modular con dos placas electrónicas, una placa de procesamiento que exhibe un procesador NXP i.MX 6UltraLite ejecutando Linux y otra con los componentes específicos para este tipo de equipos incluyendo la fuente de alimentación. El software es una aplicación embebida C++ desarrollada con la herramienta multiplataforma Qt Creator; para supervisar y reportar, periódica y eventualmente, los datos de interés del vehículo. Además de los datos internos en el equipo pueden recolectarse datos externos mediante las interfaces de entradas/salidas (E/S), RS232 y la Red de Área de los Controladores (CAN). Para su visualización y análisis los datos pueden enviarse en tiempo real (modo activo) y/o descargarse de forma diferida (modo pasivo). La conformidad de los ensayos de laboratorio, atendiendo a las normas ISO 16750-2, y el éxito en la introducción de las primeras 3,000 unidades demuestran la validez de este desarrollo. Hardware is conceived in a modular way with two electronic boards, one board as processing that exhibit an NXP i.MX6 UltraLite processor running Linux and the other one with specific components for these types of equipment including power supply. Software is an embedded C++ application, developed with Qt Creator multiplatform tool; to supervise and report, periodic and eventually, vehicle's relevant data. Besides equipment´s internal data external data can be collected from I/O, RS232 and controller area network (CAN) bus. Data for their visualization and analysis could be sent in real time (active mode) and/or downloaded deferred (passive mode). Compliance with labs essays, attending to ISO 16750-2, and the successful introduction of first 3,000 units demonstrate validity of this development.

The study begins with a thorough kinematic analysis and synthesis of the R3D autonomous electric vehicle model. By examining the vehicle's motion characteristics, constraints, and requirements, an optimized kinematic configuration is proposed, ensuring improved maneuverability, stability, and performance.
Furthermore, the kinematic analysis of the motor gears is conducted to optimize power transmission and torque distribution. By employing advanced techniques such as gear ratio optimization and gear train synthesis, the vehicle's drivetrain efficiency and performance are significantly enhanced.
The thermal state of the robot is another important aspect considered in this study. By implementing advanced thermal management systems, such as active cooling and efficient heat dissipation mechanisms, the R3D vehicle can operate within optimal temperature ranges, preventing overheating and maximizing its overall lifespan and performance.
The selection of suitable sensors, batteries, materials, and microcontroller is crucial for the successful redesign and modernization of the R3D vehicle. Various factors such as accuracy, durability, power consumption, and compatibility are taken into account to ensure the optimal choice of components, resulting in improved functionality and reliability.
        Additionally, the study explores the application of a LIDAR camera and the integration with ROS. The LIDAR camera provides accurate depth perception and object detection capabilities, enabling the R3D vehicle to navigate and interact with its environment more effectively.
In conclusion, the redesign and modernization of the R3D autonomous electric vehicle involve a comprehensive analysis of its kinematics, practical specifications, design improvements, motor gear kinematics, power sources and sensors, application of solar energy, thermal state control, suitable component selection, and integration of LIDAR camera and ROS. The proposed enhancements aim to elevate the vehicle's performance, energy efficiency, reliability, and autonomous capabilities, opening up new opportunities for its deployment in various domains such as transportation, logistics, and surveillance.

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

This paper presents an aerial manipulator robot for door opening mission. Although general aerial robots had the advantages of flying in the air without affected by the ground condition, they could not move to another room when the door was closed. To overcome this difficulty, we propose a new configuration of the aerial manipulator with perching function, knob-twisting function, and door-pushing function. With regard to knob-twisting function, the design concept of a manipulator for the aerial robot is introduced, which is to decouple the access motion from the force-requiring one to be composed of the lightweight actuator. To realize this concept, an airbag actuator with variable restriction is newly introduced. The validity of the proposed methods were experimentally verified by using the developed prototype.

The concept of the design for the hybrid communication based surveillance quadcopter UAV (Netquadcopter) in this research is centered on the use of Netquadcopter to survey areas which normally would be difficult and dangerous for human beings to ply. It also aids communication between the control station and a base station severing as a medium of communication in areas where there is limited telecommunication network. It uses a combination of PID algorithm for flight control, and logistic model for mathematical modeling of SMS delivery, with X configuration. It consists of wireless communication system that transmits sensor values from the Netqaudcopter to a computer (control station), showing in real time activities and state of the Netquadcopter. The Netquadcopter built in this research achieved remarkable results using minimal and affordable components with significant evidence that full industrial production and deployment of communication-based surveillance quadcopters can go a long way to aid the surveillance and security of territories of interest.

This paper focuses on designing a controller of Quadcopter to track down the cattle rustlers called “Dahalo” in Madagascar. The purpose of this study is to assist the Malagasy police forces to detect or to locate with a better geographical precision the rustled cattle during transport. In fact, the traditional method consists of following their footpaths, which slows the search and increases the risk of losing their tracks. Hence, an analysis of "Dahalo" dynamic behavior and an estimation of their trajectories while transporting the rustled zebu were performed in previous studies. Thus, after generating the flight plan, from the location of theft to the destination place, a model of Quadcopter and a controller adapted for tracking down Dahalo have been designed and embedded in this device. Through this program and with use of its onboard camera, the drone can automatically locate and display in real time the movements of the criminals. The trajectory was embedded in digita...

We claim the strong potential of data-centric communications in Unmanned Aircraft Systems (UAS), as a suitable paradigm to enhance collaborative operations via efficient information sharing, as well as to build systems supporting flexible mission objectives. In particular, this paper analyzes the primary contributions to data dissemination in UAS that can be given by the Data Distribution Service (DDS) open standard, as a solid and industry-mature data-centric technology. Our study is not restricted to traditional UAS where a set of Unmanned Aerial Vehicles (UAVs) transmit data to the ground station that controls them. Instead, we contemplate flexible UAS deployments with multiple UAV units of different sizes and capacities, which are interconnected to form an aerial communication network, enabling the provision of value-added services over a delimited geographical area. In addition, the paper outlines an approach to address the issues inherent to the utilization of network-level mu...

Para la producción agrícola intensiva de campos es de vital importancia reducir el consumo de agua, tanto por la ecología como por el impacto que tiene el costo de electricidad destinada a riego. En este artículo se diseña un dispositivo portátil que permite determinar el momento óptimo de riego de los cultivos. Para ello se utiliza un sensor de reflectancia conectado a un microcontrolador donde corre una red neuronal entrenada. Esta versión del prototipo se ha entrenado con datos de pasto.

This paper is about a Multi-Agent based solution to control and coordinate team-working mobile robots moving in unstructured environments. Two main contributions are considered in our approach. The first contribution of this paper is about the Multi-Agents System to Control and Coordinate teAmworking Robots (MAS2CAR) architecture, a new architecture to control a group of coordinated autonomous robots in unstructured environments. MAS2CAR covers three main layers: (i) the Physical Layer (ii) the Control Layer and (iii) the Coordination Layer. The second contribution of this paper is about the multi-agent system (MAS) organisational models aiming to solve the key cooperation issues in the coordination layer, the software components designed based on U TOPIA a MAS framework which automatically build software agents, thanks to a multiagent based organisational model called MOISE Inst. We provide simulation results that exhibit robotics cooperative behavior related to our scenario, such as multirobots navigation in presence of obstacles (including trajectory planning, and reactive aspects) via a hybrid control.

This research investigates the performance of three newest version of algorithms in reinforcement learning (RL) as an advanced control strategy for water level control with single-tank system and quadruple-tank system, contrasting it with the conventional PID (proportional-integral-derivative) control within the framework. RL, which autonomously learns by interacting with its environment, is becoming increasingly popular for developing optimal controllers for complex, dynamic, and nonlinear processes. Unlike most RL studies that use open-source platforms like Python and OpenAI Gym, this research utilizes MATLAB's Reinforcement Learning Toolbox (introduced in R2024a) to design a water tank model using Transfer function and State Space Equation. The controller is trained using Soft Actor-Crtic (SAC), Proximal Policy Optimization (PPO), and Deep Deterministic Policy Gradient (DDPG) algorithm, with Simulink employed to simulate the water tank system and establish an experimental test bench for comparison between them. The findings indicate that the Soft Actor-Critic (SAC) algorithm deliver the best result in signal tracking, achieving high speed and low error relative to the reference signal when compared to other reinforcement learning (RL) algorithms. However, algorithms such as Proximal Policy Optimization (PPO) demonstrate superior performance in maintaining minimal steady-state error, despite requiring a signicantly longer training period in the
context of a single-tank system. In more complex scenarios, such as the quadruple-tank system, SAC proves to be superior due to its advantage in handling continuous action spaces, where PPO tends to diverge significantly. Achieving success in machine learning necessitates the tuning of numerous hyperparameters, a process that is both time-consuming and labor-intensive. The practical insights derived from this research are corroborated by existing literature, underscoring the robustness and applicability of the findings.

New connection constraints for the power network (Grid Codes) require more flexible and reliable systems, with robust solutions to cope with uncertainties and intermittence from renewable energy sources (renewables), such as photovoltaic arrays. The interconnection of such renewables with storage systems through a Direct Current (DC) MicroGrid can fulfill these requirements. A "Plug and Play" approach based on the "System of Systems" philosophy using distributed control methodologies is developed in the present work. This approach allows to interconnect a number of elements to a DC MicroGrid as power sources like photovoltaic arrays, storage systems in different time scales like batteries and supercapacitors, and loads like electric vehicles and the main AC grid. The proposed scheme can easily be scalable to a much larger number of elements. Note to Practitioners-Renewable energy can play a key role in producing local, clean and inexhaustible energy to supply the worlds increasing demand for electricity. Photovoltaic conversion of solar energy is a promising solution and is the best fit in several situations. However, its intermittent nature remains a real difficulty that can create instability. To answer to the new constraints of connection to the network (grid codes) for either solar plants than distributed generation, one possible solution is the use of Direct Current (DC) MicroGrids including storage systems, in order to integrate the electric power generated by these photovoltaic arrays. One of the main reasons is the fact that photovoltaic panels, batteries, supercapacitors and electric vehicles are DC. On the other hand, reliable stable control of DC MicroGrids is still an open problem. In particular it lacks rigorous analysis that can establish the operation regions and stability conditions for such MicroGrids. Current works that consider realistic grids usually apply from-the-shelf solutions that do not study the dynamics of such grids. While more rigorous studies just consider too much simplified grids that does not represent the conditions from real life applications. The present work presents nonlinear controllers capable to stabilize the DC MicroGrid, with rigorous analysis on the sufficient conditions and region of operation of the proposed control.

Graceful degradation is an approach for developing dependable safety-critical embedded applications, where redundant active or standby resources are used to cope with faults through system reconfiguration at run-time. Compared to traditional hardware and software redundancy, it is a promising technique that may achieve dependability with a significant reduction in cost, size, weight, and power requirements. Checkpointing protocols, which are necessary components of degrading systems, support task migration through state preservation. They allow real-time embedded systems to recover from any failure by restarting from the last well-defined and consistent state, thus preserving the progress of computations that have been achieved. This paper demonstrates and applies the graceful degradation concept to achieve fault tolerance in an unmanned aerial vehicle (UAV) real-time embedded system. A checkpointing protocol is used to reserve the state of the avionics of the UAV system. Faults were injected during run-time causing one of the system's stability critical control tasks to fail. The system was able successfully to recover by restarting the affected critical task(s) on a different processor with last valid consistent state(s). This paper presents the architecture, fault injection scheme, and the results of the tests performed, which demonstrate the viability of graceful degradation in our tested UAV. I.

We attempted investigate a boat model, based on the conversion of energy of surface wave into a sequence of unidirectional pulses of jet spurts, in other words -model of the boat, which is thrusting by the waves field on water surface. These pulses are forming some average reactive stream from the output nozzle on the stern of boat. The suggested model provides the conversion of its oscillatory motions (both pitching and rolling) into a jet flow. This becomes possible due to special construction of the boat and due to several details, sensitive to the local wave field. The boat model presents the uniflow jet engine without slow conversions of mechanical energy into intermediate forms and without any external sources of energy (besides surface waves). Motion of boat is characterized by fast jerks and average onward velocity, which exceeds the velocities of liquid particles in the wave.

This project report shows the drones and possibilities of their using. It was first discussed on constructing the drone, of which its comprise the most important elements which are frame, propellers, engine, system of power the electronic control and communication system. the drone is powered by batteries, which is the major drawback, because it is exhausted after some minutes of flight, causing a decrease drone on the ground. The lithium-polymer batteries are used for powering the drones. This study also discusses challenges, opportunities, limitations, and strategies for the adoption of drones in construction. It assists to contractors, building planners, designers, academicians, engineers, and architects to improve the construction activities for greater efficiency and better performance. It also motivates towards inclusion of technologies. This project report describes an experimental test campaign while using an Unmanned Aerial Vehicle (UAV) and measuring the obtained UAV positions during different flight tasks and in different operative conditions. This paper describes and analyses the measurements of the flight trajectory of the UAV that was performed with the use of a robotic total station (RTS), as compared to the design data and the data recorded in the internal memory of the UAV. Five different test tasks have been conducted. The obtained results have allowed for the assessment of the correctness of task performance as compared to the ensign and to determine the flying accuracy of the entire UAV set. The proposed set of tasks can be successfully utilized to control the correctness of operation of various types of UAVs and it may be implemented as a universal test to verify the algorithms optimizing take and landings, test flights of the objects, as well as flight planning in various terrain and weather conditions, which will increase the safety of the flights while using UAVs

Street light is simply a device installed on roads, streets and walk-ways to illuminate the environment when the day is dark at night or a dark cloudy day in order improve night vision of users. It has become an essential structural design in every city as it helps to reduce road accidents and increase security. Many designs and construction have been made by researchers and engineers and all has been geared toward the design of a streetlight that is energy conservative, less expensive and automatically operated to eliminate the error associated with manual operation by humans. Most streetlights installed in are powered by batteries charged by a solar panel. Due to inadequate charging of the batteries, they end up being drained and are unable to be charged to power the streetlight. This design provides a system that helps maintain the batteries by keeping them from over-drained condition. A 12V dc battery which is mostly used is fully charged to 12.6V dc and when used, reduces to a useful voltage of 12.1V to 10.5V. Batteries are best maintained if the battery is no allowed to reduce in voltage below 12.3V before recharging it. This design is achieved using Arduino microcontroller which when programed will be able to read the voltage from the battery and use the information to cut off the power supply going to the streetlight by de-energizing a dc relay.

Swarm robotics is a research field on robotic collaboration where large number of robots are deployed to complete collective real-world tasks. Progress made in the field now tends to be democratized through swarm deployments such that users with different background can learn, program, conduct research or just play with them. One of the main challenges for swarm operators though is to keep the infrastructure at reasonable complexity, maintenance level, and price, to allow occasional users to interact with many robots smoothly. In this paper, we present Qrkey, an open-source library which provides an engaging, accessible and trustworthy user experience to control and track robots in a swarm. After a detailed presentation of the primitives and the protocol proposed by Qrkey, we discuss the security concerns raised by this solution. Finally, we conclude by giving Qrkey limitations and possible future work.

During the past decades, the field of aerial robotics has become the hot-spot for researchers, especially control of autonomous robots navigating in indoor environments. A lot of work has been published but still needs further efforts. In this paper, the problem of markerbased tracking control of a ground moving target and its solution is discussed. The main motivating application of this work is tracking a ground moving target while observing the environment at the same time. So the whole work mainly consists of two parts: Object recognition and tracking control. In the object recognition part, recognizing the marker and calculating the position of the target using the identified marker is discussed. While tracking control part, mainly focused on applying a control algorithm to track the moving target. A drone with a full HD camera is utilized for marker tracking and using it as a bird's eye view. With a larger field of view, surrounding can be observed. No external tracking system is used. In the end, experiments (including indoor and outdoor environments) and results are discussed, which show the effectiveness of the proposed approach. For tracking of the target, markers of different sizes and numbers (including single and multiple markers) are used. The performance of multiple marker-based tracking control in terms of states versus time plots is compared with the single marker tracking approach to elaborate our presented scenario.

This study addresses timing issues inherent in traditional proportionalintegral-derivative (PID) controllers for drone angle control and introduces an innovative solution, the adaptive PID flight controller, aimed at optimizing PID gains for improved performance in terms of speed, accuracy, and stability. To enhance the controller's robustness against noise and accurately estimate the system's state, a Kalman filter is incorporated. This filtering mechanism is designed to reject noise and provide precise state estimation, thereby contributing to the overall effectiveness of the adaptive PID flight controller in managing altitude dynamics for unmanned aerial vehicles (UAVs). The comparative methodology evaluates three configurations: a single PID controller for all three angles, two PID controllers dedicated to pitch/roll and yaw angles separately, and three PID sub-controllers for each angle (pitch, roll, and yaw). The study seeks to identify the most effective PID configuration in terms of stability, responsiveness, and accuracy while highlighting the added benefits of noise rejection and state estimation through the Kalman filter. This integrated approach showcases innovation and effectiveness, introducing a comprehensive solution not explored in previous research.