Design of a Commercial Hybrid VTOL UAV System

For the last four decades Unmanned Air Vehicles (UAVs) have been extensively used for military operations that include tracking, surveillance, active engagement with weapons and airborne data acquisition. UAVs are also in demand commercially due to their advantages in comparison to manned vehicles. These advantages include lower manufacturing and operating costs, flexibility in configuration depending on customer request and not risking the pilot on demanding missions. Even though civilian UAVs currently constitute 3 % of the UAV market, it is estimated that their numbers will reach up to 10 % of the UAV market within the next 5 years. Most of the civilian UAV applications require UAVs that are capable of doing a wide range of different and complementary operations within a composite mission. These operations include taking off and landing from limited runway space, while traversing the operation region in considerable cruise speed for mobile tracking applications. This is in addition to being able traverse in low cruise speeds or being able to hover for stationary measurement and tracking. All of these complementary and but different operational capabilities point to a hybrid unmanned vehicle concept, namely the Vertical Take-Off and Landing (VTOL) UAVs. In addition, the desired UAV system needs to be cost-efficient while providing easy payload conversion for different civilian applications. In this paper, we review the preliminary design process of such a capable civilian UAV system, namely the TURAC VTOL UAV. TURAC UAV is aimed to have both vertical take-off and landing and Conventional Take-off and Landing (CTOL) capability. TURAC interchangeable payload pod and detachable wing (with potential different size variants) provides capability to perform different mission types, including long endurance and high cruise speed operations. In addition, the TURAC concept is to have two different variants. The TURAC A variant is an eco-friendly and low-noise fully electrical platform which includes 2 tilt electric motors in the front, and a fixed electric motor and ducted fan in the rear, where as the TURAC B variant is envisioned to use high energy density fuel cells for extended hovering time. In this paper, we provide the TURAC UAV’s iterative design and trade-off studies which also include detailed aerodynamic and structural configuration analysis. For the aerodynamic analysis, an in-house software including graphical user interface has been developed to calculate the aerodynamic forces and moments by using the Vortex Lattice Method (VLM). Computational Fluid Dynamics (CFD) studies are performed to determine the aerodynamic effects for various configurations For structural analysis, a Finite Element Model (FEM) of the TURAC has been prepared and its modal analysis is carried out. Maximum displacements and maximal principal stresses are calculated and used for streamlining a weight efficient fuselage design. Prototypes have been built to show success of the design at both hover and forward flight regime. In this paper, we also provide the flight management and autopilot architecture of the TURAC. The testing of the controller performance has been initiated with the prototype of TURAC. Current work focuses on the building of the full fight test prototype of the TURAC UAV and aerodynamic modeling of the transition flight.     

Fuzzy decision support system for fertilizer

Fuzzy geographic information systems is a newly emerging field of computational intelligence. It combines fuzzy logic with spatial context. Most of the natural phenomena are fuzzy in nature. They show a degree of uncertainty or vagueness in their extent and attribute, which cannot be expressed by a crisp value. Agriculture is one of the fields of the spatial domain that needs to be described in fuzzy terms. Fertilizer is a key input for the agriculture sector. In this article, the spatial surfaces of fertilizers are developed for the wheat crop using a fuzzy decision support system. The algorithm of our system takes soil nutrients and cropping time as input, applies fuzzy logic on the input values, defuzzifies the fuzzy output to crisp value, and generates a fertilizer surface. The resultant output surface of fertilizer describes the amount of fertilizer needed to cultivate a specific crop in a specified area. The complexity of our algorithm is \(O(mnr)\) , where \(m\) is the height of the raster, \(n\) is the width of the raster, and \(r\) is the number of expert rules.     

Robots learn to dance through interaction with humans

In this paper, we investigated an approach for robots to learn to adapt dance actions to human’s preferences through interaction and feedback. Human’s preferences were extracted by analysing the common action patterns with positive or negative feedback from the human during robot dancing. By using a buffering technique to store the dance actions before a feedback, each individual’s preferences can be extracted even when a reward is received late. The extracted preferred dance actions from different people were then combined to generate improved dance sequences, i.e. performing more of what was preferred and less of that was not preferred. Together with Softmax action-selection method, the Sarsa reinforcement learning algorithm was used as the underlining learning algorithm and to effectively control the trade-off between exploitation of the learnt dance skills and exploration of new dance actions. The results showed that the robot learnt, using interactive reinforcement learning, the preferences of human partners, and the dance improved with the extracted preferences from more human partners.     

Novel Organometallic Aromatic Azo Polyesters Based on Ferrocene

Some ferrocene containing aromatic azo polyesters were prepared by condensing 1,1-ferrocenedicarbonyl chloride with different azo groups containing aromatic diols, which were synthesized by diazotization coupling reaction from aromatic diamines. The polymeric products were separated as two portions on the basis of their solubility and subsequently characterized by their elemental analysis and FTIR spectral studies. Thermal properties of the products were measured by differential scanning calorimetry and thermogravimetry and the activation energies of pyrolysis were calculated using Horowitz and Metzger's method. The molecular weights of the soluble portions were determined by gel permeation chromatography (GPC) and these portions were also characterized by their inherent viscosities and UV-Vis spectroscopic studies.     

Tensile modulus modeling of carbon‐filled nylon 6,6 and polycarbonate‐based resins

Electrically and thermally conductive resins can be produced by adding conductive fillers to insulating polymers. Mechanical properties, such as tensile modulus, are also important. This research focused on performing compounding runs followed by injection molding and tensile testing of carbon‐filled nylon 6,6 and polycarbonate‐based resins. The three carbon fillers investigated included an electrically conductive carbon black, synthetic graphite particles, and a milled pitch–based carbon fiber. For each polymer, resins were produced and tested that contained varying amounts of these single‐carbon fillers. In addition, combinations of fillers were investigated by conducting a full 2³ factorial design and a complete replicate in each polymer. These tensile modulus experimental results were then compared to results predicted by several different models. For the composites containing only one filler type, the Nielsen model with the modified Ψ term provided the best prediction of the actual experimental values. For the composites containing more than one filler type, a new parameter, which includes the vibrated bulk density (VBD) of the fillers, was incorporated into the Nielsen model with the modified Ψ term. This model with the new VBD parameter provided the best estimate of experimental tensile modulus for composites containing multiple‐filler types. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 90: 1716–1728, 2003     

Growth ofCururbita maxima L. plants in the presence of the cycloartenol synthase inhibitor U18666A1

Squash, like other Cucurbitaceae, have unique sterol profiles that offer an excellent opportunity to examine the relationship between sterol biosynthesis and plant growth. To determine the effect of sterol biosynthesis inhibition on squash growth, Cucurbita maxima seedlings with and without cotyledons were subjected to increasing concentrations of the cycloartenol synthase (EC 5.4.99.8) inhibitor 3β-(2-diethylaminoethoxy) androstenone (U18666A). Inhibition of shoot growth was concentration-dependent (from 0, 2, 5, 10, and 20 μM); plants with intact cotyledons grew to 26.4, 23.7, 21.6, 20.0, and 15.6 cm, respectively, at the above inhibitor concentrations, compared to 25.5, 19.4, 17.0, 12.0, and 11 cm for plants with severed cotyledons. In plants with severed cotyledons, 10 and 20 μM U18666A caused rapid necrosis of the first two, newly emerged, primary leaves, and halted new leaf formation. Secondary root formation was initially affected at all inhibitor concentrations regardless of whether cotyledons were present or not. Vegetative tissue showed a decrease in the accumulation of the major squash sterol, 7, 22-stigmastadienol, accompanied by increased accumulation of minor sterol components. Sterol profiles in cotyledons were unaltered. The data show that sterols are crucial for maintaining plant growth and viability, but do not address the cotyledonary effect on growth with respect to sterol biosynthesis. Based on a paper presented at the Symposium on the “Regulation of Biosynthesis and Function of Isopentenoids”, Atlanta, Georgia, May 1994.     

Mechanisms of degradation of cotton and effects of mercerization-stretching upon the course of these mechanisms,part VII. Characterization of microstructural differences between scoured cotton and slack mercerized-stretched cottons

Conditions were established to introduce almost equal and reproduciple amounts of diethylaminoethyl (DEAE) substituents into the molecular structure of scoured cotton (substrate I), slack mercerized cotton (substrate II), slack mercerized-stretched (94%, substrate III), and slack mercerized-stretched (103%, substrate IV) cotton. Similarities between the original structures of these substrates before and after the chemical modification were assessed by X-ray analysis. Comparison between the DEAE cottons and the corresponding unmodified cottons upon acid hydrolysis with respect to moisture regain, loss in weight and degree of polymerization was also made. Chemical analysis was used to study the compositions and structures of the hydrolyzates (i.e., hydrocelluloses and solublized fractions) resulting from hydrolysis of the modified cottons with 2.5 N HCl under reflux for different lengths of time. Studies of rates of hydrolysis of the cellulose, rates of removal of substituted glucoses and rates of removal of individual types of substituted glucose units were considered as means to provide information regarding: (a) distribution of DEAE substitutents throughout the structure of cellulose, (b) nature of accessible regions where the DEAE substituents are developed, and (c) selective availability of the hydroxyl groups at C-2, C-3 and C-6 of the D-glucopyranosyl units in the cellulose elementary fibril.     

Improving the dyeing properties of textiles via utilization of redox systems. I. Dyeing of wool and wool/polyacrylic blend fabrics with acid dye

Dyeing of wool and wool/polyacrylic fabrics with an acid dye, namely, Kiton Scarlet 4 R, was carried out in absence or presence of different redox systems. The latter were based on sodium, potassium, or ammonium peroxodisulphate or potassium periodate as oxidant and glucose, sodium thiosulphate, potassium pyrosulphite or thiourea as reductant. Regardless of the redox system used, the colour strength was far greater in presence than in absence of the redox system. Except in case of potassium periodate/glucose redox system, increasing the oxidant concentration up to 0.03 mol/l caused significant enhancement in colour strength. The same was observed upon increasing the temperature from 30 to 60°C as well as the time from 10 to 40 minutes. It is postulated that presence of the redox system alters the mode of dye attachment to the substrate. Association of the dye with the substrate, wool in particular, seems to involve covalent bonding beside the usual salt-linkage. Hence the approach presented is advantageous in producing dyeings with much higher colour strength and dye fixation at relatively low temperature.     

Improving the dyeing properties of textiles via utilization of redox systems. II. Dyeing of nylon-6 with acid dye

Redox systems based on potassium, sodium or ammonium peroxodisulphate or potassium periodate as oxidant and glucose, thiourea, sodium thiosulphate or potassium pyrosulphite as reductant were incorporated in the dyeing bath of nylon-6 under a variety of conditions. An acid dye, namely Kiton Scarlet 4 R was used. The colour strength and dye fixation enhanced outstandingly in presence of the redox system, depending upon kind and concentration of the redox components. Raising the dyeing temperature from 30 to 60°C caused significant improvement in colour strength. The same holds true for duration of dyeing up to 60 min. Beside association of the dye with nylon-6 by salt-like bond, a free radical mechanism was suggested.     

Ellipsoidal neighbourhood outlier factor for distributed anomaly detection in resource constrained networks

Anomaly detection in resource constrained wireless networks is an important challenge for tasks such as intrusion detection, quality assurance and event monitoring applications. The challenge is to detect these interesting events or anomalies in a timely manner, while minimising energy consumption in the network. We propose a distributed anomaly detection architecture, which uses multiple hyperellipsoidal clusters to model the data at each sensor node, and identify global and local anomalies in the network. In particular, a novel anomaly scoring method is proposed to provide a score for each hyperellipsoidal model, based on how remote the ellipsoid is relative to their neighbours. We demonstrate using several synthetic and real datasets that our proposed scheme achieves a higher detection performance with a significant reduction in communication overhead in the network compared to centralised and existing schemes.