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.     

EKF Based Attitude Estimation and Stabilization of a Quadrotor UAV Using Vanishing Points in Catadioptric Images

In recent years, Unmanned Air Vehicles (UAVs) have become more and more important. These vehicles are employed in many applications from military operations to civilian tasks. Under situations where global positioning system (GPS) and inertial navigation system (INS) do not function, or as an additional sensor, computer vision can be used. Having 360° view, catadioptric cameras might be very useful as they can be used as measurement units, obstacle avoidance sensors or navigation planners. Although many innovative research has been done about this camera, employment of such cameras in UAVs is very new. In this paper, we present the use of catadioptric systems in UAVs to estimate vehicle attitude using parallel lines that exist on many structures in an urban environment. After explanation of the algorithm, the UAV modeling and control will be presented. In order to increase the estimation and control speed an Extended Kalman Filter (EKF) and multi-threading are used and speeds up to 40 fps are obtained. Various simulations have been done to present the effectiveness of the estimation algorithms as well as the UAV controllers. A custom test stand has been designed to perform successful experiments on the UAV. Finally, we will present the experiments and the results of the estimation and control algorithms on a real model helicopter. EKF based attitude estimation and stabilization using catadioptric images has found to be a reliable alternative to other sensor usage.     

An Objective Deghosting Quality Metric for HDR Images

Reconstructing high dynamic range (HDR) images of a complex scene involving moving objects and dynamic backgrounds is prone to artifacts. A large number of methods have been proposed that attempt to alleviate these artifacts, known as HDR deghosting algorithms. Currently, the quality of these algorithms are judged by subjective evaluations, which are tedious to conduct and get quickly outdated as new algorithms are proposed on a rapid basis. In this paper, we propose an objective metric which aims to simplify this process. Our metric takes a stack of input exposures and the deghosting result and produces a set of artifact maps for different types of artifacts. These artifact maps can be combined to yield a single quality score. We performed a subjective experiment involving 52 subjects and 16 different scenes to validate the agreement of our quality scores with subjective judgements and observed a concordance of almost 80%. Our metric also enables a novel application that we call as hybrid deghosting, in which the output of different deghosting algorithms are combined to obtain a superior deghosting result.     

Effect of calcium hydroxide removal techniques on the bond strength of root canal sealers

To evaluate the influence of calcium-hydroxide(CH) with different vehicles on the push-out bond strength of different canal sealers to radicular dentin. 152 decrowned single-rooted human teeth were used. After preparation of root canals with nickel-titanium rotary files, 8 roots served as control groups. Then, the roots were divided as follows: (1) Calasept and (2) Surepaste (n = 72). Roots were further subgrouped according to the CH removal techniques: (1) %17 ethylenediaminetetraacetic acid (EDTA) + rotary file, (2) %17EDTA + hand file, and (3) %17EDTA (n = 24). Eight roots from each group sectioned longitudinally, divided into two pairs and photographed by stereomicroscope (n = 16). The remaining 16 roots in CH intracanal dressing groups were further divided into 2 subgroups according to the sealer used: (1) AH-Plus-jet and (2) Apexit-Plus (n = 8). Bond strengths of the root canal sealers to root canal dentin were measured using a push-out test setup. The data were statistically analyzed using multivariate analysis of variance p = 0.05. The push-out bond strength values were significantly affected by type of vehicle and the removal techniques (p < 0.05). The mean bond strength of AH-Plus-jet was significantly higher than Apexit-Plus, regardless of type of vehicle and the removal techniques (p < 0.05). There was no difference between vehicles on CH removal (p > 0.05). When examining the removal techniques, only irrigation with %17 EDTA left significantly larger amount of residue (p < 0.05). AH-Plus-jet showed better dislocation resistance than Apexit-Plus. Type of vehicle does not play a fundamental role in the degree of persistence of CH residues on the dentin walls. Instrumentation improves the removal efficiency of CH from root canal.     

Monte Carlo Simulation of Massive Absorbers for Cryogenic Calorimeters

There is a growing interest in cryogenic calorimeters with macroscopic absorbers for applications such as dark matter direct detection and rare event search experiments. The physics of energy transport in calorimeters with absorber masses exceeding several grams is made complex by the anisotropic nature of the absorber crystals as well as the changing mean free paths as phonons decay to progressively lower energies. We present a Monte Carlo model capable of simulating anisotropic phonon transport in cryogenic crystals. We have initiated the validation process and discuss the level of agreement between our simulation and experimental results reported in the literature, focusing on heat pulse propagation in germanium. The simulation framework is implemented using Geant4, a toolkit originally developed for high-energy physics Monte Carlo simulations. Geant4 has also been used for nuclear and accelerator physics, and applications in medical and space sciences. We believe that our current work may open up new avenues for applications in material science and condensed matter physics.     

关于杂化弦的全纯几何(Ⅰ)

杂化弦的共形不变性和超共形不变性可用圈和超圈的微分同胚群 DiffS~1和Super-DiffS~1描述.基圈的重参数化形成商空间 M=DiffS~1/S~1和N=Super—DiffS~1/S~1.它们是无限维的 Kahler 流形和超 Kahler 流形.本文研究这些无限维流形的全纯几何.用陪集空间的技术讨论了它们的辛结构,通过在 M 和 N 上引入全纯坐标和夏结构我们计算了在原点邻域内的 Killing 矢量,给出了 M 和 N 上的Riemann 度规.这些结果在研究杂化弦的共形反常时有用.     

Communicating expressiveness and affect in multimodal interactive systems

Multisensory integrated expressive environments is a framework for mixed reality applications in the performing arts such as interactive dance, music, or video installations. MIEEs address the expressive aspects of nonverbal human communication. We present the multilayer conceptual framework of MIEEs, algorithms for expressive content analysis and processing, and MIEEs-based art applications.     

Surface activity, film formation, and emulsifying properties of milk proteins

This overview indicates that simple, reliable standardized methods for measuring emulsifying activity and for determining ES are not yet available. One of the major shortcomings of most of the current methods is the inability to detect very small fat globules (less than 0.5 micron), which may be very important in stable emulsions. Several of the methods are time consuming and destructive. To minimize the time required to evaluate emulsions, techniques that monitor instability under the influence of accelerated aging (increased temperature and gravitational field) have been used with varying degrees of success. These methods, e.g., centrifugation, are useful, but processes occurring during centrifugation or heating may not be characteristic of those occurring in a stored emulsion. Generally, there is no method that simultaneously determines changes in emulsions due to the aggregation coalescence, flocculation, creaming, of the droplets and/or oiling off. No single criterion of emulsion instability is sufficient to characterize all the changes occurring in the system. A nonintrusive technique that can monitor dynamic changes in emulsions is needed. Ideally, it should be simple, rapid, inexpensive, and applicable to both diluted and concentrated emulsions. Scientists must continue research to develop such a standard universal method for determining ES, because data from different laboratories cannot currently be validly compared. Reliable methods are also required to elucidate relationships between the physical properties of proteins as emulsifiers and their performance in food emulsions. There is a need for opportunities for systematic research to determine the interfacial behavior of food emulsifiers, particularly food proteins. Research to describe the kinetics and thermodynamics of adsorption at an interface, the extent of unfolding, the degree of packing and polypeptide interactions in an interface during film formation, and information concerning the physical and mechanical properties of interfacial films is needed to describe emulsifying behavior of different proteins. The effects of components in the continuous and discontinuous phase, parameters of manufacture, and interactions between different types of surface-active materials that occur in food need to be studied.     

Noise analysis of a first-order thermal ΣΔ architecture for convective accelerometers

This paper presents the study of an original closed-loop conditioning approach for fully-integrated convective inertial sensors. The method is applied to an accelerometer manufactured on a standard CMOS technology using an auto-aligned bulk etching step. Using the thermal properties of the sensor, a first order sigma-delta modulator is built. This “electro-physical” modulator realizes an analog-to-digital conversion of the acceleration signal. Besides, the feedback mode of operation improves the sensor overall performance.