Fuzzy Gain-Scheduling PID for UAV Position and Altitude Controllers

Unmanned aerial vehicle (UAV) applications have evolved to a wide range of fields in the last decade. One of the main challenges in autonomous tasks is the UAV stability during maneuvers. Thus, attitude and position control play a crucial role in stabilizing the vehicle in the desired orientation and path. Many control techniques have been developed for this. However, proportional integral derivative (PID) controllers are often used due their structure and efficiency. Despite PID’s good performance, different requirements may be present at different mission stages. The main contribution of this research work is the development of a novel strategy based on a fuzzy-gain scheduling mechanism to adjust the PID controller to stabilize both position and altitude. This control strategy must be effective, simple, and robust to uncertainties and external disturbances. The Robot Operating System (ROS) integrates the proposed system and the flight control unit. The obtained results showed that the proposed approach was successfully applied to the trajectory tracking and revealed a good performance compared to conventional PID and in the presence of noises. In the tests, the position controller was only affected when the altitude error was higher, with an error of 2% lower.publishedVersio

Diplomasi Indonesia terhadap Unesco dalam Meresmikan Subak sebagai Warisan Budaya Dunia

This research is about Indonesia diplomacy effort to UNESCO to inaugurate Subak in Bali as a world cultural heritage from Indonesia in 2012. Subak Bali is a cultural heritage, it is an irrigation system that regulates the division of water management based on the mindset of harmony and togetherness, it based on formal rules and religious values. Many claims by other countries that take Indonesian culture, such as batik claiming by Malaysia, its make Indonesian government ask to UNESCO to recognize Subak as Indonesian culture. Many participants help the government to get the legally, its come from local community and also the government. Subak get legally as a Indonesia heritage culture after 10 years by some process like selection, filtration and fit and proper test. This research applies realist perspective, where it focuses on state as the main actor in international politics. Indonesia wants show to the world that Indonesia also has a heritage culture. To explain this research, the author used theory of diplomacy. This research is a qualitative descriptive research. It uses the library method by taking the data from books, journals, articles, internet and other source. The author visit Department Cultural of Bali to direct research. This research applies realist perspective, where it focuses on state as the main actor in international politics. Indonesia wants show to the world that Indonesia also has a heritage culture. To explain this research, the author used theory of diplomacy. This research is a qualitative descriptive research. It uses the library method by taking the data from books, journals, articles, internet and other source. The author visit Department Cultural of Bali to direct research. The result of this research indicate that Indonesian government did multi-track diplomacy effort to get legally Subak as a world cultural heritage of Indonesia from UNESCO on 2012. The effort get a feedback from UNESCO on Mei 2012, when the Bali Heritage culture The Cultural Landscape of Bali : Subak System as a Manifestation of The Tri Hita Karana was approved to be a World Cultural heritage. It assigned in the 36th session of UNESCO in St. Petersbug, Russia on 29 June 2012. The result of this research indicate that Indonesian government did multi-track diplomacy effort to get legally Subak as a world cultural heritage of Indonesia from UNESCO on 2012. The effort get a feedback from UNESCO on Mei 2012, when the Bali Heritage culture The Cultural Landscape of Bali : Subak System as a Manifestation of The Tri Hita Karana was approved to be a World Cultural heritage. It assigned in the 36th session of UNESCO in St. Petersbug, Russia on 29 June 2012. Keywords: subak, UNESCO, cultural heritage of Bali, multy-track diplomacy Keywords: subak, UNESCO, cultural heritage of Bali, multy-track diplomac

Compostos magnéticos moleculares: o desenvolvimento de novos materiais magnéticos nanoestruturados

The development of new magnetic materials has attracted attention of researchers of different areas. In the last decades, a distinguished class of materials emerged in magnetism, in which the magnetic moment is delocalized over molecules. By varying the synthetic conditions it is possible to obtain a large variety of structures and properties using the same starting molecules. These materials have a great scientific appeal due to the possibility of presenting not only magnetic, but also optical or electrical transport properties. In this review we will present an overview of some molecular magnetic compounds, in particular molecular nanomagnets

DNA-interacting properties of two analogous square-planar cis-chlorido complexes: copper versus palladium

Two square-planar coordination compounds, namely [Cu(CPYA)Cl2] (1) and [Pd(CPYA)Cl2] (2), were prepared from the ligand 4-chloro-N-(pyridin-2-ylmethyl)aniline (CPYA) and two chloride salts, and were fully characterized, including by X-ray diffraction. Spectroscopic, electrophoretic and AFM studies revealed that the two isostructural compounds were interacting differently with DNA. In both cases, the initial interaction involves electrostatic contacts of the CPYA ligand in the minor groove (as suggested by molecular docking), but subsequent strong binding occurs with the palladium(II) complex 2, whereas the binding with the copper complex 1 is weaker and concentration dependent. The strong binding of 2 eventually leads to the cleavage of the double strand and the redox activity of 1 allows to oxidatively cleave the biomolecule

MAMMALS IN PORTUGAL : A data set of terrestrial, volant, and marine mammal occurrences in P ortugal

Mammals are threatened worldwide, with 26% of all species being includedin the IUCN threatened categories. This overall pattern is primarily associatedwith habitat loss or degradation, and human persecution for terrestrial mam-mals, and pollution, open net fishing, climate change, and prey depletion formarine mammals. Mammals play a key role in maintaining ecosystems func-tionality and resilience, and therefore information on their distribution is cru-cial to delineate and support conservation actions. MAMMALS INPORTUGAL is a publicly available data set compiling unpublishedgeoreferenced occurrence records of 92 terrestrial, volant, and marine mam-mals in mainland Portugal and archipelagos of the Azores and Madeira thatincludes 105,026 data entries between 1873 and 2021 (72% of the data occur-ring in 2000 and 2021). The methods used to collect the data were: live obser-vations/captures (43%), sign surveys (35%), camera trapping (16%),bioacoustics surveys (4%) and radiotracking, and inquiries that represent lessthan 1% of the records. The data set includes 13 types of records: (1) burrowsjsoil moundsjtunnel, (2) capture, (3) colony, (4) dead animaljhairjskullsjjaws, (5) genetic confirmation, (6) inquiries, (7) observation of live animal (8),observation in shelters, (9) photo trappingjvideo, (10) predators dietjpelletsjpine cones/nuts, (11) scatjtrackjditch, (12) telemetry and (13) vocalizationjecholocation. The spatial uncertainty of most records ranges between 0 and100 m (76%). Rodentia (n=31,573) has the highest number of records followedby Chiroptera (n=18,857), Carnivora (n=18,594), Lagomorpha (n=17,496),Cetartiodactyla (n=11,568) and Eulipotyphla (n=7008). The data setincludes records of species classified by the IUCN as threatened(e.g.,Oryctolagus cuniculus[n=12,159],Monachus monachus[n=1,512],andLynx pardinus[n=197]). We believe that this data set may stimulate thepublication of other European countries data sets that would certainly contrib-ute to ecology and conservation-related research, and therefore assisting onthe development of more accurate and tailored conservation managementstrategies for each species. There are no copyright restrictions; please cite thisdata paper when the data are used in publications.info:eu-repo/semantics/publishedVersio