Reduced order system identification for UAVs

Reduced order models representing the dynamic behaviour of symmetric aircraft are well known and can be easily derived from the standard equations of motion. In flight testing, accurate measurements of the dependent variables which describe the linearised reduced order models for a particular flight condition are vital for successful system identification. However, not all the desired measurements such as the rate of change in vertical velocity (W. ) can be accurately measured in practice. In order to determine such variables two possible solutions exist: reconstruction or differentiation. This paper addresses the effect of both methods on the reliability of the parameter estimates. The methods are used in the estimation of the aerodynamic derivatives for the Aerosonde UAV from a recreated flight test scenario in Simulink. Subsequently, the methods are then applied and compared using real data obtained from flight tests of the Cranfield University Jetstream 31 (G-NFLA) research aircraft

Prototype of a new Engineering Masters project model: Working with marketing and software faculties to commercially kickstart university research

We describe a Master of Engineering (500-level) project modelled on the real-world arrangement where engineers work with marketing and software groups to prepare a product for commercialisation. A 4-member software team to develop and test embedded firmware and support applications on a mobile platform was provided through a final-year undergraduate software-engineering project course based outside the engineering school, in a separate faculty. A marketing team consisting of interns prepared logos, product names, and advertising materials, with input from a creative 200-level class. This team also considered possible exit strategies based on analysis of the market size and activity. This marketing effort was organised through the management communications group in the management school. The masters student acts as project manager and it is their remit to guide the product towards release on the crowd-sourced venture-capital site kickstarter.com. A small but original product idea is required to provide a viable vehicle for the project. Financial commitment to manufacture, even on a small scale, represents a novel outcome for a university project

Machine vision and scientific imaging for autonomous air vehicles (UAV).

This thesis outlines the necessary requirements to determine an Unmanned Aerial Vehicles (UAV’s) pose relative to a lead aircraft or target, thus enabling a UAV to successfully follow a lead aircraft or target. The use of Machine Vision for Autonomous navigation has been investigated and two flight scenarios were chosen for analysis. Firstly, following a manoeuvring lead aircraft, and secondly, maintaining a steady heading behind a target/lead aircraft (as would be required for in-flight refuelling). In addition, the author has performed a literature review of current research in this field which is significantly dominated by eventual military requirements in order to improve UAV endurance. In addition, experimental work towards developing a passive vision based navigation system has been undertaken. It is hoped that after further research and development this will lead to an eventual flight trial using the flight dynamics department’s UAV’s. The experimental work has been performed using both equipment and software already available within the department and furthermore, it has enabled an analysis of the department’s currently available capabilities for passive visual navigation to be undertaken. Key points for further work have been outlined for the future advancement of the visual navigation project.Engineering and Physical Sciences (EPSRC)MSc in Aerospace Dynamic

Machine vison and scientific imaging for autonomous air vehicles (UAV)

This thesis outlines the necessary requirements to determine an Unmanned Aerial Vehicles (UAV’s) pose relative to a lead aircraft or target, thus enabling a UAV to successfully follow a lead aircraft or target. The use of Machine Vision for Autonomous navigation has been investigated and two flight scenarios were chosen for analysis. Firstly, following a manoeuvring lead aircraft, and secondly, maintaining a steady heading behind a target/lead aircraft (as would be required for in-flight refuelling). In addition, the author has performed a literature review of current research in this field which is significantly dominated by eventual military requirements in order to improve UAV endurance. In addition, experimental work towards developing a passive vision based navigation system has been undertaken. It is hoped that after further research and development this will lead to an eventual flight trial using the flight dynamics department’s UAV’s. The experimental work has been performed using both equipment and software already available within the department and furthermore, it has enabled an analysis of the department’s currently available capabilities for passive visual navigation to be undertaken. Key points for further work have been outlined for the future advancement of the visual navigation project.Engineering and Physical Sciences (EPSRC)Aerospace Dynamic

Time optimal quantum state transfer in a fully-connected quantum computer

The speed limit of quantum state transfer (QST) in a system of interacting particles is not only important for quantum information processing, but also directly linked to Lieb-Robinson-type bounds that are crucial for understanding various aspects of quantum many-body physics. For strongly long-range interacting systems such as a fully-connected quantum computer, such a speed limit is still unknown. Here we develop a new Quantum Brachistochrone method that can incorporate inequality constraints on the Hamiltonian. This method allows us to prove an exactly tight bound on the speed of QST on a subclass of Hamiltonians experimentally realizable by a fully-connected quantum computer.Comment: 13 pages, 2 figures, accepted versio

Synthesis and Characterization of Symmetrically versus Unsymmetrically Proton-Bridged Hexa-Iron Clusters

Syntheses and magnetic and structural characterization of hexa-iron complexes of derivatized salicylaldoximes are discussed. Complexation of Fe(BF4)2·6H2O with each ligand (H2 L1 and H4 L2) in a methanolic-pyridine solution resulted in hexa-iron compounds (C1 and C2, respectively), which each contain two near-parallel metal triangles of [Fe3-μ3-O], linked by six fluoride bridges and stabilized by a hydrogen-bonded proton between the μ3-O groups. Within each metal triangle of C2, Fe(III) ions are connected via the amine "straps" of (H4 L2-2H). Variable-temperature magnetic susceptibility and Mössbauer data of C1 and C2 indicate the presence of dominant antiferromagnetic interactions between the high-spin (S = 5/2) Fe(III) centers. For C1, two quadrupole doublets are observed at room temperature and 5 K, consistent with structural data from which discrete but disordered [Fe3-μ3-O] and [Fe3-μ3-OH] species were inferred. For C2, a single sharp quadrupole doublet with splitting intermediate between those determined for C1 was observed, consistent with the symmetric [Fe3-μ3-O···H···μ3-O-Fe3] species inferred crystallographically from the very short μ3-O···μ3-O separation. The differences in the physical properties of the complexes, as seen in the Mössbauer, X-ray, and magnetic data, are attributed to the conformational flexibility imparted by the nature of the linkages between the closely related ligands

Marantic Endocarditis Associated with Pancreatic Cancer: A Case Series

Marantic endocarditis, otherwise known as nonbacterial thrombotic endocarditis (NBTE), is a well-documented phenomenon due to hypercoagulability from an underlying cause. It has been associated with a variety of inflammatory states including malignancy. Surprisingly, although hypercoagulability is often seen in patients with pancreatic cancer, marantic endocarditis has rarely been reported antemortem in this population. We report three cases of marantic endocarditis in patients with advanced pancreatic cancer. In two instances, the patients’ neurological symptoms preceded the diagnosis of advanced pancreatic cancer. Health care professionals should be alert to the possibility of marantic endocarditis in any patient with cancer, especially pancreatic cancer, who presents with symptoms of neurological dysfunction or an arterial thrombotic event. Prompt diagnosis and treatment with heparin, unfractionated or low molecular weight, may prevent catastrophic CNS events and decrease morbidity in patients with pancreatic cancer and other malignancies

Influence of Fear of Pain and Coping Strategies on Health-Related Quality of Life and Patient-Anticipated Outcomes in Patients With Chronic Pain: Cross-Sectional Study Protocol

Background: Fear of pain and coping strategies are emotional-behavioral responses to pain and are known to play an important role in the development and maintenance of pain. It is highly likely that fear of pain and coping strategies influence each other, potentially affecting the course of chronic pain. To our knowledge, the relationship between pain, fear of pain and coping strategies, and how they influence patient-anticipated outcomes and health-related quality of life, have not been investigated. Objective: The aims of this study are to test (1) if both fear of pain and/or coping strategies are sufficient causes for maintaining pain; and (2) whether fear of pain influences coping strategies and pain intensity. The study will also examine the impact of fear of pain and coping strategies on health-related quality of life and patient-anticipated outcomes. Methods: The cross-sectional study will be conducted using an online survey. The Fear of Pain Questionnaire-III (FPQ-III), the Brief Coping Inventory (COPE), and EuroQoL-5d (EQ-5D) validated questionnaires will be used to collect data. Information pertaining to demographic factors, pain-related factors, and patient-anticipated outcomes will also be collected. The study has ethics approval from the Human Research Ethics Committee of the University of Adelaide. Study participants will be individuals aged 18 years and above who are experiencing chronic pain (ie, pain lasting more than 6 months). Effect measure modification technique (EMMM) will be used to examine if fear of pain acts as a moderator or mediator between coping strategies and pain. Simple and multinomial logistic regression analysis will be used to examine the effect of fear of pain and coping strategies on health-related quality of life and patient-anticipated outcomes. Results: Recruitment began July 2017 and it is anticipated that data collection will be completed by October 2017. Findings from this study will help to extend our understanding of fear of pain and coping strategies, their interaction, and their impact on health-related quality of life and patient-anticipated outcomes. Conclusions: Fear of pain and coping strategies have significant influence on the experience of chronic pain and its course. This study will help enhance our understanding of the relationship between fear of pain and coping strategies, which may help in developing patient-centered care practices