Proportional Integral Derivative Based Control For Autonoumous Vertical Take Off And Landing Of Quadcopter System

Since 2009, research on unmanned aerial vehicle (UAV) especially quadcopter system has attracted a considerable attention from researchers in the field. The quadcopter system is actually a class of flying robot that has ability to take off and landing in a vertical condition. Moreover, it has the advantage of good mobility, simple mechanics, and the carriage load ability. Therefore, the thesis focuses on developing a controller for vertical take-off and landing of a less human interaction UAV quadcopter system. The thesis begins with the quadcopter mathematical model derivation. The model takes into account all the hardware constraints such as, maximum speed and torque of brushless direct current (BLDC) motor, total payload, size of popeller and the electronic speed controller specification. Therefore, several experiments were undertaken to obtain important parameters such as the lift force factor, drag factor, and moment of inertia which required in order to estimate the behavior of the system and to reach better accuracy when designing the control. According to the study of quadcopter mathematical model, it has a non-linear system characteristics, where the acceleration quadcopter for dynamic and kinematic of system not directly proportional to the speed of the rotating propeller. Hence, attitude and altitude control system must be designed to meet the autonomous control system. The automatic attitude controller of the quadcopter is about controlling the angle of quadcopter body frame to generate the movement acceleration. This system is designed by combining the proportional integral derivative (PID) attitude control on Quadcopter rigid body with PID acceleration control of Quadcopter movement. The results revealed that the propose combined the controller improved the acceleration control compared to single axis tilting quadcopter approach. Then, the controller was tested for the targeted of 100m distance and the simulation result showed that the quadcopter able to reach the distance in 25.95s. On the other hand, the automatic altitude controller of the quadcopter is responsible to control the thrust force of the motor to produce desired vertical acceleration of quadcopter. The altitude controller has been tested on the prototype model for 1m targeted height and the simulation result confirmed that the quadcopter system able to reach the targeted height in 2s. The second stage of the analysis is to design and evaluate the altitude controller for real time application. For this purpose, PCI-1711 data acquisition card is used as an interface for controller design which routes from Matlab-Simulink to hardware. The real time application result shown that the quadcopter system able to reach the targeted height in 2.3s and the efficiency of without overshooting is 80.4% compared to the simulation result. Thus, The results revealed that the proposed PID altitude control improved the solution of altitude control in comparison to PD and back-stepping controller approach

A New Design of Capacitive Power Transfer Based on Hybrid Approach for Biomedical Implantable Device

This paper presents the development of a new design method of capacitive power transfer (CPT) which is based on hybrid concept for Biomedical Implants. This method is able to improve various issues found in the widely used CPT system that is bipolar CPT method. Based on the ability of this purposed, the simulation of the CPT system has been designed to prove an amount of power transferred through a layer of tissue. The design used to validate the suggested model which to powering implanted device, and it was performed with 3cm square plates, which have a layer of beef with the 5mm thickness in between 2 coupling plate. Power signal was generated by Class E zero voltage switching. The Class E zero voltage switching has been designed to generating alternate current with the 1MHz frequency appropriate to the hybrid CPT system specification.

Thermal comfort and occupant adaptive behaviour in university offices with cooling and free running modes

This paper presents results of a small-scale field survey of occupant thermal comfort and adaptive behaviour, conducted in university office buildings in Fukuoka, Japan (August 2014). A comparison was made between offices with cooling (AC) and free running (FR) modes. Indoor environmental conditions were measured, simultaneously with administration of a questionnaire survey. Most Predicted Mean Vote (PMV) values were higher than Thermal Sensation Vote (TSV) values for both cases. This indicates that the PMV model over-predicted actual thermal response. The thermal response in FR offices was found to be more sensitive than in those with AC; additionally, respondents could tolerate a narrower range of variation in indoor operative temperature. Occupants’ adaptive behaviours in AC office were more limited compared to those of respondents with FR. This indicates amenable thermal conditions in A/C-controlled indoor environments, with occupants having no wish to make changes

Investigation of Thermal Comfort at Different Temperature Settings for Cooling in University Building / Mohd Sabri Mustapa ...[et al.]

This paper presented the results of a study conducted on thermal comfort in a postgraduate office of the Malaysia Japan International Institute of Technology (MJIIT, UTM, Kuala Lumpur). The aim of the study was to verify the thermal comfort associated with different air conditioning (AC) thermostat set point temperatures in the cooling (CL) mode. The relevant temperature set points were 20 °C, 24 °C, and 28 °C, as well as the Japanese so-called 'cool biz mode' set point of 28 °C. The thermal sensation vote (TSV) in relation to these CL modes were –0.4, 0.0, 0.8, and –0.1, respectively. These results indicated that at the CL mode of 28 °C, the occupants felt slightly warmer compared to the CL modes of 20 °C, 24 °C, and the cool biz mode. The results of the linear regression analysis indicated the thermal comfort range as 25.3 °C to 26.2 °C, which was close to the range of 25.6 °C to 26.1 °C indicated by employing Griffiths' method

Analisis Pengelolaan Dana BOS Sebelum Dan Selama Pandemi Covid-19 Di SMA Negeri 2 Sungai Limau

Penelitian ini berjudul Analisis Pengelolaan Dana BOS Sebelum dan Masa Pandemi Covid-19 di SMA Negeri 2 Sungai Limau Kabupaten Padang Pariaman. Ini merupakan penelitian Kualitatif Deskriptif untuk mengetahui bagaimana gambaran pengelolaan dana BOS Reguler di SMANegeri 2 Sungai Limau pada tahun 2019 (sebelum pandemi Covid19) dan tahun 2020 (masa pandemi Covid-19) dengan merujuk pada kebijakan pemerintah melalui Permendikbud yang menjadi Petunjuk Teknis masing-masing tahun tersebut. Metode yang digunakan dalam penelitian ini adalah metode penelitian deskriptif dengan pendekatan kualitatif. Peneliti menghimpun data melalui wawancara pada Tim BOS Sekolah bersangkutan dan dokumentasi. Hasil penelitian ini menunjukan bahwa pelaksanaan pengelolaan dana BOS sebelum dan masa pandemi Covid-19 di SMA Negeri 2 Sungai Limau, tahun 2019 dan tahun 2020 secara umum dari segi perencanaan, pelaksanaan, pengawasan dan evaluasi serta pelaporan yang dilakukan sudah sesuai dengan petunjuk teknis BOS SMA. Aspek publikasi pengelolaan Dana BOS belum memanfaatkan sarana pengumuman untuk keterjangkauan informasi yang mudah bagi umum

Thermal comfort and occupant adaptive behaviour in Japanese university buildings with free running and cooling mode offices during summer

Thermal comfort is one of the most important factors for satisfying occupants within indoor environments, especially in regions that experience warm summer seasons, and analyses of thermal comfort and occupant behaviour are critical for the effective implementation of energy saving programs. This paper presents the results of studies on the thermal comfort and adaptive behaviour of occupants in university buildings with free running (FR) and cooling (CL) mode offices in Fukuoka, Japan. Both thermal measurements and thermal comfort surveys were conducted during the summer season. The mean thermal sensation vote (TSV) in FR and CL modes was 0.7 and -0.1, respectively. These data show that occupants in FR mode offices felt slightly warmer than those in CL mode offices, where occupants typically reported feeling neutral. The mean comfort temperature for both cases, as estimated by using the Griffiths method, was 26.6 °C. For personal clothing, we found that the use of clothing insulation was inversely proportional to the outdoor temperature. The adaptive behaviours of occupants were found to be more active in FR mode offices compared to those in CL mode offices, which were more passive. This indicates that amenable thermal conditions were present in the air conditioning (A/C)-controlled indoor environments where occupants expressed no wish to make changes