Design, Implementation and Testing of Advanced Control Laws for Fixed-wing UAVs

The present PhD thesis addresses the problem of the control of small fixed-wing Unmanned Aerial Vehicles (UAVs). In the scientific community much research is dedicated to the study of suitable control laws for this category of aircraft. This interest is motivated by the several applications that these platforms can perform and by their peculiarities as dynamical systems. In fact, small UAVs are characterized by highly nonlinear behavior, strong coupling between longitudinal and latero-directional planes, and high sensitivity to external disturbances and to parametric uncertainties. Furthermore, the challenge is increased by the limited space and weight available for the onboard electronics. The aim of this PhD thesis is to provide a valid confrontation among three different control techniques and to introduce an innovative autopilot configuration suitable for the unmanned aircraft field. Three advanced controllers for fixed-wing unmanned aircraft vehicles are designed and implemented: PID with H1 robust approach, L1 adaptive controller and nonlinear backstepping controller. All of them are analyzed from the theoretical point of view and validated through numerical simulations with a mathematical UAV model. One is implemented on a microcontroller board, validated through hardware simulations and tested in flight. The PID with H1 robust approach is used for the definition of the gains of a commercial autopilot. The proposed technique combines traditional PID control with an H1 loop shaping method to assess the robustness characteristics achievable with simple PID gains. It is demonstrated that this hybrid approach provides a promising solution to the problem of tuning commercial autopilots for UAVs. Nevertheless, it is clear that a tradeoff between robustness and performance is necessary when dealing with this standard control technique. The robustness problem is effectively solved by the adoption of an L1 adaptive controller for complete aircraft control. In particular, the L1 logic here adopted is based on piecewise constant adaptive laws with an adaptation rate compatible with the sampling rate of an autopilot board CPU. The control scheme includes an L1 adaptive controller for the inner loop, while PID gains take care of the outer loop. The global controller is tuned on a linear decoupled aircraft model. It is demonstrated that the achieved configuration guarantees satisfying performance also when applied to a complete nonlinear model affected by uncertainties and parametric perturbations. The third controller implemented is based on an existing nonlinear backstepping technique. A scheme for longitudinal and latero-directional control based on the combination of PID for the outer loop and backstepping for the inner loop is proposed. Satisfying results are achieved also when the nonlinear aircraft model is perturbed by parametric uncertainties. A confrontation among the three controllers shows that L1 and backstepping are comparable in terms of nominal and robust performance, with an advantage for L1, while the PID is always inferior. The backstepping controller is chosen for being implemented and tested on a real fixed-wing RC aircraft. Hardware-in-the-loop simulations validate its real-time control capability on the complete nonlinear model of the aircraft adopted for the tests, inclusive of sensors noise. An innovative microcontroller technology is employed as core of the autopilot system, it interfaces with sensors and servos in order to handle input/output operations and it performs the control law computation. Preliminary ground tests validate the suitability of the autopilot configuration. A limited number of flight tests is performed. Promising results are obtained for the control of longitudinal states, while latero-directional control still needs major improvements

Experimental Characterization of Actuators for Micro Air Vehicles

Mini-UAVs and RC slow flyers require compact, lightweight and responsive actuators. Shape memory alloy wires can be used to design ultra-light micro-servos. This technology relies on the reversible change in crystalline structure that a SMA wire undergoes when electricity runs through it. The resulting contraction is used to deflect the aircraft control surfaces. This paper introduces SMA wires technology and its application to the design of a small-size and light-weight actuator for elevon type controls. A conventional servo is taken as a reference to compare static and dynamic performance of the realized wire configuration prototype. A wind tunnel experiment is set up to test the behavior at different airspeeds and the servos response to variable frequency input is recorded. Extensive data analysis is performed to estimate the system models and to predict their bandwidth. In particular, Prediction-Error Minimization method is applied and Akaike's Final Prediction-Error is used to evaluate the model fitt..

Transcranial direct current stimulation and cognitive training in the rehabilitation of Alzheimer disease: A case study

In the present study we tested the cognitive effects of transcranial direct current stimulation (tDCS) in a case of probable Alzheimer disease (AD). The patient (male, 60 years, mild AD) underwent two cycles of treatments, separated by 2 months. In the first cycle, active stimulation (10 sessions, 2 mA for 20 min; anode over the left dorsolateral prefrontal cortex) was followed by computerised tasks (CTs) specifically chosen to engage the most impaired cognitive processes in the patient (tDCS+CT condition). In the second cycle, which was structured as the first, CTs were administered after placebo stimulation (sham+CT condition). Effects on cognitive performance were evaluated not only by the CTs, but also by neuropsychological tests assessing global cognitive functioning. Statistical analyses revealed that whereas the tDCS+CT condition had few effects on the CTs, it induced a stability of the patient\u2019s global cognitive functioning lasting approximately 3 months, which was not achieved when the patient underwent sham+CT condition. Therefore, the synergetic use of tDCS and CTs appeared to slow down the cognitive decline of our patient.This preliminary result, although in need of further confirmation, suggests the potentiality of tDCS as an adjuvant tool for cognitive rehabilitation in AD

Uloga bakterija octenog vrenja u proizvodnji hrane i pića

Acetic acid bacteria (AAB) are microorganisms widely distributed in nature. Although this group is involved in the spoilage of some foods, AAB are of great industrial interest, and their functionality is still poorly understood. AAB convert ethanol, sugars and polyols into various organic acids, aldehydes and ketones via oxidative fermentation. These metabolites are produced during a succession of biochemical reactions in various fermented foods and beverages, such as vinegar, kombucha, water kefir, lambic and cocoa. Furthermore, important products such as gluconic acid and ascorbic acid precursors can be produced industrially from their metabolism. The development of new AAB-fermented fruit drinks with healthy and functional properties is an interesting niche for research and the food industry to explore, as it can meet the needs of a wide range of consumers. Exopolysaccharides such as levan and bacterial cellulose have unique properties, but they need to be produced on a larger scale to expand their applications in this area. This work emphasizes the importance and applications of AAB during the fermentation of various foods, their role in the development of new beverages as well as numerous applications of levan and bacterial cellulose.Bakterije octenog vrenja su široko rasprostranjeni mikroorganizmi u prirodi. Iako uzrokuju kvarenje hrane, od velikog su industrijskog značaja, no njihova funkcionalnost još uvijek nije dovoljno istražena. U procesu octeno-kiselog vrenja pretvaraju etanol, šećere i poliole u različite organske kiseline, aldehide i ketone. Ti metaboliti nastaju nakon niza biokemijskih reakcija u različitim fermentiranim proizvodima i pićima, kao što su ocat, kombucha, vodeni kefir, lambic pivo i kakao. Osim toga, metabolizam bakterija octenog vrenja može se iskoristiti za dobivanje proizvoda od industrijskog značaja, kao što su prekursori glukonske i askorbinske kiseline. Razvoj novih voćnih napitaka sa zdravim i funkcionalnim svojstvima dobivenih octeno-kiselim vrenjem predstavlja zanimljiv segment razvoja prehrambene industrije, jer takvi proizvodi mogu zadovoljiti potrebe velikog broja potrošača. Egzopolisaharidi koje proizvode bakterije octenog vrenja, poput levana i bakterijske celuloze, imaju jedinstvena svojstva, ali potrebno ih je proizvesti u većoj mjeri da bi se mogla proširiti njihova primjena u proizvodnji hrane i pića. U ovom revijalnom prikazu su istaknuti značaj i primjena bakterija octenog vrenja u proizvodnji raznovrsne hrane, njihova uloga u razvoju novih napitaka, te mogućnosti primjene levana i bakterijske celuloze

A study of practitioner–service user relationships in social work

This paper reports on findings from a qualitative study of practitioner–service user relationships in social work. The research aimed to identify social workers’ personal constructs of their relationships with service users and explore how these constructs differed across roles and settings. A qualitative methodology employing a variation on role repertory grid techniques was used to carry out semi-structured interviews with social workers. Twenty-five social workers from seven different practice settings were interviewed and altogether identified over 200 personal constructs. The research team undertook a thematic analysis of these constructs along with their explanation and discussion in interview transcripts. The results identified twenty-five superordinate constructs within ten core themes, which reflected practitioners’ experience of relationships, their systemic context, along with dynamics of power and collaboration. The constructs were often found to contrast a positive or preferred attribute of relationships with a more negative or challenging attribute, although the reality of relationships was often found to be complex and ambiguous. Some implications are explored for current theories of relationship-based practice in social work

Complete compensation of criss-cross deflection in a negative ion accelerator by magnetic technique

During 2016, a joint experimental campaign was carried out by QST and Consorzio RFX on the Negative Ion Test Stand (NITS) at the QST Naka Fusion Institute, Japan, with the purpose of validating some design solutions adopted in MITICA, which is the full-scale prototype of the ITER NBI, presently under construction at Consorzio RFX, Padova, Italy. The main purpose of the campaign was to test a novel technique, for suppressing the beamlet criss-cross magnetic deflection. This new technique, involving a set of permanent magnets embedded in the Extraction Grid, named Asymmetric Deflection Compensation Magnets (ADCM), is potentially more performing and robust than the traditional electrostatic compensation methods. The results of this first campaign confirmed the effectiveness of the new magnetic configuration in reducing the criss-cross magnetic deflection. Nonetheless, contrary to expectations, a complete deflection correction was not achieved. By analyzing in detail the results, we found indications that a physical process, taking place just upstream of the plasma grid, was giving an important contribution to the final deflection of the negative ion beam. This process appears to be related to the drift of negative ions inside the plasma source, in the presence of a magnetic field transverse to the extraction direction, and results in a non-uniform ion current density extracted at the meniscus. Therefore, the numerical models adopted in the design were improved by including this previously disregarded effect, so as to obtain a much better matching with the experimental results. Based on the results of the first campaign, new permanent magnets were designed and installed on the Extraction Grid of NITS. A second QST-Consorzio RFX joint experimental campaign was then carried out in 2017, demonstrating the complete correction of the criss-cross deflection and confirming the validity of the novel magnetic configuration and of the hypothesis behind the new models. This contribution presents the results of the second joint experimental campaign on NITS along with the overall data analysis of both campaigns, and the description of the improved models. A general picture is given of the relation among magnetic field, beam energy, meniscus non-uniformity and beamlet deflection, constituting a useful database for the design of future machines

Aspergillus bertholletius sp. nov. from Brazil Nuts

During a study on the mycobiota of brazil nuts (Bertholletia excelsa) in Brazil, a new Aspergillus species, A. bertholletius, was found, and is described here. A polyphasic approach was applied using morphological characters, extrolite data as well as partial β-tubulin, calmodulin and ITS sequences to characterize this taxon. A. bertholletius is represented by nineteen isolates from samples of brazil nuts at various stages of production and soil close to Bertholletia excelsa trees. The following extrolites were produced by this species: aflavinin, cyclopiazonic acid, kojic acid, tenuazonic acid and ustilaginoidin C. Phylogenetic analysis using partial β-tubulin and camodulin gene sequences showed that A. bertholletius represents a new phylogenetic clade in Aspergillus section Flavi. The type strain of A. bertholletius is CCT 7615 ( = ITAL 270/06 = IBT 29228)