Optimal Trajectory Tracking for an Autonomous UAV

The aim of the present project is the design of optimal flight trajectories for an automomous aerial vehicle which is expected to reach the desired locations in the operational environment expressed in terms of planned waypoints. The navigation must be performed with the vehicle's best effort, i.e. with the lowest cost. Hence, we want to minimize the input energy, a function of the inputs for the mathematical model which describes the dynamics of the vehicle. The trajectory must satisfy all the constraints and pass through all the planned waypoints. Assuming the vehicle as a point mass model, the best solution has been investigated through a genetic algorithm search procedure. The optimisation problem has been solved by modifying a micro-genetic algorithm software which was initially developed by D.L. Carroll. Between all the possible trajectories we select the more "realistic" connections among the waypoints. First of all, we have left out the trajectories with discontinuity in the derivatives as these are not feasible by the real aircraft. The polynomial spline is a suitable candidate to solve our problem. The algorithm splits the trajectory in sub-trajectories which join a sequence of three waypoints. Starting from the first three waypoints, the following sub-trajectories are superimposed keeping the first waypoint coincident with the last of the previous sub-trajectory. The sequence of polynomials is initialized assuming that jumps in the direction of flight are avoided pointing the heading angle in the presumed direction of flight. The optimal trajectory is a trade-off amongst three factors: the required energy cost, the minimum distance from the required waypoint and the feasibility of the trajectory. Results obtained with this optimization procedure are presente

Optimal Trajectory Tracking for an Autonomous UAV

The aim of the present project is the design of optimal flight trajectories for an automomous aerial vehicle which is expected to reach the desired locations in the operational environment expressed in terms of planned waypoints. The navigation must be performed with the vehicle’s best effort, i.e. with the lowest cost. Hence, we want to minimize the input energy, a function of the inputs for the mathematical model which describes the dynamics of the vehicle. The trajectory must satisfy all the constraints and pass through all the planned waypoints. Assuming the vehicle as a point mass model, the best solution has been investigated through a genetic algorithm search procedure. The optimisation problem has been solved by modifying a micro-genetic algorithm software which was initially developed by D.L. Carroll. Between all the possible trajectories we select the more “realistic” connections among the waypoints. First of all, we have left out the trajectories with discontinuity in the derivatives as these are not feasible by the real aircraft. The polynomial spline is a suitable candidate to solve our problem. The algorithm splits the trajectory in sub-trajectories which join a sequence of three waypoints. Starting from the first three waypoints, the following sub-trajectories are superimposed keeping the first waypoint coincident with the last of the previous sub-trajectory. The sequence of polynomials is initialized assuming that jumps in the direction of flight are avoided pointing the heading angle in the presumed direction of flight. The optimal trajectory is a trade-off amongst three factors: the required energy cost, the minimum distance from the required waypoint and the feasibility of the trajectory. Results obtained with this optimization procedure are presented

A Comprehensive Robust Adaptive Controller for Gust Load Alleviation

The objective of this paper is the implementation and validation of an adaptive controller for aircraft gust load alleviation. The contribution of this paper is the design of a robust controller that guarantees the reduction of the gust loads, even when the nominal conditions change. Some preliminary results are presented, considering the symmetric aileron deflection as control device. The proposed approach is validated on subsonic transport aircraft for different mass and flight conditions. Moreover, if the controller parameters are tuned for a specific gust model, even if the gust frequency changes, no parameter retuning is required

PROCEDURA DI CONFRONTO E ANALISI DEI RISULTATI NEL CONFRONTO FRA CAMPIONI DI FORZA DEI CENTRI ACCREDITATI

Nei mesi di marzo e aprile 2012 è stato eseguito un confronto sperimentale tra le macchine campioni primari di forza dell’INRIM e i campioni di forza dei Centri accreditati per la taratura delle catene dinamometriche, applicando la forza solo in compressione. L’obiettivo del confronto è stato quello di verificare le incertezze dichiarate dai Centri.During March and April 2012 was made an experimental comparison between the primary force standard machines INRIM and machines force of centers accredited for calibration of dynamometer chains, applying force only under compression. The objective of the comparison was to check the uncertainties declared by the Centers

Techno-economic benchmarking of NOBEL solutions for end-to-end broadband communications (invited paper)

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Self-attraction effect and correction on three absolute gravimeters

The perturbations of the gravitational field due to the mass distribution of an absolute gravimeter have been studied. The so called Self Attraction Effect (SAE) is crucial for the measurement accuracy, especially for the International Comparisons, and for the uncertainty budget evaluation. Three instruments have been analysed: MPG-2, FG5-238 and IMPG-02. The SAE has been calculated using a numerical method based on FEM simulation. The observed effect has been treated as an additional vertical gravity gradient. The correction (SAC) to be applied to the computed g value has been associated with the specific height level, where the measurement result is typically reported. The magnitude of the obtained corrections is of order 1E-8 m/s2.Comment: 14 pages, 8 figures, submitted to Metrologi