Pub Date : 2023-11-17DOI: 10.1108/ijius-03-2023-0033
Rituraj Raut, Savitri Jadhav, Nathrao B. Jadhav
PurposeThe purpose of this study is to offer a better and more effective hexacopter design for a 3 kg payload using finite element analysis (FEA), facilitating the use of different materials for different components that too without compromising strength.Design/methodology/approachA 3D computer-aided design (CAD) model of a hexacopter with a regular hexagonal frame is presented. Furthermore, a finite element model is developed to perform a structural analysis and determine Von Mises stress and strain values along with deformations of different components of the proposed hexacopter design.FindingsThe results establish that carbon fibre outperforms acrylonitrile butadiene (ABS) with respect to deformations. Within the permissible limits of the stress and strain values, both carbon fiber and ABS are suggested for different components. Thus, a proposed hexacopter offers lighter weight, high strength and low cost.Originality/valueThe use of different materials for different components is suggested by making use of static structural analysis. This encourages new research work and helps in developing new applications of hexacopter, and it has never been reported in literature. The suggested materials for the components of the hexacopter will prove to be suitable considering weight, strength and cost.
本研究的目的是利用有限元分析 (FEA) 为 3 公斤有效载荷的六旋翼直升机提供更好、更有效的设计，便于在不影响强度的情况下为不同组件使用不同的材料。此外，还开发了一个有限元模型来进行结构分析，并确定 Von Mises 应力和应变值以及拟议六旋翼设计中不同组件的变形。在应力和应变值的允许范围内，碳纤维和 ABS 都适用于不同的部件。因此，建议的六旋翼飞行器具有重量轻、强度高和成本低的特点。原创性/价值通过使用静态结构分析，建议不同部件使用不同的材料。这鼓励了新的研究工作，有助于开发六旋翼直升机的新应用，而这在文献中从未报道过。考虑到重量、强度和成本，为六旋翼直升机部件建议的材料将被证明是合适的。
{"title":"Design of hexacopter and finite element analysis for material selection","authors":"Rituraj Raut, Savitri Jadhav, Nathrao B. Jadhav","doi":"10.1108/ijius-03-2023-0033","DOIUrl":"https://doi.org/10.1108/ijius-03-2023-0033","url":null,"abstract":"PurposeThe purpose of this study is to offer a better and more effective hexacopter design for a 3 kg payload using finite element analysis (FEA), facilitating the use of different materials for different components that too without compromising strength.Design/methodology/approachA 3D computer-aided design (CAD) model of a hexacopter with a regular hexagonal frame is presented. Furthermore, a finite element model is developed to perform a structural analysis and determine Von Mises stress and strain values along with deformations of different components of the proposed hexacopter design.FindingsThe results establish that carbon fibre outperforms acrylonitrile butadiene (ABS) with respect to deformations. Within the permissible limits of the stress and strain values, both carbon fiber and ABS are suggested for different components. Thus, a proposed hexacopter offers lighter weight, high strength and low cost.Originality/valueThe use of different materials for different components is suggested by making use of static structural analysis. This encourages new research work and helps in developing new applications of hexacopter, and it has never been reported in literature. The suggested materials for the components of the hexacopter will prove to be suitable considering weight, strength and cost.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":"143 1","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139265854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose The health crisis has highlighted the shortcomings of the industry sector which has revealed its vulnerability. To date, there is no guarantee of a return to the “world before”. The ability of companies to cope with these changes is a key competitive advantage requiring the adoption/mastery of industry 4.0 technologies. Therefore, companies must adapt their business processes to fit into similar situations. Design/methodology/approach The proposed methodology comprises three steps. First, a comparative analysis of the existing CPSs is elaborated. Second, following this analysis, a deep learning driven CPS framework is proposed highlighting its components and tiers. Third, a real industrial case is presented to demonstrate the application of the envisioned framework. Deep learning network-based methods of object detection are used to train the model and evaluation is assessed accordingly. Findings The analysis revealed that most of the existing CPS frameworks address manufacturing related subjects. This illustrates the need for a resilient industrial CPS targeting other areas and considering CPSs as loopback systems preserving human–machine interaction, endowed with data tiering approach for easy and fast data access and embedded with deep learning-based computer vision processing methods. Originality/value This study provides insights about what needs to be addressed in terms of challenges faced due to unforeseen situations or adapting to new ones. In this paper, the CPS framework was used as a monitoring system in compliance with the precautionary measures (social distancing) and for self-protection with wearing the necessary equipments. Nevertheless, the proposed framework can be used and adapted to any industrial or non-industrial environments by adjusting object detection purpose.
{"title":"Towards a novel cyber physical control system framework: a deep learning driven use case","authors":"Mariam Moufaddal, Asmaa Benghabrit, Imane Bouhaddou","doi":"10.1108/ijius-03-2022-0031","DOIUrl":"https://doi.org/10.1108/ijius-03-2022-0031","url":null,"abstract":"Purpose The health crisis has highlighted the shortcomings of the industry sector which has revealed its vulnerability. To date, there is no guarantee of a return to the “world before”. The ability of companies to cope with these changes is a key competitive advantage requiring the adoption/mastery of industry 4.0 technologies. Therefore, companies must adapt their business processes to fit into similar situations. Design/methodology/approach The proposed methodology comprises three steps. First, a comparative analysis of the existing CPSs is elaborated. Second, following this analysis, a deep learning driven CPS framework is proposed highlighting its components and tiers. Third, a real industrial case is presented to demonstrate the application of the envisioned framework. Deep learning network-based methods of object detection are used to train the model and evaluation is assessed accordingly. Findings The analysis revealed that most of the existing CPS frameworks address manufacturing related subjects. This illustrates the need for a resilient industrial CPS targeting other areas and considering CPSs as loopback systems preserving human–machine interaction, endowed with data tiering approach for easy and fast data access and embedded with deep learning-based computer vision processing methods. Originality/value This study provides insights about what needs to be addressed in terms of challenges faced due to unforeseen situations or adapting to new ones. In this paper, the CPS framework was used as a monitoring system in compliance with the precautionary measures (social distancing) and for self-protection with wearing the necessary equipments. Nevertheless, the proposed framework can be used and adapted to any industrial or non-industrial environments by adjusting object detection purpose.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135343859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-09-15DOI: 10.1108/ijius-01-2023-0002
Kaushal Jani
Purpose This article takes into account object identification, enhanced visual feature optimization, cost effectiveness and speed selection in response to terrain conditions. Neither supervised machine learning nor manual engineering are used in this work. Instead, the OTV educates itself without instruction from humans or labeling. Beyond its link to stopping distance and lateral mobility, choosing the right speed is crucial. One of the biggest problems with autonomous operations is accurate perception. Obstacle avoidance is typically the focus of perceptive technology. The vehicle's shock is nonetheless controlled by the terrain's roughness at high speeds. The precision needed to recognize difficult terrain is far higher than the accuracy needed to avoid obstacles. Design/methodology/approach Robots that can drive unattended in an unfamiliar environment should be used for the Orbital Transfer Vehicle (OTV) for the clearance of space debris. In recent years, OTV research has attracted more attention and revealed several insights for robot systems in various applications. Improvements to advanced assistance systems like lane departure warning and intelligent speed adaptation systems are eagerly sought after by the industry, particularly space enterprises. OTV serves as a research basis for advancements in machine learning, computer vision, sensor data fusion, path planning, decision making and intelligent autonomous behavior from a computer science perspective. In the framework of autonomous OTV, this study offers a few perceptual technologies for autonomous driving in this study. Findings One of the most important steps in the functioning of autonomous OTVs and aid systems is the recognition of barriers, such as other satellites. Using sensors to perceive its surroundings, an autonomous car decides how to operate on its own. Driver-assistance systems like adaptive cruise control and stop-and-go must be able to distinguish between stationary and moving objects surrounding the OTV. Originality/value One of the most important steps in the functioning of autonomous OTVs and aid systems is the recognition of barriers, such as other satellites. Using sensors to perceive its surroundings, an autonomous car decides how to operate on its own. Driver-assistance systems like adaptive cruise control and stop-and-go must be able to distinguish between stationary and moving objects surrounding the OTV.
{"title":"Employing a multi-sensor fusion array to detect objects for an orbital transfer vehicle to remove space debris","authors":"Kaushal Jani","doi":"10.1108/ijius-01-2023-0002","DOIUrl":"https://doi.org/10.1108/ijius-01-2023-0002","url":null,"abstract":"Purpose This article takes into account object identification, enhanced visual feature optimization, cost effectiveness and speed selection in response to terrain conditions. Neither supervised machine learning nor manual engineering are used in this work. Instead, the OTV educates itself without instruction from humans or labeling. Beyond its link to stopping distance and lateral mobility, choosing the right speed is crucial. One of the biggest problems with autonomous operations is accurate perception. Obstacle avoidance is typically the focus of perceptive technology. The vehicle's shock is nonetheless controlled by the terrain's roughness at high speeds. The precision needed to recognize difficult terrain is far higher than the accuracy needed to avoid obstacles. Design/methodology/approach Robots that can drive unattended in an unfamiliar environment should be used for the Orbital Transfer Vehicle (OTV) for the clearance of space debris. In recent years, OTV research has attracted more attention and revealed several insights for robot systems in various applications. Improvements to advanced assistance systems like lane departure warning and intelligent speed adaptation systems are eagerly sought after by the industry, particularly space enterprises. OTV serves as a research basis for advancements in machine learning, computer vision, sensor data fusion, path planning, decision making and intelligent autonomous behavior from a computer science perspective. In the framework of autonomous OTV, this study offers a few perceptual technologies for autonomous driving in this study. Findings One of the most important steps in the functioning of autonomous OTVs and aid systems is the recognition of barriers, such as other satellites. Using sensors to perceive its surroundings, an autonomous car decides how to operate on its own. Driver-assistance systems like adaptive cruise control and stop-and-go must be able to distinguish between stationary and moving objects surrounding the OTV. Originality/value One of the most important steps in the functioning of autonomous OTVs and aid systems is the recognition of barriers, such as other satellites. Using sensors to perceive its surroundings, an autonomous car decides how to operate on its own. Driver-assistance systems like adaptive cruise control and stop-and-go must be able to distinguish between stationary and moving objects surrounding the OTV.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135354137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-22DOI: 10.1108/ijius-03-2023-0023
D. Vohra, P. Garg, S. Ghosh
PurposeThe purpose is to derive the most effective place in the air for an aerial robot, viz., drone to use as an alternative communication system during disasters.Design/methodology/approachIn this technology-driven era, various concepts are becoming the area of interest for multiple researchers. Drone technology is also one of them. The researchers, with interest in drones, are therefore trying to understand the various uses of employing drones in diverse applications which are mind-boggling, starting from civil applications (viz., an inspection of power lines, counting wildlife, delivering medical supplies to inaccessible regions, forest fire detection, and landslide measurement) to military applications (viz., real-time monitoring, surveillance, patrolling, and demining). However, one area where its usage is still to be exploited in many countries is using drones as a relay when communication lines are disrupted due to natural calamities. This will be particularly helpful in rescuing the affected people as the aerial node will enable them to communicate to the rescue team using mobiles/ordinary landline telephones even when regular communication towers are destroyed due to disastrous natural calamities, for example, tsunamis, earthquakes, and floods. Various algorithms, namely, water filling algorithm, advanced water filling algorithm, equal power distribution algorithm, and particle swarm optimization, were therefore studied and analyzed using simulation in addition to various path loss models to realize the desired place for an aerial robot, viz., drone in the air, which will eventually be used as an alternative communication system for badly hit ground users due to any disaster.FindingsIt was found that the effective combination of the water filling algorithm and particle swarm optimization algorithm may be done to place the drone in the air to increase the overall throughput of the affected ground users.Originality/valueThe research is original. None of the parts of this research paper has been published anywhere.
{"title":"Communication via quad/hexa-copters during disasters","authors":"D. Vohra, P. Garg, S. Ghosh","doi":"10.1108/ijius-03-2023-0023","DOIUrl":"https://doi.org/10.1108/ijius-03-2023-0023","url":null,"abstract":"PurposeThe purpose is to derive the most effective place in the air for an aerial robot, viz., drone to use as an alternative communication system during disasters.Design/methodology/approachIn this technology-driven era, various concepts are becoming the area of interest for multiple researchers. Drone technology is also one of them. The researchers, with interest in drones, are therefore trying to understand the various uses of employing drones in diverse applications which are mind-boggling, starting from civil applications (viz., an inspection of power lines, counting wildlife, delivering medical supplies to inaccessible regions, forest fire detection, and landslide measurement) to military applications (viz., real-time monitoring, surveillance, patrolling, and demining). However, one area where its usage is still to be exploited in many countries is using drones as a relay when communication lines are disrupted due to natural calamities. This will be particularly helpful in rescuing the affected people as the aerial node will enable them to communicate to the rescue team using mobiles/ordinary landline telephones even when regular communication towers are destroyed due to disastrous natural calamities, for example, tsunamis, earthquakes, and floods. Various algorithms, namely, water filling algorithm, advanced water filling algorithm, equal power distribution algorithm, and particle swarm optimization, were therefore studied and analyzed using simulation in addition to various path loss models to realize the desired place for an aerial robot, viz., drone in the air, which will eventually be used as an alternative communication system for badly hit ground users due to any disaster.FindingsIt was found that the effective combination of the water filling algorithm and particle swarm optimization algorithm may be done to place the drone in the air to increase the overall throughput of the affected ground users.Originality/valueThe research is original. None of the parts of this research paper has been published anywhere.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":"1 1","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41536429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-25DOI: 10.1108/ijius-02-2023-0018
G. Rigatos, M. Abbaszadeh, B. Sari, J. Pomares
PurposeA distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.Design/methodology/approachA solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.FindingsSo far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal cont
{"title":"Nonlinear optimal control for UAVs with tilting rotors","authors":"G. Rigatos, M. Abbaszadeh, B. Sari, J. Pomares","doi":"10.1108/ijius-02-2023-0018","DOIUrl":"https://doi.org/10.1108/ijius-02-2023-0018","url":null,"abstract":"PurposeA distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.Design/methodology/approachA solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.FindingsSo far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal cont","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44622614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-11DOI: 10.1108/ijius-12-2022-0142
Y. Wiseman
PurposeNowadays, transportation authorities in various countries are in tension as to whether to invest in railroads or roads. There are arguments for each side, and in the end, each transportation authority reaches a kind of balance between the investments. This study aims to anticipate how autonomous vehicles will influence this decision.Design/methodology/approachThe roads' capacity in the era of autonomous vehicles is assessed and research has concluded that the anticipated increase in road capacity will encourage transportation authorities to invest much more in roads than in railroads.FindingsThe appearance of the autonomous vehicles will significantly change the balance in favor of the roads, because the roads' capacity will be increased substantially so the roads will be able to accommodate many more vehicles.Research limitations/implicationsCurrently, autonomous vehicles are still very rare.Practical implicationsThe impact of autonomous vehicles on the decision whether to build more roads is explained.Originality/valueThe study explained why the transportation authorities in the various countries will be more inclined to switch to road construction and why the transition to more roads and fewer railroads will likely be done gradually as more autonomous vehicles enter service.
{"title":"Autonomous vehicles will spur moving budget from railroads to roads","authors":"Y. Wiseman","doi":"10.1108/ijius-12-2022-0142","DOIUrl":"https://doi.org/10.1108/ijius-12-2022-0142","url":null,"abstract":"PurposeNowadays, transportation authorities in various countries are in tension as to whether to invest in railroads or roads. There are arguments for each side, and in the end, each transportation authority reaches a kind of balance between the investments. This study aims to anticipate how autonomous vehicles will influence this decision.Design/methodology/approachThe roads' capacity in the era of autonomous vehicles is assessed and research has concluded that the anticipated increase in road capacity will encourage transportation authorities to invest much more in roads than in railroads.FindingsThe appearance of the autonomous vehicles will significantly change the balance in favor of the roads, because the roads' capacity will be increased substantially so the roads will be able to accommodate many more vehicles.Research limitations/implicationsCurrently, autonomous vehicles are still very rare.Practical implicationsThe impact of autonomous vehicles on the decision whether to build more roads is explained.Originality/valueThe study explained why the transportation authorities in the various countries will be more inclined to switch to road construction and why the transition to more roads and fewer railroads will likely be done gradually as more autonomous vehicles enter service.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49324216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-29DOI: 10.1108/ijius-07-2023-142
Hong-Hieu Le, Tan-Tien Nguyen, Youmin Zhang, L. Yang
{"title":"Guest editorial: Special issue on new development of intelligent unmanned systems","authors":"Hong-Hieu Le, Tan-Tien Nguyen, Youmin Zhang, L. Yang","doi":"10.1108/ijius-07-2023-142","DOIUrl":"https://doi.org/10.1108/ijius-07-2023-142","url":null,"abstract":"","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":"1 1","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"62694453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-05-02DOI: 10.1108/ijius-01-2023-0006
Hang Guo, Xin Chen, Min Yu, M. Uradziński, Liang Cheng
PurposeIn this study, an indoor sensor information fusion positioning system of the quadrotor unmanned aerial vehicle (UAV) was investigated to solve the problem of unstable indoor flight positioning.Design/methodology/approachThe presented system was built on Light Detection and Ranging (LiDAR), Inertial Measurement Unit (IMU) and LiDAR-Lite devices. Based on this, one can obtain the aircraft's current attitude and the position vector relative to the target and control the attitudes and positions of the UAV to reach the specified target positions. While building a UAV positioning model relative to the target for indoor positioning scenarios under limited Global Navigation Satellite Systems (GNSS), the system detects the environment through the NVIDIA Jetson TX2 (Transmit Data) peripheral sensor, obtains the current attitude and the position vector of the UAV, packs the data in the format and delivers it to the flight controller. Then the flight controller controls the UAV by calculating the posture to reach the specified target position.FindingsThe authors used two systems in the experiment. The first is the proposed UAV, and the other is the Vicon system, our reference system for comparison purposes. Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.Originality/valueVicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.
{"title":"The usefulness of sensor fusion for unmanned aerial vehicle indoor positioning","authors":"Hang Guo, Xin Chen, Min Yu, M. Uradziński, Liang Cheng","doi":"10.1108/ijius-01-2023-0006","DOIUrl":"https://doi.org/10.1108/ijius-01-2023-0006","url":null,"abstract":"PurposeIn this study, an indoor sensor information fusion positioning system of the quadrotor unmanned aerial vehicle (UAV) was investigated to solve the problem of unstable indoor flight positioning.Design/methodology/approachThe presented system was built on Light Detection and Ranging (LiDAR), Inertial Measurement Unit (IMU) and LiDAR-Lite devices. Based on this, one can obtain the aircraft's current attitude and the position vector relative to the target and control the attitudes and positions of the UAV to reach the specified target positions. While building a UAV positioning model relative to the target for indoor positioning scenarios under limited Global Navigation Satellite Systems (GNSS), the system detects the environment through the NVIDIA Jetson TX2 (Transmit Data) peripheral sensor, obtains the current attitude and the position vector of the UAV, packs the data in the format and delivers it to the flight controller. Then the flight controller controls the UAV by calculating the posture to reach the specified target position.FindingsThe authors used two systems in the experiment. The first is the proposed UAV, and the other is the Vicon system, our reference system for comparison purposes. Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.Originality/valueVicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48425057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-19DOI: 10.1108/ijius-11-2022-0131
V.M. Jyothy, G. J. John Wessley
PurposeIn this study, 2D density-based SST K-turbulence model with compressibility effect is used to observe the flow separation and shock wave interactions of the flow. The wall static pressure and Mach number differences are also evaluated. This study aims to discuss the aforementioned objectivesDesign/methodology/approachThis study outlines the evaluation of the performance of a 2D convergent–divergent nozzle with various triangular jet tab configurations that can be used for effective thrust vectoring of aerial vehicles.FindingsFrom the study, it is seen that the shadow effect induced by the tab with a height of 30% produces higher oblique wave deflection and higher thrust deflection at the exit nozzle. The numerical calculation concluded that thrust vector efficiency of 30% jet tab is, 0.46%. In the case of 10% jet tab height the thrust vector efficiency is higher, i.e. 1.647%.Research limitations/implications2D study.Practical implicationsThe optimization will open up a new focus in TVC that can be implemented for effective attitude control in aircrafts.Social implicationsUsed in future aircrafts.Originality/valueThe influence of shadowing ratio with different tab heights at different Mach numbers has not been reported in the previous studies. Few of the studies on jet tab are focused on the acoustic studies and not pertaining to the aerodynamic aspects. The multi jet configuration, the combination of location, shapes and other parametric analysis have not been covered in the previous studied.
{"title":"Study of jet tabs in 2D convergent–divergent nozzle for thrust vectoring in aerial vehicles","authors":"V.M. Jyothy, G. J. John Wessley","doi":"10.1108/ijius-11-2022-0131","DOIUrl":"https://doi.org/10.1108/ijius-11-2022-0131","url":null,"abstract":"PurposeIn this study, 2D density-based SST K-turbulence model with compressibility effect is used to observe the flow separation and shock wave interactions of the flow. The wall static pressure and Mach number differences are also evaluated. This study aims to discuss the aforementioned objectivesDesign/methodology/approachThis study outlines the evaluation of the performance of a 2D convergent–divergent nozzle with various triangular jet tab configurations that can be used for effective thrust vectoring of aerial vehicles.FindingsFrom the study, it is seen that the shadow effect induced by the tab with a height of 30% produces higher oblique wave deflection and higher thrust deflection at the exit nozzle. The numerical calculation concluded that thrust vector efficiency of 30% jet tab is, 0.46%. In the case of 10% jet tab height the thrust vector efficiency is higher, i.e. 1.647%.Research limitations/implications2D study.Practical implicationsThe optimization will open up a new focus in TVC that can be implemented for effective attitude control in aircrafts.Social implicationsUsed in future aircrafts.Originality/valueThe influence of shadowing ratio with different tab heights at different Mach numbers has not been reported in the previous studies. Few of the studies on jet tab are focused on the acoustic studies and not pertaining to the aerodynamic aspects. The multi jet configuration, the combination of location, shapes and other parametric analysis have not been covered in the previous studied.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42048920","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-31DOI: 10.1108/ijius-01-2023-141
B. Anil kumar, G. Ghinea, S. Goyal, K. Singh, S. Islam
{"title":"Guest editorial: Cognitive applications on device architectures and algorithms","authors":"B. Anil kumar, G. Ghinea, S. Goyal, K. Singh, S. Islam","doi":"10.1108/ijius-01-2023-141","DOIUrl":"https://doi.org/10.1108/ijius-01-2023-141","url":null,"abstract":"","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41701594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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