A Modified Dubins Method for Optimal Path Planning of a Miniature Air Vehicle Converging to a Straight Line Path

This paper presents a Dubins model based strategy to determine the optimal path of a Miniature Air Vehicle (MAV), constrained by a bounded turning rate, that would enable it to fly along a given straight line, starting from an arbitrary initial position and orientation. The method is then extended to meet the same objective in the presence of wind which has a magnitude comparable to the speed of the MAV. We use a modification of the Dubins' path method to obtain the complete optimal solution to this problem in all its generality.

Partial Integrated Guidance and Control of Surface-to-Air Interceptors for High Speed Targets

An important limitation of the existing IGC algorithms, is that they do not explicitly exploit the inherent time scale separation that exist in aerospace vehicles between rotational and translational motions and hence can be ineffective. To address this issue, a two-loop partial integrated guidance and control (PIGC) scheme has been proposed in this paper. In this design, the outer loop uses a recently developed, computationally efficient, optimal control formulation named as model predictive static programming. It gives the commanded pitch and yaw rates whereas necessary roll-rate command is generated from a roll-stabilization loop. The inner loop tracks the outer loop commands using the Dynamic inversion philosophy. Uncommonly, Six-Degree of freedom (Six-DOF) model is used directly in both the loops. This intelligent manipulation preserves the inherent time scale separation property between the translational and rotational dynamics, and hence overcomes the deficiency of current IGC designs, while preserving its benefits. Comparative studies of PIGC with one loop IGC and conventional three loop design were carried out for engaging incoming high speed target. Simulation studies demonstrate the usefulness of this method.

Modified ILMI algorithm for practical PID/PD implementation on a Micro Air Vehicle

This paper extends the iterative linear matrix inequality algorithm (ILMI) for systems having non-ideal PI, PD and PID implementations. The new algorithm uses the practical implementation of the feedback blocksto form the equivalent static output feedback plant. The LMI based synthesis techniques are used in the algorithm to design a multi-loop, multi-objective fixed structure control. The benefits of such a control design technique are brought out by applying it to the lateral stabilizing and tracking feedback control problem of a 30cm wingspan micro air vehicle.

Combustion of polystyrene spheres in air

Mass histories of polystyrene spheres (initial diameter 2–5 mm) burning in simulated air have been obtained by quenching combustion after variable times and weighing the residues. The flame positions and temperature histories of the spheres have also been recorded. A simple analytical model — an extension of quasi-steady combustion theory of liquid droplets — is shown to describe the combustion process reasonably well. Though the combustion process is broadly similar to that of liquid spheres, flame diameter is relatively smaller, particle temperature higher, and decomposition reactions occur in the condensed phase.

Expansion of high pressure gas into air - A more realistic blast wave model

In this paper, we consider a more realistic model of a spherical blast wave of moderate strength. An arbitrary number of terms for the series solution in each of the regions behind the main shock - the expansion region, the nearly uniform region outside the main expansion and the region between the contact surface and the main shock, have been generated and matched across the boundaries. We then study the convergence of the solution by using Pade approximation. It constitutes a genuine analytic solution for a moderately strong explosion, which, however, does not involve a secondary shock. The pressure distribution behind the shock however shows some significant changes in the location of the tail of the rarefaction and the interface, in comparison to the planar problem. The theory developed for the spherical blasts is also extended to cylindrical blasts. The results are compared with the numerical solution.

Highly biocompatible and water-dispersible, amine functionalized magnetite nanoparticles, prepared by a low temperature, air-assisted polyol process: a new platform for bio-separation and diagnostics

A low temperature polyol process, based on glycolaldehyde mediated partial reduction of FeCl3 center dot 6H(2)O at 120 degrees C in the presence of sodium acetate as an alkali source and 2,2'-(ethylenedioxy)-bis-(ethylamine) as an electrostatic stabilizer has been used for the gram-scale preparation of biocompatible, water-dispersible, amine functionalized magnetite nanoparticles (MNPs) with an average diameter of 6 +/- 0.75 nm. With a reasonably high magnetization (37.8 e.m.u.) and amine groups on the outer surface of the nanoparticles, we demonstrated the magnetic separation and concentration implications of these ultrasmall particles in immunoassay. MRI studies indicated that these nanoparticles had the desired relaxivity for T-2 contrast enhancement in vivo. In vitro biocompatibility, cell uptake and MR imaging studies established that these nanoparticles were safe in clinical dosages and by virtue of their ultrasmall sizes and positively charged surfaces could be easily internalized by cancer cells. All these positive attributes make these functional nanoparticles a promising platform for further in vitro and in vivo evaluations.

Phase Diagram for the System RuO2-TiO2 in Air

There are conflicting reports in the literature regarding solid solubility in the system RuO2-TiO2. To resolve this issue a few experiments were conducted in air at 1673, 1723, and 1773 K. The results show limited terminal solid solubility. There is an extended solid-state miscibility gap that intersects the decomposition curve for the RuO2-rich solid solution generating a peritectoid reaction at 1698 K. The measured equilibrium compositions of the solid solutions are used to develop a thermodynamic description of the oxide solid solution with rutile structure. Using the subregular solution model, the enthalpy of mixing can be represented by the expression, Delta H-M/J center dot mol(-1) = XTiO2XRuO2 ( 34,100X(TiO2) + 30,750X(RuO2)). The binodal and spinodal curves and T-X phase diagram in air are computed using this datum and Gibbs energy of formation of RuO2 available in the literature. The computed results suggest that equilibrium was not attained during solubility measurements at lower temperatures reported in the literature.

New Strategies for the Enrichment of Metallic Single-Walled Carbon Nanotubes

Enrichment of metallic single-walled carbon nanotubes (SWNTs) has been accomplished by several means, including new extraction and synthetic procedures and by interaction with metal nanoparticles as well as electron donor molecules. In the presence of Fe(CO)(5) the arc discharge method yields nearly pure metallic nanotubes. Fluorous chemistry involving the preferential diazotization of metallic SWNTs offers a good procedure of obtaining the pure metallic species. Interaction of gold or platinum nanoparticles as well as of electron-donor molecules such as aniline and tetrathiafulvalene (TTF) transform semiconducting SWNTs into metallic ones. Raman and electroni spectroscopies provide ideal means to monitor enrichment of metallic SWNTs.

Robust flight stability and control for micro air vehicles.

This chapter presents the real time validation of fixed order robust 112 controller designed for the lateral stabilisation of a micro air vehicle named Sarika2. Digital signal processor (DSP) based onboard computer named flight instrumentation controller (FIC) is designed to operate under automatic or manual mode. FIC gathers data from multitude of sensors and is capable of closed loop control to enable autonomous flight. Fixed order lateral H-2 controller designed with the features such as incorporation of level I flying qualities, gust alleviation and noise rejection is coded on to the FIC. Challenging real time hardware in loop simulation (HILS) is done with dSPACE1104 RTI/RTW. Responses obtained from the HILS are compared with those obtained from the offline simulation. Finally, flight trials are conducted to demonstrate the satisfactory performance of the closed loop system. The generic design methodology developed is applicable to all classes of Mini and Micro air vehicles.

Measurement of air leakage in air-handling units and air conditioning ducts

The purpose of this article is to report the experience of design and testing of orifice plate-based flow measuring systems for evaluation of air leakages in components of air conditioning systems. Two of the flow measuring stations were designed with a beta value of 0.405 and 0.418. The third was a dual path unit with orifice plates of beta value 0.613 and 0.525. The flow rates covered with all the four were from 4-94 l/s and the range of Reynolds numbers is from 5600 to 76,000. The coefficients of discharge were evaluated and compared with the Stolz equation. Measured C-d values are generally higher than those obtained from the equation, the deviations being larger in the low Reynolds number region. Further, it is observed that a second-degree polynomial is inadequate to relate the pressure drop and flow rate. The lower Reynolds number limits set by standards appear to be somewhat conservative.

Growth of ionization currents in dry air at high values of E/N

Uniform field steady-state ionization currents were measured in dry air as a function of N at constant E/N (E is the electric field strength and N the gas number density) and constant electrode separation d for 14·13 × 10-16 less-than-or-eq, slant E/N less-than-or-eq, slant 282·5 × 10-16 V cm2. Uniform field sparking potentials were also measured for Nd range 1·24 × 1016 less-than-or-eq, slant Nd less-than-or-eq, slant 245 × 1016 cm-2. The ratio of the Townsend primary ionization coefficient α to N, α/N, was found to depend on E/N only. The secondary coefficients were also evaluated for aluminium and gold-plated electrodes for the above range of E/N. Measurements of the sparking potentials showed that Paschen's law is not obeyed in air at values of Nd near and below the Paschen minimum.

The ratio of diffusion coefficient to mobility for slow electrons in dry air

Using Huxley's solution of the diffusion equation for electron-attaching gases, the ratio of diffusion coefficient D to mobility μ for electrons in dry air was measured over the range 3·06 × 10-17

Effect of vibration on heat transfer from a horizontal cylinder to a normal air stream

The effect of vibration on heat transfer from a horizontal copper cylinder, 0.344 in. in diameter and 6 in. long, was investigated. The cylinder was placed normal to an air stream and was sinusoidally vibrated in a direction perpendicular to the direction of the air stream. The flow velocity varied from 19 ft/s to 92 ft/s; the double amplitude of vibration from 0.75 cm to 3.2 cm, and the frequency of vibration from 200 to 2800 cycles/min. A transient technique was used to determine the heat transfer coefficients. The experimental data in the absence of vibration is expressed by NNu = 0.226 NRe0.6 in the range 2500 < NRe < 15 000. By imposing vibrational velocities as high as 20 per cent of the flow velocity, no appreciable change in the heat transfer coefficient was observed. An analysis using the resultant of the vibration and the flow velocity explains the observed phenomenon.

Improvement in solar air collector performance with vaned diffuser

Modifications made in a solar air collector inlet duct to achieve uniform velocity of air in the absorber duct are described. Measurements of temperature and pressure at various points in the duct gave information on the distribution of air in the absorber duct. A thermal performance test conducted on the collector with a vaned diffuser showed some significant improvement compared with a diffuser without vanes.