A Reactive Inverse PN Algorithm for Collision Avoidance among Multiple Unmanned Aerial Vehicles

While performing a mission, multiple Unmanned Aerial Vehicles (UAVs) need to avoid each other to prevent collisions among them. In this paper, we design a collision avoidance algorithm to resolve the conflict among UAVs that are on a collision course while flying to heir respective destinations. The collision avoidance algorithm consist of each UAV that is on a collision course reactively executing a maneuver that will, as in `inverse' Proportional Navigation (PN), increase Line of Sight (LOS) rate between them, resulting in a `pulling out' of collision course. The algorithm is tested for high density traffic scenarios as well as for robustness in the presence of noise.

Role of information and communication in redefining unmanned aerial vehicle autonomous control levels

Autonomous mission control, unlike automatic mission control which is generally pre-programmed to execute an intended mission, is guided by the philosophy of carrying out a complete mission on its own through online sensing, information processing, and control reconfiguration. A crucial cornerstone of this philosophy is the capability of intelligence and of information sharing between unmanned aerial vehicles (UAVs) or with a central controller through secured communication links. Though several mission control algorithms, for single and multiple UAVs, have been discussed in the literature, they lack a clear definition of the various autonomous mission control levels. In the conventional system, the ground pilot issues the flight and mission control command to a UAV through a command data link and the UAV transmits intelligence information, back to the ground pilot through a communication link. Thus, the success of the mission depends entirely on the information flow through a secured communication link between ground pilot and the UAV In the past, mission success depended on the continuous interaction of ground pilot with a single UAV, while present day applications are attempting to define mission success through efficient interaction of ground pilot with multiple UAVs. However, the current trend in UAV applications is expected to lead to a futuristic scenario where mission success would depend only on interaction among UAV groups with no interaction with any ground entity. However, to reach this capability level, it is necessary to first understand the various levels of autonomy and the crucial role that information and communication plays in making these autonomy levels possible. This article presents a detailed framework of UAV autonomous mission control levels in the context of information flow and communication between UAVs and UAV groups for each level of autonomy.

Evolving Philosophies on Autonomous Obstacle/Collision Avoidance of Unmanned Aerial Vehicles

Much of the benefits of deploying unmanned aerial vehicles can be derived from autonomous missions. For such missions, however, sense-and-avoid capability (i.e., the ability to detect potential collisions and avoid them) is a critical requirement. Collision avoidance can be broadly classified into global and local path-planning algorithms, both of which need to be addressed in a successful mission. Whereas global path planning (which is mainly done offline) broadly lays out a path that reaches the goal point, local collision-avoidance algorithms, which are usually fast, reactive, and carried out online, ensure safety of the vehicle from unexpected and unforeseen obstacles/collisions. Even though many techniques for both global and local collision avoidance have been proposed in the recent literature, there is a great interest around the globe to solve this important problem comprehensively and efficiently and such techniques are still evolving. This paper presents a brief overview of a few promising and evolving ideas on collision avoidance for unmanned aerial vehicles, with a preferential bias toward local collision avoidance.

Realistic coherent phantom track generation by a group of electronic combat aerial vehicles

We consider the problem of generating a realistic coherent phantom track by a group of ECAVs (Electronic Combat Aerial Vehicles) to deceive a radar network. The phantom track considered is the trajectory of a missile guided by proportional navigation. Sufficient conditions for the existence of feasible ECAV trajectories to generate the phantom track is presented. The line-of-sight guidance law is used to control the ECAVs for practical implementation. A performance index is developed to assess the performance of the ECAVS. Simulation results for single and multiple ECAVs generating the coherent phantom track are presented.

Sliding Mode Control-Based Autopilots for Leaderless Consensus of Unmanned Aerial Vehicles

In this brief, decentralized sliding mode controllers that enable a connected and leaderless swarm of unmanned aerial vehicles (UAVs) to reach a consensus in altitude and heading angle are presented. In addition, sliding mode control-based autopilot designs to control those states for which consensus is not required are also presented. By equipping each UAV with this combination of controllers, it can autonomously decide on being a member of the swarm or fly independently. The controllers are designed using a coupled nonlinear dynamic model, derived for the YF-22 aircraft, where the aerodynamic forces and moments are linear functions of the states and inputs.

Evaluation of CaO-CeO2-partially stabilized zirconia thermal barrier coatings

Plasma sprayable powders were prepared from ZrO2-CaO-CeO2 system using an organic binder and coated onto stainless steel substrates previously coated by a bond coat (Ni 22Cr 20Al 1.0Y) using plasma spraying. The coatings exhibited good thermal barrier characteristics and excellent resistance to thermal shock at 1000 degrees C under simulated laboratory conditions (90 half hour cycles without failure) and at 1200 degrees C under accelerated burner rig test conditions (500 2 min cycles without failure). No destabilization of cubic/tetragonal ZrO2 phase fraction occured either during the long hours (45 h cumulative) or the large number of thermal shock tests. Growth of a distinct SiO2 rich region within the ceramic was observed in the specimens thermal shock cycled at 1000 degrees C apart from mild oxidation of the bond coat. The specimens tested at 1200 degrees C had a glassy appearance on the top surface and exhibited severe oxidation of the bond coat at the ceramic-bond coat interface. The glassy appearance of the surface is due to the formation of a liquid silicate layer attributable to the impurity phase present in commercial grade ZrO2 powder. These observations are supported by SEM analysis and quantitative EDAX data.

Thermal shock characteristics of plasma sprayed mullite coatings

Commercially available mullite (3Al(2)O(3). 2SiO(2)) powders containing oxides of calcium and iron as impurities, have been made suitable for plasma spraying by using an organic binder. Stainless steel substrates covered with Ni-22Cr-10Al-1.0Y bond coat were spray coated with mullite, The 425 mu m thick coatings were subjected to thermal shock cycling under burner rig conditions between 1000 and 1200 degrees C and less than 200 degrees C with holding times of 1, 5, and 30 min. While the coatings withstood as high as 1000 shock cycles without failure between 1000 and 200 degrees C, spallation occurred early at 120 cycles when shocked from 1200 degrees C, The coatings appeared to go through a process of self erosion at high temperatures resulting in loss of material. Also observed were changes attributable to melting of the silicate grains, which smooth down the surface. Oxidation of the bond coat did not appear to influence the failure, These observations were supported by detailed scanning electron microscopy and quantitative chemical composition analysis, differential thermal analysis, and surface roughness measurements.

Studies in terpenoids. Part 42. Synthesis of 3-(2-hydroxyisopropyl)5,8-dimethyl-1,2-naphthoquinone (emmotin-H)

Emmotin-H, a naturally occurring sesquiterpenoid 1,2-naphthoquinone pigment (1) has been synthesised in a four step sequence starting from the known 5,8-dimethyl-4-oxotetralin-2-carboxylic acid (3a). Selenium dioxide oxidation of its methyl ester (3b) gives 3-methoxycarbonyl-5,8-dimethyl-1,2-naphthoquinone (4) which on reductive acetylation affords the corresponding diacetoxynaphthalene ester (5). Its reaction with excess of methylmagnesium iodide is accompanied by aerial oxidation during work-up and furnishes emmotin-H (1).

Collision avoidance between UAV clusters using swarm intelligence techniques

In this article, several basic swarming laws for Unmanned Aerial Vehicles (UAVs) are developed for both two-dimensional (2D) plane and three-dimensional (3D) space. Effects of these basic laws on the group behaviour of swarms of UAVs are studied. It is shown that when cohesion rule is applied an equilibrium condition is reached in which all the UAVs settle at the same altitude on a circle of constant radius. It is also proved analytically that this equilibrium condition is stable for all values of velocity and acceleration. A decentralised autonomous decision-making approach that achieves collision avoidance without any central authority is also proposed in this article. Algorithms are developed with the help of these swarming laws for two types of collision avoidance, Group-wise and Individual, in 2D plane and 3D space. Effect of various parameters are studied on both types of collision avoidance schemes through extensive simulations.

Characterization of a toxin from Parthenium hysterophorus and its mode of excretion in animals

Fractionation of methanolic extracts of air dried aerial parts ofParthenium resulted in the isolation of a toxic constituent which was identified as parthenin, the major sesquiterpene lactone from the weed. The LD50 (minimal lethal dose required to cause 50% mortality) for parthenin in rats was 42 mg/kg body weight. When [3H]-parthenin was given orally or by intravenous administration, radioactivity appeared in the milk of lactating laboratory and dairy animals. Tissue distribution of radioactivity revealed that maximum label was detectable in kidneys.