Automatic Path Planning and Control Design for Autonomous Landing of UAVs using Dynamic Inversion

In this paper a nonlinear control has been designed using the dynamic inversion approach for automatic landing of unmanned aerial vehicles (UAVs), along with associated path planning. This is a difficult problem because of light weight of UAVs and strong coupling between longitudinal and lateral modes. The landing maneuver of the UAV is divided into approach, glideslope and flare. In the approach UAV aligns with the centerline of the runway by heading angle correction. In glideslope and flare the UAV follows straight line and exponential curves respectively in the pitch plane with no lateral deviations. The glideslope and flare path are scheduled as a function of approach distance from runway. The trajectory parameters are calculated such that the sink rate at touchdown remains within specified bounds. It is also ensured that the transition from the glideslope to flare path is smooth by ensuring C-1 continuity at the transition. In the outer loop, the roll rate command is generated by assuring a coordinated turn in the alignment segment and by assuring zero bank angle in the glideslope and flare segments. The pitch rate command is generated from the error in altitude to control the deviations from the landing trajectory. The yaw rate command is generated from the required heading correction. In the inner loop, the aileron, elevator and rudder deflections are computed together to track the required body rate commands. Moreover, it is also ensured that the forward velocity of the UAV at the touch down remains close to a desired value by manipulating the thrust of the vehicle. A nonlinear six-DOF model, which has been developed from extensive wind-tunnel testing, is used both for control design as well as to validate it.

Wind loading over the top portions of tall stacks with and without external landing platforms

The variation of the drag force near the top portions of tall stacks with and without external landing platforms, and with the exit open and closed, has been examined by model studies in a wind tunnel at Reynolds numbers of about 10(5). Pressure measurements on three models of different height to diameter ratios have been supplemented by flow visualisation studies. Observations confirm that when there is no platform, significant load enhancement over the top three to four diameters occurs, due to the high suction caused by the sharp separation of the flow over the top from the rim, in the aft regions of the stack. The enhanced loading is found to be greater if the exit is closed. A platform at the top, of less than twice the exit diameter, further increases the drag force near the top, but a still larger platform at the top, of about three times the exit diameter, decreases the drag force to values less than those much further below, effectively nullifying the enhanced drag force. It was found that such a reduction of the enhanced drag force in the top regions can also be achieved by a smaller platform of 1.1 to 1.3 times the local diameter, located at about three to five diameters below the top.

Hydrographic observations in Elkhorn Slough and Moss Landing Harbor, California, October 1970 to November 1971. Annual report, Part 3, July 1972

In October 1970, Moss Landing Marine Laboratories began an observational program to determine/the seasonal changes in the water chemistry of Elkhorn Slough and Moss Landing Harbor. This data report contains the first year of data (October 1970 - November 1971). These data are of immediate interest in determining the flushing and mixing mechanisms of the slough and in establishing the effect that local domestic and industrial effluents have on the distribution of these chemical parameters. (Document contains 78 Pages)

Ecologic and hydrographic studies of Elkhorn Slough, Moss Landing Harbor and near coastal waters, July 1974 to June 1976

In July 1974, we began a two-year baseline study of the Moss Landing Elkhorn Slough marine environment for Pacific Gas and Electric Company as mandated by the Coastal Commission. The original proposal included strong recommendations for more complete oceanographic studies and a third year of data collection. These further studies were not funded. This report is divided into three sections: oceanography, benthic invertebrate ecology and fish and zooplankton ecology. (PDF contains 480 pages)

Monitoring report: sand dune reconstruction and restoration, at the Moss Landing Marine Laboratories

The Plan for Sand Dune Reconstruction and Restoration (and Biological Assessment) at Moss Landing Marine Laboratories (ABA Consultants, April 1, 1992) described reconstruction of dune contours and biological restoration with native dune plants to be carried out over the 8 acre site formerly occupied by the marine labs (prior to the Loma Prieta earthquake of October 1989). The plan called for annual reports in letter form which would present data on plant abundance, a short narrative description of changes on the site, progress towards recovery of the plant community, and assessment of progress based on restoration goals and further steps to be taken. This monitoring report [dated April 25, 1994] addresses those points and also contains a summary of other activities integral in dune restoration -- education, public participation, school and conservation organization field trips, as well as the associated activities of restoration, plant collecting, propagation, and weed control.

On the arrival time, waiting time to unload, unloading time and waiting time for departure for purse seiners at Mangalore landing centre

Fifty four purse-seine boats at Mangalore landing centre were observed during different stages of unloading fish catch. It was found that a boat takes 75% of the berthing time to unload an average quantity of 2.4 tons of fish. Further, unloading period and catch were found to be directly related where it was estimated that 5 to 7 minutes are spent in unloading about half a ton of fish to a nearby tempo by employing 9 ± 2 laborers.

Economic impacts of globalisation at the district, landing site and sub-sector enterprise levels on Lakes Kyoga, Albert and Victoria

The Globalisation and fish utilisation and marketing study is a collaboration between the Fisheries Resources Research Institute (FIRRI) and the Mike Dillon Associates Limited , with funding from the Department for International Development (DFID) of the Government of the United Kingdom. The study is designed to examine the impact of the development of the export fishery on the fish producers, processors, traders and consumers in the artisanal fishery in Uganda. FIRRI 's role is to collect field data relating to the livelihoods of artisanal fish producers, processors, traders and consumers. in particular data relating to income and revenue flow. The initial focus is on the eccnomic structure of fish landing sites. The purpose of this paper is to review the progress in implementation of the project and present the interim findings for discussion. During the first quarter, namely April to June, 2002, work was carried out on Lakes Kyoga and Albert and a report produced. During the second quarter, July to September, 2002, Lake Victoria was covered. In both phases, the focus has been on the economic structure of fish landings.

Contra-rotating open rotor operation for improved aerodynamics and noise at takeoff

The contra-rotating open rotor is, once again, being considered as an alternative to the advanced turbofan to address the growing pressure to cut aviation fuel consumption and carbon dioxide emissions. One of the key challenges is meeting community noise targets at takeoff. Previous open rotor designs are subject to poor efficiency at takeoff due to the presence of large regions of separated flow on the blades as a result of the high incidence needed to achieve the required thrust. This is a consequence of the fixed rotor rotational speed constraint typical of variable pitch propellers. Within the study described in this paper, an improved operation is proposed to improve performance and reduce rotorrotor interaction noise at takeoff. Three-dimensional computational fluid dynamics (CFD) calculations have been performed on an open rotor rig at a range of takeoff operating conditions. These have been complemented by analytical tone noise predictions to quantify the noise benefits of the approach. The results presented show that for a given thrust, a combination of reduced rotor pitch and increased rotor rotational speed can be used to reduce the incidence onto the front rotor blades. This is shown to eliminate regions of flow separation, reduce the front rotor tip loss and reduce the downstream stream tube contraction. The wakes from the front rotor are also made wider with lower velocity defect, which is found to lead to reduced interaction tone noise. Unfortunately, the necessary increase in blade speed leads to higher relative Mach numbers, which can increase rotor alone noise. In summary, the combined CFD and aero-acoustic analysis in this paper shows how careful operation of an open rotor at takeoff, with moderate levels of re-pitch and speed increase, can lead to improved front rotor efficiency as well as appreciably lower overall noise across all directivities. Copyright © 2011 by ASME.

Alignment of the genomes of brachypodium distachyon and temperate cereals and grasses using bacterial artificial chromosome landing with fluorescence in situ hybridization

Robert Hasterok, Agnieszka Marasek, Iain S. Donnison, Ian Armstead, Ann Thomas, Ian P. King, Elzbieta Wolny, Dominika Idziak, John Draper and Glyn Jenkins (2006). Alignment of the genomes of brachypodium distachyon and temperate cereals and grasses using bacterial artificial chromosome landing with fluorescence in situ hybridization.Genetics, 73 (1), 349-362. Sponsorship: Royal Society / BBSRC;BBSRC RAE2008