Neural Network Based UAV Fault Tolerant Control with Aerodynamic Disturbance Estimation and Compensation

In this thesis, the problem of controlling a quadrotor UAV is considered. It is done by presenting an original control system, designed as a combination of Neural Networks and Disturbance Observer, using a composite learning approach for a system of the second order, which is a novel methodology in literature. After a brief introduction about the quadrotors, the concepts needed to understand the controller are presented, such as the main notions of advanced control, the basic structure and design of a Neural Network, the modeling of a quadrotor and its dynamics. The full simulator, developed on the MATLAB Simulink environment, used throughout the whole thesis, is also shown. For the guidance and control purposes, a Sliding Mode Controller, used as a reference, it is firstly introduced, and its theory and implementation on the simulator are illustrated. Finally the original controller is introduced, through its novel formulation, and implementation on the model. The effectiveness and robustness of the two controllers are then proven by extensive simulations in all different conditions of external disturbance and faults.

Design and Implementation of Single phase 230V to Three Phase Inverter Based on the Embedded System STM-32 Applied to motor control

In the field of Power Electronics, several types of motor control systems have been developed using STM microcontroller and power boards. In both industrial power applications and domestic appliances, power electronic inverters are widely used. Inverters are used to control the torque, speed, and position of the rotor in AC motor drives. An inverter delivers constant-voltage and constant-frequency power in uninterruptible power sources. Because inverter power supplies have a high-power consumption and low transfer efficiency rate, a three-phase sine wave AC power supply was created using the embedded system STM32, which has low power consumption and efficient speed. It has the capacity of output frequency of 50 Hz and the RMS of line voltage. STM32 embedded based Inverter is a power supply that integrates, reduced, and optimized the power electronics application that require hardware system, software, and application solution, including power architecture, techniques, and tools, approaches capable of performance on devices and equipment. Power inverters are currently used and implemented in green energy power system with low energy system such as sensors or microcontroller to perform the operating function of motors and pumps. STM based power inverter is efficient, less cost and reliable. My thesis work was based on STM motor drives and control system which can be implemented in a gas analyser for operating the pumps and motors. It has been widely applied in various engineering sectors due to its ability to respond to adverse structural changes and improved structural reliability. The present research was designed to use STM Inverter board on low power MCU such as NUCLEO with some practical examples such as Blinking LED, and PWM. Then we have implemented a three phase Inverter model with Steval-IPM08B board, which converter single phase 230V AC input to three phase 380 V AC output, the output will be useful for operating the induction motor.

Development and validation of the Multiple Remote Tower (MRT) for remote air traffic control

The symbol in air traffic control (ATC), essentially unchanged since the beginning of commercial air traffic early last century, is the characteristic control tower with its large, tilted windows, situated at an exposed location, and rising high above the airport. “Remote Tower” is changing the provision of Air Traffic Services (ATS) in a way that it is more service tailored, dynamically located and available when and where needed, enabled by digital solutions replacing the physical presence of controllers and control towers at aerodromes with a remotely provided Air Traffic Service for Multiple Aerodromes. The paper examines this phenomenon that will mark an epochal change, analysing the experiments and validations carried out in the last years.

Cytogenetic And Morphologic Approaches Of Hybrids From Experimental Crosses Between Triatoma Lenti Sherlock & Serafim, 1967 And T. Sherlocki Papa Et Al., 2002 (hemiptera: Reduviidae).

The reproductive capacity between Triatoma lenti and Triatoma sherlocki was observed in order to verify the fertility and viability of the offspring. Cytogenetic, morphological and morphometric approaches were used to analyze the differences that were inherited. Experimental crosses were performed in both directions. The fertility rate of the eggs in crosses involving T. sherlocki females was 65% and 90% in F1 and F2 offspring, respectively. In reciprocal crosses, it was 7% and 25% in F1 and F2 offspring, respectively. The cytogenetic analyses of the male meiotic process of the hybrids were performed using lacto-acetic orcein, C-banding and Feulgen techniques. The male F1 offspring presented normal chromosome behavior, a finding that was similar to those reported in parental species. However, cytogenetic analysis of F2 offspring showed errors in chromosome pairing. This post-zygotic isolation, which prevents hybrids in nature, may represent the collapse of the hybrid. This phenomenon is due to a genetic dysregulation that occurs in the chromosomes of F1. The results were similar in the hybrids from both crosses. Morphological features, such as color and size of connexive and the presence of red-orange rings on the femora, were similar to T. sherlocki, while wins size was similar to T. lenti in F1 offspring. The eggshells showed characteristics that were similar to species of origin, whereas the median process of the pygophore resulted in intermediate characteristics in the F1 and a segregating pattern in F2 offspring. Geometric morphometric techniques used on the wings showed that both F1 and F2 offspring were similar to T. lenti. These studies on the reproductive capacity between T. lenti and T. sherlocki confirm that both species are evolutionarily closed; hence, they are included in the brasiliensis subcomplex. The extremely reduced fertility observed in the F2 hybrids confirmed the specific status of the species that were analyzed.