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An autonomous underwater vehicle is a vehicle that can move in water, which is also known as an unmanned undersea vehicle. One type is the hybrid underwater glider where the vehicle is designed in such a way that it is able to carry out missions in the water with less power consumption so that it can last a long time in carrying out missions. In this research, a mathematical design is carried out...
Flapping Wings MAV (FWMAV) is the result of UAV technology development with the mechanism of flapping wings and with the dimensions of the object as small as possible. Modeling of FWMAV dynamics is needed to predict future conditions based on information from current conditions and designed control actions. Modeling of the FWMAV system is done by system identification, based on measurable data from...
Flapping Wing Micro Aerial Vehicle (MAV) is the development of Unmanned Aerial Vehicle (UAV) which is smaller and lighter. GaneFly is a flapping wing MAV robot developed in this paper. GaneFly flying platform is designed to be able to fly with flapping mechanism that adapts the flapping wing of the dragonfly and also designed to be able to turn and pitch according to the input command. Design of the...
Flapping Wings Micro Aerial Vehicle (FWMAV) is developed from MAV (Micro Aerial Vehicle) technology, which uses flapping wing mechanism to fly rather than rotors. MAV itself is a branch of UAV (Unmanned Aerial Vehicle) technology, and focuses on minimizing size and weight of the aircraft. Ganefly is an FWMAV with capability to fly autonomously based on GPS readings and waypoints input from the user...
The consideration of long-term autonomous instrumentation for ocean research applications is now trying to be answered by developing The concept of the Underwater glider. Combining the capabilities of AUV (self-propelled vehicle), which is very good in maneuverability, and underwater glider with their long endurance platform promising advantageous feature. In order to gain some amount of space for...
In this paper a mathematical model of a class of autonomous underwater glider in longitudinal motion plane is presented. The obtained model is a six degree-of-freedom nonlinear model derived based on the kinematic and hydrodynamic principals of the system. The model is further separated into three parts describing the buoyancy, pitch, and glide motion and later linearized. Parameter of the model is...
Unmanned aerial vehicle (UAV) with hexacopter platform is an effective tool to monitor the level of hazardous chemical gas. The ability to fly at low speed autonomously allows this system to map the hazardous chemical gas level and the hazardous chemical gas distribution in each section of an area. To be able to do this task, an on-board data acquisition system is needed on the UAV to be able to measure...
Field trial is a very critical stage and high risk in UAV development cycle. HILS is a computer-assisted simulation techniques used in the development and testing of complex embedded real-time systems. HILS has the ability to simulate UAV flight characteristics, sensor modeling, and modeling of actuators while communicating in real time with flight control hardware. HILS aims to test the reliability...
Unmanned aerial vehicle (UAV) with hexacopter platform is an effective tool to monitor the level of hazardous chemical gas. The ability to fly at low speed autonomously allows this system to map the hazardous chemical gas level and the hazardous chemical gas distribution in each section of an area. To be able to do this task, an on-board data acquisition system is needed on the UAV to be able to measure...
Field trial is a very critical stage and high risk in UAV development cycle. HILS is a computer-assisted simulation techniques used in the development and testing of complex embedded real-time systems. HILS has the ability to simulate UAV flight characteristics, sensor modeling, and modeling of actuators while communicating in real time with flight control hardware. HILS aims to test the reliability...
Wireless Sensor Network (WSN) is small embedded devices deployed in large scale network with sensing, computing, and communicating capability. In the case of bridge structural health monitoring system, WSN has taken important role in physical measurement. This paper describes preliminary study of Agent-oriented paradigm to develop intelligent sensing in single degree of freedom bridge. The objectives...
Research on multi-robot system is receiving a great deal of attention in recent years. Multi-robot system has many advantages over a single robot in certain missions, such as reducing complexity, availability of redundancy, and reconfiguration capabilities. Using coordination scheme in multiple mobile robots allows them to complete tasks with higher complexity. The ability of each robot does not have...
A visual based autopilot for a fixed-wing unmanned aerial vehicle (UAV) is one of the powerful method to track a target object on sea or ground level using an image based visual servoing control. A feature of target object must always appear on image plane of camera to that by controlling pan-tilt gimbal movement. Aircraft attitude and pan-tilt gimbal can be used as a reference to drive the aircraft...
An Image-based fixed wing Unmanned Aerial Vehicle (UAV) has autonomous flight control system which tracks targets to be pursued. This system is more prominent because it is based on visual sight around the aircraft to track the target. Targets will be identified as a feature in the image field captured by camera. By using the position of features in the image, a visual servoing algorithm is implemented...
Specifications of safety-critical real-time systems which are made with natural language has many disadvantages, such as contradictory, vague, ambiguous, and incomplete. The weakness in this specification will continue to the next stages, and will result the system failure. Formal methods allow the designer to determine the specifications of the system at different abstraction levels and verify the...
This paper gives an overview of classical gainscheduling design applicable to three-loop attitude autopilot. Three-loop autopilot is a classic linear flight control scheme that is still being used nowadays. With the help of classical gainscheduling method it is expected that the implementation can help improve the response of the system. The scopes of this paper include design procedures and analysis...
The main role of Rocket Navigation System is to deliver an attitude command to Flight Control System hence the rocket can be directed to a particular path or a specific target. This command is produced from Trajectory Planning algorithm. The Navigation System also performs attitude estimation by using the Extended Kalman Filter. The inputs of Navigation System are obtained from GPS, IMU, Pitot tube,...
Quaternion-based attitude determination system is considered since it can represent all physical attitudes, but not uniquely. An inappropriate quaternion-based control law would imply to a non-efficient control effort and difficulty in guaranteeing global stability. Many research efforts decide to add complexity in the controller by using jump-discontinuity function and/ or hybrid system. In contrast,...
This paper presents the design and implementation of Three-loop autopilot that functions as an attitude control system of a guided rocket. Three-loop autopilot is designed to manage the guided rocket flight path on a longitudinal plane trajectory by controlling the rocket attitude angle. Three-loop autopilot consists of three successive closed-loop systems which manipulate short period, phugoid oscillation,...
One of fixed-wing aircraft type is the fixed-wing unmanned aircraft or fixed-wing Unmanned Aerial Vehicle (UAV). The UAV flies without a pilot in the aircraft. All aircraft movements are controlled by an embedded computer or a remote control.
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