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The purpose of this paper is to conduct the design, development and testing of a controller for an autonomous small‐scale helicopter.

The hardware in the loop simulation (HILS) platform is developed based on the nonlinear model of JR Voyager G‐260 small‐scale helicopter. Autonomous controllers are verified using the HILS environment prior to flight experiments.

The gains of the multi‐loop cascaded control architecture can be effectively optimized within the HILS environment. Various autonomous flight operations are achieved and it is demonstrated that the prediction from the simulations is in a good agreement with the result from the flight test.

The synthesized controller is effective for the particular test‐bed. For other small‐scale helicopters (with different size and engine specifications), the controller gains must be tuned again.

This work represents a practical control design and testing procedures for an autonomous small‐scale helicopter flight control. The autonomous helicopter can be used for various missions ranging from film making, agriculture and volcanic surveillance to power line inspection.

The research addresses the need for systematic design, development and testing of controller for a small‐scale autonomous helicopter by utilizing HILS environment.

The purpose of this paper is synthesis of oil-soluble non-spherical nanoparticles modified with free phosphorus and sulphur modifier and investigation of their tribological properties as environment-friendly lubricating oil additives.

To study the effect of morphology of nanoparticles on their tribological properties, rice-like CuO nanoparticles were synthesized. To improve the solubility of CuO nanoparticles in organic media, the in-situ surface modification method was used to synthesize these products. The morphology, composition and structure of as-synthesized CuO nanoparticles were investigated by means of transmission electron microscopy, X-ray powder diffraction, thermogravimetric analysis and Fourier transform infrared spectrometry. The tribological properties of as-synthesized CuO nanoparticles as an additive in liquid paraffin (LP) were evaluated with a four-ball tribometer. The morphology and elemental composition of worn steel ball surfaces were analysed by X-ray photoelectron spectroscopy.

It has been found that as-synthesized CuO nanoparticles with rice-like morphology have an average size of 7 and 15 nm along the shorter axle and longer axle, respectively, and can be well-dispersed in LP. Tribological properties evaluation results show that as-synthesized CuO nanoparticles as additives in LP show good friction-reducing, anti-wear and load-carrying capacities, especially under a higher normal load.

Oil-soluble rice-like CuO nanoparticles without phosphorus and sulphur were synthesized and their tribological properties as lubricating oil additives were also investigated in this paper. These results could be very helpful for application of CuO nanoparticles as environment-friendly lubricating oil additives, owing to their free phosphorus and sulphur elements characteristics.

The purpose of this paper is to make performance improvements and timely critical execution enhancements for operational flight program (OFP). The OFP is core software of autonomous control system of small unmanned helicopter.

In order to meet the time constraints and enhance control application performance, two major improvements were done at real‐time operating system (RTOS) kernel. They are thread scheduling algorithm and lock‐free thread message communication mechanism. Both of them have a direct relationship with system efficiency and indirect relationship with helicopter control application execution stability through improved deadline keeping characteristics.

In this paper, the suitability of earliest deadline first (EDF) scheduling algorithm and non‐blocking buffer (NBB) mechanism are illustrated with experimental and practical applications. Results of this work show that EDF contributes around 15 per cent finer‐timely execution and NBB enhances kernel's responsiveness around 35 per cent with respect to the number of thread context switch and CPU utilization. These apply for OFP implemented over embedded configurable operating system (eCos) RTOS on x86 architecture‐based board.

This paper illustrates an applicability of deadline‐based real‐time scheduling algorithm and lock‐free kernel communication mechanism for performance enhancement and timely critical execution of autonomous unmanned aerial vehicle control system.

This paper illustrates a novel approach to extend RTOS kernel modules based on unmanned aerial vehicle control application execution scenario. Lock‐free thread communication mechanism is implemented, and tested for applicability at RTOS. Relationship between UAV physical and computation modules are clearly illustrated via an appropriate unified modelling language (UML) collaboration and state diagrams. As experimental tests are conducted not only for a particular application, but also for various producer/consumer scenarios, these adequately demonstrate the applicability of extended kernel modules for general use.