Elisa Capello, Giorgio Guglieri and Gianluca Ristorto
The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots.
Abstract
Purpose
The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots.
Design/methodology/approach
The path-following control of the UAV can be separated into different layers: inner loop for pitch and roll attitude control, outer loop on heading, altitude and airspeed control for the waypoints tracking and waypoint navigation. Two control laws are defined: one based on proportional integrative derivative (PID) controllers both for inner and outer loops and one based on the combination of PIDs and an adaptive controller.
Findings
Good results can be obtained in terms of trajectory tracking (based on waypoints) and of parameter variations. The adaptive control law guarantees smoothing responses and less oscillations and glitches on the control deflections.
Practical implications
The proposed controllers are easily implementable on-board and are computationally efficient.
Originality/value
The algorithm validation via hardware in the loop simulations can be used to reduce the platform set-up time and the risk of losing the prototype during the flight tests.
Details
Keywords
Elisa Capello, Giorgio Guglieri and Fulvia B. Quagliotti
The purpose of this paper is to report the research activity of Politecnico di Torino concerning the MicroHawk platform (micro‐aerial vehicles – MAVs) and to present the design…
Abstract
Purpose
The purpose of this paper is to report the research activity of Politecnico di Torino concerning the MicroHawk platform (micro‐aerial vehicles – MAVs) and to present the design and the development of a basic flight simulator for educational/training purpose.
Design/methodology/approach
A simulator is an easy‐to‐use system for the analysis of maneuver response, the dynamic study and the evaluation of the aircraft flying and handling qualities for different aircraft categories. The software implementation, including the definition of mathematical model, the visual scenario and the real‐time data analysis graphic interface, are delineated in this paper. In addition to this experimental phase, an important effort is done to incorporate simulation into the autopilot tuning process.
Findings
An intense flight activity is carried out to test the flight control system performances of the MicroHawk platform and to establish general procedures to ensure the correct operation of all subsystems. The automatic flight of MAVs has been studied with success for territorial surveillance and map project.
Research limitations/implications
In order to simplify the use of these platforms by the end‐user, a software interface will be designed to calculate automatically the flight plan, ensuring the desired trajectory design and collision avoidance.
Originality/value
The autopilot simulation integrated with vehicle's dynamics can be used to reduce the platform set‐up time and the risk of losing the prototype. The simulator training permits to study flight complex plane, in order to obtain better platform performances in real conditions. Starting from a simple scenario, it is possible to set up and upgrade the mission at any time during the simulation.
Details
Keywords
Elisa Salvador, Ilaria Mariotti and Fabrizio Conicella
The purpose of this paper is to focus on the science park (SP) “physical” location and the innovation cluster (IC) “virtual” location, and aims at investigating: the motivations…
Abstract
Purpose
The purpose of this paper is to focus on the science park (SP) “physical” location and the innovation cluster (IC) “virtual” location, and aims at investigating: the motivations driving firms to settle in these two agglomerations; the main problems firms, belonging to the two structures, face in their growth process; similarities and differences between a “physical” and a “virtual” location; which forms of proximity (geographical, relational, social, cognitive, organizational, and institutional) play a role within the SP and the IC.
Design/methodology/approach
A literature review on proximity is followed by an investigation of the Bioindustry Park and the IC BioPmed in Piedmont region in Italy, through a structured questionnaire, sent between February and March 2002, to firms co-located in the park and/or member of the cluster.
Findings
From the analysis did emerge that the physical location in the park and the virtual location in the cluster might be complements rather than substitutes.
Research limitations/implications
Shortcomings like the limited number of companies interviewed, and the absence of a sample of companies exclusively co-located in the park, are observable. Additional research might corroborate the results, which are specifically valid for the two case studies.
Practical implications
The idea of understanding differences and similarities between the SP and the IC, and of investigating which proximity typologies play a role in a “physical” and in a “virtual” location, may be useful to design future policy strategies.
Originality/value
The originality of this paper is given by the analysis of a new phenomenon: physical and virtual agglomeration typologies, characterized by several forms of proximity enhancing knowledge diffusion.