Design of a Commercial Hybrid VTOL UAV System

For the last four decades Unmanned Air Vehicles (UAVs) have been extensively used for military operations that include tracking, surveillance, active engagement with weapons and airborne data acquisition. UAVs are also in demand commercially due to their advantages in comparison to manned vehicles. These advantages include lower manufacturing and operating costs, flexibility in configuration depending on customer request and not risking the pilot on demanding missions. Even though civilian UAVs currently constitute 3 % of the UAV market, it is estimated that their numbers will reach up to 10 % of the UAV market within the next 5 years. Most of the civilian UAV applications require UAVs that are capable of doing a wide range of different and complementary operations within a composite mission. These operations include taking off and landing from limited runway space, while traversing the operation region in considerable cruise speed for mobile tracking applications. This is in addition to being able traverse in low cruise speeds or being able to hover for stationary measurement and tracking. All of these complementary and but different operational capabilities point to a hybrid unmanned vehicle concept, namely the Vertical Take-Off and Landing (VTOL) UAVs. In addition, the desired UAV system needs to be cost-efficient while providing easy payload conversion for different civilian applications. In this paper, we review the preliminary design process of such a capable civilian UAV system, namely the TURAC VTOL UAV. TURAC UAV is aimed to have both vertical take-off and landing and Conventional Take-off and Landing (CTOL) capability. TURAC interchangeable payload pod and detachable wing (with potential different size variants) provides capability to perform different mission types, including long endurance and high cruise speed operations. In addition, the TURAC concept is to have two different variants. The TURAC A variant is an eco-friendly and low-noise fully electrical platform which includes 2 tilt electric motors in the front, and a fixed electric motor and ducted fan in the rear, where as the TURAC B variant is envisioned to use high energy density fuel cells for extended hovering time. In this paper, we provide the TURAC UAV’s iterative design and trade-off studies which also include detailed aerodynamic and structural configuration analysis. For the aerodynamic analysis, an in-house software including graphical user interface has been developed to calculate the aerodynamic forces and moments by using the Vortex Lattice Method (VLM). Computational Fluid Dynamics (CFD) studies are performed to determine the aerodynamic effects for various configurations For structural analysis, a Finite Element Model (FEM) of the TURAC has been prepared and its modal analysis is carried out. Maximum displacements and maximal principal stresses are calculated and used for streamlining a weight efficient fuselage design. Prototypes have been built to show success of the design at both hover and forward flight regime. In this paper, we also provide the flight management and autopilot architecture of the TURAC. The testing of the controller performance has been initiated with the prototype of TURAC. Current work focuses on the building of the full fight test prototype of the TURAC UAV and aerodynamic modeling of the transition flight.     

Removal of metal ions using lignite in aqueous solution—Low cost biosorbents

Turkish lignite can be used as a new adsorption material for removing some toxic metals from aqueous solution. The adsorption of lignite (brown young coals) to remove copper (Cu²⁺), lead (Pb²⁺), and nickel (Ni²⁺) from aqueous solutions was studied as a function of pH, contact time, metal concentration and temperature. Adsorption equilibrium was achieved between 40 and 70 min for all studied cations except Pb²⁺, which is between 10 and 30 min. The adsorption capacities are 17.8 mg/g for Cu²⁺, 56.7 mg/g for Pb²⁺, 13.0 mg/g for Ni²⁺ for BC₁ (Ilg?n lignite) and 18.9 mg/g for Cu²⁺, 68.5 mg/g for Pb²⁺, 12.0 mg/g for Ni²⁺ for BC₂ (Beysehir lignite) and 7.2 mg/g for Cu²⁺, 62.3 mg/g for Pb²⁺, 5.4 mg/g for Ni²⁺ for AC (activated carbon). More than 67% of studied cations were removed by BC₁ and 60% BC₂, respectively from aqueous solution in single step. Whereas about 30% of studied cations except Pb²⁺, which is 90%, were removed by activated carbon. Effective removal of metal ions was demonstrated at pH values of 3.8–5.5. The adsorption isotherms were measured at 20 °C, using adsorptive solutions at the optimum pH value to determine the adsorption capacity. The Langmuir adsorption isotherm was used to describe observed sorption phenomena. The rise in temperature caused a slight decrease in the value of the equilibrium constant (K_c) for the sorption of metal ions. The mechanism for cations removal by the lignite includes ion exchange, complexation and sorption. The process is very efficient especially in the case of low concentrations of pollutants in aqueous solution, where common methods are either economically unfavorable or technically complicated.     

(BaTiO3)1-x + (Co0.5Ni0.5Nb0.06Fe1.94O4)x nanocomposites: Structure,morphology, magnetic and dielectric properties

Two phase-based nanocomposites consisting of dielectric barium titanate (BaTiO₃ or BTO) and magnetic spinel ferrite Co_0.5Ni_0.5Nb_0.06Fe_1.94O₄ (CNNFO) have been synthesized through solid state route. Series of (BaTiO₃)_1-x + (Co_0.5Ni_0.5Nb_0.06Fe_1.94O₄)_x nanocomposites with x content of 0.00, 0.25, 0.50, 0.75, and 1.00 were considered. The structure has been examined via X-rays diffraction (XRD) and indicated the occurrence of both perovskite BTO and spinel CNNFO phases in various nanocomposites. A phase transition from tetragonal BTO structure to cubic structure occurs with inclusion of CNNFO phase. The average crystallites size of BTO phase decreases, whereas that for the CNNFO phase increases with increasing x in various nanocomposites. The morphological observations revealed that the porosity is highly reduced, and the connectivity between grains is enhanced with increasing x content. The optical properties have been investigated by UV−vis diffuse reflectance spectroscopy. The deduced band gap energy (E_g) value is found to reduce with increasing the content of spinel ferrite phase. The magnetic as well as the dielectric properties were also investigated. The analysis showed that CNNFO ferrite phase greatly affects the magnetic properties and dielectric response of BTO material. The obtained findings can be useful to enhance the performances of magneto-dielectric composite-based systems.     

Fabrication of co-PVDF/modacrylic/SiO2 nanofibrous membrane: Composite separator for safe and high performance lithium-ion batteries

Highly porous free-standing co-poly(vinylidene fluoride)/modacrylic/SiO₂ nanofibrous membrane was developed using electrically-assisted solution blow spinning method. The performance and the potential of the membrane as a lithium-ion battery separator were investigated. The addition of modacrylic enhanced the solution spinnability that resulted in defect-free membranes. Moreover, the presence of modacrylic enhanced the dimensional and thermal stabilities, while the addition of hydrophilic SiO₂ nanoparticle enhanced both mechanical property and ionic conductivity. Combustion test results illustrated that the presence of modacrylic provide flame retarding property over a set of different polymeric-based membranes. Electrochemical performance results showed that the developed membrane can increase the battery capacity compared with the commercial separator.     

Adaptive three-dimensional cellular genetic algorithm for balancing exploration and exploitation processes

This paper presents a new adaptive algorithm that aims to control the exploration/exploitation trade-off dynamically. The algorithm is designed based on three-dimensional cellular genetic algorithms (3D-cGAs). In this study, our methodology is based on the change in the global selection pressure induced by dynamic tuning of the local selection rate. The parameter tuning of the local selection method is a way to define the global selection pressure. A diversity speed measure is used to guide the algorithm. Therefore, the integration of existing techniques helps in achieving our aims. A benchmark of well-known continuous test functions and real world problems was selected to investigate the effectiveness of the algorithm proposed. In addition, we provide a comparison between the proposed algorithm and other static and dynamic algorithms in order to study the different effects on the performance of the algorithms. Overall, the results show that the proposed algorithm provides the most desirable performance in terms of efficiency, efficacy, and speed for most problems considered. The results also confirm that problems of various characteristics require different selection pressures, which are difficult to be identified.     

A new approach based on a discrete hidden Markov model using the Rocchio algorithm for the diagnosis of heart valve diseases

Abstract: Application of the Doppler ultrasound technique in the diagnosis of heart diseases has been increasing in the last decade since it is non‐invasive, practicable and reliable. In this study, a new approach based on the discrete hidden Markov model (DHMM) is proposed for the diagnosis of heart valve disorders. For the calculation of hidden Markov model (HMM) parameters according to the maximum likelihood approach, HMM parameters belonging to each class are calculated by using training samples that only belong to their own classes. In order to calculate the parameters of DHMMs, not only training samples of the related class but also training samples of other classes are included in the calculation. Therefore HMM parameters that reflect a class's characteristics are more represented than other class parameters. For this aim, the approach was to use a hybrid method by adapting the Rocchio algorithm. The proposed system was used in the classification of the Doppler signals obtained from aortic and mitral heart valves of 215 subjects. The performance of this classification approach was compared with the classification performances in previous studies which used the same data set and the efficiency of the new approach was tested. The total classification accuracy of the proposed approach (95.12%) is higher than the total accuracy rate of standard DHMM (94.31%), continuous HMM (93.5%) and support vector machine (92.67%) classifiers employed in our previous studies and comparable with the performance levels of classifications using artificial neural networks (95.12%) and fuzzy‐C‐means/CHMM (95.12%).     

Prosthetic Hand Finger Control Using Fuzzy Sliding Modes

In order to improve the life quality of amputees, providing approximate manipulation ability of a human hand to that of a prosthetic hand is considered by many researchers. In this study, a biomechanical model of the index finger of the human hand is developed based on the human anatomy. Since the activation of finger bones are carried out by tendons, a tendon configuration of the index finger is introduced and used in the model to imitate the human hand characteristics and functionality. Then, fuzzy sliding mode control where the slope of the sliding surface is tuned by a fuzzy logic unit is proposed and applied to have the finger model to follow a certain trajectory. The trajectory of the finger model, which mimics the motion characteristics of the human hand, is pre-determined from the camera images of a real hand during closing and opening motion. Also, in order to check the robust behaviour of the controller, an unexpected joint friction is induced on the prosthetic finger on its way. Finally, the resultant prosthetic finger motion and the tendon forces produced are given and results are discussed.     

TEM characterization of Ge precipitates in an Al-1.6at% Ge alloy

The growth mechanism and morphology of Ge precipitates in an Al-Ge alloy was characterized by a combination of in-situ transmission electron microscopy, high-resolution transmission electron microscopy and three-dimensional electron tomography. Anisotropic growth of rod-shaped Ge precipitates was observed by in-situ transmission electron microscopy over different time periods, and faceting of the precipitates was clearly seen using high-resolution transmission electron microscopy and three-dimensional electron tomography. This anisotropic growth of rod-shaped Ge precipitates was enhanced by vacancy concentration as proposed previously, but also by surface diffusion as observed during the in-situ experiment. Furthermore, a variety of precipitate morphologies was identified by three-dimensional electron tomography.     

A Model for Cross-Domain Opinion Target Extraction in Sentiment Analysis

Opinion target extraction is one of the core tasks in sentiment analysis on text data. In recent years, dependency parser–based approaches have been commonly studied for opinion target extraction. However, dependency parsers are limited by language and grammatical constraints. Therefore, in this work, a sequential pattern-based rule mining model, which does not have such constraints, is proposed for cross-domain opinion target extraction from product reviews in unknown domains. Thus, knowing the domain of reviews while extracting opinion targets becomes no longer a requirement. The proposed model also reveals the difference between the concepts of opinion target and aspect, which are commonly confused in the literature. The model consists of two stages. In the first stage, the aspects of reviews are extracted from the target domain using the rules automatically generated from source domains. The aspects are also transferred from the source domains to a target domain. Moreover, aspect pruning is applied to further improve the performance of aspect extraction. In the second stage, the opinion target is extracted among the aspects extracted at the former stage using the rules automatically generated for opinion target extraction. The proposed model was evaluated on several benchmark datasets in different domains and compared against the literature. The experimental results revealed that the opinion targets of the reviews in unknown domains can be extracted with higher accuracy than those of the previous works.     

A Novel Contour Tracing Algorithm for Object Shape Reconstruction Using Parametric Curves

Parametric curves such as Bézier and B-splines, originally developed for the design of automobile bodies, are now also used in image processing and computer vision. For example, reconstructing an object shape in an image, including different translations, scales, and orientations, can be performed using these parametric curves. For this, Bézier and B-spline curves can be generated using a point set that belongs to the outer boundary of the object. The resulting object shape can be used in computer vision fields, such as searching and segmentation methods and training machine learning algorithms. The prerequisite for reconstructing the shape with parametric curves is to obtain sequentially the points in the point set. In this study, a novel algorithm has been developed that sequentially obtains the pixel locations constituting the outer boundary of the object. The proposed algorithm, unlike the methods in the literature, is implemented using a filter containing weights and an outer circle surrounding the object. In a binary format image, the starting point of the tracing is determined using the outer circle, and the next tracing movement and the pixel to be labeled as the boundary point is found by the filter weights. Then, control points that define the curve shape are selected by reducing the number of sequential points. Thus, the Bézier and B-spline curve equations describing the shape are obtained using these points. In addition, different translations, scales, and rotations of the object shape are easily provided by changing the positions of the control points. It has also been shown that the missing part of the object can be completed thanks to the parametric curves.