A Minimum Risk Approach for Path Planning of UAVs

In the last years, the Flight Mechanics Research Group of Politecnico di Torino started a wide research activity, focused on exploration and implementation of path planning algorithms for commercial autopilots, typically adopted on unmanned vehicles. Different path planning approaches were implemented in a Matlab/Simulink based tool, generating waypoints sequences with four methods: geometric predefined trajectories, manual waypoints definition, automatic waypoints distribution (i.e. optimizing camera payload capabilities) and, finally, a comprehensive A*-based approach. The tool was also integrated with functions managing the maps used for planning. In this paper, two approaches to path planning in presence of orographic obstacles are detailed. The first algorithm is subdivided in three phases: the generation of a risk map associated with the ground orography, the transformation of the map in a digraph analyzed with the A* algorithm (to obtain the path with minimum risk/minimum distance) and finally the smoothing phase, to obtain a flyable waypoint sequence, realized with the Dubins curves. The structure of this method was defined and implemented, but its optimization is still in progress. The second algorithm is based on the same risk map, but optimizing polynomial curves with a genetic algorithm. This method produces a flyable waypoints sequence, minimizing a cost function reflecting path length and collision risk. An extension of this path solver, including aircraft performance constraints, was also considered. This method was tested on sample domains and its computational cost has still to be evaluated before the implementation in the tool.     

Linear Quadratic Control for Quadrotors UAVs Dynamics and Formation Flight

Cooperative control of Unmanned Aerial Vehicles (UAVs) is currently being researched for a wide range of applications. Applicability of aerial unmanned systems might be increased by formation flight. After a necessary overview of quadrotor flight dynamics and linear quadratic control fundamentals, this control technique is applied to the full quadrotor dynamics. Then the more recent and challenging neural networks based control strategy is introduced from a theoretical perspective and applied to the quadrotor vertical dynamics; the results are compared with the relevant linear quadratic controlled behaviour. Finally, based on the developed single-quadrotor control architectures, a practical leader-follower formation concept is simulated, both for the linear quadratic and the neural networks based approach.     

The Design of GDPR-Abiding Drones Through Flight Operation Maps: A Win–Win Approach to Data Protection,Aerospace Engineering,and Risk Management

Minds and Machines - Risk management is a well-known method to face technological challenges through a win–win combination of protective and proactive approaches, fostering the collaboration...     

Effects of tillage and nitrogen fertilisation on triticale grain yield,chemical composition and nutritive value

BACKGROUND: Given the interest in the development of cultivation systems with low agronomic input and environmental impact, the aim of this study was to determine the influence of tillage system (conventional tillage (CT), two‐layer tillage (TT), surface tillage (ST) and minimum tillage (MT)) and nitrogen (N) fertilisation rate (0, 50 and 100 kg ha^?1) on triticale grain and protein yields, chemical composition and nutritive value. RESULTS: There were no significant differences among tillage treatments in grain and protein yields. ST resulted in significantly higher crude protein (CP) and true soluble protein (TSP) contents as well as in vitro crude protein digestibility (CPD). Neutral detergent fibre concentration was significantly higher with ST than with MT, and this led to a small reduction (2 g kg^?1 dry matter (DM)) in in vitro true DM digestibility (IVTDMD). N fertilisation significantly increased grain and protein yields as well as CP, non‐protein nitrogen and TSP contents and CPD. IVTDMD was significantly lower with 0 kg N ha^?1 than with 50 and 100 kg N ha^?1. CONCLUSION: Reducing tillage intensity improved the CP content and CPD of triticale grain. The application of 50 kg N ha^?1 resulted in good grain quality parameters and grain and protein yields. Copyright © 2010 Society of Chemical Industry     

In vitro fermentation kinetics of carbohydrate fractions of fresh forage,silage and hay of Avena sativa

The objective of this experiment was to evaluate the influence of preservation methods on the fermentation kinetics of carbohydrate fractions of fresh forage, hay and silage of oats, which have been harvested at the milky stage of grain ripening. Samples of unfractionated forage (WF), residue insoluble in 90% ethanol (EIR) and isolated neutral detergent fibre (NDF) were fermented in vitro and the gas production was monitored. To obtain the gas production and fermentation kinetics of the ethanol‐soluble fraction (A fraction) the gas produced from the EIR fermentation was subtracted from the WF gas at each time point. The same approach was used to obtain the gas production and fermentation kinetics of the fraction insoluble in 90% ethanol but soluble in neutral detergent solution (B₁ fraction), by subtracting the isolated NDF gas curve from the corresponding EIR curve. The fractional maximum rate of gas production (R_M) was lower for both preserved forages (p < 0.01 for silage; p < 0.05 for hay) than for fresh forage. Ensiling did not change the size of the A fraction but reduced by 40% its R_M (p < 0.01) compared with fresh forage. The potential gas production from the B₁ fraction and its R_M were reduced by 19% (p < 0.01) and 44% (p < 0.05), respectively. R_M of both A and B₁ fractions was the same for hay and fresh forage. The curve subtraction technique may be used to obtain an estimation of the rate for neutral detergent‐soluble fractions and to determine changes due to ensiling and haymaking on the rate of gas produced. Copyright © 2005 Society of Chemical Industry     

In vitro degradability of three forages: fermentation kinetics and gas production of NDF and neutral detergent‐soluble fraction of forages

The fermentation of the neutral detergent‐soluble (NDS) fraction of three forages (alfalfa hay, Italian ryegrass + oats hay and corn silage) was measured using a curve subtraction technique with in vitro gas production data from the whole forage (WF) and the isolated neutral detergent fibre (NDF). NDF disappearance and volatile fatty acid (VFA) production were determined. There was no significant difference between the VFA patterns from the whole forage and the isolated NDF. There were significant (P < 0.001) linear correlations between the volume of gas and moles of VFA produced and the mass of fibre digested in the NDF samples. Using the monophasic curve model, maximum gas production rates (R_M) for the whole forages and the isolated NDF and NDS fractions can be calculated. For all three forages we obtained R_M‐NDS > R_M‐WF > R_M‐NDF. Trends in the rates of gas and VFA production were similar in the whole forages. The NDF showed a high superimposition between substrate degradability and VFA production. Our experiment confirmed the curve subtraction technique as a simple method to obtain information on the size and digestion kinetics of the NDS fraction, which helps in understanding the nutritional significance of this important fraction of the forages studied. © 2001 Society of Chemical Industry     

Subcritical water extraction of thyreostats from bovine muscle followed by liquid chromatography-tandem mass spectrometry

Thyreostats can be used fraudulently to promote a rapid increase in weight of breeding animals at low cost. Their severe toxicological effects impose the development of reliable analytical methods to be used in monitoring plans. This work describes an alternative approach to isolate residues of thiouracil, methyl-thiouracil, propyl-thiouracil, phenyl-thiouracil, tapazole and mercaptobenzimidazole from bovine muscle tissue. The developed procedure is based on the following three steps: i) matrix solid-phase dispersion with C₁₈ for the preliminary sample preparation; ii) subcritical water extraction (SWE) at 160°C and 100 bar; iii) clean-up on an Oasis HLB cartridge. The quantitative determination was performed by LC-MS/MS in dual polarity ionization by using internal standardization. The SWE-LC-MS/MS method was validated according to the identification criteria of the Commission decision 2002/657/EC. The relative recoveries ranged from 72 to 97%; within-lab reproducibility was less than 18%. The decision limit and the detection capability of all analytes were below the recommended concentration, set at 10 µg kg^?1, but the validation results demonstrated that this method could only be applied for screening of thiouracil and methyl-thiouracil.

Besides the analytical advantages related to the use of water as solvent extraction, the procedure allowed significant removal of lipids, whose detrimental effects on instrumentation and MS sensitivity are well-known.