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Design of a PID Flight Control System for an MAV having a Side-force Fin
Yoshimasa Ochi,Hiroyuki Kondo,Nobuhiro Yokoyama,Hideo Adachi,Natsuki Kondo,Toshiaki Yamashita,Takanari Arai 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
This paper describes dynamic properties and a night control system of an MAY (mini aerial vehicle) hal ing a side-force fin. We are developing a nonlinear model of the MAY through flight/wind tunnel experiments and CFD anal) sis. A linear model is obtained from the current nonlinear model. Using the linear model, we have designed a !light control system (FCS) that controls the altitude, forward speed, roll angle. and heading angle with thrust. elevator. aileron. and the sideforce fin. respectively. The side-force fin produces direct side-force that achieves skid-to-turn without bank in cooperation with the aileron. The FCS is designed as a PID control system, whose gains are determined based on the integral-type optimal servo, Although the design method has theoretically not been established, it provides PID gains via a simple design procedure and its usefulness and effectiveness have been proved through various design examples, Also in this study, computer simulation and analysis demonstrate how the FCS works.
Akiko Kuwabara,Naoko Tsugawa,Hiroshi Kondo,Misora Ao,Hitomi Fujiwara,Natsuki Hosokawa,Shiho Matsumoto,Kiyoshi Tanaka,Tetsuo Nakano 대한골다공증학회 2017 Osteoporosis and Sarcopenia Vol.3 No.1
Objectives: One of the important risk factors of falling is decreased muscle mass and muscle strength. Recently, there has been an increasing concern on the role of vitamin D in muscle strength and physical activity. Aim of our study is to examine the relationships between vitamin D status and muscle mass and muscle strength in middle-aged healthy adults. Methods: Subjects were 40 healthy volunteers aged 42.0 ± 10.6 years old. Evaluation was made for serum vitamin D3 metabolites including 25- hydroxyvitamin D3 [25(OH)D3] and 24,25-dihydroxyvitamin D3 [24,25(OH)2D3] concentrations, lower limb muscle strength, and dietary intake by food frequency questionnaire. Body composition was measured by dual-energy X-ray absorptiometry (DXA), and appendicular skeletal mass index (ASMI) was calculated as skeletal muscle mass/squared height. Results: 70% of the subjects had vitamin D insufficiency/deficiency (serum total 25(OH)D < 20 ng/mL), and female subjects had significantly lower serum total 25(OH)D level compared with males. Vitamin D insufficiency/deficiency group had significantly higher body fat, lower SMI and muscle strength, probably reflecting higher percentage of female subjects. Serum vitamin D3 metabolites levels were significantly correlated with whole and site-specific ASMI, and lower limb muscle strength, except for the correlation between serum 24,25(OH)2D3 concentration and lower limb muscle strength. In addition, serum 25(OH)D3 level was a positive significant predictor for both ASMI and lower limb muscle strength, while serum 24,25(OH)2D3 level was not their significant predictor. Conclusions: Serum 25(OH)D3 level was significantly correlated with both skeletal muscle mass and lower limb muscle strength.
VTOL mode controller for a mini-UAV having a side-force fin
Shinichi Hashimoto,Nobuhiro Yokoyama,Yoshimasa Ochi,Hideo Adachi,Natsuki Kondo,Toshiaki Yamashita,Takanari Arai 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
A UAV (Unmanned Aerial Vehicle) currently developed by the authors is a kind of flying wing. One of features of the UAV is its capability of vertical takeoff and landing as a tail-sitter. Thus, it is possible to operate it flexibly by reducing the space restrictions on the takeoff and landing. In this work, we designed a gain-scheduled controller for the vertical takeoff and landing, which can vary the control gain in accordance with the varying state of the vehicle. We applied a method that solves Lyapunov stability conditions on all the design points simultaneously by using linear matrix inequalities (LMI). The effectiveness of the controller is demonstrated through the numerical simulations.