/library/oar/handle/123456789/11957 Fri, 26 Dec 2025 14:59:17 GMT 2025-12-26T14:59:17Z /library/oar/handle/123456789/12253 Title: An autopilot system for a quadrotor Abstract: This thesis focused on the study of a quadrotor vehicle. It introduces the basic movements that can be performed by a symmetrical quadrotor during flight followed by a derivation of a mathematical model using the Newton-Euler formalism. Based on this dynamic model, a set of equations were used to simulate the system and design linear controllers to control the roll, pitch, yaw and height. A platform was developed using the necessary components and electronics. To finalize the simulation, the parameters of the quadrotor and its components were obtained either experimentally or mathematically. The quadrotor was tested and tuned on stands which allow it to rotate on the axis that is being tested. Finally it was tested in indoor flights. The attitude controllers performed as desired within a small error band while the height controller performed in a larger but acceptable error band. This allowed for stable autonomous flight with the possibility of performing manoeuvres to change the position of the quadrotor. Description: B.ENG.(HONS) Fri, 01 Jan 2016 00:00:00 GMT /library/oar/handle/123456789/12253 2016-01-01T00:00:00Z /library/oar/handle/123456789/12252 Title: An industrial cable insulation tester Abstract: The chemical industry monitors the acidity and alkalinity of aqueous solutions. The high impedance pH and redox electrochemical cells used for monitoring output a weak signal dependant on the hydrogen ion concentration over high performance, low noise coaxial cables. These cables are a critical part of the metering system, sometimes carrying these delicate signals over distances of 20m. The independent performance of these cables must therefore be tested and verified before shipping to the end user. The development of this project sought to explore different insulation resistance measurement techniques such that a high accuracy and precision reading may be achieved. The final design consisted of a multi-channel cable test rig with the capability of repeatable readings of insulation leakage currents on the order of tens of picoamps. Furthermore, a variety of cables connector assemblies can be tested to check the continuity of the cable by means of a loop-back test. The sensitive current measuring analogue circuit is prone to error caused by moisture, dirt, noise and low resistance insulators which required careful board layout and routing techniques as well as environmental and electromagnetic shielding. Analogue to digital conversion is performed using a 12-bit ADC and processed by a 16-bit microcontroller. Test results are then displayed on an LCD and LEDs to the operator in order to achieve a clean and simple user interface. The final system is to be integrated into the production line for pH probe cables for ProMinent Fluid Controls Ltd. Description: B.ENG.(HONS) Fri, 01 Jan 2016 00:00:00 GMT /library/oar/handle/123456789/12252 2016-01-01T00:00:00Z /library/oar/handle/123456789/12246 Title: Collision avoidance system for RPAS Abstract: Remote Piloted Aircraft Systems (RPAS) are becoming increasingly popular on the market. Despite of this, there is currently no Collision Avoidance System (CAS) designed specifically for RPAS. To reap the full benefits of RPAS by introducing them in civil airspace, a collision avoidance system specifically designed for RPAS must be developed. The scope of this project is to develop a CAS for RPAS, as a last resort safety net, to detect and avoid imminent mid-air collisions with other aircraft. This will be done by issuing a Resolution Advisory (RA) to the pilot if there is a significant probability of collision. The CAS developed in this project aims to keep the amount of RAs to a minimum while allowing the pilot sufficient time to act on the RA and avoid a collision. The CAS is based on the Markov Decision Process (MDP) algorithm. This allows for most of the computations to be performed off-line, allowing for negligible online computation on-board the RPAS. A lookup table, referred to as the policy, was used on-board the RPAS to determine the best RA based on the current system state. Fast time simulations were used to test and validate the algorithm. With the performance evaluation performed, a RPAS equipped with a MDP-CAS algorithm achieved a Near Mid-Air Collision (NMAC) reduction of 93.86 per cent when compared to an RPAS with no CAS equipment. Description: B.ENG.(HONS) Fri, 01 Jan 2016 00:00:00 GMT /library/oar/handle/123456789/12246 2016-01-01T00:00:00Z /library/oar/handle/123456789/12245 Title: The use of microcontrollers to change control of Gozo ferry boats from two stick to a single stick control system Abstract: Ferry boats with frequent short trips are required to be highly maneuverable and so the control stick movement has to be mentally easy and correspond to the required actions of the ferry. Currently, the three modern Gozo Ferry Boats used by Gozo Channel Company Limited employ a two-stick control system in order to control their four azimuth thrusters to obtain the required ship maneuvers. The proposed control system described in this dissertation makes use of a single 4-axis joystick to achieve all the control combinations required to maneuver such ferries. This would essentially reduce the amount of shifting required and would enable the maneuvering of the ferry boat with minimal effort. A watercraft model that can be controlled remotely through radio control was constructed, such that through the combination of microcontrollers and sensors on the stick, a working proposition that proves the point that a single control stick is more intuitive than the twostick system available on the Gozo Ferry Boats is presented. Through the use of a single 4-axis joystick, the watercraft model can move ahead and astern, move sideways, rotate on the same spot and perform a combination of these possibilities. All these combinations were achieved through the use of two dc propulsion motors and two servo-controlled rudders located at the bow and stern of the model ship. Two Proportional-Integral speed loops, obtaining their feedback from optical rotary speed encoders, were implemented so as to regulate and control the speed of the two dc brushed motors used. A Global Positioning System (GPS) receiver and other navigational sensors were also incorporated in the system, such that the watercraft model could be navigated from one location to another autonomously. A number of waypoints, which can be set by the user through software, control the trajectory of the model when this system is engaged. This can be used to override the captain when necessary. The system was thoroughly tuned and tested so as to evaluate its performance and confirm its compliance with the project‟s objectives. Some possible future enhancements that can be merged into the system in order to add more features and achieve better accuracy are also proposed in this dissertation. Description: B.ENG.(HONS) Fri, 01 Jan 2016 00:00:00 GMT /library/oar/handle/123456789/12245 2016-01-01T00:00:00Z