Oktay, Tugrul; Kose, Oguz; Sal, Firat; Kocamer, Abdullah

In this conference paper autonomous flight performance maximization of a morphing vertical take-off and landing (i.e., VTOL) drone is considered by using stochastic optimization approach. For flight control system a PID based hierarchical control system is applied. In this paper PID controller which is used for pitch angle is considered. In this research only longitudinal flight and longitudinal control system is evaluated during aircraft mode where the pitch motion is in primary interest and the used control surface is the elevator of VTOL drone. For optimization approach simultaneous perturbation stochastic approximation (i.e., SPSA) is chosen. It is fast and safe in stochastic optimization problems when it is not possible to evaluate gradient analytically. At the end of this paper a cost function consisting terms such that settling time, rise time and overshoot is minimized. A detailed graphical analysis is made in order to better evaluate effect of morphing on longitudinal flight of a morphing vertical take-off and landing drone flight. Moreover, the cost function consists of rise time, settling time, and overshoot during trajectory tracking.

Oktay, Tugrul; Kose, Oguz; Sal, Fırat; Ozen, Enes

In this conference paper autonomous flight performance maximization of a morphing decacopter is considered by using stochastic optimization approach. For flight controller a PID based hierarchical control system is chosen. In this paper PID controller which is used for pitch angle is considered. In this application only longitudinal flight and longitudinal autopilot is considered where the pitch motion is in primary interest and the used controller is the pitch control. For optimization technique simultaneous perturbation stochastic approximation (i.e., SPSA) is selected. It is fast and safe in stochastic optimization problems when it is not possible to evaluate gradient analytically. At the end a cost function consisting terms that settling time, rise time and overshoot is minimized. A detailed graphical analysis is done in order to better present effect of morphing on longitudinal flight of decacopter flight. Moreover, the cost function consist of rise time, settling time, and overshoot during trajectory tracking.

Karagoz-Sahin, Yurdagul; Bozkurt, Mehmet Recep; Kilic, Elcin

EOG signals are used for diagnosing of various eye diseases and dysfunctions and eye movement monitoring in neurological disorders. It has also been used as a source signal for various electronic systems and human-machine interfaces, especially in recent years, since the movements of the eye in the horizontal and vertical axis and blinking movements can be detected by EOG. In using EOG signals as source signals, it is necessary to analyze this signal and use various features extracted from the signal. In this study, EOG signals from one of the authors were used with the Biopac MP30 device within the scope of the Sakarya University Electrical and Electronics Engineering, Biomedical Laboratory course. EOG signs were used in four classes looking up, down, right and left. Scalogram matrices are extracted for each movement in the EOG signals with the continuous wavelet transform. As a result of the imaging of the scalogram matrices, it was seen that there were significant differences in the images of the four classes. It is predicted that the results of the analysis made on the images can improve the accuracy rates in classification systems according to one-dimensional analysis methods when used together with expert systems.