This paper addresses an optimization of Unmanned Aerial Vehicle (UAV) flight trajectories by bank-turn mechanism for a fixed-wing UAV at a constant altitude. The flight trajectories should be optimal and stay in the UAV flight operational area. The maneuver planning is conducted in two steps, which are UAV path planning and UAV flight trajectory planning. For the first step, the Bezier curve is employed as a maneuvering path. The path planning optimization objective is to minimize the path length while satisfying maximum curvature and collision avoidance constraints. The flight trajectories optimization objective is to minimize maneuvering time and load factor considering, minimum/maximum speed, minimum/maximum acceleration, maximum roll angle, maximum turn rate, and aerodynamics constraints. The variable speed trajectory generation is developed within allowable speed zone considering these UAV flight constraints by employing meta-heuristic optimizations. Results show that the PSO have outperformed the GA and the GWO for both steps of path planning and trajectory planning. The variable speed has succeeded in reducing the load factor during the bank-turn mechanism using the Bezier curve. The variable speed is recommended to be conducted when the result of the maneuvering path involve the lower turning radius. A simultaneous on arrival target mission has also succeeded to be conducted using the combination of the variable speed and constant speed strategies.

Nonlinear dynamics have become a new perspective on model human movement variability; however, it is still a debate whether chaotic behavior is indeed possible to present during a rhythmic movement. This paper reports on the nonlinear dynamical behavior of coupled and synchronization models of a planar rhythmic arm movement. Two coupling schemes between a planar arm and an extended Duffing-Van der Pol (DVP) oscillator are investigated. Chaos tools, namely phase space, Poincare section, Lyapunov Exponent (LE), and heuristic approach are applied to observe the dynamical behavior of orbit solutions. For the synchronization, an orientation angle is modeled as a single well DVP oscillator implementing a Proportional Derivative (PD)-scheme. The extended DVP oscillator is used as a drive system, while the orientation angle of the planar arm is a response system. The results show that the coupled system exhibits very rich dynamical behavior where a variety of solutions from periodic, quasi-periodic, to chaotic orbits exist. An advanced coupling scheme is necessary to yield the route to chaos. By modeling the orientation angle as the single well DVP oscillator, which can synchronize with other dynamical systems, the synchronization can be achieved through the PD-scheme approach.

This paper presents self-motion behaviors of 3-DOF planar robotic arm when it tracks a predefined end-effector path. In this case, the self-motion contributes to geometry of a motion envelope. The Bezier curve degree fifth is utilized as the tracked path. Different geometry of the motion envelope can be used to avoid collision while it also follows the tracked path accurately. A theta global as closed form solution of 3-DOF planar robot is modeled as a polynomial degree sixth. A Genetic Algorithm (GA) as one of meta-heuristic optimizations is used to find optimal solution of the path planning approach. An effect of initial and final joint angles in the robotic arm motion is also investigated. The theta global trajectories are also possible to contain an imaginary number. The imaginary number of the theta global trajectories can be used as a sign that position errors are present and the trajectories need to be repaired using the self-motion analysis.