The construction of a six-degree-of-freedom (6-DOF) model for the composite motion of the actual mechanical structure (defined as an all-true composite motion model) of unmanned aerial vehicles (UAVs) is a prerequisite for achieving stable control of rotorcraft UAVs. Therefore, this paper proposes a construction approach for a nonlinear 6-DOF model of quadrotor and dual-rotor coaxial UAVs based on all-true composite motion. Two types of attitude–altitude control systems for rotorcraft based on a self-optimizing intelligent proportional–integral–derivative (PID) control method are constructed. Three-dimensional geometric models of the two rotorcraft types, incorporating their physical characteristics, are built. The attitude responses to different pulse width modulation (PWM) inputs are tested, thereby verifying the accuracy of the all-true composite model and analyzing the stability of the two types of UAVs. Furthermore, two types of attitude–altitude control inner loop controllers are designed, and the intelligent PID control algorithm is used to optimize the control parameters. Further verification of the robustness of the optimized parameters is carried out, and the designed attitude controllers are verified via experiment using a turntable. The simulation and experimental results show that the proposed all-true composite motion model and controller design method can accurately simulate the dynamic characteristics of the two types of UAVs and maintain stable attitude control, thus providing a valuable reference for the accurate attitude control of rotorcraft UAVs based on all-true composite motion.

Thermal comfort studies are paramount in enhancing future urban living conditions, and hemispherical photography has emerged as a widely employed field measurement technique in outdoor thermal comfort research. This comprehensive review systematically analyzed 142 outdoor thermal comfort studies conducted over the past decade using hemispherical photography methods, revealing that its primary application lies in objectively describing environmental information and constructing associated indices. In contrast, the number of studies focusing on subjectively assessing environmental factors remains relatively low; however, it is rapidly increasing due to its demonstrated effectiveness and convenience compared to other methodologies within this domain. Overall, despite certain limitations, such as higher labor costs and limited temporal/spatial coverage when describing environmental information, hemispherical photography still retains its advantage of providing accurate data acquisition for outdoor thermal comfort research. In recent years, advancements in mobile measurement tools and techniques have enhanced the richness and versatility of acquired information while leveraging the image specificity inherent to hemispherical photography, which continues to play a pivotal role in subjective assessments related to human perception of outdoor thermal comfort.

Regarding the airfoil optimization design of multi-rotor unmanned aerial vehicles, this paper proposes an integral airfoil design method based on upper airfoil contour optimization. Firstly, by designing concave descent input curves with 0-1 distribution, the upper arc of different optimized airfoils is obtained using the Tangent circles method. Secondly, an integral airfoil generation method is developed after establishing the middle arc. As the upper and lower arcs of different shapes are randomly combined, various airfoil profiles are obtained by random assortment. Finally, the effectiveness and accuracy of the designed airfoil are validated through Python programming. The airfoil is generated by the XFOIL program, and the optimal airfoil is output with a lift-to-drag ratio as the target. Meanwhile, an accurate Fluent analysis model is established, and a comparison verification is conducted on the data with the attack angle falling within [-8.02, 12.04] and lift-to-drag ratio falling within [-50, 100]. After Fluent modeling of the designed airfoil, the Euclidean distance between the calculated angle-lift-drag ratio data curve and the data curve tested by the wind tunnel is 0.0331, while the Euclidean distance between the simulated data in the literature and the wind tunnel data is 0.0408. It indicates that our precise model achieves 18.9% higher accuracy than the literature model. Testing and verification results indicate that our designed airfoil based on upper arc optimization and its corresponding airfoil library can meet the design requirements for the aerodynamic performance of airfoils in practical applications. It provides a valuable reference for the development of airfoil design, optimization, and generation methods.