The aerospace industry needs to be provided with system solutions to technologically challenging and mission-critical problems. Based on the industrial control point of view, development engineers must take costs and existing standards into account in order to effectively design, implement, and deploy control systems with reasonable costs. The customization and reusability are important factors associated with the production of new applications in order to reduce their costs, resources, and development time. In this work, the Model-Driven Architecture (MDA)/Model-Based Systems Engineering (MBSE) approach combined with the real-time Unified Modeling Language (UML)/Systems Modeling Language (SysML), Unscented Kalman Filter (UKF) algorithm, and hybrid automata is specialized to obtain a hybrid control model in order to conveniently deploy controllers of Quadrotor Unmanned Aerial Vehicles (Q-UAVs). This hybrid control model also provides a real-time capsule pattern, which allows the designed elements to be customizable and reusable in new applications of various multirotor UAVs of the Vertical Take-Off and Landing (VTOL) type. The Q-UAV dynamics and control architecture are combined with the MDA/MBSE specialization as follows: the Computation Independent Model (CIM) is defined by specifying the use-case model together with the UKF algorithm and hybrid automata to intensively gather the control requirements. The Platform Independent Model (PIM) is then designed by specializing the real-time UML/SysML’s features to obtain the main control capsules, ports, and protocols, together with their dynamic evolution. The detailed PIM is subsequently transformed into the PSM by open-source platforms to rapidly implement and deploy the Q-UAV controller. The paper ends with trial flights and deployment results that show good feasibility to be used for a trajectory-tracking controller of a low-cost Q-UAV. In this case study, the Q-UAV controller is implemented with the simulation model in the OpenModelica tool. The obtained simulation results then allow the main control elements and their properties to be defined, as well as building the implementation libraries in the Arduino environment based on C++ language to quickly perform the realization model in the ATMEGA32-U2 and STM32 Cortex-M4 microcontrollers.

In this paper, we present our research on applying the commercial Computational Fluid Dynamics (CFD) code to investigate interaction effect between hull and accommodation on wind drag acting above the water hull surface of a full scale 1200 TEU container ship. With this purpose, aerodynamic performances and wind drag acting on the ship hull with and without accommodations have been computed. Analyzing the obtained CFD results, the interaction effect between hull and accommodation on aerodynamic performances and wind drag acting on the ship have been found. Various new accommodation shapes have been proposed for the original ship to reduce the interaction effect on wind drag. A drastic reduction in the interaction effect between hull and accommodation on wind drag acting on the ship has been achieved and the obtained results have been shown in this paper.

In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), the real-time unified modeling language (UML)/systems modeling language (SysML), the extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, and it can be reused for designing controllers of various AUV types. The dynamic model and control structure of AUVs were combined with the specialization of MDA concepts as follows. The computation-independent model (CIM) was specified by the use-case model combined with the EKF/UKF algorithms and hybrid automata to intensively gather the control requirements. Then, the platform-independent model (PIM) was specialized using the real-time UML/SysML to design the capsule collaboration of control and its connections. The detailed PIM was subsequently converted into the platform-specific model (PSM) using open-source platforms to promptly realize the AUV controller. On the basis of the proposed hybrid model, a planar trajectory-tracking controller, which allows a miniature torpedo-shaped AUV to autonomously track the desired planar trajectory, was implemented and evaluated, and shown to have good feasibility.

Robot simulation has developed quickly in recent decades. Along with the development of computer science, a lot of simulation soft-wares have been created to perform many purposes such as studying kinematic, dynamic, and off-line program to avoid obstacle on manipulator robots. The main objective of this study is therefore to analyze kinematic, dynamic characteristics of an R-R robotic manipulator in order to control this robot. Newton-Euler method was used to calculate the torque acting on each joint of the robot. Then, a numerical model of the robot was established by a multi-body dynamics software to compare with the results obtained by Newton-Euler theory. After that, a feed-forward control system was created by RecurDyn/CoLink to control the end-effector of the robot following a desired trajectory. The results showed that this research can be used for efficient simulation of structural kinematics, dynamics as well as control of the real manipulator robot with the robot structure in a virtual environment.