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This paper aims to present assessment of models and simulation results used in the development process of flight stabilisation system that uses trim tabs for PZL-130 Orlik turboprop military trainer aircraft. Flight test of the system allowed to compare software and hardware simulation results with real flight recordings.

Proposed flight stabilisation system was developed using modern techniques of model-based design, automatic code generation, software and hardware in the loop testing. The project reached flight testing stage which allowed to gather data to verify models and simulation results and asses their quality.

Results of the comparison showed that the trim tab actuator model used in simulation can be improved by adding play. This reduced the difference between simulation and real flight system output – actuator angle. The influence of airloads on the flying actuator angle compared to hardware in the loop simulation in lab is less than ± 0.6°.

Proposed flight stabilisation system that uses trim tabs has several benefits over classic automatic flight system in terms of weight, energy consumption and structure simplicity and does not need aircraft primary control modification. It was developed using modern techniques of model-based design, automatic code generation and hardware in the loop simulations.

The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with time-delay in 3-dimensional space prior to space robot being launched.

To implement the approaching and capturing task, a motion planning method for visual servoing the space manipulator to capture a moving target is presented. This is mainly used to solve the time-delay problem of the visual servoing control system and the motion uncertainty of the target satellite. To verify and test the feasibility and reliability of the method in three-dimensional (3D) operating space, a set of ground hardware-in-the-loop simulation verification systems is developed, which adopts the end-tip kinematics equivalence and dynamics simulation method.

The results of the ground hardware-in-the-loop simulation experiment validate the reliability of the eye-in-hand visual system in the 3D operating space and prove the validity of the visual servoing motion planning method with time-delay compensation. At the same time, owing to the dynamics simulator of the space robot added in the ground hardware-in-the-loop verification system, the base disturbance can be considered during the approaching and capturing procedure, which makes the ground verification system realistic and credible.

The ground verification experiment system includes the real controller of space manipulator, the eye-in-hand camera and the dynamics simulator, which can veritably simulate the capturing process based on the visual servoing in space and consider the effect of time delay and the free-floating base disturbance.

Fault tolerant control surface actuation of unmanned aerial systems with take-off weights below 150 kg offers new design challenges due to limitations in mass, weight and cost. Conventional redundancy concepts need to be amended by smart operational strategies, enhanced sensor data provision and advanced failure mitigation. The paper aims for the design of a hardware-in-the-loop platform that enables the model-based development, verification, performance analysis and safety assessment of redundant and smart electromechanical actuators.

The hardware-in-the-loop platform was developed on the basis of various requirements and upcoming certification needs. One major aspect is the close relationship between model-based design approaches and the ability to keep hardware prototypes in the loop during the entire development process using virtual actuator control electronics.

The platform has proven to deliver valuable results during development of hardware and software prototypes. By its high flexibility and modularity, it has shown to be a versatile, attractive and cost-efficient alternative to conventional hardware-in-the-loop environments.

The presented simulation environment allows operating the components under realistic conditions by offering a control surface setup with redundant electromechanical actuators and a torque machine for hinge load simulation. It supports active–active, active–passive and single actuator operations to examine force-fighting phenomena, performance measurements and the exposure to actuator and control surface hardware faults.

The presented simulation environment provides precise knowledge about the behaviour of all involved components within all states of flight as well as mission and failure scenarios that are required during design, implementation and testing of fault tolerant actuation systems.

This paper presents an overview on the Auto‐ID (Automatic Identification) technologies testbed that has been established at the University of Missouri‐Rolla (UMR) with the objective of supporting research, development, and implementation of Auto‐ID technologies in network‐centric manufacturing environments.

UMR's Auto‐ID testbed uses a unique hardware‐in‐the‐loop simulation methodology, which integrates decision‐making model development with the design of networking topology and data routing/scheduling schemes, in order to develop, test, and implement viable Auto‐ID solutions. The methodology is founded on a 3‐level integrated model: controller simulation, distributed controller simulation, and distributed controller simulation with hardware‐in‐the‐loop.

This paper discusses two case studies that highlight the effective use of RFID technology, its potential advantages, challenges, and deficiencies stemming from particular applications. These applications include dock doors, automated guided vehicles, conveyor and automated storage/retrieval systems, integration of RFID middleware with programmable logic controllers, and inventory management of time‐sensitive materials.

The paper presents an innovative idea: hardware‐in‐the‐loop simulation methodology to design automation systems. The approach has been implemented on a variety of applications, which are presented in the paper as case studies.

The purpose of this paper is to develop an easily implemented and practical stabilizing strategy for the hardware-in-the-loop (HIL) system. As the status of HIL system in the ground verification experiment for space equipment keeps rising, the stability problems introduced by high stiffness of industrial robot and discretization of the system need to be solved ungently. Thus, the study of the system stability is essential and significant.

To study the system stability, a mathematical model is built on the basis of control circle. And root-locus and 3D root-locus method are applied to the model to figure out the relationship between system stability and system parameters.

The mathematical model works well in describing the HIL system in the process of capturing free-floating targets, and the stabilizing strategy can be adopted to improve the system dynamic characteristic which meets the needs of the practical application.

A method named 3D root-locus is extended from traditional root-locus method. And the improved method graphically displays the stability of the system under the influence of multivariable. And the strategy that stabilize the system with elastic component has a strong feasible and promotional value.

This paper aims to propose an improved and computationally efficient motion simulation of a flexible variable sweep aircraft.

The motion simulation is performed on hardware-in-the-loop simulation setup using 6 degree-of-freedom motion platform. The dynamic model of a flexible variable sweep aircraft, Rockwell B-1 Lancer is presented using equations of motions for combined rigid and flexible motions. The peak filter is introduced as a new method to separate flexible motion from aircraft motion data. Standard adaptive washout filter is modified and redesigned for an accurate flexible aircraft flight simulation. The flight data are generated using FlightGear software. Another motion profile with significant oscillations is also tested. The peak filter and the modified adaptive washout filter both are used to process the data according to the motion envelop of motion platform.

The performance of the modified adaptive washout filter is evaluated using hardware-in-the-loop simulation setup and results are compared with the standard adaptive washout filter. Results exhibit that the proposed method is computationally cost-effective and improves the motion simulation of flexible aircraft with close to realistic motion cues.

The proposed work presents motion simulation of a flexible aircraft by introducing a peak filter to extract flexible motion in contrast to the traditional motion separation methods. Also, a modified adaptive washout filter is designed and implemented in place of the traditional washout filters for improved flexible aircraft flight motion simulation.

A high-fidelity simulation platform helps to verify the feasibility of the controller and reduce the cost of subsequent experiments. Therefore, this paper aims to design a high-fidelity hardware-in-the-loop (HIL) simulation platform for the tail-sitter vehicles.

The component breakdown approach is used to develop a more reliable model. Thruster dynamics and ground contact force are also modeled. Accurate aerodynamic coefficients are obtained through wind tunnel tests. This simulation system adopts a mode transition method to achieve continuous simulation for all flight modes.

Simulation results are in good agreement with the flight log and successfully predict the state of the vehicle.

First, the effects of the propeller slipstream are considered. Second, most researchers ignore the parasitic drag caused by the landing gear and other appendages, which is discussed in this study. Third, a ground contact model is implemented to allow a realistic simulation of the takeoff and landing phases. Fourth, complete wind tunnel tests are conducted to obtain more accurate aerodynamic coefficients. Finally, a mode transition method is deployed in the HIL simulation system to achieve continuous simulation for all flight modes.

The purpose of this paper is to present the development of hardware‐in‐the‐loop simulation (HILS) for visual target tracking of an octorotor unmanned aerial vehicle (UAV) with onboard computer vision.

HILS for visual target tracking of an octorotor UAV is developed by integrating real embedded computer vision hardware and camera to software simulation of the UAV dynamics, flight control and navigation systems run on Simulink. Visualization of the visual target tracking is developed using FlightGear. The computer vision system is used to recognize and track a moving target using feature correlation between captured scene images and object images stored in the database. Features of the captured images are extracted using speed‐up robust feature (SURF) algorithm, and subsequently matched with features extracted from object image using fast library for approximate nearest neighbor (FLANN) algorithm. Kalman filter is applied to predict the position of the moving target on image plane. The integrated HILS environment is developed to allow real‐time testing and evaluation of onboard embedded computer vision for UAV's visual target tracking.

Utilization of HILS is found to be useful in evaluating functionality and performance of the real machine vision software and hardware prior to its operation in a flight test. Integrating computer vision with UAV enables the construction of an unmanned system with the capability of tracking a moving object.

HILS for visual target tracking of UAV described in this paper could be applied in practice to minimize trial and error in various parameters tuning of the machine vision algorithm as well as of the autopilot and navigation system. It also could reduce development costs, in addition to reducing the risk of crashing the UAV in a flight test.

A HILS integrated environment for octorotor UAV's visual target tracking for real‐time testing and evaluation of onboard computer vision is proposed. Another contribution involves implementation of SURF, FLANN, and Kalman filter algorithms on an onboard embedded PC and its integration with navigation and flight control systems which enables the UAV to track a moving object.

This paper seeks to present a fully digital, real‐time (RT) hardware‐in‐the‐loop (HIL) simulator on PC‐cluster, of electric systems and drives for research and education purposes; to use the developed system to conduct several motor drives implementation and to evaluate the motor and the control algorithm performance in RT.

This simulator was developed with the aim of meeting the simulation needs of electromechanical drives and power electronics systems while solving the limitations of traditional RT simulators. This simulator has two main subsystems, software and hardware. The two subsystems were coordinated together to achieve the RT simulation. The software subsystem includes MATLAB/Simulink environment, a C++ compiler and RT shell. The hardware subsystem includes FPGA data acquisition card, the control board, the sensors, and the controlled motor.

The complexity of RT implementation of motor drives is greatly reduced by utilizing this simulator. The detailed operation and implementation of this simulator are presented, together with test results and comparisons with simulated virtual environment for a permanent magnet dc and induction motors (IM). The simulator performance is adequate for both open and closed loops motor drives. The simulation time step is limited by the system Master/Target CPU's speed, the communication network type, and the complexity of the control algorithm.

A typical application for this system is to select and evaluate the performance of electric motors for a hybrid electric vehicle in a real vehicle environment without actually installing that component in the real vehicle.

The use of the developed RT simulator to achieve HIL simulation allows rapid prototyping, converter‐inverter topologies testing, motors testing, and control strategies evaluation. The transition from simulated virtual environment to the HIL mode can be performed by replacing the model of the physical system (e.g. motor) with the DAQ blocks to represent the channels connected to the physical system sensors. The use of a single environment for both simulation and HIL control provides a quick experimentation and performance comparison between the real and simulated systems.