The Influence of Temporal Disturbances in EKF Calculations on the Achieved Parameters of Flight Control and Stabilization of UAVs.

This article investigates the causes of occasional flight instability observed in Unmanned Aerial Vehicles (UAVs). The issue manifests as unexpected oscillations that can lead to emergency landings. The analysis focuses on delays in the Extended Kalman Filter (EKF) algorithm used to estimate the drone's attitude, position, and velocity. These delays disrupt the flight stabilization process. The research identifies two potential causes for the delays. First cause is magnetic field distrurbances created by UAV motors and external magnetic fields (e.g., power lines) that can interfere with magnetometer readings, leading to extended EKF calculations. Second cause is EKF fusion step implementation of the PX4-ECL library combining magnetometer data with other sensor measurements, which can become computionally expensive, especially when dealing with inconsistent magnetic field readings. This can significantly increase EKF processing time. The authors propose a solution of moving the magnetic field estimation calculations to a separate, lower-priority thread. This would prevent them from blocking the main EKF loop and causing delays. The implemented monitoring techniques allow for continuous observation of the real-time operating system's behavior. Since addressing the identified issues, no significant problems have been encountered during flights. However, ongoing monitoring is crucial due to the infrequent and unpredictable nature of the disturbances.

Enhanced Functional Properties of Low-Density Polyethylene Nanocomposites Containing Hybrid Fillers of Multi-Walled Carbon Nanotubes and Nano Carbon Black.

In this work, hybrid filler systems consisting of multi-walled carbon nanotubes (MWCNTs) and nano carbon black (nCB) were incorporated by melt mixing in low-density polyethylene (LDPE). To hybrid systems a mixture of MWCNTs and nCB a mass ratio of 1:1 and 3:1 were used. The purpose was to study if the synergistic effects can be achieved on tensile strength and electrical and thermal conductivity. The dispersion state of carbon nanofillers in the LDPE matrix has been evaluated with scanning electron microscopy. The melting and crystallization behavior of all nanocomposites was not significantly influenced by the nanofillers. It was found that the embedding of both types of carbon nanofillers into the LDPE matrix caused an increase in the value of Young's modulus. The results of electrical and thermal conductivity were compared to LDPE nanocomposites containing only nCB or only MWCNTs presented in earlier work LDPE/MWCNTs. It was no synergistic effects of nCB in multi-walled CNTs and nCB hybrid nanocomposites regarding mechanical properties, electrical and thermal conductivity, and MWCNTs dispersion. Since LDPE/MWCNTs nanocomposites exhibit higher electrical conductivity than LDPE/MWCNTs + nCB or LDPE/nCB nanocomposites at the same nanofiller loading (wt.%), it confirms our earlier study that MWCNTs are a more efficient conductive nanofiller. The presence of MWCNTs and their concentration in hybrid nanocomposites was mainly responsible for the improvement of their thermal conductivity.