Optimal Tracking Controller Design for a Small Scale Helicopter

A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed. The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.

Evolution of Small Scale Density Perturbations of Plasma and Charged Aerosol Particles in Polar Mesospheric Summer Echoes (PMSE) Layers

Time evolution of ionospheric D-region plasmas including the perturbations of electrons and charged aerosol particles is investigated under the conditions of polar mesosphere summer echoes （PMSE）. It is shown that the time scale of decay of the electron density is in the order of an hour under typical PMSE conditions, in the majority of cases, the electron density is anticorrelated to the ion density, except that the radius of aerosol particles is greater than 50 nm. Also, the evolutions under varied parameters, such as the amplitude and width of perturbation, the aerosol particle radius, and the altitude of the PMSE occurrence are investigated. The obtained results are useful for interpreting the experimental observations.

GIS-Supported Precision Agricultural Fertilization Management at Small Scale

Precision agricultural fertilization technique at small scale is the key for regional cultivated land protection and management. Taking Dingzhuang Town (located in Guangrao County, Shandong Province) as a case study, this article explores the precision agricultural fertilization technique at small scale. First, three main cropping systems are identified via field investigation, namely "wheat–maize–soybean", "garlic–maize" and "cotton". Then, application amount of fertilizer N, P and K under the three cropping systems is calculated on the parameters acquired through field experiment, using nutrient balance approach on the support of geographic information system technique. The results indicate that, precision agricultural fertilization technique at small scale take on different characteristics compared with that at larger scale. The spatial distribution of soil nutrients in Dingzhuang Town is out of equilibrium, and huge amount fertilizer is needed to satisfy local agricultural production. There is huge distinction of fertilizer ap- plication amount under different cropping systems. The demand of fertilizer amount under "wheat–maize–soybean" system is larger than that under "garlic–maize" and "cotton" systems. This study can provide theories and principles for regional precision agricul- tural fertilization management.

Interaction of Turbulent Coherent Structures and Small Scale Structures

In lhis paper experimental research is carried out for the existence of larqe andsmall scale .structures in turbulent boundary layer and the interactions between these structures. Based on the experimental results ,a new cethod is suggested io (iescribethe coherent strucures in which the interactions between between the coherent and small-scale slructures are considered ,Using this method a new pattern recognition method is and rough wall conditions. The results show that the suggested method is reasonable .

Land Distribution and Economic Development： Small Scale Agriculture in Developing Countries

Small scale farmers constitute about half of world＇s hungry people and include three quarters of Africa＇s malnourished children. The appropriate identification and characterization of this population and the constraints it faces are essential for the design and the successful implementation of safety nets and to properly target their needs and effectively include them in agricultural development strategies. This paper aims at exploring the characteristics, limitations, and potential for agricultural development of small scale farmers in developing countries. It calculates four land cultivated thresholds which are then used as a measure to classify households that were surveyed in four developing countries. It empirically estimates the magnitudes of the smallholders, their characteristics, as well as their poverty status using the four thresholds. This analysis provides empirical evidence that small scale farmers still prevail in terms of population distribution in rural area settings in developing countries. Small scale farmers heavily rely on farm income as their form of livelihood and heavily contribute to the rural income. It also finds that land is unequally distributed among small and large scale farmers in the rural households. Small scale farmers also have the highest poverty rates in these rural settings.

Development of Coffee Value Chain for Value Added in Small Scale of Farmer

This study is development of the coffee value chain in small scale of farmers on highland in the upper northern region of Thailand with case study of Pamieng community,Muangpan District,Lampang Province,Thailand.The objective is the use of the value chain model for the value added of product(coffee).The results from objective to conduct in the value chain of Pamiang’s coffee bring economic benefits and community based environmental benefits and also show the cost and return of coffee production in the value chain of Pamieng’s coffee which found that the farmers have a way to reduce costs in order to increase returns.The most coffee growing is on highland,therefore it is very important to take care of the entire value chain to deliver the highest value to society and customers.

Heavy Metal Pollution in Soil and Water in Some Selected Towns in Dunkwa-on-Offin District in the Central Region of Ghana as a Result of Small Scale Gold Mining

Illegal small scale gold mining popularly called “Galamsey” in our local communities is on the increase. This has led to concerns about the level of environmental pollution resulting from these mining activities. This work was conducted to determine the level of heavy metal contamination in the environment due to the activities of the small scale miners. This paper discusses the concentrations of some selected heavy metals—Hg, Pb, and Cu which were measured in 14 sampling sites in Dunkwa-on-Offin in the Central Region of Ghana, known for these activities. The heavy metal concentrations have been investigated for soil and water samples in the selected towns and compared with the relevant guidelines of the Environmental Protection Agency. The concentration of heavy metals was measured by using AAS. In most locations, the concentration for the investigated heavy metals far exceeded the concentration admitted by the guidelines. The mean concentration of Lead was 95.13 mg/Kg for soil and 190.27 mg/L in water;Copper was 63.26 mg/Kg in soil and 75.92 mg/L in water while Mercury was 140.87 ug/Kg in soil and 211.31 mg/L in water. The mean recorded concentrations in the sensitive areas exceeded greatly. Hence the levels of heavy metal contamination have spread beyond control.

Performance Investigation of Three Combined Airfoils Bladed Small Scale Horizontal Axis wind Turbine by BEM and CFD Analysis

The present work is based on the comparative study between “Blade-Element- Momentum” (BEM) analysis and “Computational-Fluid-Dynamics” (CFD) analysis of small-scale horizontal axis wind turbine blade. In this study, the pitch is considered as fixed and rotor speed is variable. Firstly, the aerodynamic characteristics of three different specialized airfoils were analyzed to get optimum design parameters of wind turbine blade. Then BEM was performed with the application of the open source wind turbine design and performance computation software Q-Blade v0.6. After that, CFD simulation was done by Ansys CFX software. Here, k-ω “Shear-Stress-Transport” (SST) model was conducted for three-dimensional visualization of turbine performance. However, the best coefficient of performance was observed at 6o angle of attack. At this angle of attack, in the case of BEM, the highest coefficient of performance was 0.47 whereby CFD analysis, it was 0.43. Both studies showed good performance prediction which was a positive step to accelerate the continuous revolution in wind energy sector.

An Improved Characterization of Small Scale Fading Based on 2D Measurements and Modeling of a Moving Receiver in an Indoor Environment

Accurately characterizing the wireless small-scale fading channel has been a challenging task in the wireless communication era due to the surrounding environment. Therefore, this paper introduces a new technique to experimentally characterize the small-scale fading taking under consideration real environmental conditions. By conducting a two dimensional measurement while the mobile receiver is moving;a more accurate channel will be achieved. Two-dimensional measurement refers to collecting data from the receiver along the x and y direction. The two-dimensional measurement data contain far more information than a one-dimensional data collected. In order to represent the small-scale channel along with the real environmental conditions, new approaches are necessary to configure the two-dimensional system and to analyze the 2D data. The new approach this paper introduces for the characterization is that the measurements are conducted on a receiver while it is moving in a two dimensional manner, under different scenarios, Line-of-sight, Non-line-of-sight, and Two-wave-Diffuse Power. The experiment was conducted in a 7 meters long by 4 meters wide room, wherein the distance between the transmitter antenna and receiver is about 3 meters. Those scenarios represent different real-time conditions where obstacles differ from one scenario to another. For example, the line of sight scenario assumes there a clear line of sight between transmitter and receiver, Non line of sight assumes many obstacles between the transmitter and receiver, i.e. walls, cabinets, etc. and Two Wave Diffuse Power assumes a metallic reflector surrounding the receiver. The experiment showed more accurate results when compared to the one dimensional measurement that has been done in the past where receiver is moving in one direction and also receiver being fixed where a constructive and destructive interference is not captured. The two dimensional measurement technique, i.e. capturing data while receiver moving in both x and y directions, provided essential information regarding the constructive and destructive interference patterns caused by the interaction between the receiver while moving and the obstacles surrounding the receiver.

Small Scale Mining in Tanzania Toward Sustainable Use(Prospects,Opportunities and Challenges for Environmental Management)

Although small scale mining management is a complex task,many countries in the world have managed to develop mining management regimes that can improve the economic and environmental efficiency of the small scale mining sector.This paper attempts to explore the mental picture of opportunities and challenges of the environmental management in small scale mining in Tanzania focusing on

Mineral Evaluations for Small Scale Miners:A Case for Zimbabwe and South Africa

Since the establishment of geological surveys in Southern Africa a lots of geological information has been systematically stored.Due to the vast amounts of data generated one of the main functions of

Small Scale Field Experiment on Breaking Wave Pressure on Vertical Breakwaters

A small scale field experiment (SSFE) was performed on vertical breakwaters in the surf zone. The following are some of the findings. Wind seas may yield breaking wave pressure notwithstanding some large deepwater wave steepness, and small elevation of the wall above the mean water level. Caisson breakwaters can withstand some exceptionally high impulsive force peaks (even twice the weight in still water);whereas, with the same sea state and weight, a breakwater composed of layers of solid concrete blocks is destroyed.

Study of Urban and Rural Construction Land Change Based on Small Scale in Dafang

This paper is to examine the urban and rural construction land data of Dafang between basic year and final year based on country scale and spatial econometrics,and analyze its spatial pattern and change feature. According to the results,the construction lands in all the villages of Dafang County showed strong spatial autocorrelation and significant spatial cluster. After the analysis of local Moran's I,the construction lands in 381 villages of 36 counties presented strong activity. The original small-scale villages were gradually enlarging,which will not only gradually benefit local development,but also be in accordance with the strategy of " one city,one district,eight parks".

Profitability Analysis of Small Scale Irrigation Technology Adoption to Farmers in Nasho Sector, Rwanda

The study aims to assess the effect of small scale irrigation adoption to farmers in Nasho sector, Kirehe District in Rwanda. The average yield was 12,309.73 Kg/2.62 ha or 4698.73 Kg/ha for adopters with the mean difference between adopters and non adopters ranged from 2819.63 Kg to 4766.59 Kg per unit area of production. For food security status, the average mean quantity of maize consumed at home level was 615.54 Kg with the mean difference ranged from 377.29 Kg to 474.68 Kg. For market participation, the average treatment effect of the treated (ATT) of quantity of maize sold was 11,694.24 Kg while the mean difference ranged from 7165.98 Kg to 9015.60 Kg. The Average Treatment Effect of the Treated market price was 213 Frws/Kg while the mean difference ranged from 44.51 Frws/Kg to 48.3053 Frws/Kg. The Average Treatment Effect of the Treated of farmer’s revenues for the users was 938,772 Frws/ha, however, the mean difference between adopters and non adopters ranged from 1,732,942 Frws to 2,007,039 Frws. The Average Treatment Effect of the Treated of farmer’s net farm income was 1,066,393 Frws while mean difference between users and non users ranged from 803,967 Frws to 854,141 Frws. For profitability analysis, the cost benefit ratio (CBR) was taken into account. The total benefit per unit area was 2,434,509 Frws and total average mean cost of 1,382,313 Frws and CBR = 1.761 > 1. The findings of this study will help the policy makers for deeper sector planning and also, it will facilitate other stakeholders to invest in irrigation technology to improve the livelihoods of Rwandan farmers and other surroundings.

Portable Multi-Inputs Renewable Energy System for Small Scale Remote Application

This paper presents a potable renewable energy system. The portable renewable energy power unit is designed from a need. The need is for first response teams in remote natural disaster situations to have a reliable source of energy to power a small vaccine refrigerator or water purification system and a basic satellite communication system. It is important that such a need is explored as a practical solution has the potential to save the lives of people in remote areas, who would otherwise suffer from a lack of humanitarian aid. Currently diesel generators are the primary source of electricity generation for disaster responders and in most situations work very well and provide a sufficient amount of electricity to meet the power needs. However, in remote areas road infrastructure is often damaged. In this type of situation getting a constant supply of diesel to the area is an expensive or impractical operation. This is where the portable renewable energy power unit bridges the gap and allows a more practical solution to be implemented. The specific aim of the work is to design a compact, stand-alone, product that can be easily transported by people across uneven terrain. It can generate power from wind, solar and hydro energy sources. In this work a new non-isolated multiport DC-DC converter topology for a hybrid energy system in low power applications is proposed. The new topology assimilates multiple renewable energy sources and power up multiple loads with different output levels. A complete Solid works model and FEA analysis, on required components, is completed. The scope of the work encompasses both the electrical and mechanical design of the system.

A New Large Scale Instability in Rotating Stratified Fluids Driven by Small Scale Forces

In this paper, we find a new large scale instability displayed by a stratified rotating flow in forced turbulence. The turbulence is generated by a small scale external force at low Reynolds number. The theory is built on the rigorous asymptotic method of multi-scale development. There is no other special constraint concerning the force. In previous papers, the force was either helical or violating parity invariance. The nonlinear equations for the instability are obtained at the third order of the perturbation theory. In this article, we explain a detailed study of the linear stage of the instability.

Sustainable Potato Production in the Mountain Area of Ecuador, an Approach to Increase Productivity with Small Scale Farmers

Ecuador potato crop is family based production system. Potato production has two roles in their economy, the first is providing food for their families and the second is a source of income for the household. However small scale farmers have limited access to local markets and most of the sales are through intermediates’ who purchase directly in the field at the lowest price possible. Potato production challenges for the small-scale farmers are among others availability of quality potato seed, direct sales, purchase of agrochemical inputs to maintain their crops and lack of education. In 2021, only 4% of potato farmers used certified seed. Potato yield is still low around 16.1 t·ha-1, in the last 10 years the total potato cultivated area was reduced by at least 50%. The farmers produce “Bokashi” and other organic fertilizer and these are effective to improve soil fertility and plant health. Homemade bio-pesticides reduce agrochemical pesticides. The Decision Support System (DSS) is a handheld device to control late blight, minimizes fungicide applications and improve fungicide rotation. In 2018 Candidatus Liberibacter solanacearum (Lso), the causal agent of zebra chip, and its vector, the potato psyllid Bactericera cockerelli, together created havoc for farmers and researchers. Promotion of early potato varieties INIAP—Libertad is an alternative to lower the impact of this newest pest.

The Large Scale Instability in Rotating Fluid with Small Scale Force

In this paper, we find a new large scale instability in rotating flow forced turbulence. The turbulence is generated by a small scale external force at low Reynolds number. The theory is built on the rigorous asymptotic method of multi-scale development. The nonlinear equations for the instability are obtained at the third order of the perturbation theory. In this article, we explain the nonlinear stage of the instability and the generation vortex kinks.

Characterization of Small-Scale Farmers and Assessment of Their Access to Crop Production Information in Selected Counties of Kenya

Small-scale farming accounts for 78% of total agricultural production in Kenya and contributes to 23.5% of the country’s GDP. Their crop production activities are mostly rainfed subsistence with any surplus being sold to bring in some income. Timely decisions on farm practices such as farm preparation and planting are critical determinants of the seasonal outcomes. In Kenya, most small-scale farmers have no reliable source of information that would help them make timely and accurate decisions. County governments have extension officers who are mandated with giving farmers advisory services to farmers but they are not able to reach most farmers due to facilitation constraints. The mode and format of sharing information is also critical since it’s important to ensure that it’s timely, well-understood and usable. This study sought to assess access to geospatial derived and other crop production information by farmers in four selected counties of Kenya. Specific objectives were to determine the profile of small-scale farmers in terms of age, education and farm size;to determine the type of information that is made available to them by County and Sub-County extension officers including the format and mode of provision;and to determine if the information provided was useful in terms of accuracy, timeliness and adequacy. The results indicated that over 80% of the farmers were over 35 years of age and over 56% were male. Majority had attained primary education (34%) or secondary education (29%) and most farmers in all the counties grew maize (71%). Notably, fellow farmers were a source of information (71%) with the frequency of sharing information being mostly seasonal (37%) and when information was available (43%). Over 66% of interviewed farmers indicating that they faced challenges while using provided information. The results from the study are insightful and helpful in determining effective ways of providing farmers with useful information to ensure maximum benefits.