Rami Amer

Student Researcher in Control and Simulation, TUBITAK (The Scientific and Technological Research Institution of Turkey), Place: Ankara - Turkey, date: Sep 2019 - Jun 2021.

**Two projects Developed with different two teams:

1- Improving a mathematical model for the quadcopter and testing which is better the LQR or the PID controller using MATLAB/Simulink. [First project delivered to the company during my bachelor’s study].

• Team Structure and Division of Work: The project team consisted of three students, each assigned specific tasks. One member focused on researching the instruments used in quadcopter systems, another obtained the mathematical model, and the third employed Catia V5 software for drawing the 3D representation of the quadcopter.
• Simultaneous Progress in Research and Modelling: Concurrently with the research phase, the primary mathematical model and the 3D drawing of the quadcopter were developed. This parallel approach ensured efficiency in the utilization of time and resources.
• Refinement of Technical Drawing and Mathematical Model: The team collectively decided to enhance the technical drawing and mathematical model of the quadcopter. Subsequently, the finalized model was subjected to control through both LQR and PID controllers, utilizing the data gathered during the research phase.
• Physical Implementation Using 3D Printing: To realize the physical prototype, the team opted to 3D print the quadcopter's components. Motors, servo motors, filaments, and electronic devices were procured. The model was integrated into a Raspberry Pi, and the 3D shape was printed using a 3D printer. The quadcopter was then controlled using a remote and an antenna.

2- Cooperative flight between fixed-wing aircraft and quadcopter using Flight-gear, Arduino, and MATLAB/SIMULINK. [Second project delivered to the company during my bachelor’s study].

• Team Structure and Division of Work: In the second phase of the project, involving cooperative flight between a fixed-wing aircraft and a quadcopter, a two-member team was formed. One member focused on the mathematical model and Simulink representation of the fixed-wing aircraft, while the other delved into gathering data on Flight-Gear software and its simulation capabilities.
• Integrated Research and Modelling: Similar to the quadcopter project, the team simultaneously conducted research and developed the primary mathematical model and 3D drawing of the fixed-wing aircraft.
• Refinement of Technical Drawing and Mathematical Model: After reaching a consensus on the final design and mathematical model of the fixed-wing aircraft, the team integrated the 3D drawing of both the quadcopter and the fixed-wing into Flight-Gear software.
• Simulation Setup and Joystick Integration: With models and drawings within Simulink and Flight-Gear, the team progressed to connect a joystick to an Arduino card. This allowed for the transformation of joystick inputs into commands for Flight-Gear, enabling the control and simulation of both vehicles in the software environment.