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In this study, it is examined that simultaneous flight control system and lateral and longitudional state-space model of a Unmanned Aerial Vehicle (UAV) and real time application. For this purpose an UAV whose wing and tail unit can be assembled to fuselage from different points in a prescribed interval and whose wing and tail can move forward and backward independently in tail to nose direction is manufactured. Following this, an autopilot is purchased and it lets change of P, I, D coefficients in certain intervals. First, dynamic model, and longitudinal and lateral state space models of UAV are obtained and then simulation model of UAV is reached. At the same time block diagram of autopilot system and modeling of it in MATLAB/Simulink environment are found. After these, using these two models and also benefiting and adaptive stochastic optimization method namely SPSA, simultaneous design of UAV and autopilot is done in order to minimize a cost function consisting of rise time, settling time and maximum overshoot. Therefore, primarily autonomous performance is maximized in computer environment. Moreover, high performance is observed by looking at simulation responses and real-time flights.

The aim of this study is to reduce unnecessary lift and minimize drag at the same time when the aircraft reaches a certain speed level by using the active morphing method during flight. In this study, the flight performance was improved by designing a morphing winglet . Aerodynamic analysis of the wing in flat level flight at speeds of 15, 20 and 25 m / s has been performed. Morphing winglet of the wing was analyzed separately at 0-20-45-60-75 degree toe angles at speeds of 10-15-20-25-30 m / s. Optimum parameters have been determined to achieve maximum lift and minimum drag.

Bu doktora tezinde bir Taktik İnsansız Hava Aracı (TİHA) hem pasif hem de aktif başkalaşabilecek şekilde otopilotla birlikte eş zamanlı olarak tasarlanıp imal edilmiştir. Bu da uçuş performansını iyileştirmiş ve de bazı elverişsiz durumlarda da uçuşu mümkün kılmıştır. İmal edilen ZANKA-III adlı TİHA'nın mevcut TİHA'lardan en temel üstün özelliği başkalaşım yapabilmesidir. Uçuş öncesinde pasif, uçuş sırasında aktif olarak başkalaşan TİHA'nın tasarımı uçuş kontrol sistemi ile eş zamanlı olarak ilk defa adaptif rassal bir optimizasyon yöntemi ile bu doktora tezi kapsamında gerçekleştirilmiştir. Teorik olarak TİHA ve başkalaşım mekanizmalarının tasarlanmasında bilgisayar ortamında Solidworks, Maple ve MATLAB yazılımlarından faydalanılmıştır. Öncelikle İHA (İnsansız Hava Aracı)'nın dinamik modellemesi gerçekleştirilip, daha sonra boylamasına ve yanal durum uzay modelleri çıkarılmıştır. MATLAB ortamında modellenmesi yapıldıktan sonra, adaptif rassal bir optimizasyon yöntemi olan SPSA (Eş zamanlı pertürbasyon rassal yaklaştırım) kullanılarak, yükselme zamanı, oturma zamanı ve maksimum aşımdan oluşan bir maliyet fonksiyonunu minimize edecek şekilde TİHA ve otopilot sistemi eş zamanlı olarak tasarlanmıştır. Tasarım sonunda elde edilen sonuçlar ile birlikte Erciyes Üniversitesi (ERÜ) Havacılık ve Uzay Bilimleri Fakültesi (HUBF) Model Uçak Laboratuvarı'nda (MUL) bir TİHA üretilmiştir. TÜBİTAK projesi bütçesi ile Oransal, İntegral, Türevsel katsayılarının istenildiği gibi belli aralıklarda değişimine izin verebilen bir otopilot sistemi temin edilmiştir. Elde edilen kontrol parametreleri otopilota yüklenmiştir. Bunu takiben TİHA, pasif ve aktif başkalaşımı sağlayan tertibat ve mekanizmalar ile birlikte ERÜ HUBF MUL'da üretilmiştir. Başkalaşım parametrelerinin fiziksel büyüklükleri, otopilot kazanç parametreleriyle birlikte adaptif rassal bir optimizasyon yöntemi ile performansı iyileştirmiştir. Anahtar Kelimeler: Taktik İnsansız Hava Aracı (TİHA), Otonom Performans İyileştirme, Optimizasyon In this PhD dissertation a Tactical Unmanned Aerial Vehicle (TUAV) having both passive and active morphing capabilities is first time designed with autopilot simultaneously and then manufactured. This has improved flight performance and made flight possible in some bad conditions. The main superiority of our TUAV called as ZANKA-III from existing TUAVs is morphing properties. Design of TUAV able to morph passively before flight and actively during flight has first time made with an adaptive stochastic optimization method simultaneously with flight control system. Initially for theoretical design of TUAV and morphing mechanisms, Solidworks, Maple and MATLAB software have been used. Firstly, the dynamic model of the UAV (Unmanned Aerial Vehicle) has been done then longitudinal and lateral state space models have been obtained. After modeling in MATLAB environment, TUAV and autopilot system have been designed simultaneously to minimize the cost function consisting of rise time, settling time and maximum overshoot using the SPSA (Simultaneous Perturbation Stochastic Approximation) which is an adaptive random optimization method. Using results obtained after design, a TUAV has been manufactured in Erciyes University (i.e. ERU) Faculty of Aeronautics and Astronautics (i.e. FoAA) Model Aircraft Laboratory (i.e. MAL). An autopilot system has been provided which allows the proportional, integral, derivative coefficients to be varied at certain intervals as desired using budget of TUBITAK. After that control parameters have been loaded into autopilot. Following this, TUAV has been remanufactured with apparatus and mechanism providing passive and active morphing in ERU FoAA MAL. Physical magnitudes of morphing parameters have been determined with autopilot gain parameters using an adaptive stochastic optimization method and performance has been improved.Keywords: Tactical Unmanned Aerial Vehicle (TUAV), Performance Improvement, Optimization 116

In this study, a literaturesearch was conducted on tactical unmanned aerial vehicles. First of all, it wasclassified as an unmanned aerial vehicle. It is mentioned about thecharacteristics of ZANKA-III, which is highly autonomous, passive and activemorphing, aerodynamically perfect, tactical unmanned aerial vehicle (TUAV)ZANKA-III, supported by TUBITAK's 1001 Ardeb program 115M603 by TUBITAK and itis mentioned that they have superior characteristics from other tacticalunmanned aerial vehicles. Not only physical properties but also the autopilotsystem structure, the optimization method used, and the state space modelthrough the executive equations of the body are briefly mentioned. For thispurpose longitudinal and lateral dynamics modeling of TUAVs produced in ErciyesUniversity, Faculty of Aeronautics and Astronautics, Model Aircraft Laboratoryare considered in order to obtain simulation environments. Our produced TUAV iscalled as ZANKA-III which has weight of 50 kg, range of around 3000 km,endurance of around 28 hour, and ceiling altitude of around 12500 m. Von-Karmanturbulence modeling is used in order to model atmospheric turbulence duringflight in both longitudinal and lateral simulation environments. A stochasticoptimization method called as simultaneous perturbation stochasticapproximation.

Unmanned Aerial Vehicles (UAVs) are increasingly used in the military field. Especially in recent years, UAVs have been a very effective instrument in gaining airspace superiority and military success. Many countries compete with each other to develop better UAV technology or improve the technical features of UAVs. Therefore, it is critical to determine which UAV has the best performance, considering technical and operational characteristics, because the vehicles with more advanced performance can provide countries with strategic superiority. The purpose of this study is to investigate the technical, cost, and operational performance of Medium Altitude Long Endurance UAVs (MALE UAVs). In the study, as a result of a wide literature review, we determined a performance criterion for this type of vehicle. The model presented here uses an Interval Type-2 Fuzzy Analytical Hierarch Process (IT2FAHP) and an Interval Type-2 Fuzzy Technique for Order of Preference by Similarity to an Ideal Solution (IT2FTOPSIS) hybrid method. The findings indicate that some MALE UAVs have superior technical and operational performance over others and demonstrate that range, max take-off weight, and payload are important criteria in determining the performance and superiority of these vehicles.

WOS: 000526572400001, Purpose This paper aims to investigate the autonomous performance optimization of a research-based hybrid unmanned aerial vehicle (i.e. HUAV) manufactured at Iskenderun Technical University. Design/methodology/approach To maximize the autonomous performance of this HUAV, longitudinal and lateral dynamics were initially obtained. Then, the optimum magnitudes of the autopilot system parameters were estimated by considering the vehicle's dynamic model and autopilot parameters. Findings After determining the optimum values of the longitudinal and lateral autopilots, an improved design for the autonomously controlled (AC) HUAV was achieved in terms of real-time flight. Originality/value In this paper, the autopilot systems (i.e. longitudinal and lateral) of an HUAV are for the first time simultaneously designed in the literature. This helps the simultaneous improvement of the longitudinal and lateral flight trajectory tracking performances.

Bu çalışmada katı yakıtlı alçak irtifa roketi ALP-01’in CAD tasarımı yapılmıştır. 1500 metre irtifa için roket boyutları; seçilen motor için optimize edilmiştir. Burun konisi geometrisi olarak Parabolik tip tercih edilmiş ve uzunluğu 35cm olarak hesaplanmıştır. Burun konisi ve shoulder kısmı için 3D yazıcıda kalıp hazırlanıp cam elyaf malzeme ile elle yatırma yöntemiyle bu kısımlar üretilecektir. Roketimizde iki farklı kurtarma mekanizması kullanılmıştır. Burun konisi, faydalı yük, faydalı yükün paraşütü ve roketin birinci paraşütünün roketten ayrılması için CO2 tüp ile fırlatma mekanizması tasarlanmıştır. Faydalı yükün üzerinde telemetri sistemi olan bir uçuş bilgisayarı bulunmaktadır. Bu bilgisayar yer istasyonuna konum, yükseklik, sıcaklık, nem bilgilerini anlık olarak iletmektedir. Roketimizin birbirinden ayrı iniş yapan bütün parçalarında GPS ve telemetri sistemi bulunmaktadır. Gövde üretimi için İskenderun Teknik Üniversitesi Makine Mühendisliği Bölümü mekanik laboratuvarı kompozit atölyesinde vakum infüzyon yöntemi ile silindirik kesite sahip kompozit parça üretim denemesi yapılmıştır. Kanatçık geometrisi olarak Openrocket simülasyonları sonucunda delta tipi kanatçık uygun görülmüştür. Ayrıca tasarımı yapılıp üretilmesi planlanan ALP-01 katı yakıtlı roket ile Teknofest 2019 roket yarışmasına katılınması planlanmaktadır. Çalışma aşamalarında, ikisi statik test olmak üzere dört kez katı yakıtlı roket motoru denemesi yapılmıştır. Denemelerde kullanılan yakıt karışımı (KNO3 Sükroz/Dekstroz) Makine Mühendisliği bölümü mekanik laboratuvarı kompozit atölyesinde bulunan hassas terazi, ayarlı ocak, hidrolik pres vb. ekipmanlar kullanılarak hazırlanmıştır., In this study the design of solid-fuel low-altitude rocket ALP-01 CAD has been optimized for the selected engine of rocket sizes for an altitude of 1500 meters. Parabolic type was preferred as the cone geometry. The length is calculated as 35cm. 3D printer for nose cone and shoulder section will be prepared by hand and made from glass fiber by hand method. Two different rescue mechanisms have been used in our rocket. CO2 tube discharge mechanism was used for the removal of the nose cone, payload, payload parachute and the first parachute from the rocket. Payload has a flight computer with a telemetry system. This computer instantly transmits location, altitude, temperature and humidity information to the ground station. There are GPS and telemetry systems in all parts of our rocket. The production of composite parts with cylindrical cross-section was performed and positive results were obtained in the composite workshop of the Mechanical Engineering Laboratory of Iskenderun Technical University. As a result of Openrocket simulations as a wing geometry, delta-type flaps were considered suitable. Furthermore, it is planned to participate in Teknofest 2019 rocket competition with ALP-01 solid fuel rocket which is planned to be designed and produced. Four times solid-fuel rocket engine trials, two of which were static tests, were conducted in the study stages. The fuel mixture used in the experiments (KNO3Sukroz / Dextrose) is located in the Mechanical Engineering Laboratory of Iskenderun Technical University.

In this study, the design of the electric powered VTOL Flying car was made in the CAD program, and the longitudinal, vertical and lateral flight dynamics were examined and aerodynamic analysis was made. In the design, the power and propulsion systems of the flying car, avionic systems, security systems, magnetic sensors, navigation landing and take-off methods, requirement verification methods, flight performance values were determined. Our design work for flying cars, which will soon start real-time flights, will guide the people and institutions that will design and produce in this field.A practical flying car should be able to operate safely and environmentally both in public spaces and in the air. For widespread adoption, it must be able to fly without a qualified pilot as we know it as a controller, and must have appropriate purchase and operating costs. Being a qualified car driver and having a pilot license, which certification processes are extremely difficult, is an important obstacle to the adoption and widespread process of the flying car concept. The certification processes of many different countries have been examined for the flying car we will design. Examination of these processes has been guiding in the creation of detailed data on many issues, and in this context, care has been taken to meet the requested competencies on a common ground. In order to overcome these procedures, a VTOL platform with high autonomy has been designed thanks to its subsystems as well as a stable flight dynamics., Bu çalışmada, elektrikle çalışan VTOL Uçan arabanın tasarımı CAD programında yapılarak boylamsal, dikey ve yanal uçuş dinamikleri incelenerek aerodinamik analizleri yapılmıştır. Tasarımda uçan arabanın güç ve tahrik sistemleri, aviyonik sistemler, güvenlik sistemleri, manyetik sensörler, seyrüsefer iniş ve kalkış yöntemleri, gereksinim doğrulama yöntemleri, uçuş performans değerleri belirlendi. Yakında gerçek zamanlı uçuşlara başlayacak olan uçan arabalara yönelik tasarım çalışmalarımız, bu alanda tasarım ve üretim yapacak kişi ve kurumlara yol gösterecek.Pratik bir uçan araba, hem kamusal alanlarda hem de havada güvenli ve çevreci bir şekilde çalışabilmelidir. Yaygın olarak benimsenmesi için, kontrolör olarak bildiğimiz nitelikli bir pilot olmadan uçabilmesi ve uygun satın alma ve işletme maliyetlerine sahip olması gerekir. Sertifikasyon süreçleri son derece zor olan kalifiye araç sürücüsü ve pilot ehliyetine sahip olmak, uçan araba kavramının benimsenmesi ve yaygınlaşmasının önünde önemli bir engeldir. Tasarlayacağımız uçan araba için birçok farklı ülkenin sertifikasyon süreçleri incelendi. Bu süreçlerin incelenmesi birçok konuda detaylı verilerin oluşturulmasında yol gösterici olmuş ve bu kapsamda talep edilen yetkinliklerin ortak bir paydada karşılanmasına özen gösterilmiştir. Bu prosedürlerin üstesinden gelebilmek için alt sistemleri ve stabil uçuş dinamiği sayesinde yüksek otonomiye sahip bir VTOL platformu tasarlanmıştır.

WOS: 000491169100006, Purpose The purpose of this paper is to rise the autonomous flight performance of the small unmanned aerial vehicle (UAV) using simultaneous tailplane of UAV and autopilot system design. Design/methodology/approach A small UAV is remanufactured in the UAV laboratory. Its tailplane can be changed before the flight. Autopilot parameters and some parameters of tailplane are instantaneously designed to maximize autonomous flight performance using a stochastic optimization method. Results found are applied for simulations. Findings Benefitting simultaneous tailplane of UAV and autopilot system design process, autonomous flight performance is maximized. Research limitations/implications - Authorization of Directorate General of Civil Aviation in Turkey is required for UAV flights. Practical implications - Simultaneous tailplane and autopilot system design process is so useful for refining UAV autonomous flight performance. Social implications - Simultaneous tailplane and autopilot system design process fulfills confidence, high autonomous performance, and easy service demands of UAV users. By that way, UAV users will be able to use better UAVs. Originality/value Creating a novel technique to recover autonomous flight performance (e.g. less overshoot, less settling time and less rise time during trajectory tracking) of UAV and developing a novel procedure performing simultaneous tailplane of UAV and autopilot system design idea., Research Fund of Erciyes University Scientific Research Projects (BAP) Coordination Unit [FBA-2018-6712]; Research Fund of The Scientific and Technological Research Council of Turkey (TUBITAK)Turkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [114M856], This work was supported by the Research Fund of Erciyes University Scientific Research Projects (BAP) Coordination Unit under Project Number: FBA-2018-6712.; This work was also supported by the Research Fund of The Scientific and Technological Research Council of Turkey (TUBITAK) under Project Number: 114M856.; The author would like to also recognize Assoc. Prof. Dr Tugrul OKTAY, Assist. Prof. Dr Mehmet KONAR and PhD Candidate Alpertunga CEYLAN for their supports during UAV manufacturing and UAV flight testing.

WOS: 000418465900003, In this article, simultaneous longitudinal and lateral flight control systems design for both passive and active morphing tactical unmanned aerial vehicles (TUAVs) is first time applied for autonomous flight performance maximization in the literature. For this purpose longitudinal and lateral dynamics modelling of TUAVs produced in Erciyes University, Faculty of Aeronautics and Astronautics, Model Aircraft Laboratory are considered in order to obtain simulation environments. Our produced TUAV is called as ZANKA-III which has weight of 50 kg, range of around 3000 km, endurance of around 28 hour, and ceiling altitude of around 12500 m. Von-Karman turbulence modelling is used in order to model atmospheric turbulence during flight in both longitudinal and lateral simulation environments. A stochastic optimization method called as simultaneous perturbation stochastic approximation (i.e. SPSA) is also first time applied in order to obtain optimum dimensions of morphing parameters (i.e. extension ratios of wingspan and tailspan, assembly positions of wing and tailplane to fuselage) and optimum magnitudes of longitudinal and lateral controllers' gains (i.e. P, I and D gains) while minimizing cost index capturing terms about both longitudinal and lateral autonomous flight performances and there exists lower and upper constraints on all optimization variables in the literature., Scientific and Technological Research Council of Turkey (TUBITAK) [115M603], This research was funded by a grant (No. 115M603) from the The Scientific and Technological Research Council of Turkey (TUBITAK).