The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.

The composition of the air has been visibly altered as a result of human activity, resulting in what we term air pollution. It is no longer necessary to prove the effects on ecosystems and human health. Under these conditions, governments all around the world are working to address this issue, notably in the area of real-time air quality monitoring. The implementation of a data provider is a necessary step in achieving this goal. In that case, this study presents a hardware and software solution to provide a low-cost deployable device to acquire environmental data related to AP such as CO, CO₂, NH₃, and NO₂, along with temperature and humidity. In addition to an user interface development, a complete circuit layout and a set of software criteria are set up to ensure a reliable implementation, data collection, and network communications. The results demonstrated that the device is capable of effectively obtaining real-time data. The analysis results indicate a link between environmental conditions and parameter values. This system deployment will ultimately contribute to providing a more elaborate mapped data distribution, according to a better understanding of our environment.<br /><br />