We have synthesized cinnamoyl amide type chiral P,olefin ligand and obtained separable diastereomers of 4d and demonstrated Pd-catalyzed asymmetric allylic substitution reactions of indoles using this chiral ligand with high enantioselectivities (up to 98% ee).

In this study, our aim is to realize collision-free guidance control for a small unmanned helicopter. The simultaneous flight of multiple small unmanned helicopters has recently attracted considerable attention for practical operation because of the high efficiency and fault tolerance capability. Collision avoidance should be considered in the guidance system of small helicopters to realize simultaneous flight. The authors adopted nonlinear model predictive control (NMPC) to design a collision-free guidance control system for small unmanned helicopters; collision avoidance was regarded as a state constraint. A hierarchical control structure consisting of an attitude control system and guidance control system was adopted to simplify the overall control system. The authors propose a simple nonlinear translational model of the helicopter to reduce the computational cost of NMPC. The effectiveness of the proposed collision-free guidance control system was verified through both numerical simulation and a flight experiment.

In this study, we aim at realizing autonomous simultaneous flight of multiple small helicopters. In such situation, collision avoidance of the helicopters should be considered in guidance control system to improve safety and reliability of the flight system. In this paper, we construct a collision-free guidance control system for multiple small helicopters. The collision avoidance problem is regarded as a control problem with state restrictions, and the theory of Nonlinear Model Predictive Control (NMPC) is applied to the guidance control system. A simple nonlinear guidance model is used for design of NMPC to reduce the computational cost. A novel position constraint is proposed for optimizing the avoidance trajectory of each helicopter. The effectiveness of the designed control system and proposed constraints are verified by numerical simulation and flight experiment.

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Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.