Quadrotors, a type of unmanned aerial vehicle, utilize four rotors for precise lift and control, making them highly versatile for a variety of tasks, such as delivery, inspection, mapping, and monitoring. The growing importance of quadcopters is due to their ability to perform a variety of tasks, such as mapping, inspection, surveillance, and delivery. However, their design and four motors make them inherently unstable and difficult to control, which can limit their potential. To improve stability, four controllers (Proportional Derivative, Proportional Integral Derivative, Linear Quadratic Regulator, and Linear Quadratic Regulator-Proportional Derivative) were tested on a quadcopter Simulink model created with MATLAB/SIMULINK. Simulation results showed that the Linear Quadratic Regulator-Proportional Derivative controller was the most effective in terms of stabilization and speed, particularly for hovering along the x and y axes. This controller was found to be reliable and efficient, providing a smooth and fast response. Tuning these controllers can optimize the quadcopter's stability, accuracy, and speed, enabling them to perform a wider range of tasks.

Consumption of raw materials has steadily increased. Rich countries explore several raw materials such as phosphate, ore and copper. For this, exploitations must be large, highly mechanized and produce in large quantities to be profitable. Also, the use of drilling means requires good productivity on the one hand and a long service life on the other hand. The satisfaction of these requirements is possible if the drilling method chosen is suitable for the geological and mining conditions as well as the drilling parameters. The choice of the machine therefore has a direct impact on costs and results. The aim of this work is to ensure a proper exploitation with an optimum energy calculation for a drill hammer-blow taking into account their economic or technical conception characteristics. To find out the energy losses of a hammer blow, the Baron and Ghrainer formula which, has been applied, allows us to calculate the drilling speed and to deduce the blow energy. Then, to calculate the energy losses and to extract the optimal values for different parameters, a statistical model of GAUSS-MARKOV theorem has been introduced.

This paper presents a PyQt6 server-based application design for controlling a quadrotor multibody system in a simulated environment using the Gazebo 3D model and ROS2 on Linux. The combination of PyQt6 with ROS2 offers an intuitive graphical interface that simplifies access to control parameters and flight modes. The system incorporates a unique Gazebo plugin that connects to a proportional-derivative (PD) controller, providing stable quadrotor flight control. Notably, this plugin facilitates precise quadrotor movements and establishes reliable communication between the server and quadrotor, distinguishing it from other plugins. Moreover, simulation results demonstrate the effectiveness of the proposed PyQt6 server-based application in real-time quadrotor control. The results exemplify the system's capability to achieve stable and precise quadrotor movement by effectively controlling motion along the three axes (x, y, and z) along with yaw. However, the primary contribution of the system presented in this paper lies in the development of a robust PyQt6 server-based application designed to control a quadrotor multibody system. Furthermore, the system exhibits inherent potential for extension to encompass the control of a physical quadrotor, thereby substantiating its viability in real-world applications.

Nowadays, the use of quadcopters in daily life has become important due to its capabilities and ability to carry out many tasks in many fields like civil, military, industrial, and agricultural fields. The modelling of the quadcopter and deeply understanding its movements is very important to ensure that the simulations of its behaviour are as close as possible to reality and also helps us to design a flight controller. In this work, we used a modern technique on MATLAB (Simscape) to simulate a quadcopter in real-time. At first, we build a quadcopter using Simscape multibody then we simulated the PID regulator, the command algorithms, and the motor model with the applied forces on the body to achieve the global model that we can use to study the movement of the quadcopter on the three-axis which ensure a stable functioning. The results obtained show the stability of the four movements of the quadcopter (roll, pitch, yaw, and altitude).