Abstract: A method for collecting information required for Bode plot creation of a UAV (Unmanned Aerial Vehicle) autopilot system is provided. The method comprises: creating a Bode plot generation input signal: adding the Bode plot generation input signal to control inputs; collecting data from multiple points within the control system; calculating magnitude and phase at the multiple points using the data collected; recording the magnitude and phase for the multiple points in a datalog; comparing the magnitude and phase for the multiple points to calculate the gain and phase margins for open loop responses in the control system; creating a Bode plot for at least one of the following: i) a closed loop response of the attitude and/or rate loops, ii) an open loop response of the attitude and/or rate loops and iii) a response of the UAV; and outputting the Bode plot.

Abstract: A method for collecting information required for Bode plot creation of a UAV (Unmanned Aerial Vehicle) autopilot system is provided. The method comprises: creating a Bode plot generation input signal: adding the Bode plot generation input signal to control inputs; collecting data from multiple points within the control system; calculating magnitude and phase at the multiple points using the data collected; recording the magnitude and phase for the multiple points in a datalog; comparing the magnitude and phase for the multiple points to calculate the gain and phase margins for open loop responses in the control system; creating a Bode plot for at least one of the following: i) a closed loop response of the attitude and/or rate loops, ii) an open loop response of the attitude and/or rate loops and iii) a response of the UAV; and outputting the Bode plot.

Abstract: A dental procedure training system has one or more apprentice workstations that use data acquired from an instructor workstation. The instructor workstation has a dental tool and a sensory system to sense an operating characteristic(s) of the dental tool while the dental tool performs a dental procedure. The apprentice workstation has a training tool with a handle grip representative of the handle grip of the dental tool. The training tool may have a vibrotactile actuation system embedded in the training tool to generate vibrotactile feedback through the handle grip of the training tool and a processing unit to operate the vibrotactile actuation system according to the operating characteristic(s) sensed by the sensory system of the instructor workstation. Alternatively, the training tool may be operational to perform said dental procedure, in which the processing unit compares operating characteristics sensed by the apprentice workstation and by the instructor workstation.