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Modeling and control of Quadrotor Systems

Modeling and Control of Quadrotor Systems

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RSI/ISM international conference on robotics and Mechatronics

作者： Mustafa Turki Hussein Mohammed Najeh Nemah Department of Mechanical Engineering University of Babylon Babylon Iraq Al-Furat Al-Awsat Technical University Engineering Technical College Najaf Iraq

ISBN: (纸本)9781467372350

This research clarifies the control problem of quadrotor system using PD control. In order to design the control a nonlinear dynamic model of the quadrotor system is derived. The dynamic model contains set of equations valid for hovering. Those set of equations evolved a complex mathematical model with more realistic aerodynamic coefficients and actuator models. Two different control loops are designed in this work to control the motion of the quadrotor system. While the first loop is used to control position of the system;the second loop is utilized to control the orientation. The estimated control inputs are updated based on direct feedback of orientation and the position of the system. The simulation results show the effectiveness of overall systems model and the presented control approach. The work will be expanded later;where off-board test-rig can be used to test the suggested control approach.

关键词： Modeling control Quadrotor Systems

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Decentralized Solar PV/Battery-based Energy Management for Isolated Areas

Decentralized Solar PV/Battery-based Energy Management for I...

引用

robotics, Automation, Artificial-intelligence and Internet-of-Things (RAAICON), 2019 IEEE international conference on

作者： Md Ismail Hossain Md. Tanvir Islam Mim Tanay Banik Md Rafsan Jany Md Mukter Hossain Emon Abu Shufian Dept. of Electrical & Electronic Engg American International University-Bangladesh Dhaka Bangladesh Dept. of Electrical Engineering Lamar University Texas USA

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

In remote/isolated areas, access to reliable electricity can drastically improve the quality of life, supporting essential services like healthcare, education, and local businesses. However, in regions where extending the power grid is impractical, off-grid solar photovoltaic (PV) systems with battery storage have emerged as a promising solution. This study presents an optimized energy management system for off-grid solar PV systems, specifically designed to address the challenges of fluctuating solar irradiance, varying load demands, and battery longevity in isolated applications. Integrating advanced Maximum Power Point Tracking (MPPT) algorithms ensures efficient energy capture and stable power delivery even under rapidly changing environmental conditions. The Battery Management System (BMS) employs a bidirectional DC-DC converter to precisely control charging and discharging cycles, contributing to extended battery lifespan and optimized energy flow. Through simulations in MATLAB, the proposed system demonstrates rapid DC bus voltage stabilization at approximately 400 V within 0.1 seconds after load variations, maintaining consistent power output. These results indicate that the optimized energy management approach enhances system efficiency and significantly improves reliability, making it a robust and sustainable solution for rural electrification in off-grid settings.

关键词： Maximum power point trackers Solar irradiance Electricity Simulation Battery management systems DC-DC power converters Electrification Batteries Power system reliability Reliability

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A Non-Dominated Sorting Genetic Algorithm with Adaptive Genetic Operator: NSGA-AGO

A Non-Dominated Sorting Genetic Algorithm with Adaptive Gene...

引用

Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Xinkai Zhi Yang Tang Hanqing Zhou Yuxin Zhang Tool Product Platform Department AVIC CAPE Beijing China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Unlike single objective optimization algorithm, solving multi-objective problem (MOP) is a complex task. The solution of a multi-objective optimization problem is a set of solutions, called the Pareto-optimal solution set. Multi-objective Optimization Genetic Algorithm (MOGA) is a commonly used evolutionary computation method for solving multi-objective optimization problems. Genetic algorithm has good global search ability in solving nonlinear, global, and other problems, while also possessing advantages such as distributed computing. However, the local optimization ability of genetic algorithm is poor, and there is a problem of getting stuck in the local optimal solution leading to premature convergence. At the same time, the search ability of genetic algorithm is significantly reduced in the later stage of evolution. To solve the above two issues, this paper introduces the adaptive genetic operator and proposes the Non-dominated Sorting Genetic Algorithm with Adaptive Genetic Operator (NSGA-AGO). According to the distribution characteristics of population fitness during the evolution process of genetic algorithms, the crossover and mutation probabilities of individuals in the population can be adaptively adjusted to maintain population diversity and improve the convergence ability of the algorithm. The experimental results show that the improved algorithm improves the convergence speed of the optimization process, reduces the standard deviation of convergence indicators, and has high stability.

关键词： Sociology Process control Search problems Statistics Task analysis Optimization Standards

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Measurement of High-Temperature Delay Performance Degradation in FPGA Based on Distributed Temperature Sensor Networks

Measurement of High-Temperature Delay Performance Degradatio...

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Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Yaning Wang Shiwei Feng Binyu You Xianliang Lv Yinqi Zhou Zixuan Feng Beijing University of Technology Beijing China China Electronics Standardization Institute

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

The rapid development of thermal issues in Field Programmable Gate Arrays (FPGAs) has significantly affected the delay performance of these devices, necessitating in-depth study. Ring oscillators, commonly employed as digital temperature sensors in FPGAs, offer a means to sense thermal effects. In this paper, we focus on measuring and studying the delay performance degradation of Xilinx Zynq-7 series FPGAs, based on a 28nm process, when subjected to long-term high temperature working environments. We utilize the internal logic resources of the FPGA to create an embedded ring oscillator, which acts as a temperature sensor. A temperature sensing network is then established to collect frequency data. The degradation of the output frequency of the ring oscillator serves to characterize the delay performance degradation of the FPGA under long-term high temperature operation. After subjecting three target devices to continuous high-temperature degradation experiments for 514 hours, the results highlight that the majority of the ring oscillators exhibit approximately 1% frequency degradation. Moreover, some instances of more pronounced and irreversible degradation were observed. Finally, we briefly analyze the failure mechanism. This experiment provides a theoretical method and experimental support for the study of the thermal characteristics of domestically produced FPGAs.

关键词： Degradation Temperature sensors Ring oscillators Temperature measurement Performance evaluation Negative bias temperature instability Thermal variables control

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Evaluating Validation Methods for Satellite Precipitation Products Using Point Gauge Observations over Complex Topography 3rd

Evaluating Validation Methods for Satellite Precipitation Pr...

引用

3rd international conference on Radioscience, Equatorial Atmospheric Science and Environment, INCREASE 2023

作者： Ramadhan, Ravidho Marzuki, Marzuki Suryanto, Wiwit Sholihun, Sholihun Yusnaini, Helmi Hashiguchi, Hiroyuki Shimomai, Toyoshi Department of Physics Faculty of Mathematics and Natural Sciences Universitas Gadjah Mada Yogyakarta55281 Indonesia Department of Physics Universitas Andalas Padang25163 Indonesia Kyoto University Gokasho Uji Kyoto611-0011 Japan Department of Electronic and Control Systems Engineering Shimane University Shimane690-0823 Japan

ISBN: (纸本)9789819707393

The accuracy of surface rainfall observations in complex topographic regions remains challenging, particularly for sub-daily and daily temporal resolutions. This study assesses the accuracy of the Integrated Multi-Satellite Retrievals for Global Precipitation Measurement (GPM) IMERG in the mountainous region of Sumatra using optical rain gauge (ORG) data from Kototabang, West Sumatra, Indonesia [100.32° E, 0.20° S, 865 m above sea level (ASL)] during the 15-year observation period (2002–2016). The validation methods tested are based on the direct [point-to-pixel (PtP)] and the indirect methods of IMERG to the point gauge. The indirect methods used include mean, median (med), linear interpolation (LI), nearest-neighbor interpolation (NI), Inverse Distance Weighting (IDW) interpolation, and kriging (Krg) interpolation. The IMERG data validation generally indicates better correlation coefficient (CC) and critical success index (CSI) values for the indirect methods than the PtP method. For hourly data, the CC (CSI) values across all indirect methods range around 0.28 (0.28), while using the PtP method, CC is 0.25 (0.27). For daily data, nearly all indirect methods show a CC value of 0.50, except for the NI method which exhibits a CC of 0.47, the same as the CC value from the PtP method. Besides CC and CSI, the root mean square error (RMSE) and relative bias (RB) values of the indirect methods also show slightly better values than the PtP method. Despite the differing accuracy and probability detection between the direct and indirect IMERG data validation methods, the discrepancies in CC and CSI values between the methods are not impressive. Thus, the choice of validation method for complex topographic regions can be tailored based on the data processing capabilities and specific needs. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Pixels

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control of a Two-link (Rigid-Flexible) Manipulator

Control of a Two-link (Rigid-Flexible) Manipulator

引用

RSI/ISM international conference on robotics and Mechatronics

ISBN: (纸本)9781467372350

This paper investigates the motion control of two link (rigid-flexible) manipulator through analysis, computer simulation. An explicit nonlinear dynamic model is developed using assumed mode method. The balance of moments and shear forces are represented by using the boundary conditions. The dynamic model is linearized around the operating point of the system. The linear feedback plus model based feed-forward control is developed as well, based on three different measurements. The joint angles and the tip deflection are used in this study. The control inputs are generated using linear dynamic model. The simulation results of proposed control are compared with those of PD control, in order to show the efficiency of the developed model and the proposed controller. As a future work;the proposed controller will be tested using two link (rigid-flexible) test-rig.

关键词： control Two-link Rigid-Flexible

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Multi-task control of multi-contact manipulators during accidental interactions with robot body

Multi-task control of multi-contact manipulators during acci...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Abbas Karami Mehdi keshmiri Hamid Sadeghian Department of mechanical engineering Isfahan University of technology Isfahan Iran Engineering department University of Isfahan Isfahan Iran

ISBN: (纸本)9781467372350

In this paper, the problem of controlling multiple different tasks in various points on the robot body is considered. The proposed approach guarantees the execution of multiple various tasks (force, position and orientation control) in the presence of intentional or accidental interaction with robot body. The control law distinguish between desired and accidental external forces. Magnitude and/or orientation of the forces in the contact points can be controlled while various tasks may be defined and controlled in other contact points in the robot body. controller-observer algorithm is proposed based on the generalized momentum of the robot. Asymptotically stability of task space errors are proved while a proper estimation of the external torque on robot is available. Performance of the proposed algorithm is confirmed by simulations.

关键词： multi-task control multi-contact robots multi-priority control disturbance observer force control orientation control

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Rumor Detection Model with Deep Cross Fusion of Text and Propagation Graph Structures

Rumor Detection Model with Deep Cross Fusion of Text and Pro...

引用

Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Kai Xu Junfei He School of Computer Engineering Guilin University of Electronic Technology Beihai China Department Research and Development Chengdu Cloud Power Technology Co. Ltd Chengdu China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

The generation and spread of rumors are phenomenon that cannot be eradicated in human society. However, the wanton spread of rumors will harm the development of society, especially in the current era of information. The existing rumor detection models or frameworks are basically based on deep neural networks, which can extract text and propagation features and other information aiding rumor assessment, and then combine these features to filter rumors. Although these methods are effective, it is difficult to distinguish rumors in complex contexts or instances where the signs of forgery are not so obvious. Therefore, based on the interactive characteristics of text content and Propagation graph structure, this research proposes a rumor detection model with deep cross fusion. First, the text content and the information of propagation graph structures are encoded while ensuring that they are complete and independent, thereby extracting important information; Then, the separately encoded text content is deeply cross fused with the propagation graph structures, so that the information can penetrate and complement each other, and at the same time, a self-attention operation is performed after the cross fusion of each layer. Finally, the encoding from both components is fully integrated, then a classification feature vector is introduced into the output result of each part, and the classification result is output after multiple layers of fully connected layers. The experiments on three classical rumor detection datasets show that the model has a significant improvement in both accuracy and specified delay time, and the maximum accuracy is improved by 1.21%.

关键词： Voice activity detection Computational modeling Process control Feature extraction Information filters Vectors Encoding

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Variational Surface Reconstruction from Sparse and Nonparallel Contours for Freehand 3D Ultrasound

Variational Surface Reconstruction from Sparse and Nonparall...

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2011 3rd international Asia conference on Informatics in control, Automation and robotics (CAR 2011 LNEE 132)

作者： Shuangcheng Deng Yunhua Li Lipei Jiang Yingyu Cao Junwen Zhang School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory Beijing Institute of Petrochemical Technology

3D reconstruction for freehand 3D ultrasound is a challenging issue because the recorded B-scans are not only sparse, but also non-parallel. Both conventional volume and surface reconstruction methods can't reconstruct sparse data efficiently while they are arbitrarily oriented in 3D space. We developed a new surface reconstruction method for freehand 3D ultrasound based on variational implicit function. In the new method, we first constructed on- & off-surface constraints from the segmented contours of all recorded Bscans, then used a variational interpolation technique to get a single implicit function in 3D. Finally, the implicit function was evaluated to extract the zerovalued surface as reconstruction result. One phantom experiment was conducted to assess our variational surface reconstruction method, and the experiment results have shown that the new method is capable of reconstructing surface smoothly from sparse contours which can be arbitrarily oriented in 3D space.

关键词： Surface rencontruction,freehand 3D ultrasound,variational implicit function,medical imaging

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Dynamics Formulation and motion control of a Planar Parallel Manipulator

Dynamics Formulation and motion Control of a Planar Parallel...

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RSI/ISM international conference on robotics and Mechatronics

作者： M. Farhadmanesh E. Abedloo A. Molaei Advanced Robotics and Automated Systems (ARAS) Faculty of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper is devoted to dynamic formulation and motion control of a planar PRP parallel robot. Three intersecting rod comprises the manipulator of the mechanism which are fixed to each other and are coupled pivotedly to linear guides at the free ends, by actuating any of the linear guides along the sides of a triangle individually, the planar motion of the manipulator is provided. At first the kinematic and dynamic formulation of the mechanism is extracted in a closed form, which is of great interest in control applications. Based on the dynamic model, a computed torque control scheme is applied for the motion control of the robot. To analyze the performance of the controller it is implemented on a model of the mechanism made on simulation software for a predefined trajectory. The results of the motion tracking indicates the suitable performance of the implemented control scheme.

关键词： Planar parallel manipulator kinematics and dynamics formulation Lagrangian method computed torque control method (CTC)

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