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MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects

IEEE ACCESS 2021年 9卷 39333-39343页

作者： Silano, Giuseppe Iannelli, Luigi Czech Tech Univ Fac Elect Engn Prague 16636 Czech Republic Univ Sannio Benevento Dept Engn I-82100 Benevento Italy

The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described MAT-Fly, a numerical simulation platform for multi-rotor aircraft characterized by the ease of use and control development. The platform is based on Matlab(R) and the MathWorks (TM) Virtual Reality (VR) and Computer Vision System (CVS) toolboxes that work together to simulate the behavior of a quad-rotor while tracking a car that moves along a nontrivial path. The VR toolbox has been chosen due to the familiarity that students have with Matlab and because it does not require a notable effort by the user for the learning and development phase thanks to its simple structure. The overall architecture is quite modular so that each block can be easily replaced with others simplifying the code reuse and the platform customization. Some simple testbeds are presented to show the validity of the approach and how the platform works. The simulator is released as open-source, making it possible to go through any part of the system, and available for educational purposes.

关键词： Matlab Target tracking software algorithms Aircraft software Tools Atmospheric modeling Educational Matlab Simulink image-based visual servoing trajectory control vision detection and tracking software-in-the-loop unmanned aerial vehicles multi-rotor

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Energy Management Systems for Electrified Powertrains: State-of-the-Art Review and Future Trends

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2019年第7期68卷 6453-6467页

作者： Biswas, Atriya Emadi, Ali McMaster Univ McMaster Automot Resource Ctr Hamilton ON L8P0A6 Canada

Energy management systems (EMSs), implemented in the electronic control unit (ECU) of an actual vehicle with electrified powertrain, are a much simpler version of the theoretically developed EMS. Such simplification is done to accommodate the EMS within the given memory constraint and computational capacity of the ECU. The simplification should ensure reasonable performance compared to theoretical EMS under real-life driving scenarios. The process of simplification must be effective to create a versatile and utilitarian EMS. Hence, it is comprised of rigorous analysis of results obtained from theoretical EMS under various driving scenarios. This review paper broadly categorizes most of the reported utilitarian EMSs into three major categories and discusses the processes of simplification associated with each category. The utilitarian EMSs are classified based on their dependence on either online computation or offline pre-computation or even both for spewing control decisions. The paper delineates the chronological steps of a utilitarian EMS development, starting from theoretical background, process of simplification, validation throughmodel-in-the-loop, software-in-the-loop, hardware-in-the-loop simulation, dynamometer test, and on-road performance validation. Future trends of on-board EMSs are also discussed before the conclusion.

关键词： Automotive systems blended casual electric and hybrid electric vehicles electrified powertrains energy management system electronic control unit hardware-in-the-loop practical implementation premeditated real-life drive scenario real-time software-in-the-loop

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Path-following control for small fixed-wing unmanned aerial vehicles under wind disturbances

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2013年第15期23卷 1682-1698页

作者： Liu, Cunjia McAree, Owen Chen, Wen-Hua Univ Loughborough Dept Aeronaut & Automot Engn Loughborough LE11 3TU Leics England

This paper presents an alternative method of designing a guidance controller for a small unmanned aerial vehicle (UAV) so as to perform path following under wind disturbances. The wind effects acting on UAVs need to be taken into account and eventually eliminated. To solve this problem, we adopted a disturbance observer-based control approach. The wind information is first estimated by a nonlinear disturbance observer, then it is incorporated into the nominal path following controller to formulate a composite controller that is able to compensate wind influences. The globally asymptotic stability of the composite controller is illustrated through theoretical analysis, whereas its performance is evaluated by various simulations including the one with software-in-the-loop. Initial flight tests using a small fixed-wing UAV are carried out to demonstrate its actual performance. Copyright (c) 2012 John Wiley & Sons, Ltd.

关键词： UAV disturbance observer path following software-in-the-loop flight test

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Planning and executing construction inspections with unmanned aerial vehicles

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AUTOMATION IN CONSTRUCTION 2018年 96卷 540-553页

作者： Freimuth, Henk Koenig, Markus Ruhr Univ Bochum Comp Engn Univ Str 150 D-44780 Bochum Germany

Unmanned aerial vehicles (UAV) are increasingly recognised as a utility for inspection applications in construction. In order to create measurable benefit over traditional inspection methods, an inspection concept for UAVs must be integrated and automated. This work is the result of an ongoing effort to create a workflow for the structured planning, simulation and execution of inspection tasks. An application was developed that allows the operator to plan inspections in a 3D environment. The application automatically generates collision-free flight paths based on Building Information Modelling (BIM) data. A realistic simulation environment provides a good understanding of the flight dynamics caused by inhibiting factors, such as disturbances of the positioning system. A case study confirms the hypothesis of the inspection concept and hints at technical limitations of autonomous UAVs that need to be overcome in subsequent development efforts.

关键词： Unmanned aerial vehicle Inspection SHM BIM Simulation software-in-the-loop Path Planning

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Numerical modeling of wave basin experiments of a floating wind turbine with active thrust emulation: A discussion of important aspects

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OCEAN ENGINEERING 2024年 309卷

作者： Carmo, Lucas de Mello, Pedro C. Monaro, Renato M. Mas-Soler, Jordi Simos, Alexandre N. de Carvalho e Silva, Daniel Fonseca Univ Sao Paulo Sao Paulo Brazil Petrobras SA Rio De Janeiro Brazil

This article addresses some important issues that may arise when experimental data from seakeeping tests are used to verify the numerical model of a floating wind turbine. The discussions are based on an extensive set of model tests performed with a floater whose shape follows that of the UMaine VolturnUS-S 15MW, although with different dimensions. The model was moored with three catenary lines and anchors on the basin's floor. Active ballast compensation was not considered. In this case, the rotor was not modeled in the reduced scale and its action was emulated by means of an active loading system that imposed the expected aerodynamic thrust on the top of the tower (thus one force component only) in a software-in-the-loop approach. The numerical models were built in OpenFAST and comprised both the full-scale FOWT and a simplified version that aimed at reproducing the experimental conditions more closely. From the hydrodynamic modeling point of view, three subjects are discussed: the importance of considering directional drag coefficients for the pontoons, the relevance of second-order resonant motions in both the horizontal and vertical planes, and the influence of floater tilt on the wave-induced dynamics. Regarding the aerodynamic modeling, on the other hand, the main concerns involved the simplifications imposed on the rotor loads. For the simulation of the experimental tests, modifications were made in the numerical model of the IEA 15MW turbine in order to ensure that the comparisons would be consistent, in a "model the model"approach. All the aerodynamic rotor forces/moments other than thrust were disregarded as well as the effects of blade elasticity, since these effects were not captured by the active loading system. Finally, a set of comparisons with the full-scale numerical model are presented in order to assess the impact that these simplifications might have on the predictions of the real FOWT dynamics.

关键词： Floating wind turbines Model tests Numerical modeling software-in-the-loop Hydrodynamics

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Effects of Sim2Real Image Translation via DCLGAN on Lane Keeping Assist System in CARLA Simulator

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IEEE ACCESS 2023年 11卷 33915-33927页

作者： Pahk, Jinu Shim, Jungseok Baek, Minhyeok Lim, Yongseob Choi, Gyeungho Daegu Gyeongbuk Inst Sci & Technol Daegu 42988 South Korea Daegu Gyeongbuk Inst Sci & Technol Dept Robot Engn Daegu 42988 South Korea Daegu Gyeongbuk Inst Sci & Technol Dept Interdisciplinary Engn Daegu 42988 South Korea

Autonomous vehicle (AV) simulation using a virtual environment has the advantage of being able to test algorithms in various scenarios with reduced resources. However, there may exist a visual gap between the virtual environment and the real-world. In this paper, in order to mitigate this gap, we trained Dual Contrastive Learning Generative Adversarial Networks (DCLGAN) to realistically convert the image of the CARLA simulator and then evaluated the effect of the Sim2Real conversion focusing on the lane keeping assist system (LKAS). Moreover, in order to avoid the case where the lane is translated distortedly by DCLGAN, we found the optimal training hyperparameters using feature similarity (FSIM). After training, we built a system that connected the CARLA simulator with DCLGAN and AV in real-time. As for the result, we collected data and analyzed them using the following four methods. First, image reality was measured with Frechet Inception Distance (FID), which we quantitatively verified to reflect the lane characteristics. The CARLA images that passed through DCLGAN had smaller FID values than the original images. Second, lane segmentation accuracy through ENet-SAD was improved by DCLGAN. Third, in the curved route, the case of using DCLGAN drove closer to the center of the lane and had a high success rate. Lastly, in the straight route, DCLGAN improved lane restoring ability after deviating from the center of the lane as much as in reality. Consequently, it convinced that the proposed method could be applicable to mitigate the gap of simulation toward real-world.

关键词： Autonomous vehicles Generative adversarial networks Cameras Mathematical models Global Positioning System Intelligent vehicles Lane detection software engineering vehicle driving autonomous vehicles lane keeping assist systems lane detection GAN DCLGAN FID autonomous vehicle simulation CARLA software-in-the-loop

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A Soft-Kill Reinforcement Learning Counter Unmanned Aerial System (C-UAS) With Accelerated Training

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IEEE ACCESS 2023年 11卷 31496-31507页

作者： Da Silva, Douglas Lopes Machado, Renato Coutinho, Olympio L. Antreich, Felix Aeronaut Inst Technol ITA Elect Warfare Lab LAB GE BR-12228900 Sao Jose Dos Campos Brazil

In recent years, unmanned aerial vehicles (UAVs) have gained significant popularity and are used for many applications, from entertainment to surveillance and the modern battlefield. As regulation demands arose worldwide, controling and reacting to unauthorized flights of UAVs became a pressing issue. In this work, we present an algorithm to accelerate the training of a reinforcement learning drone agent for a counter unmanned aerial system (C-UAS). The main objective of this C-UAS is to guide an invading drone to a safe-killing zone (SZ) using a hunter quadrotor drone. The hunter quadrotor launches a spoofing, or meaconing, attack on the GNSS receiver of the invading drone. The proposed algorithms employ an abstraction of the C-UAS problem to accelerate the training step and enable training during the mission. Results for different SZ radii are discussed using a software-in-the-loop simulation for ground truth based on a detailed model of the UAV embedded system and flight dynamics, including error metrics and action time. We show that a 99% probability of successful target steering to the SZ can be achieved considering a SZ radius of 75 meters and a Q-table trained with the proposed accelerated training model.

关键词： Reinforcement learning Global navigation satellite system Drones Receivers Autonomous aerial vehicles Satellites Jamming C-UAS drones Q-learning reinforcement learning software-in-the-loop UAV

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Real-Time Validation of Enhanced Permanent Magnet Synchronous Motor Drive Using Dense-Neural-Network-Based Control

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IEEE ACCESS 2024年 12卷 73323-73339页

作者： Fatemimoghadam, Armita Varaha Iyer, Lakshmi Kar, Narayan C. Univ Windsor Elect Engn Dept Windsor ON N9A 3P4 Canada

High-performance current and speed control are required to obtain smooth output torque, current tracking, and speed tracking in permanent-magnet synchronous motor (PMSM) drives. The motor speed and stator current control rely on multiple nonlinear motor parameters, which play a crucial role in shaping the performance of PMSM. Moreover, tuning the speed and current controller parameters using the conventional control technique depends on these PMSM parameters, also variation of these parameters will have a decisive influence on the dynamic performance of PMSM. To enhance the robustness of vector control and tracking methodology against PMSM parameter uncertainties and load disturbances, a novel artificial intelligence (AI)-based advanced speed and current control technique for PMSM is proposed in this article. Subsequently, the methodology for designing and training the suggested Dense Neural Network (DNN) controllers are elicited. The proposed controllers can handle the inevitable fluctuation and non-linearity in motor parameters at different load points and drive conditions. The proposed DNN scheme is validated in terms of settling time, dynamic responsiveness, tolerance to parameter fluctuations, and overall robustness. A comparative analysis is conducted against adaptive proportional-integral (API) control applied to the same PMSM within the OPAL-RT real-time simulator (RTS). The viability of the proposed control scheme is substantiated through simulation, software-in-the-loop (SIL) and Hardware-In-the-loop (HIL) testing with an RTS and an automotive-grade controller board across diverse conditions.

关键词： Real-time systems Mathematical models Computational modeling Vehicle dynamics Computational efficiency Artificial neural networks Training Dense neural network hardware-in-the-loop motor drive permanent magnet synchronous motor proportional-integral software-in-the-loop vector control

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A framework for an effective virtual commissioning of agent-based cyber-physical production systems integrated into manufacturing facilities

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CONCURRENT ENGINEERING-RESEARCH AND APPLICATIONS 2022年第4期30卷 399-410页

作者： Bendjelloul, Abdelhamid Mihoubi, Bachir Gaham, Mehdi Moufid, Mansour Bouzouia, Brahim Ctr Dev Adv Technol SRP Team CDTA Cite 20 Aout 1956 Algiers 16303 Algeria USTHB Univ LRPE Lab Algiers Algeria

The rise of the fourth industrial revolution and the interest in autonomous production led to increased adoption of Cyber-Physical Production Systems (CPPS) in the industry. Due to the significant suitability of Multi-Agent Systems in building cyber-physical production systems compliant with the Reference Architectural Model Industry 4.0 (RAMI 4.0), more CPPS are being realized using Industrial Agents. Because of their complexity, guidelines for conducting virtual commissioning of agent-based CPPS are required. This paper proposes a novel framework for the virtual commissioning of agent-based CPPS. The framework contributions reside in incorporating both high-level and low-level control verification and validation (V&V) and employing two combined SIL and HIL approaches during the virtual commissioning of agent-based CPPS. The feasibility of the framework was demonstrated during the V&V of an agent-based CPPS on an industrial-scale laboratory robotized production cell. The framework had a significant impact on reducing the cost and efforts of the agent-based CPPS virtual commissioning.

关键词： virtual commissioning software-in-the-loop hardware-in-the-loop-simulation multi agent systems distributed control systems cyber physical production systems industry 4.0 brownfield manufacturing facilities

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Development and Verification of a ROS-Based Multi-DOF Flight Test System for Unmanned Aerial Vehicles

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IEEE ACCESS 2023年 11卷 37068-37081页

作者： Kim, Shinhyung Philip, Opayemi Alaba Tullu, Abera Jung, Sunghun Chosun Univ Fac Smart Vehicle Syst Engn Gwangju 61452 South Korea Sbiogejong Univ Dept Aerosp Engn Seoul 05006 South Korea

Unmanned aerial vehicles (UAVs) are used in many research fields for diverse operations, requiring the system to be safe and efficient. Therefore, the UAV system's robustness and integrity are paramount in its design and operation. For these design and operational requirements, we propose a robot operating system (ROS) based multi-degree of freedom (DOF) flight test framework for the safe development, verification, and validation of UAVs. The developed flight test system includes a test bench capable of moving freely in 4 DOF, an electronic control unit (ECU) for collecting data from sensors and running the operation software, a power supply unit (PSU) to power up each device, an operation software tools developed in ROS for seamless integration of the software and hardware systems, and a wind tunnel for simulating the flight environment. The fidelity of the flight test framework was verified through experimental tests conducted on a rocket-propelled foldable unmanned aerial vehicle under development.

关键词： Autonomous aerial vehicles Graphical user interfaces Friction Wheels software tools Operating systems Manipulators Flight test system hardware-in-the-loop robot operating system software-in-the-loop unmanned aerial vehicle

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