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Platform and simulator with three degrees of freedom for testing quadcopters

ROBOTICS AND AUTONOMOUS SYSTEMS 2024年 176卷

作者： Bulhoes, Junio Santos Martins, Cristiane Lopes Hansen, Cristian Reis, Marcio Rodrigues da Cunha Magalhaes, Alana da Silva Coimbra, Antonio Paulo Calixto, Wesley Pacheco Univ Fed Goias Elect Mech & Comp Engn Sch Goiania GO Brazil Fed Inst Mato Grosso IFMT Cuiaba Mato Grosso Brazil Coimbra Univ Inst Syst & Robot Coimbra Portugal Fed Inst Goias Technol Res & Dev Ctr GCITE Goiania GO Brazil Fed Univ Mato Grosso UFMT Cuiaba Mato Grosso Brazil

This study aims to design a test platform for quadcopters, which allows the execution of all rotational movements and prevents translational movements without affecting the dynamics of the system. The methodological approach involves both simulation and the construction of the test platform. Two simulators are developed: (i) a linear simulator, used to assist in determining control parameters, and (ii) a nonlinear simulator, used to model the nonlinearity inherent to the rotational behavior of aircraft. In addition, the control system for the quadcopter is implemented, utilizing proportional, integral, and derivative control principles. By conducting seven experiments on the test platform and in the nonlinear simulator, the obtained results are compared in order to validate the proposed methodology. The mean discrepancy observed between the mean absolute difference obtained by the test platform and by the nonlinear simulator for the angle phi was 0.85 degrees, for the angle theta was 2.77 degrees, and for the angle psi was 4.66 degrees. When analyzed separately, the mean absolute errors for the angles, using the nonlinear simulator and the test platform, showed differences below 2% in almost all evaluated experiments. The developed test platform preserves the rotational dynamics of the quadcopter as desired, closely approaching the results obtained by the nonlinear simulator. Consequently, this platform can be used to carry out practical tests in a controlled environment.

关键词： System modeling Bench test computational development Quadcopter Process control Simulation

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Gene-inspired development of Innovative Design: Principles and Algorithm

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Procedia CIRP 2020年 91卷 838-843页

作者： Wei Zhang Mark Price Trevor Robinson Declan Nolan Peter Kilpatrick Sakil Barbhuiya School of Mechanical and Aerospace Engineering Queen’s University of Belfast Belfast BT9 5AH UK School of Electrical Electronic Engineering and Computer Science Queen’s University of Belfast Belfast BT9 5BN UK

Looking to nature for inspiration, this paper presents fundamental principles and a practical algorithm for the development of innovative designs. All the necessary information for design is contained within a “design seed”, which is formed as a set of “design genes”. The genes trigger and direct the development of a design within a CAD system and make use of the mechanisms of copy, crossover, and selection. A gene is structured as a one-dimensional array, which includes attribute, attribute’s value or type, active status, working conditions (lower value and upper values for environmental stimuli), and dominance. Gene action is regulated within a seed, by guiding which genes are switched on/off, and under what conditions they are active. Design development is managed within a virtual environment which provides the external triggers and conditions needed to regulate the genes. The major processes involved in the development are pattern formation, change in form, and size variation. The processes are implemented as a simple algorithm which focuses herein on the development of a single component. Numerical examples are presented to demonstrate the effectiveness of the approach. This work provides a theoretical foundation for a novel engineering design system, which can develop innovative designs from a seed, transforming the role of designers and capitalizing on advanced manufacturing methods in the era of Industry 4.0.

关键词： Bioinspired design principles computational development Design gene Innovative design

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Modeling of a Fuel Cell with PI Controller in Simulink-Matlab 3

Modeling of a Fuel Cell with PI Controller in Simulink-Matla...

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3rd International Conference on Systems and Informatics (ICSAI)

作者： da Silva, Milton Rafael Univ Fed Itajuba Inst Syst Engn & Informat Technol Itajuba MG Brazil

ISBN: (纸本)9781509055210

Fuel Cells generate electricity by reversing the electrolysis of water. The biggest challenge for the development of these devices is related to the high cost of hydrogen production, storage and distribution. In relation to the electric motors and internal combustion engines, fuel cells can remain running for long periods of time without needing to be recharged at any time as in the case of the battery and can convert the chemical energy contained in a fuel into electricity with a high efficiency. For the development of this work, it was modeled and programmed the system that simulates the behavior of a Fuel Cell. Also, it was modeled and implemented a PI Controller, to act in the control of the Fuel Cell parameters. The graphics of the behavior of electrical currents and voltages circulating in the fuel cell were obtained. These parameters will be useful for future implementations of the fuel cell and how it works, such as in automobiles, for example. These parameters can be used to control performance and improving energy efficiency of the system.

关键词： Fuel Cell Performance Parameters computational development Modeling of Dynamic Systems

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PROTOTYPE OF A SYSTEM TO DETERMINE EVACUATION ROUTES: A CASE IN THE USTA TUNJA 20

PROTOTYPE OF A SYSTEM TO DETERMINE EVACUATION ROUTES: A CASE...

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20th SYMPOSIUM ON SIGNAL PROCESSING, IMAGES AND COMPUTER VISION (STSIVA)

作者： Pardo, Camilo Sosa, Luis Rojas, Lina Lopez, Jonathan Monsalve, Julian Univ Santo Tomas Bogota Colombia

ISBN: (纸本)9781467394611

The electronic and computational development has helped to create many new applications where the principal idea is obtaining better results in case of an emergency. Over time, we have investigated about new processes and strategies to analyze data, and how to use by audiovisual media to teach people to respond to emergency response, or any natural disaster as a seism. Using systems based on analysis and processing of images and the new mobile applications, we can create a new tool used in case of emergency. This new application will give us the instructions to evacuate safety, taking care of everyone's physical integrity. We have developed this project to find and implement solutions to the problems that can be faced in an emergency or a natural disaster, because in those cases we need to evacuate a zone. This new application will give faster and safer ways of getting out of the dangerous places getting images from them and sending the information to the person in danger. Also, this application will be able to alert the people closer to an emergency exit letting them know the actual situation of it. It will allow the people to move through different exit routs in case of collapse, or any impediment that might be blocking an exit. Thus, the evacuation will be safer and will get better results, saving more people's lives.

关键词： disasters emergency management image processing mobile computing USTA Tunja audiovisual media computational development data analysis electronic development emergency exit emergency response evacuation routes exit routes image analysis mobile applications natural disaster safe evacuation system prototype Databases Image edge detection Mobile applications Mobile communication Servers Software Mobile Applications Natural Disasters audiovisual media Image processing Edge detection Emergency Services Emergency Egress crisis management mobile communication Servers Mobile Computing Persons Database Evacuation EMERGENCY RESPONSE

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In search of intelligence: evolving a developmental neuron capable of learning

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CONNECTION SCIENCE 2014年第4期26卷 297-333页

作者： Khan, Gul Muhammad Miller, Julian Francis Univ Engn & Technol Dept Elect Engn Peshawar Pakistan Univ York Dept Elect York YO10 5DD N Yorkshire England

A neuro-inspired multi-chromosomal genotype for a single developmental neuron capable of learning and developing memory is proposed. This genotype is evolved so that the phenotype which changes and develops during an agent's lifetime (while problem-solving) gives the agent the capacity for learning by experience. Seven important processes of signal processing and neural structure development are identified from biology and encoded using Cartesian Genetic Programming. These chromosomes represent the electrical and developmental aspects of dendrites, axonal branches, synapses and the neuron soma. The neural morphology that occurs by running these chromosomes is highly dynamic. The dendritic/axonal branches and synaptic connections form and change in response to situations encountered in the learning task. The approach has been evaluated in the context of maze-solving and the board game of checkers (draughts) demonstrating interesting learning capabilities. The motivation underlying this research is to, ab initio, evolve genotypes that build phenotypes with an ability to learn.

关键词： Cartesian Genetic Programming computational development artificial neural networks maze checkers

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Interactive Biomimetic Space: An Interactive Installation to Explore Living Architecture 1

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Conference on EvoApplications 2011: EvoCOMPLEX, EvoGAMES, EvoIASP, EvoINTELLIGENCE, EvoNUM, AND EvoSTOC

作者： Mor, Liraz Liu, Chao von Mammen, Sebastian Univ Calgary Comp Media Design Calgary AB Canada Univ Calgary Dept Comp Sci Calgary AB Canada

ISBN: (数字)9783642205200

ISBN: (纸本)9783642205194

This paper describes a computer-based Interactive Biomimetic Space (IBS) installation. Through an interactive process, a user creates and relates new spaces. The simulation of a simplified ecosystem populates the created space with life. The installation attempts to inspire architectural design ideas by integrating biological principles. In particular, the biological concepts of stochastic motion, interaction and reproduction of artificial swarms have been explored and applied. Both the user and the swarm agents contribute to the design process, which results in interesting design outputs with a certain degree of unpredictability. We introduce the theoretical background of our work, outline its technical implementation, and present various interaction examples and scenarios.

关键词： Interactive art architectural design swarm dynamics computational development

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Using a genetic algorithm to evolve cellular automata for 2D/3D computational development 06

Using a genetic algorithm to evolve cellular automata for 2D...

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8th Annual Genetic and Evolutionary Computation Conference

作者： Chavoya, Arturo Duthen, Yves Univ Toulouse 1 Image Synth & Virtual Real Team 1 Pl Anatole France F-31042 Toulouse France

ISBN: (纸本)9781595931863

Form generation or morphogenesis is one of the main stages of both artificial and natural development. This paper provides results from experiments in which a genetic algorithm (CA) was used to evolve cellular automata (CA) to produce predefined 2D and 3D shapes. The CA worked by evolving the CA rule table and the number of iterations that the model was to run. After the final chromosomes were obtained for all shapes, the CA model was allowed to run starting with a single cell in the middle of the lattice until the allowed number of iterations was reached and a shape was formed. In all cases, mean fitness values of evolved chromosomes were above 80%.

关键词： genetic algorithms cellular automata computational development

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An evolutionary system using development and artificial Genetic Regulatory Networks for electronic circuit design

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BIOSYSTEMS 2009年第3期98卷 176-192页

作者： Zhan, Song Miller, Julian F. Tyrrell, Andy M. Univ York Dept Elect Intelligent Syst Grp York YO10 5DD N Yorkshire England

Biology presents incomparable, but desirable, characteristics compared to engineered systems. Inspired by biological development, we have devised a multi-layered design architecture that attempts to capture the favourable characteristics of biological mechanisms for application to design problems, We have identified and implemented essential features of Genetic Regulatory Networks (GRNs) and cell signalling which lead to self-organization and cell differentiation. We have applied this to electronic circuit design. (C) 2009 Elsevier Ireland Ltd. All rights reserved.

关键词： computational development computational evolution Degeneracy Genetic Regulatory Network Neutrality Protein synthesis

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A developmental Gene Regulation Network for Constructing Electronic Circuits

A Developmental Gene Regulation Network for Constructing Ele...

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8th International Conference on Evolvable Systems

作者： Zhan, Song Miller, Julian F. Tyrrell, Andy M. Univ York Dept Elect Intelligent Syst Grp York YO10 5DD N Yorkshire England

ISBN: (纸本)9783540858560

We present a method for constructing electronic circuits that uses analogues of biological multi-cellular development, genetic regulatory networks, and transcription and translation processes to build circuits. We show how small circuits may be evolved and how they may be reused to build larger circuits. We also demonstrate that the artificial 'organisms' are capable of regeneration so that circuit functionality can be recovered after damage.

关键词： computational development genetic regulation digital circuit design

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Cell tracking: Genesis and epigenesis in an artificial organism

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9th European Conference on Artificial Life

作者： Fontana, Alessandro IEEE

ISBN: (纸本)9783540749127

This paper belongs to the field of computational development. It describes a method that has the objective to provide an effective way of generating arbitrary shapes by using evolutionary-developmental techniques, i.e. by evolving genomes that guide the development of the organism starting from a single cell. The key feature of the method is the explicit introduction of an epigenetic memory, that is a cell variable that is modified during the development process and can take different values in different cells. This variable represents the source of differentiation, that leads different cells to read out different portions of the genome at different times. Preliminary experiments have been performed and the results appear to be quite encouraging: the proposed method was able to evolve a number of 25x25, 32x48 and 64x64 target shapes.

关键词： computational development morphogenesis epigenetic memory

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