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Low-Cost Multispectral Aerial Imaging using Autonomous Runway-Free Small Flying Wing Vehicles

Low-Cost Multispectral Aerial Imaging using Autonomous Runwa...

引用

IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Austin M. Jensen Marc Baumann YangQuan Chen Center for Self-Organizing and Intelligent Systems (CSOIS) Electrical and Computer Engineering Department Utah State University UT USA

Aerial imaging has become very important to areas like remote sensing and surveying. However, it has remained expensive and difficult to obtain with high temporal and spatial resolutions. This paper presents a method to retrieve georeferenced aerial images by using a small UAV (unmanned aerial vehicle). Obtaining aerial images this way is inexpensive, easy-to-use and allows for high temporal and spatial resolutions. New and difficult problems are introduced by the small image footprint and the inherent errors from an inexpensive compact inertial measurement unit (IMU). The small image footprint prevents us from using the features from the images to help negate the errors from the IMU, which is done in conventional methods. Our method includes: using the data from the IMU to georeference the images, projecting the images on the earth and using a man-in-the-loop approach to minimize the error from the IMU. Sample results from our working system are presented for illustration.

关键词： Remotely operated vehicles Mobile robots Unmanned aerial vehicles Remote sensing Aircraft Spatial resolution Irrigation NASA Costs Crops

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Linear and nonlinear model predictive control using a general purpose optimal control problem solver RIOTS 95

Linear and nonlinear model predictive control using a genera...

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Chinese Control and Decision Conference, CCDC

作者： Christophe Tricaud YangQuan Chen Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

In this paper, we introduce the general purpose optimal control problem solver RIOTS_95, Matlab toolbox, as a solver for general linear and nonlinear model predictive control (MPC) problems. This optimization toolbox is designed to solve a wide variety of optimal control problems and therefore constitutes a good candidate as a optimization solver in the MPC framework. The illustrative example of a DC motor is introduced to demonstrate the feasibility of model predictive control using RIOTS_95. Nonlinearities are added to the model to exemplify that RIOTS_95 is also suitable for nonlinear model predictive control (NMPC). The effectiveness and advantages of our RIOTS_95 based MPC are exemplified by comparing its results with those obtained by two readily available MPC tools.

关键词： Mathematical model Optimal control Predictive models Predictive control Optimization Computational modeling DC motors

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Experimental study of fractional order proportional integral (FOPI) controller for water level control

Experimental study of fractional order proportional integral...

引用

IEEE Conference on Decision and Control

作者： Varsha Bhambhani YangQuan Chen Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical & Computer Engineering Utah State University Logan UT USA

ISBN: (纸本)9781424431236

Based on our previously developed tuning procedure for fractional order proportional integral controller (FO-PI), we present in this paper an extensive comparative experimental study on coupled-tank liquid level controls. Our experimental study consists of four steps, they are mathematical modeling of the plant, identification of plant parameters, water-level controller design and comparisons in Simulink [software (s/w) mode] and final experimental verification and comparisons in real-time [hardware (h/w) mode]. The FO-PI controller is compared with Ziegler Nichol¿s (ZN) and Modified Ziegler Nichol¿s (MZN) conventional integer order PI controllers in terms of load disturbance rejection, changes in plant dynamics and setpoint tracking. Experimental results confirmed that FO-PI controller is a promising controller in terms of percentage overshoot and system response in liquid-level control in face of nonlinearities introduced by pumps, valves and sensors.

关键词： Pi control Proportional control Level control Nonlinear control systems Control nonlinearities Control systems Mathematical model Hardware Zinc Nonlinear dynamical systems

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Fractional-order integral and derivative controller design for temperature profile control

Fractional-order integral and derivative controller design f...

引用

Chinese Control and Decision Conference, CCDC

作者： Hyo-Sung Ahn Varsha Bhambhani YangQuan Chen Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Center of Self-Organizing and Intelligent Systems Department of Electrical and Computer Engineering Utah State University Logan UT USA Center of Self-Organizing and Intelligent Systems Department of Electrical and Computer Engineering Utah State University Logan USA

This paper presents a strategy to tune a fractional order integral and derivative controller satisfying gain and phase margins. The closed-loop system designed has a feature of robustness to gain variations with step responses exhibiting a nearly iso-damping property. This paper aims to apply the tuning procedure proposed to temperature control at selected points in Quanserpsilas heat flow experimental platform. From the comparison with the traditional PI/PID controller based on Ziegler Nicholpsilas tuning method, the effectiveness and validity of the proposed methodologies are illustrated.

关键词： Temperature control Temperature sensors Gain Tuning Calculus Heating Control systems

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Telerehabilitation via a mobile robot

Telerehabilitation via a mobile robot

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International Workshop on Virtual Rehabilitation

作者： Daniel Labonte Francois Michaud Richard Cloutier Marc-Andre Roux Dominic Letourneau Michael Lauria Patrick Boissy Department of Electrical Engineering and Computer Engineering Université de Sherbrook QUE Canada Mobile Robotics and Autonomous Intelligent Systems Canada Department of Physical Education Université de Sherbrook QUE Canada

Teleoperated from a distant location, a mobile robot with some autonomous capabilities can become a beneficial tool in telerehabilitation applications. Safety being of prime concern in such settings, we took special care in coming up with the proper teleoperation interfaces that can provide pertinent information about the system states and conditions (objects, persons, free space, data, etc.) in conjunction with an efficient control system. In order to enhancement operatorpsilas performances we tested our new robot with three modalities of visual information presentation in the teleoperation interfaces, with the use of virtual reality for operator interfaces, in a setup reproducing home like environment.

关键词： Robots Mobile communication Virtual reality Mobile robots Medical services Solid modeling Context modeling

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Sensor diagnostics for autonomous digital structural health monitoring systems

Sensor diagnostics for autonomous digital structural health ...

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26th Conference and Exposition on Structural Dynamics 2008, IMAC-XXVI

作者： Grisso, Benjamin L. Kim, Jina Ha, Dong S. Inman, Daniel J. Center for Intelligent Material Systems and Structures Virginia Polytechnic Institute State University Blacksburg VA 24061 United States Virginia Tech. VLSI for Telecommunications Laboratory Department of Electrical and Computer Engineering Virginia Polytechnic Institute Blacksburg VA 24061-0111 United States

ISBN: (纸本)9781605600666

Previously, hardware has been developed for the impedance-based structural health monitoring technique. This low power health monitoring prototype utilizes a digital signal processor evaluation board to implement a damage detection algorithm. Digital rectangular pulse trains are utilized to excite the structure, and structural response is measured via a digital signal representation. As this scheme for observing structural damage is different from standard impedance measurement methods, the procedure of performing sensor diagnostics will also need to be altered. The research presented in this paper will document efforts to adapt sensor diagnostics for the impedance method to a digital format. Experiments will be used to verify the new sensor diagnostics algorithm, and sensor degradation will be compared with structural deformities.

关键词： Digital signal processors

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Admittance control of a human centered 3 DOF robotic arm using Differential Elastic Actuators

Admittance control of a human centered 3 DOF robotic arm usi...

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2008 IEEE/RSJ International Conference on intelligent Robots and systems

作者： M.-A. Legault M.-A. Lavoie F. Cabana Ph. Jacob-Goudreau D. Letourneau F. Michaud M. Lauria Department of Electrical Engineering & Computer Engineering Université de Sherbrook QUE Canada Department of Chirurgy Université de Sherbrook QUE Canada Mobile Robotics and Autonomous Intelligent Systems Electrical Engineering and Computer Engineering Canada Research Chair Université de Sherbrook QUE Canada Department of Electrical Engineering and Computer Engineering Université de Sherbrook QUE Canada

ISBN: (纸本)9781424420575

This video shows the functionalities of a 3 serial DOF robotic arm. Each DOF is actuated with a patent pending differential elastic actuator (DEA) [1,2]. Compared to the abundantly studied series elastic actuator [3,4], DEA uses a differential coupling between a high impedance mechanical speed source and a low impedance mechanical spring. Possible implementations of a mechanical differential include the use of a standard gearbox, harmonic drive, cycloidal gearbox, bar mechanism, cable mechanism and all other mechanism that implement a differential function between three mechanical ports. For the implementation reported in this video, we used a harmonic drive for a very compact design. A passive torsion spring (thus the name elastic), with a known impedance characteristic corresponding to the spring stiffness, is used, with an electrical DC brushless motor. A non-turning sensor connected in series with the spring measures the torque output of the actuator.

关键词： Actuators Robots Springs Impedance Admittance Trajectory Robot sensing systems

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DC power flow in systems with dynamic topology

DC power flow in systems with dynamic topology

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IEEE General Meeting Power& Energy Society

作者： Mingyang Li Qianchuan Zhao Peter B. Luh Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing China Department of Electrical Computer Engineering University of Connecticut Storrs CT USA

In a power system topology change caused by a transmission line outage, the redistribution of the power flow carried by the broken lines may make other lines overloaded and lead to a cascading failure. Therefore, analyzing the impact of the topology changes on the power flow is important to help make appropriate decisions in avoiding a cascading failure. Existing power flow analysis methods have two shortcomings: the system topology cannot be reflected in the formulation of power flow, and disconnected systems cannot be dealt with in a unified way. This paper presents a DC power flow formulation and its solution method using the generalized inverse. It overcomes the two shortcomings of the existing methods in the power flow analysis of systems with a dynamic topology. Examples of a 9 bus case and the IEEE 30 bus case are provided to illustrate the advantages of our methods.

关键词： Load flow Topology Equations Load flow analysis Mathematical model Power system dynamics Power systems

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Differential elastic actuator for robotic interaction tasks

Differential elastic actuator for robotic interaction tasks

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Lauria M.-A. Legault M.-A. Lavoie F. Michaud Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Québec Canada Department of Mechanical Engineering Université de Sherbrooke Québec Canada Mobile Robotics Autonomous Intelligent Systems Canada Research Chair

For complex robotic tasks (e.g., manipulation, locomotion), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (e.g., position of contact points, interaction forces) in real-time, the finite sampling time of digital control loops and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controllers. To cope with these issues, a new compact design for high performance actuators specifically adapted for integration in robotic mechanisms is presented. This design makes use of a mechanical differential as its central element. Results shown that differential coupling between an intrinsically high impedance transducer and an intrinsically low impedance mechanical spring provides the same benefits as serial coupling, but in a more compact and simple design. This new actuator, named Differential Elastic Actuator (DEA), provides interesting design implementations, especially for rotational actuators used for mobile robot locomotion.

关键词： Actuators Robot sensing systems Force measurement Transducers Impedance Position measurement Time measurement Sampling methods Digital control Mechanical sensors

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Modeling and Optimization of Crowd Guidance for Building Emergency Evacuation

Modeling and Optimization of Crowd Guidance for Building Eme...

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2008 IEEE International Conference on Automation Science and engineering (CASE 2008), vol.1

作者： Peng Wang Peter B. Luh Shi-Chung Chang Jin Sun Department of Electrical and Computer Engineering University of Connecticut CT USA Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing China Electrical Engineering Depanment National Taiwan University Taipei Taiwan

Building emergency evacuation has long been recognized as an important issue, and crowd guidance is a key to improve egress efficiency and occupant survivability. Most existing methods assume that crowd behaviors are independent of emergency situations and are fully controllable under guidance. This assumption makes it difficult to capture important features such as stampeding or blocking. In this paper, a probabilistic model is developed to characterize how fire propagation affects crowds in stressful conditions and in turn egress times. This enables the predictions of potential blockings, and provides a foundation to optimize crowd guidance. An optimization problem is then formulated to evacuate as many people and as fast as possible while reducing the relevant risks through appropriate guidance of crowds. To solve the problem, observing that groups of crowds are mostly independent of each other except when they compete for passages, a divide-and-conquer approach is developed. After the nonlinear coupling passage capacity constraints are approximately relaxed, individual group subproblems are solved by using stochastic dynamic programming with state reduction and the rollout scheme. Individual groups are then coordinated through the iterative updating of multipliers. Testing results demonstrate that, compared with the method ignoring crowd behaviors, our method evacuate more people and faster.

关键词： Bridges USA Councils Automation Conferences

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