This paper describes the black-box system identification and iterative learning control algorithm which apply to a quadcopter. At first, two feedback control loops from angles and angular velocities are implemented to...
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ISBN:
(纸本)9781538676424
This paper describes the black-box system identification and iterative learning control algorithm which apply to a quadcopter. At first, two feedback control loops from angles and angular velocities are implemented to stabilize the system, then the experimental data and the models of roll and pitch are identified via a black-box routine. For more accuracy of angles measurement, the complementary filter is used to fuse the data of the inertial measurement unit (IMU). An iterative learning control (ILC) method is then applied to the closed loop system with the aim of following trajectories of the roll and the pitch angles. The designed controller was first applied to the roll and pitch model separately and then applied to both angles simultaneously. The experimental result is presented and discussed.
This paper proposes a new contaminant detection and water quality monitoring approach. Firstly, we propose an enhanced water quality modeling technique based on machine learning (e.g Gaussian process regression (GPR))...
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ISBN:
(纸本)9781728103815
This paper proposes a new contaminant detection and water quality monitoring approach. Firstly, we propose an enhanced water quality modeling technique based on machine learning (e.g Gaussian process regression (GPR)) that aims at improving the proper understanding of the behavior of water distribution systems. To improve the performances of the developed water quality model even further, multiscale representation of data will be used to develop multiscale extension of these method. Multiscale representation is a powerful data analysis way that presents efficient separation of deterministic characteristics from random noise. Thus, multiscale GPR method, that combines the advantages of the machine learning method with those of multiscale representation, will be developed to enhance the water quality modeling performance. Secondly, technique to detect contaminant in WDN using hypothesis testing chart will be developed. Generalized likelihood ratio test (GLRT) has shown a good detection performances when compared to the classical detection charts. Then, to further enhance the performance of contaminant detection, a multiscale GPR-based exponentially weighted moving average (EWMA) GLRT (EWMA-GLRT) chart is developed. Therefore, this paper aims at enhancing the performances of contaminant monitoring using multiscale GPR-based GLRT and MSGPR-based EWMA-GLRT approaches.
— A new modified repetitive control strategy based on the Takagi-Sugeno fuzzy model is presented for an affine nonlinear system to track a periodic reference and reject a periodic disturbance. Then, a parallel distri...
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Hafnium diboride (HfB2) in aluminum matrix (Al) material was prepared by diffusion sintering of a mixture of hafnium diboride and aluminum micropowders. The effect of the hafnium diboride content (HfB2) in the aluminu...
Hafnium diboride (HfB2) in aluminum matrix (Al) material was prepared by diffusion sintering of a mixture of hafnium diboride and aluminum micropowders. The effect of the hafnium diboride content (HfB2) in the aluminum matrix (Al) on sintering characteristics and properties of the samples is presented. The effect of microwave activation of the aluminum powders has been established. The diffusion sintering behavior was concluded. The material properties and structure were defined.
Solar power availability is intermittent and must be accompanied by an energy storage system (ESS) so that the effect of variability can be minimized. Hence, a strategy is needed to find the optimum combination of gri...
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Research on physical activity (PA) and health has a fundamental concern with dose-response relationships. The variables of (1) Frequency, (2) Intensity, (3) Time, and (4) Type (i.e., the FITT principle) have tradition...
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Research on physical activity (PA) and health has a fundamental concern with dose-response relationships. The variables of (1) Frequency, (2) Intensity, (3) Time, and (4) Type (i.e., the FITT principle) have traditionally been used to operationalize the dosage of PA. We consider some limitations of FITT and propose that it can be complemented by the additional variable density (from the German exercise and training variable Belastungsdichte), which can be defined as the timing of successive work bouts within a single PA bout as well as the timing between successive PA bouts within a specific time period; it does so by quantifying the temporal intervals between successive work or PA bouts (i.e., time spent at a lower PA intensity or resting such as in napping/sleeping or sedentary behaviors). Using the field of PA and brain health as an example, we discuss the opportunities and challenges for further research employing the variable density and consider its potential to improve the understanding of dose-response relationships between PA and health outcomes.
A learning based approach is proposed to calibrate the geometric distortion of a Time-of-Flight (ToF) camera. Our method is flexible as it requires only a ToF camera and a standard camera calibration chessboard. We tr...
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Despite substantial declines since 2000, lower respiratory infections (LRIs), diarrhoeal diseases, and malaria remain among the leading causes of nonfatal and fatal disease burden for children under 5 years of age (un...
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