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IEEE Conference on Decision and control

作者： Rodrigo Aldana-López Richard Seeber Hernan Haimovich David Gómez-Gutiérrez Department of Computer Science and Systems Engineering University of Zaragoza Zaragoza Spain Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria Centro Internacional Franco-Argentino de Ciencias de la Información y de Sistemas (CIFASIS) CONICET-UNR Rosario Argentina Intel Tecnología de México Intel Labs Intelligent Systems Research Lab Jalisco Mexico Tecnológico Nacional de México Instituto Tecnológico José Mario Molina Pasquel y Henríquez Unidad Académica Zapopan Jalisco Mexico

The online differentiation of a signal contaminated with bounded noise is addressed. A differentiator is developed that generates a Lipschitz continuous output, is exact in the absence of noise, and provides the optimal worst-case accuracy among all possible exact differentiators when noise is present. This combination of features is not shared by any previously existing differentiator. Tuning of the developed differentiator is very simple, requiring only the knowledge of a bound for the second-order derivative of the signal. The approach consists in regularizing the possibly highly noisy output of a recently introduced linear adaptive robust exact differentiator and feeding it to a first-order sliding-mode filter designed to maintain optimal accuracy. The proposed regularization and filtering of this output allows trading the speed with which exactness is obtained for the feature of a Lipschitz continuous, hence less noisy, output. An illustrative example is provided to highlight the features of the developed differentiator.

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Load transportation using single and multiple quadrotor aerial vehicles with swing load attenuation

Load transportation using single and multiple quadrotor aeri...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Nadia S. Zúñiga Filiberto Muñoz Marco A. Márquez Eduardo S. Espinoza Luis R. García Carrillo Polytechnic University of Pachuca Zempoala Hidalgo México French-Mexican Laboratory Computer Science and Control LAFMIA-UMI CNRS 3175 CIN-VESTAV Department of Electrical Engineering Texas A&M University - Corpus Christi Corpus Christi TX USA

This paper deals with a load transportation problem using single and multiple quadrotor aerial vehicles. A control strategy for cooperative load transportation is developed by using consensus strategies for multi agent systems. To reduce the swing in the load angle, the Input Shaping technique is used. This technique shows that oscillations can be reduced in up to 60%. The stability for the strategy is based on a Lyapunov analysis. Finally, simulation results are provide to show the effectiveness of the proposed control structure and the notable reduction of the load swing angle.

关键词： Transportation Vehicle dynamics Mathematical model Payloads Attitude control Oscillators Task analysis

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The overlapping burden of the three leading causes of disability and death in sub-Saharan African children

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Nature Communications 2022年第1期13卷 1-14页

作者： Reiner, Robert C. Welgan, Catherine A. Troeger, Christopher E. Baumann, Mathew M. Weiss, Daniel J. Deshpande, Aniruddha Blacker, Brigette F. Miller-Petrie, Molly K. Earl, Lucas Bhatt, Samir Abolhassani, Hassan Abosetugn, Akine Eshete Abu-Gharbieh, Eman Adekanmbi, Victor Adetokunboh, Olatunji O. Aghaali, Mohammad Aji, Budi Alahdab, Fares Al-Aly, Ziyad Alhassan, Robert Kaba Ali, Saqib Alizade, Hesam Aljunid, Syed Mohamed Almasi-Hashiani, Amir Al-Mekhlafi, Hesham M. Altirkawi, Khalid A. Alvis-Guzman, Nelson Amare, Azmeraw T. Amini, Saeed Amugsi, Dickson A. Ancuceanu, Robert Andrei, Catalina Liliana Ansari, Fereshteh Anvari, Davood Appiah, Seth Christopher Yaw Arabloo, Jalal Aremu, Olatunde Atout, Maha Moh’d Wahbi Ausloos, Marcel Ausloos, Floriane Ayanore, Martin Amogre Aynalem, Yared Asmare Azene, Zelalem Nigussie Badawi, Alaa Baig, Atif Amin Banach, Maciej Bedi, Neeraj Bhagavathula, Akshaya Srikanth Bhandari, Dinesh Bhardwaj, Nikha Bhardwaj, Pankaj Bhattacharyya, Krittika Bhutta, Zulfiqar A. Bijani, Ali Birhanu, Tesega Tesega Mengistu Bitew, Zebenay Workneh Boloor, Archith Brady, Oliver J. Butt, Zahid A. Car, Josip Carvalho, Felix Casey, Daniel C. Chattu, Vijay Kumar Chowdhury, Mohiuddin Ahsanul Kabir Chu, Dinh-Toi Coelho, Camila H. Cook, Aubrey J. Damiani, Giovanni Daoud, Farah Gela, Jiregna Darega Darwish, Amira Hamed Daryani, Ahmad Das, Jai K. Davis Weaver, Nicole Deribe, Kebede Desalew, Assefa Dharmaratne, Samath Dhamminda Dianatinasab, Mostafa Diaz, Daniel Djalalinia, Shirin Dorostkar, Fariba Dubljanin, Eleonora Duko, Bereket Dwyer-Lindgren, Laura Effiong, Andem El Sayed Zaki, Maysaa El Tantawi, Maha Enany, Shymaa Fattahi, Nazir Feigin, Valery L. Fernandes, Eduarda Ferrara, Pietro Fischer, Florian Foigt, Nataliya A. Folayan, Morenike Oluwatoyin Foroutan, Masoud Frostad, Joseph Jon Fukumoto, Takeshi Gaidhane, Abhay Motiramji Gebrekrstos, Hailemikael Gebrekidan G. K. Gebremeskel, Leake Gebreslassie, Assefa Ayalew Gething, Peter W. Gezae, Kebede Embaye Ghadiri, Keyghobad Ghashghaee, Ahmad Golechha, Mahaveer Gubar Institute for Health Metrics and Evaluation University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Malaria Atlas Project University of Oxford Oxford United Kingdom Imperial College London London United Kingdom Department of Laboratory Medicine Karolinska University Hospital Huddinge Sweden Research Center for Immunodeficiencies Tehran University of Medical Sciences Tehran Iran Department of Public Health Debre Berhan University Debre Berhan Ethiopia Department of Clinical Sciences University of Sharjah Sharjah United Arab Emirates Population Health Sciences King’s College London London United Kingdom Centre of Excellence for Epidemiological Modelling and Analysis Stellenbosch University Stellenbosch South Africa Department of Global Health Stellenbosch University Cape Town South Africa Department of Epidemiology and Biostatistics Qom University of Medical Sciences Qom Iran Faculty of Medicine and Public Health Jenderal Soedirman University Purwokerto Indonesia Mayo Evidence-based Practice Center Mayo Clinic Foundation for Medical Education and Research Rochester MN United States John T. Milliken Department of Internal Medicine Washington University in St. Louis St. Louis MO United States Clinical Epidemiology Center Department of Veterans Affairs St Louis MO United States Institute of Health Research University of Health and Allied Sciences Ho Ghana Department of Information Systems College of Economics and Political Science Sultan Qaboos University Muscat Oman Infectious and Tropical Disease Research Center Hormozgan University of Medical Sciences Bandar Abbas Iran Department of Health Policy and Management Kuwait University Safat Kuwait International Centre for Casemix and Clinical Coding National University of Malaysia Bandar Tun Razak Malaysia Department of Epidemiology Arak University of Medical Sciences Arak Iran Medical Research Center

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 (under 5), primarily in sub-Saharan Africa (SSA). The spatial burden of each of these diseases has been estimated subnationally across SSA, yet no prior analyses have examined the pattern of their combined burden. Here we synthesise subnational estimates of the burden of LRIs, diarrhoea, and malaria in children under-5 from 2000 to 2017 for 43 sub-Saharan countries. Some units faced a relatively equal burden from each of the three diseases, while others had one or two dominant sources of unit-level burden, with no consistent pattern geographically across the entire subcontinent. Using a subnational counterfactual analysis, we show that nearly 300 million DALYs could have been averted since 2000 by raising all units to their national average. Our findings are directly relevant for decision-makers in determining which and targeting where the most appropriate interventions are for increasing child survival. © 2022, The Author(s).

关键词： Biogeography Epidemiology Infectious diseases Malaria

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Altitude control of an Unmanned Aircraft System using a Super-Twisting controller based on High Order Sliding Mode Observer

Altitude control of an Unmanned Aircraft System using a Supe...

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Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

作者： Filiberto Muñoz Iván González-Hernández Eduardo S. Espinoza Sergio Salazar Antonio Osorio Polytechnic University of Pachuca Zernpoala Hidalgo Mexico French-Mexican Laboratory on Computer Science and Control Mexico D.F. Mexico

In this paper, the altitude tracking problem for an Unmanned Aircraft System (UAS) is considered under the assumption that the altitud velocity is unknown. Since in a practical implementation the employed sensors used to measure the altitude (Barometer and GPS) do not provide the altitude velocity. The proposed strategy was designed by using a Super-Twisting controller based on a High Order Sliding Mode Observer. A comprehensive stability analysis based on the Lyapunov Stability Theory guarantees the convergence of the tracking error in finite time. To demonstrate the performance of the proposed solution, a set of simulation results are presented.

关键词： Observers Aircraft Uncertainty Estimation error Convergence Aircraft propulsion Rotors

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Aerodynamic analysis and performance of a mini airplane UAV

Aerodynamic analysis and performance of a mini airplane UAV

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： F. Guerrero V. Martinez O. Garcia A. Sanchez E. S. Espinoza CIIIA-FIME-UANL Aerospace Engineering Research and Innovation Center Monterrey Nuevo Leon Mexico CINVESTAV Laboratory of Non-inertial Robots and Man-machine Interfaces Monterrey Nuevo Leon Mexico Robotics and Advanced Manufacturing Division CINVESTAV Saltillo Coahuila Mexico LAFMIA-UMI CNRS 3175 French-Mexican Laboratory on Computer Science and Control Mexico D.F. Mexico

ISBN: (纸本)9781479960118

This paper focuses on the aerodynamic design and performance of a mini airplane UAV. The mini aerial vehicle is based on a conceptual design considering a high aerodynamic finesse (a high ratio between lift and drag), flying and handling qualities in order to perform a reliable and stable flight. The equations of motion are described using the Newton-Euler formulation and the stability derivatives are obtained from the aerodynamic design of the aerial vehicle. A static analysis is presented in order to study the mini airplane in trim condition. Simulations illustrate the performance for the closed-loop system of the aerial vehicle. The platform and its avionics are developed using low-cost, easy operation, sensors and components.

关键词： Aerodynamics Airplanes Vehicles Mathematical model Stability analysis Vehicle dynamics

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Multi-UAV Testbed for Aerial Manipulation Applications

Multi-UAV Testbed for Aerial Manipulation Applications

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International Conference on Unmanned Aircraft Systems

作者： D. I. Montufar F. Munoz E. S. Espinoza O. Garcia S. Salazar Polytechnic University of Pachuca Aerospace Engineering Research and Innovation Center CIIIA-FIME-UANL The French-Mexican Laboratory on Computer Science and Control LAFMIA-UMI CNRS 3175 CINVESTAV-IPN

ISBN: (纸本)9781479923779

This paper addresses the development and implementation of a testbed for object's manipulation by using unmanned aerial vehicles *** and the VICON Cameras System. Such testbed allows the user to choose among two development environments to perform aerial manipulation establishing a communication with LabVIEW, ROS and the C++ Qt library;thus, the user can employ the development environment more suitable for his application. This testbed allows us to establish communication between a computer and the A.R. Drone (v1 or v2) via a WiFi connection which sends and receives data using the communication protocol UDP and sockets for connection with the vehicle UDP ports. This platform sends control and navigation commands to the UAVs in order to position them in the space with user interaction by means of a graphical user interface. This testbed enables the implementation of more complex applications, such as complex controllers. In addition, to validate the effectiveness of this testbed, experimental results of aerial manipulation between two quadrotors are presented.

关键词： Communication Research user-computer interaction ANTENNA test bed Unmanned Aerial Vehicle drone honey bees computers User Datagram Protocol/Internet Protocol Uridine Diphosphate

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Hovering flight improvement of a quad-rotor mini UAV using Brushless DC motors

Hovering flight improvement of a quad-rotor mini UAV using B...

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作者： Sanchez, A. García Carrillo, L.R. Rondon, E. Lozano, R. Garcia, O. Robotics and Advanced Manufacturing Division Research Center for Advanced Studies-Cinvestav Carretera Saltillo-Monterrey km. 13.5 Ramos Arizpe Coahuila 25900 Mexico UMR CNRS 6599 Université de Technologie de Compiègne Heudiasyc Centre de Recherches de Royallieu B.P. 20529 Compiègne 60205 France Franco-Mexican Laboratory on Computer Science and Control UMI-CNRS 3175 Av. Instituto Politecnico Nacional No. 2508 San Pedro Zacatenco México DF 07360 Mexico

This paper present the design of a novel embedded control system for improving attitude stabilization of a quad-rotor mini UAV. The control strategy uses low cost components and includes an extra control loop based on motor armature current feedback. This additional control loop significantly improves the performance of the quad-rotor attitude stability. This technique results in a controller that is robust with respect to external disturbances as has been observed experimentally. © 2010 Springer science+Business Media B.V.

关键词： Brushless DC motors

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Optimized transmission of loss tolerant information streams for real-time vehicle-to-vehicle communications

Optimized transmission of loss tolerant information streams ...

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10th mexican International Conference on computer science, ENC 2009

作者： Bucciol, Paolo Zechinelli-Martini, José Luis Vargas-Solar, Genoveva IEIIT - CNR Italian National Research Council Corso Duca degli Abruzzi 24 I-10129 Torino Italy Data and Knowledge Management Group Universidad de Las Américas Puebla Sta. Catarina Mártir 72920 Cholula Puebla Mexico French Mexican Laboratory of Computer Science and Automatic Control Puebla Mexico

ISBN: (纸本)9780769538822

This paper addresses the real-time transmission optimization of loss tolerant information streams over Vehicular Ad Hoc Networks. The proposed FEC and Interleaving Real Time Optimization (FIRO) technique dynamically adapts the two well-known error resilience techniques to the actual channel conditions, according to the stream constraints in terms of maximum allowed packet loss rate and tolerated delay. To increase the quality of the communication, FIRO implements a dynamic feedback mechanism based on periodic RTCP Receiver Reports. Frequency of reports is dynamically adapted based on the accuracy of the estimates. The FEC and Interleaving parameters are updated based on both short- and long-term channel estimates. To evaluate the performance of FIRO in a realistic environment, in this paper the proposed technique is applied to real time vehicle-to-vehicle video streaming. However, FIRO can also be implemented in other scenarios where a loss tolerant information flow is streamed over a lossy channel with real time constraints. Results show that FIRO consistently improves the performance of the received video stream at both network and application layers, thanks to the joint effect of FEC, Interleaving, dynamic parameter update and dynamic update of the inter-arrival frequency of the receiver reports. As a side benefit of the packet-level design, FIRO can be implemented on Off-The-Shelf IEEE 802.11 devices. © 2009 IEEE.

关键词： Video streaming

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