A novel chitosan scaffold with micro- and nano-hybrid structures was proposed in this study. The hemispheric array of the barrier layer of an anodic aluminum oxide (AAO) film was used as the substrate. Microelectromec...
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This paper presents a framework to deal with outdoor navigation using an *** Parrot quadrotor. The proposed system runs in a centralized computer, the ground station, responsible for the communication with the unmanne...
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This paper presents a framework to deal with outdoor navigation using an *** Parrot quadrotor. The proposed system runs in a centralized computer, the ground station, responsible for the communication with the unmanned aerial vehicle (UAV) and for synthesizing the control signals during flight missions. The outdoor navigation is performed through using a layered control architecture, where a high-level control algorithm, designed from the kinematic differential equations describing the movement of the UAV, is used to generate reference signals for a low-level velocity controller. To feedback the controllers, the sensorial data provided by the *** onboard sensors and a GPS module are fused through a Kalman Filter, allowing getting a more reliable estimate of the UAV state. Finally, experimental results are presented, which demonstrate the effectiveness of the proposed framework.
In the last few decades the competitive context development trajectory is leading companies to increase their contribution for sustainable development. Stakeholders' accountability demands are being reflected in p...
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ISBN:
(纸本)9780983762430
In the last few decades the competitive context development trajectory is leading companies to increase their contribution for sustainable development. Stakeholders' accountability demands are being reflected in present multidisciplinary regulatory framework that is formed by standards, guidelines and guidance reports, and allows markets and society to have evidences from sustainable behavior, which is certified or formally agreed or signatory by companies. Operations strategy performance information could be addressed to a set of evolutionary performance indicators, which could represent sustainability present performance, and also could orient companies in reaching higher performance levels according to a preset maturity trajectory. The objective of this paper is to develop a process for generating an integrated set of performance measures for managing sustainability at value chain or operations system level. An applied research was conducted based on action research approach, operationalized by Cambridge process or engineering approach, and managed in research process management cycle. Performance measures are formally and detailed defined as metadata. Process application not only allows a better understanding on how sustainability indicators could be integrated and related to a maturity model, but also created an information system that could be used for auditing, assessment and reporting sustainability performance.
In the present work we introduce a system identification framework where no a priori information on the system to be identified is available. Focusing in the specific case of radial basis functions neural networks mod...
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In the present work we introduce a system identification framework where no a priori information on the system to be identified is available. Focusing in the specific case of radial basis functions neural networks models, we insert the choice of the model complexity and its inputs in the optimization procedure together with the model parameters, aiming at accuracy, model validity and regularization in a multiobjective approach. The multicriteria problem is solved by means of the multiobjective cuckoo search, which is based on an archiving technique and the crowding distance metric. Simulation results are promising when the methodology is applied to identify a robot arm given solely input and output data.
In order to improve equipment efficiency in terms of performance, energy consumption and degradation for example, the industry has increased the use of control systems as the PID (proportional-integral-derivative) to ...
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Unmanned Underwater Vehicle (UUV), known as underwater drones, are any vehicle that are able to operate underwater without human occupant. AUV (Autonomous Underwater Vehicle) are one of categories of these vehicles wh...
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ISBN:
(纸本)9781467373470
Unmanned Underwater Vehicle (UUV), known as underwater drones, are any vehicle that are able to operate underwater without human occupant. AUV (Autonomous Underwater Vehicle) are one of categories of these vehicles which operate independently of direct human input. This AUV is required to have a navigation system that can manoeuvred 6 Degree of Freedom (DOF) and able to estimate the exact position based on the determined trajectory. Fuzzy Kalman Filter (FKF) method is used to estimate the position of the AUV. This process is used to maintain the accuracy of the trajectory. The performance of FKF algorithm on some several trajectory cases show that this method has relatively small Root Means Square Error (RSME), which is less than 10%.
The gravitational search algorithm (GSA) is a stochastic population-based metaheuristic inspired by the interaction of masses via Newtonian gravity law. In this paper, we propose a modified GSA (MGSA) based on logarit...
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ISBN:
(纸本)9781450328814
The gravitational search algorithm (GSA) is a stochastic population-based metaheuristic inspired by the interaction of masses via Newtonian gravity law. In this paper, we propose a modified GSA (MGSA) based on logarithm and Gaussian signals for enhancing the performance of standard GSA. To evaluate the performance of the proposed MGSA, well-known benchmark functions in the literature are optimized using the proposed MGSA, and provides comparisons with the standard GSA.
Flight simulators can provide a suitable alternative to real flight, mainly to increase safety through the training of crew, and evaluation data from simulator can be used to validation and certification of aircraft s...
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Flight simulators can provide a suitable alternative to real flight, mainly to increase safety through the training of crew, and evaluation data from simulator can be used to validation and certification of aircraft systems. However, it must convey some degree of realism to the user to be effective. For that reason, it is necessary to calibrate the simulator software. Calibration for flight simulation is parameter identification process. The process is formulated as an optimization problem, and it is solved by using a new approach named Multiple Particle Collision Algorithm (MPCA). Results show a good performance for the employed approach.
This paper describes the application of a low-cost quadrotor testbed in real outdoor flights. Along the text it is discussed how to design a flight control system, including methods for fusing out-of-sequence sensor m...
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This paper describes the application of a low-cost quadrotor testbed in real outdoor flights. Along the text it is discussed how to design a flight control system, including methods for fusing out-of-sequence sensor measurements, for modelling the aircraft and for designing a high level flight controller. To validate the proposed system, some flights were performed, executing the specific tasks of positioning and trajectory tracking. The experimental results, discussed in the text and presented in videos, demonstrate the effectiveness of such a system.
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