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Gertler-Hagen hydrodynamic model based velocity estimation filter for long-term underwater navigation without external position fix

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Transactions of the Korean Institute of Electrical Engineers 2016年第11期65卷 1868-1878页

作者： Lee, Yunha Ra, Won-Sang Kim, Kwanghoon Ahn, Myonghwan Lee, Bum-Jik School of Mechanical and Control Engineering Handong Global University Korea Republic of Core Tech R and D Lab LIG Nex1 Co. Ltd. Korea Republic of Combat System R and D Lab LIG Nex1 Co. Ltd. Korea Republic of Submarine Combat System Part Daewoo Shipbuilding and Marine Engineering Korea Republic of

This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated. Copyright © The Korean Institute of Electrical Engineers.

关键词： Navigation

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Sensor Fault Diagnosis and Fault Tolerant control using intelligent-Output-Estimator Applied on Quadrotor UAV

Sensor Fault Diagnosis and Fault Tolerant Control using inte...

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International Conference on Unmanned Aircraft Systems

作者： Younes A1 Younes Abdelhamid Rabhi Hassan Noura Ahmed El Hajjaji Mechanical Engineering Faculty at Higher Colleges of Technology Al Ain UAE and PhD student at the University of Picardie Jules Verne Amiens France Assistant Professor in Modeling Information & System Lab - Control & Vehicle Group- at University of Picardie Amiens France Professor and Chairman of Electrical Engineering Department at United Arab Emirates University A1 Ain UAE Professor in Modeling Information & System Lab - Control & Vehicle Group- at University of Picardie Amiens France

ISBN: (纸本)9781467393355

In this paper, Fault Diagnosis and Fault Tolerant control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error deviation between the output estimation and the measured outputs. Then the fault compensation is achieved by regenerating the desired path. Real-flight results validated the proposed algorithms and showed the sensor fault accommodation process.

关键词： iOE Sensor UAV

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The competitive nature of STAT complex formation drives phenotype switching of T cells

arXiv

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arXiv 2017年

作者： Sadreev, Ildar I. Chen, Michael Z.Q. Umezawa, Yoshinori Biktashev, Vadim N. Kemper, Claudia Salakhieva, Diana V. Welsh, Gavin I. Kotov, Nikolay V. Centre for Systems Dynamics and Control College of Engineering Mathematics and Physical Sciences University of Exeter Harrison Building North Park Road ExeterEX4 4QF United Kingdom Section of Experimental Haematology Leeds Institute of Cancer and Pathology University of Leeds Leeds United Kingdom Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Department of Dermatology Jikei University School of Medicine 3-25-8 Nishishimbashi Minato-ku Tokyo105-8461 Japan Division of Transplantation Immunology and Mucosal Biology MRC Centre for Transplantation King's College London Guy's Hospital LondonSE1 9RT United Kingdom Federal University 18 Kremlyovskaya St. Kazan420008 Russia Bristol Renal School of Clinical Sciences University of Bristol Dorothy Hodgkin Building Whitson Street BristolBS1 3NY United Kingdom Biophysics & Bionics Lab Institute of Physics Kazan Federal University Kazan420008 Russia

Signal transducers and activators of transcription (STATs) are key molecular determinants of T cell fate and effector function. A number of inflammatory diseases are characterized by an altered balance of T cell phenotypes and cytokine secretion. STATs, therefore, represent viable therapeutic targets in numerous pathologies. However, the underlying mechanisms of how the same STAT proteins regulate both the development of different T cell phenotypes and their plasticity during changes in extracellular conditions remain unclear. In this study, we investigated the STAT mediated regulation of T cell phenotype formation and plasticity using mathematical modeling and experimental data for intracellular STAT signaling proteins. The close fit of our model predictions to the experimental data allows us to propose a potential mechanism for T cell switching. According to this mechanism, T cell phenotype switching is due to the relative redistribution of STAT dimer complexes caused by the extracellular cytokine-dependent STAT competition effects. The developed model predicts that the balance between the intracellular STAT species defines the amount of the produced cytokines and thereby T cell phenotypes. The model predictions are consistent with the experimentally observed IFN-γ to IL-10 switching that regulates human Th1/Tr1 responses. The proposed model is applicable to a number of STAT signaling circuits. Copyright © 2017, The Authors. All rights reserved.

关键词： T-cells

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Realizable dynamic les subgrid-scale modeling 9

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9th International Symposium on Turbulence and Shear Flow Phenomena, TSFP 2015

作者： Heinz, Stefan Foroushani, Ehsan Kazemi Mokhtarpoor, Reza Gopalan, Harish Stoellinger, Michael K. Balakumar, Ponnampalam Department of Mathematics University of Wyoming 1000 E. Univ. Ave. LaramieWY82071 United States Department of Mechanical Engineering NUS Keppel Corporate Research Lab Engineering Drive 1 Singapore117575 Singapore Flow Physics and Control Branch NASA Langley Research Center HamptonVA23681 United States

ISBN: (纸本)9780000000002

It was shown recently that the use of stochastic analysis enables a theoretically well based systematic derivation of a realizable linear dynamic model (LDM) and a realizable nonlinear dynamic model (NDM). A-priori and a-posteriori analyses of turbulent channel flow and the turbulent Ek-man layer are used to study the characteristic properties of these dynamic models. The LDM and NDM are compared with other dynamic models: the non-stabilized and stabilized dynamic Smagorinsky model (DSM), which is used in many applications of LES, and Wang-Bergstrom's dynamic model (WBDM), which represents an extension of the DSM. The DSM and WBDM do not represent realizable models because they are not derived as consequences of a realizable stochastic process. The comparisons reported here show that the LDM and NDM are based on a dynamic model formulation that avoids shortcomings of existing concepts. The LDM and NDM account for backscat-ter, and they are computationally stable without any modification. The LDM and NDM represent the instantaneous small scale structure of turbulence very well. Compared to the DSM and WBDM, respectively, the LDM and NDM are computationally more efficient.

关键词： Dynamic models

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Bidirectional Connected control Method Applied to an Experimental Structural Model Split into Four Substructures

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Journal of Physics: Conference Series 2016年第1期744卷

作者： T Watanabe K Seto H Toyoda T Takano Department of Mechanical Engineering College of Science and Technology Nihon University 1-8-14 Kanda-Surugadai Chiyoda-ku Tokyo 101-8308 Japan Seto Vibration Control Laboratory Kanagawa Japan Watanabe Lab. Mechanical Engineering Major Grauate School of Science and Technology Nihon University Tokyo Japan

Connected control Method (CCM) is a well-known mechanism in the field of civil structural vibration control that utilizes mutual reaction forces between plural buildings connected by dampers as damping force. However, the fact that CCM requires at least two buildings to obtain reaction force prevents CCM from further development. In this paper, a novel idea to apply CCM onto a single building by splitting the building into four substructures is presented. An experimental model structure split into four is built and CCM is applied by using four magnetic dampers. Experimental analysis is carried out and basic performance and effectiveness of the presented idea is confirmed.

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Development of a vibration control system using variable-pitch propeller for life-size suspended load 12

Development of a vibration control system using variable-pit...

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12th International Conference on Motion and Vibration control, MOVIC 2014

作者： Sugimoto, Jun-Ichi Kuriki, Kouta Watanabe, Toru Seto, Kazuto Department of Mechanical Engineering Nihon University 1-8-14 Kanda Surugadai Chiyoda-ku Tokyo Japan SETO Vibration Control Lab. Japan

This paper deals with a study on a vibration control system using propellers for crane load and development of the system for life-size crane load. Vibration suppression of crane load suspended by hoisting rope is an important issue to speed-up crane operation. In this study, a novel vibration control system using propeller thrust as control forces is presented. The variable-pitch propeller device is attached crane load, and control vibration suppression of crane load by add forces to crane load directly. The pitch of the propeller can be varied so that the attack angle of the propeller blade possesses negative or positive. The normal propeller must switch on or off of the device repeatedly, so that rising properties of the force of propeller is bad. Variable-pitch propeller solved this problem. Changing the attack angle, the direction of thrust can be altered smoothly without changing on-off of the device. Based on such conceptual design, a life-size experimental device was designed precisely and produced. © 2014 The Japan Society of mechanical Engineers.

关键词： Cranes

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Vibration and control of active isolator taking dynamical property of elastic load into account 12

Vibration and control of active isolator taking dynamical pr...

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12th International Conference on Motion and Vibration control, MOVIC 2014

作者： Shiraishi, Hazime Hijioka, Junnya Shiobara, Kazuya Watanabe, Toru Seto, Kazuto Department of Mechanical Engineering Nihon University 1-8-14 Kanda Surugadai Chiyoda-ku Tokyo Japan SETO Vibration Control Lab. Japan

Ultra precision apparatus like semiconductor producing equipment needs the high accuracy at manufacturing. Therefore active isolation systems to avoid vibration transmitted from a vibration source to the precision apparatus are very important. This paper deals with the control system design for active isolation table[1][2][3]. It aims at controlling vibration of the installed object and isolation table simultaneously. An experimental isolation table with flexible loaded object is built. The experimental system is modeled according to the reduced order physical modeling method. The parameters of the table are experimentally identified. Using the obtained model, control simulations are carried out by using feed-back controller designed according to sub-optimal control theory, absolute velocity feed-back control theory and feed-forward controller. The sub-optimal feed-back controller achieved good vibration damping effect, while the feed-forward controller effectively suppressed vibration transmission from ground. In order to evaluate the control performance on experimental system, control experiments are carried out and compared with simulation results. They agreed well and the effectiveness of presented modeling and controller design procedure is confirmed. © 2014 The Japan Society of mechanical Engineers.

关键词： controllers

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Vertical Channel Damping Loop Design using Vertical Position and Velocity Information

Vertical Channel Damping Loop Design using Vertical Position...

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International Conference on control, Automation and Systems

作者： Tok Son Choe Won Sang Ra Jin Bae Park Kwanghoon Kim Myonghwan Ahn Department of Electrical and Electronic Engineering Yonsei University School of Mechanical and Control Engineering Handong Global University Combat System R&D Lab LIG Nex1 Co. Ltd.

ISBN: (纸本)9781479999767

In this paper, a vertical channel damping loop design using vertical position and velocity information is newly proposed. The inertial navigation system (INS) for the position, orientation, and velocity is mostly used for various platforms. The main disadvantage of the INS is that the navigation information degrade with time. Especially, the vertical channel error diverges exponentially if external sensors do not compensate it. The proposed method uses vertical position and velocity information acquired by additional sensors. The Kalman filter is constructed to calculate vertical channel damping loop gains. The proposed method is simulated by using INS and additional sensors error statistics. Results demonstrate the usefulness and practicality of the proposed method.

关键词： Inertial navigation system Vertical channel damping loop Vertical position and velocity

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Dynamic Modeling of a Non-Uniform Flexible Tail for a Robotic Fish

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Journal of Bionic engineering 2013年第2期10卷 201-209页

作者： Phi Luan Nguyen Van Phu Do Byung Ryong Lee Intelligent Control and Mechatronics Lab School of Mechanical Engineering University of Ulsan Ulsan 680-749 Korea School of Mechanical Engineering University of Ulsan Ulsan 680-749 Korea

In this paper, a non-uniform flexible tail of a fish robot was presented and the dynamic model was developed. In this model, the non-uniform flexible tail was modeled by a rotary slender beam. The hydrodynamics forces, including the reactive force and resistive force, were analyzed in order to derive the governing equation. This equation is a fourth-order in space and second-order in time Partial Differential Equation （PDE） of the lateral movement function. The coefficients of this PDE were not constants because of the non-uniform beams, so they were approximated by exponential functions in order to obtain an analytical solution. This solution describes the lateral movement of the flexible tail as a function of material, geometrical and actuator properties. Experiments were then carried out and compared to simulations. It was proved that the proposed model is suitable for predicting the real behavior of fish robots.

关键词： fish robot flexible tail dynamic modeling kinematic lateral movement

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Constrained Holistic Cornering control

Constrained Holistic Cornering Control

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American control Conference

作者： Dhanaraja Kasinathan Amir Khajepour Shih-Ken Chen Bakhtiar Litkouhi Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON N2L3G1 Canada Electrical and Control Systems Research Lab General Motors LLC Warren MI 48090 USA

ISBN: (纸本)9781479932757

The objective of the Holistic Corner control (HCC) is to keep the vehicle on a target path by minimizing the error between the actual and target center of gravity (CG) forces and moment. A real time optimization procedure has been proposed in order to calculate the necessary tire force adjustments to minimize the error and to give the driver a normal driving feel even though the road conditions differ from what is perceived. In this paper, we extend the HCC methodology by adding constraints to the optimization problem. Some important applications are (1) differential braking on all wheels (AWD), applicable to both electrically driven wheels or conventional cars;and (2) hybrid torque vectoring on front wheels (FWD) and differential braking on the rear wheels. Performance of the constrained HCC is compared against the HCC optimization using both simulation and experimental results.

关键词： Wheels Vehicles Torque Tires Optimization Force Vectors

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