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Nonlinear Model Predictive Formation Control for Quadcopters

IFAC-PapersOnLine 2015年第19期48卷 39-44页

作者： Ribeiro, Tiago T. Conceição, André G.S. Sa, Inkyu Corke, Peter LaR - Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Salvador Brazil Australian Centre for Robotic Vision School of Electrical Engineering and Computer Science Queensland University of Technology Australia

This paper presents a Nonlinear Model Predictive Formation Control for a group of Quadcopters. In this approach the controllers are distributed to the quadcopters and the coupling is done through its objective function. The path following problem is expressed through a dynamic model of the quadcopter's state errors relative to a Serret-Frenet frame, and the coordination problem is solved through adjustments in the robots' speeds combined with the path update rate for each robot. A strategy based on constraints relaxing is proposed to solve the problem of high state and formation errors, factors that directly affect feasibility and stability. Simulation results considering a realistic scenario are provided to demonstrate the performance of the proposed control strategy. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Problem solving Model predictive control Nonlinear systems Predictive control systems Unmanned aerial vehicles (UAV) Control strategies Coordination problems Formation control Nonlinear model predictive control Objective functions Path following problems Realistic scenario Serret Frenet frame

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Nonlinear Model Predictive Formation Control for Quadcopters

Nonlinear Model Predictive Formation Control for Quadcopters

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关键词： Unmanned aerial vehicles (UAV)

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26th Annual Computational Neuroscience Meeting (CNS*2017) of the Organization for Computational Neuroscience Antwerp, Belgium, July 15-20, 2017

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BMC NEUROscience 2017年第SUPPL 1期18卷 59-59页

作者： [Anonymous] Indiana University Purdue University Indianapolis Indianapolis IN 46032 USA Stark Neurosciences Research Institute Indiana University School of Medicine Indianapolis IN 46032 USA Department of Mathematics East Carolina University Greenville NC 27858 USA Jülich Supercomputing Centre Forschungszentrum Jülich 52425 Jülich Germany Future Systems Swiss National Supercomputing Centre 8092 Zurich Switzerland User Engagement and Support Swiss National Supercomputing Centre 6900 Lugano Switzerland Institut de Neurosciences des Systèmes Aix Marseille Univ 13005 Marseille France Simulation Lab Neuroscience Forschungszentrum Jülich Jülich Germany Department of Experimental Psychology Ghent University 9000 Ghent Belgium Donders Center for Cognitive Neuroimaging Radboud University 6525HR Nijmegen The Netherlands Department of Electrical Computer and Energy Engineering University of Colorado Boulder CO 80309 USA Department of Neurosurgery Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Neurology Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Otolaryngology Johns Hopkins School of Medicine Baltimore MD 21287 USA INSERM U968 Paris France Sorbonne Universités UPMC University Paris 06 UMR_S 968 Institut de la Vision Paris France CNRS UMR_7210 Paris France Department of Computer Architecture and Technology University of Granada (CITIC) Granada Spain Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Institut de la Vision Paris France Department of Adaptive Machine Systems Osaka University Osaka Japan Department of Computer Science University of Cergy-Pontoise Cergy-Pontoise France Department of Physics and Astronomy College of Charleston Charleston SC 29424 USA School of Physics Faculty of Science University of Sydney Sydney NSW 2006 Australia Center of Excellence for Integrative Brain Function Australian Research Council Sydney Australia Max Planck Institute for Human Cognitive and Brain Sciences Saxony Lei

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Electronic Stuctures: Mechanically Guided Post‐Assembly of 3D Electronic Systems (Adv. Funct. Mater. 48/2018)

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Advanced Functional Materials 2018年第48期28卷

作者： Bong Hoon Kim Fei Liu Yongjoon Yu Hokyung Jang Zhaoqian Xie Kan Li Jungyup Lee Ji Yoon Jeong Arin Ryu Yechan Lee Do Hoon Kim Xueju Wang KunHyuck Lee Jong Yoon Lee Sang Min Won Nuri Oh Jeonghyun Kim Ju Young Kim Seong‐Jun Jeong Kyung‐In Jang Seungmin Lee Yonggang Huang Yihui Zhang John A. Rogers Department of Materials Science and Engineering Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA Center for Mechanics and Materials Center for Flexible Electronics Technology AML Department of Engineering Mechanics Tsinghua University Beijing 100084 China Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Department of Civil and Environmental Engineering Mechanical Engineering and Materials Science and Engineering Northwestern University Evanston IL 60208 USA AML Department of Engineering Mechanics Center for Mechanics and Materials Tsinghua University Beijing 100084 China Division of Materials Science and Engineering Hanyang University Seoul 04763 Republic of Korea Department of Electronics Convergence Engineering Kwangwoon University Seoul 01897 Republic of Korea Multidisciplinary Sensor Research Group Electronics and Telecommunications Research Institute (ETRI) Daejeon 34129 Republic of Korea Department of Organic Materials and Fiber Engineering Department of Information Communication Materials and Chemistry Convergence Technology Soongsil University 369 Sangdo‐ro Dongjak‐gu Seoul 06978 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea Department of Energy Electronics Convergence Kookmin University Seoul 02707 Republic of Korea Department of Civil and Environmental Engineering Mechanical Engineering Materials Science and Engineering Northwestern University Evanston IL 60208 USA Department of Materials Science and Engineering Department of Biomedical Engineering Department of Chemistry Department of Neurological Surgery Department of Mechanical Engineering Department of Electrical Engineering and Computer Science Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROscience 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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An orientation assignment heuristic to the dubins traveling salesman problem

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8864卷 457-468页

作者： Macharet, Douglas G. Campos, Mario F.M. Computer Vision and Robotics Laboratory Computer Science Department Universidade Federal de Minas Gerais Belo HorizonteMG Brazil

In this paper we deal with the DTSP, which is the optimization problem where a path that goes through a set of two-dimensional points must be calculated considering the use of robots modeled as Dubins vehicles. Assuming that the sequence of visits is initially obtained accordingly to the ETSP, we propose an heuristic to assign orientations for each point in order to achieve a path which is length minimized and respects the vehicle’s nonholonomic constraints. The heuristic takes into account the vehicle’s minimum turning radius and distance between neighbors points to proportionally adjust the orientation on each point, allowing the definition of shorter Dubins curves connecting them. The methodology was horoughly evaluated through numerous trials in different simulated scenarios, providing statistical examination of the final results. © Springer International Publishing Switzerland 2014.

关键词： Vehicles

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROscience 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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SIMO detection schemes for underwater optical wireless communication under turbulence

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Photonics Research 2015年第3期3卷 48-53页

作者： Weihao Liu Zhengyuan Xu Liuqing Yang School of Information Science and Technology University of Science and Technology of ChinaHefeiChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Key Laboratory of Wireless-Optical Communications Chinese Academy of SciencesHefeiChina Department of Electrical and Computer Engineering Colorado State UniversityFort CollinsColorado 80521USA

In underwater optical wireless communication(UOWC),a channel is characterized by abundant scattering/absorption effects and optical *** previous studies on UOWC have been limited to scattering/absorption ***,experiments in the literature indicate that underwater optical turbulence(UOT)can cause severe degradation of UOWC *** this paper,we characterize an UOWC channel with both scattering/absorption and UOT taken into consideration,and a spatial diversity receiver scheme,say a singleinput–multiple-output(SIMO) scheme,based on a light-emitting-diode(LED) source and multiple detectors is proposed to mitigate deep *** Monte Carlo based statistical simulation method is introduced to evaluate the bit-error-rate performance of the *** is shown that spatial diversity can effectively reduce channel fading and remarkably extend communication range.

关键词： SIMO detection schemes for underwater optical wireless communication under turbulence than

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Evaluation of Geometric Features As Biomarkers of Diabetic Retinopathy for Characterizing the Retinal Vascular Changes During the Progression of Diabetes

Evaluation of Geometric Features As Biomarkers of Diabetic R...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Georgios Leontidis Bashir Al-Diri Jeffrey Wigdahl Andrew Hunter the Laboratory of Vision Engineering in the School of Computer Science at the University of Lincoln LN67TS Lincoln UK the Department of Information Engineering at the University of Padova Via Gradenigo 6/B Padova Italy

ISBN: (纸本)9781424492695

Diabetic retinopathy (DR) has been widely studied and characterized. However, until now, it is unclear how different features, extracted from the retinal vasculature, can be associated with the progression of diabetes and therefore become biomarkers of DR. In this study, a comprehensive analysis is presented, in which four groups were created, using eighty fundus images from twenty patients, who have progressed to DR and they had no history of any other diseases (e.g. hypertension or glaucoma). The significance of the following features was evaluated: widths, angles, branching coefficient (BC), angle-to-BC ratio, standard deviations, means and medians of widths and angles, fractal dimension (FD), lacunarity and FD-to-lacunarity ratio, using a mixed model analysis of variance (ANOVA) design. All the features were measured from the same junctions of each patient, using an automated tool. The discriminative power of these features was evaluated, using decision trees and random forests classifiers. Cross validation and out-of-bag error were used to evaluate the classifiers' performance, calculating the area under the ROC curve (AUC) and the classification error. Widths, FD and FD-to-Lacunarity ratio were found to differ significantly. Random forests had a superior performance of 0.768 and 0.737 in the AUC for the two cases of classification, namely three-years-pre-DR/post-DR and two-years-pre-DR/post-DR respectively.

关键词： DR ROC AUC

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