This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural ***,the system performance can be improved by replacing the classic allocat...
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This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural ***,the system performance can be improved by replacing the classic allocation matrix,without using the aerodynamic inflow equations *** network training is performed offline,which requires low computational *** target system is a Parrot MAMBO drone whose flight control is composed of PD-PID controllers followed by the proposed neural network control allocation *** a quadrotor is particularly susceptible to the aerodynamics effects of interest to this work,because of its small *** compared the mechanical torques commanded by the flight controller,i.e.,the control input,to those actually generated by the actuators and established at the *** was observed that the proposed neural network was able to closely match them,while the classic allocation matrix could not achieve *** allocation error was also determined in both ***,the closed-loop performance also improved with the use of the proposed neural network control allocation,as well as the quality of the thrust and torque signals,in which we perceived a much less noisy behavior.
In this paper we examine the numerical approximation of the limiting invariant measure associated with Feynman–Kac formulae. These are expressed in a discrete time formulation and are associated with a Markov chain a...
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Redox polymers are a class of high-capacity, low-cost electrode materials for electrochemical energy storage, butthe mechanisms governing their cycling stability are not well understood. Here we investigate the effect...
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Redox polymers are a class of high-capacity, low-cost electrode materials for electrochemical energy storage, butthe mechanisms governing their cycling stability are not well understood. Here we investigate the effect of anionson the longevity of a p-dopable polymer through comparing two aqueous zinc-based electrolytes. Galvanostaticcycling studies reveal the polymer has better capacity retention in the presence of triflate anions than that withsulfate anions. Based on electrode microstructural analysis and evolution profiles of the cell stacking pressure, theorigin of capacity decay is ascribed to mechanical fractures induced by volume change of the polymer activematerials during repeated cycling. The volume change of the polymer with the triflate anion is 61% less than thatwith the sulfate anion, resulting in fewer cracks in the electrodes. The difference is related to the different anionsolvation structures—the triflate anion has fewer solvated water molecules compared with the sulfate anion,leading to smaller volume expansion. This work highlights that anions with low solvation degree are preferablefor long-term cycling.
This study focused on designing a motorcycle speed limiter using GPS with throttle modification. The study was brought about the increase in road accidents involving motorcycle vehicles tagged to be overspeeding and s...
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An algorithm called gaze-based multiple model intention estimator (G-MMIE) is presented for early prediction of the goal location (intention) of human reaching actions. To capture the complexity of human arm reaching ...
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In this paper, we propose an enhanced monitoring of wastewater treatment plant (WWTP) using state estimation-based fault detection strategies. The WWTP state estimation problem is performed using particle filter (PF) ...
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This paper presents a model of integration of the Three-stage quantum cryptography protocol and its variants into the IEEE 802.11 wireless communication standard. The three-stage protocol is introduced during the quan...
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A new single-key-lock (SKL) mechanism used for implementing the access matrix of the computer protection system is proposed. The key selection is very flexible. The lock values are generated recursively based on the N...
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A new single-key-lock (SKL) mechanism used for implementing the access matrix of the computer protection system is proposed. The key selection is very flexible. The lock values are generated recursively based on the Newton's interpolating polynomial. The insertion of a new user/file into the system can be successfully implemented without recomputing all locks/keys. [ABSTRACT FROM AUTHOR]
In Smart Grid environments, with distributed generation, homes are encouraged to generate power and sell it back to utilities. Time of Use pricing techniques and the introduction of storage devices would greatly influ...
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The wavelet decomposing levels and the selection of the thresholding function affect the performance of image denoising using the wavelet thresholding method. In this paper, a new method to identify the wavelet decomp...
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