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Aerodynamic Effects Compensation on Multi-Rotor UAVs Based on a Neural Network Control Allocation Approach

IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 295-312页

作者： Sarah P.Madruga Augusto H.B.M.Tavares Saulo O.D.Luiz Tiago P.do Nascimento Antonio Marcus N.Lima Graduate Program of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil Department of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil IEEE Department of Computer Systems Universidade Federal da ParaibaJoao Pessoa-PBBrazil

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.

关键词： Aerodynamics effects control allocation minidrone multi-rotor UAV neural networks

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On the particle approximation of lagged Feynman–Kac formulae

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Stochastic Processes and their Applications 2025年 188卷

作者： Awadelkarim, Elsiddig Caffarel, Michel Del Moral, Pierre Jasra, Ajay Applied Mathematics and Computational Science Program Computer Electrical and Mathematical Sciences and Engineering Division King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia University of Toulouse CNRS-Lab. de Chimie et Physique Quantiques Toulouse31062 France Centre de Recherche Inria Bordeaux Sud-Ouest Talence33405 France School of Data Science The Chinese University of Hong Kong Shenzhen Shenzhen China

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 and a potential function. The typical application considered here is the computation of eigenvalues associated with non-negative operators as found, for example, in physics or particle simulation of rare-events. We focus on a novel lagged approximation of this invariant measure, based upon the introduction of a ratio of time-averaged Feynman–Kac marginals associated with a positive operator iterated l∈N times;a lagged Feynman–Kac formula. This estimator and its approximation using Diffusion Monte Carlo (DMC) are commonly used in the physics literature. In short, DMC is an iterative algorithm involving N∈N particles or walkers simulated in parallel, that undergo sampling and resampling operations. In this work, it is shown that for the DMC approximation of the lagged Feynman–Kac formula, one has an almost sure characterization of the L1-error as the time parameter (iteration) goes to infinity and this is at most of O(exp{−κl}/N), for κ>0. In addition a non-asymptotic in time, and time uniform L1−bound is proved which is O(l/N). We also prove a novel central limit theorem to give a characterization of the exact asymptotic in time variance. This analysis demonstrates that the strategy used in physics, namely, to run DMC with N and l small and, for long time enough, is mathematically justified. Our results also suggest how one should choose N and l in practice. We emphasize that these results are not restricted to physical applications;they have broad relevance to the general problem of particle simulation of the Feynman–Kac formula, which is utilized in a great variety of scientific and engineering fields. © 2025 Elsevier B.V.

关键词： Iterative methods

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Effect of electrolyte anions on the cycle life of a polymer electrode in aqueous batteries

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eScience 2022年第1期2卷 110-115页

作者： Ye Zhang Lihong Zhao Yanliang Liang Xiaojun Wang Yan Yao Department of Electrical and Computer Engineering Materials Science and Engineering ProgramUniversity of HoustonHoustonTX77204USA Texas Center for Superconductivity at the University of Houston HoustonTX77204USA

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.

关键词： Aqueous batteries Polymer electrode Anions Volume chang

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Design of Motorcycle Speed Limiter through Global Positioning System 13

Design of Motorcycle Speed Limiter through Global Positionin...

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2021 IEEE 13th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2021

作者： Bajenting, Edmund B. Ompoc, Ralph Eimerson B. Palmero, Reynaldo G. Adtoon, Jetron J. Linsangan, Noel B. University of Mindanao Computer Engineering Program College of Engineering Education Davao Philippines Mapua University School of Electrical Electronics and Computer Engineering Manila Philippines

ISBN: (纸本)9781665401678

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 some not wearing helmets. The designed system focused on controlling the throttle of the motorcycle through a microcontroller and a GPS. Also, communication from the helmet to the motorcycle was established to complete the system functionality. The system does not allow the use of the said motorcycle once the rider does not wear the helmet prescribed for the said motorcycle. Speed control of the designed system relies solely upon the GPS, making it different from typical sensory for speed and PID algorithm applied in servo motor to control the throttle acceleration. The selected road stretch was assigned 30 kph,40kph, and 60 kph, respectively. Initial tests showed a responsive rate of all parameters of the helmet and LCD design. © 2021 IEEE.

关键词： Microcontrollers

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Bayesian human intention inference through multiple model filtering with gaze-based priors 19

Bayesian human intention inference through multiple model fi...

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19th International Conference on Information Fusion, FUSION 2016

作者： Chaandar Ravichandar, Harish Kumar, Avnish Dani, Ashwin Department of Electrical and Computer Engineering University of Connecticut StorrsConnecticut United States Department of Electrical and Computer Engineering Management and Engineering for Manufacturing Program University of Connecticut StorrsConnecticut United States

ISBN: (纸本)9780996452748

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 motion, a neural network (NN) is used to represent the arm motion dynamics. The trajectories of the arm motion for reaching tasks are modeled by using a dynamical system with contracting behavior towards the goal location. The contraction behavior ensures that the model trajectories will converge to the goal location. The NN training is subjected to contraction analysis constraints. In order to use the motion model learned from a few demonstrations with new scenarios and multiple objects, an interacting multiple model (IMM) framework is used. The multiple models are obtained by translating the origin of the contracting system to different known object locations. Each model corresponds to the reaching motion that ends at a certain object location. Since humans tend to look in the direction of the object they are reaching for, the prior probabilities of the models are calculated based on the human eye gaze. The posterior probabilities of the models are calculated through interacting model matched filtering carried out using extended Kalman filters (EKFs). The model or the object location with the highest posterior probability is chosen to be the estimate of the goal location. Experimental results suggest that the G-MMIE algorithm is able to adapt to arbitrary sequences of reaching motions and the gaze-based prior outperforms the uniform prior in terms of intention inference accuracy and average time of inference. © 2016 ISIF.

关键词： Location

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Monitoring of Wastewater Treatment Plants using Improved Univariate Statistical Strategy

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IFAC-PapersOnLine 2018年第24期51卷 428-432页

作者： Baklouti, Imen Mansouri, Majdi Hamida, Ahmed Ben Nounou, Mohamed Nounou, Hazem Advanced Technologies for Medicine and Signals National Engineering School of Sfax Tunisia Electrical and Computer Engineering Program Texas A&M University at Qatar Doha Qatar Chemical Engineering Program Texas A&M University at Qatar Doha Qatar

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) technique. The PF has shown good improvement and provides a significant advantage over extended Kalman filter (EKF), unscented Kalman filter (UKF) techniques and can be applied to nonlinear models with non-Gaussian errors. The fault detection phase is achieved using a novel chart called multiscale exponentially weighted moving average chart (MS-EWMA). The new chart allows to optimize the smoothing parameter (λ) and control width L of EWMA chart to deal with the dynamic nature of WWTPs. It enables also to extract accurate deterministic features and decorrelate autocorrelated measurements using dynamical multiscale representation. The fault detection performance is studied using simulated COST wastewater treatment BSM1 model. The BSM1, provided by the IWA Task Group on Benchmarking of Control Strategies, is a simulation platform that allows for creating sensor faults disturbances in a wastewater treatment plant. The developed technique is used to enhance fault detection of the BSM1 system through monitoring some of the key variables involved in this model. The results demonstrate the effectiveness of the proposed PF-based MS-optimized EWMA method over EWMA and Shewhart charts. © 2018

关键词： Wastewater treatment Control charts Extended Kalman filters Fault detection Monte Carlo methods Reclamation Sewage pumping plants State estimation Toxicity Water treatment plants Exponentially weighted moving average chart Multiscale representations Optimized EWMA Particle filter Statistical strategies Unscented Kalman Filter Wastewater treatment plants Wavelet representation

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An IEEE 802.11 quantum handshake using the three-stage protocol 23

An IEEE 802.11 quantum handshake using the three-stage proto...

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2014 23rd International Conference on computer Communication and Networks, ICCCN 2014

作者： Rifai, Mayssaa El Verma, Pramode K. Telecommunications Engineering Program School of Electrical and Computer Engineering University of Oklahoma-Tulsa OK74135 United States

ISBN: (纸本)9781479935727

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 quantum handshake as a replacement to the BB'84 protocol. Compared to the quantum handshake using BB'84, integrating the three-stage protocol offers several benefits such as enhanced data rates, fewer steps needed to establish the final key, longer distances, and increased number of photons that can be used during the transmission process. In addition, this paper presents a multi-agent software approach to implement the quantum handshake using the three-stage protocol. © 2014 IEEE.

关键词： Quantum cryptography

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ON THE DESIGN OF A SINGLE-KEY-LOCK MECHANISM BASED ON NEWTONS INTERPOLATING POLYNOMIAL

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IEEE TRANSACTIONS ON SOFTWARE engineering 1989年第9期15卷 1135-1137页

作者： LAIH, CS HARN, L LEE, JY Department of Electrical Engineering National Cheng Kung University Tainan Taiwan Republic of China Computer Science and Telecommunications Program University of Missouri Kansas City MO 64110

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]

关键词： Access control access matrix Newton's interpolation polynomial protection security user-hierarchy

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Maximize user rewards in distributed generation environments using reinforcement learning

Maximize user rewards in distributed generation environments...

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IEEE 2011 EnergyTech, ENERGYTECH 2011

作者： Li, Bei Gangadhar, Siddharth Cheng, Samuel Verma, Pramode K. Telecommunication Engineering Program School of Electrical and Computer Engineering University of Oklahoma Tulsa OK 74135 United States

ISBN: (纸本)9781457707773

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 influence a user in deciding when to sell back power and how much to sell. Therefore, a study of sequential decision making algorithms that can optimize the total pay off for the user is necessary. In this paper, Reinforcement Learning is used to solve this optimization problem. The problem of determining when to sell back power is formulated as a Markov decision process and a near optimal strategy is chosen using policy iteration. The results show a significant increase of total rewards from selling back power with the proposed approach. © 2011 IEEE.

关键词： Reinforcement learning

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Improved image denoising based on Haar wavelet transform

Improved image denoising based on Haar wavelet transform

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2017 IEEE SmartWorld Ubiquitous Intelligence and Computing, Advanced and Trusted Computed, Scalable Computing and Communications, Cloud and Big Data Computing, Internet of People and Smart City Innovation, SmartWorld/SCALCOM/UIC/ATC/CBDCom/IOP/SCI 2017

作者： Pang, Jing Department of Electrical and Electronic Engineering Computer Engineering Program California State University Sacramento Sacramento United States

ISBN: (纸本)9781538604342

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 decomposing levels using the 2D Haar wavelet thresholding method is presented to denoise an image. It uses the standard deviation values of the sub-bands to find out if the signal energy is strong or weak in the high frequency sub-bands after the 2D Haar wavelet transform. In addition, a new thresholding function is proposed which achieves better denoising performance in terms of peak signal-To-noise ratio (PSNR) and mean squared error (MSE) than the soft thresholding method. Especially, at high noise levels, the proposed new thresholding method outperforms hard thresholding, soft thresholding and semi-soft thresholding methods. © 2017 IEEE.

关键词： Image denoising

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