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The tiltrotor Unmanned Aerial Vehicle (UAV) attracts increasing concern due to the ability of vertical take-off and land and high-speed cruise. In this study, a tiltrotor UAV with three rotors is built. A dynamic inversion based control system adopting time-scale separation design is developed for the proposed tiltrotor UAV simulation model in rotor flight mode. The outer loop of controller realizes...
Aiming at the wide variety of airborne visual sensor, this paper presents a method of visual sensor employment planning for UAV target detection. Firstly, according to the adaptive range of the image recognition algorithm and the probability of target recognition, the reasonable position of airborne visual sensor is studied. Then, the influence of external environment contrast and visibility for target...
CPG control method is a modern control way in robotic control area. The problem is how to design a CPG model which can control the robot well. Neural oscillator is an important part in CPG model, in this paper, a new kind neural oscillator has been designed for CPG model. With this new neural oscillator, detailed analysis work has been done. The most achievement thing is the meanings of the parameters...
This paper is aimed at solving the location problem in the process of unmanned helicopter's landing and takeoff on board, in view of the complexity and difficulty at this stage. Based on the UWB wireless ranging technology, the network model has been proposed to estimate the position of targets, then make use of the unmanned helicopter platform and related equipment to carry out the experiment. Using...
In our previous work, we mounted two separate sets of Pan/Tilt Unit (PTU) integrated with visible light camera on both sides of the runway for landing a Micro Aerial Vehicle (MAV) automatically. In this study, we focus on improving the precision of MAV tracking during the landing procedure. We seek to remedy the tracking-learning-detection (TLD) framework by using adapted Random Ferns methods and...
Switching behavior among different swimming modes of fish is a normal phenomenon in nature. We find that there is the joints' vibration fact for robotic fish in the process of switching. It is believed that the difference might be caused by discontinuous driven signal. This paper analyzes the discontinuous signal's the effect on the robotic fish joints and fin surface. Furthermore, this paper proposes...
This paper presents a new robust and stable controller for attitude of quadrotor. We proposed a combination of feedback linearization and LQR (linear quadratic regulator) control strategy. To our best acknowledge, this method is firstly employed to stabilize the attitude of the quadrotor with disturbance. Numerical simulations demonstrate the stabilizations and robustness of the control system under...
The Pan-Tilt Unit (PTTJ) and camera composed a vision system, which can be used in vision measurement. In this paper, a new calibration method for this vision system using differential GPS (global positioning system) is described. The calibration method is an efficient solution for large field of view. The proposed method has advantages in speed, convenience and pertinence. The experimental results...
As a ground-based visual guidance system for autonomous UAV landing. In this paper, the cameras mounted on PTUs are used to dynamically measure the movement parameters of the UAV during the approaching phase. Owning to the limitation of manufacturing precision, there will be kinematic errors of PTU. In order to ensure the accuracy of UAV's attitude obtained, the exact error of PTU should be obtained...
A novel dehydration device was put forward to reduce the mist content in blast furnace gas. Aiming at the complex two-phase flow of curved-plate dehydration equipment, its capabilities were studied by changing the structures and operation parameters. The effects of all the factors on dehydration efficiency and pressure loss were also discussed. The results indicate that the optimum gas velocity is...
The process of cooperative or competitive co evolutionary learning exist among multiple species in the ecological and artificial system, which is one of the primary features for emergent phenomena and behaviors. In this paper, we propose a multi-agent co evolutionary learning method based on the individual rule set, define the co evolutionary learning framework. We design a typical "predator-prey"...
This paper concerns about automatic flight control strategies for the running takeoff and landing of fixed-wing unmanned aerial vehicles (UAVs). Firstly, a dynamic model of fixed-wing UAVs is developed. Then the takeoff and landing control strategies are designed. The flight control strategies are designed to be segmented. A fixed-wing UAV named “Petrel” is used as an experimental platform. Finally,...
Fish-like propulsor is a new underwater propulsion mode which combined with bionics and underwater propulsion technology. It was classified in to three different types referenced with swimming form, and current research status was presented. Then key technologies such as bionics mechanism, actuator, control system was analyzed. Finally, the future development was forecasted
The conventional anti-kinematics control method for animation of virtual animal's locomotion involves lots of observations and exterior posture simulations, and it has many disadvantages such as distortions, low fluency and agility. This paper proposes a novel method which inspired from the principles of animal's locomotion central neural system. The bionic neural network control system consists of...
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