The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The amount of electricity generated by wind energy converters has significantly increased on a global level, especially in the last decade. The intermittent nature of onshore and offshore wind resources imposes substantial techno-economic restrictions which become more challenging as the share of wind power in the electrical networks increases. Dynamical energy storage systems can be employed in order...
The emergence of multi-UAV missions poses a set of challenges. The control and monitoring of these missions requires to increase the autonomy of fleets and to reduce the workload of operators. The development of an appropriate mission model is fundamental not only for specification and planning but also for control and monitoring. This model allows determining the mission and fleet states and, therefore,...
We propose a task allocation approach that combines the task's priority with a two-stage coalition formation algorithm in the context of multiple UAVs attacking multiple tasks. During the stage of forming a coalition for a task, the resource constraint of the coalition and resource depletion of a UAV are taken into consideration. When multiple UAVs are assigned to attack a complex task, it is reasonable...
This paper is focused on the design of a vision based control approach for the autonomous landing task of Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs). Here is presented the setup of a simulated environment developed in V-REP connected to ROS, and its uses for tuning a vision based control approach. In this work, a Fuzzy control approach was proposed to command the UAV's vertical,...
Actuator faults reduce the amount of control authority remaining in the UAV system which may impact its ability to follow a particular path profile required to successfully complete its mission. Fault tolerant guidance may be deployed to enhance the mission success rate when fault tolerant control may not be sufficient alone. This paper proposes a method of reconfiguring guidance to accommodate the...
This paper presents an optimal conflict resolution method for multiple unmanned aerial vehicles based on pseudospectral collocation which solves numerically optimal control problems by using non-linear programming. The trajectory of each aerial vehicle is defined by a set of waypoints and the time of arrival at each waypoint. The maneuvers allowed to solve the conflicts are the changes of speed of...
This paper presents a Ground Control Station based on the Robot Operating System (ROS) which has been developed in order to monitor highly automated multi-UAV missions. The proposed system has been designed in order to easily perform Hardware in the Loop (HIL) simulations. This allows to test the desired algorithms in an environment as close as possible to the one found in real experimentation, which...
Brain Machine Interface (BMI) and Software Agent (SA) can provide some new adaptive strategies for robust BMI implementations. In this work, a non-invasive Adaptive BMI is introduced, which has been designed to discriminate four mental tasks. The SA allows tracking features to contribute for an adaptive process, while the user's engagement state provides a feedback between BMI and the environment...
This article addresses the problem of designing an LPV controller for a water delivery canal based on reduced complexity linear models with a priori chosen order. For that sake, by applying a method based on the Laplace transform and the linearization of the Saint-Venant equations, a finite dimensional rational transfer function is obtained for each canal reach. An LPV gain-scheduling controller that...
The algorithm of modeling, identification and control of periodic disturbances [23] is applied as an add-on (adaptive) feed-forward controller to compensate the self-excited oscillations generated in an angular velocity drive-load servo control system. These oscillations take place mainly because the load machine has a crankshaft mechanism that induces these angle dependent periodic disturbances.
This paper presents the control of a master-slave system for teleoperated needle insertion under guidance by Magnetic Resonance Imaging (MRI). The primary aim of our research is the robot-assisted laser ablation of liver tumors. The master-slave system consists of a master unit that sits next to the operator, outside the scanner room, and of a slave unit located inside the cylindrical MRI scanner...
The paper presents a bond graph model-based approach to active fault tolerant control (FTC) that makes use of residuals of analytical redundancy relations (ARRs). The latter ones are computed in order to decide whether a fault has occurred. Given a single fault hypothesis can be adopted, an advantage is that the time for isolating a fault among potential fault candidates that contribute to an ARR...
A seamless two-speed transmission that incorporates a two-stage planetary gear set with common sun and common ring gears and two braking mechanisms to control the flow of power is introduced. For an electric vehicle equipped with such a transmission, a detailed dynamical model of the driveline including the half shaft stiffness and longitudinal vehicle dynamics is derived by exploiting the torque...
This paper proposes a Predictive Cruise Control for a Range Extended Electric Vehicle that uses the information of upcoming traffic lights to arrive at a green or to reduce idling at a red light. Simultaneously, it is decided in a predictive manner, which is the best energy management strategy to operate the vehicle's powertrain. The main goals are to reduce fuel consumption and to increase energy...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.