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In this paper, the finite-time trajectory tracking control problem for Mars landing with disturbances is addressed. To improve the accuracy of Mars landing, a new nonlinear entry guidance law for low lift landers has been developed. The High-Order Sliding Mode Control(HOSMC) for a tracking a reference trajectory is proposed. The guidance method is based on HOSMC theory adapted to the problem of entry...
Control aspects of a tethered undersea kite (TUSK) energy system are studied. A TUSK system consists of a rigid undersea wing (or kite) attached by a flexible tether to a support structure on the ocean surface or floor. A turbine is mounted on the undersea kite to harness hydrokinetic energy from an ocean current when the kite moves in high-speed, cross-current motions. In this paper, we adopt a six...
In the new air traffic management paradigm called trajectory-based operation concept, this paper presents a strategic 4D aircraft trajectory planning approach aiming at minimizing interaction between aircraft trajectories for a given day. The proposed methodology allocates an alternative departure time, a horizontal flight path, and a flight level to each flight at a country and a continent scale...
A closed-form representation of anti-aliased L-F model is derived for a LPF function family based on cosine series. The Matlab based implementation of the derived form provides virtually aliasing-free source signal, which is applicable to speech synthesis and F0 extractor evaluation. This aliasing-free representation is also suitable for testing perceptual effects of wave shape parameters in the L-F...
Efficient localization of forest-fires based Unmanned Aerial Vehicles (UAVs) represents valuable assessment. Due to the fast deployment of UAVs, it is practical to use them. For forest fire detection purposes, usually the area to explore is unknown, thus existing strategies use an automatic coverage exploration strategy. However, such approach is not efficient in terms of exploration time since the...
Formal verification of industrial systems is very challenging, due to reasons ranging from scalability issues to communication difficulties with engineering-focused teams. More importantly, industrial systems are rarely designed for verification, but rather for operational needs. In this paper we present an overview of our experience using hybrid systems theorem proving to formally verify ACAS X,...
The movement of gases (or liquids) with suspended particles was studied. Such mixtures are widely distributed in many natural phenomena: snowstorms, dust and sand storms, mudslides, avalanches, river sediments, etc. The equations of motion in the Stoke's form were used. Trajectories of particles for the various fields of velocity of external flow were calculated.
In this paper, the steady glide trajectory (SGT) is proposed for the equilibrium glide problem with given continuously differentiable angle of attack (AOA) and bank angle profiles firstly. Then the analytical solutions of the SGT for altitude, flight path angle and vertical acceleration are obtained by regular perturbation method. Next the dynamic characteristics of the SGT are analyzed, and the simple...
We consider the design of a barrier regulator — a special regulator, which tries to minimize the effect of state-space constraints violation in dynamical systems, creating a soft barrier in their state space. We employ a time-suboptimal predictive control strategy for discrete-time linear systems based on the minimization of a polyhedral distance function. Computationally, our approach reduces to...
In order to reduce the social panic triggered by plane accidents, an effective approach is urgently needed to look for the missing passenger planes and then comfort the family of person who lost their lives in the accident. By analyzing the inherent features and motion law of the accident plane, this paper puts forward a differential dynamic model based method for locating the plane, which can effectively...
This paper addresses the air traffic control problem of conflict detection and resolution (CDR) under intent uncertainty, in a multiple model (MM) trajectory information processing framework. The conflict detection is based on a predicted probability of conflict. The problem of conflict resolution (CR) is formulated as one of a chance-constrained model predictive control, whereby the constraint is...
We consider the detection component of a conflict detection and resolution system for air traffic management. A conflict is an event of a close encounter between two aircraft in the near future. The collision alert system has to balance between declaring alerts timely to true threats and reducing the false alarms. We compare two conflict detection schemes, namely, geometric and probabilistic method,...
Flower stick juggling is a dexterous task done by skillful jugglers. We aim to realize dexterous tasks done by humans using robotic systems. This work focuses on flower stick juggling and proposes a feedback control strategy for a flower stick juggling task called “propeller” as one of the robotic dexterous manipulations. The propeller motion is modeled by considering combined flower stick and a robotic...
Open Innovation has been considerably received interest from academics and practitioners over the past decade. Nowadays many firms pursuing open innovation are facing challenges and difficulties in selecting the right partners to work with. Having mismatched partners even though they are technically capable can lead to the unsmooth interaction and the failure in innovation performance. Hence, this...
Bearing in mind the risks aviation industry is facing recently, this paper proposes a wind field estimation formulation for an F-16 fighter aircraft. Focus of the work is two-fold. A lateral-directional, non-linear guidance controller is developed first to ensure tight ground track control without violating saturation limits of bank angles. For trajectory tracking, path following vectorial computations...
This paper studies the geometric pseudospectral method, which refers to the Gauss pseudospectral method that is extended to the special Euclidean group SE(3) for UAVs trajectory planning. On SE(3), a complete left invariant rigidbody dynamical UAV model is established in a body-fixed frame, including kinematical and dynamical models. For the kinematical model, the equivalent Lie algebra equation corresponding...
It is very important for searcher to predict the lost plane falling rang. The motion equation of lost plane is built with additional mass and random force, and solved by using difference method abd random number, the trajectory is calculated by using integral method, the lost plane falling rang is determined by using probability distribution contour map.
This study investigates the potential sources and transport pathways of PM2.5 in Shanghai, China from January 2013 to December 2014 by using the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) modeling, K-means clustering, and concentration-weighted trajectory (CWT) analysis methods. Six transportation pathways that contribute to PM2.5 in Shanghai were identified by trajectory clustering...
New requirements of autonomous mobile vehicles necessitate hierarchical motion-planning techniques that not only find a plan to satisfy high-level specifications, but also guarantee that this plan is suitable for execution under vehicle dynamical constraints. In this context, the H-cost motion-planning technique has been reported in the recent literature. We propose an incremental motion-planning...
This tutorial paper describes a high-level guidance algorithm based on model predictive control. The algorithm follows a precomputed flight plan (which provides a reference trajectory based on straight segments) by calculating the aerodynamic velocity, flight path angle and bank angle commands for a low level attitude controller. To compute these control signals, the guidance law uses a nonlinear...
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