Cognitive Multi-UAV Formation Flight: Principle, Low-Cost UAV Testbed, Controller Tuning and Experiments

2011 ◽  
Author(s):  
Long Di ◽  
Haiyang Chao ◽  
Jinlu Han ◽  
YangQuan Chen
Keyword(s):  
Real Time ◽  
Control Structure ◽  
Low Cost ◽  
Flight Test ◽  
Formation Flight ◽  
Experimental Setup ◽  
Test Results ◽  
Test Protocol ◽  
Multi Agent ◽  
Multi Uav

Cooperative UAV systems can have great advantages over isolated UAV systems, regarding application, safety, efficiency and many other perspectives. Motivated by challenges from practical multiple UAV formation flight, this paper presents our approaches towards cognitive formation flight. It introduces the principle ofmulti-UAV cognitive formation flight and the control structure utilized in our development, describes a low-cost UAV testbed developed by ourselves, and details the tuning procedures of the implemented multi-agent flight controller for stable and consistent formation flights. Different formation flight scenarios are also discussed and the experimental setup is presented including real-time issues and the formation flight test protocol. Routinized comprehensive flight test results are also shown at the end.

Design a Robust RST Controller for Stabilization of a Tri-Copter UAV

2016 ◽  
Vol 5 (1) ◽  
Author(s):  
Zain Anwar Ali ◽  
Dao Bo Wang ◽  
Muhammad Aamir
Keyword(s):  
Control Algorithm ◽  
Control Structure ◽  
Flight Test ◽  
System Control ◽  
Test Results ◽  
Output Control ◽  
Aerial Robot ◽  
Mimo Model

<span>Research on the tri-rotor aerial robot is due to extra efficiency<span> over other UAV’s regarding stability, power and size<span> requirements. We require a controller to achieve 6-Degree<span> Of Freedom (DOF), for such purpose, we propose the RST<span> controller to operate our tri-copter model. A MIMO model<span> of a tri-copter aerial robot is challenged in the area of control<span> engineering. Ninestates of output control dynamics are treated<span> individually. We designed dynamic controllers to stabilize the<span> parameters of an UAV. The resulting system control algorithm<span> is capable of stabilizing our UAV to perform numerous<span> operations autonomously. The estimation and simulation<span> implemented inMATLAB, Simulink to verify the results. All<span> real flight test results are presented to prove the success of<span> the planned control structure.<br /><br class="Apple-interchange-newline" /></span></span></span></span></span></span></span></span></span></span></span></span></span></span>

The Flying-Ball-in-Tube Experiment

2012 ◽  
Author(s):  
Karl Lukas Knierim ◽  
Florian Malchow ◽  
Oliver Sawodny
Keyword(s):  
Control Theory ◽  
Real Time ◽  
Time Scale ◽  
Control Structure ◽  
Dynamical Behavior ◽  
Experimental Setup ◽  
Control Environment ◽  
Stability Properties ◽  
Unstable Behavior

One of the challenges in teaching applied control theory is to provide students with easy to understand experimental setups, which show complex but comprehensible dynamical behavior. We propose a flying-ball-in-tube experiment with stable, critically stable and unstable behavior. The benefit of the flying-ball-in-tube experiment are its in respect to time scale observable dynamics as well as the simplicity of the setup. A model of the flying-ball-in-tube experiment is derived and analyzed with respect to its stability properties. The derived model is identified and the predicted behavior is validated. In addition, the use of the experimental setup within a one week undergraduate practical is described. Within the course the students program the control environment on a micro controller within the FreeRTOS real time environment and design their own control structure.

scholarly journals Antigen-based testing but not real-time PCR correlates with SARS-CoV-2 virus culture

2020 ◽  
Author(s):  
Andrew Pekosz ◽  
Charles K. Cooper ◽  
Valentin Parvu ◽  
Maggie Li ◽  
Jeffrey C. Andrews ◽  
...  
Keyword(s):  
Real Time ◽  
Infectious Virus ◽  
Virus Isolation ◽  
Low Cost ◽  
Test Results ◽  
Rt Pcr ◽  
Chain Reaction ◽  
Effective Implementation ◽  
Virus Culture ◽  
Polymerase Chain

SUMMARYIndividuals can test positive for SARS-CoV-2 by real-time polymerase chain reaction (RT-PCR) after no longer being infectious.1-8 Positive SARS-CoV-2 antigen-based testing exhibits a temporal pattern that corresponds with active, replicating virus and could therefore be a more accurate predictor of an individual’s potential to transmit SARS-CoV-2.2,3,9 Using the BD Veritor System for Rapid Detection of SARS-CoV-2 later flow antigen detection test, we demonstrate a higher concordance of antigen-positive test results with the presence of cultured, infectious virus when compared to RT-PCR. When compared to infectious virus isolation, the sensitivity of antigen-based testing is similar to RT-PCR. The correlation between SARS-CoV-2 antigen and SARS-CoV-2 culture represents a significant advancement in determining the risk for potential transmissibility beyond that which can be achieved by detection of SARS-CoV-2 genomic RNA. Coupled with a rapid time-to-result, low cost, and scalability, antigen-based testing should facilitate effective implementation of testing and public health interventions that will better contain COVID-19.

scholarly journals A Formation Flight Method with an Improved Deep Neural Network for Multi-UAV System

2020 ◽  
Vol 38 (2) ◽  
pp. 295-302
Author(s):  
Wenguang Xie ◽  
Kang Wu ◽  
Fang Yan ◽  
Haobin Shi ◽  
Xiaocheng Zhang
Keyword(s):  
Neural Network ◽  
Real Time ◽  
Pid Controller ◽  
Deep Neural Network ◽  
High Dimensional Data ◽  
Formation Flight ◽  
High Dimensional ◽  
Electronic Warfare ◽  
The Real ◽  
Multi Uav

It is crucial to develop an effective controller for the multi-UAV system to contribute to the frontier fields, such as the electronic warfare. To address the dilemma of the cooperative formation with the high dimensional data, a deep neural network(NN) controller is developed in this paper. Firstly, a deep NN model is used to tune parameters of PID controller online. Secondly, this paper introduces an improved deep NN model integrating the momentum to improve the performance of the classical NN model and satisfy the condition for the real time cooperative formation. Lastly, the cooperative formation task is achieved by extending the proposed cooperative controller with an improved NN to the complex multi-UAV system. The simulation result of multi-UAV formation demonstrates the effectiveness of the proposed method, which achieves a faster formation than competitors.

Formation Flight Test Results for UAV Research Aircraft Models

2004 ◽  
Author(s):  
Brad Seanor ◽  
Giampiero Campa ◽  
Yu Gu ◽  
Marcello Napolitano ◽  
Larry Rowe ◽  
...  
Keyword(s):  
Flight Test ◽  
Formation Flight ◽  
Test Results ◽  
Research Aircraft

An automated digging control for a wheel loader

Robotica ◽  
2001 ◽  
Vol 19 (5) ◽  
pp. 497-511 ◽  
Author(s):  
Paul J. A. Lever
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Real Time ◽  
Field Test ◽  
Control Structure ◽  
Automated System ◽  
Test Results ◽  
Wheel Loader ◽  
Wide Range ◽  
Behavior Based Control

An Automated Digging Control System (ADCS) for a wheel loader is developed that utilizes a behavior-based control structure combined with fuzzy logic. This controller exhibits the real-time reactive responses necessary for executing digging tasks in an uncertain, unstructured and dynamic excavation environment. This paper presents field test results of a prototype ADCS that was developed and implemented on a Caterpillar 980G wheel loader. Test results show that the performance of the automated system is comparable to that of an expert human operator in a wide range of excavation situations.

scholarly journals Multi-channel DMA Based Design of Voltage Monitoring Using Synchronous Frequency Trace-Sampling Technique

2020 ◽  
Vol 4 (2) ◽  
pp. 17
Author(s):  
Yuan Lei ◽  
Li Lei ◽  
Lei Xia ◽  
Mingxiang Liu ◽  
Yueming Cai ◽  
...  
Keyword(s):  
Real Time ◽  
Information Management ◽  
Low Cost ◽  
Hardware Design ◽  
Sampling Technique ◽  
Distribution Networks ◽  
Frequency Change ◽  
Protocol Stack ◽  
Test Results ◽  
Data Statistics

In order to eliminate the influence of frequency change on real-time voltage acquisition, a low-cost solution of voltage monitoring was proposed using the multi-channel DMA synchronous frequency trace-sampling technique. In-chip resources of the designed voltage monitor were fully utilized in hardware design to reduce external devices. The MQX RTOS was used to perform the functional tasks flexibly and efficiently; especially the Ethernet communication applications and USB device connection were realized using its TCP/IP protocol stack and USB driver. In addition, to ensure the safety of electrical records, data statistics and alarm information management were also implemented through the management of the storage in FLASH. The test results show that the voltage monitor designed in this paper has the advantages of accurate measurement, strong resistance to frequency interference and low cost, and can be widely applied in the field of voltage monitoring in distribution networks.

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