scholarly journals Energy-Efficient Swarming Flight Formation Transitions Using the Improved Fair Hungarian Algorithm

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1260
Author(s):  
SungTae Moon ◽  
Donghun Lee ◽  
Dongoo Lee ◽  
Doyoon Kim ◽  
Hyochoong Bang

Recently, drone shows have impressed many people through a convergence of technology and art. However, these demonstrations have limited operating hours based on the battery life. Thus, it is important to minimize the unnecessary transition time between scenes without collision to increase operating time. This paper proposes a fast and energy-efficient scene transition algorithm that minimizes the transition times between scenes. This algorithm reduces the maximum drone movement distance to increase the operating time and exploits a multilayer method to avoid collisions between drones. In addition, a swarming flight system including robust communication and position estimation is presented as a concrete experimental system. The proposed algorithm was verified using the swarming flight system at a drone show performed with 100 drones.

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1303
Author(s):  
Karol Lisowski ◽  
Andrzej Czyżewski

A method of modeling the time of object transition between given pairs of cameras based on the Gaussian Mixture Model (GMM) is proposed in this article. Temporal dependencies modeling is a part of object re-identification based on the multi-camera experimental framework. The previously utilized Expectation-Maximization (EM) approach, requiring setting the number of mixtures arbitrarily as an input parameter, was extended with the algorithm that automatically adapts the model to statistical data. The probabilistic model was obtained by matching to the histogram of transition times between a particular pair of cameras. The proposed matching procedure uses a modified particle swarm optimization (mPSO). A way of using models of transition time in object re-identification is also presented. Experiments with the proposed method of modeling the transition time were carried out, and a comparison between previous and novel approach results are also presented, revealing that added swarms approximate normalized histograms very effectively. Moreover, the proposed swarm-based algorithm allows for modelling the same statistical data with a lower number of summands in GMM.


1995 ◽  
Vol 20 (3) ◽  
pp. 190-196 ◽  
Author(s):  
Bobby Newman ◽  
Dawn M. Buffington ◽  
Mairead A. O'grady ◽  
Mary E. Mcdonald ◽  
Claire L. Poulson ◽  
...  

A multiple baseline across students design was used to investigate the effects of a self-management package on schedule following by three teenagers with autism. During baseline conditions, noncontingent reinforcement was provided. In the treatment phase, students contingently self-reinforced the verbal identification of transition times. Systematic increases in accurate identification of transitions were observed across all students. Accurate identification of transition time and self-reinforcement were maintained in a one-month follow-up.


2019 ◽  
Vol 11 (4) ◽  
pp. 319-324
Author(s):  
G. M. Katenev ◽  
V. A. Tumanovskii ◽  
T. A. Stepanova

The article considers the Combustion Turbine Inlet Cooling (CTIC) system — an experimental system for cooling the cycle air entering the gas microturbine unit. This enables to save electrical power of the unit generated at the design level in the period of seasonal increase in air temperature. Cooling of the air at the inlet to the turbocharger of the unit occurs up to its design temperature (which is, according to the ISO standard, equal to 15˚С). The basis of the CTIC model is an industrial cooling system based on a vapor compression refrigeration unit with a cold accumulator. Water ice is used as a cold storage medium in the accumulator, while ice water is used as a medium cooling the cycle air (ice water is water at a temperature of 0.5˚С – 1˚С). The eff ect of cooling of cycle air is achieved by pumping ice water coming from the cold accumulator through an air-to-water heat exchanger installed at the inlet to the turbocharger. The purpose of the study was to determine the operating time of a cold accumulator, depending on the speed of the circulating water. The experiments were carried out on a model of a cooling system with a cold accumulator having a 200 kg ice storage and working with the Capstone C-30 microturbine. Maintaining the temperature of the cycle air at its design level is achieved using a frequency-controlled circulation pump and a digital measurement and control system with the LabVIEW software package. The results of the study show that the considered CTIC system, while discharging the cold accumulator, is able to maintain the required design temperature of the cycle air at 15°C for 6 hours, which is quite enough to cover the peak load of the working day. Technical and economic parameters of the plant are evaluated.


2015 ◽  
Vol 72 (2) ◽  
pp. 834-853 ◽  
Author(s):  
C. L. Daleu ◽  
S. J. Woolnough ◽  
R. S. Plant

Abstract Numerical simulations are performed to assess the influence of the large-scale circulation on the transition from suppressed to active convection. As a model tool, the authors used a coupled-column model. It consists of two cloud-resolving models that are fully coupled via a large-scale circulation that is derived from the requirement that the instantaneous domain-mean potential temperature profiles of the two columns remain close to each other. This is known as the weak temperature gradient approach. The simulations of the transition are initialized from coupled-column simulations over nonuniform surface forcing, and the transition is forced in the dry column by changing the local and/or remote surface forcings to uniform surface forcing across the columns. As the strength of the circulation is reduced to zero, moisture is recharged into the dry column and a transition to active convection occurs once the column is sufficiently moistened to sustain deep convection. Direct effects of changing surface forcing occur over the first few days only. Afterward, it is the evolution of the large-scale circulation that systematically modulates the transition. Its contributions are approximately equally divided between the heating and moistening effects. A transition time is defined to summarize the evolution from suppressed to active convection. It is the time when the rain rate in the dry column is halfway to the mean value obtained at equilibrium over uniform surface forcing. The transition time is around twice as long for a transition that is forced remotely compared to a transition that is forced locally. Simulations in which both local and remote surface forcings are changed produce intermediate transition times.


1991 ◽  
Vol 276 (1) ◽  
pp. 231-236 ◽  
Author(s):  
N V Torres ◽  
J Sicilia ◽  
E Meléndez-Hevia

In this paper we study the transitions between steady states in metabolic systems. In order to deal with this task we divided the total metabolite concentration at steady state, sigma, into two new fractions, delta (the Output Transition Time) and tau beta (Input Transition Time), which are related with the course of output and input mass to the system respectively. We show the equivalence time between these terms and the Total Transition Time, tau T, previously defined [Easterby (1986) Biochem. J. 233, 871-875]. Next, we define a new magnitude, the Output Passivity of a transition, rho, which quantifies a new aspect of the transition phase that we call the passivity of the output progress curve. With these magnitudes, all of them being experimentally accessible, several features of the transient state can be measured. We apply the present analysis to (a) the case of coupled enzyme assays, which allows us to reach conclusions about the progress curves in these particular transitions and the equivalence between tau sigma and tau delta, and (b) some experimental results that allow us to discuss the biological significance of the Output Passivity in the transition between steady states in metabolic systems.


Electronics ◽  
2020 ◽  
Vol 9 (5) ◽  
pp. 813 ◽  
Author(s):  
Juan-Carlos Trujillo ◽  
Rodrigo Munguia ◽  
Sarquis Urzua ◽  
Antoni Grau

Autonomous tracking of dynamic targets by the use of Unmanned Aerial Vehicles (UAVs) is a challenging problem that has practical applications in many scenarios. In this context, a fundamental aspect that must be addressed has to do with the position estimation of aerial robots and a target to control the flight formation. For non-cooperative targets, their position must be estimated using the on-board sensors. Moreover, for estimating the position of UAVs, global position information may not always be available (GPS-denied environments). This work presents a cooperative visual-based SLAM (Simultaneous Localization and Mapping) system that allows a team of aerial robots to autonomously follow a non-cooperative target moving freely in a GPS-denied environment. One of the contributions of this work is to propose and investigate the use of a target-centric SLAM configuration to solve the estimation problem that differs from the well-known World-centric and Robot-centric SLAM configurations. In this sense, the proposed approach is supported by theoretical results obtained from an extensive nonlinear observability analysis. Additionally, a control system is proposed for maintaining a stable UAV flight formation with respect to the target as well. In this case, the stability of control laws is proved using the Lyapunov theory. Employing an extensive set of computer simulations, the proposed system demonstrated potentially to outperform other related approaches.


2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Xiaohui Gu ◽  
Li Jin ◽  
Nan Zhao ◽  
Guoan Zhang

Mobile edge computing (MEC) is considered a promising technique that prolongs battery life and enhances the computation capacity of mobile devices (MDs) by offloading computation-intensive tasks to the resource-rich cloud located at the edges of mobile networks. In this study, the problem of energy-efficient computation offloading with guaranteed performance in multiuser MEC systems was investigated. Given that MDs typically seek lower energy consumption and improve the performance of computing tasks, we provide an energy-efficient computation offloading and transmit power allocation scheme that reduces energy consumption and completion time. We formulate the energy efficiency cost minimization problem, which satisfies the completion time deadline constraint of MDs in an MEC system. In addition, the corresponding Karush–Kuhn–Tucker conditions are applied to solve the optimization problem, and a new algorithm comprising the computation offloading policy and transmission power allocation is presented. Numerical results demonstrate that our proposed scheme, with the optimal computation offloading policy and adapted transmission power for MDs, outperforms local computing and full offloading methods in terms of energy consumption and completion delay. Consequently, our proposed system could help overcome the restrictions on computation resources and battery life of mobile devices to meet the requirements of new applications.


Author(s):  
Nahuel Lofeudo ◽  
Andrés Fortier ◽  
Gustavo Rossi

Mobile context-aware applications have specific needs regarding data communications and position sensing, that current standard hardware is still not able to fulfill. Current mechanisms are inadequate for applications that need constant communications because of their high power needs and low precision when used to measure the physical indoor position of a mobile device. For this reason the authors have created a new, flexible and inexpensive technology that aims to solve both the needs of communication and position estimation on mobile platforms. This new network type uses recently developed technology to minimize power consumption, leading to a longer battery life and maximizing the precision of the position sensing of the device. Finally, on top of their hardware platform they have devised a software layer, named Kindergarten, which allows high-level languages to interact with the underlying hardware.


2019 ◽  
Vol MA2019-01 (20) ◽  
pp. 1100-1100
Author(s):  
Brian Skinn

The contributions of the physical phenomena governing the distribution of current across an electrode in an electrochemical process are conventionally categorized as primary, secondary, and/or tertiary current distribution effects, which respectively embody geometric/ohmic, kinetic polarization, and concentration polarization effects. On virtually all non-trivial workpieces of interest to industrial electrochemical practice, it is important to be able to control the areas affected by the process; viz., preferentially adding or removing material to some regions over others. Two of the most significant phenomena contributing to the tertiary current distribution in electrochemical processes are depletion (for electrodeposition) and saturation (for electrodissolution) of the active soluble metal species at the workpiece surface. Both of these phenomena lead to mass-transfer limitations: taking electrodissolution as an example, if material is being dissolved at a particular point on the electrode surface at a rate greater than diffusion can carry the products away from the surface, then mass-transfer limitations will result. The tertiary current distribution effects arising from these limitations will tend to disfavor further increases in the local electrodissolution current density at that point, thus shifting the current density distribution to other locations on the workpiece surface, to other reactions at the same location, or both. Thus, exerting control over these tertiary current distribution effects can be highly valuable for developing an efficient and accurate electrochemical process. An interesting feature of these mass-transfer-limiting phenomena is that they are almost entirely inactive for a short time (generally < 1 s for processes of practical interest) after the electrical voltage is applied, even if the applied current density is sufficiently high that significant mass transfer limitations will result after this initial interval. Thus, it follows that pulsing the applied potential/current at sufficiently high frequencies has the potential to enable significant control of these tertiary current distribution effects, by allowing the physicochemical conditions contributing to mass-transfer limitations at the electrode surface to “relax” while the potential is turned off. This “relaxation” behavior is schematized in Figure 1 for a generic pulse-electrodissolution process under steady-periodic conditions, where the orange and blue traces represent the concentration profiles at the end of the on-time and off-time, respectively, under conditions where no mass-transfer limitations are active at any point in time. For the purposes of electrochemical process optimization, the ability to estimate the maximum concentration of dissolved species at the electrode surface for a given system and applied waveform would provide guidance as to whether and when a particular mode of mass-transfer limitation is likely to be active. In particular, evaluation of the “transition time,” the value of the waveform on-time above which mass-transfer limitations become appreciable, is of significant practical interest. Methods for transition time estimation based on linearized approximation of the boundary-layer concentration dynamics under a number of simplifying assumptions are available in the literature; e.g., Ref. [1]. However, the transition times calculated using these methods were found to deviate from COMSOL Multiphysics® simulation results by anywhere between –80% to +2780%, depending on the form of the estimation used and the particular waveform under consideration. This talk summarizes a method developed to provide appreciably more accurate predictions of transition times, under a similar set of simplifying assumptions as in Ref. 1. Separate on-time and off-time analytical solutions of the time-dependent steady-periodic mass transport behavior in a one-dimensional boundary layer were developed via the ‘finite Fourier transform’ (FFT) technique [[2]] and used to generate transition time estimates. Optimal values of the FFT model parameters were separately identified for fifty-three pairs of two pulsed-waveform timing parameters, period and duty cycle, spanning substantially the entire parameter space of practical industrial relevance. When compared to COMSOL® simulation results, the deviation of the transition time predictions (equivalently, predictions of the maximum surface concentration, in the electrodissolution paradigm of the model) was within 9% for all of the examined sets of timing parameters, with most deviating less than 5%. This FFT method thus provides a highly accurate method for estimation of transition times, within the approximations made in constructing the model. References [[1]] Ibl, N. “Some Theoretical Aspects of Pulse Electrolysis.” Surface Technology 10: 81-104 (1980). [[2]] Deen, W.M. “Analysis of Transport Phenomena,” 2nd ed., Ch. 5. New York: Oxford University Press, 2012. Figure 1


2017 ◽  
Vol 32 (6) ◽  
pp. 2065-2082 ◽  
Author(s):  
Dana M. Tobin ◽  
Matthew R. Kumjian

Abstract Recent studies document a polarimetric radar signature of refreezing. The signature is characterized by a low-level enhancement in differential reflectivity ZDR and a decrease in the copolar correlation coefficient ρhv within a region of decreasing radar reflectivity factor at horizontal polarization ZH toward the ground, called the refreezing layer (RFL). The evolution of the signature is examined during three winter storms in which the surface precipitation-type transitions from ice pellets to freezing rain. A modified quasi-vertical profile (QVP) technique is developed, which creates inverse-distance-weighted profiles using all available polarimetric data within a specified range from the radar location. Using this new technique reveals that the RFL descends in time prior to the transition from ice pellets to freezing rain and intersects the ground at the approximate transition time. Transition times are estimated using both crowdsourced and automated precipitation-type reports within a specified domain around the radar. These radar-estimated transition times are compared to a recently developed precipitation-classification algorithm based on Rapid Refresh (RAP) model wet-bulb temperature Tw profiles to explore potential benefits of analyzing QVPs during transition events. The descent of the RFL in the cases analyzed herein is related to low-level warm-air advection (WAA). A simple method for forecasting the transition time using QVPs is presented for cases of constant WAA. The repeatability of the refreezing signature’s descent in ice pellet to freezing rain transition events suggests the potential for its use in operational settings to create or modify short-term forecasts.


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