A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm

<正> This paper proposes a new adaptive linear domain system identification method for small unmanned aerial rotorcraft.Byusing the flash memory integrated into the micro guide navigation control module, system records the data sequences of flighttests as inputs (control signals for servos) and outputs (aircraft's attitude and velocity information).After data preprocessing, thesystem constructs the horizontal and vertical dynamic model for the small unmanned aerial rotorcraft using adaptive geneticalgorithm.The identified model is verified by a series of simulations and tests.Comparison between flight data and the one-stepprediction data obtained from the identification model shows that the dynamic model has a good estimation for real unmannedaerial rotorcraft system.Based on the proposed dynamic model, the small unmanned aerial rotorcraft can perform hovering,turning, and straight flight tasks in real flight tests.     

Automated Flight Test and System Identification for Rotary Wing Small Aerial Platform Using Frequency Responses Analysis

This paper proposes an autopilot system that can be used to control the small scale rotorcraft during the flight test for linear-frequency-domain system identification. The input frequency-sweep is generated automatically as part of the autopilot control command. Therefore the bandwidth coverage and consistency of the frequency-sweep are guaranteed to produce high quality data for system identification. Beside that, we can set the safety parameters during the flight test （maximum roll/pitch value, minimum altitude, etc.） so the safety of the whole flight test is guaranteed. This autopilot system is validated using hardware in the loop simulator for hover flight condition.     

Modeling and Design of H-Infinity Controller for Piezoelectric Actuator LIPCA

<正> We proposed a dynamic model identification and design of an H-Infinity (i.e.H_∞) controller using a LightweightPiezo-Composite Actuator (LIPCA).A second-order dynamic model was obtained by using input and output data, and applyingan identification algorithm.The identified model coincides well with the real LIPCA.To reduce the resonating mode that istypical of piezoelectric actuators, a notch filter was used.A feedback controller using the H_∞ control scheme was designed basedon the identified dynamic model; thus, the LIPCA can be easily used as an actuator for biomemetic applications such as artificialmuscles or macro/micro positioning in bioengineering.The control algorithm was implemented using a microprocessor, analogfilters, and power amplifying drivers.Our simulation and experimental results demonstrate that the proposed control algorithmworks well in real environment, providing robust performance and stability with uncertain disturbances.     

A new method for the adaptive determination of optimum pH and temperature

An adaptive control algorithm for the on-line determination of optimal temperature or pH for biomass production in a continuous fermentor is presented. The algorithm requires no prior information and uses a dynamic Hammerstein model to identify parameters and to estimate an optimal steady-state control value. A check of the estimated performance measure second derivative is included to ensure that the target extremum is an optimum. The process is driven towards this optimum with a variable step size that depends on the quality of the on-line identified model. Numerical simulations are performed on a dynamic chemostat model that incorporates a metabolic time delay. The algorithm successfully finds the optimum temperature or pH values and maintains the reactor at the optimum steady state.     

Robust Models for Optic Flow Coding in Natural Scenes Inspired by Insect Biology

The extraction of accurate self-motion information from the visual world is a difficult problem that has been solved very efficiently by biological organisms utilizing non-linear processing. Previous bio-inspired models for motion detection based on a correlation mechanism have been dogged by issues that arise from their sensitivity to undesired properties of the image, such as contrast, which vary widely between images. Here we present a model with multiple levels of non-linear dynamic adaptive components based directly on the known or suspected responses of neurons within the visual motion pathway of the fly brain. By testing the model under realistic high-dynamic range conditions we show that the addition of these elements makes the motion detection model robust across a large variety of images, velocities and accelerations. Furthermore the performance of the entire system is more than the incremental improvements offered by the individual components, indicating beneficial non-linear interactions between processing stages. The algorithms underlying the model can be implemented in either digital or analog hardware, including neuromorphic analog VLSI, but defy an analytical solution due to their dynamic non-linear operation. The successful application of this algorithm has applications in the development of miniature autonomous systems in defense and civilian roles, including robotics, miniature unmanned aerial vehicles and collision avoidance sensors.     

基于无人机高清数码影像和高光谱遥感数据反演大豆典型生育期氮平衡指数

氮平衡指数(NBI)是反映作物长势的重要指标之一.通过测量NBI可以快速监测作物氮肥盈亏状况,为农业生产和管理提供精准信息.本文以无人机高清数码影像和高光谱遥感数据,以及地面实测大豆NBI数据为基础,分析大豆从开花期到成熟期,原始光谱和红外、近红外波段的导数光谱与NBI的相关性,筛选敏感波段并计算植被指数.采用经验模型法构建NBI反演模型,通过分析验证模型的决定系数(R^2)和均方根误差(RMSE),得出最佳反演模型.结果表明:大豆NBI与导数光谱反射率的相关性好于与原始光谱反射率的相关性;本文筛选的14个植被指数中,除了导数光谱光化学植被指数与大豆NBI呈不显著相关外,其余13个植被指数与大豆NBI呈极显著相关;利用13个植被指数构建NBI反演模型,并分析模型反演精度,结果显示,利用导数光谱差值植被指数构建NBI反演模型的精度最高,R^2和RMSE分别为0.771和3.077,利用该模型生成大豆典型生育期NBI分布图,能够反映大豆的长势状况.通过多载荷无人机获取的高清数码影像和高光谱遥感数据进行NBI估算,能够实时、动态、非破坏性、快速有效地监测大豆氮素营养状况,可为大豆氮肥精确管理提供简便实用的方法.     

Fine-scale flight strategies of gulls in urban airflows indicate risk and reward in city living

Birds modulate their flight paths in relation to regional and global airflows in order to reduce their travel costs. Birds should also respond to fine-scale airflows, although the incidence and value of this remains largely unknown. We resolved the three-dimensional trajectories of gulls flying along a built-up coastline, and used computational fluid dynamic models to examine how gulls reacted to airflows around buildings. Birds systematically altered their flight trajectories with wind conditions to exploit updraughts over features as small as a row of low-rise buildings. This provides the first evidence that human activities can change patterns of space-use in flying birds by altering the profitability of the airscape. At finer scales still, gulls varied their position to select a narrow range of updraught values, rather than exploiting the strongest updraughts available, and their precise positions were consistent with a strategy to increase their velocity control in gusty conditions. Ultimately, strategies such as these could help unmanned aerial vehicles negotiate complex airflows. Overall, airflows around fine-scale features have profound implications for flight control and energy use, and consideration of this could lead to a paradigm-shift in the way ecologists view the urban environment.This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.     

Coupled Attitude-Orbit Dynamics and Control for an Electric Sail in a Heliocentric Transfer Mission

The paper discusses the coupled attitude-orbit dynamics and control of an electric-sail-based spacecraft in a heliocentric transfer mission. The mathematical model characterizing the propulsive thrust is first described as a function of the orbital radius and the sail angle. Since the solar wind dynamic pressure acceleration is induced by the sail attitude, the orbital and attitude dynamics of electric sails are coupled, and are discussed together. Based on the coupled equations, the flight control is investigated, wherein the orbital control is studied in an optimal framework via a hybrid optimization method and the attitude controller is designed based on feedback linearization control. To verify the effectiveness of the proposed control strategy, a transfer problem from Earth to Mars is considered. The numerical results show that the proposed strategy can control the coupled system very well, and a small control torque can control both the attitude and orbit. The study in this paper will contribute to the theory study and application of electric sail.     

轻小型无人机低空遥感及其在生态学中的应用进展

无人机低空遥感系统弥补了航天和航空遥感在影像分辨率、重访周期、云层影响以及高成本等方面的不足,为中观尺度的生态学研究提供了新方法.本文介绍了轻小型无人机低空遥感系统的组成,从物种、种群、群落和生态系统尺度综述了其在生态学中的应用现状,并指出目前存在的不足和未来的发展方向,以期为无人机生态学的后续研究提供参考.无人机生态学当前面临的挑战和未来发展的方向主要有物种形态和光谱特征库的建立、物种自动识别、光谱数据与植物生理生态过程之间关系的进一步挖掘、生态系统三维立体监测、多来源多尺度遥感数据融合等.随着无人机平台技术、传感器技术以及数据传输处理技术的成熟,以无人机低空遥感技术为基础的无人机生态学将迎来发展的机遇和曙光.     

Biomarker-Defined Subgroup Selection Adaptive Design for Phase III Confirmatory Trial with Time-to-Event Data: Comparing Group Sequential and Various Adaptive Enrichment Designs

Predictive and prognostic biomarkers play an important role in personalized medicine to determine strategies for drug evaluation and treatment selection. In the context of continuous biomarkers, identification of an optimal cutoff for patient selection can be challenging due to limited information on biomarker predictive value, the biomarker’s distribution in the intended use population, and the complexity of the biomarker relationship to clinical outcomes. As a result, prespecified candidate cutoffs may be rationalized based on biological and practical considerations. In this context, adaptive enrichment designs have been proposed with interim decision rules to select a biomarker-defined subpopulation to optimize study performance. With a group sequential design as a reference, the performance of several proposed adaptive designs are evaluated and compared under various scenarios (e.g., sample size, study power, enrichment effects) where type I error rates are well controlled through closed testing procedures and where subpopulation selections are based upon the predictive probability of trial success. It is found that when the treatment is more effective in a subpopulation, these adaptive designs can improve study power substantially. Furthermore, we identified one adaptive design to have generally higher study power than the other designs under various scenarios.     

An evolutionary strategy for fed-batch bioreactor optimization; concepts and performance

An evolutionary program, based on a real-code genetic algorithm (GA), is applied to calculate optimal control policies for bioreactors. The GA is used as a nonlinear optimizer in combination with simulation software and constraint handling procedures. A new class of GA-operators is introduced to obtain smooth control trajectories, which leads also to a drastic reduction in computational load. The proposed method is easy to understand and has no restrictions on the model type and structure. The performance and optimal trajectories obtained by the extended GA are compared with those calculated with two common methods: (i) dynamic programming, and (ii) a Hamiltonian based gradient algorithm. The GA proved to be a good and often superior alternative for solving optimal control problems.     

Hybrid adaptive optimal control of anaerobic fluidized bed bioreactor for the de-icing waste treatment

Hybrid adaptive control strategy was developed and tested for the degradation of propylene glycol, a major component in de-icing waste, in an anaerobic fluidized bed bioreactor (AFBR). A linearized model with time-varying parameters was first employed to describe the dynamic behavior of the AFBR using a recursive off-line system identification method. A hybrid adaptive control strategy was then tested using a recursive off-line system identification routine followed by an on-line adaptive optimal control algorithm. The objective of the controller was to achieve the desired set point value of the propionate concentration (stand-alone control output variable) by manipulating the dilution rate (control input variable). To do so, the optimal control law was developed by minimizing a cost function with constraint equations. This novel idea was successfully applied to the underlying system for 200 h. The set point (700 mg HPrl(-1)) was achieved even in the case where the feed concentration suddenly increased by 50% (9000 mg HPrl(-1) to 13500 mg HPrl(-1)).     

Individual tree crown width detection from unmanned aerial vehicle images using a revised local transect method

The width of individual tree crowns is a critical parameter of canopy structure that can indirectly determine the stand diameter at breast height, tree height, competition, and understory light. Additionally, accurate estimation of crown width is gainful in improving forest carbon storage estimations. However, detecting automatic and accurate crown widths based on visible images is still challenging owing to the influence of crown overlap, shadows, and background. Therefore, we proposed a revised local transect method to detect crown widths from three high-spatial-resolution unmanned aerial vehicle images. Two parameters, the boundary point adjustment parameter (α) and percentile parameter (β), were added to remove the outliers for crown width estimate, reducing the influence of crown overlap, background, and shadow on boundary point detection and delineating the crown width more accurately. The results showed that α had a more significant effect on the crown-width detection accuracy than β. A larger smoothing window size was necessary to improve the accuracy of crown width detection for images with very high spatial resolution. With the optimal α (10%) and smoothing window size, the coefficients of determination between the detected crown width estimates and referenced crown width were between 0.75 and 0.78, and the relative root mean square errors were between 7.50% and 14.65%. Overall, the revised local transect method for detecting crown width is feasible and provides technical support for the accurate detection of crown width based on visible images from unmanned aerial vehicles.     

An online self-organizing scheme for Parsimonious and Accurate Fuzzy Neural Networks

In this paper, an online self-organizing scheme for Parsimonious and Accurate Fuzzy Neural Networks (PAFNN), and a novel structure learning algorithm incorporating a pruning strategy into novel growth criteria are presented. The proposed growing procedure without pruning not only simplifies the online learning process but also facilitates the formation of a more parsimonious fuzzy neural network. By virtue of optimal parameter identification, high performance and accuracy can be obtained. The learning phase of the PAFNN involves two stages, namely structure learning and parameter learning. In structure learning, the PAFNN starts with no hidden neurons and parsimoniously generates new hidden units according to the proposed growth criteria as learning proceeds. In parameter learning, parameters in premises and consequents of fuzzy rules, regardless of whether they are newly created or already in existence, are updated by the extended Kalman filter (EKF) method and the linear least squares (LLS) algorithm, respectively. This parameter adjustment paradigm enables optimization of parameters in each learning epoch so that high performance can be achieved. The effectiveness and superiority of the PAFNN paradigm are demonstrated by comparing the proposed method with state-of-the-art methods. Simulation results on various benchmark problems in the areas of function approximation, nonlinear dynamic system identification and chaotic time-series prediction demonstrate that the proposed PAFNN algorithm can achieve more parsimonious network structure, higher approximation accuracy and better generalization simultaneously.     

An adaptive control algorithm for fed-batch culture

The implementation of adaptive control for a fed-batch culture in order to maximize the output of product based on a self-adjusting model is discussed in the present work. Optimization methods were applied to the generalized mathematical model of a fed-batch fermentation process to determine control algorithms that could be used for on-line process control. The efficiency of the proposed adaptive algorithms was investigated by simulating a model system. The model of amylotytic enzyme fermentation that was proposed by the authors was taken from a real process. Dynamic modelling has shown that the main problem of realization is connected with the on-line identification of the adaptive model's parameters. To avoid this problem, we have introduced special limitations on the parameters' time variations that increased the convergence of the identification algorithm. The results of the investigation have shown the efficiency of the proposed adaptive algorithms, and the results of this work should be investigated for real process control.     

The Application of Auto-Disturbance Rejection Control Optimized by Least Squares Support Vector Machines Method and Time-Frequency Representation in Voltage Source Converter-High Voltage Direct Current System

In order to improve the performance of voltage source converter-high voltage direct current (VSC-HVDC) system, we propose an improved auto-disturbance rejection control (ADRC) method based on least squares support vector machines (LSSVM) in the rectifier side. Firstly, we deduce the high frequency transient mathematical model of VSC-HVDC system. Then we investigate the ADRC and LSSVM principles. We ignore the tracking differentiator in the ADRC controller aiming to improve the system dynamic response speed. On this basis, we derive the mathematical model of ADRC controller optimized by LSSVM for direct current voltage loop. Finally we carry out simulations to verify the feasibility and effectiveness of our proposed control method. In addition, we employ the time-frequency representation methods, i.e., Wigner-Ville distribution (WVD) and adaptive optimal kernel (AOK) time-frequency representation, to demonstrate our proposed method performs better than the traditional method from the perspective of energy distribution in time and frequency plane.     

血压自适应控制系统研究

本文设计一个自适应血压自动控制系统,首先,通过动物实验,获得了受控对象的参数变化范围的信息.在此基础上,我们应用参考模型和自校正调节器两种算法设计自适应控制系统.计算机仿真证明这两类算法均可成功地应用于血压的自适应控制,尽管受控对象存在未知时变延时,时间常数和增益的变化.最后,将设计的系统在动物(狗)中作了检验.在18条狗上作升压或降压试验证明,两种算法均有良好的过渡过程特性,这一系统将可应用于临床,以改进药物注射系统的性能.     

Modification of landing conditions at contact via flight

Weight-bearing tasks performed by humans consist of a series of phases with multiple objectives. Analysis of the relationship between control and dynamics during successive phases of the tasks is essential for improving performance without sustaining injury. Experimental evidence regarding foot landings suggests that the distribution of momentum among segments at contact influences stability during interaction with the landing surface. In this study, we hypothesized that modification of control in one subsystem, in our case shoulder torque, during the flight phase of an aerial task would enable the performer to maintain behavior of other subsystems (e.g.lower extremity kinematics) and initiate contact with momentum conditions consistent with successful task performance. To test this hypothesis, an experimentally validated multilink dynamic model that incorporated modifications in shoulder torque was used to simulate the flight phase dynamics of overrotated landings. The simulation results indicate that modification in shoulder torque during the flight phase enables gymnasts to maintain lower extremity kinematics and initiate contact with trunk angular velocities consistent with those observed during successful landings. These results suggest that modifications in the control logic of one subsystem may be sufficient for achieving both global and local task objectives of landing.     

Moment Feature Based Fast Feature Extraction Algorithm for Moving Object Detection Using Aerial Images

Fast and computationally less complex feature extraction for moving object detection using aerial images from unmanned aerial vehicles (UAVs) remains as an elusive goal in the field of computer vision research. The types of features used in current studies concerningmoving object detection are typically chosen based on improving detection rate rather than on providing fast and computationally less complex feature extraction methods. Because moving object detection using aerial images from UAVs involves motion as seen from a certain altitude, effective and fast feature extraction is a vital issue for optimum detection performance. This research proposes a two-layer bucket approach based on a new feature extraction algorithm referred to as the moment-based feature extraction algorithm (MFEA). Because a moment represents thecoherent intensity of pixels and motion estimation is a motion pixel intensity measurement, this research used this relation to develop the proposed algorithm. The experimental results reveal the successful performance of the proposed MFEA algorithm and the proposed methodology.     

Performance test and verification of an off‐the‐shelf automated avian radar tracking system

Microwave radar is an important tool for observation of birds in flight and represents a tremendous increase in observation capability in terms of amount of surveillance space that can be covered at relatively low cost. Based on off‐the‐shelf radar hardware, automated radar tracking systems have been developed for monitoring avian movements. However, radar used as an observation instrument in biological research has its limitations that are important to be aware of when analyzing recorded radar data. This article describes a method for exploring the detection capabilities of a dedicated short‐range avian radar system used inside the operational Smøla wind‐power plant. The purpose of the testing described was to find the maximum detection range for various sized birds, while controlling for the effects of flight tortuosity, flight orientation relative to the radar and ground clutter. The method was to use a dedicated test target in form of a remotely controlled unmanned aerial vehicle (UAV) with calibrated radar cross section (RCS), which enabled the design of virtually any test flight pattern within the area of interest. The UAV had a detection probability of 0.5 within a range of 2,340 m from the radar. The detection performance obtained by the RCS ‐calibrated test target (?11 dBm², 0.08 m² RCS ) was then extrapolated to find the corresponding performance of differently sized birds. Detection range depends on system sensitivity, the environment within which the radar is placed and the spatial distribution of birds. The avian radar under study enables continuous monitoring of bird activity within a maximum range up to 2 km dependent on the size of the birds in question. While small bird species may be detected up to 0.5–1 km, larger species may be detected up to 1.5–2 km distance from the radar.