Pub Date : 2021-08-24DOI: 10.1108/ijius-05-2021-0031
Kumari Neeraj, J. K. Das
PurposeHigh throughput and power efficient computing devices are highly essential in many autonomous system-based applications. Since the computational power keeps on increasing in recent years, it is necessary to develop energy efficient static RAM (SRAM) memories with high speed. Nowadays, Static Random-Access Memory cells are predominantly liable to soft errors due to the serious charge which is crucial to trouble a cell because of fewer noise margins, short supply voltages and lesser node capacitances.Design/methodology/approachPower efficient SRAM design is a major task for improving computing abilities of autonomous systems. In this research, instability is considered as a major issue present in the design of SRAM. Therefore, to eliminate soft errors and balance leakage instability problems, a signal noise margin (SNM) through the level shifter circuit is proposed.FindingsBias Temperature Instabilities (BTI) are considered as the primary technology for recently combined devices to reduce degradation. The proposed level shifter-based 6T SRAM achieves better results in terms of delay, power and SNM when compared with existing 6T devices and this 6T SRAM-BTI with 7 nm technology is also applicable for low power portable healthcare applications. In biomedical applications, Body Area Networks (BANs) require the power-efficient SRAM design to extend the battery life of BAN sensor nodes.Originality/valueThe proposed method focuses on high speed and power efficient SRAM design for smart ubiquitous sensors. The effect of BTI is almost eliminated in the proposed design.
{"title":"High throughput SRAM design for improved computing in autonomous systems","authors":"Kumari Neeraj, J. K. Das","doi":"10.1108/ijius-05-2021-0031","DOIUrl":"https://doi.org/10.1108/ijius-05-2021-0031","url":null,"abstract":"PurposeHigh throughput and power efficient computing devices are highly essential in many autonomous system-based applications. Since the computational power keeps on increasing in recent years, it is necessary to develop energy efficient static RAM (SRAM) memories with high speed. Nowadays, Static Random-Access Memory cells are predominantly liable to soft errors due to the serious charge which is crucial to trouble a cell because of fewer noise margins, short supply voltages and lesser node capacitances.Design/methodology/approachPower efficient SRAM design is a major task for improving computing abilities of autonomous systems. In this research, instability is considered as a major issue present in the design of SRAM. Therefore, to eliminate soft errors and balance leakage instability problems, a signal noise margin (SNM) through the level shifter circuit is proposed.FindingsBias Temperature Instabilities (BTI) are considered as the primary technology for recently combined devices to reduce degradation. The proposed level shifter-based 6T SRAM achieves better results in terms of delay, power and SNM when compared with existing 6T devices and this 6T SRAM-BTI with 7 nm technology is also applicable for low power portable healthcare applications. In biomedical applications, Body Area Networks (BANs) require the power-efficient SRAM design to extend the battery life of BAN sensor nodes.Originality/valueThe proposed method focuses on high speed and power efficient SRAM design for smart ubiquitous sensors. The effect of BTI is almost eliminated in the proposed design.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47173755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-08-16DOI: 10.1108/ijius-12-2020-0070
M. U. Arif
PurposeMulti-robot coalition formation (MRCF) refers to the formation of robot coalitions against complex tasks requiring multiple robots for execution. Situations, where the robots have to participate in multiple coalitions over time due to a large number of tasks, are called Time-extended MRCF. While being NP-hard, time-extended MRCF also holds the possibility of resource deadlocks due to any cyclic hold-and-wait conditions among the coalitions. Existing schemes compromise on solution quality to form workable, deadlock-free coalitions through instantaneous or incremental allocations.Design/methodology/approachThis paper presents an evolutionary algorithm (EA)-based task allocation framework for improved, deadlock-free solutions against time-extended MRCF. The framework simultaneously allocates multiple tasks, allowing the robots to participate in multiple coalitions within their schedule. A directed acyclic graph–based representation of robot plans is used for deadlock detection and avoidance.FindingsAllowing the robots to participate in multiple coalitions within their schedule, significantly improves the allocation quality. The improved allocation quality of the EA is validated against two auction schemes inspired by the literature.Originality/valueTo the best of the author's knowledge, this is the first framework which simultaneously considers multiple MR tasks for deadlock-free allocation while allowing the robots to participate in multiple coalitions within their plans.
{"title":"Robot coalition formation against time-extended multi-robot tasks","authors":"M. U. Arif","doi":"10.1108/ijius-12-2020-0070","DOIUrl":"https://doi.org/10.1108/ijius-12-2020-0070","url":null,"abstract":"PurposeMulti-robot coalition formation (MRCF) refers to the formation of robot coalitions against complex tasks requiring multiple robots for execution. Situations, where the robots have to participate in multiple coalitions over time due to a large number of tasks, are called Time-extended MRCF. While being NP-hard, time-extended MRCF also holds the possibility of resource deadlocks due to any cyclic hold-and-wait conditions among the coalitions. Existing schemes compromise on solution quality to form workable, deadlock-free coalitions through instantaneous or incremental allocations.Design/methodology/approachThis paper presents an evolutionary algorithm (EA)-based task allocation framework for improved, deadlock-free solutions against time-extended MRCF. The framework simultaneously allocates multiple tasks, allowing the robots to participate in multiple coalitions within their schedule. A directed acyclic graph–based representation of robot plans is used for deadlock detection and avoidance.FindingsAllowing the robots to participate in multiple coalitions within their schedule, significantly improves the allocation quality. The improved allocation quality of the EA is validated against two auction schemes inspired by the literature.Originality/valueTo the best of the author's knowledge, this is the first framework which simultaneously considers multiple MR tasks for deadlock-free allocation while allowing the robots to participate in multiple coalitions within their plans.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42730237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-20DOI: 10.1108/IJIUS-02-2021-0007
Prashant R. Dike, T. S. Vishwanath, Vandana Rohakale
PurposeSince communication usually accounts as the foremost problem for power consumption, there are some approaches, such as topology control and network coding (NC), for diminishing the activity of sensors’ transceivers. If such approaches are employed simultaneously, then the overall performance does raise as expected. In a wireless sensor network (WSN), the linear NC has been shown to enhance the performance of network throughput and reduce delay. However, the NC condition of existing NC-aware routings may experience the issue of false-coding effect in some scenarios and usually neglect node energy, which highly affects the energy efficiency performance. The purpose of this paper is to propose a new NC scheduling in a WSN with the intention of maximizing the throughput and minimizing the energy consumption of the network.Design/methodology/approachThe improved meta-heuristic algorithm called the improved mutation-based lion algorithm (IM-LA) is used to solve the problem of NC scheduling in a WSN. The main intention of implementing improved optimization is to maximize the throughput and minimize the energy consumption of the network during the transmission from the source to the destination node. The parameters like topology and time slots are taken for optimizing in order to obtain the concerned objective function. While solving the current optimization problem, it has considered a few constraints like timeshare constraint, data-flow constraint and domain constraint. Thus, the network performance is proved to be enhanced by the proposed model when compared to the conventional model.FindingsWhen 20 nodes are fixed for the convergence analysis, performed in terms of multi-objective function, it is noted that during the 400th iteration, the proposed IM-LA was 10.34, 13.91 and 50% better than gray wolf algorithm (GWO), firefly algorithm (FF) and particle swarm optimization (PSO), respectively, and same as LA. Therefore, it is concluded that the proposed IM-LA performs extremely better than other conventional methods in minimizing the cost function, and hence, the optimal scheduling of nodes in a WSN in terms of the multi-objective function, i.e. minimizing energy consumption and maximizing throughput using NC has been successfully done.Originality/valueThis paper adopts the latest optimization algorithm called IM-LA, which is used to solve the problem of network coding scheduling in a WSN. This is the first work that utilizes IM-LA for optimal network coding in a WSN.
{"title":"Enhancement of network coding in wireless sensor network using improved lion algorithm: intention toward maximizing network throughput and lifetime","authors":"Prashant R. Dike, T. S. Vishwanath, Vandana Rohakale","doi":"10.1108/IJIUS-02-2021-0007","DOIUrl":"https://doi.org/10.1108/IJIUS-02-2021-0007","url":null,"abstract":"PurposeSince communication usually accounts as the foremost problem for power consumption, there are some approaches, such as topology control and network coding (NC), for diminishing the activity of sensors’ transceivers. If such approaches are employed simultaneously, then the overall performance does raise as expected. In a wireless sensor network (WSN), the linear NC has been shown to enhance the performance of network throughput and reduce delay. However, the NC condition of existing NC-aware routings may experience the issue of false-coding effect in some scenarios and usually neglect node energy, which highly affects the energy efficiency performance. The purpose of this paper is to propose a new NC scheduling in a WSN with the intention of maximizing the throughput and minimizing the energy consumption of the network.Design/methodology/approachThe improved meta-heuristic algorithm called the improved mutation-based lion algorithm (IM-LA) is used to solve the problem of NC scheduling in a WSN. The main intention of implementing improved optimization is to maximize the throughput and minimize the energy consumption of the network during the transmission from the source to the destination node. The parameters like topology and time slots are taken for optimizing in order to obtain the concerned objective function. While solving the current optimization problem, it has considered a few constraints like timeshare constraint, data-flow constraint and domain constraint. Thus, the network performance is proved to be enhanced by the proposed model when compared to the conventional model.FindingsWhen 20 nodes are fixed for the convergence analysis, performed in terms of multi-objective function, it is noted that during the 400th iteration, the proposed IM-LA was 10.34, 13.91 and 50% better than gray wolf algorithm (GWO), firefly algorithm (FF) and particle swarm optimization (PSO), respectively, and same as LA. Therefore, it is concluded that the proposed IM-LA performs extremely better than other conventional methods in minimizing the cost function, and hence, the optimal scheduling of nodes in a WSN in terms of the multi-objective function, i.e. minimizing energy consumption and maximizing throughput using NC has been successfully done.Originality/valueThis paper adopts the latest optimization algorithm called IM-LA, which is used to solve the problem of network coding scheduling in a WSN. This is the first work that utilizes IM-LA for optimal network coding in a WSN.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46371993","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-08DOI: 10.1108/IJIUS-02-2021-0010
Naga Swetha R, V. K. Shrivastava, K. Parvathi
PurposeThe mortality rate due to skin cancers has been increasing over the past decades. Early detection and treatment of skin cancers can save lives. However, due to visual resemblance of normal skin and lesion and blurred lesion borders, skin cancer diagnosis has become a challenging task even for skilled dermatologists. Hence, the purpose of this study is to present an image-based automatic approach for multiclass skin lesion classification and compare the performance of various models.Design/methodology/approachIn this paper, the authors have presented a multiclass skin lesion classification approach based on transfer learning of deep convolutional neural network. The following pre-trained models have been used: VGG16, VGG19, ResNet50, ResNet101, ResNet152, Xception, MobileNet and compared their performances on skin cancer classification.FindingsThe experiments have been performed on HAM10000 dataset, which contains 10,015 dermoscopic images of seven skin lesion classes. The categorical accuracy of 83.69%, Top2 accuracy of 91.48% and Top3 accuracy of 96.19% has been obtained.Originality/valueEarly detection and treatment of skin cancer can save millions of lives. This work demonstrates that the transfer learning can be an effective way to classify skin cancer images, providing adequate performance with less computational complexity.
{"title":"Multiclass skin lesion classification using image augmentation technique and transfer learning models","authors":"Naga Swetha R, V. K. Shrivastava, K. Parvathi","doi":"10.1108/IJIUS-02-2021-0010","DOIUrl":"https://doi.org/10.1108/IJIUS-02-2021-0010","url":null,"abstract":"PurposeThe mortality rate due to skin cancers has been increasing over the past decades. Early detection and treatment of skin cancers can save lives. However, due to visual resemblance of normal skin and lesion and blurred lesion borders, skin cancer diagnosis has become a challenging task even for skilled dermatologists. Hence, the purpose of this study is to present an image-based automatic approach for multiclass skin lesion classification and compare the performance of various models.Design/methodology/approachIn this paper, the authors have presented a multiclass skin lesion classification approach based on transfer learning of deep convolutional neural network. The following pre-trained models have been used: VGG16, VGG19, ResNet50, ResNet101, ResNet152, Xception, MobileNet and compared their performances on skin cancer classification.FindingsThe experiments have been performed on HAM10000 dataset, which contains 10,015 dermoscopic images of seven skin lesion classes. The categorical accuracy of 83.69%, Top2 accuracy of 91.48% and Top3 accuracy of 96.19% has been obtained.Originality/valueEarly detection and treatment of skin cancer can save millions of lives. This work demonstrates that the transfer learning can be an effective way to classify skin cancer images, providing adequate performance with less computational complexity.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45946939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-05-04DOI: 10.1108/ijius-11-2020-0063
Luitpold Babel
PurposeA major challenge for mission planning of aircraft is to generate flight paths in highly dynamic environments. This paper presents a new approach for online flight path planning with flight time constraints for fixed-wing UAVs. The flight paths must take into account the kinematic restrictions of the vehicle and be collision-free with terrain, obstacles and no-fly areas. Moreover, the flight paths are subject to time constraints such as predetermined time of arrival at the target or arrival within a specified time interval.Design/methodology/approachThe proposed flight path planning algorithm is an evolution of the well-known RRT* algorithm. It uses three-dimensional Dubins paths to reflect the flight capabilities of the air vehicle. Requirements for the flight time are realized by skillfully concatenating two rapidly exploring random trees rooted in the start and target point, respectively.FindingsThe approach allows to consider static obstacles, obstacles which might pop up unexpectedly, as well as moving obstacles. Targets might be static or moving with constantly changing course. Even a change of the target during flight, a change of the target approach direction or a change of the requested time of arrival is included.Originality/valueThe capability of the flight path algorithm is demonstrated by simulation results. Response times of fractions of a second qualify the algorithm for real-time applications in highly dynamic scenarios.
{"title":"Online flight path planning with flight time constraints for fixed-wing UAVs in dynamic environments","authors":"Luitpold Babel","doi":"10.1108/ijius-11-2020-0063","DOIUrl":"https://doi.org/10.1108/ijius-11-2020-0063","url":null,"abstract":"PurposeA major challenge for mission planning of aircraft is to generate flight paths in highly dynamic environments. This paper presents a new approach for online flight path planning with flight time constraints for fixed-wing UAVs. The flight paths must take into account the kinematic restrictions of the vehicle and be collision-free with terrain, obstacles and no-fly areas. Moreover, the flight paths are subject to time constraints such as predetermined time of arrival at the target or arrival within a specified time interval.Design/methodology/approachThe proposed flight path planning algorithm is an evolution of the well-known RRT* algorithm. It uses three-dimensional Dubins paths to reflect the flight capabilities of the air vehicle. Requirements for the flight time are realized by skillfully concatenating two rapidly exploring random trees rooted in the start and target point, respectively.FindingsThe approach allows to consider static obstacles, obstacles which might pop up unexpectedly, as well as moving obstacles. Targets might be static or moving with constantly changing course. Even a change of the target during flight, a change of the target approach direction or a change of the requested time of arrival is included.Originality/valueThe capability of the flight path algorithm is demonstrated by simulation results. Response times of fractions of a second qualify the algorithm for real-time applications in highly dynamic scenarios.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":"ahead-of-print 1","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41536416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-04-29DOI: 10.1108/IJIUS-02-2021-0008
Ayaz Ahmed Hoshu, Liuping Wang, A. Fisher, Abdul Sattar
PurposeDespite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter counterparts. The purpose of this paper is to explore a more efficient multirotor configuration and to provide the robust and stable control system for it.Design/methodology/approachA heterogeneous multirotor configuration is explored in this paper, which employs a large rotor at the centre to provide majority of lift and three small tilted booms rotors to provide the control. Design provides the combined characteristics of both quadcopters and helicopters in a single UAS configuration, providing endurance of helicopters keeping the manoeuvrability, simplicity and control of quadcopters. In this paper, rotational as well as translational dynamics of the multirotor are explored. Cascade control system is designed to provide an effective solution to control the attitude, altitude and position of the rotorcraft.FindingsOne of the challenging tasks towards successful flight of such a configuration is to design a stable and robust control system as it is an underactuated system possessing complex non-linearities and coupled dynamics. Cascaded proportional integral (PI) control approach has provided an efficient solution with stable control performance. A novel motor control loop is implemented to ensure enhanced disturbance rejection, which is also validated through Dryden turbulence model and 1-cosine gust model.Originality/valueRobustness and stability of the proposed control structure for such a dynamically complex UAS configuration is demonstrated with stable attitude and position performance, reference tracking and enhanced disturbance rejection.
{"title":"Cascade control for heterogeneous multirotor UAS","authors":"Ayaz Ahmed Hoshu, Liuping Wang, A. Fisher, Abdul Sattar","doi":"10.1108/IJIUS-02-2021-0008","DOIUrl":"https://doi.org/10.1108/IJIUS-02-2021-0008","url":null,"abstract":"PurposeDespite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter counterparts. The purpose of this paper is to explore a more efficient multirotor configuration and to provide the robust and stable control system for it.Design/methodology/approachA heterogeneous multirotor configuration is explored in this paper, which employs a large rotor at the centre to provide majority of lift and three small tilted booms rotors to provide the control. Design provides the combined characteristics of both quadcopters and helicopters in a single UAS configuration, providing endurance of helicopters keeping the manoeuvrability, simplicity and control of quadcopters. In this paper, rotational as well as translational dynamics of the multirotor are explored. Cascade control system is designed to provide an effective solution to control the attitude, altitude and position of the rotorcraft.FindingsOne of the challenging tasks towards successful flight of such a configuration is to design a stable and robust control system as it is an underactuated system possessing complex non-linearities and coupled dynamics. Cascaded proportional integral (PI) control approach has provided an efficient solution with stable control performance. A novel motor control loop is implemented to ensure enhanced disturbance rejection, which is also validated through Dryden turbulence model and 1-cosine gust model.Originality/valueRobustness and stability of the proposed control structure for such a dynamically complex UAS configuration is demonstrated with stable attitude and position performance, reference tracking and enhanced disturbance rejection.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43760317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-16DOI: 10.1108/IJIUS-09-2020-0059
Aws Abdulsalam Najm, Ibraheem Kasim Ibraheem, Amjad J. Humaidi, A. Azar
PurposeThe hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree freedom (DoF) quadrotor system with the existence of exogenous disturbances and system uncertainties.Design/methodology/approachIADRC units are designed for the altitude and attitude systems, while NLPID controllers are designed for the x−y position system on the quadrotor nonlinear model. The proposed controlling scheme is implemented using MATLAB/Simulink environment and is compared with the traditional PID controller and NLPID controller.FindingsDifferent tests have been done, such as step reference tracking, hovering mode, trajectory tracking, exogenous disturbances and system uncertainties. The simulation results showed the demonstrated performance and stability gained by using the proposed scheme as compared with the other two controllers, even when the system was exposed to different disturbances and uncertainties.Originality/valueThe study proposes an NLPID-IADRC scheme to stabilize the motion of the quadrotor system while tracking a specified trajectory in the presence of exogenous disturbances and parameter uncertainties. The proposed multi-objective Output Performance Index (OPI) was used to obtain the optimum integrated time of the absolute error for each subsystem, UAV quadrotor system energy consumption and for minimizing the chattering phenomenon by adding the integrated time absolute of the control signals.
{"title":"Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control","authors":"Aws Abdulsalam Najm, Ibraheem Kasim Ibraheem, Amjad J. Humaidi, A. Azar","doi":"10.1108/IJIUS-09-2020-0059","DOIUrl":"https://doi.org/10.1108/IJIUS-09-2020-0059","url":null,"abstract":"PurposeThe hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree freedom (DoF) quadrotor system with the existence of exogenous disturbances and system uncertainties.Design/methodology/approachIADRC units are designed for the altitude and attitude systems, while NLPID controllers are designed for the x−y position system on the quadrotor nonlinear model. The proposed controlling scheme is implemented using MATLAB/Simulink environment and is compared with the traditional PID controller and NLPID controller.FindingsDifferent tests have been done, such as step reference tracking, hovering mode, trajectory tracking, exogenous disturbances and system uncertainties. The simulation results showed the demonstrated performance and stability gained by using the proposed scheme as compared with the other two controllers, even when the system was exposed to different disturbances and uncertainties.Originality/valueThe study proposes an NLPID-IADRC scheme to stabilize the motion of the quadrotor system while tracking a specified trajectory in the presence of exogenous disturbances and parameter uncertainties. The proposed multi-objective Output Performance Index (OPI) was used to obtain the optimum integrated time of the absolute error for each subsystem, UAV quadrotor system energy consumption and for minimizing the chattering phenomenon by adding the integrated time absolute of the control signals.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49617057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-01-20DOI: 10.1108/IJIUS-09-2020-0044
P. Ramesh, J. Muruga Lal Jeyan
PurposeAmongst all classes of unmanned aircraft system (UAS), the rise of the Mini UAS class is the most dominant. Mini UASs are field-deployable systems and hence are not expected to operate from a runway. Therefore, the operating terrain plays an important role in the deployment and employment of the Mini UAS. However, there is limited published work in this area. The impact of terrain is more critical for military applications than civilian applications. The purpose of this paper is to explore the implications of various types of terrain on the employment and deployment of Mini UAS.Design/methodology/approachThis paper explores the implications of various types of terrain on the employment and deployment of Mini UAS.FindingsMini UAS with field deployable requirements is often launched within the tactical battle area in case of military applications or in close proximity to the intended target area for civilian applications. Due to the size and weight of the Mini UAS, launch and recovery becomes an important factor to be considered. Rotary wing or fixed-wing vertical take-off and landing configuration UAS overcomes the limitations of Mini UAS and hence it is the preferred option. Impact of the terrain is significantly higher for military applications as compared to civil applications. Mountain terrain is the most challenging for Mini UAS operations.Practical implicationsThis paper will help the designers configure the UAS as per the operating terrain.Originality/valueTerrain affects the deployment and employment of Mini UAS and the capabilities of the system with respect to terrain in which it is expected to operate must be considered during the design of a Mini UAS. The paper will help the designers configure the UAS as per the operating terrain.
{"title":"Terrain imperatives for Mini unmanned aircraft systems applications","authors":"P. Ramesh, J. Muruga Lal Jeyan","doi":"10.1108/IJIUS-09-2020-0044","DOIUrl":"https://doi.org/10.1108/IJIUS-09-2020-0044","url":null,"abstract":"PurposeAmongst all classes of unmanned aircraft system (UAS), the rise of the Mini UAS class is the most dominant. Mini UASs are field-deployable systems and hence are not expected to operate from a runway. Therefore, the operating terrain plays an important role in the deployment and employment of the Mini UAS. However, there is limited published work in this area. The impact of terrain is more critical for military applications than civilian applications. The purpose of this paper is to explore the implications of various types of terrain on the employment and deployment of Mini UAS.Design/methodology/approachThis paper explores the implications of various types of terrain on the employment and deployment of Mini UAS.FindingsMini UAS with field deployable requirements is often launched within the tactical battle area in case of military applications or in close proximity to the intended target area for civilian applications. Due to the size and weight of the Mini UAS, launch and recovery becomes an important factor to be considered. Rotary wing or fixed-wing vertical take-off and landing configuration UAS overcomes the limitations of Mini UAS and hence it is the preferred option. Impact of the terrain is significantly higher for military applications as compared to civil applications. Mountain terrain is the most challenging for Mini UAS operations.Practical implicationsThis paper will help the designers configure the UAS as per the operating terrain.Originality/valueTerrain affects the deployment and employment of Mini UAS and the capabilities of the system with respect to terrain in which it is expected to operate must be considered during the design of a Mini UAS. The paper will help the designers configure the UAS as per the operating terrain.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43002577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-28DOI: 10.1108/ijius-09-2020-0054
Sridhar Reddy Vulapula, Srinivas Malladi
PurposeHybrid cloud composing of public and private cloud is seen as a solution for storage of health care data characterized by many private and sensitive data. In many hybrid cloud-based solutions, the data are perturbed and kept in public cloud, and the perturbation credentials are kept in private cloud.Design/methodology/approachHybrid cloud is a model combing private and public cloud. Security for the data is enforced using this distribution in hybrid clouds. However, these mechanisms are not efficient for range query and retrieval of data from cloud. In this work, a secure and efficient retrieval solution combining K-mean clustering, geometric perturbation and R-Tree indexing is proposed for hybrid clouds.FindingsCompared to existing solution, the proposed indexing on perturbed data is able to achieve 33% reduced retrieval time. The security of indexes as measured using variance of differences was 66% more than existing solutions.Originality/valueThis study is an attempt for efficient retrieval of data with range queries using R-Tree indexing approach.
{"title":"Query processing over secure perturbed data over hybrid cloud","authors":"Sridhar Reddy Vulapula, Srinivas Malladi","doi":"10.1108/ijius-09-2020-0054","DOIUrl":"https://doi.org/10.1108/ijius-09-2020-0054","url":null,"abstract":"PurposeHybrid cloud composing of public and private cloud is seen as a solution for storage of health care data characterized by many private and sensitive data. In many hybrid cloud-based solutions, the data are perturbed and kept in public cloud, and the perturbation credentials are kept in private cloud.Design/methodology/approachHybrid cloud is a model combing private and public cloud. Security for the data is enforced using this distribution in hybrid clouds. However, these mechanisms are not efficient for range query and retrieval of data from cloud. In this work, a secure and efficient retrieval solution combining K-mean clustering, geometric perturbation and R-Tree indexing is proposed for hybrid clouds.FindingsCompared to existing solution, the proposed indexing on perturbed data is able to achieve 33% reduced retrieval time. The security of indexes as measured using variance of differences was 66% more than existing solutions.Originality/valueThis study is an attempt for efficient retrieval of data with range queries using R-Tree indexing approach.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2020-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46944394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-06-25DOI: 10.36872/lepi/v51i2/301131
G. Chaitanya, Krovi Raja Sekhar
PurposeThe existing authentication procedures (pin, pattern, password) are not very secure. Therefore, the Gait pattern authentication scheme is introduced to verify the own user. The current research proposes a running Gaussian grey wolf boosting (RGGWB) model to recognize the owner.Design/methodology/approachThe biometrics system plays an important role in smartphones in securing confidential data stored in them. Moreover, the authentication schemes such as passwords and patterns are widely used in smartphones.FindingsTo validate this research model, the unauthenticated user's Gait was trained and tested simultaneously with owner gaits. Furthermore, if the gait matches, the smartphone unlocks automatically; otherwise, it rejects it.Originality/valueFinally, the effectiveness of the proposed model is proved by attaining better accuracy and less error rate.
{"title":"Verification of pattern unlock and gait behavioural authentication through a machine learning approach","authors":"G. Chaitanya, Krovi Raja Sekhar","doi":"10.36872/lepi/v51i2/301131","DOIUrl":"https://doi.org/10.36872/lepi/v51i2/301131","url":null,"abstract":"PurposeThe existing authentication procedures (pin, pattern, password) are not very secure. Therefore, the Gait pattern authentication scheme is introduced to verify the own user. The current research proposes a running Gaussian grey wolf boosting (RGGWB) model to recognize the owner.Design/methodology/approachThe biometrics system plays an important role in smartphones in securing confidential data stored in them. Moreover, the authentication schemes such as passwords and patterns are widely used in smartphones.FindingsTo validate this research model, the unauthenticated user's Gait was trained and tested simultaneously with owner gaits. Furthermore, if the gait matches, the smartphone unlocks automatically; otherwise, it rejects it.Originality/valueFinally, the effectiveness of the proposed model is proved by attaining better accuracy and less error rate.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2020-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43906950","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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