The main purpose of this paper is to present the natural frequencies and mode shapes of a small unmanned aerial vehicle (sUAV), designed and test-flown at the Florida Institute of Technology obtained via experimental modal analysis (EMA). The EMA was performed in order to understand the UAV's modal characteristics as a first step aimed towards understanding the aeroelastic characteristics of the aircraft. The Variable Aspect Ratio (VAR) unmanned aerial vehicle (UAV) studied employs a telescoping wing which, by adaptively-changing its span can evolve optimally in all flight regimes. Data acquisition and analysis were performed with ModalVIEW. The modal tests employed hammer excitation and accelerometer response measurements. In particular, the study focused on the difference between modal characteristics of two different VAR wing configurations: fully retracted vs. fully extended wing.
{"title":"Experimental Modal Analysis of a Small Unmanned Aerial Vehicle with Variable Aspect Ratio Wing","authors":"R. Rusovici, Ryan Haughey, J. Provost","doi":"10.2316/P.2017.848-057","DOIUrl":"https://doi.org/10.2316/P.2017.848-057","url":null,"abstract":"The main purpose of this paper is to present the natural frequencies and mode shapes of a small unmanned aerial vehicle (sUAV), designed and test-flown at the Florida Institute of Technology obtained via experimental modal analysis (EMA). The EMA was performed in order to understand the UAV's modal characteristics as a first step aimed towards understanding the aeroelastic characteristics of the aircraft. The Variable Aspect Ratio (VAR) unmanned aerial vehicle (UAV) studied employs a telescoping wing which, by adaptively-changing its span can evolve optimally in all flight regimes. Data acquisition and analysis were performed with ModalVIEW. The modal tests employed hammer excitation and accelerometer response measurements. In particular, the study focused on the difference between modal characteristics of two different VAR wing configurations: fully retracted vs. fully extended wing.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"50 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84894593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The objective of this paper was to present a performance comparison between a new fuzzy (cloud-based) predictive functional control (FCPFC) and the Robust Evolving Cloud-based controller (RECCo). Both methods use the same type of fuzzy cloud-based system (the same antecedent part). The clouds are used for partitioning the data space and dealing with the non-linearity of the processes. In case of FCPFC the fuzzy cloud-based model is used to identify the process model while the control signal is analytically calculated to minimize some criterion. In case of RECCo algorithm the clouds are used to identify the operating region and the control signal is adapted in online manner. The controllers were tested on a second order nonlinear, locally oscillating, chemical process CSTR (Continuous Stirred Tank Reactor). The performance and control effort of the methods were compared according to several criteria. The results show that the proposed controller FCPFC has slightly faster response but longer settling time than the RECCo controller.
{"title":"A Comparison of RECCo and FCPFC Controller on Nonlinear Chemical Reactor","authors":"G. Andonovski, E. Lughofer, I. Škrjanc","doi":"10.2316/P.2017.848-049","DOIUrl":"https://doi.org/10.2316/P.2017.848-049","url":null,"abstract":"The objective of this paper was to present a performance comparison between a new fuzzy (cloud-based) predictive functional control (FCPFC) and the Robust Evolving Cloud-based controller (RECCo). Both methods use the same type of fuzzy cloud-based system (the same antecedent part). The clouds are used for partitioning the data space and dealing with the non-linearity of the processes. In case of FCPFC the fuzzy cloud-based model is used to identify the process model while the control signal is analytically calculated to minimize some criterion. In case of RECCo algorithm the clouds are used to identify the operating region and the control signal is adapted in online manner. The controllers were tested on a second order nonlinear, locally oscillating, chemical process CSTR (Continuous Stirred Tank Reactor). The performance and control effort of the methods were compared according to several criteria. The results show that the proposed controller FCPFC has slightly faster response but longer settling time than the RECCo controller.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"35 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73287714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Dong-Gyu Kim, Geun-Ho Park, Ho Jae Kim, Jin-O Park, Wonjin Lee, Jae-Heon Ko, Hyoung-Nam Kim
Recently, interest in a passive coherent location (PCL) system using commercial broadcasting signals has been increased since it exploits the existing broadcasting facilities without revealing the receiver’s location. To estimate positions of multiple targets by using the PCL system, constant false alarm rate (CFAR) detection, whose input is the samples of the range-Doppler map, has to be preceded, so that the parameters of the CFAR detector are influenced by the range-Doppler map. However, the characteristics of the range-Doppler map vary with bandwidth of the used broadcasting signals and its collection time. Therefore, algorithm parameters for the CFAR detector have to be properly determined considering those characteristics. To achieve this goal, we analyze the range-Doppler map in a PCL system using commercial FM broadcasting signals and then derive mathematical descriptions for the algorithm parameters of the number of window cells and that of guard cells. We also present which axis out of the range and the Doppler axes is better for CFAR detection.
{"title":"CFAR Detection in a Passive Coherent Location System Using FM Signals","authors":"Dong-Gyu Kim, Geun-Ho Park, Ho Jae Kim, Jin-O Park, Wonjin Lee, Jae-Heon Ko, Hyoung-Nam Kim","doi":"10.2316/P.2017.848-045","DOIUrl":"https://doi.org/10.2316/P.2017.848-045","url":null,"abstract":"Recently, interest in a passive coherent location (PCL) system using commercial broadcasting signals has been increased since it exploits the existing broadcasting facilities without revealing the receiver’s location. To estimate positions of multiple targets by using the PCL system, constant false alarm rate (CFAR) detection, whose input is the samples of the range-Doppler map, has to be preceded, so that the parameters of the CFAR detector are influenced by the range-Doppler map. However, the characteristics of the range-Doppler map vary with bandwidth of the used broadcasting signals and its collection time. Therefore, algorithm parameters for the CFAR detector have to be properly determined considering those characteristics. To achieve this goal, we analyze the range-Doppler map in a PCL system using commercial FM broadcasting signals and then derive mathematical descriptions for the algorithm parameters of the number of window cells and that of guard cells. We also present which axis out of the range and the Doppler axes is better for CFAR detection.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"14 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83864507","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Normally industrial painting robots have an articulated structure and have six degrees of freedom (DOF). This project investigated a 3 DOF robot for painting vertical objects of different colors. The proposed project utilized a SCARA type robot which has stiffness in the vertical direction and the largest workspace in industrial applications. The gripper of the robot was replaced with an end-effector which was designed to hold a color sensor and an automatic spray gun. The color sensor detects the color to be painted from a sticker pasted on the corner of the object and gives a signal to the Programmable Logic Controller (PLC) for selecting the proper container in the tank reservoir. A painting reservoir, consists of different painting tanks, was attached to the robot as a mobile unit and an electronic switch was utilized to direct the cable to the selected color based on the signal from the color sensor. The equatıons of motıon for the SCARA robot is presented based on the Lagrange-Euler technique. The joints trajectory are designed as fifth-order polynomials to estimate the required torques and linear force for actuators. Performance analysis for accurate and homogeneous painting is provided.
{"title":"An Autonomous Robotic Cell for Painting Applications","authors":"A. Ata, Alaa Eleyan","doi":"10.2316/P.2017.848-014","DOIUrl":"https://doi.org/10.2316/P.2017.848-014","url":null,"abstract":"Normally industrial painting robots have an articulated structure and have six degrees of freedom (DOF). This project investigated a 3 DOF robot for painting vertical objects of different colors. The proposed project utilized a SCARA type robot which has stiffness in the vertical direction and the largest workspace in industrial applications. The gripper of the robot was replaced with an end-effector which was designed to hold a color sensor and an automatic spray gun. The color sensor detects the color to be painted from a sticker pasted on the corner of the object and gives a signal to the Programmable Logic Controller (PLC) for selecting the proper container in the tank reservoir. A painting reservoir, consists of different painting tanks, was attached to the robot as a mobile unit and an electronic switch was utilized to direct the cable to the selected color based on the signal from the color sensor. The equatıons of motıon for the SCARA robot is presented based on the Lagrange-Euler technique. The joints trajectory are designed as fifth-order polynomials to estimate the required torques and linear force for actuators. Performance analysis for accurate and homogeneous painting is provided.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"195 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84263263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Artificial intelligence based prediction models provide good air pollution forecasters, proper to real time forecasting systems. Among them, artificial neural networks are the most used ones, being universal approximators. Usually, the identification of the best neural model (i.e. most accurate one) is based on experiments and results of time series analysis. The paper focuses on time series analysis for particulate matter (PM) air pollutant prediction with artificial neural networks in the Ploiesti city. Two types of neural models were used: feed forward and radial basis function. For each model we have experimented several architectures in order to identify the most accurate one in terms of root mean square error and average square error. The experimental datasets include five time series with concentration measurements of five air pollutants, PM10, CO, NO2, NOx, and SO2 in the period 2008-2012 at PH-6 air quality monitoring station from the Ploiesti city.
{"title":"Applying Time Series Analysis for Artificial Intelligence Based Particulate Matter Prediction","authors":"M. Oprea, E. Dragomir, M. Olteanu","doi":"10.2316/P.2017.848-038","DOIUrl":"https://doi.org/10.2316/P.2017.848-038","url":null,"abstract":"Artificial intelligence based prediction models provide good air pollution forecasters, proper to real time forecasting systems. Among them, artificial neural networks are the most used ones, being universal approximators. Usually, the identification of the best neural model (i.e. most accurate one) is based on experiments and results of time series analysis. The paper focuses on time series analysis for particulate matter (PM) air pollutant prediction with artificial neural networks in the Ploiesti city. Two types of neural models were used: feed forward and radial basis function. For each model we have experimented several architectures in order to identify the most accurate one in terms of root mean square error and average square error. The experimental datasets include five time series with concentration measurements of five air pollutants, PM10, CO, NO2, NOx, and SO2 in the period 2008-2012 at PH-6 air quality monitoring station from the Ploiesti city.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"32 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86288436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A descriptor form that is convenient to investigate the effects of order-changes caused in a certain manner is proposed. Using this form, such effects are given new interpretations in terms of associated shifts of modes among the exponential, the static, and the impulsive modes of a descriptor system. It is shown that when the order is reduced, a dynamic mode changes to a static/impulsive mode that is disconnected to the output and is impulse-unobservable. Such a static/impulsive mode can be interpreted as a reminiscence of a dynamic mode that disappeared from but remained within the system expression after the order reduction. While this interpretation is obtained under a particular rule of order-changes, the basic insights obtained should be useful in analysing and designing control systems that can involve, directly or indirectly, order changes.
{"title":"A New Interpretation of Order-Changes in Terms of Mode-Shifts in a Descriptor System","authors":"S. Kawai, N. Hori","doi":"10.2316/P.2017.848-022","DOIUrl":"https://doi.org/10.2316/P.2017.848-022","url":null,"abstract":"A descriptor form that is convenient to investigate the effects of order-changes caused in a certain manner is proposed. Using this form, such effects are given new interpretations in terms of associated shifts of modes among the exponential, the static, and the impulsive modes of a descriptor system. It is shown that when the order is reduced, a dynamic mode changes to a static/impulsive mode that is disconnected to the output and is impulse-unobservable. Such a static/impulsive mode can be interpreted as a reminiscence of a dynamic mode that disappeared from but remained within the system expression after the order reduction. While this interpretation is obtained under a particular rule of order-changes, the basic insights obtained should be useful in analysing and designing control systems that can involve, directly or indirectly, order changes.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"38 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76120359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Xiaoqiang Wu, Fengge Wu, Junsuo Zhao, Zhenghui Liu
Motion blur, which increases the difficulty of locating and identifying target objects, has always been an ill-posed issue of space-based imaging system. In our paper, we point out the issue of deblurring degraded images caused by relative motion between space-based imaging system and observation targets. Such as motion of target objects to be observed or tremors of space-based imaging system. We propose a strategy to deblur degraded images that uses Estimation of Distribution Algorithm to obtain a better motion blur kernel in both linear and non-linear non-blind deconvolution situations. To produce a deblurred result, the strategy will be applied on a single image collected from the space-based imaging system on our Sandroid CubeSats, a member of NanoSats. Sandroid bases on Android operating system and our Sandroid CubeSats make full use of mobile device cluster as the main support of computing resources. Currently, the superior on-board computing capability of our Sandroid CubeSats makes sure that the proposed strategy is operative. In addition, experimental results prove that the proposed strategy is efficient and effective.
{"title":"EDA Based Motion Deblurring for Sandroid CubeSats Imaging System","authors":"Xiaoqiang Wu, Fengge Wu, Junsuo Zhao, Zhenghui Liu","doi":"10.2316/P.2017.848-029","DOIUrl":"https://doi.org/10.2316/P.2017.848-029","url":null,"abstract":"Motion blur, which increases the difficulty of locating and identifying target objects, has always been an ill-posed issue of space-based imaging system. In our paper, we point out the issue of deblurring degraded images caused by relative motion between space-based imaging system and observation targets. Such as motion of target objects to be observed or tremors of space-based imaging system. We propose a strategy to deblur degraded images that uses Estimation of Distribution Algorithm to obtain a better motion blur kernel in both linear and non-linear non-blind deconvolution situations. To produce a deblurred result, the strategy will be applied on a single image collected from the space-based imaging system on our Sandroid CubeSats, a member of NanoSats. Sandroid bases on Android operating system and our Sandroid CubeSats make full use of mobile device cluster as the main support of computing resources. Currently, the superior on-board computing capability of our Sandroid CubeSats makes sure that the proposed strategy is operative. In addition, experimental results prove that the proposed strategy is efficient and effective.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"52 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80283509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article presents a procedure that utilizes the local polynomial approximation approach in the estimation of the Dynamic Relative Gain Array (DRGA) matrix and its uncertainty bounds for weakly ...
{"title":"Dynamic Relative Gain Array Estimation using Local Polynomial Approximation Approach","authors":"Ali M. H. Kadhim, W. Birk, Miguel Castano Arranz","doi":"10.4173/MIC.2016.4.5","DOIUrl":"https://doi.org/10.4173/MIC.2016.4.5","url":null,"abstract":"This article presents a procedure that utilizes the local polynomial approximation approach in the estimation of the Dynamic Relative Gain Array (DRGA) matrix and its uncertainty bounds for weakly ...","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"5 1","pages":"247-259"},"PeriodicalIF":1.7,"publicationDate":"2016-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75648363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The ease of use and the high abstraction level of equation-based object-oriented (EOO) languages such as Modelica has the drawback that performance problems and modeling errors are often hard to fi ...
{"title":"Industrial Evaluation of Integrated Performance Analysis and Equation Model Debugging for Equation-Based Models","authors":"Åke Kinnander, Martin Sjölund, Adrian Pop","doi":"10.4173/MIC.2016.4.3","DOIUrl":"https://doi.org/10.4173/MIC.2016.4.3","url":null,"abstract":"The ease of use and the high abstraction level of equation-based object-oriented (EOO) languages such as Modelica has the drawback that performance problems and modeling errors are often hard to fi ...","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"33 1","pages":"225-236"},"PeriodicalIF":1.7,"publicationDate":"2016-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74292423","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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