Non-linear position control for hover and automatic landing of unmanned aerial vehicles

This study presents a disturbance attenuation controller for horizontal position stabilisation for hover and automatic landings of a rotary-wing unmanned aerial vehicle (RUAV) operating close to the landing deck in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a non-linear state feedback H∞ controller is designed to achieve rapid horizontal position tracking in a gusty environment. Practical constraints including flapping dynamics, servo dynamics and time lag effect are considered. A high-fidelity closed-loop simulation using parameters of the Vario XLC gas-turbine helicopter verifies performance of the proposed horizontal position controller. The proposed controller not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the H∞ controller exhibits performance improvement and can be applied to ship/RUAV landing systems.

Experimental evaluation of position control methods for hydraulic systems

Presents a unified and systematic assessment of ten position control strategies for a hydraulic servo system with single-ended cylinder driven by a proportional directional control valve. We aim at identifying those methods that achieve better tracking, have a low sensitivity to system uncertainties, and offer a good balance between development effort and end results. A formal approach for solving this problem relies on several practical metrics, which is introduced herein. Their choice is important, as the comparison results between controllers can vary significantly, depending on the selected criterion. Apart from the quantitative assessment, we also raise aspects which are difficult to quantify, but which must stay in attention when considering the position control problem for this class of hydraulic servo systems.

Position control of DC motors with experience mapping based prediction controller

The paper presents a new controller inspired by the human experience based, voluntary body action control (dubbed motor control) learning mechanism. The controller is called Experience Mapping based Prediction Controller (EMPC). EMPC is designed with auto-learning features without the need for the plant model. The core of the controller is formed around the motor action prediction-control mechanism of humans based on past experiential learning with the ability to adapt to environmental changes intelligently. EMPC is utilized for high precision position control of DC motors. The simulation results are presented to show that accurate position control is achieved using EMPC for step and dynamic demands. The performance of EMPC is compared with conventional PD controller and MRAC based position controller under different system conditions. Position Control using EMPC is practically implemented and the results are presented.

Sliding mode position control for real-time control of induction motors

A sliding mode position control for high-performance real-time applications of induction motors in developed in this work. The design also incorporates a simple flux estimator in order to avoid the flux sensors. Then, the proposed control scheme presents a low computational cost and therefore can be implemented easily in a real-time applications using a low cost DSP-processor. The stability analysis of the controller under parameter uncertainties and load disturbances in provided using Lyapunov stability theory. Finally, simulated and experimental results show that the proposed controller with the proposed observer provides a good trajectory tracking and that this scheme is robust with respect to plant parameter variations and external load disturbances.

A robust position control for induction machines

ICEM 2010

Position control of shape memory alloy actuators using self tuning fuzzy PID controller

Shape Memory Alloy (SMA) actuators, which have the ability to return to a predetermined shape when heated, have many potential applications such as aeronautics, surgical tools, robotics and so on. Although the conventional PID controller can be used with slow response systems, there has been limited success in precise motion control of SMA actuators, since the systems are disturbed by unknown factors beside their inherent nonlinear hysteresis and changes in the surrounding environment of the systems. This paper presents a new development of a SMA position control system by using a self-tuning fuzzy PID controller. This control algorithm is used by tuning the parameters of the PID controller thereby integrating fuzzy inference and producing a fuzzy adaptive PID controller, which can then be used to improve the control performance of nonlinear systems. The experimental results of position control of SMA actuators using conventional and self-tuning fuzzy PID controllers are both included in this paper.

Radiation dose reduction in postoperative computed position control of cochlear implant electrodes in lambs - An experimental study

OBJECTIVE Cochlear implants (CI) are standard treatment for prelingually deafened children and postlingually deafened adults. Computed tomography (CT) is the standard method for postoperative imaging of the electrode position. CT scans accurately reflect electrode depth and position, which is essential prior to use. However, routine CT examinations expose patients to radiation, which is especially problematic in children. We examined whether new CT protocols could reduce radiation doses while preserving diagnostic accuracy. METHODS To investigate whether electrode position can be assessed by low-dose CT protocols, a cadaveric lamb model was used because the inner ear morphology is similar to humans. The scans were performed at various volumetric CT dose-indexes CTDIvol)/kV combinations. For each constant CTDIvol the tube voltage was varied (i.e., 80, 100, 120 and 140kV). This procedure was repeated at different CTDIvol values (21mGy, 11mGy, 5.5mGy, 2.8mGy and 1.8mGy). To keep the CTDIvol constant at different tube voltages, the tube current values were adjusted. Independent evaluations of the images were performed by two experienced and blinded neuroradiologists. The criteria diagnostic usefulness, image quality and artifacts (scaled 1-4) were assessed in 14 cochlear-implanted cadaveric lamb heads with variable tube voltages. RESULTS Results showed that the standard CT dose could be substantially reduced without sacrificing diagnostic accuracy of electrode position. The assessment of the CI electrode position was feasible in almost all cases up to a CTDIvol of 2-3mGy. The number of artifacts did not increase for images within this dose range as compared to higher dosages. The extent of the artifacts caused by the implanted metal-containing CI electrode does not depend on the radiation dose and is not perceptibly influenced by changes in the tube voltage. Summarizing the evaluation of the CI electrode position is possible even at a very low radiation dose. CONCLUSIONS CT imaging of the temporal bone for postoperative electrode position control of the CI is possible with a very low and significantly radiation dose. The tube current-time product and voltage can be reduced by 50% without increasing artifacts. Low-dose postoperative CT scans are sufficient for localizing the CI electrode.

A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment

This paper presents a robust hybrid force/position control scheme of two cooperative manipulators handling an unknown object interacting with an unknown environment. The uncertainty of the object is considered in the weight, length, and the position of centre of mass (COM). The environment is assumed to have an unknown but high stiffness. A hybrid force/position control algorithm is designed for the known system and environment case. The exponential convergence of the position and the interaction force with the environment is proved using the Lyapunov direct method. Similarly, in the unknown object and environment case, and in the presence of bounded disturbances on the robots and the object, an adaptive sliding mode hybrid force/position control scheme is designed. The asymptotic convergence of the object's position and the constraint force is guaranteed using the proposed control methodology. The internal forces and moments between the object and robots are controlled independently of the object's motion and environmental interaction forces. Simulation results confirm the performance and effectiveness of the suggested control methodologies.

An interleukin-1 beta (IL-1 beta) single-nucleotide polymorphism at position 3954 and red complex periodontopathogens independently and additively modulate the levels of IL-1 beta in diseased periodontal tissues

Inflammatory cytokines such as interieukin-1 beta (IL-1 beta) are involved in the pathogenesis of periodontal diseases. A high individual variation in the levels of IL-10 mRNA has been verified, which is possibly determined by genetic polymorphisms and/or by the presence of periodontopathogens such as Porphyromonas gingivalis, Tannerella forsythia, Treponema denticola, and Aggregatibacter actinomycetemcomitans. In this study, we investigated the role of an IL-10 promoter single-nucleotide polymorphism at position 3954 [IL-1 beta(3954) SNP] and the presence of the periodontopathogens in the determination of the IL-1 beta levels in the periodontal tissues of nonsmoking chronic periodontitis (CP) patients (n = 117) and control (C) subjects in = 175) and the possible correlations with the clinical parameters of the disease. IL-1 beta(3954) SNP was investigated by restriction fragment length polymorphism, while the IL-1 beta levels and the presence of the periodontopathogens were determined by real-time PCR. Similar frequencies of IL-1 beta(3954) SNP were found in the C and CP groups, in spite of a trend toward a higher incidence of T alleles in the CP group. The IL-1 beta (3954) SNP CT and TT genotypes, as well as P. gingivalis, T. forsythia, and T. denticola, were associated with higher IL-1 beta levels and with higher values of the clinical parameters of disease severity. Concomitant analyses demonstrate that IL-1 beta(3954) and the red complex periodontopathogens were found to independently and additively modulate the levels of IL-1 beta in periodontal tissues. Similarly, the concurrent presence of both factors was associated with increased scores of disease severity. IL-1 beta(3954) genotypes and red complex periodontopathogens, individually and additively, modulate the levels of IL-1 beta in the diseased tissues of nonsmoking CP patients and, consequently, are potentially involved in the determination of the disease outcome.

Scoliose idiopathique de l’adolescence : relations entre la morphologie pelvienne, l’attitude posturale et l’équilibre orthostatique selon différentes sévérités

Des anomalies dans la morphologie pelvienne, la posture du tronc et le contrôle de l’équilibre de jeunes filles atteintes de scoliose idiopathique de l’adolescence (SIA) ont souvent été l’objet d’études. Rares sont celles ayant distingué ces troubles en fonction de la sévérité de la déformation vertébrale. De plus, aucune n’a évalué à l’intérieur d’une même étude l’orientation et la distorsion pelvienne, l’asymétrie posturale et l’instabilité en position debout de sujets SIA. Une telle étude permettrait de comprendre le développement de la maladie et de mettre en évidence des facteurs de risque aidant au pronostic. L’objectif général de cette thèse est d’identifier des facteurs biomécaniques associés à la croissance osseuse, la posture et l’équilibre distinguant une SIA modérée d’une sévère. Les positions 3D de 14 repères prises sur 46 filles ayant une SIA droite (modérée et sévère) et 28 sujets témoins ont été captées pour quantifier la morphologie pelvienne et la posture. Un maintien en position debout de 64 s sur une plate-forme de force a aussi été enregistré afin d’évaluer leur équilibre. Les paramètres retenus sont les angles d’orientation pelvienne et du tronc; les distances entre la crête iliaque et S1 mesurant la distorsion pelvienne; la moyenne, l’amplitude et la vitesse du centre de pression (COP) en médiolatéral (ML) et antéropostérieur ainsi que la moyenne et l’amplitude du moment libre. Les différences entre les trois groupes (témoin, SIA modérée et SIA sévère) sont testées par des ANOVA et les relations entre l’angle de Cobb et les paramètres pelviens, posturaux ou d’équilibre, par des coefficients de corrélations. De plus, des régressions multiples exprimant l’angle de Cobb sont effectuées avec les paramètres pelviens, posturaux et d’équilibre afin de déterminer la classe de paramètres prédisant le mieux l’angle de Cobb. Aucune ANOVA n’est significative pour l’orientation pelvienne, bien que des différences de géométrie pelvienne soient notées entre les deux groupes de sujets SIA. Les SIA modérées ont un pelvis gauche moins profond que les SIA sévères et les sujets témoins, tandis que les SIA sévères ont un pelvis droit plus large d’environ 1,5 cm que celui des SIA modérées. Un coefficient de corrélation de -0,54 associe une rotation pelvienne droite à l’augmentation de la largeur de la crête iliaque. Au niveau postural, les SIA sévères démontrent des inclinaisons latérales et antérieures du tronc ainsi qu’une rotation axiale du haut du corps plus marquées que les SIA modérées. Les corrélations entre les paramètres posturaux, l’angle de Cobb et la morphologie pelvienne indiquent que l’attitude posturale est associée à la distorsion pelvienne dans tous les plans anatomiques, tandis qu’elle ne l’est que dans les plans sagittal et horizontal à l’angle de Cobb. Les différences retrouvées entre les deux groupes SIA concernant les troubles d’équilibre résultent en une augmentation de l’amplitude et de la vitesse du COPML. Une régression multiple de 0,896 est observée par l’emploi des paramètres pelviens, posturaux et d’équilibre, bien que ceux se rapportant à la distorsion pelvienne soient les mieux corrélés à l’angle de Cobb. Cette thèse permet de distinguer la morphologie pelvienne de sujets SIA sévères des modérées, soulignant la détection d’une anomalie de croissance avant que l’angle de Cobb ne soit élevé. Bien que les indices de croissance pelvienne soient davantage corrélés à ce dernier, c’est en considérant globalement la morphologie pelvienne, la posture et l’équilibre qu’une détermination précise de la sévérité d’une scoliose est réalisée. La mise en évidence de tels facteurs de prédiction de la SIA peut faciliter le pronostic d’une courbure.

Tracking people in 3D using position, size and shape

This paper presents a prototype tracking system for tracking people in enclosed indoor environments where there is a high rate of occlusions. The system uses a stereo camera for acquisition, and is capable of disambiguating occlusions using a combination of depth map analysis, a two step ellipse fitting people detection process, the use of motion models and Kalman filters and a novel fit metric, based on computationally simple object statistics. Testing shows that our fit metric outperforms commonly used position based metrics and histogram based metrics, resulting in more accurate tracking of people.

New stress and velocity fields for highly frictional granular materials

The idealised theory for the quasi-static flow of granular materials which satisfy the Coulomb-Mohr hypothesis is considered. This theory arises in the limit that the angle of internal friction approaches $\pi/2$, and accordingly these materials may be referred to as being `highly frictional'. In this limit, the stress field for both two-dimensional and axially symmetric flows may be formulated in terms of a single nonlinear second order partial differential equation for the stress angle. To obtain an accompanying velocity field, a flow rule must be employed. Assuming the non-dilatant double-shearing flow rule, a further partial differential equation may be derived in each case, this time for the streamfunction. Using Lie symmetry methods, a complete set of group-invariant solutions is derived for both systems, and through this process new exact solutions are constructed. Only a limited number of exact solutions for gravity driven granular flows are known, so these results are potentially important in many practical applications. The problem of mass flow through a two-dimensional wedge hopper is examined as an illustration.