UAS See-and-Avoid Strategy using a Fuzzy Logic Controller Optimized by Cross-Entropy in Scaling Factors and Membership Functions

This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand- avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.

UAS See-and-Avoid Strategy using a Fuzzy Logic Controller Optimized by Cross-Entropy in Scaling Factors and Membership Functions.

This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand-avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.

Validation of an instrument for injury data collection in strength training

Purpose: To provide for the basis for collecting strength training data using a rigorously validated injury report form. Methods: A group of specialist designed a questionnaire of 45 item grouped into 4 dimensions. Six stages were used to assess face, content, and criterion validity of the weight training injury report form. A 13 members panel assessed the form for face validity, and an expert panel assessed it for content and criterion validity. Panel members were consulted until consensus was reached. A yardstick developed by an expert panel using Intraclass correlation technique was used to assess the reability of the form. Test-retest reliability was assessed with the intraclass correlation coefficient (ICC).The strength training injury report form was developed, and the face, content, and criterion validity successfully assessed. A six step protocol to create a yardstick was also developed to assist in the validation process. Both inter-rater and intra rater reliability results indicated a 98% agreement. Inter-rater reliability agreement of 98% for three injuries. Results: The Cronbach?s alpha of the questionnaire was 0.944 (pmenor que0.01) and the ICC of the entire questionnaire was 0.894 (pmenor que0.01). Conclusion: The questionnaire gathers together enough psychometric properties to be considered a valid and reliable tool for register injury data in strength training, and providing researchers with a basis for future studies in this area. Key Words: data collection; validation; injury prevention; strength training