A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on "Best Automatic Performance - IMAV 2012" and the second overall prize in the participating category "Indoor Flight Dynamics - Rotary Wing MAV". Most of the code related to the present work is available as two open-source projects hosted in GitHub.

Methodology based on registration techniques for representing subjects and their deformations acquired from general purpose 3D sensors

In this thesis a methodology for representing 3D subjects and their deformations in adverse situations is studied. The study is focused in providing methods based on registration techniques to improve the data in situations where the sensor is working in the limit of its sensitivity. In order to do this, it is proposed two methods to overcome the problems which can difficult the process in these conditions. First a rigid registration based on model registration is presented, where the model of 3D planar markers is used. This model is estimated using a proposed method which improves its quality by taking into account prior knowledge of the marker. To study the deformations, it is proposed a framework to combine multiple spaces in a non-rigid registration technique. This proposal improves the quality of the alignment with a more robust matching process that makes use of all available input data. Moreover, this framework allows the registration of multiple spaces simultaneously providing a more general technique. Concretely, it is instantiated using colour and location in the matching process for 3D location registration.

Planning U.S. general purpose forces : Army procurement issues /

Includes bibliographical references.

Generation and comparison of equivalent equation sets in a general purpose simulation and modeling package /

"C00-2383-0018."

A proposal for the Mc2 Isochronous Cyclotron; a general purpose high-intensity 810-MeV proton accelerator.

Mode of access: Internet.

Legislators' guide to local governments : general purpose units /

Includes a listing by subject of the general purpose powers granted to local governments in Illinois. Gives a brief description of the powers with citations to the Illinois Compiled Statutes.

Organizational, direct support maintenance repair parts and special tools list : tent, general purpose, small, FSN 8340-753-6471, medium, FSN 8340-543-7788, large, FSN 8340-285-5599.

Includes index.

Operator, unit, and direct support maintenance manual for tent, general purpose, small, NSN 8340-00-470-2335, medium, NSN 8340-00-482-3963, large, NSN 8340-00-470-2342.

"16 September 1990."

Direct support, and general support, maintenance repair parts and special tools list : shop equipment, general purpose repair, semitrailer mounted (southwest truck body model SGPRSMD) (serial no. Range S-11-204 through S-11-265) (4940-01-006-3229).

"May 1982."

Operator's, organizational direct support, general support and depot maintenance manual : welding set, arc, inert gas shielded, water cooled, aluminum welding, general purpose, (Airco model 2351 1209), FSN 3431-731-4163.

"June 1969."

Organizational and direct support maintenance repair parts and special tools list : welding set, arc, inert gas shielded, water cooled, aluminum welding, general purpose (Airco model 23511209), FSN 3431-731-4163.

"December 1970."

Unit maintenance repair parts and special tools lists : loader, scoop type, DED, 4 x 4, articulated frame steer, 4 1/2 to 5 cu. yd., (CCE), Army model H100C RB, type I with 4 1/2 cu. yd. rock bucket, NSN 3805-01-052-9042, Army model H100C GPB, type II with 5 cu. yd. general purpose bucket, NSN 3805-01-052-9043.

Includes indexes.

Unit maintenance repair parts and special tools list : loader, scoop type, DED 4 x 4, articulated frame steer, 4 1/2 to 5 cu. yd., (CCE), with 4 1/2 cu. yd. rock bucket, NSN 3805-00-602-5006, Clark model 175B, type I and with 5 cu. yd. general purpose bucket, NSN 3805-00-602-5013 Clark model 175B, type II.

Includes indexes.

Operator, organizational, and direct support maintenance manual : tent, general purpose : small, FSN 8340-753-6571, medium, FSN 8340-543-7788, large, FSN 8340-285-5599.

Includes index.

A general-purpose tunable landscape generator

The research literature on metalieuristic and evolutionary computation has proposed a large number of algorithms for the solution of challenging real-world optimization problems. It is often not possible to study theoretically the performance of these algorithms unless significant assumptions are made on either the algorithm itself or the problems to which it is applied, or both. As a consequence, metalieuristics are typically evaluated empirically using a set of test problems. Unfortunately, relatively little attention has been given to the development of methodologies and tools for the large-scale empirical evaluation and/or comparison of metaheuristics. In this paper, we propose a landscape (test-problem) generator that can be used to generate optimization problem instances for continuous, bound-constrained optimization problems. The landscape generator is parameterized by a small number of parameters, and the values of these parameters have a direct and intuitive interpretation in terms of the geometric features of the landscapes that they produce. An experimental space is defined over algorithms and problems, via a tuple of parameters for any specified algorithm and problem class (here determined by the landscape generator). An experiment is then clearly specified as a point in this space, in a way that is analogous to other areas of experimental algorithmics, and more generally in experimental design. Experimental results are presented, demonstrating the use of the landscape generator. In particular, we analyze some simple, continuous estimation of distribution algorithms, and gain new insights into the behavior of these algorithms using the landscape generator.