Geometric Surface-Based Tracking Control of a Quadrotor UAV

New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear characteristics of the SE(3) configuration space. In particular, geometric surface-based controllers are developed and are shown, through rigorous stability proofs, to have desirable almost global closed loop properties. For the first time in regards to the geometric literature, a region of attraction independent of the position error is identified and its effects are analyzed. The effectiveness of the proposed "surface based" controllers are illustrated by simulations of aggressive maneuvers in the presence of disturbances and motor saturation.Comment: 2018 26th Mediterranean Conference on Control and Automation (MED

Graph Theoretical Analysis of local ultraluminous infrared galaxies and quasars

We present a methodological framework for studying galaxy evolution by utilizing Graph Theory and network analysis tools. We study the evolutionary processes of local ultraluminous infrared galaxies (ULIRGs) and quasars and the underlying physical processes, such as star formation and active galactic nucleus (AGN) activity, through the application of Graph Theoretical analysis tools. We extract, process and analyse mid-infrared spectra of local (z < 0.4) ULIRGs and quasars between 5-38 microns through internally developed Python routines, in order to generate similarity graphs, with the nodes representing ULIRGs being grouped together based on the similarity of their spectra. Additionally, we extract and compare physical features from the mid-IR spectra, such as the polycyclic aromatic hydrocarbons (PAHs) emission and silicate depth absorption features, as indicators of the presence of star-forming regions and obscuring dust, in order to understand the underlying physical mechanisms of each evolutionary stage of ULIRGs. Our analysis identifies five groups of local ULIRGs based on their mid-IR spectra, which is quite consistent with the well established fork classification diagram by providing a higher level classification. We demonstrate how graph clustering algorithms and network analysis tools can be utilized as unsupervised learning techniques for revealing direct or indirect relations between various galaxy properties and evolutionary stages, which provides an alternative methodology to previous works for classification in galaxy evolution. Additionally, our methodology compares the output of several graph clustering algorithms in order to demonstrate the best-performing Graph Theoretical tools for studying galaxy evolution.Comment: Accepted for publication in Astronomy and Computin

Core Decomposition of Uncertain Graphs Using Representative Instances

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