A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

Hypothesis exploration with visualization of variance.

BackgroundThe Consortium for Neuropsychiatric Phenomics (CNP) at UCLA was an investigation into the biological bases of traits such as memory and response inhibition phenotypes-to explore whether they are linked to syndromes including ADHD, Bipolar disorder, and Schizophrenia. An aim of the consortium was in moving from traditional categorical approaches for psychiatric syndromes towards more quantitative approaches based on large-scale analysis of the space of human variation. It represented an application of phenomics-wide-scale, systematic study of phenotypes-to neuropsychiatry research.ResultsThis paper reports on a system for exploration of hypotheses in data obtained from the LA2K, LA3C, and LA5C studies in CNP. ViVA is a system for exploratory data analysis using novel mathematical models and methods for visualization of variance. An example of these methods is called VISOVA, a combination of visualization and analysis of variance, with the flavor of exploration associated with ANOVA in biomedical hypothesis generation. It permits visual identification of phenotype profiles-patterns of values across phenotypes-that characterize groups. Visualization enables screening and refinement of hypotheses about variance structure of sets of phenotypes.ConclusionsThe ViVA system was designed for exploration of neuropsychiatric hypotheses by interdisciplinary teams. Automated visualization in ViVA supports 'natural selection' on a pool of hypotheses, and permits deeper understanding of the statistical architecture of the data. Large-scale perspective of this kind could lead to better neuropsychiatric diagnostics

Battery choice and management for New Generation Electric Vehicles

Different types of electric vehicles (EVs) have been recently designed with the aim of solving pollution problems caused by the emission of gasoline-powered engines. Environmental problems promote the adoption of new-generation electric vehicles for urban transportation. As it is well known, one of the weakest points of electric vehicles is the battery system. Vehicle autonomy and, therefore, accurate detection of battery state of charge (SoC) together with battery expected life, i.e., battery state of health, are among the major drawbacks that prevent the introduction of electric vehicles in the consumer market. The electric scooter may provide the most feasible opportunity among EVs. They may be a replacement product for the primary-use vehicle, especially in Europe and Asia, provided that drive performance, safety, and cost issues are similar to actual engine scooters. The battery system choice is a crucial item, and thanks to an increasing emphasis on vehicle range and performance, the Li-ion battery could become a viable candidate. This paper deals with the design of a battery pack based on Li-ion technology for a prototype electric scooter with high performance and autonomy. The adopted battery system is composed of a suitable number of cells series connected, featuring a high voltage level. Therefore, cell equalization and monitoring need to be provided. Due to manufacturing asymmetries, charge and discharge cycles lead to cell unbalancing, reducing battery capacity and, depending on cell type, causing safety troubles or strongly limiting the storage capacity of the full pack. No solution is available on the market at a cheap price, because of the required voltage level and performance, therefore, a dedicated battery management system was designed, that also includes a battery SoC monitoring. The proposed solution features a high capability of energy storing in braking conditions, charge equalization, overvoltage and undervoltage protection and, obviously, SoC information in order to optimize autonomy instead of performance or vice-versa

Distributed learning of CNNs on heterogeneous CPU/GPU architectures

Convolutional Neural Networks (CNNs) have shown to be powerful classification tools in tasks that range from check reading to medical diagnosis, reaching close to human perception, and in some cases surpassing it. However, the problems to solve are becoming larger and more complex, which translates to larger CNNs, leading to longer training times that not even the adoption of Graphics Processing Units (GPUs) could keep up to. This problem is partially solved by using more processing units and distributed training methods that are offered by several frameworks dedicated to neural network training. However, these techniques do not take full advantage of the possible parallelization offered by CNNs and the cooperative use of heterogeneous devices with different processing capabilities, clock speeds, memory size, among others. This paper presents a new method for the parallel training of CNNs that can be considered as a particular instantiation of model parallelism, where only the convolutional layer is distributed. In fact, the convolutions processed during training (forward and backward propagation included) represent from $60$-$90$\% of global processing time. The paper analyzes the influence of network size, bandwidth, batch size, number of devices, including their processing capabilities, and other parameters. Results show that this technique is capable of diminishing the training time without affecting the classification performance for both CPUs and GPUs. For the CIFAR-10 dataset, using a CNN with two convolutional layers, and $500$ and $1500$ kernels, respectively, best speedups achieve $3.28\times$ using four CPUs and $2.45\times$ with three GPUs. Modern imaging datasets, larger and more complex than CIFAR-10 will certainly require more than $60$-$90$\% of processing time calculating convolutions, and speedups will tend to increase accordingly