The design of digital-adaptive controllers for VTOL aircraft

Design procedures for VTOL automatic control systems have been developed and are presented. Using linear-optimal estimation and control techniques as a starting point, digital-adaptive control laws have been designed for the VALT Research Aircraft, a tandem-rotor helicopter which is equipped for fully automatic flight in terminal area operations. These control laws are designed to interface with velocity-command and attitude-command guidance logic, which could be used in short-haul VTOL operations. Developments reported here include new algorithms for designing non-zero-set-point digital regulators, design procedures for rate-limited systems, and algorithms for dynamic control trim setting

Exploiting Structural Signal Information in Passive Emitter Localization

The operational use of systems for passive geolocation of radio frequency emitters poses various challenges to single sensor systems or sensor networks depending on the measurement methods. Position estimation by means of direction finding systems often requires complex receiver and antenna technique. Time (Difference) of Arrival methods (TDOA, TOA) are based on measurements regarding the signal propagation duration and generally require broadband communication links to transmit raw signal data between spatially separated receivers of a sensor network. Such bandwidth requirements are particularly challenging for applications with moving sensor nodes. This issue is addressed in this thesis and techniques that use signal structure information of the considered signals are presented which allow a drastic reduction of the communication requirements. The advantages of using knowledge of the signal structure for TDOA based emitter localization are shown using two exemplary applications. The first case example deals with the passive surveillance of the civil airspace (Air Traffic Management, ATM) using a stationary sensor network. State of the art airspace surveillance is mainly based on active radar systems (Primary Surveillance Radar, PSR), cooperative secondary radar systems (Secondary Surveillance Radar, SSR) and automatic position reports from the aircraft itself (Automatic Dependent Surveillance-Broadcast, ADS-B). SSR as well as ADS-B relies on aircrafts sending transponder signals at a center frequency of 1090 MHz. The reliability and accuracy of the position reports sent by aircrafts using ADS-B are limited and not sufficient to ensure safe airspace separation for example of two aircrafts landing on parallel runways. In the worst case, the data may even be altered with malicious intent. Using passive emitter localization and tracking based on multilateration (TDOA/hyperbolic localization), a precise situational awareness can be given which is independent of the content of the emitted transponder signals. The high concentration of sending targets and the high number of signals require special signal processing and information fusion techniques to overcome the huge amount of data. It will be shown that a multilateration network that employs those techniques can be used to improve airspace security at reasonable costs. For the second case, a concept is introduced which allows TDOA based emitter localization with only one moving observer platform. Conventional TDOA measurements are obtained using spatially distributed sensor nodes which capture an emitted signal at the same time. From those signals, the time difference of arrival is estimated. Under certain conditions, the exploitation of signal structure information allows to transfer the otherwise only spatial into a spatial and temporal measurement problem. This way, it is possible to obtain TDOA estimates over multiple measurement time steps using a single moving observer and to thus localize the emitter of the signals. The concept of direct position determination is applied to the single sensor signal structure TDOA scheme and techniques for direct single sensor TDOA are introduced. The validity and performance of the presented methods is shown in theoretical analysis in terms of Cramér-Rao Lower Bounds, Monte-Carlo simulations and by evaluation of real data gained during field experiments

Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain

In this paper we presents a visual navigation algorithm for the six-legged walking robot DLR Crawler in rough terrain. The algorithm is based on stereo images from which depth images are computed using the semi- global matching (SGM) method. Further, a visual odometry is calculated along with an error measure. Pose estimates are obtained by fusing iner- tial data with relative leg odometry and visual odometry measurements using an indirect information filter. The visual odometry error measure is used in the filtering process to put lower weights on erroneous visual odometry data, hence, improving the robustness of pose estimation. From the estimated poses and the depth images, a dense digital terrain map is created by applying the locus method. The traversability of the terrain is estimated by a plane fitting approach and paths are planned using a D* Lite planner taking the traversability of the terrain and the current motion capabilities of the robot into account. Motion commands and the traversability measures of the upcoming terrain are sent to the walking layer of the robot so that it can choose an appropriate gait for the terrain. Experimental results show the accuracy of the navigation algorithm and its robustness against visual disturbances

Optimal Input Design for Active Parameter Identification of Dynamic Nonlinear Systems

There are many important aspects to be considered while designing optimal excitation signal for system identification experiment in control applications. Active parameter identification is an important issue in system and control theory. In this dissertation, the problem of optimal input design for active parameter identification of dynamic nonlinear system is addressed. Real life physical systems are identified by excitation with a suitable input signal and observing the resulting output behavior of the system. It is important to choose the input signal intelligently in the sense that it is responsible to determine the accuracy and nature of the unknown system characteristics. This leads to a spurred interest in designing such an optimal excitation signals that can yield maximal information from the identification experiment. The information obtained from parameter identification is usually not accurate due to incomplete knowledge of the system, disturbance as exogenous inputs and noisy measurements. Hence, the input spectrum is designed in such a way that it can improve the system performance and shape the quality of obtained information. A welldesigned input signal can maximize the amount of information and reduce the experimental cost and time. The input signal is usually given some a-priori characteristics (knowledge on the pdf) so that \u201cexcitation\u201d of the system is guaranteed. In this thesis, a closed-loop method is investigated which is able to improve the parameter identification on the basis of the actual system\u2019s behavior. The effectiveness of the proposed algorithm is presented by the experimental results which corresponds to the perfect identification of the unknown parameter vector. The major technical contribution of this work is to propose an optimal feedback input design method for active parameter identification of dynamic nonlinear systems. The proposed framework can design such optimal excitation signals, considering the information from the identified parameters, that can maximize the amount of information from the identified parameters, guarantee to meet the specified control performance and minimize some cost function of the error covariance matrix of the identified parameters. The problem is formulated in a receding horizon framework where extended Kalman filter is used for system identification and the optimal input is designed in a nonlinear model predictive control framework. In order to carry out a comparison study, also Unscented Kalman Filter and Gaussian Sum Filter are used for the active parameter identification of dynamic nonlinear system. Towards this end, a suitable optimality criterion related to the unknown parameters is proposed and motivated as an information measure. The aim of the optimal input design is to yield maximal information from the unknown system by minimizing the cost related to the unknown parameters while maintaining some process performance and satisfying the possible constraints. Simulations are performed to show the effectiveness of the proposed algorithm

Expectation propagation as a solution for digital communication systems.

In the context of digital communications, a digital receiver is required to provide an estimation of the transmitted symbols. Nowadays channel decoders highly benefit from soft (probabilistic) estimates for each transmitted symbol rather than from hard decisions. For this reason, digital receivers must be designed to provide the probability that each possible symbol was transmitted based on the received corrupted signal. Since exact inference might be unfeasible in terms of complexity for high-order scenarios, it is necessary to resort to approximate inference, such as the linear minimum mean square error (LMMSE) criterion. The LMMSE approximates the discrete prior information of the transmitted symbols with a Gaussian distribution, which causes a degradation in its performance. In this thesis, an alternative approximate statistical technique is applied to the design of a digital probabilistic receiver in digital communications. Specifically, the expectation propagation (EP) algorithm is investigated to find the Gaussian posterior probability density function (pdf) that minimizes the Kullback-Leibler (KL) divergence with respect to the true posterior pdf. Two different communication system scenarios are studied: a single-input singleoutput (SISO) digital communication system with memory channel and a multipleinput multiple-output (MIMO) system with memoryless channel. In the SISO scenario, three different designs of a soft standalone and turbo equalizer based on the EP algorithm are developed: the block or batch approach, the filter-type version that emulates theWiener filter behavior and the smoothing equalizer which proceeds similarly to a Kalman smoother. Finally, the block EP implementation is also adapted to MIMO scenarios with feedback from the decoder. In both scenarios, the EP is applied iteratively, including a damping mechanism and a control to avoid negative values of variances, which would lead to instabilities (specially for high-order constellations). Experimental results included through the thesis show that the EP algorithm applied to communication systems greatly improves the performance of previous approaches found in the literature with a complexity slightly increased but still proportional to that of the LMMSE. These results also show the robustness of the algorithm even for high-order modulations, large memory channels and high number of antennas. Major contributions of this dissertation have been published in four journal (one of them is still under review) and two conference papers. One more paper will be submitted to a journal soon. All these papers are listed below: • Irene Santos, Juan José Murillo-Fuentes, Rafael Boloix-Tortosa, Eva Arias de Reyna and Pablo M. Olmos, "Expectation Propagation as Turbo Equalizer in ISI Channels," IEEE Transactions on Communications, vol. 65, no.1, pp. 360-370, Jan 2017. • Irene Santos, Juan José Murillo-Fuentes, Eva Arias de Reyna and Pablo M. Olmos, "Turbo EP-based Equalization: a Filter-Type Implementation," IEEE Transactions on Communications, Sep 2017, Accepted. [Online] Available: https://ieeexplore.ieee.org/document/8353388/ • Irene Santos, Juan José Murillo-Fuentes, Eva Arias-de-Reyna and Pablo M. Olmos, "Probabilistic Equalization With a Smoothing Expectation Propagation Approach," IEEE Transactions on Wireless Communications, vol. 16, no. 5, pp. 2950-2962, May 2017. • Irene Santos, Juan José Murillo-Fuentes and Eva Arias-de-Reyna, "Equalization with Expectation Propagation at Smoothing Level," To be submitted. [Online] Available: https://arxiv.org/abs/1809.00806 • Irene Santos and Juan José Murillo-Fuentes, "EP-based turbo detection for MIMO receivers and large-scale systems," IEEE Transactions on Vehicular Technology, May 2018, Under review. [Online] Available: https://arxiv.org/abs/1805.05065 • Irene Santos, Juan José Murillo-Fuentes, and Pablo M. Olmos, "Block expectation propagation equalization for ISI channels," 23rd European Signal Processing Conference (EUSIPCO 2015), Nice, 2015, pp. 379-383. • Irene Santos, and Juan José Murillo-Fuentes, "Improved probabilistic EPbased receiver for MIMO systems and high-order modulations," XXXIII Simposium Nacional de la Unión Científica Internacional de Radio (URSI 2018), Granada, 2018.En el ámbito de las comunicaciones digitales, es necesario un receptor digital que proporcione una estimación de los símbolos transmitidos. Los decodificadores de canal actuales se benefician enormemente de estimaciones suaves (probabilísticas) de cada símbolo transmitido, en vez de estimaciones duras. Por este motivo, los receptores digitales deben diseñarse para proporcionar la probabilidad de cada posible símbolo que fue transmitido en base a la señal recibida y corrupta. Dado que la inferencia exacta puede no ser posible en términos de complejidad para escenarios de alto orden, es necesario recurrir a inferencia aproximada, como por ejemplo el criterio de linear minimum-mean-square-error (LMMSE). El LMMSE aproxima la información a priori discreta de los símbolos transmitidos con una distribución Gaussiana, lo cual provoca una degradación en su resultado. En esta tesis, se aplica una técnica alternativa de inferencia estadística para diseñar un receptor digital probabilístico de comunicaciones digitales. En concreto, se investiga el algoritmo expectation propagation (EP) con el objetivo de encontrar la función densidad de probabilidad (pdf) a posteriori Gaussiana que minimiza la divergencia de Kullback-Leibler (KL) con respecto a la pdf a posteriori verdadera. Se estudian dos escenarios de comunicaciones digitales diferentes: un sistema de comunicaciones single-input single-output (SISO) con canales con memoria y un sistema multiple-input multiple-output (MIMO) con canales sin memoria. Para el escenario SISO se proponen tres diseños diferentes para un igualador probabilístico, tanto simple como turbo, que está basado en el algoritmo EP: una versión bloque, una versión filtrada que emula el comportamiento de un filtroWiener y una versión smoothing que funciona de forma similar a un Kalman smoother. Finalmente, la implementación del EP en bloque se adapta también para escenarios MIMO con realimentación desde el decodificador. En ambos escenarios, el EP se aplica de forma iterativa, incluyendo un mecanismo de damping y un control para evitar valores de varianzas negativas, que darían lugar a inestabilidades (especialmente, en constelaciones de alto orden). Los resultados experimentales que se incluyen en la tesis muestran que, cuando el algoritmo EP se aplica a sistemas de comunicaciones, se mejora notablemente el resultado de otras propuestas anteriores que existen en la literatura, con un pequeño incremento de la complejidad que es proporcional a la carga del LMMSE. Estos resultados también demuestran la robustez del algoritmo incluso para modulaciones de alto orden, canales con bastante memoria y un gran número de antenas. Las principales contribuciones de esta tesis se han publicado en cuatro artículos de revista (uno de ellos todavía bajo revisión) y dos artículos de conferencia. Otro artículo adicional se encuentra en preparación y se enviaría próximamente a una revista. Estos se citan a continuación: • Irene Santos, Juan José Murillo-Fuentes, Rafael Boloix-Tortosa, Eva Arias de Reyna and Pablo M. Olmos, "Expectation Propagation as Turbo Equalizer in ISI Channels," IEEE Transactions on Communications, vol. 65, no.1, pp. 360-370, Jan 2017. • Irene Santos, Juan José Murillo-Fuentes, Eva Arias de Reyna and Pablo M. Olmos, "Turbo EP-based Equalization: a Filter-Type Implementation," IEEE Transactions on Communications, Sep 2017, Aceptado. [Online] Disponible: https://ieeexplore.ieee.org/document/8353388/ • Irene Santos, Juan José Murillo-Fuentes, Eva Arias-de-Reyna and Pablo M. Olmos, "Probabilistic Equalization With a Smoothing Expectation Propagation Approach," IEEE Transactions on Wireless Communications, vol. 16, no. 5, pp. 2950-2962, May 2017. • Irene Santos, Juan José Murillo-Fuentes and Eva Arias-de-Reyna, "Equalization with Expectation Propagation at Smoothing Level," En preparación. [Online] Disponible: https://arxiv.org/abs/1809.00806 • Irene Santos and Juan José Murillo-Fuentes, "EP-based turbo detection for MIMO receivers and large-scale systems," IEEE Transactions on Vehicular Technology, May 2018, En revisión. [Online] Disponible: https://arxiv.org/abs/1805.05065 • Irene Santos, Juan José Murillo-Fuentes, and Pablo M. Olmos, "Block expectation propagation equalization for ISI channels," 23rd European Signal Processing Conference (EUSIPCO 2015), Nice, 2015, pp. 379-383. • Irene Santos, and Juan José Murillo-Fuentes, "Improved probabilistic EPbased receiver for MIMO systems and high-order modulations," XXXIII Simposium Nacional de la Unión Científica Internacional de Radio (URSI 2018), Granada, 2018

The detection of malfunction using a process computer

A process control computer has been used to detect malfunction in the instrumentation of control loops. A flow control loop is examined and a malfunction detection algorithm is developed which is based upon a comparison of the control valve position and flow. The technique assumes a relatively constant flow-pressure drop characteristic. It is postulated that a flow control loop has inherent measurement redundancy and a simple "static" or "tracking" state estimator is used to obtain an estimate of the flow from the valve position (or control demand) and flowmeter measurements. The check is based upon monitoring changes in the residuals generated by the estimator. The check technique does not require additional process instrumentation, uses little computer time or storage and can be performed while the control loop is operating under direct digital control. The method has been tested by extensive laboratory trials and some limited industrial application. [Continues.