Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a decentralized model-free control protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance functions and is fully decoupled by the agents' dynamic model, the control gain selection, the underlying graph topology as well as the initial conditions. Additionally, by introducing certain inter-agent distance constraints, we guarantee collision avoidance and connectivity maintenance between neighboring agents. Finally, simulation results verify the performance of the proposed controllers.Comment: IFAC Word Congress 201

Geomorphology of Mountainous Deserts

The peculiar land forms of the desert are due largely (1) to the paucity of plant growth, in consequence of which (2) disintegrated rock, produced more by physical than by chemical processes, which (3) vary with rock nature (hence granitic rocks assume forms of special interest), does not remain near its source long enough in the earlier stages of erosion to be reduced to very fine texture before (4) it is carried by stream floods or sheet floods toward or to (5) playa basins of rising base-level; but in an advanced stage of the arid cycle (6) the playa surface may be lowered by the wind, whereupon the rock slopes previously weathered down to sheet-flood grade and buried with sheet-flood waste will be (7) trenched by stream floods with respect to the sinking baselevel, and the buried rock floors will be laid bare until again reduced to sheet-flood grade. But (8) in deserts draining to the ocean these various processes will work with respect to a relatively fixed baselevel; also (9) in deserts where the action of water floods is dominated by wind action, the carving of the surface will be in part independent of any baselevel

Orbit period modulation for relative motion using continuous low thrust in the two-body and restricted three-body problems

This paper presents rich new families of relative orbits for spacecraft formation flight generated through the application of continuous thrust with only minimal intervention into the dynamics of the problem. Such simplicity facilitates implementation for small, low-cost spacecraft with only position state feedback, and yet permits interesting and novel relative orbits in both two- and three-body systems with potential future applications in space-based interferometry, hyperspectral sensing, and on-orbit inspection. Position feedback is used to modify the natural frequencies of the linearised relative dynamics through direct manipulation of the system eigenvalues, producing new families of stable relative orbits. Specifically, in the Hill–Clohessy–Wiltshire frame, simple adaptations of the linearised dynamics are used to produce a circular relative orbit, frequency-modulated out-of-plane motion, and a novel doubly periodic cylindrical relative trajectory for the purposes of on-orbit inspection. Within the circular restricted three-body problem, a similar minimal approach with position feedback is used to generate new families of stable, frequency-modulated relative orbits in the vicinity of a Lagrange point, culminating in the derivation of the gain requirements for synchronisation of the in-plane and out-of-plane frequencies to yield a singly periodic tilted elliptical relative orbit with potential use as a Lunar far-side communications relay. The Δv requirements for the cylindrical relative orbit and singly periodic Lagrange point orbit are analysed, and it is shown that these requirements are modest and feasible for existing low-thrust propulsion technology

A control architecture and human interface for agile, reconfigurable micro aerial vehicle formations

This thesis considers the problem of controlling a group of micro aerial vehicles for agile maneuvering cooperatively, or distributively. We first introduce the background and motivation for micro aerial vehicles, especially for the popular multi-rotor aerial vehicle platform. Then, we discuss the dynamics of quadrotor helicopters. A quadrotor is a specific kind of multi-rotor aerial vehicle with a special property called differential flatness, which simplifies the algorithm of trajectory planning, such that, instead of planning a trajectory in a 12-dimensional state space and 4-dimensional input space, we only need to plan the trajectory in 4-dimensional, so called, flat output space, while the 12-dimensional state and 4-dimensional input can be recovered from a mapping called endogenous transformation. We propose a series of approaches to achieve agile maneuvering of a dynamic quadrotor formation, from controlling a single quadrotor in an artificial vector field, to controlling a group of quadrotors in a Virtual Rigid Body (VRB) framework, to balancing the effect between the human control and autonomy for collision avoidance, and to fast on-line distributed collision avoidance with Buffered Voronoi Cells (BVC). In the vector field method, we generate velocity, acceleration, jerk and snap fields, depending on the tasks, or the positions of obstacles, such that a single quadrotor can easily find its required state and input from the endogenous transformation in order to track the artificial vector field. Next, with a Virtual Rigid Body framework, we let a group of quadrotors follow a single control command while also keeping a required formation, or even reconfigure from one formation to another. The Virtual Rigid Body framework decouples the trajectory planning problem into two sub-problems. Then we consider the problem of collision avoidance of the quadrotor formation when it is meanwhile tele-operated by a single human operator. The autonomy with collision avoidance algorithm, based on the vector field methods for a single quadrotor, is an assistive portion of the quadrotor formation controller, such that the human operator can focus on his/her high-level tasks, leaving the low-level collision avoidance task be handled automatically. We also consider the full autonomy problem of quadrotor formations when reconfiguring from one formation to another by developing a fast, on-line distributed collision avoidance algorithm using Buffered Voronoi Cells (BVCs). Our BVC based collision avoidance algorithm only requires sensed relative position, rather than relative position and velocity, while the computational complexity is comparable to other methods like velocity obstacles. At last, we introduce our experimental quadrotor platform which is built from PixHawk flight controller and Odroid-XU4 single-board computer. The hardware and software architecture of this multiple-quadrotor platform is described in detail so that our platform can easily be adopted and extended with different purposes. Our conclusion remark and discussion of future work are also given in this thesi

Development of Robust Control Strategies for Autonomous Underwater Vehicles

The resources of the energy and chemical balance in the ocean sustain mankind in many ways. Therefore, ocean exploration is an essential task that is accomplished by deploying Underwater Vehicles. An Underwater Vehicle with autonomy feature for its navigation and control is called Autonomous Underwater Vehicle (AUV). Among the task handled by an AUV, accurately positioning itself at a desired position with respect to the reference objects is called set-point control. Similarly, tracking of the reference trajectory is also another important task. Battery recharging of AUV, positioning with respect to underwater structure, cable, seabed, tracking of reference trajectory with desired accuracy and speed to avoid collision with the guiding vehicle in the last phase of docking are some significant applications where an AUV needs to perform the above tasks. Parametric uncertainties in AUV dynamics and actuator torque limitation necessitate to design robust control algorithms to achieve motion control objectives in the face of uncertainties. Sliding Mode Controller (SMC), H / μ synthesis, model based PID group controllers are some of the robust controllers which have been applied to AUV. But SMC suffers from less efficient tuning of its switching gains due to model parameters and noisy estimated acceleration states appearing in its control law. In addition, demand of high control effort due to high frequency chattering is another drawback of SMC. Furthermore, real-time implementation of H / μ synthesis controller based on its stability study is restricted due to use of linearly approximated dynamic model of an AUV, which hinders achieving robustness. Moreover, model based PID group controllers suffer from implementation complexities and exhibit poor transient and steady-state performances under parametric uncertainties. On the other hand model free Linear PID (LPID) has inherent problem of narrow convergence region, i.e.it can not ensure convergence of large initial error to zero. Additionally, it suffers from integrator-wind-up and subsequent saturation of actuator during the occurrence of large initial error. But LPID controller has inherent capability to cope up with the uncertainties. In view of addressing the above said problem, this work proposes wind-up free Nonlinear PID with Bounded Integral (BI) and Bounded Derivative (BD) for set-point control and combination of continuous SMC with Nonlinear PID with BI and BD namely SM-N-PID with BI and BD for trajectory tracking. Nonlinear functions are used for all P,I and D controllers (for both of set-point and tracking control) in addition to use of nonlinear tan hyperbolic function in SMC(for tracking only) such that torque demand from the controller can be kept within a limit. A direct Lyapunov analysis is pursued to prove stable motion of AUV. The efficacies of the proposed controllers are compared with other two controllers namely PD and N-PID without BI and BD for set-point control and PD plus Feedforward Compensation (FC) and SM-NPID without BI and BD for tracking control. Multiple AUVs cooperatively performing a mission offers several advantages over a single AUV in a non-cooperative manner; such as reliability and increased work efficiency, etc. Bandwidth limitation in acoustic medium possess challenges in designing cooperative motion control algorithm for multiple AUVs owing to the necessity of communication of sensors and actuator signals among AUVs. In literature, undirected graph based approach is used for control design under communication constraints and thus it is not suitable for large number of AUVs participating in a cooperative motion plan. Formation control is a popular cooperative motion control paradigm. This thesis models the formation as a minimally persistent directed graph and proposes control schemes for maintaining the distance constraints during the course of motion of entire formation. For formation control each AUV uses Sliding Mode Nonlinear PID controller with Bounded Integrator and Bounded Derivative. Direct Lyapunov stability analysis in the framework of input-to-state stability ensures the stable motion of formation while maintaining the desired distance constraints among the AUVs

Deglaciation of Fennoscandia

To provide a new reconstruction of the deglaciation of the Fennoscandian Ice Sheet, in the form of calendar-year time-slices, which are particularly useful for ice sheet modelling, we have compiled and synthesized published geomorphological data for eskers, ice-marginal formations, lineations, marginal meltwater channels, striae, ice-dammed lakes, and geochronological data from radiocarbon, varve, optically-stimulated luminescence, and cosmogenic nuclide dating. This 25 is summarized as a deglaciation map of the Fennoscandian Ice Sheet with isochrons marking every 1000 years between 22 and 13 cal kyr BP and every hundred years between 11.6 and final ice decay after 9.7 cal kyr BP. Deglaciation patterns vary across the Fennoscandian Ice Sheet domain, reflecting differences in climatic and geomorphic settings as well as ice sheet basal thermal conditions and terrestrial versus marine margins. For example, the ice sheet margin in the high-precipitation coastal setting of the western sector responded sensitively to climatic variations leaving a detailed record of prominent moraines and ice-marginal deposits in many fjords and coastal valleys. Retreat rates across the southern sector differed between slow retreat of the terrestrial margin in western and southern Sweden and rapid retreat of the calving ice margin in the Baltic Basin. Our reconstruction is consistent with much of the published research. However, the synthesis of a large amount of existing and new data support refined reconstructions in some areas. For example, we locate the LGM extent of the ice sheet in northwestern Russia further east than previously suggested and conclude that it occurred at a later time than the rest of the ice sheet, at around 17-15 cal kyr BP, and propose a slightly different chronology of moraine formation over southern Sweden based on improved correlations of moraine segments using new LiDAR data and tying the timing of moraine formation to Greenland ice core cold stages. Retreat rates vary by as much as an order of magnitude in different sectors of the ice sheet, with the lowest rates on the high-elevation and maritime Norwegian margin. Retreat rates compared to the climatic information provided by the Greenland ice core record show a general correspondence between retreat rate and climatic forcing, although a close match between retreat rate and climate is unlikely because of other controls, such as topography and marine versus terrestrial margins. Overall, the time slice reconstructions of Fennoscandian Ice Sheet deglaciation from 22 to 9.7 cal kyr BP provide an important dataset for understanding the contexts that underpin spatial and temporal patterns in retreat of the Fennoscandian Ice Sheet, and are an important resource for testing and refining ice sheet models

The Term Structure of Interest Rates in Small Open Economy DSGE Model

I lay out small open economy model with nominal rigidities to study the implication of model dynamics on the term structure of interest rates. It has been shown that in order to obtain at least moderate match simultaneously of the macro and finance data, one has to introduce long-memory habits in consumption together with a large number of highly persistent exogenous shocks. These elements of the model however worsen the fit of macro data. I find that in the open economy framework the foreign demand channel allows us to match some of the data features even without including habits and a large number of exogenous shocks.DSGE small open economy model, term structure of interest rates, perturbation method, second order approximation

A ferrofluid based neural network: design of an analogue associative memory

We analyse an associative memory based on a ferrofluid, consisting of a system of magnetic nano-particles suspended in a carrier fluid of variable viscosity subject to patterns of magnetic fields from an array of input and output magnetic pads. The association relies on forming patterns in the ferrofluid during a trainingdphase, in which the magnetic dipoles are free to move and rotate to minimize the total energy of the system. Once equilibrated in energy for a given input-output magnetic field pattern-pair the particles are fully or partially immobilized by cooling the carrier liquid. Thus produced particle distributions control the memory states, which are read out magnetically using spin-valve sensors incorporated in the output pads. The actual memory consists of spin distributions that is dynamic in nature, realized only in response to the input patterns that the system has been trained for. Two training algorithms for storing multiple patterns are investigated. Using Monte Carlo simulations of the physical system we demonstrate that the device is capable of storing and recalling two sets of images, each with an accuracy approaching 100%.Comment: submitted to Neural Network