Intelligent flight control systems

The capabilities of flight control systems can be enhanced by designing them to emulate functions of natural intelligence. Intelligent control functions fall in three categories. Declarative actions involve decision-making, providing models for system monitoring, goal planning, and system/scenario identification. Procedural actions concern skilled behavior and have parallels in guidance, navigation, and adaptation. Reflexive actions are spontaneous, inner-loop responses for control and estimation. Intelligent flight control systems learn knowledge of the aircraft and its mission and adapt to changes in the flight environment. Cognitive models form an efficient basis for integrating 'outer-loop/inner-loop' control functions and for developing robust parallel-processing algorithms

Training Process Reduction Based On Potential Weights Linear Analysis To Accelarate Back Propagation Network

Learning is the important property of Back Propagation Network (BPN) and finding the suitable weights and thresholds during training in order to improve training time as well as achieve high accuracy. Currently, data pre-processing such as dimension reduction input values and pre-training are the contributing factors in developing efficient techniques for reducing training time with high accuracy and initialization of the weights is the important issue which is random and creates paradox, and leads to low accuracy with high training time. One good data preprocessing technique for accelerating BPN classification is dimension reduction technique but it has problem of missing data. In this paper, we study current pre-training techniques and new preprocessing technique called Potential Weight Linear Analysis (PWLA) which combines normalization, dimension reduction input values and pre-training. In PWLA, the first data preprocessing is performed for generating normalized input values and then applying them by pre-training technique in order to obtain the potential weights. After these phases, dimension of input values matrix will be reduced by using real potential weights. For experiment results XOR problem and three datasets, which are SPECT Heart, SPECTF Heart and Liver disorders (BUPA) will be evaluated. Our results, however, will show that the new technique of PWLA will change BPN to new Supervised Multi Layer Feed Forward Neural Network (SMFFNN) model with high accuracy in one epoch without training cycle. Also PWLA will be able to have power of non linear supervised and unsupervised dimension reduction property for applying by other supervised multi layer feed forward neural network model in future work.Comment: 11 pages IEEE format, International Journal of Computer Science and Information Security, IJCSIS 2009, ISSN 1947 5500, Impact factor 0.42

Localization, Navigation and Activity Planning for Wheeled Agricultural Robots – A Survey

Source at:https://fruct.org/publications/volume-32/fruct32/High cost, time intensive work, labor shortages and inefficient strategies have raised the need of employing mobile robotics to fully automate agricultural tasks and fulfil the requirements of precision agriculture. In order to perform an agricultural task, the mobile robot goes through a sequence of sub operations and integration of hardware and software systems. Starting with localization, an agricultural robot uses sensor systems to estimate its current position and orientation in field, employs algorithms to find optimal paths and reach target positions. It then uses techniques and models to perform feature recognition and finally executes the agricultural task through an end effector. This article, compiled through scrutinizing the current literature, is a step-by-step approach of the strategies and ways these sub-operations are performed and integrated together. An analysis has also been done on the limitations in each sub operation, available solutions, and the ongoing research focus

Comparative Analysis of Different Classes of On-line State Estimators for Aerodynamics Angles and True Airspeed Sensors for Applications to the Sensor Failure Problem

Throughout aviation history, there have been numerous incidents due to sensor failure that have caused a range of issues from loss of control of the aircraft to crashes resulting in loss of human life. Although there are many hardware-based solutions to this problem, the threat of control hardware failure still exists. This work investigates the efficacy of implementing neural networks (NN) and Kalman filters (KF) to solve the accommodation portion of the sensor failure detection, identification, and accommodation (SFDIA) problem through on-line real-time estimation of specific aircraft dynamic parameters. The implementation of on-line estimation architectures into the aircraft flight control system provides multiple advantages such as cost effectiveness and drastic decrease in weight. The multilayer perceptron (MLP) NN, extended minimal resource allocation (neural) network (EMRAN), extended KF (EKF), and unscented KF (UKF) have been evaluated in this effort for the purpose of providing analytical redundancy (AR) for estimating the parameter of the ‘failed’ sensor in lieu of physical redundancy. Each NN-based and KF-based estimator was compared using preset criteria including estimation accuracy, time to perform, and complexity of the model. The overall results have shown that the NN-based sensor failure accommodation (SFA) schemes outperform the KF-based SFA schemes with no undetected faults nor false alarms and significantly smaller estimation errors. More specifically, the EMRAN-based neural estimator has the best performance of all four schemes followed by the MLP NN, UKF, and EKF, respectively. This research shows the great potential of analytical redundancy-based approaches as opposed to physical or hardware redundancy to improved aviation safety for preventing future crashes due to sensor failures

MSAFIS: an evolving fuzzy inference system

In this paper, the problem of learning in big data is considered. To solve this problem, a new algorithm is proposed as the combination of two important evolving and stable intelligent algorithms: the sequential adaptive fuzzy inference system (SAFIS), and stable gradient descent algorithm (SGD). The modified sequential adaptive fuzzy inference system (MSAFIS) is the SAFIS with the difference that the SGD is used instead of the Kalman filter for the updating of parameters. The SGD improves the Kalman filter, because it first obtains a better learning in big data. The effectiveness of the introduced method is verified by two experiments

Drone Obstacle Avoidance and Navigation Using Artificial Intelligence

This thesis presents an implementation and integration of a robust obstacle avoidance and navigation module with ardupilot. It explores the problems in the current solution of obstacle avoidance and tries to mitigate it with a new design. With the recent innovation in artificial intelligence, it also explores opportunities to enable and improve the functionalities of obstacle avoidance and navigation using AI techniques. Understanding different types of sensors for both navigation and obstacle avoidance is required for the implementation of the design and a study of the same is presented as a background. A research on an autonomous car is done for better understanding autonomy and learning how it is solving the problem of obstacle avoidance and navigation. The implementation part of the thesis is focused on the design of a robust obstacle avoidance module and is tested with obstacle avoidance sensors such as Garmin lidar and Realsense r200. Image segmentation is used to verify the possibility of using the convolutional neural network for better understanding the nature of obstacles. Similarly, the end to end control with a single camera input using a deep neural network is used for verifying the possibility of using AI for navigation. In the end, a robust obstacle avoidance library is developed and tested both in the simulator and real drone. Image segmentation is implemented, deployed and tested. A possibility of an end to end control is also verified by obtaining a proof of concept

A Methodology for the Development of Recurrent Networks for Sequence Processing Tasks

Artificial neural networks are increasingly being used for dealing with real world applications. Many of these (e.g. speech recognition) are based on an ability to perform sequence processing. A class of artificial neural networks, known as recurrent networks, have architectures which incorporate feedback connections. This in turn allows the development of a memory mechanism to allow sequence processing to occur. A large number of recurrent network models have been developed, together with modifications of existing architectures and learning rules. However there has been comparatively little effort made to compare the performance of these models relative to each other. Such comparative studies would show differences in performance between networks and allow an examination of what features of a network give rise to desirable behaviours such as faster learning and superior generalisation ability. This thesis describes the results of a number of existing comparative studies and the results of new research. Three different recurrent networks, both in their original form and with modifications, are tested with four different sequence processing tasks. The results of this research clearly show that recurrent networks vary widely in terms of their performance and lead to a methodology based on the following conclusions: </br