Applications of system identification methods to the prediction of helicopter stability, control and handling characteristics

A set of results on rotorcraft system identification is described. Flight measurements collected on an experimental Puma helicopter are reviewed and some notable characteristics highlighted. Following a brief review of previous work in rotorcraft system identification, the results of state estimation and model structure estimation processes applied to the Puma data are presented. The results, which were obtained using NASA developed software, are compared with theoretical predictions of roll, yaw and pitching moment derivatives for a 6 degree of freedom model structure. Anomalies are reported. The theoretical methods used are described. A framework for reduced order modelling is outlined

REGION-BASED ADAPTIVE DISTRIBUTED VIDEO CODING CODEC

The recently developed Distributed Video Coding (DVC) is typically suitable for the applications where the conventional video coding is not feasible because of its inherent high-complexity encoding. Examples include video surveillance usmg wireless/wired video sensor network and applications using mobile cameras etc. With DVC, the complexity is shifted from the encoder to the decoder. The practical application of DVC is referred to as Wyner-Ziv video coding (WZ) where an estimate of the original frame called "side information" is generated using motion compensation at the decoder. The compression is achieved by sending only that extra information that is needed to correct this estimation. An error-correcting code is used with the assumption that the estimate is a noisy version of the original frame and the rate needed is certain amount of the parity bits. The side information is assumed to have become available at the decoder through a virtual channel. Due to the limitation of compensation method, the predicted frame, or the side information, is expected to have varying degrees of success. These limitations stem from locationspecific non-stationary estimation noise. In order to avoid these, the conventional video coders, like MPEG, make use of frame partitioning to allocate optimum coder for each partition and hence achieve better rate-distortion performance. The same, however, has not been used in DVC as it increases the encoder complexity. This work proposes partitioning the considered frame into many coding units (region) where each unit is encoded differently. This partitioning is, however, done at the decoder while generating the side-information and the region map is sent over to encoder at very little rate penalty. The partitioning allows allocation of appropriate DVC coding parameters (virtual channel, rate, and quantizer) to each region. The resulting regions map is compressed by employing quadtree algorithm and communicated to the encoder via the feedback channel. The rate control in DVC is performed by channel coding techniques (turbo codes, LDPC, etc.). The performance of the channel code depends heavily on the accuracy of virtual channel model that models estimation error for each region. In this work, a turbo code has been used and an adaptive WZ DVC is designed both in transform domain and in pixel domain. The transform domain WZ video coding (TDWZ) has distinct superior performance as compared to the normal Pixel Domain Wyner-Ziv (PDWZ), since it exploits the ' spatial redundancy during the encoding. The performance evaluations show that the proposed system is superior to the existing distributed video coding solutions. Although the, proposed system requires extra bits representing the "regions map" to be transmitted, fuut still the rate gain is noticeable and it outperforms the state-of-the-art frame based DVC by 0.6-1.9 dB. The feedback channel (FC) has the role to adapt the bit rate to the changing ' statistics between the side infonmation and the frame to be encoded. In the unidirectional scenario, the encoder must perform the rate control. To correctly estimate the rate, the encoder must calculate typical side information. However, the rate cannot be exactly calculated at the encoder, instead it can only be estimated. This work also prbposes a feedback-free region-based adaptive DVC solution in pixel domain based on machine learning approach to estimate the side information. Although the performance evaluations show rate-penalty but it is acceptable considering the simplicity of the proposed algorithm. vii

Structured video coding

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Architecture, 1991.Includes bibliographical references (leaves 67-71).by Patrick Campbell McLean.M.S

New methods in image compression using multi-level transforms and adaptive statistical encoDing

The need to meet the demand for high quality digital images, with comparatively modest storage requirements, is driving the development of new image compression techniques. This demand has spurred new techniques based on time to frequency spatial transformation methods. At the core of these methods are a family of transformations built on basis sets called wavelets. The wavelet transform permits an image to be represented in a substantially reduced space by transferring the energy of the image to a smaller set of coefficients. Although these techniques are lossy as the compression ratio rises, very adequate reconstructions can be made from surprisingly small sets of coefficients. This work explores the transformation process, storage of the representation and the application of these techniques to 24-bit color images. A working color image compression model is illustrated

Aerospace medicine and biology: A continuing bibliography with indexes, supplement 118

This special bibliography lists 338 reports, articles, and other documents introduced into the NASA scientific and technical information system in July 1973

REGION-BASED ADAPTIVE DISTRIBUTED VIDEO CODING CODEC

The recently developed Distributed Video Coding (DVC) is typically suitable for the applications where the conventional video coding is not feasible because of its inherent high-complexity encoding. Examples include video surveillance usmg wireless/wired video sensor network and applications using mobile cameras etc. With DVC, the complexity is shifted from the encoder to the decoder. The practical application of DVC is referred to as Wyner-Ziv video coding (WZ) where an estimate of the original frame called "side information" is generated using motion compensation at the decoder. The compression is achieved by sending only that extra information that is needed to correct this estimation. An error-correcting code is used with the assumption that the estimate is a noisy version of the original frame and the rate needed is certain amount of the parity bits. The side information is assumed to have become available at the decoder through a virtual channel. Due to the limitation of compensation method, the predicted frame, or the side information, is expected to have varying degrees of success. These limitations stem from locationspecific non-stationary estimation noise. In order to avoid these, the conventional video coders, like MPEG, make use of frame partitioning to allocate optimum coder for each partition and hence achieve better rate-distortion performance. The same, however, has not been used in DVC as it increases the encoder complexity. This work proposes partitioning the considered frame into many coding units (region) where each unit is encoded differently. This partitioning is, however, done at the decoder while generating the side-information and the region map is sent over to encoder at very little rate penalty. The partitioning allows allocation of appropriate DVC coding parameters (virtual channel, rate, and quantizer) to each region. The resulting regions map is compressed by employing quadtree algorithm and communicated to the encoder via the feedback channel. The rate control in DVC is performed by channel coding techniques (turbo codes, LDPC, etc.). The performance of the channel code depends heavily on the accuracy of virtual channel model that models estimation error for each region. In this work, a turbo code has been used and an adaptive WZ DVC is designed both in transform domain and in pixel domain. The transform domain WZ video coding (TDWZ) has distinct superior performance as compared to the normal Pixel Domain Wyner-Ziv (PDWZ), since it exploits the ' spatial redundancy during the encoding. The performance evaluations show that the proposed system is superior to the existing distributed video coding solutions. Although the, proposed system requires extra bits representing the "regions map" to be transmitted, fuut still the rate gain is noticeable and it outperforms the state-of-the-art frame based DVC by 0.6-1.9 dB. The feedback channel (FC) has the role to adapt the bit rate to the changing ' statistics between the side infonmation and the frame to be encoded. In the unidirectional scenario, the encoder must perform the rate control. To correctly estimate the rate, the encoder must calculate typical side information. However, the rate cannot be exactly calculated at the encoder, instead it can only be estimated. This work also prbposes a feedback-free region-based adaptive DVC solution in pixel domain based on machine learning approach to estimate the side information. Although the performance evaluations show rate-penalty but it is acceptable considering the simplicity of the proposed algorithm. vii

Precision Pointing Control System (PPCS) system design and analysis

The precision pointing control system (PPCS) is an integrated system for precision attitude determination and orientation of gimbaled experiment platforms. The PPCS concept configures the system to perform orientation of up to six independent gimbaled experiment platforms to design goal accuracy of 0.001 degrees, and to operate in conjunction with a three-axis stabilized earth-oriented spacecraft in orbits ranging from low altitude (200-2500 n.m., sun synchronous) to 24 hour geosynchronous, with a design goal life of 3 to 5 years. The system comprises two complementary functions: (1) attitude determination where the attitude of a defined set of body-fixed reference axes is determined relative to a known set of reference axes fixed in inertial space; and (2) pointing control where gimbal orientation is controlled, open-loop (without use of payload error/feedback) with respect to a defined set of body-fixed reference axes to produce pointing to a desired target

Control of a 3DOF Birotor Helicopter Using Robust Control Methods

The main topic of this thesis is to exhibit how robust control techniques can be applied to real time systems. Presently, the control techniques used in the industry are very simple even when applied to complex systems; these techniques are intuitive and not necessarily systematic. Moreover, the notion of optimality of robustness is absent. Control design procedures are mostly based on SISO techniques, thus, overlooking the intrinsic multivariable aspect of the design that a MIMO system requires. In this thesis a modern control technique is presented to manipulate a 3DOF birotor helicopter in real time. The objective of this research is to demonstrate the performance of more efficient control algorithms to control these kinds of systems. The robust method proposed in this thesis is an H infinity controller which exhibits robustness to plant model uncertainties, and good disturbance and noise rejection

A Minimum Effort Control Approach to Guided Munition Path Planning

An advance in the development of smart munitions entails autonomously modifying target selection during flight to maximize the value of the target being destroyed. Target identification and classification provides a basis for target value, which is used in conjunction with multi-target tracks to determine an optimal aim point for the munition. A unique guidance law can be constructed that exploits attribute and kinematic data from an onboard video sensor. This thesis develops an innovative path planning algorithm that provides an obstacle avoidance function while navigating the munition toward the highest value target. The foundation of this path planning method is found in the principles of minimum effort control optimization. Results demonstrate the ability of the path planning algorithm to determine a path for the munition to follow which is both stable and feasible

UAV or Drones for Remote Sensing Applications in GPS/GNSS Enabled and GPS/GNSS Denied Environments

The design of novel UAV systems and the use of UAV platforms integrated with robotic sensing and imaging techniques, as well as the development of processing workflows and the capacity of ultra-high temporal and spatial resolution data, have enabled a rapid uptake of UAVs and drones across several industries and application domains.This book provides a forum for high-quality peer-reviewed papers that broaden awareness and understanding of single- and multiple-UAV developments for remote sensing applications, and associated developments in sensor technology, data processing and communications, and UAV system design and sensing capabilities in GPS-enabled and, more broadly, Global Navigation Satellite System (GNSS)-enabled and GPS/GNSS-denied environments.Contributions include:UAV-based photogrammetry, laser scanning, multispectral imaging, hyperspectral imaging, and thermal imaging;UAV sensor applications; spatial ecology; pest detection; reef; forestry; volcanology; precision agriculture wildlife species tracking; search and rescue; target tracking; atmosphere monitoring; chemical, biological, and natural disaster phenomena; fire prevention, flood prevention; volcanic monitoring; pollution monitoring; microclimates; and land use;Wildlife and target detection and recognition from UAV imagery using deep learning and machine learning techniques;UAV-based change detection