Identification of a quadcopter autopilot system via Box–Jenkins structure

This paper presents a method to precisely model a four rotor unmanned aerial vehicle, widely known as quadcopter autopilot system. Common system identification methods limit quadcopter models into first or second order systems, and do not count for noise characteristics. This leads to poor prediction accuracy of its longitudinal and lateral motion dynamics that ultimately affects the aircraft stabilization during flight and landing. To improve the quality of the estimated models, we utilized a statistically suitable discrete-time linear Box–Jenkins structure to model the plant and noise characteristics of the horizontal subsystems of a quadcopter autopilot system. The models were estimated using flight data acquired when the system were provided with pseudo-random binary sequence input. In this proposed method, by employing the prediction error method and least squares approach, the aircraft dynamics could be modeled up until the fifth order. The normalized root mean square fitness value showed that the predicted model output matches the experimental flight data by 94.72% in the one-step-ahead prediction test, and 84.52% in the infinite-step-ahead prediction test. These prediction results demonstrated an improvement of 52.8% when compared with a first and second order model structures proposed in previous works for the same quadcopter model. The output from this research works confirmed the effectiveness of the proposed method to adequately capture the autopilot dynamics and accurately predict the quadcopter outputs. These would greatly assist in designing robust flight controllers for the autopilot system

Seismic response trends evaluation and finite element model calibration of an instrumented RC building considering soil-structure interaction and non-structural components

Peer reviewedPostprin

Towards apparent convergence in asymptotically safe quantum gravity

The asymptotic safety scenario in gravity is accessed within the systematic vertex expansion scheme for functional renormalisation group flows put forward in \cite{Christiansen:2012rx,Christiansen:2014raa}, and implemented in \cite{Christiansen:2015rva} for propagators and three-point functions. In the present work this expansion scheme is extended to the dynamical graviton four-point function. For the first time, this provides us with a closed flow equation for the graviton propagator: all vertices and propagators involved are computed from their own flows. In terms of a covariant operator expansion the current approximation gives access to $\Lambda$, $R$, $R^2$ as well as $R_{\mu\nu}^2$ and higher derivative operators. We find a UV fixed point with three attractive and two repulsive directions, thus confirming previous studies on the relevance of the first three operators. In the infrared we find trajectories that correspond to classical general relativity and further show non-classical behaviour in some fluctuation couplings. We also find signatures for the apparent convergence of the systematic vertex expansion. This opens a promising path towards establishing asymptotically safe gravity in terms of apparent convergence.Comment: 24 pages, 6 figures; journal version with updated reference

Microcrystalline identification of selected designer drugs

A microcrystalline test for the detection of 4-methylmethcathinone (mephedrone), benzylpiperazine (BZP) and 5,6-methylenedioxy-2-aminoindane (MDAI) using aqueous solutions of mercury chloride is described. Each of the compounds investigated formed specific drug–reagent crystals within minutes. The uniqueness of the test was confirmed by comparison of the microcrystalline response to that of other psychoactive stimulants and a common cutting agent. The limit of detection and cut-off levels for reference standards were established to 3 g/L and 5 g/L for mephedrone, 0.5 g/L for MDAI and 0.2 g/L and 0.3 g/L for BZP, respectively. Various mixtures of standards of either mephedrone, BZP or MDAI combined with caffeine were investigated for their microcrystalline response. Results showed that simultaneous detection of drug and cutting agent was possible with the concentrations tested but were dependant on the ratio of drug to cutting agent. BZP could be detected alongside caffeine from as low as 20% (v/v), MDAI from 40% (v/v) and mephedrone from 50% (v/v) and higher. Finally, seven samples of online purchased ‘legal highs’ were analysed using the developed test and the findings were compared to FTIR and GC–MS results. It was shown that 6 out of 7 samples did not contain the advertised active ingredient. Five samples consisted of BZP, caffeine and 1-[3-(trifluoromethyl)phenyl]piperazine (3-TFMPP). The microcrystalline tests carried out on these samples showed positive results for both BZP and caffeine without interference from other substances present

Nilpotent orbits of a generalization of Hodge structures

We study a generalization of Hodge structures which first appeared in the work of Cecotti and Vafa. It consists of twistors, that is, holomorphic vector bundles on P^1, with additional structure, a flat connection on C^*, a real subbundle and a pairing. We call these objects TERP-structures. We generalize to TERP-structures a correspondence of Cattani, Kaplan and Schmid between nilpotent orbits of Hodge structures and polarized mixed Hodge structures. The proofs use work of Simpson and Mochizuki on variations of twistor structures and a control of the Stokes structures of the poles at zero and infinity. The results are applied to TERP-structures which arise via oscillating integrals from holomorphic functions with isolated singularities.Comment: 43 pages, some very minor modifications, misprints correcte

Aging concrete structures: a review of mechanics and concepts

The safe and cost-efficient management of our built infrastructure is a challenging task considering the expected service life of at least 50 years. In spite of time-dependent changes in material properties, deterioration processes and changing demand by society, the structures need to satisfy many technical requirements related to serviceability, durability, sustainability and bearing capacity. This review paper summarizes the challenges associated with the safe design and maintenance of aging concrete structures and gives an overview of some concepts and approaches that are being developed to address these challenges

3D discrete element modeling of concrete: study of the rolling resistance effects on the macroscopic constitutive behavior

The Discrete Element Method (DEM) is appropriate for modeling granular materials [14] but also cohesive materials as concrete when submitted to a severe loading such an impact leading to fractures or fragmentation in the continuum [1, 5, 6, 8]. Contrarily to granular materials, the macroscopic constitutive behavior of a cohesive material is not directly linked to contact interactions between the rigid Discrete Elements (DE) and interaction laws are then defined between DE surrounding each DE. Spherical DE are used because the contact detection is easy to implement and the computation time is reduced in comparison with the use of 3D DE with a more complex shape. The element size is variable and the assembly is disordered to prevent preferential cleavage planes. The purpose of this paper is to highlight the influence of DE rotations on the macroscopic non-linear quasi-static behavior of concrete. Classically, the interactions between DE are modeled by spring-like interactions based on displacements and rotation velocities of DE are only controlled by tangential forces perpendicular to the line linking the two sphere centroids. The disadvantage of this modeling with only spring-like interactions based on displacements is that excessive rolling occurs under shear, therefore the macroscopic behavior of concrete is too brittle. To overcome this problem a non linear Moment Transfer Law (MTL) is introduced to add a rolling resistance to elements. This solution has no influence on the calculation cost and allows a more accurate macroscopic representation of concrete behavior. The identification process of material parameters is given and simulations of tests performed on concrete samples are shown