Interval Valued Fuzzy Modeling and Indirect Adaptive Control of Quadrotor

In this paper, a combination of fuzzy clustering estimation and sliding mode control is used to control a quadrotor system, whose mathematical model is complex and has unknown elements, including structure, parameters, and so on. In addition, they may be affected by external environmental disturbances. At first, the nonlinear unknown part of the system is estimated by a fuzzy model, A new method is presented for constructing a Takagi-Sugeno (TS) interval-valued fuzzy model (IVFM) based on inputoutput data of the identified system. Following the construction of the fuzzy model that estimates the unknown part of the quadrotor system, a control and on-line adjusting of the fuzzy modeled part of dynamics is used. In this step, the system model will be estimated in adaptive form so that the dynamic equations can be used in sliding mode control. Finally, the proposed technique is applied, and the simulation results are presented to show the effectiveness of this approach in controlling the quadrotor with unknown nonlinear dynamics.Comment: 25 page

Non-constructive interval simulation of dynamic systems

Publisher PD

TEMPOS: A Platform for Developing Temporal Applications on Top of Object DBMS

This paper presents TEMPOS: a set of models and languages supporting the manipulation of temporal data on top of object DBMS. The proposed models exploit object-oriented technology to meet some important, yet traditionally neglected design criteria related to legacy code migration and representation independence. Two complementary ways for accessing temporal data are offered: a query language and a visual browser. The query language, namely TempOQL, is an extension of OQL supporting the manipulation of histories regardless of their representations, through fully composable functional operators. The visual browser offers operators that facilitate several time-related interactive navigation tasks, such as studying a snapshot of a collection of objects at a given instant, or detecting and examining changes within temporal attributes and relationships. TEMPOS models and languages have been formalized both at the syntactical and the semantical level and have been implemented on top of an object DBMS. The suitability of the proposals with regard to applications' requirements has been validated through concrete case studies

The fitting of multifunctions : an approach to nonparametric multimodal regression.

In the last decades a lot of research has been devoted to smoothing in the sense of nonparametric regression. However, this work has nearly exclusively concentrated on fitting regression functions. When the conditional distribution of y|x is multimodal, the assumption of a functional relationship y = m(x) + noise might be too restrictive. We introduce a nonparametric approach to fit multifunctions, allowing to assign a set of output values to a given x. The concept is based on conditional mean shift, which is an easily implemented tool to detect the local maxima of a conditional density function. The methodology is illustrated by environmental data examples

Fuzzy stability analysis of regenerative chatter in milling

During machining, unstable self-excited vibrations known as regenerative chatter can occur, causing excessive tool wear or failure, and a poor surface finish on the machined workpiece. Consequently it is desirable to predict, and hence avoid the onset of this instability. Regenerative chatter is a function of empirical cutting coefficients, and the structural dynamics of the machine-tool system. There can be significant uncertainties in the underlying parameters, so the predicted stability limits do not necessarily agree with those found in practice. In the present study, fuzzy arithmetic techniques are applied to the chatter stability problem. It is first shown that techniques based upon interval arithmetic are not suitable for this problem due to the issue of recursiveness. An implementation of fuzzy arithmetic is then developed based upon the work of Hanss and Klimke. The arithmetic is then applied to two techniques for predicting milling chatter stability: the classical approach of Altintas, and the time-finite element method of Mann. It is shown that for some cases careful programming can reduce the computational effort to acceptable levels. The problem of milling chatter uncertainty is then considered within the framework of Ben-Haim's information-gap theory. It is shown that the presented approach can be used to solve process design problems with robustness to the uncertain parameters. The fuzzy stability bounds are then compared to previously published data, to investigate how uncertainty propagation techniques can offer more insight into the accuracy of chatter predictions

spChains: A Declarative Framework for Data Stream Processing in Pervasive Applications

Pervasive applications rely on increasingly complex streams of sensor data continuously captured from the physical world. Such data is crucial to enable applications to ``understand'' the current context and to infer the right actions to perform, be they fully automatic or involving some user decisions. However, the continuous nature of such streams, the relatively high throughput at which data is generated and the number of sensors usually deployed in the environment, make direct data handling practically unfeasible. Data not only needs to be cleaned, but it must also be filtered and aggregated to relieve higher level algorithms from near real-time handling of such massive data flows. We propose here a stream-processing framework (spChains), based upon state-of-the-art stream processing engines, which enables declarative and modular composition of stream processing chains built atop of a set of extensible stream processing blocks. While stream processing blocks are delivered as a standard, yet extensible, library of application-independent processing elements, chains can be defined by the pervasive application engineering team. We demonstrate the flexibility and effectiveness of the spChains framework on two real-world applications in the energy management and in the industrial plant management domains, by evaluating them on a prototype implementation based on the Esper stream processo