Real-time system identification using deep learning for linear processes with application to unmanned aerial vehicles

This paper proposes a novel parametric identification approach for linear systems using Deep Learning (DL) and the Modified Relay Feedback Test (MRFT). The proposed methodology utilizes MRFT to reveal distinguishing frequencies about an unknown process; which are then passed to a trained DL model to identify the underlying process parameters. The presented approach guarantees stability and performance in the identification and control phases respectively, and requires few seconds of observation data to infer the dynamic system parameters. Quadrotor Unmanned Aerial Vehicle (UAV) attitude and altitude dynamics were used in simulation and experimentation to verify the presented methodology. Results show the effectiveness and real-time capabilities of the proposed approach, which outperforms the conventional Prediction Error Method in terms of accuracy, robustness to biases, computational efficiency and data requirements.Comment: 13 pages, 9 figures. Submitted to IEEE access. A supplementary video for the work presented in this paper can be accessed at: https://www.youtube.com/watch?v=dz3WTFU7W7c. This version includes minor style edits for appendix and reference

Elastomer-based visuotactile sensor for normality of robotic manufacturing systems

Modern aircrafts require the assembly of thousands of components with high accuracy and reliability. The normality of drilled holes is a critical geometrical tolerance that is required to be achieved in order to realize an efficient assembly process. Failure to achieve the required tolerance leads to structures prone to fatigue problems and assembly errors. Elastomer-based tactile sensors have been used to support robots in acquiring useful physical interaction information with the environments. However, current tactile sensors have not yet been developed to support robotic machining in achieving the tight tolerances of aerospace structures. In this paper, a novel elastomer-based tactile sensor was developed for cobot machining. Three commercial silicon-based elastomer materials were characterised using mechanical testing in order to select a material with the best deformability. A Finite element model was developed to simulate the deformation of the tactile sensor upon interacting with surfaces with different normalities. Additive manufacturing was employed to fabricate the tactile sensor mould, which was chemically etched to improve the surface quality. The tactile sensor was obtained by directly casting and curing the optimum elastomer material onto the additively manufactured mould. A machine learning approach was used to train the simulated and experimental data obtained from the sensor. The capability of the developed vision tactile sensor was evaluated using real-world experiments with various inclination angles, and achieved a mean perpendicularity tolerance of 0.34°. The developed sensor opens a new perspective on low-cost precision cobot machining

Removal of imidacloprid from polluted water using adsorption and membrane separation technologies

In this work, the stability of imidacloprid in fresh water and sludge was studied. The results revealed that the pesticide is unstable in both media. In freshwater, it underwent hydrolysis whereas a degradation to several metabolites has been observed in sludge. The rate constants for the hydrolysis and degradation at 25°C were 0.0.0067 and 0.0.0099 d–1, respectively. Monitoring the degradation of imidacloprid in sludge by high-pressure liquid chromatography-mass spectrometry (HPLC-MS) revealed that five metabolites have emerged during the study. These metabolites include imidacloprid urea, imidacloprid-guanidine, 6-hydroxynicotinic acid, an olefin, and 5-hydroxy, 1-(6-chloro-3-pyridylmethyl)-2-(nitroimino)-imidazolidin-5-ol. The efficiency of Al-Quds University Wastewater Treatment Plant towards the removal of imidacloprid indicates that the ultrafiltration-hollow fiber unit was insufficient, whereas the ultrafiltration-spiral wound, activated carbon, and reverse osmosis units were efficient for complete removal of the pesticide. Adsorption experiments of imidacloprid using either activated charcoal or micelle-clay complex were found to fit Langmuir isotherms better than Freundlich isotherm. The data demonstrate a higher Langmuir Qmax value for the activated charcoal (126.6 mg g–1) when compared to the micelle-clay complex (11.76 mg g–1). Filtration column experiments, conducted with mixed micelle-clay complex and sand (using a ratio of 1/50 by mass) at a flow rate of 2 mL min–1 and influent concentration of 50 mg L–1, revealed that a sufficient removal of imidacloprid was achieved in the first fraction of 100 mL elution. These findings indicate that the adsorption technology using the micelle-clay complex provides efficient removal of imidacloprid in continuous flow mode

Proton radius of Be-14 from measurement of charge-changing cross sections

Publisher's Version/PDFThe charge-changing cross sections of 7,9−12,14Be have been measured at 900A MeV on a carbon target. These cross sections are discussed both in terms of a geometrical and a Glauber model. From several different analyses of the cross sections, the proton distribution radius (proton radius) of 14Be is determined for the first time to be 2.41 ± 0.04 fm. A large difference in the proton and neutron radii is found. The proton radii are compared to the results of fermionic molecular dynamics (FMD) and antisymmetrized molecular dynamics (AMD) calculations

Microscopic View on Short-Range Wetting at the Free Surface of the Binary Metallic Liquid Gallium-Bismuth: An X-ray Reflectivity and Square Gradient Theory Study

We present an x-ray reflectivity study of wetting at the free surface of the binary liquid metal gallium-bismuth (Ga-Bi) in the region where the bulk phase separates into Bi-rich and Ga-rich liquid phases. The measurements reveal the evolution of the microscopic structure of wetting films of the Bi-rich, low-surface-tension phase along different paths in the bulk phase diagram. A balance between the surface potential preferring the Bi-rich phase and the gravitational potential which favors the Ga-rich phase at the surface pins the interface of the two demixed liquid metallic phases close to the free surface. This enables us to resolve it on an Angstrom level and to apply a mean-field, square gradient model extended by thermally activated capillary waves as dominant thermal fluctuations. The sole free parameter of the gradient model, i.e. the so-called influence parameter, $\kappa$, is determined from our measurements. Relying on a calculation of the liquid/liquid interfacial tension that makes it possible to distinguish between intrinsic and capillary wave contributions to the interfacial structure we estimate that fluctuations affect the observed short-range, complete wetting phenomena only marginally. A critical wetting transition that should be sensitive to thermal fluctuations seems to be absent in this binary metallic alloy.Comment: RevTex4, twocolumn, 15 pages, 10 figure

Observation of large enhancements of charge exchange cross sections with neutron-rich carbon isotopes

Publisher's Version/PDFProduction cross sections of nitrogen isotopes from high-energy (∼950 MeV per nucleon) carbon isotopes on hydrogen and carbon targets have been measured for the first time for a wide range of isotopes (A = 12 to 19). The fragment separator FRS at GSI was used to deliver C-isotope beams. The cross sections of the production of N-isotopes were determined by charge measurements of forward-going fragments. The cross sections show a rapid increase with the number of neutrons in the projectile. Since the production of nitrogen is mostly due to charge-exchange (Cex) reactions below the proton separation energies, the present data suggests a concentration of Gamow–Teller and/or Fermi transition strength at low excitation energies for neutron-rich carbon isotopes. It was also observed that the Cex cross sections were enhanced much more strongly for neutron-rich isotopes in the C-target data

Search for {\eta}'(958)-nucleus bound states by (p,d) reaction at GSI and FAIR

The mass of the {\eta}' meson is theoretically expected to be reduced at finite density, which indicates the existence of {\eta}'-nucleus bound states. To investigate these states, we perform missing-mass spectroscopy for the (p, d) reaction near the {\eta}' production threshold. The overview of the experimental situation is given and the current status is discussed.Comment: 6 pages, 3 figures; talk at II Symposium on applied nuclear physics and innovative technologies, September 24th - 27th, 2014, Jagiellonian University, Krak\'ow Poland; to appear in Acta Physica Polonica

Neutron quadrupole transition strength in 10^{10}C deduced from the 10^{10}C(α,α′)(\alpha,\alpha') measurement with the MAIKo active target

Elastic and inelastic alpha scatterings on $^{10}$C were measured using a 68-MeV/u radioactive $^{10}$C beam incident on the recently developed MAIKo active target system. The phenomenological effective $\alpha$-$N$ interaction and the point-nucleon density distribution in the ground state were determined from the elastic scattering data. The cross sections of the inelastic alpha scattering were calculated using this interaction and density distribution and were compared with the experiment to determine the neutron quadrupole transition matrix element $M_{n}$ between the ground state and the $2_{1}^{+}$ state at $E_{x} = 3.35$ MeV in $^{10}$C. The deduced neutron transition matrix element is $M_{n} = 6.9\, \pm0.7\, \mathrm{(fit)}\, \pm1.2\, \mathrm{(sys)}$ fm$^{2}$. The ratio of the neutron transition strength to proton transition strength was determined as $M_{n}/M_{p} = 1.05\, \pm0.11\, \mathrm{(fit)}\, \pm0.17\, \mathrm{(sys)}$, which indicates that the quadrupole transition between the ground state and the $2_{1}^{+}$ state in $^{10}$C is less neutron dominant compared to that in $^{16}$C.Comment: 13 pages, 10 figures, 2 tables. The title and conclusion have changed from the previous versio

Spectroscopy of η′\eta'-nucleus bound states at GSI and FAIR --- very preliminary results and future prospects ---

The possible existence of \eta'-nucleus bound states has been put forward through theoretical and experimental studies. It is strongly related to the \eta' mass at finite density, which is expected to be reduced because of the interplay between the $U_A(1)$ anomaly and partial restoration of chiral symmetry. The investigation of the C(p,d) reaction at GSI and FAIR, as well as an overview of the experimental program at GSI and future plans at FAIR are discussed.Comment: 7 pages, 3 figures; talk at the International Conference on Exotic Atoms and Related Topics (EXA2014), Vienna, Austria, 15-19 September 2014. in Hyperfine Interactions (2015