Discrete-time Decoupling of Dynamical Subsystems Through Input-Output Blending

This paper presents a subsystem decoupling method for Linear Time Invariant Discrete-time systems. This allows that a selected subsystem can be controlled in a way which does not affect the remaining modes. Decoupling is achieved by suitable input and output blend vectors, such that they maximize the sensitivity of the selected mode, while at the same time they minimize the transfer through the undesired dynamics. The proposed algorithm is based on an optimization problem involving Linear Matrix Inequalities, where the H− index of the controlled subsystem is maximized, while the transfer through the undesired dynamics is minimized by a sparsity like criteria. The present approach has the advantage that it is directly applicable to stable and unstable subsystems also. Numerical examples demonstrate the effectiveness of the method. The paper extends earlier continuous time results to discrete time systems over a finite frequency interval

Parameter Varying Mode Decoupling for LPV systems

The paper presents the design of parameter varying input and output transformations for Linear Parameter Varying systems, which make possible the control of a selected subsystem. In order to achieve the desired decoupling the inputs and outputs of the plant are blended together, and so the MIMO control problem is reduced to a SISO one. The new input of the blended system will only interact with the selected subsystem, while the response of the undesired dynamical part is suppressed in the single output. Decoupling is achieved over the whole parameter range, and no further dynamics are introduced. Linear Matrix Inequality methods form the basis of the proposed approach, where the minimum sensitivity (denoted by the H − index) is maximized for the subsystem to be controlled, while the H∞ norm of the subsystem to be decoupled is minimized. The method is evaluated on a flexible wing aircraft model

Error analysis of algorithms for camera rotation calculation in GPS/IMU/camera fusion for UAV sense and avoid systems

In this paper four camera pose estimation algorithms are investigated in simulations. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one is the sense-and-avoid capability of the aircraft and the other is sensor redundancy. Both parts can benefit from a good attitude estimate. Thus, it is important to use the appropriate algorithm for the camera rotation estimation. Results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion. © 2014 IEEE

Lineáris és paraméter függő lineáris kapcsoló üzemmódú rendszerek irányítása = Control of linear and parameter-varying switching mode systems

A kutatás során a hibrid rendszerek egy osztályára, amit lineáris kapcsoló üzemű rendszerekenek neveznek, rendszerelméleti erdményeket dolgoztunk ki. A munka során elsősorban az alapvető rendszer tulajdonságok, mint a megfigyelhetőség és irányithatóság feltételeivel és ellenőrzésük módszereivel foglalkoztunk. A kapcsoló üzemű rendszerek egy fontos osztályával, a bimodális rendszerekkel részletesen foglalkoztunk, itt a kapcsolási feltétel állapot függő. Kidolgoztunk egy olyan bimodális irányithatósági/megigyelhetőségi kritériumot és a hozzá tartozó ellenőrzési módszert amely az eredeti Kalman - féle kritérium bimodális általánositásának tekinthető. Az eredményeket időfüggő és nemlineáris rendszerek egy bizonyos gyakorlat szempontjából fontos osztályára, a linráris paraméterváltozós (LPV) rendszerek osztályára is ki kiterjesztettük és több jármű és közlekedési rendszer irányitási analizisében felhasználtuk. | This research focused on developing cotheory for investigation of controllability and observability problems of switching linear and linear parameter varying systems (LPV). An important class of this sort of hybrid systems is the class of bimodal systems where the switching condition is system state dependent. We elaborated a controllability/observability criterion and the associated test procedure that can be be considered as the generalization of the original Kalman - rank test for the case of switching systems. The results were extended to certain LPV systems and were used in the analysis of vehicle and traffic control systems

Error analysis of attitude estimation with focal-plane processors for guidance for mobile robots

In this paper the results of the error analysis of four different feature point based attitude estimator algorithm is introduced. The algorithms was tested in simulation with realistic flight paths and camera models. With these results a best performing candidate algorithm can be chosen for a given focal-plane processor and for the given scenarios

Online vs. Offline Gossip as a Source of Corporate Communicative Advantage

In a world that may be described by information revolution, it is becoming more and more important to discover the diffusion of information and news in a new technological environment. We are not dependent but, more in control of receiving and forwarding information in this technology driven environment. What we can find is that in today’s interpersonal communications, even corporate communications, gossip-like information gain a more important role. Starting from the psychological notion of gossip we asked the question how gossip occurs, evolves and disperses on the internet, what the main criteria of its diffusion and how these maybe taken into service of a company. The power of gossip derives from its biological basis that is communication advantage. The “newsmonger” maybe described with good memory, being up-to-date even in non-gossip like situations. The spread of info is faster and more precise among people with similar professions or of common interest. The content of the gossip adopts to the intellectual level of its audience. We conducted multiple research methods in order to discover about the nature of gossip of corporate interest: content analyses of blogs (N=10) and forums (N=10); online in-depth interviews (N=10); and individual consumer narratives (N=100). Our research shows that companies may lead and use gossip in an online context for their own communication intentions, however, corporate presence in terms of online gossips has to fulfill requirements in order to remain acceptable: that are specific language and place, openness, being direct about expressing intention and origin. In our paper we are going to present our major results and theoretical mode