New methods in adaptive flight control

New methods for design of adaptive flight control system

Theoretical and experimental research on parameter tracking systems Final report, 15 Jul. 1964 - Aug. 1965

Parameter tracking systems based on equation error approach for mathematical model of unknown plan

Spatio-Temporal Patterning in Primary Motor Cortex at Movement Onset

Voluntary movement initiation involves the engagement of large populations of motor cortical neurons around movement onset. Despite knowledge of the temporal dynamics that lead to movement, the spatial structure of these dynamics across the cortical surface remains unknown. In data from 4 rhesus macaques, we show that the timing of attenuation of beta frequency local field potential oscillations, a correlate of locally activated cortex, forms a spatial gradient across primary motor cortex (MI). We show that these spatio-temporal dynamics are recapitulated in the engagement order of ensembles of MI neurons. We demonstrate that these patterns are unique to movement onset and suggest that movement initiation requires a precise spatio-temporal sequential activation of neurons in MI

Deep spectroscopy of z~1 6C radio galaxies - II. Breaking the redshift-radio power degeneracy

The results of a spectroscopic analysis of 3CR and 6C radio galaxies at redshift z~1 are contrasted with the properties of lower redshift radio galaxies, chosen to be matched in radio luminosity to the 6C sources studied at z~1, thus enabling the P-z degeneracy to be broken. Partial rank correlations and principal component analysis have been used to determine which of z and P are the critical parameters underlying the observed variation of the ionization state andd kinematics of the emission line gas. [OII]/H-beta is shown to be a useful ionization mechanism diagnostic. Statistical analysis of the data shows that the ionization state of the emission line gas is strongly correlated with radio power, once the effects of other parameters are removed. No dependence of ionization state on z is observed, implying that the ionization state of the emission line gas is solely a function of the AGN properties rather than the hostt galaxy and/or environment. Statistical analysis of the kinematic properties of the emission line gas shows that these are strongly correlated independently withh both P and z. The correlation with redshift is the stronger of the two, suggesting that host galaxy composition or environment may play a role in producing the less extreme gas kinematics observed in the emission line regions of low redshift galaxies. For both the ionization and kinematic properties of thee galaxies, the independent correlations observed with radio size are strongest. Radio source age is a determining factor for the extended emission line regions.Comment: 10 pages, 5 figures, accepted for publication in MNRA

Online planning for multi-robot active perception with self-organising maps

© 2017, Springer Science+Business Media, LLC, part of Springer Nature. We propose a self-organising map (SOM) algorithm as a solution to a new multi-goal path planning problem for active perception and data collection tasks. We optimise paths for a multi-robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting associated viewpoint regions defined by a sensor model. The key problem characteristics are that the viewpoint regions are overlapping polygonal continuous regions, each node has an observation reward, and the robots are constrained by travel budgets. The SOM algorithm jointly selects and allocates nodes to the robots and finds favourable sequences of sensing locations. The algorithm has a runtime complexity that is polynomial in the number of nodes to be observed and the magnitude of the relative weighting of rewards. We show empirically the runtime is sublinear in the number of robots. We demonstrate feasibility for the active perception task of observing a set of 3D objects. The viewpoint regions consider sensing ranges and self-occlusions, and the rewards are measured as discriminability in the ensemble of shape functions feature space. Exploration objectives for online tasks where the environment is only partially known in advance are modelled by introducing goal regions in unexplored space. Online replanning is performed efficiently by adapting previous solutions as new information becomes available. Simulations were performed using a 3D point-cloud dataset from a real robot in a large outdoor environment. Our results show the proposed methods enable multi-robot planning for online active perception tasks with continuous sets of candidate viewpoints and long planning horizons

Multi-robot path planning for budgeted active perception with self-organising maps

© 2016 IEEE. We propose a self-organising map (SOM) algorithm as a solution to a new multi-goal path planning problem for active perception and data collection tasks. We optimise paths for a multi-robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting associated viewpoint regions defined by a sensor model. The key problem characteristics are that the viewpoint regions are overlapping polygonal continuous regions, each node has an observation reward, and the robots are constrained by travel budgets. The SOM algorithm jointly selects and allocates nodes to the robots and finds favourable sequences of sensing locations. The algorithm has polynomial-bounded runtime independent of the number of robots. We demonstrate feasibility for the active perception task of observing a set of 3D objects. The viewpoint regions consider sensing ranges and self-occlusions, and the rewards are measured as discriminability in the ensemble of shape functions feature space. Simulations were performed using a 3D point cloud dataset from a real robot in a large outdoor environment. Our results show the proposed methods enable multi-robot planning for budgeted active perception tasks with continuous sets of candidate viewpoints and long planning horizons

Transfer Function Approximations for Large Highly Coupled Elastic Boosters with Fuel Slosh

Transfer function approximations for large highly coupled flexible body launch vehicles with liquid fuel slos

Comparing Offline Decoding Performance in Physiologically Defined Neuronal Classes

Objective: Recently, several studies have documented the presence of a bimodal distribution of spike waveform widths in primary motor cortex. Although narrow and wide spiking neurons, corresponding to the two modes of the distribution, exhibit different response properties, it remains unknown if these differences give rise to differential decoding performance between these two classes of cells. Approach: We used a Gaussian mixture model to classify neurons into narrow and wide physiological classes. Using similar-size, random samples of neurons from these two physiological classes, we trained offline decoding models to predict a variety of movement features. We compared offline decoding performance between these two physiologically defined populations of cells. Main results: We found that narrow spiking neural ensembles decode motor parameters better than wide spiking neural ensembles including kinematics, kinetics, and muscle activity. Significance: These findings suggest that the utility of neural ensembles in brain machine interfaces may be predicted from their spike waveform widths

Will the Three Gorges Dam affect the underwater light climate of Vallisneria spiralis L. and food habitat of Siberian crane in Poyang Lake?

Almost 95% of the entire population of the Siberian crane (Grus leucogeranus) winter in Poyang Lake, China, where they forage on the tubers of the submerged aquatic macrophyte Vallisneria spiralis. The Three Gorges Dam on the Yangtze River may possibly affect this food source of the Siberian crane by affecting the light intensity reaching the top of the V. spiralis canopy. In this study, the photosynthetically active radiation at the top of the V. spiralis canopy (PARtc) in Lake Dahuchi was modeled from 1998 to 2006, and the potential impacts of changes in water level and turbidity on the underwater light climate of V. spiralis were analyzed. PARtc was calculated from incident irradiance while the losses due to reflection at the water surface, absorption, and scattering within the water column were taken into consideration. The results indicated significant differences in PARtc between years. Six years of water level and Secchi disk depth records revealed a seasonal switching of the lake from a turbid state at low water levels in autumn, winter, and spring to a clear state at high water levels during the monsoon in summer. The highest PARtc occurred at intermediate water levels, which were reached when the Yangtze River forces Lake Dahuchi out of its turbid state in early summer and the water becomes clear. The intended operation of the Three Gorges Dam, which will increase water levels in May and June, may advance the moment when Lake Dahuchi switches from turbid to clear. We suggest that this might increase production of V. spiralis and possibly improve the food habitat conditions for wintering Siberian crane in Poyang Lake