Fault tolerant control of a quadrotor using L-1 adaptive control

Purpose – The growing use of small unmanned rotorcraft in civilian applications means that safe operation is increasingly important. The purpose of this paper is to investigate the fault tolerant properties to faults in the actuators of an L1 adaptive controller for a quadrotor vehicle. Design/methodology/approach – L1 adaptive control provides fast adaptation along with decoupling between adaptation and robustness. This makes the approach a suitable candidate for fault tolerant control of quadrotor and other multirotor vehicles. In the paper, the design of an L1 adaptive controller is presented. The controller is compared to a fixed-gain LQR controller. Findings – The L1 adaptive controller is shown to have improved performance when subject to actuator faults, and a higher range of actuator fault tolerance. Research limitations/implications – The control scheme is tested in simulation of a simple model that ignores aerodynamic and gyroscopic effects. Hence for further work, testing with a more complete model is recommended followed by implementation on an actual platform and flight test. The effect of sensor noise should also be considered along with investigation into the influence of wind disturbances and tolerance to sensor failures. Furthermore, quadrotors cannot tolerate total failure of a rotor without loss of control of one of the degrees of freedom, this aspect requires further investigation. Practical implications – Applying the L1 adaptive controller to a hexrotor or octorotor would increase the reliability of such vehicles without recourse to methods that require fault detection schemes and control reallocation as well as providing tolerance to a total loss of a rotor. Social implications – In order for quadrotors and other similar unmanned air vehicles to undertake many proposed roles, a high level of safety is required. Hence the controllers should be fault tolerant. Originality/value – Fault tolerance to partial actuator/effector faults is demonstrated using an L1 adaptive controller

Educational specifications for a junior-senior high school building for Shrewsbury, Massachusetts.

Thesis (Ed.M.)--Boston Universit

A novel N-terminal extension in mitochondrial TRAP1 serves as a thermal regulator of chaperone activity.

Hsp90 is a conserved chaperone that facilitates protein homeostasis. Our crystal structure of the mitochondrial Hsp90, TRAP1, revealed an extension of the N-terminal β-strand previously shown to cross between protomers in the closed state. In this study, we address the regulatory function of this extension or 'strap' and demonstrate its responsibility for an unusual temperature dependence in ATPase rates. This dependence is a consequence of a thermally sensitive kinetic barrier between the apo 'open' and ATP-bound 'closed' conformations. The strap stabilizes the closed state through trans-protomer interactions. Displacement of cis-protomer contacts from the apo state is rate-limiting for closure and ATP hydrolysis. Strap release is coupled to rotation of the N-terminal domain and dynamics of the nucleotide binding pocket lid. The strap is conserved in higher eukaryotes but absent from yeast and prokaryotes suggesting its role as a thermal and kinetic regulator, adapting Hsp90s to the demands of unique cellular and organismal environments

The diet of powerful owls (Ninox strenua) and prey availability in a continuum of habitats from disturbed urban fringe to protected forest environments in south-eastern Australia

This study investigates the diet of six breeding pairs of powerful owls in the Yarra Valley Corridor in Victoria, Australia, and compares prey consumption with prey availability. The six sites represent a continuum of habitats, ranging from urban Melbourne, through the urban fringe interface to a more forested landscape. We found that powerful owls in the Yarra Valley Corridor are reliant almost exclusively on arboreal marsupial prey as their preferred diet, with 99% of their overall diet comprising four arboreal marsupial species. These four species (the common ringtail possum, common brushtail possum, sugar glider and greater glider) were also the most abundant species observed while spotlighting; however, their abundance varied along the continuum. There was a strong positive relationship with the presence of these species in the diet and their site-specific availability, indicating that the powerful owl is a generalist hunter, preying on the most available prey at a given site and in a given season. This study suggests that food resources are high in these disturbed urban fringe sites and it is unlikely that food availability in urban environments will limit the potential survival of urban powerful owls.<br /

A prototype of an autonomous controller for a quadrotor UAV

The paper proposes a complete real-time control algorithm for autonomous collision-free operations of the quadrotor UAV. As opposed to fixed wing vehicles the quadrotor is a small agile vehicle which might be more suitable for the variety of specific applications including search and rescue, surveillance and remote inspection. The developed control system incorporates both trajectory planning and path following. Using a differential flatness property the trajectory planning is posed as a constrained optimization problem in the output space (as opposed to the control space), which simplifies the problem. The trajectory and speed profile are parameterized to reduce the problem to a finite dimensional problem. To optimize the speed profile independently of the trajectory a virtual argument is used as opposed to time. A path following portion of the proposed algorithm uses a standard linear multi-variable control technique. The paper presents the results of simulations to demonstrate the suitability of the proposed control algorithm

Simulated recovery of LEO objects using sCMOS blind stacking

We present the methodology and results of a simulation to determine the recoverability of LEO objects using a blind stacking technique. The method utilises sCMOS and GPU technology to inject and recover LEO objects in real observed data. We explore the target recovery fraction and pipeline run-time as a function of three optimisation parameters; number of frames per data-set, exposure time, and binning factor. Results are presented as a function of magnitude and velocity. We find that target recovery using blind stacking is significantly more complete, and can reach fainter magnitudes, than using individual frames alone. We present results showing that, depending on the combination of optimisation parameters, recovery fraction is up to 90% of detectable targets for magnitudes up to 13.5, and then falls off steadily up to a magnitude limit around 14.5. Run-time is shown to be a few multiples of the observing time for the best combinations of optimisation parameters, approaching real-time processing.Comment: 14 pages, 14 figures. Accepted for publication in Advances in Space Research (ASR

The Effect of Simulation based Training on Medical Students’ Perceptions, Knowledge, and Skill at Baseline and 6 month Follow up

The principal goal of most simulation-based learning is enhanced clinical skill, with the desired outcome being skill retention and improved performance over time. While evide nce supports simulation based training at the clerkship, graduate, and post graduate level, the evidence supporting its long term benefit at the pre clerkship level is less well established. Using quantitative methods, this research assessed the effect of skill based clinical simulation training on all second year medical students’ enrolled in two simulation courses at the University of Michigan during the 2013 2014 academic year (n=39). Pre course, post course, and 6 month follow up questionnaires were adm inistered, and analysis of variance was used to assess change in students\u27 knowledge, self reported confidence, and competency. Students in Course 1 (n=12) completed a post course and 6 month follow up skills test, and results were compared to faculty cont rols. Differences between groups were assessed using t tests. Odds ratios were calculated.Knowledge improved from pre course to post course; the gain was retained at follow up only for students in Course 1. Students perceived the courses as improving know ledge, confidence, and skill, though scores were significantly lower at follow up. For the subset of students participating in the skills test, the time to complete central line and thoracentesis at follow up did not significantly differ from post course; however, an increase was observed for lumbar puncture. Compared to faculty, students took significantly more time to complete the central line procedure. Outcomes for needle redirects and correct sequencing were mixed, with most procedures showing no signi ficant difference between measurement periods. Assessing students’ skill and the maintenance of that skill over time using objective and empirically derived measures can be challenging. The evaluation strategy described herein could be adapted to many proc edures commonly practiced within primary care and other medical specialties. Brief exposure to clinical simulation early in medical training and prior to clerkships can have a positive and lasting effecton medical students’ knowledge, confidence, and skil l for selected procedures

Faint AGN and the Ionizing Background

We determine the evolution of the faint, high-redshift, optical luminosity function (LF) of AGN implied by several observationally-motivated models of the ionizing background. Our results depend crucially on whether we use the total ionizing rate measured by the proximity effect technique or the lower determination from the flux decrement distribution of Ly alpha forest lines. Assuming a faint-end LF slope of 1.58 and the SDSS estimates of the bright-end slope and normalization, we find that the LF must break at M_B*=-24.2,-22.3, -20.8 at z=3,4, 5 if we adopt the lower ionization rate and assume no stellar contribution to the background. The break must occur at M_B*=-20.6,-18.7, -18.7 for the proximity effect background estimate. These values brighten by as much as ~2 mag if high-z galaxies contribute to the background with an escape fraction of ionizing photons consistent with recent estimates: f_e=0.16. By comparing to faint AGN searches, we find that the typically-quoted proximity effect estimates of the background imply an over-abundance of faint AGN (even with f_e=1). Even adopting the lower bound on proximity effect measurements, the stellar escape fraction must be high: f_e>0.2. Conversely, the lower flux- decrement-derived background requires a limited stellar contribution: f_e<0.05. Our derived LFs together with the locally-estimated black hole density suggest that the efficiency of converting mass to light in optically-unobscured AGN is somewhat lower than expected, <0.05. Comparison with similar estimates based on X-ray counts suggests that more than half of all AGN are obscured in the UV/optical. We also derive lower limits on typical AGN lifetimes and obtain >10^7 yrs for favored cases.Comment: 19 pages, 16 figures. Accepted by Astrophysical Journa

Control system development for autonomous soaring

Thermal and dynamic soaring are two techniques commonly used by birds to extract energy from the atmosphere. This enables them to reduce, energy used during flight and increases their endurance. The thermal soaring technique involves extraction of energy from thermal updrafts and in dynamic soaring energy is extracted from wind shear. These techniques are investigated in this thesis using point mass and non-linear 6DoF models of an unmanned powered sailplane. The key challenges of autonomous thermal soaring are the ability to identify remote thermal activity using on-board sensors and to position correctly in a thermal. In dynamic soaring, a real-time fuel saving trajectory generation technique along with a trajectory following control system is needed. A hand held IR camera was used to assess the feasibility to observe hot spots associated with thermals. The thermal positioning capability was demonstrated in a 6DoF model using a positioning algorithm. The inverse Dynamics Virtual Domain (IDVD) technique was used to generate real-time trajectories for dynamic soaring applications using a point mass model of a powered unmanned sailplane and the fuel saving trajectories were validated using a high fidelity 6DoF model and a classical controller. An important outcome of the research is the fact that energy saved during dynamic soaring flight was also realized due to a sinusoidal manoeuvre using reduced thrust. In this manoeuvre the kinetic energy is converted into potential energy by gaining altitude and by reducing airspeed. Then initial values of altitude and speed are gained by loosing the altitude. In this process a horizontal distance is travelled by using reduced thrust.EThOS - Electronic Theses Online ServiceGBUnited Kingdo