Development of c-means Clustering Based Adaptive Fuzzy Controller for A Flapping Wing Micro Air Vehicle

Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV) and its control is one of the recent research topics related to the field of autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing Natureinspired (NI) FW MAV is modeled and controlled inspiring by its advanced features like quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability when contrasted with comparable-sized fixed and rotary wing UAVs. The Fuzzy C-Means (FCM) clustering algorithm is utilized to demonstrate the NIFW MAV model, which has points of interest over first principle based modelling since it does not depend on the system dynamics, rather based on data and can incorporate various uncertainties like sensor error. The same clustering strategy is used to develop an adaptive fuzzy controller. The controller is then utilized to control the altitude of the NIFW MAV, that can adapt with environmental disturbances by tuning the antecedent and consequent parameters of the fuzzy system.Comment: this paper is currently under review in Journal of Artificial Intelligence and Soft Computing Researc

PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles

There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely Parsimonious Controller (PAC) is proposed. It features fewer network parameters than conventional approaches due to the absence of rule premise parameters. PAC is built upon a recently developed evolving neuro-fuzzy system known as parsimonious learning machine (PALM) and adopts new rule growing and pruning modules derived from the approximation of bias and variance. These rule adaptation methods have no reliance on user-defined thresholds, thereby increasing the PAC's autonomy for real-time deployment. PAC adapts the consequent parameters with the sliding mode control (SMC) theory in the single-pass fashion. The boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's efficacy is evaluated by observing various trajectory tracking performance from a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing micro aerial vehicle called hexacopter. Furthermore, it is compared to three distinctive controllers. Our PAC outperforms the linear PID controller and feed-forward neural network (FFNN) based nonlinear adaptive controller. Compared to its predecessor, G-controller, the tracking accuracy is comparable, but the PAC incurs significantly fewer parameters to attain similar or better performance than the G-controller.Comment: This paper has been accepted for publication in Information Science Journal 201

Does slow and steady win the race? Investigating feedback processes in giant molecular clouds

We investigate the effects of gradual heating on the evolution of turbulent molecular clouds of mass $2\times 10^6$ M$_\odot$ and virial parameters ranging between $0.7-1.2$. This gradual heating represents the energy output from processes such as winds from massive stars or feedback from High Mass X-ray binaries (HMXBs), contrasting the impulsive energy injection from supernovae (SNe). For stars with a mass high enough that their lifetime is shorter than the life of the cloud, we include a SN feedback prescription. Including both effects, we investigate the interplay between slow and fast forms of feedback and their effectiveness at triggering/suppressing star formation. We find that SN feedback can carve low density chimneys in the gas, offering a path of least resistance for the energy to escape. Once this occurs the more stable, but less energetic, gradual feedback is able to keep the chimneys open. By funneling the hot destructive gas away from the centre of the cloud, chimneys can have a positive effect on both the efficiency and duration of star formation. Moreover, the critical factor is the number of high mass stars and SNe (and any subsequent HMXBs) active within the free-fall time of each cloud. This can vary from cloud to cloud due to the stochasticity of SN delay times and in HMXB formation. However, the defining factor in our simulations is the efficiency of the cooling, which can alter the Jeans mass required for sink particle formation, along with the number of massive stars in the cloud.Comment: 35 pages, 46 figures, accepted for publication in MNRA

Macroeconometric Modelling with a Global Perspective

This paper provides a synthesis and further development of a global modelling approach introduced in Pesaran, Schuermann and Weiner (2004), where country specific models in the form of VARX* structures are estimated relating a vector of domestic variables to their foreign counterparts and then consistently combined to form a Global VAR (GVAR). It is shown that VARX* models can be derived as the solution to a dynamic stochastic general equilibrium (DSGE) model where over-identifying long-run theoretical relations can be tested and imposed if acceptable. Similarly, short-run over-identifying theoretical restrictions can be tested and imposed if accepted. The assumption of the weak exogeneity of the foreign variables for the long-run parameters can be tested, where foreign variables can be interpreted as proxies for global factors. Rather than using deviations from ad hoc statistical trends, the equilibrium values of the variables reflecting the long-run theory embodied in the model can be calculated

Teashirt 1 (Tshz1) is essential for the development, survival and function of hypoglossal and phrenic motor neurons in mouse

Feeding and breathing are essential motor functions and rely on the activity of hypoglossal and phrenic motor neurons that innervate the tongue and diaphragm, respectively. Little is known about the genetic programs that control the development of these neuronal subtypes. The transcription factor Tshz1 is strongly and persistently expressed in developing hypoglossal and phrenic motor neurons. We used conditional mutation of Tshz1 in the progenitor zone of motor neurons (Tshz1(MNΔ)) to show that Tshz1 is essential for survival and function of hypoglossal and phrenic motor neurons. Hypoglossal and phrenic motor neurons are born in correct numbers, but many die between embryonic day 13.5 and 14.5 in Tshz1(MNΔ) mutant mice. In addition, innervation and electrophysiological properties of phrenic and hypoglossal motor neurons are altered. Severe feeding and breathing problems accompany this developmental deficit. Although motor neuron survival can be rescued by elimination of the pro-apoptotic factor Bax, innervation, feeding and breathing defects persist in Bax(-/-); Tshz1(MNΔ) mutants. We conclude that Tshz1 is an essential transcription factor for the development and physiological function of phrenic and hypoglossal motor neurons

Domestic ventilation rates, indoor humidity and dust mite allergens : are our homes causing the asthma pandemic?

This paper is concerned with historical changes in domestic ventilation rates, relative humidity and the associated risk of house dust mite colonization. A controlled trial evaluated allergen and water vapour control measures on the level of house dust mite (HDM) Der p1 allergen and indoor humidity, concurrently with changes in lung function in 54 subjects who completed the protocol. Mechanical heat recovery ventilation units significantly reduced moisture content in the active group, while HDM allergen reservoirs in carpets and beds were reduced by circa 96%. Self reported health status confirmed a significant clinical improvement in the active group. The study can form the basis for assessing minimum winter ventilation rates that can suppress RH below the critical ambient equilibrium humidity of 60% and thus inhibit dust mite colonization and activity in temperate and maritime in' uenced climatic regions

Does rhythm matter in acute heart failure? An insight from the British Society for Heart Failure National Audit

Peer reviewedPublisher PD