Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

Control and trajectory generation algorithms for a quadrotor helicopter with variable-pitch propellers are presented. The control law is not based on near-hover assumptions, allowing for large attitude deviations from hover. The trajectory generation algorithm ts a time-parametrized polynomial through any number of way points in R3, with a closed-form solution if the corresponding way point arrival times are known a priori. When time is not specifi ed, an algorithm for fi nding minimum-time paths subject to hardware actuator saturation limitations is presented. Attitude-specifi c constraints are easily embedded in the polynomial path formulation, allowing for aerobatic maneuvers to be performed using a single controller and trajectory generation algorithm. Experimental results on a variable pitch quadrotor demonstrate the control design and example trajectories.National Science Foundation (U.S.) (Graduate Research Fellowship under Grant No. 0645960

Experimental Results of Concurrent Learning Adaptive Controllers

Commonly used Proportional-Integral-Derivative based UAV flight controllers are often seen to provide adequate trajectory-tracking performance only after extensive tuning. The gains of these controllers are tuned to particular platforms, which makes transferring controllers from one UAV to other time-intensive. This paper suggests the use of adaptive controllers in speeding up the process of extracting good control performance from new UAVs. In particular, it is shown that a concurrent learning adaptive controller improves the trajectory tracking performance of a quadrotor with baseline linear controller directly imported from another quadrotors whose inertial characteristics and throttle mapping are very di fferent. Concurrent learning adaptive control uses specifi cally selected and online recorded data concurrently with instantaneous data and is capable of guaranteeing tracking error and weight error convergence without requiring persistency of excitation. Flight-test results are presented on indoor quadrotor platforms operated in MIT's RAVEN environment. These results indicate the feasibility of rapidly developing high-performance UAV controllers by using adaptive control to augment a controller transferred from another UAV with similar control assignment structure.United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N000141110688)National Science Foundation (U.S.). Graduate Research Fellowship Program (Grant 0645960)Boeing Scientific Research Laboratorie

Virial expansion coefficients in the harmonic approximation

The virial expansion method is applied within a harmonic approximation to an interacting N-body system of identical fermions. We compute the canonical partition functions for two and three particles to get the two lowest orders in the expansion. The energy spectrum is carefully interpolated to reproduce ground state properties at low temperature and the non-interacting large temperature limit of constant virial coefficients. This resembles the smearing of shell effects in finite systems with increasing temperature. Numerical results are discussed for the second and third virial coefficients as function of dimension, temperature, interaction, and the transition temperature between low and high energy limits.Comment: 11 pages, 7 figures, published versio

Local Magnetic Field Role in Star Formation

We highlight distinct and systematic observational features of magnetic field morphologies in polarized submm dust continuum. We illustrate this with specific examples and show statistical trends from a sample of 50 star-forming regions.Comment: 4 pages, 3 figures; to appear in the EAS Proceedings of the 6th Zermatt ISM Symposium "Conditions and Impact of Star Formation from Lab to Space", September 201

A blind accuracy assessment of computer-modeled forensic facial reconstruction using computed tomography data from live subjects.

A computer modeling system for facial reconstruction has been developed that employs a touch-based application to create anatomically accurate facial models focusing on skeletal detail. This article discusses the advantages and disadvantages of the system and illustrates its accuracy and reliability with a blind study using computed tomography (CT) data of living individuals. Three-dimensional models of the skulls of two white North American adults (one male, one female) were imported into the computer system. Facial reconstructions were produced by two practitioners following the Manchester method. Two posters were produced, each including a face pool of five surface model images and the facial reconstruction. The face pool related to the sex, age, and ethnic group of the target individual and included the surface model image of the target individual. Fifty-two volunteers were asked to choose the face from the face pool that most resembled each reconstruction. Both reconstructions received majority percentage hit rates that were at least 50% greater than any other face in the pool. The combined percentage hit rate was 50% above chance (70%). A quantitative comparison of the facial morphology between the facial reconstructions and the CT scan models of the subjects was carried out using Rapidform(™) 2004 PP2-RF4. The majority of the surfaces of the facial reconstructions showed less than 2.5 mm error and 90% of the male face and 75% of the female face showed less than 5 mm error. Many of the differences between the facial reconstructions and the facial scans were probably the result of positional effects caused during the CT scanning procedure, especially on the female subject who had a fatter face than the male subject. The areas of most facial reconstruction error were at the ears and nasal tip

Urban and rural inequality in knowledge, attitude and practice on haze pollution episode in Klang Valley, Malaysia

Introduction: Transboundary haze occurred was primarily derived from seasonal forest fires which has highly been concerned of the health effect on the local community. As awareness of the source and dangers of smoke haze spread, Malaysian government increasingly came under pressure from the public and civil society at the national, state, and district level to address the haze issues. However, the knowledge, attitude, and practice (KAP) inequalities of urban and rural community could be a barrier in promoting awareness on haze. Objective: To determine the urban and rural inequality in KAP on haze. Methodology: A total of 400 urban and rural residents from Klang Valley was recruited to participate in this study. A validated survey form was used as the study instrument which composed of four parts: (1) Sociodemographic information, (2) Haze knowledge, (3) Attitude (concerns) during haze episodes, (4) Practices (protective behaviors) to prevent against the health effects of haze. Result: There were significant differences of KAP on transboundary haze among urban-rural population. Urban population has higher knowledge and protective behaviors on hazes; however, both the rural-urban residents presented moderate levels of concerns on hazes. Conclusion: It is necessary to provide timely information (knowledge and practices) on haze to rural residents, at the same time, improve the urban residents’ concerns (attitudes) over the haze phenomenon. This will help to raise the overall awareness level to transboundary haze by translating into a state of the resilient community

Dimensionality reduction in machine learning for nonadiabatic molecular dynamics: Effectiveness of elemental sublattices in lead halide perovskites

Supervised machine learning (ML) and unsupervised ML have been performed on descriptors generated from nonadiabatic (NA) molecular dynamics (MD) trajectories representing non-radiative charge recombination in CsPbI3, a promising solar cell and optoelectronic material. Descriptors generated from every third atom of the iodine sublattice alone are sufficient for a satisfactory prediction of the bandgap and NA coupling for the use in the NA-MD simulation of nonradiative charge recombination, which has a strong influence on material performance. Surprisingly, descriptors based on the cesium sublattice perform better than those of the lead sublattice, even though Cs does not contribute to the relevant wavefunctions, while Pb forms the conduction band and contributes to the valence band. Simplification of the ML models of the NA-MD Hamiltonian achieved by the present analysis helps to overcome the high computational cost of NA-MD through ML and increase the applicability of NA-MD simulations.Published versionThis work was supported by the U.S. National Science Foundation under Grant No. CHE-1900510

Ensuring the quality and specificity of preregistrations

Researchers face many, often seemingly arbitrary, choices in formulating hypotheses, designing protocols, collecting data, analyzing data, and reporting results. Opportunistic use of “researcher degrees of freedom” aimed at obtaining statistical significance increases the likelihood of obtaining and publishing false-positive results and overestimated effect sizes. Preregistration is a mechanism for reducing such degrees of freedom by specifying designs and analysis plans before observing the research outcomes. The effectiveness of preregistration may depend, in part, on whether the process facilitates sufficiently specific articulation of such plans. In this preregistered study, we compared 2 formats of preregistration available on the OSF: Standard Pre-Data Collection Registration and Prereg Challenge Registration (now called “OSF Preregistration,” http://osf.io/prereg/). The Prereg Challenge format was a “structured” workflow with detailed instructions and an independent review to confirm completeness; the “Standard” format was “unstructured” with minimal direct guidance to give researchers flexibility for what to prespecify. Results of comparing random samples of 53 preregistrations from each format indicate that the “structured” format restricted the opportunistic use of researcher degrees of freedom better (Cliff’s Delta = 0.49) than the “unstructured” format, but neither eliminated all researcher degrees of freedom. We also observed very low concordance among coders about the number of hypotheses (14%), indicating that they are often not clearly stated. We conclude that effective preregistration is challenging, and registration formats that provide effective guidance may improve the quality of research

Elucidation of single atom catalysts for energy and sustainable chemical production: Synthesis, characterization and frontier science

The emergence of single atom sites as a frontier research area in catalysis has sparked extensive academic and industrial interest, especially for energy, environmental and chemicals production processes. Single atom catalysts (SACs) have shown remarkable performance in a variety of catalytic reactions, demonstrating high selectivity to the products of interest, long lifespan, high stability and more importantly high atomic metal utilization efficiency. In this review, we unveil in depth insights on development and achievements of SACs, including (a) Chronological progress on SACs development, (b) Recent advances in SACs synthesis, (c) Spatial and temporal SACs characterization techniques, (d) Application of SACs in different energy and chemical production, (e) Environmental and economic aspects of SACs, and (f) Current challenges, promising ideas and future prospects for SACs. On a whole, this review serves to enlighten scientists and engineers in developing fundamental catalytic understanding that can be applied into the future, both for academia or valorizing chemical processes