Proofs of Control of a Quadrotor and a Ground Vehicle Manipulating an Object

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the object to a desired pose characterized by its position and inclination. The dynamics are derived using Euler-Lagrange method. A pre-stabilizing control law is proposed where the UGV is tasked to deploy the object to a certain position whereas the UAV adjusts its inclination. In particular, a proportional-derivative control law is proposed for the UGV, and a cascade control approach is used for the UAV, where the inner loop controls the attitude of the UAV and the outer loop stabilizes the inclination of the object. Then, we prove the stability of the points of equilibrium using small gain arguments. To ensure constraints satisfaction at all times, a reference governor unit is added to the pre-stabilizing control scheme. Finally, numerical results combined with experimental results are provided to validate the effectiveness of the proposed control scheme in practice.Comment: 16 pages, 7 figure

Two-Bit Bit Flipping Decoding of LDPC Codes

In this paper, we propose a new class of bit flipping algorithms for low-density parity-check (LDPC) codes over the binary symmetric channel (BSC). Compared to the regular (parallel or serial) bit flipping algorithms, the proposed algorithms employ one additional bit at a variable node to represent its "strength." The introduction of this additional bit increases the guaranteed error correction capability by a factor of at least 2. An additional bit can also be employed at a check node to capture information which is beneficial to decoding. A framework for failure analysis of the proposed algorithms is described. These algorithms outperform the Gallager A/B algorithm and the min-sum algorithm at much lower complexity. Concatenation of two-bit bit flipping algorithms show a potential to approach the performance of belief propagation (BP) decoding in the error floor region, also at lower complexity.Comment: 6 pages. Submitted to IEEE International Symposium on Information Theory 201

Effects of Antidumping Duties with Bertrand Competition: Some Evidence for Frozen Catfish Fillets

Antidumping duties are popular in the United States because under the Byrd Amendment domestic industry gets to keep tariff revenues. However, whether antidumping duties are an effective instrument of protection depends crucially on the tariff's ability to increase demand for the home good. Under Bertrand competition, the Byrd Amendment enhances tariff effects on the home price and trade flows in comparison to perfect competition. Assuming Bertrand competition and differentiated products, price-reaction functions of frozen catfish fillets are derived and estimated jointly with a demand equation using monthly data for the period January 1999 - December 2005. An inverse demand equation for farm-level products is also added to explore the efficacy of the tariff on price of farmed catfish. The estimated increase associated with the duty is exhibited tiny in price and sales of domestic fillets but insignificant in farm price. The result suggests antidumping duties are a weak tool for protecting the domestic catfish industry.antidumping tariff, Bertrand competition, Byrd Amendment, catfish, price, International Relations/Trade, Resource /Energy Economics and Policy,

Static and dynamic semantics of NoSQL languages

We present a calculus for processing semistructured data that spans differences of application area among several novel query languages, broadly categorized as "NoSQL". This calculus lets users define their own operators, capturing a wider range of data processing capabilities, whilst providing a typing precision so far typical only of primitive hard-coded operators. The type inference algorithm is based on semantic type checking, resulting in type information that is both precise, and flexible enough to handle structured and semistructured data. We illustrate the use of this calculus by encoding a large fragment of Jaql, including operations and iterators over JSON, embedded SQL expressions, and co-grouping, and show how the encoding directly yields a typing discipline for Jaql as it is, namely without the addition of any type definition or type annotation in the code

Simulator study of the effectiveness of an automatic control system designed to improve the high-angle-of-attack characteristics of a fighter airplane

A piloted, fixed-base simulation was conducted to study the effectiveness of some automatic control system features designed to improve the stability and control characteristics of fighter airplanes at high angles of attack. These features include an angle-of-attack limiter, a normal-acceleration limiter, an aileron-rudder interconnect, and a stability-axis yaw damper. The study was based on a current lightweight fighter prototype. The aerodynamic data used in the simulation were measured on a 0.15-scale model at low Reynolds number and low subsonic Mach number. The simulation was conducted on the Langley differential maneuvering simulator, and the evaluation involved representative combat maneuvering. Results of the investigation show the fully augmented airplane to be quite stable and maneuverable throughout the operational angle-of-attack range. The angle-of-attack/normal-acceleration limiting feature of the pitch control system is found to be a necessity to avoid angle-of-attack excursions at high angles of attack. The aileron-rudder interconnect system is shown to be very effective in making the airplane departure resistant while the stability-axis yaw damper provided improved high-angle-of-attack roll performance with a minimum of sideslip excursions