Trajectory Optimization and NMPC Tracking for a Fixed Wing UAV in Deep Stall with Perch Landing

This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling, then perches on a recovery net, ii) we design an NMPC (Nonlinear Model Predictive Control) tracking controller with terminal constraints for the optimal generated trajectory under disturbances. Compared to nominal net recovery procedures, this technique greatly reduces the landing time and the final airspeed of the UAV. Simulation results for various wind conditions demonstrate the feasibility of the idea.Comment: 8 pages, 13 figure

A Stabilizing NMPC Strategy for a Class of Nonholonomic Systems with Drift

In this paper, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterally restrained. Examples include a mobile robot with drifting wheels on a planar surface or a spacecraft maneuvering in a vacuum. The novelty lies in the formulation of the terminal set, reachable from a significant distance from the equilibrium, and the terminal cost, represented as the integration of the stage cost. The proposed approach establishes essential steps for ensuring stability and feasibility guarantees. Simulation results substantiate the viability and effectiveness of the NMPC scheme.Comment: Submitted to an international conferenc

Memory Usage Inference for Object-Oriented Programs

We present a type-based approach to statically derive symbolic closed-form formulae that characterize the bounds of heap memory usages of programs written in object-oriented languages. Given a program with size and alias annotations, our inference system will compute the amount of memory required by the methods to execute successfully as well as the amount of memory released when methods return. The obtained analysis results are useful for networked devices with limited computational resources as well as embedded software.Singapore-MIT Alliance (SMA

Opportunities and challenges of digital twins in structural health monitoring

Digital twin (DT) is one of the most modern and promising technologies in realizing smart manufacturing and implementing Industry 4.0. DT offers opportunity to integrate the physical world with digital world with a seamless data source. Civil engineering industry, in general, is facing many challenges in the process of digital transformation to improve efficiency and technology to meet the current growth rate of the economy. DT technology has the potential to transform and improve the exploitation and management of infrastructure in civil engineering, especially in the service phase. Based on DT model, managers and maintenance operators can test different scenarios, improve efficiency, and make accurate decisions in maintenance of the structure, leading to reduction of management and other regular monitoring costs, as well as accurate prediction of risks during the lifespan of the infrastructure. This study presents advances in digital twin implementations in structural health monitoring. This presents the opportunities and challenges of the digital twin in structural health monitoring with current technologies and future directions.The authors acknowledge the financial support of the project research “B2022-GHA-03” of the Ministry of Education and Training. This work was partly financed by FCT/MCTES through national funds (PIDDAC) under the R&D Unit Institute for Sustainability and Innovation in Structural Engineering (ISISE), under reference UIDB/04029/2020. The first author acknowledges the funding by MIT Portugal Program (MPP) through the MPP2030-FCT Research Grants. The second author acknowledges the funding by FCT through the Scientific Employment Stimulus—4th Edition. Nguyen Huu Quyet was funded by the Master, Ph.D. Scholarship Programme of Vingroup Innovation Foundation (VINIF), code VINIF.2022.ThS.075

Automatic Circular Take-off and Landing of Tethered Motorized Aircraft

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose center and radius are defined by the anchorage point and the tether length, respectively. We propose a hierarchical control architecture for ATOL and discuss the controllers designed for each control layer and for each of the flight phases. Simulation results are reported, showing the viability of the approach, but also showing the limitations on the maximum altitude attainable with a fixed-tether length. The tethered aircraft and the proposed ATOL control architecture are to be used in an Airborne Wind Energy System.Comment: Submitted to an international conferenc

Helminth eggs die-off and nutrients : human excreta storage experiment

Are the current practices of handling human excreta for agricultural purposes by farmers in Vietnam good enough?This study set up an excreta storage experiment to research how to inactivate Ascaris lumbricoides eggs and stillmaintain the nutrient value of human excreta

A novel segmentation framework for uveal melanoma in magnetic resonance imaging based on class activation maps

An automatic and accurate eye tumor segmentation from Magnetic Resonance images (MRI) could have a great clinical contribution for the purpose of diagnosis and treatment planning of intra-ocular cancer. For instance, the characterization of uveal melanoma (UM) tumors would allow the integration of 3D information for the radiotherapy and would also support further radiomics studies. In this work, we tackle two major challenges of UM segmentation: 1) the high heterogeneity of tumor characterization in respect to location, size and appearance and, 2) the difficulty in obtaining ground-truth delineations of medical experts for training. We propose a thorough segmentation pipeline consisting of a combination of two Convolutional Neural Networks (CNN). First, we consider the class activation maps (CAM) output from a Resnet classification model and the combination of Dense Conditional Random Field (CRF) with a prior information of sclera and lens from an Active Shape Model (ASM) to automatically extract the tumor location for all MRIs. Then, these immediate results will be inputted into a 2D-Unet CNN whereby using four encoder and decoder layers to produce the tumor segmentation. A clinical data set of 1.5T T1-w and T2-w images of 28 healthy eyes and 24 UM patients is used for validation. We show experimentally in two different MRI sequences that our weakly 2D-Unet approach outperforms previous state-of-the-art methods for tumor segmentation and that it achieves equivalent accuracy as when manual labels are used for training. These results are promising for further large-scale analysis and for introducing 3D ocular tumor information in the therapy planning

Flexural-strengthening efficiency of cfrp sheets for unbonded post-tensioned concrete T-beams

There has been a limited number of studies about the flexural behavior of unbonded post-tensioned concrete (UPC) beams strengthened with carbon fibre reinforced polymer (CFRP) and these studies have not systematically examined the effect of CFRP sheets on the tendon strain as well as the strengthening efficiency. Moreover, current design guides for the FRP strengthening techniques have not provided any design procedure for UPC structures. This study, thus, investigates the influence of CFRP sheet ratio on the flexural behavior of CFRP-strengthened UPC T-beams and quantifies its effect upon tendon behavior in this kind of UPC beams. The testing program consisted of nine large-scale UPC T-beams strengthened by different layers of CFRP sheets with or without CFRP U-wrapped anchors. The experimental results have shown that the use of CFRP sheets and CFRP U-wrapped anchors significantly affected the tendon strain. The FRP reinforcement ratio governed the flexural capacity, the crack width, the mid-span displacement, and the ductility of the beams in which the strengthening efficiency reduces with the increased number of CFRP layers. The configuration of the CFRP U-wrapped anchors affected the strain of the CFRP sheets, the failure mode and thus the beam behavior. In addition, semi-empirical equations were proposed to estimate the actual strain of unbonded tendons in which the effect of the CFRP sheets and CFRP U-wrapped anchors have been taken into consideration. The proposed equations, which are simple to use, yield reliable predictions with a small variation

Feasibility of wearable monitors to detect heart rate variability in children with hand, foot and mouth disease

Hand foot and mouth disease (HFMD) is caused by a variety of enteroviruses, and occurs in large outbreaks in which a small proportion of children deteriorate rapidly with cardiopulmonary failure. Determining which children are likely to deteriorate is difficult and health systems may become overloaded during outbreaks as many children require hospitalization for monitoring. Heart rate variability (HRV) may help distinguish those with more severe diseases but requires simple scalable methods to collect ECG data.We carried out a prospective observational study to examine the feasibility of using wearable devices to measure HRV in 142 children admitted with HFMD at a children's hospital in Vietnam. ECG data were collected in all children. HRV indices calculated were lower in those with enterovirus A71 associated HFMD compared to those with other viral pathogens.HRV analysis collected from wearable devices is feasible in a low and middle income country (LMIC) and may help classify disease severity in HFMD

Tridimensional few-layer graphene-like structures from sugar-salt mixtures as high-performance supercapacitor electrodes

© 2018 Elsevier Ltd This work describes a straightforward approach to the production of highly-performing and cost-effective C-based materials for energy storage application while proposing an original and effective method to the control of the final material morphology. Indeed, robust few-layer graphene-like and highly open-cell structures have been prepared by a modified chemical activation procedure starting from costless sugar/salt mixtures. The as-prepared C-samples ensure high ion-accessible surface area and low ion transport resistance, two key features for the fabrication of effective electrochemical double layer supercapacitors. A selected sample from this series exhibits high specific capacitance (Cg) (312 and 234 F g−1 at 0.5 and 50 A g−1, respectively, in 0.5 M H2SO4), particularly at high current density values, along with excellent cycling stability and Cg retention for increasing charge–discharge rates