Suspended Load Path Tracking Control Using a Tilt-rotor UAV Based on Zonotopic State Estimation

This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the UAV by means of a rope, adding unactuated degrees of freedom to the whole system. Furthermore, to perform the load transportation it is often needed the knowledge of the load position to accomplish the task. Since available sensors are commonly embedded in the mobile platform, information on the load position may not be directly available. To solve this problem in this work, initially, the kinematics of the multi-body mechanical system are formulated from the load's perspective, from which a detailed dynamic model is derived using the Euler-Lagrange approach, yielding a highly coupled, nonlinear state-space representation of the system, affine in the inputs, with the load's position and orientation directly represented by state variables. A zonotopic state estimator is proposed to solve the problem of estimating the load position and orientation, which is formulated based on sensors located at the aircraft, with different sampling times, and unknown-but-bounded measurement noise. To solve the path tracking problem, a discrete-time mixed $\mathcal{H}_2/\mathcal{H}_\infty$ controller with pole-placement constraints is designed with guaranteed time-response properties and robust to unmodeled dynamics, parametric uncertainties, and external disturbances. Results from numerical experiments, performed in a platform based on the Gazebo simulator and on a Computer Aided Design (CAD) model of the system, are presented to corroborate the performance of the zonotopic state estimator along with the designed controller

Set-based state estimation and fault diagnosis using constrained zonotopes and applications

This doctoral thesis develops new methods for set-based state estimation and active fault diagnosis (AFD) of (i) nonlinear discrete-time systems, (ii) discrete-time nonlinear systems whose trajectories satisfy nonlinear equality constraints (called invariants), (iii) linear descriptor systems, and (iv) joint state and parameter estimation of nonlinear descriptor systems. Set-based estimation aims to compute tight enclosures of the possible system states in each time step subject to unknown-but-bounded uncertainties. To address this issue, the present doctoral thesis proposes new methods for efficiently propagating constrained zonotopes (CZs) through nonlinear mappings. Besides, this thesis improves the standard prediction-update framework for systems with invariants using new algorithms for refining CZs based on nonlinear constraints. In addition, this thesis introduces a new approach for set-based AFD of a class of nonlinear discrete-time systems. An affine parametrization of the reachable sets is obtained for the design of an optimal input for set-based AFD. In addition, this thesis presents new methods based on CZs for set-valued state estimation and AFD of linear descriptor systems. Linear static constraints on the state variables can be directly incorporated into CZs. Moreover, this thesis proposes a new representation for unbounded sets based on zonotopes, which allows to develop methods for state estimation and AFD also of unstable linear descriptor systems, without the knowledge of an enclosure of all the trajectories of the system. This thesis also develops a new method for set-based joint state and parameter estimation of nonlinear descriptor systems using CZs in a unified framework. Lastly, this manuscript applies the proposed set-based state estimation and AFD methods using CZs to unmanned aerial vehicles, water distribution networks, and a lithium-ion cell.Comment: My PhD Thesis from Federal University of Minas Gerais, Brazil. Most of the research work has already been published in DOIs 10.1109/CDC.2018.8618678, 10.23919/ECC.2018.8550353, 10.1016/j.automatica.2019.108614, 10.1016/j.ifacol.2020.12.2484, 10.1016/j.ifacol.2021.08.308, 10.1016/j.automatica.2021.109638, 10.1109/TCST.2021.3130534, 10.1016/j.automatica.2022.11042

Some boundary effects in quantum field theory

We have constructed a quantum field theory in a finite box, with periodic boundary conditions, using the hypothesis that particles living in a finite box are created and/or annihilated by the creation and/or annihilation operators, respectively, of a quantum harmonic oscillator on a circle. An expression for the effective coupling constant is obtained showing explicitly its dependence on the dimension of the box.Comment: 12 pages, Late

The Institutionalization of Genocidal Leadership: Pol Pot and a Cambodian Dystopia

© 2015 University of Phoenix. Misleadership is defined as leadership process involving a complex interplay of leader, follower, and situational elements, inscribing a vicious circle of intensifying dysfunctional action. It is tempting to see misleadership as the result of the madness of one leader. It is also misleading. Leadership research has been insufficiently attentive to misleadership and, in particular, to the misleadership factors intervening in genocidal processes. Discussed in the current article are the antecedents and the rule of the Khmer Rouge regime in Cambodia in the 1970s as an extreme case of misleadership. Lessons from the Polpotist dystopia are derived and reflections on possible contra-strategies are presented. In particular, it is suggested that it is necessary to distinguish measures for social change that are admissible and positive, from negative utopian visions that are negative, inadmissible, and facilitative of evil leadership

Caracterização morfológica do fruto, da semente e do desenvolmento da plântula de Blepharocalyx salicifolius (H. B. K.) Berg. e Myrceugenia gertii Landrum - Myrtaceae.

O objetivo neste trabalho foi caracterizar morfologicamente os frutos, as sementes e o desenvolvimento da plântula de Blepharocalyx salicifolius e Myrceugenia gertii. Para descrever os frutos e sementes foram utilizadas 100 unidades e para a descrição do desenvolvimento da plântula foram colocadas para germinar 100 sementes em substrato papel toalha, à temperatura de 25 ºC e 50 sementes em substrato vermiculita. Os frutos de B. salicifolius e M. gertii são carnosos e indeiscentes do tipo bacóide. As sementes de B. salicifolius possuem forma de espiral, coloração castanha semitransparente, não possuem endosperma e o embrião é do tipo pimentóide. As sementes de M. gertii são ovaladas, de coloração castanha semitransparente, comprimidas lateralmente, o endosperma é mucilaginoso e o embrião é do tipo mircióide. A germinação de ambas é epígea fanerocotiledonar

Germinação, morfologia e sanidade de sementes de Blepharocalyx salicifolius (Kunth) Berg e Myrceugenia gertii Landrum -Mmyrtaceae.

EVINCI. Resumo 045