Backflipping With Miniature Quadcopters by Gaussian-Process-Based Control and Planning

This article proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian optimization, using a surrogate Gaussian process (GP) model. To evaluate the cost function, the flip maneuver is performed repeatedly in a simulation environment. The second method is based on closed-loop control and it consists of two main steps: first, a novel robust, adaptive controller is designed to provide reliable reference tracking even in case of model uncertainties. The controller is constructed by augmenting the nominal model of the drone with a GP that is trained using measurement data. Second, an efficient trajectory planning algorithm is proposed, which designs feasible trajectories for the flip maneuver using only quadratic programming. The two approaches are analyzed in simulations and in real experiments using Bitcraze Crazyflie 2.1 quadcopters

Backflipping with Miniature Quadcopters by Gaussian Process Based Control and Planning

The paper proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian optimization, using a surrogate Gaussian Process model. To evaluate the cost function, the flip maneuver is performed repeatedly in a simulation environment. The second method is based on closed-loop control and it consists of two main steps: first a novel robust, adaptive controller is designed to provide reliable reference tracking even in case of model uncertainties. The controller is constructed by augmenting the nominal model of the drone with a Gaussian Process that is trained by using measurement data. Second, an efficient trajectory planning algorithm is proposed, which designs feasible trajectories for the flip maneuver by using only quadratic programming. The two approaches are analyzed in simulations and in real experiments using Bitcraze Crazyflie 2.1 quadcopters.Comment: Submitted to IEEE Transactions on Control Systems Technology (2022

Backflipping With Miniature Quadcopters by Gaussian-Process-Based Control and Planning

This article proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian optimization, using a surrogate Gaussian process (GP) model. To evaluate the cost function, the flip maneuver is performed repeatedly in a simulation environment. The second method is based on closed-loop control and it consists of two main steps: first, a novel robust, adaptive controller is designed to provide reliable reference tracking even in case of model uncertainties. The controller is constructed by augmenting the nominal model of the drone with a GP that is trained using measurement data. Second, an efficient trajectory planning algorithm is proposed, which designs feasible trajectories for the flip maneuver using only quadratic programming. The two approaches are analyzed in simulations and in real experiments using Bitcraze Crazyflie 2.1 quadcopters

Payload Grasping and Transportation by a Quadrotor with a Hook-Based Manipulator

The paper proposes an efficient trajectory planning and control approach for payload grasping and transportation using an aerial manipulator. The proposed manipulator structure consists of a hook attached to a quadrotor using a 1 DoF revolute joint. To perform payload grasping, transportation, and release, first, time-optimal reference trajectories are designed through specific waypoints to ensure the fast and reliable execution of the tasks. Then, a two-stage motion control approach is developed based on a robust geometric controller for precise and reliable reference tracking and a linear--quadratic payload regulator for rapid setpoint stabilization of the payload swing. The proposed control architecture and design are evaluated in a high-fidelity physical simulator with external disturbances and also in real flight experiments.Comment: Submitted to IEEE Robotics and Automation Letters (2023

Data on the terrestrial Isopoda fauna of the Alsó-hegy, Aggtelek National Park, Hungary

Field surveys in dolines of Alsó-hegy, Aggtelek Karst (Hungary) yielded 10 terrestrial isopod species. Despite of the relatively low species richness, we would like to emphasize the high naturalness of the area indicated by the presence of endemic and rare species

Analysis of Crude Oil in Terms of Fouling and Corrosion

The present-day oil refining market has the potential to process opportunity crudes. The degree of corrosion and fouling issues has increased in terms of processing opportunity crudes. In the case of changing crude slates, predicting the impacts of crude oil on production is necessary to ensure safe and profitable processing. Crude oil can be characterized by the quantitative and qualitative analyses of saturates, aromatics, resins, asphaltenes and contaminants as well as the determination of its physical and chemical properties. The complementary nature of these analyses is necessary to identify the root causes of fouling and corrosion problems and quantify the impact of them. In this study, analytical methods were developed to investigate the effect of crude oils on production in terms of fouling and corrosion, which can be used to characterize crude oil from different sources. The compatibility, emulsification tendency and fouling potential of crude oil were analyzed by the developed analytical methods. The measurement method to assess the compatibility of crude oils is based on the determination of the flocculation tendency of asphaltenes in oils. A Porla GLX Step Analyzer was used for the compatibility tests. Emulsification and fouling tendencies were measured by our in-house designed laboratory equipment. These measurements were conducted under typical operating conditions. The developed analytical methods were validated by crude oils from five different sources

Autonóm kvadkopterek modellezése, identifikációja és geometriai szabályozása agilis manőverezéshez

A cikk egy több lépésből álló eljárást mutat be beltéri kvadkopter dinamikus mozgásmodelljének megalkotására, a modellben lévő fizikai paramétereinek identifikációjára, illetve a modellre épülő pályakövető szabályozás megtervezésére. Az eljárás célja, hogy meggyorsítsa egy új kvadkopterkonstrukció üzembe helyezését, azaz a drón minél rövidebb idő alatt váljon képessé agilis manőverek precíz végrehajtására. A modellezés és szabályozótervezés elméleti hátterének rövid bemutatása után a javasolt konkrét eljárás lépéseit egy valós kvadkopter példáján mutatjuk be. A módszer sikerességét valós repülési tesztekkel vizsgáljuk és értékeljük

Determination of the wind pressure distribution on the facade of the triangularly shaped high-rise building structure

Methods for determination of the wind pressure distribution on the facade of the atypically shaped high-rise building structure will be shown. The standard Eurocode 1 [1] does not mention recommendations for calculation of wind pressure distribution on the facade for the most cases of buildings having an irregular cross-section. Analysed object has a shape of the equilateral triangle. For the determination of the pressure distribution two methods were used. Experimental analysis was carried out in the boundary layer wind tunnel and second approach was performed by numerical simulation of wind flow using computational fluid dynamics (CFD) software based on the finite volume method. Both methods used scaled model of the structure. For the wind tunnel experiment, 16 points of interests around an object were monitored in steady wind flow and from those points, results of external pressure coefficients from 2 directions of wind flow were obtained. In conclusion comparison of results of both methods will be shown

E-sportolók mérése

Jelen munkában készítjük elő azt a tanulmányt, mely hivatott lesz majd eldönteni, hogy az általunk bevezetendő mérési módszer (esport-talent-search/BrainB 5-ös sorozat) eredményes lehet-e a jövő kiemelkedő e-sportolóinak korai felismerésében, felkutatásában. A jelen előkészítésben bemutatjuk a mérés alapötletét, a mérést végző, általunk kifejlesztett nyílt forráskódú szoftvert és a mérést végző e-sport-szakértők aggregált tapasztalatait. Viszont a mért adatok statisztikai feldolgozásával, a mérési módszer és az eredmények vizsgálatával nem foglalkozunk, hanem csak néhány esetben mért, nyers adatokat villantunk fel. &#x0D; &#x0D; ---&#x0D; &#x0D; Measuring Esport Athletes&#x0D; &#x0D; In this paper, we outline the concept of a future study in which we will analyse our methodology (esport-talent-search/BrainB series 5) for measuring esport talents. We introduce the idea behind our method and an open source software that can measure gamers. We summarize the experiences of athletes who tested our software. In this paper, we do not analyse our data statistically or evaluate the method and the results, but only show some raw data.&#x0D; &#x0D; Keywords: DEAC-Hackers, esport, cognitive abilities, human-computer interaction (HCI)</jats:p