Fast terminal sliding mode control for gantry cranes

Cranes remain a vital tool for the construction of infrastructure such as buildings, bridges, etc. Recently, there has been renewed interest in crane automation in dealing with concerns on safety and possible performance degradation due to system uncertainties and disturbances. One potential solution to the problem is the use of robust techniques based on the Sliding Mode Control (SMC) methodology. Much research has been conducted to design controllers based on linear sliding surfaces, aiming at achieving the desired control performance in finite time. In this context, this paper proposes a control method, based on the Fast Terminal Sliding Mode (FTSM), to guarantee finite-time stability of the crane. To do that, we have derived a mathematical model of the crane using Lagrangian formulation with uncertainties as bounding functions. Then, sliding surfaces based on the hierarchical sliding mode are defined, and a control law is derived using the Lyapunov stability theory. The hierarchical sliding surfaces consist of two layers. The first layer include sliding functions based on FTSM to enable faster convergence of the system to equilibrium. This can have advantages in high precision tracking applications. In the second-layer, the sliding surface is designed from the linear combination of the first layer sliding functions. Also, we have given a proof of the stability of the system in finite time. Extensive simulation results show the proposed controller based on FTSM can achieve higher performance in stabilizing the swinging load of a gantry crane. Laboratorial experiments have been conducted to verify the obtained results in terms of the superior convergence time and improved performance over conventional SMC

Adaptive twisting sliding mode control for quadrotor unmanned aerial vehicles

© 2017 IEEE. This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling. An adaptive twisting sliding mode control algorithm is then developed with the objective of controlling the quadcopter to track desired attitudes under various conditions. For this, the twisting sliding mode control law is modified with a proposed gain adaptation scheme to improve the control transient and tracking performance. Extensive simulation studies and comparisons with experimental data have been carried out for a Solo quadcopter. The results show that the proposed control scheme can achieve strong robustness against disturbances while is adaptable to parametric variations

Protocol-based verification of message-passing parallel programs

© 2015 ACM.We present ParTypes, a type-based methodology for the verification of Message Passing Interface (MPI) programs written in the C programming language. The aim is to statically verify programs against protocol specifications, enforcing properties such as fidelity and absence of deadlocks. We develop a protocol language based on a dependent type system for message-passing parallel programs, which includes various communication operators, such as point-to-point messages, broadcast, reduce, array scatter and gather. For the verification of a program against a given protocol, the protocol is first translated into a representation read by VCC, a software verifier for C. We successfully verified several MPI programs in a running time that is independent of the number of processes or other input parameters. This contrasts with alternative techniques, notably model checking and runtime verification, that suffer from the state-explosion problem or that otherwise depend on parameters to the program itself. We experimentally evaluated our approach against state-of-the-art tools for MPI to conclude that our approach offers a scalable solution

Adaptive second-order sliding mode control of UAVs for civil applications

Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and disturbances so that their performance may be quickly downgraded in the case of inadequate control, system uncertainties and/or external disturbances. In this study, we deal with the quadrotor low-level control by proposing a robust scheme named the adaptive second-order quasi-continuous sliding mode control (adaptive 2-QCSM). The ultimate objective is for robust attitude control of the UAV in monitoring and inspection of built infrastructure. First, the mathematical model of the quadcopter is derived considering nonlinearity, strong coupling, uncertain dynamics and external disturbances. The control design includes the selection of the sliding manifold and the development of quasi-continuous second-order sliding mode controller with an adaptive gain. Stability of the overall control system is analysed by using a global Lyapunov function for convergence of both the sliding dynamics and adaptation scheme. Extensive simulations have been carried out for evaluation. Results show that the proposed controller can achieve robustness against disturbances or parameter variations and has better tracking performance in comparison with experimental responses of a UAV in a real-time monitoring task

Angle-Encoded Swarm Optimization for UAV Formation Path Planning

© 2018 IEEE. This paper presents a novel and feasible path planning technique for a group of unmanned aerial vehicles (DAVs) conducting surface inspection of infrastructure. The ultimate goal is to minimise the travel distance of DAVs while simultaneously avoid obstacles, and maintain altitude constraints as well as the shape of the UAV formation. A multiple-objective optimisation algorithm, called the Angle-encoded Particle Swarm Optimization (θ- PSO) algorithm, is proposed to accelerate the swarm convergence with angular velocity and position being used for the location of particles. The whole formation is modelled as a virtual rigid body and controlled to maintain a desired geometric shape among the paths created while the centroid of the group follows a pre-determined trajectory. Based on the testbed of 3DR Solo drones equipped with a proprietary Mission Planner, and the Internet-of- Things (loT) for multi-directional transmission and reception of data between the DAV s, extensive experiments have been conducted for triangular formation maintenance along a monorail bridge. The results obtained confirm the feasibility and effectiveness of the proposed approach

Crack detection using enhanced thresholding on UAV based collected images

© 2018 Australasian Robotics and Automation Association. All rights reserved. This paper proposes a thresholding approach for crack detection in an unmanned aerial vehicle (UAV) based infrastructure inspection system. The proposed algorithm performs recursively on the intensity histogram of UAV-taken images to exploit their crack-pixels appearing at the low intensity interval. A quantified criterion of interclass contrast is proposed and employed as an object cost and stop condition for the recursive process. Experiments on different datasets show that our algorithm outperforms different segmentation approaches to accurately extract crack features of some commercial buildings

High rate nitrogen removal by ANAMMOX internal circulation reactor (IC) for old landfill leachate treatment

© 2017 Elsevier Ltd This study aimed to evaluate the performance of a high rate nitrogen removal lab-scale ANAMMOX reactor, namely Internal Circulation (IC) reactor, for old landfill leachate treatment. The reactor was operated with pre-treated leachate from a pilot Partial Nitritation Reactor (PNR) using a high nitrogen loading rate ranging from 2 to 10 kg N m−3 d−1. High rate removal of nitrogen (9.52 ± 1.11 kg N m−3 d−1) was observed at an influent nitrogen concentration of 1500 mg N L−1. The specific ANAMMOX activity was found to be 0.598 ± 0.026 gN2-N gVSS−1 d−1. Analysis of ANAMMOX granules suggested that 0.5–1.0 mm size granular sludge was the dominant group. The results of DNA analysis revealed that Candidatus Kueneniastuttgartiensis was the dominant species (37.45%) in the IC reactor, whereas other species like uncultured Bacteroidetes bacterium only constituted 5.37% in the system, but they were still responsible for removing recalcitrant organic matter

Phosphate Adsorption by Silver Nanoparticles-Loaded Activated Carbon derived from Tea Residue.

This study presents the removal of phosphate from aqueous solution using a new silver nanoparticles-loaded tea activated carbon (AgNPs-TAC) material. In order to reduce costs, the tea activated carbon was produced from tea residue. Batch adsorption experiments were conducted to evaluate the effects of impregnation ratio of AgNPs and TAC, pH solution, contact time, initial phosphate concentration and dose of AgNPs-AC on removing phosphate from aqueous solution. Results show that the best conditions for phosphate adsorption occurred at the impregnation ratio AgNPs/TAC of 3% w/w, pH 3, and contact time lasting 150 min. The maximum adsorption capacity of phosphate on AgNPs-TAC determined by the Langmuir model was 13.62 mg/g at an initial phosphate concentration of 30 mg/L. The adsorption isotherm of phosphate on AgNPs-TAC fits well with both the Langmuir and Sips models. The adsorption kinetics data were also described well by the pseudo-first-order and pseudo-second-order models with high correlation coefficients of 0.978 and 0.966, respectively. The adsorption process was controlled by chemisorption through complexes and ligand exchange mechanisms. This study suggests that AgNPs-TAC is a promising, low cost adsorbent for phosphate removal from aqueous solution

Hydrostatic pressure does not cause detectable changes to survival of human retinal ganglion

Purpose: Elevated intraocular pressure (IOP) is a major risk factor for glaucoma. One consequence of raised IOP is that ocular tissues are subjected to increased hydrostatic pressure (HP). The effect of raised HP on stress pathway signaling and retinal ganglion cell (RGC) survival in the human retina was investigated. Methods: A chamber was designed to expose cells to increased HP (constant and fluctuating). Accurate pressure control (10-100mmHg) was achieved using mass flow controllers. Human organotypic retinal cultures (HORCs) from donor eyes (<24h post mortem) were cultured in serum-free DMEM/HamF12. Increased HP was compared to simulated ischemia (oxygen glucose deprivation, OGD). Cell death and apoptosis were measured by LDH and TUNEL assays, RGC marker expression by qRT-PCR (THY-1) and RGC number by immunohistochemistry (NeuN). Activated p38 and JNK were detected by Western blot. Results: Exposure of HORCs to constant (60mmHg) or fluctuating (10-100mmHg; 1 cycle/min) pressure for 24 or 48h caused no loss of structural integrity, LDH release, decrease in RGC marker expression (THY-1) or loss of RGCs compared with controls. In addition, there was no increase in TUNEL-positive NeuN-labelled cells at either time-point indicating no increase in apoptosis of RGCs. OGD increased apoptosis, reduced RGC marker expression and RGC number and caused elevated LDH release at 24h. p38 and JNK phosphorylation remained unchanged in HORCs exposed to fluctuating pressure (10-100mmHg; 1 cycle/min) for 15, 30, 60 and 90min durations, whereas OGD (3h) increased activation of p38 and JNK, remaining elevated for 90min post-OGD. Conclusions: Directly applied HP had no detectable impact on RGC survival and stress-signalling in HORCs. Simulated ischemia, however, activated stress pathways and caused RGC death. These results show that direct HP does not cause degeneration of RGCs in the ex vivo human retina