Safe Control Synthesis for Multicopter via Control Barrier Function Backstepping

A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is designed. Despite the time-varying variation, it is proven that the control input can be obtained by solving quadratic programming with affine inequality constraints. The proposed controller does not utilize a cascade control system design, unlike existing studies on the safe control of multicopter. Various safety constraints on angular velocity, total thrust direction, velocity, and position can be considered. Numerical simulation results support that the proposed safe controller does not violate all safety constraints including low- and high-level dynamics.Comment: 6 pages, 2 figures, accepted for IEEE Conference on Decision and Control (CDC) 202

Parameterized Convex Minorant for Objective Function Approximation in Amortized Optimization

Parameterized convex minorant (PCM) method is proposed for the approximation of the objective function in amortized optimization. In the proposed method, the objective function approximator is expressed by the sum of a PCM and a nonnegative gap function, where the objective function approximator is bounded from below by the PCM convex in the optimization variable. The proposed objective function approximator is a universal approximator for continuous functions, and the global minimizer of the PCM attains the global minimum of the objective function approximator. Therefore, the global minimizer of the objective function approximator can be obtained by a single convex optimization. As a realization of the proposed method, extended parameterized log-sum-exp network is proposed by utilizing a parameterized log-sum-exp network as the PCM. Numerical simulation is performed for parameterized non-convex objective function approximation and for learning-based nonlinear model predictive control to demonstrate the performance and characteristics of the proposed method. The simulation results support that the proposed method can be used to learn objective functions and to find a global minimizer reliably and quickly by using convex optimization algorithms.Comment: 12 pages, 4 figure

Collaboration Versus Cheating

We outline how we detected programming plagiarism in an introductory online course for a master's of science in computer science program, how we achieved a statistically significant reduction in programming plagiarism by combining a clear explanation of university and class policy on academic honesty reinforced with a short but formal assessment, and how we evaluated plagiarism rates before SIGand after implementing our policy and assessment.Comment: 7 pages, 1 figure, 5 tables, SIGCSE 201

Generalized formulation of linear nonquadratic weighted optimal error shaping guidance laws

This study presents a novel extension to the theory of optimal guidance laws represented by the nontraditional class of performance indices: nonquadratic-type signal Lp" role="presentation">Lp norm for the input weighted by an arbitrary positive function. Various missile guidance problems are generally formulated into a scalar terminal control problem based on the understanding of the predictor–corrector nature. Then, a new approach to derive the optimal feedback law, minimizing the nonquadratic performance index, is proposed by using the Hölderian inequality. The proposed extension allows a more general family of formulations for the design of closed-form feedback solutions to various guidance problems to be treated in a unified framework. The equivalence between the proposed approach and other design methodologies is investigated. In general, the type of input norm mainly determines the variability of input during the engagement while trading off against the rate of error convergence. The analytic solution derived in this study is verified by comparison with the solution from numerical optimization, and the effect of the exponent p" role="presentation">p in the performance index on the trajectory and command is demonstrated by numerical simulations

Collision avoidance strategies for unmanned aerial vehicles in formation flight

Collision avoidance strategies for multiple UAVs (Unmanned Aerial Vehicles) based on geometry are investigated in this study. The proposed strategies allow a group of UAVs to avoid obstacles and separate if necessary through a simple algorithm with low computation by expanding the collision-cone approach to formation of UAVs. The geometric approach uses line-of-sight vectors and relative velocity vectors where dynamic constraints are included in the formation. Each UAV can determine which plane and direction are available for collision avoidance. An analysis is performed to define an envelope for collision avoidance, where angular rate limits and obstacle detection range limits are considered. Based on the collision avoidance envelope, each UAV in a formation determines whether the formation can be maintained or not while avoiding obstacles. Numerical simulations are performed to demonstrate the performance of the proposed strategies

Composite model reference adaptive control with parameter convergence under finite excitation

A new parameter estimation method is proposed in the framework of composite model reference adaptive control for improved parameter convergence without persistent excitation. The regressor filtering scheme is adopted to perform the parameter estimation with signals that can be obtained easily. A new framework for residual signal construction is proposed. The incoming data is first accumulated to build the information matrix, and then its quality is evaluated with respect to a chosen measure to select and store the best one. The information matrix is built to have full rank after sufficient but not persistent excitation. In this way, the exponential convergence of both tracking error and parameter estimation error can be guaranteed without persistent oscillation in the external command which drives the system. Numerical simulations are performed to verify the theoretical findings and to demonstrate the advantages of the proposed adaptation law over the standard direct adaptation law

Multi-residue analysis of 90 emerging contaminants in liquid and solid environmental matrices by ultra-high-performance liquid chromatography tandem mass spectrometry.

Reported here in is new analytical methodology for the determination of 90 emerging contaminants (ECs)in liquid environmental matrices (crude wastewater, final effluent and river water). The application of a novel buffer, ammonium fluoride improved signal response for several ECs determined in negative ionisation mode. Most notably the sensitivity of steroid estrogens was improved by 4–5 times in environmental extracts. Method recoveries ranged from 40 to 152% in all matrices and method quantitation limits (MQLs) achieved were [less than]1 ng L−1for numerous ECs. Development of a microwave assisted extraction(MAE) protocol as an additional sample extraction step for solid matrices enabled 63 ECs to be simultaneously analysed in digested sludge. To the authors knowledge this is considerably more than any previously reported MAE method. Here, MQLs ranged from 0.1–24.1 ng g−1dry weight. The application of MAE offers several advantages over pressurized liquid extraction including faster sample preparation, lower solvent requirements, and the ability to perform several extractions simultaneously as well as lower purchasing and running costs. To demonstrate the method’s sensitivity, application to environmental samples revealed 68 and 40 ECs to be above their respective MQL in liquid environmental samples and digested sludge, respectively. To date, this is the most comprehensive multi-residue analytical method reported in the literature for the determination of ECs in both liquid and solid environmental matrices

New framework to diagnose the direct disposal of prescribed drugs in wastewater: a case study of the antidepressant fluoxetine.

Intentional or accidental release (direct disposal) of high loads of unused pharmaceuticals into wastewater can go unnoticed. Here, direct disposal of a pharmaceutical drug via the sewer network was identified for the first time using wastewater analysis. An irregularly high load of the antidepressant fluoxetine in raw wastewater (10.5 ± 2.4 g d–1) was up to 11 times greater than any other day. National prescription data revealed a predicted daily fluoxetine load for the studied treatment works to be 0.4–1.6 g d–1. Enantio-selective analysis showed the high load of fluoxetine was present as a racemic mixture, which is typical for fluoxetine in dispensed formulations. As fluoxetine undergoes stereoselective metabolism within the body, a racemic mixture in wastewater suggests a nonconsumed drug was the major contributor of the high load. This was confirmed by its major metabolite norfluoxetine whose load did not increase on this day. Considering the most commonly prescribed formulation of fluoxetine, this increased load accounts for the disposal of ~915 capsules. Furthermore, as fluoxetine is prescribed as one capsule per day, disposal is unlikely to be at the patient level. It is postulated that direct disposal was from a facility which handles larger quantities of the drug (e.g., a pharmacy)

Integrated Design of Rotary UAV Guidance and Control Systems Utiliz- ing Sliding Mode Control Technique

Abstract In this paper, the Integrated Guidance and Control (IGC) law is proposed for the Rotary Unmanned Aerial Vehicle (RUAV). The objective of the IGC law is to consider the nonlinear dynamic characteristics of the RUAV and to design a guidance law which takes into consideration the nonlinear relationship between kinematics and dynamics. In order to control the RUAV system, sliding mode control scheme is adopted. As the RUAV is an under-actuated system, a slack variable approach is used to generate the available control inputs. Through the Lyapunov stability theorem, the stability of the proposed IGC law is proved. In order to verify the performance of the IGC law, numerical simulations are performed for waypoint tracking missions