Development of c-means Clustering Based Adaptive Fuzzy Controller for A Flapping Wing Micro Air Vehicle

Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV) and its control is one of the recent research topics related to the field of autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing Natureinspired (NI) FW MAV is modeled and controlled inspiring by its advanced features like quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability when contrasted with comparable-sized fixed and rotary wing UAVs. The Fuzzy C-Means (FCM) clustering algorithm is utilized to demonstrate the NIFW MAV model, which has points of interest over first principle based modelling since it does not depend on the system dynamics, rather based on data and can incorporate various uncertainties like sensor error. The same clustering strategy is used to develop an adaptive fuzzy controller. The controller is then utilized to control the altitude of the NIFW MAV, that can adapt with environmental disturbances by tuning the antecedent and consequent parameters of the fuzzy system.Comment: this paper is currently under review in Journal of Artificial Intelligence and Soft Computing Researc

PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles

There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely Parsimonious Controller (PAC) is proposed. It features fewer network parameters than conventional approaches due to the absence of rule premise parameters. PAC is built upon a recently developed evolving neuro-fuzzy system known as parsimonious learning machine (PALM) and adopts new rule growing and pruning modules derived from the approximation of bias and variance. These rule adaptation methods have no reliance on user-defined thresholds, thereby increasing the PAC's autonomy for real-time deployment. PAC adapts the consequent parameters with the sliding mode control (SMC) theory in the single-pass fashion. The boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's efficacy is evaluated by observing various trajectory tracking performance from a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing micro aerial vehicle called hexacopter. Furthermore, it is compared to three distinctive controllers. Our PAC outperforms the linear PID controller and feed-forward neural network (FFNN) based nonlinear adaptive controller. Compared to its predecessor, G-controller, the tracking accuracy is comparable, but the PAC incurs significantly fewer parameters to attain similar or better performance than the G-controller.Comment: This paper has been accepted for publication in Information Science Journal 201

Enhancing Wind Power Forecast Precision via Multi-head Attention Transformer: An Investigation on Single-step and Multi-step Forecasting

The main objective of this study is to propose an enhanced wind power forecasting (EWPF) transformer model for handling power grid operations and boosting power market competition. It helps reliable large-scale integration of wind power relies in large part on accurate wind power forecasting (WPF). The proposed model is evaluated for single-step and multi-step WPF, and compared with gated recurrent unit (GRU) and long short-term memory (LSTM) models on a wind power dataset. The results of the study indicate that the proposed EWPF transformer model outperforms conventional recurrent neural network (RNN) models in terms of time-series forecasting accuracy. In particular, the results reveal a minimum performance improvement of 5% and a maximum of 20% compared to LSTM and GRU. These results indicate that the EWPF transformer model provides a promising alternative for wind power forecasting and has the potential to significantly improve the precision of WPF. The findings of this study have implications for energy producers and researchers in the field of WPF.Comment: This paper is accepted in IJCNN2

Sensor and internet of things based integrated inundation mitigation for smart city

Flooding is a natural phenomenon that often occurs in tropical countries. Drainage design is one of the efforts to prevent floods, however, when the rainfall is high, there are still several inundation points that occur. This requires comprehensive handling to reduce the impact of these inundations, to get an adaptive solution, the use of internet of things based (IoT) tools is one of the alternatives proposed. This study proposes an IoT-based flood inundation monitoring system, which includes a water level reader, a web-based inundation monitoring system, a flood inundation area and depth reporting system as evaluation materials for the government city. The sensor module that we propose is a series of sensors in a hollow cylinder design to reduce water ripples. The server application is displayed in the form of an interactive area mapping which is divided into 4 layers for 4 different analyzes so that central officers can quickly coordinate with field officers to carry out mitigation actions in the affected area. The module requires a low cost and easy installation process compared to a liquid sensor, besides that the display in the form of a web makes it easier for officers to access monitoring applications anywhere compared to geographic information system based (GIS) applications. This research has been carried out and tested in one of the major cities in Indonesia

A Time-Efficient Co-Operative Path Planning Model Combined with Task Assignment for Multi-Agent Systems

Dealing with uncertainties along with high-efficiency planning for task assignment problem is still challenging, especially for multi-agent systems. In this paper, two frameworks—Compromise View model and the Nearest-Neighbour Search model—are analyzed and compared for co-operative path planning combined with task assignment of a multi-agent system in dynamic environments. Both frameworks are capable of dynamically controlling a number of autonomous agents to accomplish multiple tasks at different locations. Furthermore, these two models are capable of dealing with dynamically changing environments. In both approaches, the Particle Swarm Optimization-based method is applied for path planning. The path planning approach combined with the obstacle avoidance strategy is integrated with the task assignment problem. In one framework, the Compromise View model is used for completing the tasks and a combination of clustering method with the Nearest-Neighbour Search model is used to assign tasks to the other framework. The frameworks are compared in terms of computational time and the resulting path length. Results indicate that the Nearest-Neighbour Search model is much faster than the Compromise View model. However, the Nearest-Neighbour Search model generates longer paths to accomplish the mission. By following the Nearest-Neighbour Search approach, agents can successfully accomplish their mission, even under uncertainties such as malfunction of individual agents. The Nearest-Neighbour Search framework is highly effective due to its reactive structure. As per requirements, to save time, after completing its own tasks, one agent can complete the remaining tasks of other agents. The simulation results show that the Nearest-Neighbour Search model is an effective and robust way of solving co-operative path planning combined with task assignment problems