Modeling and Robust Attitude Controller Design for a Small Size Helicopter

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.Comment: 6 page

Coalition formation in large network economies

Organizational Structure;economic networks

Flux Weakening Strategy Optimization for Five-Phase PM Machine with Concentrated Windings

The paper applies an Efficient Global Optimization method (EGO) to improve the efficiency, in flux weakening region, of a given 5-phase Permanent Magnet (PM) machine. An optimal control for the four independent currents is thus defined. Moreover, a modification proposal of the machine geometry is added to the optimization process of the global drive. The effectiveness of the method allows solving the challenge which consists in taking into account inside the control strategy the eddy-current losses in magnets and iron. In fact, magnet losses are a critical point to protect the machine from demagnetization in flux-weakening region. But these losses, which highly depend on magnetic state of the machine, must be calculated by Finite Element Method (FEM) to be accurate. The FEM has the drawback to be time consuming. It is why a direct optimization using FEM is critical. EGO method, using sparingly FEM, allows to find a feasible solution to this hard optimization problem of control and design of multi-phase drive

Feasibility and performance analysis of middleware support for a situated virtual-physical civic engagement platform

Abstract. With the prevalent ubiquitous computing technologies, it is possible to explore novel solutions for supporting civic engagement as a set of urban practices. One interesting urban practice is the soapbox, traditionally conceived as wooden structure, from where to hold impromptu speeches. For this thesis, a novel soapbox prototype with ubiquitous computing mediated technologies is introduced, with our focus on the feasibility and performance analysis of its middleware support, investigating how our middleware is able to meet the goals of a situated virtual-physical civic engagement platform. Based on our empirical evaluations, it is demonstrated that our prototype is effective to support civic engagement and serve purpose of continuously soapbox streaming