Autonomous landing control of highly flexible aircraft based on Lidar preview in the presence of wind turbulence

This paper investigates preview-based autonomous landing control of a highly flexible flying wing model using short range Lidar wind measurements in the presence of wind turbulence. The preview control system is developed based on a reduced-order linear aeroelastic model and employs a two-loop control scheme. The outer loop employs the LADRC (linear active disturbance rejection control) and PI algorithms to track the reference landing trajectory and vertical speed, respectively, and to generate the attitude angle command. This is then used by the inner-loop using H∞ preview control to compute the control inputs to the actuators (control flaps and thrust). A landing trajectory navigation system is designed to generate real-time reference commands for the landing control system. A Lidar (light detection and ranging) simulator is developed to measure the wind disturbances at a distance in front of the aircraft, which are provided to the inner-loop H∞ preview controller as prior knowledge to improve control performance. Simulation results based on the full-order nonlinear flexible aircraft dynamic model show that the preview-based landing control system is able to land the flying wing effectively and safely, showing better control performance than the baseline landing control system (without preview) with respect to landing effectiveness and disturbance rejection. The control system’s robustness to measurement error in the Lidar system is also demonstrated

Flight control of very flexible unmanned aerial vehicles

This thesis aims to investigate the flight control of a very flexible ying wing model already developed in the literature. The model was derived from geometrically nonlinear beam theory using intrinsic degrees of freedom and linear unsteady aerodynamics, which resulted in a coupled structural dynamics, aerodynamics, and flight dynamics description. The scenarios of trajectory tracking and autonomous landing in the presence of wind disturbance are considered in control designs. Firstly, the aeroelastic and trajectory control of this very flexible ying wing model is studied. The control design employs a two-loop PI/LADRC (proportional integral/linear active disturbance rejection control) and H1 control scheme, based on a reduced-order linear model. The outer loop employs the PI/LADRC technique to track the desired flight paths and generate attitude commands to the inner loop, while the inner loop uses H1 control to track the attitude command and computes the corresponding control inputs. The particle swarm optimization algorithm is employed for parameter optimization in the H1 control design to enhance the control effectiveness and robustness. Simulation tests conducted on the full-order nonlinear model show that the designed aeroelastic and trajectory control system achieves good performance in aspects of tracking effectiveness and robustness against disturbance rejection. Secondly, the preview-based autonomous landing control of the very flexible ying wing model using light detection and ranging (Lidar) wind measurements is studied. The preview control system follows the above two-loop control structure and is also designed based on the reduced-order linear model. The outer loop emxv ploys the same LADRC and PI algorithms to track the reference landing trajectory and vertical speed, respectively. But the inner loop is extended to introduce Lidar wind measurements at a distance in front of the aircraft, employing H1 preview control to improve disturbance rejection performance during landing. Simulation results based on the full-order nonlinear model show that the preview-based landing control system is able to land the aircraft safely and effectively, which also achieves better control performance than a baseline landing control system (without preview) with respect to landing effectiveness and disturbance rejection. Finally, the data-driven flight control of the very flexible ying wing model using Model-Free Adaptive Control (MFAC) scheme to reduce the dependence of control design on system modeling is studied. A cascaded proportional-derivative MFAC (PD-MFAC) approach is proposed to accommodate the MFAC scheme in a flight control problem, which shows better control performance over the original MFAC algorithm. Based on the PD-MFAC approach, the data-driven flight control system is developed to achieve gust load alleviation and trajectory tracking. Simulation results based on the full-order nonlinear model show that the proposed data-driven flight control system is able to properly regulate all the rigid-body and flexible modes with better effectiveness and robustness (against disturbance rejection and modeling uncertainties), compared to a baseline H1 flight control system

Effects of POD control on a DFIG wind turbine structural system

This paper investigates the effects power oscillation damping (POD) controller could have on a wind turbine structural system. Most of the published work in this area has been done using relatively simple aerodynamic and structural models of a wind turbine which cannot be used to investigate the detailed interactions between electrical and mechanical components of the wind turbine. Therefore, a detailed model that combines electrical, structural and aerodynamic characteristics of a grid-connected Doubly Fed Induction Generator (DFIG) based wind turbine has been developed by adapting the NREL (National Renewable Energy Laboratory) 5MW wind turbine model within FAST (Fatigue, Aerodynamics, Structures, and Turbulence) code. This detailed model is used to evaluate the effects of POD controller on the wind turbine system. The results appear to indicate that the effects of POD control on the WT structural system are comparable or less significant as those caused by wind speed variations. Furthermore, the results also reveal that the effects of a transient three-phase short circuit fault on the WT structural system are much larger than those caused by the POD controller

Power generation control of a hydrostatic wind turbine implemented by model-free adaptive control scheme

The hydrostatic wind turbine (HWT) is a type of wind turbine that uses hydrostatic transmission (HST) drivetrain to replace the traditional gearbox drivetrain. Without the fragile and expensive gearbox and power converters, HWT can potentially reduce the maintenance costs owing to the gearbox and power converter failures in wind power system, especially in offshore cases. We design an MFAC torque controller to regulate the pump torque of the HWT and compared to an H_inf torque controller. Then we design an MFAC pitch controller to stabilise the rotor speed of HWT and compared to a gain-scheduling proportional-integral (PI) controller and a gain-scheduling PI controller with anti-windup (PIAW). The results indicate that MFAC torque controller provides more effective tracking performance than the H_inf controller, and that MFAC pitch controller shows better rotor speed stabilisation performance in comparison with the gain-scheduling PI controller and PIAW

Learning-based attitude tracking control with high-performance parameter estimation

This paper aims to handle the optimal attitude tracking control tasks for rigid bodies via a reinforcement learning-based control scheme, in which a constrained parameter estimator is designed to compensate system uncertainties accurately. This estimator guarantees the exponential convergence of estimation errors and can strictly keep all instant estimates always within pre-determined bounds. Based on it, a critic-only adaptive dynamic programming (ADP) control strategy is proposed to learn the optimal control policy with respect to a user-defined cost function. The matching condition on reference control signals, which is commonly employed in relevant ADP design, is not required in the proposed control scheme. We prove the uniform ultimate boundedness of the tracking errors and critic weight's estimation errors under finite excitation conditions by Lyapunov-based analysis. Moreover, an easy-to-implement initial control policy is designed to trigger the real-time learning process. The effectiveness and advantages of the proposed method are verified by both numerical simulations and hardware-in-loop experimental tests

PGNet: Real-time Arbitrarily-Shaped Text Spotting with Point Gathering Network

The reading of arbitrarily-shaped text has received increasing research attention. However, existing text spotters are mostly built on two-stage frameworks or character-based methods, which suffer from either Non-Maximum Suppression (NMS), Region-of-Interest (RoI) operations, or character-level annotations. In this paper, to address the above problems, we propose a novel fully convolutional Point Gathering Network (PGNet) for reading arbitrarily-shaped text in real-time. The PGNet is a single-shot text spotter, where the pixel-level character classification map is learned with proposed PG-CTC loss avoiding the usage of character-level annotations. With a PG-CTC decoder, we gather high-level character classification vectors from two-dimensional space and decode them into text symbols without NMS and RoI operations involved, which guarantees high efficiency. Additionally, reasoning the relations between each character and its neighbors, a graph refinement module (GRM) is proposed to optimize the coarse recognition and improve the end-to-end performance. Experiments prove that the proposed method achieves competitive accuracy, meanwhile significantly improving the running speed. In particular, in Total-Text, it runs at 46.7 FPS, surpassing the previous spotters with a large margin.Comment: 10 pages, 8 figures, AAAI 202

SIRT5 promotes IDH2 desuccinylation and G6PD deglutarylation to enhance cellular antioxidant defense

Abstract Excess in mitochondrial reactive oxygen species (ROS) is considered as a major cause of cellular oxidative stress. NADPH, the main intracellular reductant, has a key role in keeping glutathione in its reduced form GSH, which scavenges ROS and thus protects the cell from oxidative damage. Here, we report that SIRT5 desuccinylates and deglutarylates isocitrate dehydrogenase 2 (IDH2) and glucose‐6‐phosphate dehydrogenase (G6PD), respectively, and thus activates both NADPH‐producing enzymes. Moreover, we show that knockdown or knockout of SIRT5 leads to high levels of cellular ROS. SIRT5 inactivation leads to the inhibition of IDH2 and G6PD, thereby decreasing NADPH production, lowering GSH, impairing the ability to scavenge ROS, and increasing cellular susceptibility to oxidative stress. Our study uncovers a SIRT5‐dependent mechanism that regulates cellular NADPH homeostasis and redox potential by promoting IDH2 desuccinylation and G6PD deglutarylation

Irradiation- Induced Extremes Create Hierarchical Face- /Body- Centered- Cubic Phases in Nanostructured High Entropy Alloys

A nanoscale hierarchical dual- phase structure is reported to form in a nanocrystalline NiFeCoCrCu high- entropy- alloy (HEA) film via ion irradiation. Under the extreme energy deposition and consequent thermal energy dissipation induced by energetic particles, a fundamentally new phenomenon is revealed, in which the original single- phase face- centered- cubic (FCC) structure partially transforms into alternating nanometer layers of a body- centered- cubic (BCC) structure. The orientation relationship follows the Nishiyama- Wasser- man relationship, that is, (011)BCC || (- 1¯1¯1)FCC and [100]BCC || [- 11¯0]FCC. Simulation results indicate that Cr, as a BCC stabilizing element, exhibits a tendency to segregate to the stacking faults (SFs). Furthermore, the high densities of SFs and twin boundaries in each nanocrystalline grain serve to accelerate the nucleation and growth of the BCC phase during irradiation. By adjusting the irradiation parameters, desired thicknesses of the FCC and BCC phases in the laminates can be achieved. This work demonstrates the controlled formation of an attractive dual- phase nanolaminate structure under ion irradiation and provides a strategy for designing new derivate structures of HEAs.A nanoscale hierarchical dual- phase structure is reported to form in a nanocrystalline NiFeCoCrCu high- entropy- alloy film via ion- irradiation- induced face- centered- cubic to body- centered- cubic phase transformation. Both kinetic and thermodynamic conditions for the phase transformation are explored. The results provide a new strategy for tailoring material structures on the nanometer or sub- nanometer scales.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/162803/3/adma202002652_am.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/162803/2/adma202002652.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/162803/1/adma202002652-sup-0001-SuppMat.pd

Coupling Efficiency Measurements for Long-pulsed Solid Sodium Laser Based on Measured Sodium Profile Data

In 2013, a serial sky test has been held on 1.8 meter telescope in Yunnan observation site after 2011-2012 Laser guide star photon return test. In this test, the long-pulsed sodium laser and the launch telescope have been upgraded, a smaller and brighter beacon has been observed. During the test, a sodium column density lidar and atmospheric coherence length measurement equipment were working at the same time. The coupling efficiency test result with the sky test layout, data processing, sodium beacon spot size analysis, sodium profile data will be presented in this paper

Analysis of the effect of different withering methods on tea quality based on transcriptomics and metabolomics

Withering is very important to the quality of Wuyi rock tea. In this study, transcriptomics and metabolomics were used to analyze the effects of different withering methods on tea quality formation. The results showed that sunlight withering (SW) was most beneficial in increasing the gene expression of ubiquinone and other terpenoid-quinone biosynthesis (ko00130), pyruvate metabolism (ko00620), starch and sucrose metabolism (ko00500), and tryptophan metabolism (ko00380) pathways, and increasing the content of nucleotides and derivatives, terpenoids, organic acids and lipids, thus enhancing the mellowness, fresh and brisk taste and aroma of tea. Withering trough withering (WW) was most beneficial in increasing the gene expression of glutathione metabolism (ko00480), phenylpropanoid biosynthesis (ko00940) pathways, increasing the content of phenolic acids and flavonoids, thus enhancing tea bitterness. A comprehensive evaluation of the metabolite content and taste characteristics of tea leaves showed SW to be the best quality and charcoal fire withering (FW) to be the worst quality. This study provided an important basis for guiding the processing of Wuyi rock tea with different flavors