Adaptive Failure Compensation for Aircraft Tracking Control Using Engine Differential Based Model

An aircraft model that incorporates independently adjustable engine throttles and ailerons is employed to develop an adaptive control scheme in the presence of actuator failures. This model captures the key features of aircraft flight dynamics when in the engine differential mode. Based on this model an adaptive feedback control scheme for asymptotic state tracking is developed and applied to a transport aircraft model in the presence of two types of failures during operation, rudder failure and aileron failure. Simulation results are presented to demonstrate the adaptive failure compensation scheme

Adaptive Failure Compensation for Aircraft Flight Control Using Engine Differentials: Regulation

The problem of using engine thrust differentials to compensate for rudder and aileron failures in aircraft flight control is addressed in this paper in a new framework. A nonlinear aircraft model that incorporates engine di erentials in the dynamic equations is employed and linearized to describe the aircraft s longitudinal and lateral motion. In this model two engine thrusts of an aircraft can be adjusted independently so as to provide the control flexibility for rudder or aileron failure compensation. A direct adaptive compensation scheme for asymptotic regulation is developed to handle uncertain actuator failures in the linearized system. A design condition is specified to characterize the system redundancy needed for failure compensation. The adaptive regulation control scheme is applied to the linearized model of a large transport aircraft in which the longitudinal and lateral motions are coupled as the result of using engine thrust differentials. Simulation results are presented to demonstrate the effectiveness of the adaptive compensation scheme

Towards Effective Context for Meta-Reinforcement Learning: an Approach based on Contrastive Learning

Context, the embedding of previous collected trajectories, is a powerful construct for Meta-Reinforcement Learning (Meta-RL) algorithms. By conditioning on an effective context, Meta-RL policies can easily generalize to new tasks within a few adaptation steps. We argue that improving the quality of context involves answering two questions: 1. How to train a compact and sufficient encoder that can embed the task-specific information contained in prior trajectories? 2. How to collect informative trajectories of which the corresponding context reflects the specification of tasks? To this end, we propose a novel Meta-RL framework called CCM (Contrastive learning augmented Context-based Meta-RL). We first focus on the contrastive nature behind different tasks and leverage it to train a compact and sufficient context encoder. Further, we train a separate exploration policy and theoretically derive a new information-gain-based objective which aims to collect informative trajectories in a few steps. Empirically, we evaluate our approaches on common benchmarks as well as several complex sparse-reward environments. The experimental results show that CCM outperforms state-of-the-art algorithms by addressing previously mentioned problems respectively.Comment: Accepted to AAAI 202

The Asian arowana (<i>Scleropages formosus</i>) genome provides new insights into the evolution of an early lineage of teleosts

The Asian arowana (Scleropages formosus), one of the world’s most expensive cultivated ornamental fishes, is an endangered species. It represents an ancient lineage of teleosts: the Osteoglossomorpha. Here, we provide a high-quality chromosome-level reference genome of a female golden-variety arowana using a combination of deep shotgun sequencing and high-resolution linkage mapping. In addition, we have also generated two draft genome assemblies for the red and green varieties. Phylogenomic analysis supports a sister group relationship between Osteoglossomorpha (bonytongues) and Elopomorpha (eels and relatives), with the two clades together forming a sister group of Clupeocephala which includes all the remaining teleosts. The arowana genome retains the full complement of eight Hox clusters unlike the African butterfly fish (Pantodon buchholzi), another bonytongue fish, which possess only five Hox clusters. Differential gene expression among three varieties provides insights into the genetic basis of colour variation. A potential heterogametic sex chromosome is identified in the female arowana karyotype, suggesting that the sex is determined by a ZW/ZZ sex chromosomal system. The high-quality reference genome of the golden arowana and the draft assemblies of the red and green varieties are valuable resources for understanding the biology, adaptation and behaviour of Asian arowanas

The Asian Arowana (Scleropages formosus) Genome Provides New Insights into the Evolution of an Early Lineage of Teleosts

The Asian arowana (Scleropages formosus), one of the world’s most expensive cultivated ornamental fishes, is an endangered species. It represents an ancient lineage of teleosts: the Osteoglossomorpha. Here, we provide a high-quality chromosome-level reference genome of a female golden-variety arowana using a combination of deep shotgun sequencing and high-resolution linkage mapping. In addition, we have also generated two draft genome assemblies for the red and green varieties. Phylogenomic analysis supports a sister group relationship between Osteoglossomorpha (bonytongues) and Elopomorpha (eels and relatives), with the two clades together forming a sister group of Clupeocephala which includes all the remaining teleosts. The arowana genome retains the full complement of eight Hox clusters unlike the African butterfly fish (Pantodon buchholzi), another bonytongue fish, which possess only five Hox clusters. Differential gene expression among three varieties provides insights into the genetic basis of colour variation. A potential heterogametic sex chromosome is identified in the female arowana karyotype, suggesting that the sex is determined by a ZW/ZZ sex chromosomal system. The high-quality reference genome of the golden arowana and the draft assemblies of the red and green varieties are valuable resources for understanding the biology, adaptation and behaviour of Asian arowanas

Adaptive actuator failure compensation for redundant manipulators

This paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this paper failure modeling, controller structure, and adaptive update rules for handling uncertainties from the actuator failures are studied. The adaptive actuator failure compensation method is then expanded for a cooperating multiple manipulator system with uncertain actuator failures. Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller structure is proposed with stable adaptive parameter update laws. The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense. For both cases, closed-loop system stability and asymptotic tracking are proved, despite uncertain system failures

The effect of aspect ratio and axial magnetic field on thermocapillary convection in liquid bridges with a deformable free-surface

Three-dimensional numerical simulations are performed to analyze the effect of the aspect ratio Ar and axial magnetic field on thermocapillary convection in liquid bridges with deformable free-surface under microgravity, in which the volume of fluid (VOF) method is adopted to track the free-surface movement. The simulation results elucidate that the oscillation wave number m and frequency of temperature fluctuation decrease with increasing Ar, while the amplitude of temperature fluctuation increases with increasing Ar. The deformation ratio ξ of the free-surface increases as Ar increases. The numerical results also reveal that the axial magnetic field causes a concentration of convection vortexes near the free-surface and effectively suppresses the flow in both the radial and axial directions. Moreover, the axial magnetic field effectively damps free-surface deformation, so that the deformation ratio ξ decreases as the Hartmann number Ha increases. The temperature displays a uniform and linear distribution along the free-surface and the axis of molten zone when Ba = 0.3 T