Search results for "Raj"
showing 10 items of 1155 documents
Exploring connectivity between spawning and nursery areas ofMullus barbatus(L., 1758) in the Mediterranean through a dispersal model
2017
Connectivity between spawning and nursery areas plays a major role in determining the spatial structure of fish populations and the boundaries of stock units. Here, the potential effects of surface current on a red mullet population in the Central Mediterranean were simulated using a physical oceanographic model. Red mullet larvae were represented as Lagrangian drifters released in known spawning areas of the Strait of Sicily (SoS), which represents one of the most productive demersal fishing-grounds of the Mediterranean. To consider the effect of inter-annual variability of oceanographic patterns, numerical simulations were performed for the spawning seasons from 1999 to 2012. The main goa…
Recovery of plant communities after ecological restoration of forestry-drained peatlands
2017
Ecological restoration is expected to reverse the loss of biodiversity and ecosystem services. Due to the low number of well-replicated field studies, the extent to which restoration recovers plant communities, and the factors underlying possible shortcomings, are not well understood even in medium term. We compared the plant community composition of 38 sites comprising pristine, forestry-drained, and 5 or 10 years ago restored peatlands in southern Finland, with special interest in understanding spatial variation within studied sites, as well as the development of the numbers and the abundances of target species. Our results indicated a recovery of community composition 5–10 years after re…
Modeling the distribution of thorny skate (Amblyraja radiata) in the southern Grand Banks (Newfoundland, Canada)
2019
Globally, commercial fisheries have had a strong impact on elasmobranch populations directly through high catch rates and indirectly through bycatch. Consequently, the abundance of many species is declining to the extent that some are considered under threat of extinction. Regionally, this negative trend is also evident in the international waters of the southern Grand Banks (off the coast of Newfoundland, Canada), where the occurrence of the thorny skate (Amblyraja radiata) has declined by nearly 70% in recent decades. This study used Bayesian species distribution models to investigate the habitat preference and biomass trends of the thorny skate during a 14-year period (2003–2017), linki…
Aircraft wing rock oscillations suppression by simple adaptive control
2020
Abstract Roll angular motion of the modern aircraft operating in non-linear flight modes with a high angle of attack often demonstrates the limit cycle oscillations, which is commonly known as the wing rock phenomenon. Wing rock dynamics are represented by a substantially non-linear model, with parameters varying over a wide range, depending on the flight conditions (altitude, Mach number, payload mass, etc.) and angle of attack. A perspective approach of the wing rock suppression lies in the adaptation methods. In the present paper an application of the simple adaptive control approach with the Implicit Reference Model (IRM) is proposed and numerically studied. The IRM adaptive controller …
Distributed Adaptive Consensus Tracking Control of Uncertain High-order Nonlinear Systems under Directed Graph Condition
2018
In this paper, we investigate the output consensus tracking problem for a class of high-order nonlinear systems subjected to unknown parameters and uncertain external disturbances. A novel backstepping based distributed adaptive control scheme is presented under the directed communication status. For the subsystems without direct access to time-varying desired trajectory, local estimators are introduced and the corresponding adaptive laws are designed in a totally distributed fashion. With the presented scheme, the assumption on linearly parameterized reference signal and the information exchange operation of subsystem inputs in the existing results are no longer needed. It is shown that al…
Traffic data acquirement by unmanned aerial vehicle
2017
This paper presents a methodology aimed to acquire traffic flow data through the employment of unmanned aerial vehicles (UAVs). The study is focused on the determination of driving behavior parameters of road users and on the reconstruction of traffic flow Origin/Destination matrix. The methodology integrates UAV flights with video image processing technique, and the capability of geographic information systems, to represent spatiotemporal phenomena. In particular, analyzing different intersections, the attention of the authors is focused on users’ gap acceptance in a naturalistic drivers’ behavior condition (drivers are not influenced by the presence of instruments and operators on the roa…
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach
2020
In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory variable is generated based on the signals collected from its neighbors. Such a technique enables us to solve the leader–follower consensus and leaderless consensus problems in a unified framework. And it further allows us to treat the leaderless consensus as a special case of the leader–follower consensus. For leader–follower consensus, the assumption that the leader trajectory is linearly para…
Compensation of Nonlinear Torsion in Flexible Joint Robots: Comparison of Two Approaches
2015
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of tracking and positioning of the robotic links. In this paper, two approaches for compensating the nonlinear joint torsion with hysteresis are described and compared with each other. Both methods assume the measured signals available only on the motor side of joint transmissions. The first approach assumes a rigid-link manipulator model and transforms the desired link trajectory into that of the motor drives by using the inverse dynamics and inverse hysteresis…
Integrated GNSS/IMU Hub Motion Estimator for Offshore Wind Turbine Blade Installation
2019
Abstract Offshore wind turbines (OWTs) have become increasingly popular for their ability to harvest clean offshore wind energy. Bottom-fixed foundations are the most used foundation type. Because of its large diameter, the foundation is sensitive to wave loads. For typical manually assisted blade-mating operations, the decision to perform the mating operation is based on the relative distance and velocity between the blade root center and the hub, and in accordance with the weather window. Hence, monitoring the hub real-time position and velocity is necessary, whether the blade installation is conducted manually or automatically. In this study, we design a hub motion estimation algorithm f…
Autonomous 3D geometry reconstruction through robot-manipulated optical sensors
2021
Abstract Many industrial sectors face increasing production demands and need to reduce costs, without compromising the quality. Whereas mass production relies on well-established protocols, small production facilities with small lot sizes struggle to update their highly changeable production at reasonable costs. The use of robotics and automation has grown significantly in recent years, but extremely versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs f…