Search results for "trajectory"
showing 10 items of 203 documents
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 …
A Highly Flexible Trajectory Model Based on the Primitives of Brownian Fields—Part I: Fundamental Principles and Implementation Aspects
2015
A fundamental drawback of synthetic mobility models is that the spatial configuration of the path is determined by the temporal features of the mobile station (MS), such as its speed. This is, however, not true in reality. This first part of our paper establishes a new approach for generating fully spatial random trajectory (mobility) models to which different speed scenarios can be applied. We employ the new approach to the proposal of a highly flexible trajectory model based on the primitives (integrals) of Brownian fields (BFs). We construct a drifted partial random bridge from a given starting point to a random terminating point in the 2D plane. If the bridge is partially established, a…
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…
Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers
2023
This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and as…
Numerical analysis of dynamical systems: unstable periodic orbits, hidden transient chaotic sets, hidden attractors, and finite-time Lyapunov dimensi…
2018
In this article, on the example of the known low-order dynamical models, namely Lorenz, Rossler and Vallis systems, the difficulties of reliable numerical analysis of chaotic dynamical systems are discussed. For the Lorenz system, the problems of existence of hidden chaotic attractors and hidden transient chaotic sets and their numerical investigation are considered. The problems of the numerical characterization of a chaotic attractor by calculating finite-time time Lyapunov exponents and finite-time Lyapunov dimension along one trajectory are demonstrated using the example of computing unstable periodic orbits in the Rossler system. Using the example of the Vallis system describing the El…
The link between vulnerability and social exclusion and criminal trajectories. An association study
2017
Este estudio tiene por objeto identificar la relación existente entre las trayectorias delictivas y los factores de vulnerabilidad y exclusión social en adolescentes en conflicto con la ley. Para ello se analizan 281 expedientes de adolescentes en conflicto con la ley de la ciudad de València y se generan 3 trayectorias delictivas: inicial, moderada y consolidada, que se asocian a indicadores de vulnerabilidad y exclusión social. Se muestran evidencias empíricas de su relación. Las trayectorias delictivas y los factores de vulnerabilidad y exclusión social se hallan plenamente conectados, entrelazados y superpuestos. La acumulación de factores de vulnerabilidad y exclusión social en adolesc…
Cavezzo, the first Italian meteorite recovered by the PRISMA fireball network. Orbit, trajectory, and strewn-field
2020
ABSTRACT Two meteorite pieces have been recovered in Italy, near the town of Cavezzo (Modena), on 2020 January 4th. The associated fireball was observed on the evening of New Year’s Day 2020 by eight all-sky cameras of the PRISMA fireball network, a partner of FRIPON. The computed trajectory had an inclination angle of approximately 68° and a velocity at infinity of 12.8 km s−1. Together with the relatively low terminal height, estimated as 21.5 km, those values were indicating the significant possibility of a meteorite dropping event, as additionally confirmed by the non-zero residual total mass. The strewn-field was computed taking into account the presence of two bright light flashes, re…
A Trajectory-Driven SIMO mm-Wave Channel Model for a Moving Point Scatterer
2021
In this paper, we propose a trajectory-based three-dimensional (3D) non-stationary channel model for a millimeter wave (mm-Wave) single-input multiple-output (SIMO) system. The proposed channel model is designed to capture the mobility of a moving point scatterer in an indoor environment. We derive the expression of the time-variant (TV) channel transfer function (CTF). We study the TV Doppler characteristics of the channel, such as the TV Doppler power spectrum and the TV mean Doppler shift. To validate the proposed channel model, we performed a measurement campaign in an indoor environment using a software defined radar operating at 24 GHz. As a moving object, we consider a single swingin…
On Switching between Motion and Force Control
2019
In motion control technologies, an automatic switching between trajectory following and set reference force, upon the impact, is a frequently encountered requirement. Despite both, motion and force controls, are something of well-understood and elaborated in the control theory and engineering practice, a reliable switching between them is not always self-evident. It can lead to undesired deadlocks, limit cycles, chattering around switching point and, as consequence, to wearing or damages in the controlled plant and its environment. This paper contributes to analysis and understanding of the autonomous switching from the motion to force control and vice versa. Simple output and state feedbac…
An empirically grounded agent based model for modeling directs, conflict detection and resolution operations in air traffic management
2017
We present an agent based model of the Air Traffic Management socio-technical complex system that aims at modeling the interactions between aircrafts and air traffic controllers at a tactical level. The core of the model is given by the conflict detection and resolution module and by the directs module. Directs are flight shortcuts that are given by air controllers to speed up the passage of an aircraft within a certain airspace and therefore to facilitate airline operations. Conflicts resolution between flight trajectories can arise during the en-route phase of each flight due to both not detailed flight trajectory planning or unforeseen events that perturb the planned flight plan. Our mod…