Theory Of Wing Sections Including A Summary Of Airfoil Data

Concise deep reinforcement learning obstacle avoidance for underactuated unmanned marine vessels

The development of magnetic field sensors for biomedical applications primarily focuses on equivalent magnetic noise reduction or overall design improvement in order to make them smaller and cheaper while keeping the required values of a limit of detection. One of the cutting-edge topics today is the use of magnetic field sensors for applications such as magnetocardiography, magnetotomography, magnetomyography, magnetoneurography, or their application in point-of-care devices. This introductory review focuses on modern magnetic field sensors suitable for biomedicine applications from a physical point of view and provides an overview of recent studies in this field. Types of magnetic field sensors include direct current superconducting quantum interference devices, search coil, fluxgate, magnetoelectric, giant magneto-impedance, anisotropic/giant/tunneling magnetoresistance, optically pumped, cavity optomechanical, Hall effect, magnetoelastic, spin wave interferometry, and those based on the behavior of nitrogen-vacancy centers in the atomic lattice of diamond.

Ultrasensitive Magnetic Field Sensors for Biomedical Applications.

In this paper, a dynamic model of a wheeled mobile robotic (WMR) system with coupled control input is developed, which will increase the complexity of its tracking control with time-varying advance angle. To deal with this problem, a partial reinforcement learning neural network (PRLNN)-based tracking algorithm is proposed for the WMR systems. The main contributions of the PRLNN adaptive tracking control method is that it is the first control method to introduce the PRLNN adaptive control to the WMR system, which determines to solve the WMR tracking control with the time-varying advance angle. The critic neural network (NN) and action NN adaptive laws for the decoupled controllers are designed using the standard gradient-based adaptation method. According to the Lyapunov stability analysis theorem, the uniform ultimate boundedness of all signals in the WMR system can be guaranteed with the design parameters chose properly, and the tracking error converge to a small compact set nearby zero. A numerical simulation is presented to verify the effectiveness of the proposed control algorithm.

Adaptive Partial Reinforcement Learning Neural Network-Based Tracking Control for Wheeled Mobile Robotic Systems

Otolithic afferents with regular resting discharge respond to gravity or low frequency linear accelerations, and we term these the static or sustained otolithic system. However in the otolithic sense organs there is anatomical differentiation across the maculae and corresponding physiological differentiation. A specialized band of receptors called the striola consists of mainly type I receptors whose hair bundles are weakly tethered to the overlying otolithic membrane. The afferent neurons which form calyx synapses on type I striolar receptors have irregular resting discharge and have low thresholds to high frequency (e.g. 500Hz) bone conducted vibration and air conducted sound. High frequency sound and vibration likely causes fluid displacement which deflects the weakly tethered hair bundles of the very fast type I receptors. Irregular vestibular afferents show phase locking, similar to cochlear afferents, up to stimulus frequencies of kilohertz. We term these irregular afferents the transient system signalling dynamic otolithic stimulation. 500Hz vibration preferentially activates the otolith irregular afferents, since regular afferents are not activated at intensities used in clinical testing whereas irregular afferents have low thresholds. We show how this sustained and transient distinction applies at the vestibular nuclei. The two systems have differential response to vibration and sound, to ototoxic antibiotics, to galvanic stimulation and to natural linear acceleration, and such differential sensitivity allows probing of the two systems. 500Hz vibration which selectively activates irregular otolithic afferents results in stimulus-locked eye movements in animals and humans. The preparatory myogenic potentials for these eye movements are measured in the new clinical test of otolith function – ocular vestibular evoked myogenic potentials. We suggest 500Hz vibration may identify the contribution of the transient system to vestibular controlled responses such as vestibulo-ocular, vestibulo-spinal and vestibulo-sympathetic responses. The prospect of particular treatments targeting one or the other of the transient or sustained systems is now being realized in the clinic by the use of intratympanic gentamicin which preferentially attacks type I receptors. We suggest that it is valuable to view vestibular responses by this sustained-transient distinction.

/pdf/sustained-and-transient-vestibular-systems-a-physiological-1eus11pa4a.pdf

Sustained and Transient Vestibular Systems: A Physiological Basis for Interpreting Vestibular Function.

A novel asymmetrical pitch system for rotary wing is presented The pitch control characteristics are studied and analyzed Because elastic linkage is a key part in whole asymmetrical pitch system, in order to obtain the variation of the elastic linkage deformation, an experimental platform mainly based on the device of micro aerial vehicles (MAVs) and a new control system mounted on TMS320LF2407 are designed This control system has its compacted configuration and reliability Finally, using this system to control the MAV for simulating the flying forward, experimental results show the MAV’s flight attitude can be controlled based on the variation of the elastic linkage

Control system for dynamic testing platform of asymmetrical pitch mechanism

The motion of spherical robot is non-linear and coupling, so most of the movement takes the decomposition into linear motion and steering motion and controls separately. The robot deviates from the equilibrium position when it encounters balance error, structure error, also uneven ground and jitter during the process. To solve the problem, this paper proposes fuzzy PID control method for compensation of the deflection angle to adjust trajectory. First, spherical robot kinematics and dynamics models are developed, and then fuzzy PID control method is analyzed, the compensation of motor mathematical model is established, and finally the robot simulation is conducted in Simulink. Result shows that the effect is well compensation.

Spherical robot linear motion deflection angle compensation

This paper reports on an experimental study of influences of the bias direct currents on the transverse giant magnetoimpedance effect in a FeCoNiBSiMo microwire. Along with increasing the bias direct currents, the low field sensitivity of the impedance increases evidently at high frequency (10–120 MHz). The low field sensitivity (4 Oe) by presence of 30 mA of bias direct currents is about 3 times larger than that without using bias direct currents at 60 MHz. However, the high field sensitivity of the impedance decreases by use of bias direct currents at high frequency. In addition, the low field linearity is improved by use of bias direct currents at high frequency. The experimental results could be very useful for the design of multi-dimensional giant magnetoimpedance sensors with high low field sensitivity and linearity.

Experimental Study of the Bias Direct Currents on the Transverse Giant Magnetoimpedance Effect in a Soft Ferromagnetic Microwire

Unmanned Aerial Vehicle (UAV) has enormous application in military and civilian. Compared with a single platform, cooperative UAVs offer efficiency and robustness in performing complex tasks, and multi-UAVs’ coordinative operations are recently becoming a focus of research. In this paper, a direction finding and location system for Multi-UAVs is proposed, which is based on the navigation strategy of the minimizing target location accuracy. In order to reduce the influence of the direction finding error, this article uses the data fusion method of adaptive UKF to achieve optimal position. This objective is to release the dependence of normal UKF on the priori knowledge of noise distribution, which is difficult to obtain in real systems. The experimental results validate that the presented method is valid. Compared with the conventional methods using UKF, this system based on adaptive UKF has high accuracy and robustness.

Coordinated Control and Localizing Target System for Multi-UAVs Based on Adaptive UKF

When scanning boat worked in the river, the wave would cause boat’s attitude change which leaded dual-frequency identification sonar instability, so we design a self-adaptive and 3D mechanical pan-tilt system. This pan-tilt system based on fuzzy PID controller could compensate the attitude error of sonar actively. And MEMS sensor was used in attitude acquisition system. In order to verify the function of this model, we did some simulation experiments for control system, and the result proved the system was superior to conventional system and had the self-adaptation. Finally, we did some real-time scanning experiments on scanning boat, and the mechanical structure, sensor system and control system were all feasibility.

Hengyu Li

Papers

Control system for dynamic testing platform of asymmetrical pitch mechanism

Spherical robot linear motion deflection angle compensation

Experimental Study of the Bias Direct Currents on the Transverse Giant Magnetoimpedance Effect in a Soft Ferromagnetic Microwire

Coordinated Control and Localizing Target System for Multi-UAVs Based on Adaptive UKF

Design of Shipborne Underwater Inertial Stabilized Pan-Tilt System Based on Fuzzy PID Controller