Hybrid formation control of unmanned helicopters

... HYBRID FORMATION CONTROL OF UNMANNED HELICOPTERS ALI KARIMODDINI (M.Sc., Petroleum University of Technology, Iran) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY NUS ... a purpose is hybrid modelling and control framework ix This thesis aims to develop a hybrid supervisory control framework for the formation of unmanned helicopters Building such a...

Ngày tải lên: 09/09/2015, 10:07

... stability of formation control of multi- robot systems A detailed analysis of the qualitative characteristics of two nonlinear feedback controls of mobile robots is presented The robustness of a tracking ... Velocity of robot during 3 -robot triangle formation control 120 4.35 Headings of all robots during 3 -robot triangle formation control 121 4.36 Snapsho...

Ngày tải lên: 10/09/2015, 15:52

... knowledge of the role of genetics in determining a clone’s rooting ability before maturation occurs It is known from studies of rooting in other conifers that the genetic determination of rooting can ... Haines R.J., Walker S.M., Copley T.R., The effect of decapitation and heavy pruning of ortets on the subsequent rooting of cuttings of Pinus caribaea var h...

Ngày tải lên: 08/08/2014, 00:22

... correlate of memory, Long Term Potentiation, has an early and a late phase, which parallels the timeline of short -term memory acquisition and long- term memory consolidation, epigenetic events can also ... One particular epigenetic regulator, the HAT enzyme TIP60 (HIV Tat interactive Protein, 60 kDa, also known as KAT5), has emerged as an important effector of n...

Ngày tải lên: 09/09/2015, 08:13

...  51   3.2 FUNCTIONAL CHARACTERIZATION OF LRP5 AND  ITS  PUTATIVE  INHIBITOR SOST  DURING   CRANIOFACIAL SKELETON FORMATION    53   3.2.1 Lrp5 and Sost  are  conserved ...  EXPRESSION OF LRP5 AND  ITS  PUTATIVE  INHIBITOR SOST  DURING  CRANIAL   SKELETON  DEVELOPMENT IN  ZEBRAFISH    84   4.3  A  ROLE  FOR LRP5 AND SOST IN  MORPHOGENESIS OF  THE ...  Complementary and  ...

Ngày tải lên: 10/09/2015, 08:43

... Miniature UAV helicopter also has special attractiveness to the academic circle because of their smaller size, expendable lower cost, outstanding maneuverability, ease of uses, and wide range of capabilities ... name a few However, due to the highly dynamic behavior of helicopter, limited payload capability and lack of highly accurate sensors, miniature UAVs are stil...

Ngày tải lên: 11/09/2015, 09:59

... 22 0 23 0 24 0 25 0 190 20 0 21 0 22 0 23 0 24 0 25 0 190 20 0 21 0 22 0 23 0 24 0 25 0 190 20 0 21 0 22 0 Time: s 23 0 24 0 25 0 0.5 0.48 180 0 .24 col 21 0 0.54 0. 52 180 0. 52 δ 20 0 0 .23 0 .22 180 a Inputs of automatic ... 22 0 23 0 24 0 25 0 e UAV angular rates of automatic hovering flight test attitude output φ (deg) 10 −5 180 190 20 0 21 0 22 0...

Ngày tải lên: 11/09/2015, 09:59

... HYBRID PHOTOCATALYSIS AND MICROFILTRATION PRETREATMENT FOR ORGANIC FOULING CONTROL OF REVERSE OSMOSIS MEMBRANE LIU HONGYU (M Eng., Beijing Univ of Civil Eng & Arch.) A THESIS SUBMITTED FOR ... method for effective alleviation and control of organic fouling in RO process The primary objective of this study was to develop a novel pretreatment method...

Ngày tải lên: 14/09/2015, 08:40

... motivation for the development of a hybrid control for marine control system will be addressed General concept of hybrid control and supervisory control are discussed The structure of marine control ... DESIGN OF HYBRID MARINE CONTROL SYSTEMS FOR DYNAMIC POSITIONING NGUYEN TRONG DONG (B.Eng (Hons.), HCMUT) A THESIS SUBMITTED FOR THE DEGREE OF...

Ngày tải lên: 16/09/2015, 08:30

... orally [27] Therefore, the aim of the present study was to evaluate the inhibitory effect of some thioglycosides synthesized in our laboratory on human hSGLT1 and hSGLT2 as a potential therapeutic ... O-glucosides involved in the biosynthesis of chrysomelidial and salicin These substances are synthesized and secreted as part of a defense mechanism used by la...

Ngày tải lên: 26/10/2012, 10:04

... corrected by drugs immediately after birth In Hungary 25.2% of congenital abnormalities were prevented by these methods Previously the selective abortion, i.e termination of pregnancy after the prenatal ... diagnosis of severe fetal defects was also named as secondary prevention Recently the WHO and other international bodies have excluded this approach from the term “prevention...

Ngày tải lên: 02/11/2012, 11:12

... the formation of mutagens during the chlorination process of AC-decompositions Therefore, in this study, composite samples of AC-decompositions attained through the biodegradation test were prepared ... 150 100 50 DZN 0.5 Dose [mg/plate] Fig - Changes of MFP by biodegradation: ○ mutagenicity of composite sample; ● MFP of composite sample; ▲ MFP of AC Rb [-] 0 20...

Ngày tải lên: 05/09/2013, 09:38

... behavior of polysilicate in controlling membrane fouling in three MBR systems (R1, R2, and R3) TMP was increased by membrane clogging and recovered by physical washing The concentrations of sole ... control of membrane fouling was more effective PSI effectively reduced biopolymer concentrations and membrane fouling in MBR The reduction of membrane...

Ngày tải lên: 05/09/2013, 10:15

... develop a controller for temperature control inside a room within a desired band of temperatures for comfort The details of the geometry of the room and the HVAC system based on displacement ventilation ... disadvantages of the DMC controller First, the DMC controller is a local controller which can only guarantee the stability of the...

Ngày tải lên: 05/09/2013, 16:11

... How the Microsoft host controller driver uses the USBSTS register During the process of taking control of the host controller from the BIOS, the Microsoft host controller driver monitors the ... How the Microsoft host controller driver uses the USBSTS register During the process of taking control of the host controller from the BIOS,...

Ngày tải lên: 07/10/2013, 00:20