Double-model adaptive fault detection and diagnosis applied to real flight data

The existing multiple model-based estimation algorithms for Fault Detection and Diagnosis (FDD) require the design of a model set, which contains a number of models matching different fault scenarios. To cope with partial faults or simultaneous faults, the model set can be even larger. A large model set makes the computational load intensive and can lead to performance deterioration of the algorithms. In this paper, a novel Double-Model Adaptive Estimation (DMAE) approach for output FDD is proposed, which reduces the number of models to only two, even for the FDD of partial and simultaneous output faults. Two Selective-Reinitialization (SR) algorithms are proposed which can both guarantee the FDD performance of the DMAE. The performance is tested using a simulated aircraft model with the objective of Air Data Sensors (ADS) FDD. Another contribution is that the ADS FDD using real flight data is addressed. Issues related to the FDD using real flight test data are identified. The proposed approaches are validated using real flight data of the Cessna Citation II aircraft, which verified their effectiveness in practice.     

Differential geometry based active fault tolerant control for aircraft

This work shows how to use a differential geometry tool to design a novel nonlinear active fault tolerant flight control system for aircraft. The proposed control scheme consists of two main subsystems: a controller, which is designed for the nominal plant, and a fault detection and diagnosis module, which provides fault estimation. A further feedback loop exploits the fault estimation to accommodate faults affecting the system. The estimate convergence and the stability of the active fault tolerant flight controller are theoretically proved. Finally, high fidelity simulations show the effectiveness of the scheme.     

Narrowband signal detection techniques in shallow ocean by acoustic vector sensor array

This paper presents the formulation and performance analysis of four techniques for detection of a narrowband acoustic source in a shallow range-independent ocean using an acoustic vector sensor (AVS) array. The array signal vector is not known due to the unknown location of the source. Hence all detectors are based on a generalized likelihood ratio test (GLRT) which involves estimation of the array signal vector. One non-parametric and three parametric (model-based) signal estimators are presented. It is shown that there is a strong correlation between the detector performance and the mean-square signal estimation error. Theoretical expressions for probability of false alarm and probability of detection are derived for all the detectors, and the theoretical predictions are compared with simulation results. It is shown that the detection performance of an AVS array with a certain number of sensors is equal to or slightly better than that of a conventional acoustic pressure sensor array with thrice as many sensors.     

Vehicle tractive force prediction with robust and windup-stable Kalman filters

Vehicle control systems need to prognosticate future vehicle states in order to improve energy efficiency. This paper compares four approaches that are used to identify the parameters of a longitudinal vehicle dynamics model used for the prediction of vehicle tractive forces. All of the identification approaches build on a standard Kalman filter. Measurement signals are processed using the polynomial function approximation technique to remove noise and compute smooth derivative values of the signals. Experimental results illustrate that the approach using multiple Stenlund–Gustafsson M-Kalman filters (multiple robust and windup-stable Kalman filters) reaches the best performance and robustness in predicting the vehicle tractive forces.     

Electric vehicles charging control in a smart grid: A model predictive control approach

The paper presents an event driven model predictive control (MPC) framework for managing charging operations of electric vehicles (EV) in a smart grid. The objective is to minimize the cost of energy consumption, while respecting EV drivers' preferences, technical bounds on the control action (in compliance with the IEC 61851 standard) and both market and grid constraints (by seeking the tracking of a reference load profile defined by the grid operator). The proposed control approach allows “flexible” EV users to participate in demand side management (DSM) programs, which will play a crucial role in improving stability and efficiency of future smart grids. Further, the natural MPC formulation of the problem can be recast into a mixed integer linear programming problem, suitable for implementation on a calculator. Simulation results are provided and discussed in detail.     

Effect of handle design on movement dynamics and muscle co-activation in a wrist flexion task

Arm and wrist manipulanda are commonly used as input devices in teleoperation and gaming applications, establish a physical interface to patients in several rehabilitation robots, and are applied as advanced research tools in biomechanics and neuroscience. Despite the fact that the physical interface, i.e. the handle through which the wrist/hand is attached to the manipulator, may influence interaction and movement behavior, the effects of handle design on these parameters has received little attention. Yet, a poor handle design might lead to overexertion and altered movement dynamics, or result in misinterpretation of results in research studies. In this study, twelve healthy subjects performed repetitions of a wrist flexion task against a dynamic load generated by a 1-DOF robotic wrist manipulandum. Three different handle designs were qualitatively and quantitatively evaluated based on wrist movement kinematics and dynamics, patterns of finger and wrist muscle activity, and ergonomics criteria such as perceived comfort and fatigue. The three proposed designs were further compared to a conventional joystick-like handle. Task performance as well as kinematic and kinetic parameters were found to be unaffected by handle design. Nevertheless, differences were found in perceived task difficulty, comfort and levels of muscle activation of wrist and finger muscles, with significantly higher muscle activation when using a joystick-like design, where the handle is completely enclosed by the hand. Comfort was rated high for the flat handle, adapted to the natural curvature of the hand with the fingers extended. These results may inform for the design of handles serving as physical interface in teleoperation applications, robot-assisted rehabilitation and biomechanics/neuroscience research.     

Effect of body-borne equipment on injury of military pilots and aircrew during a simulated helicopter crash

Military helicopter pilots are expected to wear a variety of items of body-borne equipment during flight so as to be prepared for any situation that may arise in combat. Helicopter seats are designed to a specified weight range for an occupant with equipment. This paper investigates how distributing the equipment on the body affects injury potential during a helicopter crash. A finite element model representing a helicopter seat with a fully deformable 50th percentile Hybrid III carrying equipment was developed. The model was subjected to a standard military certification crash test. Various equipment configurations were investigated and analysed to determine its influence on the risk of injury. It was found that placing the equipment low on the torso, i.e. near the thighs, not only reduces the likelihood of injury in the lumbar, spinal region but also provides favourable results in neck and head injury risk when compared to other configurations investigated. In contrast, placing equipment high on the torso, i.e. close to the chin, increases the lumbar load and implicitly, the risk of head injury. A statistical analysis is carried out using the Wilcoxon Signed Rank Test to deliver probability of loads experienced within a certain interval. This study recommends an equipment configuration that improves survivability for an occupant seated on a fixed load energy absorbing seat which is subjected to Military Standard 58095A Test 4.     

A comprehensive approach to evaluating watershed models for predicting river flow regimes critical to downstream ecosystem services

Selection of strategies that help reduce riverine inputs requires numerical models that accurately quantify hydrologic processes. While numerous models exist, information on how to evaluate and select the most robust models is limited. Toward this end, we developed a comprehensive approach that helps evaluate watershed models in their ability to simulate flow regimes critical to downstream ecosystem services. We demonstrated the method using the Soil and Water Assessment Tool (SWAT), the Hydrological Simulation Program–FORTRAN (HSPF) model, and Distributed Large Basin Runoff Model (DLBRM) applied to the Maumee River Basin (USA). The approach helped in identifying that each model simulated flows within acceptable ranges. However, each was limited in its ability to simulate flows triggered by extreme weather events, owing to algorithms not being optimized for such events and mismatched physiographic watershed conditions. Ultimately, we found HSPF to best predict river flow, whereas SWAT offered the most flexibility for evaluating agricultural management practices.     

A methodological approach to the design of optimising control strategies for sewer systems

This study focuses on designing an optimisation based control for sewer system in a methodological way and linking it to a regulatory control. Optimisation based design is found to depend on proper choice of a model, formulation of objective function and tuning of optimisation parameters. Accordingly, two novel optimisation configurations are developed, where the optimisation either acts on the actuators or acts on the regulatory control layer. These two optimisation designs are evaluated on a sub-catchment of the sewer system in Copenhagen, and found to perform better than the existing control; a rule based expert system. On the other hand, compared with a regulatory control technique designed earlier in Mollerup et al. (2015), the optimisation showed similar performance with respect to minimising overflow volume. Hence for operation of small sewer systems, regulatory control strategies can offer promising potential and should be considered along more advanced strategies when identifying novel solutions.     

Automated 3D volumetric reconstruction of multiple-room building interiors for as-built BIM

Currently, fully automated as-built modeling of building interiors using point-cloud data still remains an open challenge, due to several problems that repeatedly arise: (1) complex indoor environments containing multiple rooms; (2) time-consuming and labor-intensive noise filtering; (3) difficulties of representation of volumetric and detail-rich objects such as windows and doors. This study aimed to overcome such limitations while improving the amount of details reproduced within the model for further utilization in BIM. First, we input just the registered three-dimensional (3D) point-cloud data and segmented the point cloud into separate rooms for more effective performance of the later modeling phases for each room. For noise filtering, an offset space from the ceiling height was used to determine whether the scan points belonged to clutter or architectural components. The filtered points were projected onto a binary map in order to trace the floor-wall boundary, which was further refined through subsequent segmentation and regularization procedures. Then, the wall volumes were estimated in two ways: inside- and outside-wall-component modeling. Finally, the wall points were segmented and projected onto an inverse binary map, thereby enabling detection and modeling of the hollow areas as windows or doors. The experimental results on two real-world data sets demonstrated, through comparison with manually-generated models, the effectiveness of our approach: the calculated RMSEs of the two resulting models were 0.089 m and 0.074 m, respectively.     

Anticipatory assistance-as-needed control algorithm for a multijoint upper limb robotic orthosis in physical neurorehabilitation

Robotic devices are becoming a popular alternative to the traditional physical therapy as a mean to enhance functional recovery after stroke; they offer more intensive practice opportunities without increasing time spent on supervision by the treating therapist. An ideal behavior for these systems would consist in emulating real therapists by providing anticipated force feedback to the patients in order to encourage and modulate neural plasticity. However, nowadays there are no systems able to work in an anticipatory fashion. For this reason, the authors propose an anticipatory assistance-as-needed control algorithm for a multijoint robotic orthosis to be used in physical ABI neurorehabilitation. This control algorithm, based on a dysfunctional-adapted biomechanical prediction subsystem, is able to avoid patient trajectory deviations by providing them with anticipatory force-feedback. The system has been validated by means of a robotic simulator.Obtained results demonstrate through simulations that the proposed assistance-as-needed control algorithm is able to provide anticipatory actuation to the patients, avoiding trajectory deviations and tending to minimize the degree of actuation. Thus, the main novelty and contribution of this work is the anticipatory nature of the proposed assistance-as-needed control algorithm, that breaks with the current robotic control strategies by not waiting for the trajectory deviations to take place. This new actuation paradigm avoids patient slacking and increases both participation and muscle activity in such a way that neural plasticity is encouraged and modulated to reinforce motor recovery.     

Synthesizing safe control-command systems out of reusable components

This paper presents a safe design method for control-command embedded systems. It investigates the problem of building control-command systems out of Commercial off the shelf (COTS) components. The design method proposed uses in synergy the formal verification (FV) and the Discrete Controller Synthesis (DCS) techniques. COTS are formally specified using temporal logic and/or executable observers. New functions are built by assembling COTS together. As the COTS assembly operation is seldom error-free, behavioral incompatibilities may persist between COTS. For these reasons, COTS assemblies need to be formally verified and if errors are found, an automatic correction is attempted using DCS. The control-command code generated by DCS needs hardware specific post-processing: a structural decomposition, followed by a controllability assessment, followed by a dedicated formal verification step, ensuring that no spurious behavior is added by DCS. The resulting system is ready for hardware (e.g. FPGA) implementation.     

A real time experimental setup for classification of epilepsy risk levels

The objective of this paper is to analyze the performance of singular value decomposition, expectation maximization, and Elman Neural Networks in optimization of code converter outputs in the classification of epilepsy risk levels from EEG (electroencephalogram) signals. The signal parameters such as the total number of positive and negative peaks, spikes and sharp waves, their duration etc., were extracted using morphological operators and wavelet transforms. Code converters were considered as a level one classifier. Code converters were found to have a performance index and quality value of 33.26 and 12.74, respectively, which is low. Consequently, for the EEG signals of 20 patients, the post classifiers were applied across 3 epochs of 16 channels. After having made a comparative study of different architectures, SVD was found to be the best post classifier as it marked a performance index of 89.48 and a quality value of 20.62. Elman neural network also exhibits good performance metrics than SVD in the morphological operator based feature extraction method.     

Simulating agricultural land rental markets by combining agent-based models with traditional economics concepts: The case of the Argentine Pampas

Land exchange through rental transactions is a central process in agricultural systems. The land tenure regimes emerge from land transactions and structural and land use changes are tied to the dynamics of the land market. We introduce LARMA, a LAnd Rental MArket model embedded within the Pampas Model (PM), an agent-based model of Argentinean agricultural systems. LARMA produces endogenous formation of land rental prices. LARMA relies on traditional economic concepts for LRP formation but addresses some drawbacks of this approach by being integrated into an agent-based model that considers heterogeneous agents interacting with one another. PM-LARMA successfully reproduced the agricultural land tenure regimes and land rental prices observed in the Pampas. Including adaptive, heterogeneous and interacting agents was critical to this success. We conclude that agent-based and traditional economic models can be successfully combined to capture complex emergent land tenure and market price patterns while simplifying the overall model design.     

Stream flow predictions using nature-inspired Firefly Algorithms and a Multiple Model strategy – Directions of innovation towards next generation practices

Stream flow prediction is studied by Artificial Intelligence (AI) in this paper using Artificial Neural Network (ANN) as a hybrid of Multi-Layer Perceptron (MLP) with the Levenberg–Marquardt (LM) backpropagation learning algorithm (MLP-LM) and (ii) MLP integrated with the Fire-Fly Algorithm (MLP-FFA). Monthly stream flow records used in this prediction problem comprise two stations at Bear River, the U.S.A., for the period of 1961–2012. Six different model structures are investigated for both MLP-LM and MLP-FFA models and their results were analysed using a number of performance measures including Correlation Coefficients (CC) and the Taylor diagram. The results indicate a significant improvement is likely in predicting downstream flows by MLP-FFA over that by MLP-LM, attributed to identifying the global minimum. In addition, an emerging multiple model (ensemble) strategy is employed to treat the outputs of the two MLP-LM and MLP-FFA models as inputs to an ANN model. The results show yet another further possible improvement. These two avenues for improvements identify possible directions towards next generation research activities.     

Genetic based discrete particle swarm optimization for Elderly Day Care Center timetabling

The timetabling problem of local Elderly Day Care Centers (EDCCs) is formulated into a weighted maximum constraint satisfaction problem (Max-CSP) in this study. The EDCC timetabling problem is a multi-dimensional assignment problem, where users (elderly) are required to perform activities that require different venues and timeslots, depending on operational constraints. These constraints are categorized into two: hard constraints, which must be fulfilled strictly, and soft constraints, which may be violated but with a penalty. Numerous methods have been successfully applied to the weighted Max-CSP; these methods include exact algorithms based on branch and bound techniques, and approximation methods based on repair heuristics, such as the min-conflict heuristic. This study aims to explore the potential of evolutionary algorithms by proposing a genetic-based discrete particle swarm optimization (GDPSO) to solve the EDCC timetabling problem. The proposed method is compared with the min-conflict random-walk algorithm (MCRW), Tabu search (TS), standard particle swarm optimization (SPSO), and a guided genetic algorithm (GGA). Computational evidence shows that GDPSO significantly outperforms the other algorithms in terms of solution quality and efficiency.     

Software framework for inverse modeling and uncertainty characterization

Estimation of spatial random fields (SRFs) is required for predicting groundwater flow, subsurface contaminant movement, and other areas of environmental and earth sciences modeling. This paper presents an inverse modeling framework called MAD# for characterizing SRFs, which is an implementation of the Bayesian inverse modeling technique Method of Anchored Distributions (MAD). MAD# allows modelers to “wrap” simulation models using an extensible driver architecture that exposes model parameters to the inversion engine. MAD# is implemented in an open source software package with the goal of lowering the barrier to using inverse modeling in education, research, and resource management. MAD# includes an intentionally simple user interface for simulation configuration, external software integration, spatial domain and model output visualization, and evaluation of model convergence. Four test cases are presented demonstrating the novel functionality of this framework to apply inversion in order to calibrate the model parameters characterizing a groundwater aquifer.     

Development of predictive models for the estimation of the probability of suffering fear of falling and other fall risk factors based on posturography parameters in community-dwelling older adults

Falls pose an important problem for older adults. Balance training is one of the main prevention strategies, but there is a lack of objective measurement methods that would allow the effectiveness of the treatments employed to be assessed. This study aimed to analyse the relationship between posturographic parameters and risk factors associated with falling, including the fear of falling (FoF). Forty-one healthy community-dwelling older adults were surveyed on their perception of problems considered to be fall risk factors. Balance measurement with posturography was performed. The relationships between risk factors and falls and risk factors and posturography were analysed by means of cross-tabulation and logistic regression, respectively. Experimental results showed a significant relationship between some of the posturographic parameters and various fall risk factors. Stability limits were related to FoF, and results from the Romberg test with eyes closed with and without foam correlated with problems in kneeling/crouching. The results from the Romberg test with eyes closed and foam correlated with osteoarthritis. Equations were developed to estimate the probability of having such problems. In conclusion, posturography is useful for the estimation of fall risk conditions in relation to three important fall risk factors (FoF, osteoarthritis and problems in kneeling/crouching), and it could be used for targeting, training and studying progress after the use of different treatments.Relevance to industryPosturography can be used as an assessment tool to analyse the effects of those treatments aimed at preventing falls. Furthermore, the equations derived from our results can be used along with posturographic variables to assess patient progress.     

Measuring the relation between computer use and reading literacy in the presence of endogeneity

This work studies the relation between computer use for reading activities and academic literacy in 15-year-old students in Chile, Uruguay, Spain, and Portugal. Data used is from the PISA 2009 test. Special attention is given to potential bias problems when the computer use is an endogenous variable. Few studies in this area address this issue: existing literature has shown that different types of computer use have different implications on performance. The limitations of observational data have also been emphasized to establish cause–effect relations between computer use and academic performance. It is important, however, to consider the computer use endogeneity hypothesis (above all at home) since students decide on the frequency of computer use at home. The results found show that by controlling for endogeneity, computer use for reading is not related to reading performance neither in digital or printed format, with the exception of Chile that shows a negative relation in the case of reading from a printed format. The results considering endogeneity differ considerably from results when endogeneity is not taken into account. The work shows the relevance of experimental type studies in order to make sound statements with regard to the computer use and academic performance relation. In turn, school reading activities in a digital environment are suggested that could have an impact on reading performance.     

A framework for coupling explanation and prediction in hydroecological modelling

Causal explanation and empirical prediction are usually addressed separately when modelling ecological systems. This potentially leads to erroneous conflation of model explanatory and predictive power, to predictive models that lack ecological interpretability, or to limited feedback between predictive modelling and theory development. These are fundamental challenges to appropriate statistical and scientific use of ecological models. To help address such challenges, we propose a novel, integrated modelling framework which couples explanatory modelling for causal understanding and input variable selection with a machine learning approach for empirical prediction. Exemplar datasets from the field of freshwater ecology are used to develop and evaluate the framework, based on 267 stream and river monitoring stations across England, UK. These data describe spatial patterns in benthic macroinvertebrate community indices that are hypothesised to be driven by meso-scale physical and chemical habitat conditions. Whilst explanatory models developed using structural equation modelling performed strongly (r² for two macroinvertebrate indices = 0.64–0.70), predictive models based on extremely randomised trees demonstrated moderate performance (r² for the same indices = 0.50–0.61). However, through coupling explanatory and predictive components, our proposed framework yields ecologically-interpretable predictive models which also maintain the parsimony and accuracy of models based on solely predictive approaches. This significantly enhances the opportunity for feedback among causal theory, empirical data and prediction within environmental modelling.