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The ability of rotorcraft to fly at low altitude is hindered by the high pilot workload required to avoid obstacles. The development of automation tools that can detect obstacles in the rotorcraft flight path, warn the crew, and interact with the guidance system to avoid detected obstacles would significantly reduce pilot workload and increase safety. This article describes an obstacle detection approach based on feature tracking and recursive range estimation that takes into account the characteristics of rotorcraft flight. The merits and weaknesses of the approach are discussed using image sequences from the laboratory and from flight. © 1992 John Wiley & Sons, Inc. 相似文献
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Viola G. Ortega R. Banavar R. Acosta J.A. Astolfi A. 《Automatic Control, IEEE Transactions on》2007,52(6):1093-1099
Total energy shaping is a controller design methodology that achieves (asymptotic) stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or Hamiltonian structure with a desired energy function - that qualifies as Lyapunov function for the desired equilibrium. The success of the method relies on the possibility of solving two PDEs which identify the kinetic and potential energy functions that can be assigned to the closed loop. Particularly troublesome is the partial differential equation (PDE) associated to the kinetic energy which is nonlinear and inhomogeneous and the solution, that defines the desired inertia matrix, must be positive-definite. In this note, we prove that we can eliminate or simplify the forcing term in this PDE by modifying the target dynamics and introducing a change of coordinates in the original system. Furthermore, it is shown that, in the particular case of transformation to the Lagrangian coordinates, the possibility of simplifying the PDEs is determined by the interaction between the Coriolis and centrifugal forces and the actuation structure. The examples of pendulum on a cart and Furuta's pendulum are used to illustrate the results. 相似文献
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Membrane proteins are involved in a number of important biological functions. Yet, they are poorly understood from the structure and folding point of view. The external environment being drastically different from that of globular proteins, the intra-protein interactions in membrane proteins are also expected to be different. Hence, statistical potentials representing the features of inter-residue interactions based exclusively on the structures of membrane proteins are much needed. Currently, a reasonable number of structures are available, making it possible to undertake such an analysis on membrane proteins. In this study we have examined the inter-residue interaction propensities of amino acids in the membrane spanning regions of the alpha-helical membrane (HM) proteins. Recently we have shown that valuable information can be obtained on globular proteins by the evaluation of the pair-wise interactions of amino acids by classifying them into different structural environments, based on factors such as the secondary structure or the number of contacts that a residue can make. Here we have explored the possible ways of classifying the intra-protein environment of HM proteins and have developed scoring functions based on different classification schemes. On evaluation of different schemes, we find that the scheme which classifies amino acids to different intra-contact environment is the most promising one. Based on this classification scheme, we also redefine the hydrophobicity scale of amino acids in HM proteins. 相似文献
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R. N. Banavar D. F. Chichka J. L. Speyer 《International Journal of Adaptive Control and Signal Processing》2003,17(10):751-762
Convergence and synthesis issues in an extremum seeking control scheme are addressed. The goal of an extremum seeking controller is to operate at a setpoint that represents the optimal value of a function being optimized in the feedback loop. The results presented here are based solely on assumptions on the curvature of the function being optimized in the loop. We present a class of generalized PI compensators and a set of strictly proper and stable compensators. Copyright © 2003 John Wiley & Sons, Ltd. 相似文献
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Transport properties of disordered continuum systems 总被引:1,自引:0,他引:1
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