Performance Comparison of Controllers with Fault-Dependent Control Allocation for UAVs

This paper combines fault-dependent control allocation with three different control schemes to obtain fault tolerance in the longitudinal control of unmanned aerial vehicles. The paper shows that fault-dependent control allocation is able to accommodate actuator faults that would otherwise be critical and it makes a performance assessment for the different control algorithms: an \(\mathcal {L}_{1}\) adaptive backstepping controller; a robust sliding mode controller; and a standard PID controller. The actuator faults considered are the partial to total loss of the elevator, which is a critical component for the safe operation of unmanned aerial vehicles. During nominal operation, only the main actuator, namely the elevator, is active for pitch control. In the event of a partial or total loss of the elevator, fault-dependent control allocation is used to redistribute control to available healthy actuators. Using simulations of a Cessna 182 aircraft model, controller performance and robustness are evaluated by metrics that assess control accuracy and energy use. System uncertainties are investigated over an envelope of pertinent variation, showing that sliding mode and \(\mathcal {L}_{1}\) adaptive backstepping provide robustness, where PID control falls short. Additionally, a key finding is that the fault-dependent control allocation is instrumental when handling actuator faults.     

A sophomope course in codesign

We teach a hardware and software codesign course to second-year students who have expressed an interest in either electronics or informatics (computer science). The course emphasizes concepts and methods that are useful to both hardware and software developers and in particular to developers of embedded systems who must consider both disciplines as well as their interaction. We consider the course to be part of a search for better development methods and hope to increase the number of professional developers.     

REACTIVE TUNING OF TARGET ESTIMATE ACCURACY IN MULTISENSOR DATA FUSION

Dealing with conflicting and target-specific requirements is an important issue in multisensor and multitarget tracking. This paper aims to allocate sensing resources among various targets in reaction to individual information requests. The proposed approach is to introduce agents for every relevant target responsible for its tracking. Such agents are expected to bargain with each other for a division of resources. A bilateral negotiation model is established for resource allocation in two-target tracking. The applications of agent negotiation to target covariance tuning are illustrated together with simulation results presented. Moreover, we suggest a way of organizing simultaneous one-to-one negotiations, making our negotiation model still applicable in scenarios of tracking more than two targets.     

Lester Hill Revisited

Abstract

Lester Sanders Hill (1890–1961) is best known for the Hill cipher which he published in 1929. However, there seem to be four periods of Hill's career. First, in 1926 and 1927, Hill published a series of papers on mathematical error-detection. Hill's ideas for error-detection are similar to the ideas he used in his cipher. Next, in 1929 and 1931, Hill published two papers that describe the Hill cipher. The third period of Hill's career, from 1927 until 1960, was the time he served on the mathematics faculty of Hunter College. During his time at Hunter College, Hill seems to have had a relationship with the Navy in which he served during World War I. Finally, while teaching at Hunter College, in the 1950s, Hill wrote his “later papers” on cryptography, which were not published but were sent to Naval Communications.     

Review of Alan Turing: His Work and Impact Edited by S. Barry Cooper and Jan van Leeuwen

In this paper, a password authentication scheme based on a unit circle encoding is proposed. In our scheme, a one-way function and a cryptographic operation such as DES (data encryption standard) are adopted. Besides, in our scheme, the system only need to store a master secret key, and each user can select his own password freely. Instead of storing a password verification table inside the computer system, our method only has to store a corresponding table of identities, which is used by the computer system for validating the submitted passwords. Owing to this scheme the system can quickly and efficiently respond to any log-in attempt, and is suitable for real-time applications. Furthermore, in our scheme, the system does not need to reconstruct any term of the existing key table, when a new user is inserted into the system. Thus, our scheme is suitable for practical implementation.     

Joint High-Resolution Fundamental Frequency and Order Estimation

In this paper, we present a novel method for joint estimation of the fundamental frequency and order of a set of harmonically related sinusoids based on the multiple signal classification (MUSIC) estimation criterion. The presented method, termed HMUSIC, is shown to have an efficient implementation using fast Fourier transforms (FFTs). Furthermore, refined estimates can be obtained using a gradient-based method. Illustrative examples of the application of the algorithm to real-life speech and audio signals are given, and the statistical performance of the estimator is evaluated using synthetic signals, demonstrating its good statistical properties.     

Poisson regression models outperform the geometrical model in estimating the peak-to-trough ratio of seasonal variation: a simulation study

IntroductionSeveral statistical methods of assessing seasonal variation are available. Brookhart and Rothman [3] proposed a second-order moment-based estimator based on the geometrical model derived by Edwards [1], and reported that this estimator is superior in estimating the peak-to-trough ratio of seasonal variation compared with Edwards’ estimator with respect to bias and mean squared error. Alternatively, seasonal variation may be modelled using a Poisson regression model, which provides flexibility in modelling the pattern of seasonal variation and adjustments for covariates.MethodBased on a Monte Carlo simulation study three estimators, one based on the geometrical model, and two based on log-linear Poisson regression models, were evaluated in regards to bias and standard deviation (SD). We evaluated the estimators on data simulated according to schemes varying in seasonal variation and presence of a secular trend. All methods and analyses in this paper are available in the R package Peak2Trough [13].ResultsApplying a Poisson regression model resulted in lower absolute bias and SD for data simulated according to the corresponding model assumptions. Poisson regression models had lower bias and SD for data simulated to deviate from the corresponding model assumptions than the geometrical model.ConclusionThis simulation study encourages the use of Poisson regression models in estimating the peak-to-trough ratio of seasonal variation as opposed to the geometrical model.     

‘Salesman? Hell no!’ Identity struggles of nascent design entrepreneurs

The present study offers new input to the discussion of how entrepreneurship education and training programmes can be tailored to suit design professionals. To a large extent, existing entrepreneurship teaching for creative people is based on a traditional administrative management logic that often results in a clash between entrepreneurial demands and creative identities. The paper is based on the following rationale: the better we understand designers' reasoning and their struggles concerning becoming entrepreneurs, the better we are able to design entrepreneurship learning experiences that meet their needs. Since designers' career‐making tends to be highly driven by their strong sense of identity, the paper takes an identity perspective. The empirical foundation of the research is based on observation studies and phenomenological interviews conducted during an eight‐week entrepreneurship training program. Twenty‐five nascent design entrepreneurs with a professional background as designers participated in the voluntary programme. The paper offers novel and critical insights into designers' experiences of the entrepreneurial identity and reasoning as they participate in entrepreneurship training.     

Ship roll damping control

The technical feasibility of roll motion control devices has been amply demonstrated for over 100 years. Performance, however, can still fall short of expectations because of difficulties associated with control system designs, which have proven to be far from trivial due to fundamental performance limitations and large variations of the spectral characteristics of wave-induced roll motion. This tutorial paper presents an account of the development of various ship roll motion control systems together with the challenges associated with their design. It discusses the assessment of performance and the applicability of different mathematical models, and it surveys the control methods that have been implemented and validated with full scale experiments. The paper also presents an outlook on what are believed to be potential areas of research within this topic.