Trajectory planning/re-planning for satellite systems in rendezvous mission in the presence of actuator faults based on attainable efforts analysis

The objective of fault-tolerant control (FTC) is to minimise the effect of faults on system performance (stability, trajectory tracking, etc.). However, the majority of the existing FTC methods continue to force the system to follow the pre-fault trajectories without considering the reduction in available control resources caused by actuator faults. Forcing the system to follow the same trajectories as before fault occurrence may result in actuator saturation and system's instability. Thus, pre-fault objectives should be redefined in function of the remaining resources to avoid potential saturation. The main contribution of this paper is a flatness-based trajectory planning/re-planning method that can be combined with any active FTC approach. The work considers the case of over-actuated systems where a new idea is proposed to evaluate the severity of faults occurred. In addition, the trajectory planning/re-planning approach is formulated as an optimisation problem based on the analysis of attainable efforts domain in fault-free and fault cases. The proposed approach is applied to two satellite systems in rendezvous mission.     

Cover Image,Volume 66, Issue 10

The cover image, by Bruna A. Bregadiolli et al., is based on the Research Article Towards the synthesis of poly(azafulleroid)s: main chain fullerene oligomers for organic photovoltaic devices, DOI: 10.1002/pi.5419 .

     

Packing spherical discrete elements for large scale simulations

We introduce a new geometric method to generate sphere packings with restricted overlap values. Sample generation is an important, but time-consuming, step that precedes a calculation performed with the discrete element method (DEM). At present, there does not exist any software dedicated to DEM which would be similar to the mesh software that exists for finite element methods (FEM). A practical objective of the method is to build very large sphere packings (several hundreds of thousands) in a few minutes instead of several days as the current dynamic methods do. The developed algorithm uses a new geometric procedure to position very efficiently the polydisperse spheres in a tetrahedral mesh. The algorithm, implemented into YADE-OPEN DEM (open-source software), consists in filling tetrahedral meshes with spheres. In addition to the features of the tetrahedral mesh, the input parameters are the minimum and maximum radii (or their size ratio), and the magnitude of authorized overlaps. The filling procedure is stopped when a target solid fraction or number of spheres is reached. Based on this method, an efficient tool can be designed for DEMs used by researchers and engineers. The generated packings can be isotropic and the number of contacts per sphere is very high due to its geometric procedure. In this paper, different properties of the generated packings are characterized and examples from real industrial problems are presented to show how this method can be used. The current C++ version of this packing algorithm is part of YADE-OPEN DEM [20] available on the web (https://yade-dem.org).     

A fuzzy constraint-based approach to data reconciliation in material flow analysis

Data reconciliation consists in modifying noisy or unreliable data in order to make them consistent with a mathematical model (herein a material flow network). The conventional approach relies on least-squares minimization. Here, we use a fuzzy set-based approach, replacing Gaussian likelihood functions by fuzzy intervals, and a leximin criterion. We show that the setting of fuzzy sets provides a generalized approach to the choice of estimated values, that is more flexible and less dependent on oftentimes debatable probabilistic justifications. It potentially encompasses interval-based formulations and the least squares method, by choosing appropriate membership functions and aggregation operations. This paper also lays bare the fact that data reconciliation under the fuzzy set approach is viewed as an information fusion problem, as opposed to the statistical tradition which solves an estimation problem.     

Recasting MLF

The language ML^F is a proposal for a new type system that supersedes both ML and System F, allows for efficient, predictable, and complete type inference for partially annotated terms. In this work, we revisit the definition of ML^F, following a more progressive approach and focusing on the design-space and expressiveness. We introduce a Curry-style version iML^F of ML^F and provide an interpretation of iML^F types as instantiation-closed sets of Dash System-F types, from which we derive the definition of type-instance in iML^F. We give equivalent syntactic definition of the type-instance, presented as a set of inference rules. We also show an encoding of iML^F into the closure of Curry-style System F by let-expansion. We derive the Church-style version eML^F by refining types of iML^F so as to distinguish between given and inferred polymorphism. We show an embedding of ML in eML^F and a straightforward encoding of System F into eML^F.     

Automatic fog detection and estimation of visibility distance through use of an onboard camera

In this paper, we will present a technique for measuring visibility distances under foggy weather conditions using a camera mounted onboard a moving vehicle. Our research has focused in particular on the problem of detecting daytime fog and estimating visibility distances; thanks to these efforts, an original method has been developed, tested and patented. The approach consists of dynamically implementing Koschmieder's law. Our method enables computing the meteorological visibility distance, a measure defined by the International Commission on Illumination (CIE) as the distance beyond which a black object of an appropriate dimension is perceived with a contrast of less than 5%. Our proposed solution is an original one, featuring the advantage of utilizing a single camera and necessitating the presence of just the road and sky in the scene. As opposed to other methods that require the explicit extraction of the road, this method offers fewer constraints by virtue of being applicable with no more than the extraction of a homogeneous surface containing a portion of the road and sky within the image. This image preprocessing also serves to identify the level of compatibility of the processed image with the set of Koschmieder's model hypotheses. Nicolas Hautiére graduated from the École Nationale des Travaux Publics de l'État, France (2002). He received his M.S. and Ph.D. degree in computer vision, respectively, in 2002 and 2005 from Saint-Étienne University (France). From 2002, he is a researcher in the Laboratoire Central des Ponts et Chaussées (LCPC), Paris, France. His research interests include trafic engineering, computer vision, and pattern recognition. Jean-Philippe Tarel graduated from the École Nationale des Ponts et Chaussées, Paris, France (1991). He received his Ph.D. degree in Applied Mathematics from Paris IX-Dauphine University in 1996 and he was with the Institut National de Recherche en Informatique et Automatique (INRIA) from 1991 to 1996. From 1997 to 1998, he was a research associate at Brown University, USA. From 1999, he is a researcher in the Laboratoire Central des Ponts et Chaussées (LCPC), Paris, France, and from 2001 to 2003 in the INRIA. His research interests include computer vision, pattern recognition, and shape modeling. Jean Lavenant graduated from the École Nationale des Travaux Publics de l'État, Lyon, France (2001). He received the M.S. degree in Computer Vision from Jean Monnet university of Saint-Étienne in 2001. In 2001, he was a researcher in the Laboratoire Central des Ponts et Chaussées (LCPC). In 2002, he was a system engineer in Chicago (USA). He is currently an engineer for the french ministry of transports. Didier Aubert received the M.S. and Ph.D. degree, respectively, in 1985 and 1989 from the National Polytechnical Institut of Grenoble (INPG). From 1989--1990, he worked as a research scientist on the development of an automatic road following system for the NAVLAB at Carnegie Mellon University. From 1990–1994, he worked in the research department of a private company (ITMI). During this period he was the project leader of several projects dealing with computer vision. He is currently a researcher at INRETS since 1995 and works on Road traffic measurements, crowd monitoring, automated highway systems, and driving assistance systems for vehicles. He is an image processing expert for several companies, teaches at Universities (Paris VI, Paris XI, ENPC, ENST) and is at the editorial board of RTS (Research - Transport - Safety).     

Advanced LMI based analysis and design for Acrobot walking

This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4-dimensional linear time-varying system having three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (LMI) methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above-mentioned LMI design are demonstrated as well.     

Oryctes monoceros Trapping with Synthetic Pheromone and Palm Material in Ivory Coast

Oryctes monoceros is the most serious pest in coconut plantations, causing up to 40% damage in tropical Africa, especially in Ivory Coast. With a view to reducing pest populations by olfactory trapping, field trials were carried out to assess the efficiency of a synthetic aggregation pheromone: ethyl 4-methyloctanoate (1), 4-methyloctanoic acid (2), a related volatile produced by males, and decaying palm material, either oil palm empty fruit bunches (EFB) or pieces of coconut wood (CW) of various ages. Vertical polyvinyl chloride tube traps (2 × 0.16 m with two openings in the upper half), embedded in the soil, were more efficient than 30-L pail traps 1.5 m above ground. EFB, which were inactive alone, synergized captures with synthetic pheromone. CW was more effective than EFB in comparative trials. Compound 2 did not catch any beetles when assessed with EFB, and reduced catches by 1 + EFB when tested at >10% with the pheromone. Trapping over 6 mo in 2002 and 2003 in a 19-ha coconut plot inside a 4,000-ha oil palm estate reduced damage from 3.8% in 2001 to 0.5% in 2002, then to 0.2% in 2003. Damage was 0.0% in 2004 with routine trapping using 32 traps, which caught 3369 beetles in 9 mo. The results are discussed in relation to other Dynastid palm pests and coconut protection in Ivory Coast.     

Effect of alkali halides on α-chymotrypsin activity in the plastein reaction

The influence of different alkali halides (LiF, LiCl. LiBr, NaF, NaCl, NaBr, KF, KCl and KBr) on α-chymotrypsin-catalysed plastein synthesis has been studied in aqueous medium at different substrate concentrations. The results showed an enhancing effect on the plastein synthesis enzyme action by the presence of salts, proportional to salt concentration, which was decreased when the substrate concentration was increased. Additionally, these facts allowed the ions to be classified as a function of their activation power (F^? > Cl^? > Br^?: K⁺ > Na⁺ > Li⁺), which was in agreement with the interpretation of the Hofmeister lyotropic series. The influence of the several phenomena produced by the presence of salts in the plastein reaction, such as, salt-substrate interactions and water activity, as well as the presence of deactivated enzyme was also analysed. The obtained results showed that the substrate concentration is the most important factor, and the activating effect of salts could be simultaneously involved with both a structural change on the substrate conformation and a reduction of water activity into the reaction media, enhancing the catalytic capability of the α-chymotrypsin towards a peptide synthesis action.     

Multivariate analysis of the correlation between noctuidae subfamilies and the chemical structure of their sex pheromones or male attractants

Female-emitted pheromones and sex attractants of Noctuidae were investigated using a specific computer procedure to analyze data collected from the literature. Correspondence analysis was used to survey the structure-activity relationships of sex pheromones in seven subfamilies. Structural, stereochemical, and functional features of active molecules were related to taxonomy. This multidimensional analysis revealed that the prevalent chemical frame of noctuid moth pheromones was a monounsaturated acetate withZ stereochemistry and a double bond on the fifth carbon closest to the nonfunctional branch of the molecule. Possible phylogenetic relationships within Noctuidae and between Noctuidae and other families are discussed in light of the sex pheromone biochemistry. Female sex pheromones appeared to be an additional character to be considered in the classification of noctuid moths.