This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

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Stable Adaptive Systems

The primary objective of this dissertation is to demonstrate the incontestable effectiveness of geometric methods to the design and analysis of parallel mechanisms. To this end, it is shown how geometry brings deep insight into the principles of motion, much better than algebraic or numerical methods. Furthermore, this thesis is expected to prove that geometry develops creativity and intuition, abilities much needed for the proper synthesis and study of complex mechanisms. The extensive use of basic geometry in this thesis uncovers the unseen properties of well-known parallel mechanisms. In addition, common misconceptions are examined and refuted. Through detailed comparisons and explanations, it is attempted to foster the reliance on the geometric approach. Finally, two promising research directions are identified and recommended. This thesis is divided into three main parts. While the progress through these parts goes from the plane to three and then six degrees of freedom in space, the complexity does not follow the same advance. On the other hand, the focus goes from the general survey of all 3-DOF planar parallel mechanisms, to the analysis of a class of 3-DOF spatial parallel mechanisms, to the study of a single architecture of a 6-DOF parallel mechanism. Firstly, the singularities of all 3-DOF planar parallel mechanisms are fully analysed. The velocity equations are derived by using both screw theory and differentiation with respect to time. For this purpose, a considerable attention is paid to explaining the not-so-well-known use of screw theory in the plane. Once these velocity equations are set up, an exhaustive study on the various types of singularities of these mechanisms

Geometric analysis of parallel mechanisms

The growing interest in unmanned aerial vehicles (UAVs) from both the scientific and industrial sectors has attracted a wave of new researchers and substantial investments in this expansive field. However, due to the wide range of topics and subdomains within UAV research, newcomers may find themselves overwhelmed by the numerous options available. It is therefore crucial for those involved in UAV research to recognize its interdisciplinary nature and its connections with other disciplines. This paper presents a comprehensive overview of the UAV field, highlighting recent trends and advancements. Drawing on recent literature reviews and surveys, the review begins by classifying UAVs based on their flight characteristics. It then provides an overview of current research trends in UAVs, utilizing data from the Scopus database to quantify the number of scientific documents associated with each research direction and their interconnections. This paper also explores potential areas for further development in UAVs, including communication, artificial intelligence, remote sensing, miniaturization, swarming and cooperative control, and transformability. Additionally, it discusses the development of aircraft control, commonly used control techniques, and appropriate control algorithms in UAV research. Furthermore, this paper addresses the general hardware and software architecture of UAVs, their applications, and the key issues associated with them. It also provides an overview of current open source software and hardware projects in the UAV field. By presenting a comprehensive view of the UAV field, this paper aims to enhance our understanding of this rapidly evolving and highly interdisciplinary area of research.

A Comprehensive Review of Recent Research Trends on Unmanned Aerial Vehicles (UAVs)

A survey of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems

Continuous speech recognition with sparse coding

Standard control laws have unique parameters that yield a certain response according to which model they are implemented on. Changes in the model will result in changes in the response, yielding the need for new ideal parameters. Adaptive controllers have the advantage of reducing the number of control parameters to be chosen by the pilot. Reducing this number of parameters can be beneficial, as obtaining the ideal parameters can become a time consuming process. Model reference adaptive control (MRAC) is the control approach that is considered in this paper. This approach has previously been implemented on a quadcopter by Achtelik [Adaptive Control oof a Quadcopter in the Presence of large/complete Parameter Uncertainties, 1, (2011)]. It is desired to implement the adaptive controller on the Pixhawk flight controller. The designed controller should integrate well with the existing PX4 firmware to allow users to still be able to use the flight controller as before. In order to integrate the adaptive controller with the PX4 firmware some modifications to the approach followed by Achtelik [1] is required. This paper focuses on the implementation of MRAC in PX4 firmware. This requires the use of rotation matrices as opposed to Euler angles. The mixer is also extracted from the adaptive law. From simulations it can be seen that rotation matrices show a significant improvement in reference tracking when it comes to simultaneous pitch, roll and yaw inputs. An autonomous mission was flown with the newly designed adaptive controller and also with the original PX4 controller. This showed successful integration of the adaptive controller with the existing firmware. An improvement in reference tracking for the adaptive controller, as opposed to the PX4 controller, was also found.

Integration of model reference adaptive control (MRAC) with PX4 firmware for quadcopters

Improvement of heliostat pointing accuracy by calibration at optimized dissimilar source vectors

The global demand for affordable renewable energy has driven Stellenbosch University's Solar Thermal Energy Research Group, STERG, to design and construct a modular heliostat field for a central receiver concentrating solar thermal (CST) plant. The heliostat field requires a robust wireless communication network with sufficient range, bandwidth and low latencies to enable a high level of control over each heliostat. Currently several wireless communication technologies are available on the market such as LoRa and LoRaWAN, NB-IoT, ZigBee, Bluetooth low energy (BLE) and Wi-Fi and its variants. In this article these different wireless communication standards are investigated within the scope of a modular heliostat field. The advantages and disadvantages of each is discussed with regards to range, bandwidth, energy consumption, ease of implementation and latencies. Furthermore, different architectural designs for wireless networks are analysed. The Wi-Fi 6 standard (IEEE 802.11ax) operating in a star network topology is proposed for the modular heliostat field. This technology is able to operate with sufficient range, throughput and minimal latencies in a dense network such as the proposed CST plant. This work is part of the H2020 PREMA project, aiming to advance novel energy systems in the drying and pre-heating of furnace materials.

Wireless Communication For A Modular Heliostat Field

South Africa has an abundance of coal reserves and is currently one of the leading producers of coal in the world. Since most of the southern hemisphere’s coal deposits have a high ash content, beneficiation plays an important role in the upgrading of coal. However these washing methods are responsible for the generation of fine (-500 μm) and ultrafine (-100 μm) material. It has been reported that as much as 14 per cent of all ROM coal can report to the fines fraction while 2–3 per cent will end up being classified as ultrafine1. These fine fractions have a lot of associated moisture and are normally in slurry form, or at best, a very moist solid stream. Over the years, the fine coal has been discarded into slurry ponds, but now that the value of it can be realized, either it is added to the final product as is, or alternatively, it is upgraded, dried, and sold. This has led to rapid improvement in fine coal processes like spirals, froth floatation, and fluidization. The main reason for not fully optimizing these processes is the amount of moisture in fine coal. Removing the moisture efficiently will yield definite benefits in finances and the handling of fine coal, and will have a positive impact on the environment.

/pdf/large-scale-design-and-testing-of-an-improved-fine-coal-1yvegz8bs7.pdf

Large-scale design and testing of an improved fine coal dewatering system

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