12 research outputs found
Online Trajectory Planning and Control of a MAV Payload System in Dynamic Environments: A Non-Linear Model Predictive Control Approach
No full textMicro Aerial Vehicles (MAVs) are increasingly being used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches to MAV swung payload system path planning have primarily focused on pre-generating (agile) collision-free, or conservative minimal-swing trajectories in static environments. However, these approaches have failed to address the prospect of online re-planning in uncertain and dynamic environments which is a prerequisite for real-world deployability. This article describes a novel Non-Linear Model Predictive Controller (NMPC) for online, agile and closed-loop local trajectory planning and control addressing the limitations mentioned of contemporary approaches. We integrate the controller in a full system framework and demonstrate the algorithm’s effectiveness in simulation and experimental studies. Results show the scalability and adaptability of our method to various dynamic setups with repeatable performance over several complex tasks which include flying through a narrow opening and avoiding moving humans.Aerospace Engineering | Control & Simulatio
Future-mapping technique for a non-profit organization
No full textOrganizations often find themselves in a difficult situation when strategizing for the future. This report aims to map the future of a non-profit organization. According to the author, future mapping means assessing the future possibilities, assessing the available options, and using these analyses to direct the organization. The work covers the gap between future studies and strategies for non-profit organizations as a by-product. The technique is applied in the case of a non-profit organization, Modus ry, which supports the handcrafting entrepreneurs and businesses in Finland. The work has two resulting outputs. One is the recommendations for the association, and the second is a technique for future mapping. When developing the technique, the work may also be described as a recombination of individual already existing concepts to get the most out of them. These concepts include scenario-based strategy, future wheels, and analysis tools like context diagram, why-why diagram, stakeholder map, analysis tables, etc. The technique is replicable and valid. Strategizing for long-term possibilities while at the same time integrating short-lasting trends and changes is the highlight of the technique
Portable mini-chamber for temperature dependent studies using small angle and wide angle x-ray scattering
No full textThe present work describes the design and performance of a vacuum compatible portable mini chamber for temperature dependent GISAXS and GIWAXS studies of thin films and multilayer structures. The water cooled body of the chamber allows sample annealing up to 900 K using ultra high vacuum compatible (UHV) pyrolytic boron nitride heater, thus making it possible to study the temperature dependent evolution of structure and morphology of two-dimensional nanostructured materials. Due to its light weight and small size, the chamber is portable and can be accommodated at synchrotron facilities worldwide. A systematic illustration of the versatility of the chamber has been demonstrated at beamline P03, PETRA-III, DESY, Hamburg, Germany. Temperature dependent grazing incidence small angle x-ray scattering (GISAXS) and grazing incidence wide angle x-ray scattering (GIWAXS) measurements were performed on oblique angle deposited Co/Ag multilayer structure, which jointly revealed that the surface diffusion in Co columns in Co/Ag multilayer enhances by increasing temperature from RT to ∼573 K. This results in a morphology change from columnar tilted structure to densely packed morphological isotropic multilayer</p
Online trajectory planning and control of a MAV payload system in dynamic environments
No full textMicro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free trajectories. However, these approaches have failed to address the prospect of online re-planning in uncertain and dynamic environments, which is a prerequisite for real-world deployability. This paper describes an online method for agile and closed-loop local trajectory planning and control that relies on Non-Linear Model Predictive Control and that addresses the mentioned limitations of contemporary approaches. We integrate the controller in a full system framework, and demonstrate the algorithm’s effectiveness in simulation and in experimental studies. Results show the scalability and adaptability of our method to various dynamic setups with repeatable performance over several complex tasks that include flying through a narrow opening and avoiding moving humans.Learning & Autonomous ControlControl & Simulatio
Narratives #1: Eastern Mediterranean and Atlantic European Cities
No full textWe have selected seven contributions for this issue of Spool, four from the Eastern Mediterranean basin (Istanbul, Beirut, Acre and Jaffa) and three from Atlantic Europe (Bodø, Matosinhos and Gafanha da Nazaré).Roula El Khoury and Paola Ardizzola address the post-civil war reconstruction of Beirut in Lebanon and reveal how neoliberal models of development resulted in a generic city. Adem Erdem Erbas uses the Istanbul port heritage area in Turkey to showcase how GIS helps to consider underground cultural inventory from a historic landscape perspective within the framework of the conservation plans.Ana Jayone Yarza Pérez explores the potential of adaptive reuse evaluation procedure in the Old City of Acre, Israel, as a means to deal with development and gentrification in this World Heritage site.Komal Potdar explores the historical evolution of the old town, cultural geography, and the current state of exclusion and gentrification in Jaffa, Israel. She underlines the need for discourse on socio-spatial analysis and assessment for decision-making processes for urban heritage design.Diego Inglez de Souza and Ivo Pereira de Oliveira reconnect architectural history with social and industrial accounts as a strategy for understanding the relationship between infrastructure, fishing, and urbanisation by studying the emblematic case of Matosinhos, Portugal.André Tavares seeks to trace the links between fluctuations in the natural cod resources, the technologies used by fishermen to catch and process the fish, and the development of coastal landscapes and the urban form of the fishing port Gafanha da Nazaré, Portugal.And finally, Fatma Tanis uses an interview with architect Daniel Rosbottom from DHDR to provide insight into situated architecture in port cities by addressing a library and concert hall project realised in Bodø, Norway.Teachers of Practice / ASituated Architecture100% ResearchUrban Desig
Agile manufacturing: a systematic review of literature and implications for future research
No full text
Purpose
Agile manufacturing (AM) has evolved as a revolutionary way of manufacturing the products while managing the uncertainties, product introduction time, responsiveness, innovation, superior quality, etc. along the supply chain to satisfy the ever increasing customer demand and to maximize the profit. The purpose of this paper is to critically analyze the literature related to various dimensions of AM and to report the findings.
Design/methodology/approach
This paper presents the reviews of 300 scholarly articles from 1993 to 2016 by various researchers and practitioners on AM collected from different sources, i.e. Google Scholar and ResearchGate. The information related to AM is also captured during industrial visits to different Indian manufacturing plants.
Findings
AM definitions are reported along divergent scopes and objectives in the literature. The researchers have given importance on performance measurement and process analysis through empirical and descriptive analysis whereas its implementation issues are neglected. It is also observed that the effort made on AM is significant for manufacturing industries which is overlooked in service industries.
Practical implications
This literature review has identified many research gaps in AM which were not paid attention before. Researchers can address these research gaps for strengthening the AM implementation.
Originality/value
In total, 300 research papers are reviewed and analyzed to capture the various aspects of AM and its related issues but not restricted to research methodologies, author profiles, types of industries, tools/techniques/methodology used, etc.
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Modeling input validation in uml
No full textCopyright © 2008 IEEE This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. If you wish to contact a Curtin researcher associated with this document, you may obtain an email address fro
In vitro and in silico studies on fibrinolytic activity of nattokinase: A clot buster from Bacillus sp.
No full textSpatial artifact detection improves the reproducibility of drug screening experiments
No full textSummary: Reliable and reproducible drug screening experiments are essential for drug discovery and personalized medicine. We demonstrate how systematic experimental errors in drug plates negatively impact data reproducibility, and that conventional quality control (QC) methods based on plate controls fail to detect these spatial errors. To address this limitation, we developed a control-independent QC approach that uses normalized residual fit error (NRFE) to identify systematic artifacts in drug screening experiments. Analysis of >100,000 duplicate measurements from the PRISM pharmacogenomic study revealed that NRFE-flagged experiments show 3-fold lower reproducibility among technical replicates. By integrating NRFE with QC methods to analyze 41,762 matched drug-cell line pairs between two datasets from the Genomics of Drug Sensitivity in Cancer project, we improved the cross-dataset correlation from 0.66 to 0.76. Available as an R package at https://github.com/IanevskiAleksandr/plateQC, plateQC provides a robust toolset for enhancing drug screening data reliability and consistency for basic research and translational applications
Energy-efficient design and implementation of turbo codes for wireless sensor network
No full textThe objective of this thesis is to apply near Shannon limit Error-Correcting Codes (ECCs), particularly the turbo-like codes, to energy-constrained wireless devices, for the purpose of extending their lifetime. Conventionally, sophisticated ECCs are applied to applications, such as mobile telephone networks or satellite television networks, to facilitate long range and high throughput wireless communication. For low power applications, such as Wireless Sensor Networks (WSNs), these ECCs were considered due to their high decoder complexities. In particular, the energy efficiency of the sensor nodes in WSNs is one of the most important factors in their design. The processing energy consumption required by high complexity ECCs decoders is a significant drawback, which impacts upon the overall energy consumption of the system. However, as Integrated Circuit (IC) processing technology is scaled down, the processing energy consumed by hardware resources reduces exponentially. As a result, near Shannon limit ECCs have recently begun to be considered for use in WSNs to reduce the transmission energy consumption [1,2]. However, to ensure that the transmission energy consumption reduction granted by the employed ECC makes a positive improvement on the overall energy efficiency of the system, the processing energy consumption must still be carefully considered.The main subject of this thesis is to optimise the design of turbo codes at both an algorithmic and a hardware implementation level for WSN scenarios. The communication requirements of the target WSN applications, such as communication distance, channel throughput, network scale, transmission frequency, network topology, etc, are investigated. Those requirements are important factors for designing a channel coding system. Especially when energy resources are limited, the trade-off between the requirements placed on different parameters must be carefully considered, in order to minimise the overall energy consumption. Moreover, based on this investigation, the advantages of employing near Shannon limit ECCs in WSNs are discussed. Low complexity and energy-efficient hardware implementations of the ECC decoders are essential for the target applications
