Formation flight using multiple Integral Backstepping controllers

Author(s):  
Alon Davidi ◽  
Nadav Berman ◽  
Shai Arogeti
10.2514/1.20 ◽  
2003 ◽  
Vol 40 (4) ◽  
Author(s):  
Ashok Gopalarathnam ◽  
James W. Frazier
Keyword(s):  

1982 ◽  
Vol 60 (6) ◽  
pp. 1388-1396 ◽  
Author(s):  
J. Brian E. O'Malley ◽  
Roger M. Evans

Observations of white pelicans commuting between nesting colonies and foraging areas revealed transitions from small, simple linear flock formations to larger, more complex vee and jay formations during departures, and the reverse during the return approach. Large, less-organized types of formations were relatively uncommon and short lived.Formation angles measured for filmed flocks ranged from 24° to 122° and were highly correlated with mean relative interbird distances within flocks. The number of wingbeats per hour, calculated from wingbeat frequency (beats per minute) and percent time flapping, was lowest in vee formation, progressively greater in jay, echelon, and column formation, and greatest for single birds. Wingbeats per hour decreased behind the lead bird, which usually had the highest rate, within each type of formation.Shifts between flapping and gliding were usually initiated by lead birds. Response times for these shifts were negatively related to flock size, and were shorter in vee and jay formations than in column and echelon formations.Our data suggests formation flight provides both aerodynamic–energetic and communication advantages over solitary flight.


Mathematics ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 894
Author(s):  
Savin Treanţă

The present paper deals with a duality study associated with a new class of multiobjective optimization problems that include the interval-valued components of the ratio vector. More precisely, by using the new notion of (ρ,ψ,d)-quasiinvexity associated with an interval-valued multiple-integral functional, we formulate and prove weak, strong, and converse duality results for the considered class of variational control problems.


2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Bing He ◽  
Yong Hong ◽  
Zhen Li

AbstractFor the Hilbert type multiple integral inequality $$ \int _{\mathbb{R}_{+}^{n}} \int _{\mathbb{R}_{+}^{m}} K\bigl( \Vert x \Vert _{m,\rho }, \Vert y \Vert _{n, \rho }\bigr) f(x)g(y) \,\mathrm{d} x \,\mathrm{d} y \leq M \Vert f \Vert _{p, \alpha } \Vert g \Vert _{q, \beta } $$ ∫ R + n ∫ R + m K ( ∥ x ∥ m , ρ , ∥ y ∥ n , ρ ) f ( x ) g ( y ) d x d y ≤ M ∥ f ∥ p , α ∥ g ∥ q , β with a nonhomogeneous kernel $K(\|x\|_{m, \rho }, \|y\|_{n, \rho })=G(\|x\|^{\lambda _{1}}_{m, \rho }/ \|y\|^{\lambda _{2}}_{n, \rho })$ K ( ∥ x ∥ m , ρ , ∥ y ∥ n , ρ ) = G ( ∥ x ∥ m , ρ λ 1 / ∥ y ∥ n , ρ λ 2 ) ($\lambda _{1}\lambda _{2}> 0$ λ 1 λ 2 > 0 ), in this paper, by using the weight function method, necessary and sufficient conditions that parameters p, q, $\lambda _{1}$ λ 1 , $\lambda _{2}$ λ 2 , α, β, m, and n should satisfy to make the inequality hold for some constant M are established, and the expression formula of the best constant factor is also obtained. Finally, their applications in operator boundedness and operator norm are also considered, and the norms of several integral operators are discussed.


2021 ◽  
Vol 11 (4) ◽  
pp. 1373
Author(s):  
Jingyu Zhang ◽  
Zhen Liu ◽  
Guangjun Zhang

Pose measurement is a necessary technology for UAV navigation. Accurate pose measurement is the most important guarantee for a UAV stable flight. UAV pose measurement methods mostly use image matching with aircraft models or 2D points corresponding with 3D points. These methods will lead to pose measurement errors due to inaccurate contour and key feature point extraction. In order to solve these problems, a pose measurement method based on the structural characteristics of aircraft rigid skeleton is proposed in this paper. The depth information is introduced to guide and label the 2D feature points to eliminate the feature mismatch and segment the region. The space points obtained from the marked feature points fit the space linear equation of the rigid skeleton, and the UAV attitude is calculated by combining with the geometric model. This method does not need cooperative identification of the aircraft model, and can stably measure the position and attitude of short-range UAV in various environments. The effectiveness and reliability of the proposed method are verified by experiments on a visual simulation platform. The method proposed can prevent aircraft collision and ensure the safety of UAV navigation in autonomous refueling or formation flight.


Micromachines ◽  
2021 ◽  
Vol 12 (2) ◽  
pp. 194
Author(s):  
Yung-Chih Wang ◽  
Yao-Hung Tsai ◽  
Ching-Fen Shen ◽  
Ming-Yao He ◽  
Yi-Chen Fu ◽  
...  

Escherichia coli has been known to cause a variety of infectious diseases. The conventional enzyme-linked immunosorbent assay (ELISA) is a well-known method widely used to diagnose a variety of infectious diseases. This method is expensive and requires considerable time and effort to conduct and complete multiple integral steps. We previously proposed the use of paper-based ELISA to rapidly detect the presence of E. coli. This approach has demonstrated utility for point-of-care (POC) urinary tract infection diagnoses. Paper-based ELISA, while advantageous, still requires the execution of several procedural steps. Here, we discuss the design and experimental implementation of a turntable paper-based device to simplify the paper-based ELISA protocols for the detection of E. coli. In this process, antibodies or reagents are preloaded onto zones of a paper-based device and allowed to dry before use. We successfully used this device to detect E. coli with a detection limit of 105 colony-forming units (colony-forming unit [CFU])/mL.


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