Signal Estimation for UAV Control Loop Identification Using Artificial Immune Systems

Rezende, H. B.; Silva, M. F.; Santos, M. F.; Honório, Leonardo de Mello; Silva, L. A. Z.; Vidal, V. F.; Ribeiro, Jean Marcos de Souza; Cerqueira, A. S.; Pancoti, A. A. N.; Regina, B. A.

doi:10.1109/icstcc.2018.8540706

Cited by 8 publications

(3 citation statements)

References 35 publications

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“…The contributions of this paper are a consequence of previously published works by the authors, which have been studied for a long time. The main area of research concerns the aerial vehicle, coming from traditional multi-rotors to tilt-rotors, modeling, fault-tolerant control, controller design and tuning, and electromagnetic inference on the UAVs, among others [16,29,30,[39][40][41][42][43][44][45][46].…”

Section: Contributionsmentioning

confidence: 99%

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Lopes

Honório

Santos

et al. 2023

Drones

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It is known that new power transmission line inspection techniques have been developed over the last few years with great potential to improve and, in some cases, even replace traditional inspection procedures such as using helicopters and cars. A series of Unmanned Aerial Vehicles (UAVs) such as fixed-wing or rotary-wing UAVs, and vehicles that climb on the power transmission line, promise to revolutionize the inspection market. In this light, at least 39 new research studies and/or products have been conducted and/or introduced to the market, respectively. However, in an incipient way, some works point to the fusion of some technologies: the development of multi-rotor UAVs and the ability to connect and move over the power transmission line. In line with this, the current work was proposed, with significant unprecedented advances (such as an over-actuated control capacity with tilt rotors, the capability of a displacement in the angle, and the maintenance of active motors on the power transmission line), and the design, modeling, and control of an over-actuated UAV able to move over the conductor cable without the need for a new locomotion system is presented. The aircraft allows for a greater response and the indispensable ability to approximate landing in a power transmission line arbitrary position rather than the catenary lowest point (due to its ability to forward/backward move using the tilting rotors). Its design is detailed, its subsystems are described, and its normal and coupled flight mode dynamics are modeled. The results show good stability and reliable maneuvers for the coupling-to-power-transmission-line flight mode, without any overshoots, and the ability to follow the entire catenary through different Real Control Action (RCA) sets.

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Section: Contributionsmentioning

confidence: 99%

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Lopes

Honório

Santos

et al. 2023

Drones

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“…The research on images alignment for stitching culminated, to some extent, in the use of bundle adjustment [ 19 ] to simultaneously optimize the relative positions of the images. Several types and classes of optimization-based algorithms [ 20 , 21 , 22 , 23 , 24 , 25 , 26 ] can be used to align all images to a common frame of reference typically, the classic Levenberg–Marquardt method is used to optimize the intrinsic and extrinsic parameters of the camera [ 27 , 28 ].…”

Section: Introductionmentioning

confidence: 99%

Performance Evaluation of Bundle Adjustment with Population Based Optimization Algorithms Applied to Panoramic Image Stitching

Aguiar

Alves

Honório

et al. 2021

Sensors

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The image stitching process is based on the alignment and composition of multiple images that represent parts of a 3D scene. The automatic construction of panoramas from multiple digital images is a technique of great importance, finding applications in different areas such as remote sensing and inspection and maintenance in many work environments. In traditional automatic image stitching, image alignment is generally performed by the Levenberg–Marquardt numerical-based method. Although these traditional approaches only present minor flaws in the final reconstruction, the final result is not appropriate for industrial grade applications. To improve the final stitching quality, this work uses a RGBD robot capable of precise image positing. To optimize the final adjustment, this paper proposes the use of bio-inspired algorithms such as Bat Algorithm, Grey Wolf Optimizer, Arithmetic Optimization Algorithm, Salp Swarm Algorithm and Particle Swarm Optimization in order verify the efficiency and competitiveness of metaheuristics against the classical Levenberg–Marquardt method. The obtained results showed that metaheuristcs have found better solutions than the traditional approach.

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“…The article [15] provides an AIS application for control a group of robots. The work [16] is devoted to the use of a meta-heuristic AIS for signal evaluation in identifying the contour of the angle control of an unmanned aerial vehicle. In the article [17] there is used the AIS algorithm for preliminary signal processing at detection of failures for autonomous underwater vehicles.…”

Section: Introductionmentioning

confidence: 99%

Development of Smart Technology for Complex Objects Prediction and Control on the Basis of a Distributed Control System and an Artificial Immune Systems Approach

Pschegusova¹,

Samigulina²

2019

Adv. sci. technol. eng. syst. j.

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This paper is an extension of work originally presented in 2018 Global Smart Industry Conference (GloSIC). Researches are devoted to the development of Smart technology for complex objects control and prediction on the basis of a distributed Honeywell DCS control system of the TengizChevroil enterprise using the example of a technological process of medium pressure gas cleaning. The article describes how on the basis of the multialgorithm approach there was developed a modified algorithm based on modern artificial intelligence methods in order to select informative features (principal component method, Random Forest algorithm, particle swarm algorithm) and artificial immune systems (clonal selection) solving the image recognition problem and predicting the state of a complex control object. There was conducted a comparative analysis of the simulation results using the example of real production data (daily data of sensors from an average pressure absorber).

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Signal Estimation for UAV Control Loop Identification Using Artificial Immune Systems

Cited by 8 publications

References 35 publications

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Performance Evaluation of Bundle Adjustment with Population Based Optimization Algorithms Applied to Panoramic Image Stitching

Development of Smart Technology for Complex Objects Prediction and Control on the Basis of a Distributed Control System and an Artificial Immune Systems Approach

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