Abstract: Aerial and ground robots have various advantages of usage in different missions. Aerial robots can move quickly and get a different sight of view of the area, but those vehicles cannot carry heavy payloads. On the other hand, unmanned ground vehicles (UGVs) are slow moving vehicles, since those can carry heavier payloads than unmanned aerial vehicles (UAVs). In this context, we investigate the performances of various Similarity Metrics to provide a common map for Heterogeneous Robot Team (HRT) in complex environments. Within the usage of Lidar Odometry and Octree Mapping technique, the local 3D maps of the environment are gathered. In order to obtain a common map for HRT, informative theoretic similarity metrics are exploited. All types of these similarity metrics gave adequate as allowable simulation time and accurate results that can be used in different types of applications. For the heterogeneous multi robot team, those methods can be used to match different types of maps.
Abstract: Unmanned Aircraft Systems (UAS) become
indispensable parts of modern airpower as force multiplier. One of
the main advantages of UAS is long endurance. UAS have to take
extra payloads to accomplish different missions but these payloads
decrease endurance of aircraft because of increasing drag. There are
continuing researches to increase the capability of UAS. There are
some vertical thermal air currents, which can cause climb and
increase endurance, in nature. Birds and gliders use thermals to gain
altitude with no effort. UAS have wide wings which can use
thermals like birds and gliders. Thermal regions, which is area of
2000-3000 meter (1 NM), exist all around the world. It is natural and
infinite source. This study analyses if thermal regions can be adopted
and implemented as an assistant tool for UAS route planning. First
and second part of study will contain information about the thermal
regions and current applications about UAS in aviation and climbing
performance with a real example. Continuing parts will analyze the
contribution of thermal regions to UAS endurance. Contribution is
important because planning declaration of UAS navigation rules will
be in 2015.
Abstract: Topology Optimization is a defined as the method of
determining optimal distribution of material for the assumed design
space with functionality, loads and boundary conditions [1].
Topology optimization can be used to optimize shape for the
purposes of weight reduction, minimizing material requirements or
selecting cost effective materials [2]. Topology optimization has been
implemented through the use of finite element methods for the
analysis, and optimization techniques based on the method of moving
asymptotes, genetic algorithms, optimality criteria method, level sets
and topological derivatives. Case study of Typical “Fuselage design"
is considered for this paper to explain the benefits of Topology
Optimization in the design cycle. A cylindrical shell is assumed as
the design space and aerospace standard pay loads were applied on
the fuselage with wing attachments as constraints. Then topological
optimization is done using Finite Element (FE) based software. This
optimization results in the structural concept design which satisfies
all the design constraints using minimum material.
Abstract: This paper describes a practical approach to design
and develop a hybrid learning with acceleration feedback control
(HLC) scheme for input tracking and end-point vibration suppression
of flexible manipulator systems. Initially, a collocated proportionalderivative
(PD) control scheme using hub-angle and hub-velocity
feedback is developed for control of rigid-body motion of the system.
This is then extended to incorporate a further hybrid control scheme
of the collocated PD control and iterative learning control with
acceleration feedback using genetic algorithms (GAs) to optimize the
learning parameters. Experimental results of the response of the
manipulator with the control schemes are presented in the time and
frequency domains. The performance of the HLC is assessed in terms
of input tracking, level of vibration reduction at resonance modes and
robustness with various payloads.
Abstract: Applicability of tuning the controller gains for Stewart manipulator using genetic algorithm as an efficient search technique is investigated. Kinematics and dynamics models were introduced in detail for simulation purpose. A PD task space control scheme was used. For demonstrating technique feasibility, a Stewart manipulator numerical-model was built. A genetic algorithm was then employed to search for optimal controller gains. The controller was tested onsite a generic circular mission. The simulation results show that the technique is highly convergent with superior performance operating for different payloads.
Abstract: Non-viral gene carriers composed of biodegradable
polymers or lipids have been considered as a safer alternative for gene
carriers over viral vectors. We have developed multi-functional
nano-micelles for both drug and gene delivery application.
Polyethyleneimine (PEI) was modified by grafting stearic acid (SA)
and formulated to polymeric micelles (PEI-SA) with positive surface
charge for gene and drug delivery. Our results showed that PEI-SA
micelles provided high siRNA binding efficiency. In addition, siRNA
delivered by PEI-SA carriers also demonstrated significantly high
cellular uptake even in the presence of serum proteins. The
post-transcriptional gene silencing efficiency was greatly improved by
the polyplex formulated by 10k PEI-SA/siRNA. The amphiphilic
structure of PEI-SA micelles provided advantages for multifunctional
tasks; where the hydrophilic shell modified with cationic charges can
electrostatically interact with DNA or siRNA, and the hydrophobic
core can serve as payloads for hydrophobic drugs, making it a
promising multifunctional vehicle for both genetic and chemotherapy
application.