The performance of a quadrotor can be significantly disturbed in presence of wind. In this paper, a simple-to-implement attitude controller is proposed to render a robust and accurate trajectory tracking in presence of disturbance and model uncertainties. The attitude controller design is based on Quantitative Feedback Theory (QFT). A fuzzy logic controller is further employed to provide satisfactory position trajectory tracking for the quadrotor. The performances of the controllers, in terms of disturbance rejection and trajectory tracking are experimentally studied. Finally, a flight scenario is performed to compare the performances of the designed QFT-Fuzzy control scheme with the ArduCopter controller. / May 2016

This thesis develops methodologies for continuous estimation of hydrological variables which infill missing daily rainfall data and the forecast of weekly streamflows from a watershed. Several mathematical programming formulations were developed and used to estimate missing historical rainfall data. Functional relationships were created between radar precipitation and known rain gauge data then are used to estimate the missing data. Streamflow predictions models require highly non-linear mathematical models to capture the complex physical characteristics of a watershed. An artificial neural network model was developed for streamflow prediction. There are no set methods of creating a neural network and the selection of architecture and inputs to a neural network affects the performance. This thesis addresses this issue with automated input and network architecture selection through optimization. MATLABª scripts are developed and used to test many combinations and select a model through optimization. / by Ricardo Eric Brown. / Thesis (M.S.C.S.)--Florida Atlantic University, 2012. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2012. Mode of access: World Wide Web.

Este trabalho apresenta o projeto de um sistema gerador de \"set-point\" (GSP), utiliza-do na determinação dos parâmetros de trabalho de fornos industriais de têmpera contínua de aços ao carbono, cuja modelagem é baseada na lógica \"fuzzy\". O trabalho é constituído de três etapas básicas: primeiro, estudou-se os princípios metalúrgicos do aço e do processo de têmpera, necessários para o entendimento do problema, tendo como foco no aço CK75 de grande aplicação industrial. Segundo, estudou-se a funcionalidade de todas as partes constitu-intes do forno e seu modo de operação. Na terceira etapa, baseado em entrevistas com os ope-radores e técnicos em metalurgia, considerados especialistas no processo de têmpera, reali-zou-se a modelagem \"fuzzy\". Constatou-se de que forma as partes do forno afetam a trans-formação do aço, as variáveis de entrada e saída relevantes para o GSP e finalmente realizou-se o GSP com o MATLAB®. O modelo foi exaustivamente testado na produção de aço tem-perado, em um dos fornos da empresa Mangels, o que possibilitou sua validação de forma incontestável. / This work presents the project of a generating system of \"set-point\" (GSP), used in the determination of the parameters of work of a process of continuous tempering of carbon steels, whose modeling is based on the \"fuzzy\" logic. The work is made of three basic stages. First of all the principles of metallurgy for the steel and temper process, which are necessary for the understanding of the problem are studied. It is focused in the steel CK75 of great in-dustrial application. In the second stage, the functionality of all parts of the furnace and its operation way is studied. In the last stage a \"fuzzy\" modeling is accomplished, based on inter-views with the operators and technicians in metallurgy, who are considered specialists in the temper process. It is identified how the parts of the oven affect the transformation of the steel, variable input and output relevant to GSP. Finally will use the GSP with MATLAB® is car-ried out. The model was tested in exhaustive way in one of the furnace of the company Man-gels what made its incontrovertible validation possible.

by Tang Kai Hung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references. / Abstracts in English and Chinese. / Acknowledgements --- p.vi / Abstract --- p.1 / Chapter 1 --- Introduction / Chapter 1.1 --- Motivation --- p.3 / Chapter 1.2 --- Objective --- p.7 / Chapter 1.3 --- Outline --- p.9 / Chapter 2 --- Color Identification / Chapter 2.1 --- Grabbing --- p.11 / Chapter 2.2 --- Digital Image Representation --- p.13 / Chapter 2.3 --- Color Segmentation --- p.15 / Chapter 2.3.1 --- Fuzzy Rule-Based Method --- p.15 / Chapter 2.3.2 --- Fuzzy Clustering Method --- p.20 / Chapter 2.4 --- Conclusion --- p.25 / Chapter 3 --- Shape Recognition / Chapter 3.1 --- Labeling --- p.29 / Chapter 3.1.1 --- Pre-processing --- p.29 / Chapter 3.1.2 --- Connected Components --- p.30 / Chapter 3.2 --- Blob Analysis --- p.33 / Chapter 3.2.1 --- Characteristic Values --- p.33 / Chapter 3.2.2 --- Corner Detection --- p.35 / Chapter 3.3 --- Type Classification --- p.37 / Chapter 3.3.1 --- Standard Blob --- p.37 / Chapter 3.3.2 --- Non-standard Object --- p.39 / Chapter 3.4 --- Flow Chart --- p.39 / Chapter 3.5 --- Point Generation --- p.42 / Chapter 3.5.1 --- Draw the Boundary --- p.42 / Chapter 3.5.2 --- Filling in Color by Lines --- p.48 / Chapter 3.6 --- Conclusion --- p.50 / Chapter 4 --- Drawing / Chapter 4.1 --- Difficulties & Remedies --- p.54 / Chapter 4.1.1 --- Data Transmission Difficulty --- p.54 / Chapter 4.1.2 --- Robot Drawing Plane --- p.56 / Chapter 4.2 --- Coordinates Conversion --- p.59 / Chapter 4.3 --- Quantitative Performance Measure --- p.64 / Chapter 4.4 --- Conclusion --- p.66 / Chapter 5 --- Conclusions & Future Works --- p.69 / Appendix / Bibliography

This thesis presents alternative methods for designing a speed controller for a hydrostatic power transmission system. Recognising that such a system, comprising a valve controlled motor supplied by the laboratory ring main and driving a hydraulic pump as a load, contains significant non-linearities, the thesis shows that robust 'modern control' approaches may be applied to produce viable controllers without recourse to the use of a detailed model of the system. In its introduction, it considers why similar approaches to the design of fluid power systems have not been applied hitherto. It then sets out the design and test, in simulation and on a physical rig, of two alternative linear controllers using H∞ based methods and a 'self organising fuzzy logic' controller (SOFLC). In the linear approaches, differences between the characteristics of the system and the simple models of it are accommodated in the controller design route as 'perturbations' or 'uncertainties'. The H∞ based optimisation methods allow these to be recognised in the design. “Mixed sensitivity” and “Loop shaping” methods are each applied to design controllers which are tested successfully on the laboratory rig. The SOFLC in operation does not rely on a model, but instead allows fuzzy control rules to evolve. In the practical tests, the system is subjected to a range of disturbances in the form of supply pressure fluctuations and load torque changes. Also presented are test results for proportional and proportional plus integral (PI) controllers, to provide a reference. It is demonstrated qualitatively that performance using the linear controllers is superior to that using proportional and PI controllers. An increased range of stable operation is achieved by the controller designed using “loop shaping” – performance is enhanced by the use of two controllers selected automatically according to the operating speed, using a “bumpless” transfer routine. The SOFLC proved difficult to tune. However, stable operation was achieved.

O controle de flutter é um problema cuja solução é almejada ao longo de décadas e que ainda se apresenta como um desafio considerável. Os desafios residem basicamente no projeto de dispositivos de atuação eficientes e na síntese das leis de controle. A lógica difusa se mostra como uma técnica promissora e efetiva de controle. Neste trabalho é proposto um controlador difuso para o controle de flutter em uma asa com aerofólio do tipo NACA 0012, tendo como superfície de controle um flap. Este modelo físico é acoplado a um dispositivo elástico de sustentação da asa - DESA, que possibilita os movimentos de arfagem e deslocamento vertical. Para o desenvolvimento do modelo matemático são utilizadas as Equações de Lagrange e o Princípio do Trabalho Virtual. A determinação dos parâmetros estruturais do conjunto ASA/DESA é realizada a partir de um modelo em elementos finitos e de uma análise modal experimental. Os modos de vibrar são determinados através do ERA - Eigensystem Realization Algorithm. O estudo da atuação do controlador difuso é realizado através de simulação computacional e de análise experimental. Dois modelos difusos são utilizados na construção do controlador, o de Mamdani e o de Takagi-Sugeno-Kang. Os resultados obtidos mostram que o controlador difuso, para os dois modelos, é bastante eficiente no controle do flutter. / Flutter control is a problem for which solution has been longed for decades and still is a considerable challenge. The challenges reside basically in the development of devices with efficient performance and in the synthesis of the control laws. Fuzzy logic appears as a promising and effective technique of control. In this work, a fuzzy controller is proposed for flutter control of a wing with NACA 0012 airfoil section, having as control surface a trailing edge flap. This physical model is coupled to the elastic support device of the wing - DESA, which allows plunge and pitch displacements. For the development of the mathematical modeI, the Lagrange Equations and the Principle of the Virtual Work are used. The determination of the structural parameters of the Wing/DESA device is accomplished starting from a finite element model and from an experimental modal analysis. The vibrating modes are obtained using the Eigensystem Realization AIgorithm - ERA. The study of the fuzzy controllers performance is accomplished through simulation and experimental analysis. Two fuzzy models are used for the controller: the Mamdani and the Takagi- Sugeno-Kang. The results show that both fuzzy controllers are quite efficient in the control of flutter.

O controle de flutter é um problema cuja solução é almejada ao longo de décadas e que ainda se apresenta como um desafio considerável. Os desafios residem basicamente no projeto de dispositivos de atuação eficientes e na síntese das leis de controle. A lógica difusa se mostra como uma técnica promissora e efetiva de controle. Neste trabalho é proposto um controlador difuso para o controle de flutter em uma asa com aerofólio do tipo NACA 0012, tendo como superfície de controle um flap. Este modelo físico é acoplado a um dispositivo elástico de sustentação da asa - DESA, que possibilita os movimentos de arfagem e deslocamento vertical. Para o desenvolvimento do modelo matemático são utilizadas as Equações de Lagrange e o Princípio do Trabalho Virtual. A determinação dos parâmetros estruturais do conjunto ASA/DESA é realizada a partir de um modelo em elementos finitos e de uma análise modal experimental. Os modos de vibrar são determinados através do ERA - Eigensystem Realization Algorithm. O estudo da atuação do controlador difuso é realizado através de simulação computacional e de análise experimental. Dois modelos difusos são utilizados na construção do controlador, o de Mamdani e o de Takagi-Sugeno-Kang. Os resultados obtidos mostram que o controlador difuso, para os dois modelos, é bastante eficiente no controle do flutter. / Flutter control is a problem for which solution has been longed for decades and still is a considerable challenge. The challenges reside basically in the development of devices with efficient performance and in the synthesis of the control laws. Fuzzy logic appears as a promising and effective technique of control. In this work, a fuzzy controller is proposed for flutter control of a wing with NACA 0012 airfoil section, having as control surface a trailing edge flap. This physical model is coupled to the elastic support device of the wing - DESA, which allows plunge and pitch displacements. For the development of the mathematical modeI, the Lagrange Equations and the Principle of the Virtual Work are used. The determination of the structural parameters of the Wing/DESA device is accomplished starting from a finite element model and from an experimental modal analysis. The vibrating modes are obtained using the Eigensystem Realization AIgorithm - ERA. The study of the fuzzy controllers performance is accomplished through simulation and experimental analysis. Two fuzzy models are used for the controller: the Mamdani and the Takagi- Sugeno-Kang. The results show that both fuzzy controllers are quite efficient in the control of flutter.

Orientador: Camila Pires Cremasco Gabriel / Banca: Daniel dos Santos Viais Neto / Banca: Raul Andres Martinez Uribe / Resumo: Este trabalho teve por objetivo estudar a produtividade da cultura do Rabanete, irrigada com dois tipos de tratamento: água convencional (AC) e água tratada magneticamente (ATM), utilizando modelos Fuzzy e estatísticos. Para isso, o estudo foi divido em dois capítulos: o primeiro descreve os resultados obtidos com a produtividade da cultura do rabanete, utilizando água convencional e água tratada magneticamente para irrigação. Houve a comparação entre os modelos Fuzzy (triangular e gaussiano) com o modelo estatístico, conforme a variável de produtividade fitomassa fresca da raiz tuberosa (FFRT), e a comparação entre os resultados obtidos com o tipo de tratamento irrigado. O coeficiente de determinação indicam que os modelos Fuzzy demostraram melhores resultados da produtividade da cultura, sendo que o modelo Fuzzy gaussiano demostrou a realidade agronômica com maior eficiência. A utilização da ATM (Água Tratada Magneticamente) permite obter melhores resultados da produtividade da cultura, quando analisada a variável FFRT e a eficiência dos modelos Fuzzy, em apresentar os dados de forma agronômica, principalmente o modelo Fuzzy gaussiano. O segundo capítulo apresenta os resultados alcançados com o desenvolvimento das variáveis biométricas da cultura do Rabanete, quando irrigada com água convencional e magnetizada. Para isso foi utilizada a modelagem Fuzzy e a modelagem estatística, para explicar o comportamento das variáveis biômetras. Em seguida foi realizada a comparação dos... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The current study aimed to study the productivity of the Radish culture, irrigated with two types of treatment: conventional water (AC) and magnetically treated water (ATM), by means of Fuzzy's and statistical models. For this, the study was divided in two chapters: the first one describes the results obtained with the productivity of the radish culture, using conventional water and magnetically treated water for irrigation. The Fuzzy's (triangular and Gaussian) models were compared with the statistical model, according to the biometric fresh tuberous root biomass (FFRT), and the comparison between the results obtained with the type of irrigated treatment. The coefficient of determination indicates that the Fuzzy's models showed better results of the crop productivity, and the Gaussian Fuzzy's model showed the agronomic reality with greater efficiency. The use of ATM (Magnetically Treated Water) allows better results of crop productivity, when FFRT variable and Fuzzy's models efficiency, to present the data in agronomic form, mainly the Gaussian Fuzzy's model. The second chapter presents the results obtained with the development of the biometric variables of the culture of the Radish, when irrigated with conventional and magnetized water. Fuzzy's modeling and statistical modeling were used to explain the behavior of biometric variables. Afterwards, a comparison of the developed models was performed, and verified that the Fuzzy's model presented with greater efficiency the agronomic behavior of the plant. Afterwards, the results obtained were compared in the biometric variables, with AC and ATM treatment. In making such a comparison, it was verified the effectiveness of using ATM to obtain productivity of the Radish culture. In general, the preparation of the Fuzzy's models shows that the biometric variables of the crop and the productivity of the radish reached satisfactory results, ... / Mestre

<p>U stvarnom životu većina informacija dolazi kao neprecizne ili<br />nepotpune vrednosti.&nbsp; XML tehnologija je napravila veliki<br />napredak u oblasti skladi&scaron;tenja i prenosa podataka.&nbsp; Doktorska<br />disertacija defini&scaron;e fazi XML sintaksu koja kombinuje neodređenosti<br />u vrednostima XML-a i neodređenosti u strukturi XML dokumenata.<br />Takođe, rad pro&scaron;iruje standardnu XQuery upitnu sintaksu fazi<br />elementima i uvodi prioritete i pragove zadovoljenja pomoću<br />GPFCSP-a. Za razliku od drugih radova koji se fokusiraju na<br />postavljanje teorija i definisanje sintaksi, rad posebnu pažnju<br />posvećuje praktičnoj upotrebi definisanih sintaksi. Za potrebe<br />istraživanja razvijen je softverski paket koji omogućava rad kako sa<br />standardnim, tako i sa fazi XML, XSD i DTD dokumentima, kao i<br />postavljanje i izvr&scaron;avanje prioritizovanih fazi XQuery upita. Alat je<br />testiran nad primerima iz prakse.</p> / <p>In real life, as opposed to virtual, most information comes in the<br />form of imprecise or incomplete values. XML&nbsp; technology has<br />made great progress in the field of storage and data transfer.<br />This doctoral dissertation&nbsp; developed XML extension which<br />combines&nbsp; indefiniteness in the values of XML and<br />indefiniteness in the structure of XML into a single fuzzy XML<br />extension. Furthermore,&nbsp; dissertation&nbsp; expands XQuery syntax<br />with fuzzy values and&nbsp; includes priorities and thresholds in<br />fuzzy XQuery extension using&nbsp; GPFCSP for the first time.<br />Unlike other papers that focus on setting up theories and<br />defining syntax, in this&nbsp; dissertation, special attention&nbsp; is turned<br />to their practical use. A tool for working with XML, XSD and<br />DTD documents and prioritized fuzzy XQuery extension<br />queries has been developed. The tool has been tested on<br />practical examples.</p>

Abstract not available