Development of an Unmanned Aerial Vehicle Piloting System with Integrated Motion Cueing for Training and Pilot Evaluation

UAV accidents have been steadily rising as demand and use of these vehicles increases. A critical examination of UAV accidents reveals that human error is a major cause. Advanced autonomous systems capable of eliminating the need for human piloting are still many years from implementation. There are also many potential applications of UAVs in near Earth environments that would require a human pilot’s awareness and ability to adapt. This suggests a need to improve the remote piloting of UAVs. This paper explores the use of motion platforms to augment pilot performance and the use of a simulator system to asses UAV pilot skill. The approach follows studies on human factors performance and cognitive loading. The resulting design serves as a test bed to study UAV pilot performance, create training programs, and ultimately a platform to decrease UAV accidents.     

Design of optimized fuzzy cascade controllers by means of Hierarchical Fair Competition-based Genetic Algorithms

In this study, we present a design of an optimized fuzzy cascade controller based on Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) for a rotary inverted pendulum system. In this system, one controls the movement of a pendulum through the adjustment of a rotating arm. The objective is to control the position of the rotating arm and to make the pendulum maintain the unstable equilibrium point at vertical position. To control the system, we design a fuzzy cascade controller scheme which consists of two fuzzy controllers arrange in a cascaded topology. The parameters of the controller are optimized by means of the HFCGA algorithm. The fuzzy cascade scheme comprises two controllers located in two loops. An inner loop controller governs the position of the rotating arm while an outer controller modifies a set point of the inner controller implied by the changes of the angle of pendulum. The HFCGA being a computationally effective scheme of the Parallel Genetic Algorithm (PGA) has been developed to eliminate an effect of premature convergence encountered in Serial Genetic Algorithms (SGA). It has emerged as an effective optimization vehicle to deal with very large search spaces. A comparative analysis involving computing simulations and practical experiment demonstrates that the proposed HFCGA based fuzzy cascade controller comes with superb performance in comparison with the conventional Linear Quadratic Regulator (LQR) controller as well as HFCGA-based PD cascade controller.     

Humanoid Posture Selection for Reaching Motion and a Cooperative Balancing Controller

Our goal in this research was to develop a motion planning algorithm for a humanoid to enable it to remove an object that is blocking its path. To remove an object in its path, a humanoid must be able to reach it. Simply stretching its arms, which in a humanoid are shorter than its body and legs, is not sufficient to reach an object located at some distance away or on the ground. Therefore, reachability has to be ensured by a combination of motions that include kneeling and orienting the pelvis. However, many posture selection options exist because of the redundancy of a humanoid. In this research, we focused on the optimization of the posture of a humanoid that is reaching toward a point. The posture selected depends on the initial posture, the location of the point, and the desired manipulability of the humanoid’s arms. A cooperative balancing controller ensures the stability of the reaching motion. In this paper, we propose an algorithm for reaching posture selection and a balancing controller for humanoids, and we present the results of several experiments that confirm the effectiveness of the proposed algorithm and controller.     

Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment

The velocity obstacle (VO) method is one of local path generation method considering a velocity of obstacles. By dividing an available velocity region into collision and collision-free area, a robot can avoid collisions using the VO. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method to choose an optimal velocity by introducing a cost function about safety of the velocity, and the cost function consists of a pass-time and a clearance. By latticizing available velocity map of a robot, each velocity can be evaluated from the cost function and a robot can select better velocity among collision-free velocity candidates. A performance of introduced method is compared to other VO method using simulation, and experiments are conducted to verify the results of simulation.     

From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication

In this paper, we present our system design, operational procedure, testing process, field results, and lessons learned for the valve-turning task of the DARPA Robotics Challenge (DRC). We present a software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communication link. Our system, composed of software modules running on-board the robot and on a remote workstation, allows the operators to specify the manipulation task in a straightforward manner. In addition, we have defined an operational procedure for the operators to manage the teleoperation task, designed to improve situation awareness and expedite task completion. Our testing process, consisting of hands-on intensive testing, remote testing, and remote practice runs , demonstrates that our framework is able to perform reliably and is resilient to unreliable network conditions. We analyze our approach, field tests, and experience at the DRC Trials and discuss lessons learned which may be useful for others when designing similar systems.     

A small‐area and low‐power data driver IC using two‐stage DAC with a capacitor array for active matrix flat‐panel displays

A small‐area and low‐power data driver integrated circuit (IC) using a two‐stage digital‐to‐analog converter (DAC) with a capacitor array is proposed for active matrix flat‐panel displays. The proposed data driver IC employs a capacitor array in the two‐stage DAC so as to reduce the DAC area and eliminate the need for a resistor string, which has high‐power consumption. To verify the proposed two‐stage DAC, a 20‐channel data driver IC with the proposed 10‐bit two‐stage DAC was fabricated using a 0.18‐μm complementary metal–oxide–semiconductor process with 1.8 and 6 V complementary metal–oxide–semiconductor devices. The proposed 10‐bit two‐stage DAC occupies only 43.8% of the area of a conventional 10‐bit two‐stage DAC. The measurement results show that the differential nonlinearity and integral nonlinearity are +0.58/?0.52 least significant bit and +0.62/?0.59 least significant bit, respectively. The measured interchannel deviation of the voltage outputs is 8.8 mV, and the measured power consumption of the 20‐channel data driver IC is reduced to 7.1 mW, which is less than half of the power consumed by the conventional one.     

Current manufacturing technologies for TFT‐LCDs

Abstract— TFT‐LCD panels for notebook‐PC applications requires a thin and light form factor, low power consumption, and good display quality, whereas the desktop monitor has different requirements such as large panel size, wide viewing angle, high resolution, brightness, etc. However, for the fifth‐generation of mass production, current panel technologies have to improve in order to cope with these requirements. In this article, various approaches to the manufacturing technologies of next‐generation TFT‐LCDs are discussed.     

Audioptimization: goal-based acoustic design

The authors present a new inverse, interactive approach to acoustic design that applies optimization techniques to an acoustic simulation system. For a new building, the system may suggest optimal configurations that would not otherwise be considered; for a hall with modifiable components or for a renovation project, it may assist in optimizing an existing configuration. Our system allows the designer to constrain changes to the environment and specify acoustic performance goals as a function of time. The constraints include the specification of a range of allowable materials as well as geometric modifications for surfaces in the hall. The designer also specifies goals for acoustic performance in space and time via high-level acoustic qualities such as decay time and sound level. Using this information, the system performs a constrained optimization of surface material and geometric parameters for a subset of elements in the environment. The system operates at varying accuracy levels, offering trade-offs between time and quality. Visualization tools facilitate an intuitive assessment of the complex time-dependent nature of sound, and they provide a means to express desired performance. By using optimization routines within an interactive application, our system reveals complex acoustic properties and steers the design process toward the designer's goals     

A 2‐in. a‐Si:H TFT‐LCD with embedded backlight control TFT sensors with various channel widths

Abstract— A 2.0‐in. a‐Si:H TFT‐LCD with embedded TFT sensors for the control of the backlight intensity according to the ambient light intensity has been developed. Two types of a‐Si:H TFT sensors with various channel widths were embedded into a TFT backplane with bottom‐ and top‐gate structures for measuring the ambient light and backlight illumination, respectively. The output signal, measured by a readout IC, increased with backlight intensity until 20,000 lux.     

Optic-Flow-Based Collision Avoidance

Flying in and around caves, tunnels, and buildings demands more than one sensing modality. This article presented an optic-flow- based approach inspired by flying insects for avoiding lateral collisions. However, there were a few real-world scenarios in which optic flow sensing failed. This occurred when obstacles on approach were directly in front of the aircraft. Here, a simple sonar or infrared sensor can be used to trigger a quick transition into the hovering mode to avoid the otherwise fatal collision. Toward this end, we have demonstrated a fixed-wing prototype capable of manually transitioning from conventional cruise flight into the hovering mode. The prototype was then equipped with an IMU and a flight control system to automate the hovering process. The next step in this research is to automate the transition from cruise to hover flight.