Modeling and control for cooperative transport of a slung fluid container using quadrotors

In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method. Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.     

Guidance law implementation with performance recovery using an extended high-gain observer

Guidance law of a homing missile is implemented using an extended high gain observer without the model assumptions on target maneuvers. First, for a class of multi-input–multi-output nonlinear systems, extended high-gain observers are used for output feedback control with partial practical stabilization. Then the method is applied to the guidance law implementation of a homing missile with bearing only measurement. Simulation results show satisfactory performance.     

The Huygens Probe System Design

Space Science Reviews - The Huygens Probe is the ESA-provided element of the joint NASA/ESA Cassini/Huygens mission to Saturn and its largest moon Titan. Huygens is an entry probe designed to enter...     

Sea level trend over Malaysian seas from multi-mission satellite altimetry and vertical land motion corrected tidal data

Rise in sea levels is one of the disastrous effects of climate change. A relatively small increase in sea level could affect natural coastal systems. In a study of long-term changes in sea level and measurements of postglacial rebound, monitoring vertical land motion (VLM) is of crucial interest. This study presents an approach to estimate precise sea level trends based on a combination of multi-sensor techniques in the Malaysian region over 19?years. In this study, satellite altimeters (SALT) were used to derive absolute sea levels (ASLs). Tide gauge (TG) stations along the coast of Malaysia were utilised to derive the rate of relative sea levels using sea level changes and VLMs. To obtain ASL at TGs, VLM at these stations were computed using Global Positioning System (GPS), Persistent Scatterer Interferometric Synthetic Aperture Radar (PS InSAR), and SALT minus TG. The computed VLMs mostly show similarities in signs rather than magnitude. The findings from the multi-sensor techniques showed that regional sea level trends ranged from 2.65?±?0.86?mm/yr to 6.03?±?0.79?mm/yr for chosen sub-areas, with an overall mean of 4.47?±?0.71?mm/yr and overall subsidence. This information is expected to be valuable for a wide variety of climatic applications and for studying environmental issues related to flooding and global warming in Malaysia.     

Transient variations of vertical total electron content over some African stations from 2002 to 2012

This paper presents the vertical total electron content vTEC variations for three African stations, located at mid-low and equatorial latitudes, and operating since more than 10 years. The vTEC of the middle latitude GPS station in Alexandria, Egypt (31.2167°N; 29.9667°E, geographic) is compared to the vTEC of two others GPS stations: the first one in Rabat/Morocco (33.9981°N; 353.1457°E, geographic), and the second in Libreville/Gabon (0.3539°N; 9.6721°E, geographic). Our results discussed the diurnal, seasonal, and solar cycle dependences of vTEC at the local ionospheric conditions, during different phases of solar cycle in the light of the classification of Legrand and Simon. The vTEC over Alexandria exhibits the well-known equinoctial asymmetry which changes with the phases of the solar cycle; the spring vTEC is larger than that of autumn during the maximum, decreasing and minimum phases of solar cycle 23. During the increasing phase of solar cycle 24, it is the contrary. The diurnal variation of the vTEC presents multiple maxima during the equinox from 2005 to 2008 and during the summer solstice from 2006 to 2012. A nighttime vTEC enhancement and winter anomaly are also observed. During the deep solar minimum (2006–2009) the diurnal variation of the vTEC observed over Alexandria is similar to the diurnal variation observed during quiet magnetic period at equatorial latitudes. We observed also that the amplitude of vTEC at Libreville is larger than the amplitude of vTEC observed at Alexandria and Rabat, indeed Libreville is near the southern crest of the Equatorial Ionization anomaly. Finally, the correlation coefficient between vTEC and the sunspot number Rz is high and changes with solar cycle phases.