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- 저자 : Colautti (검색결과 2 건)
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Small scale rotorcraft UAS flight control using MPC
Stefano Colautti,Henk Haverdings 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The increasing computational power of modern calculators and the development of faster optimization algorithms makes the model predictive approach an attractive option also for fast dynamic systems such as small-scale UAV helicopters. The ability of these algorithms to deal with constraints can be effectively used in flight control systems to take into account actuators limitations and flight envelope constraints or to introduce collision avoidance capabilities. This paper presents the application of the MPC to control the speed and heading of an autonomous helicopter. Several simulations will be presented showing the ability of the system to perform aggressive maneuvers and stabilize the system even in presence of sustained disturbances and model mismatches.
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Simulating complex flow and transport dynamics in an integrated surfacesubsurface modeling framework
Edward A. Sudicky,Jon P. Jones,Young-Jin Park,Andrea E. Brookfield,Dennis Colautti 한국지질과학협의회 2008 Geosciences Journal Vol.12 No.2
A fully-integrated surface-subsurface flow and transport model is applied to a 17 km2 subcatchment of the Laurel Creek Watershed within the Grand River basin in Southern Ontario, Canada. Through past and ongoing field studies, the subcatchment is reasonably well characterized and is being monitored on an ongoing basis. In addition to diverse land-usage and surface cover and more than 65 m of topographic relief, the watershed is underlain by a complex interconnected sequence of sand and gravel aquifers that are separated by discontinuous clayey aquitards. A steady-state condition was achieved in the model by calibrating the subsurface flow field to 16 observation wells where long-term hydraulic head data were available, while simultaneously establishing a level of baseflow discharge on the surface regime approximating the level observed at the beginning of the transient simulation period. The model is then subjected to several hundred hours of rainfall data and the resulting discharge hydrographs are compared with the measured hydrographs. The calculated subsurface hydraulic head distribution and surficial rainfallrunoff responses, respectively, were shown to agree moderately well with those observed in the system during this period. The impact of an upland surficial contaminant source discharging along a reach of a small stream within the subcatchment was also examined. Results showed that short-duration, high-intensity concentration peaks were not captured if annual or monthly average rainfall was used as input. The hydraulic head and concentration variations due to short-duration rainfall variations showed a muted response with increasing depth below the streambed due to the natural smoothing in the hydraulic response and to dispersion and diffusion of the solute, respectively. Discrete daily precipitation events were also found to cause rapid changes in the calculated water and solute exchange fluxes. The variability and sensitivity of these near-stream processes to the temporal resolution of rainfall input, specifically the concentration and solute exchange flux responses, may be significant in the prediction of health risks to aquatic habitats. Overall, it is concluded that the model is capable of reproducing surface and subsurface hydrodynamic processes at the subcatchment scale although the results could be better through improved parameterization of the subcatchment and the manner in which the model simulates evapotranspiration processes. A fully-integrated surface-subsurface flow and transport model is applied to a 17 km2 subcatchment of the Laurel Creek Watershed within the Grand River basin in Southern Ontario, Canada. Through past and ongoing field studies, the subcatchment is reasonably well characterized and is being monitored on an ongoing basis. In addition to diverse land-usage and surface cover and more than 65 m of topographic relief, the watershed is underlain by a complex interconnected sequence of sand and gravel aquifers that are separated by discontinuous clayey aquitards. A steady-state condition was achieved in the model by calibrating the subsurface flow field to 16 observation wells where long-term hydraulic head data were available, while simultaneously establishing a level of baseflow discharge on the surface regime approximating the level observed at the beginning of the transient simulation period. The model is then subjected to several hundred hours of rainfall data and the resulting discharge hydrographs are compared with the measured hydrographs. The calculated subsurface hydraulic head distribution and surficial rainfallrunoff responses, respectively, were shown to agree moderately well with those observed in the system during this period. The impact of an upland surficial contaminant source discharging along a reach of a small stream within the subcatchment was also examined. Results showed that short-duration, high-intensity concentration peaks were not captured if annual or monthly average rainfall was used as input. The hydraulic head and concentration variations due to short-duration rainfall variations showed a muted response with increasing depth below the streambed due to the natural smoothing in the hydraulic response and to dispersion and diffusion of the solute, respectively. Discrete daily precipitation events were also found to cause rapid changes in the calculated water and solute exchange fluxes. The variability and sensitivity of these near-stream processes to the temporal resolution of rainfall input, specifically the concentration and solute exchange flux responses, may be significant in the prediction of health risks to aquatic habitats. Overall, it is concluded that the model is capable of reproducing surface and subsurface hydrodynamic processes at the subcatchment scale although the results could be better through improved parameterization of the subcatchment and the manner in which the model simulates evapotranspiration processes.
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