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RISS 인기검색어
- 검색키워드
- 저자 : Deepak Gautam (검색결과 3 건)
- 무료
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- 유료
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Control and Path Planning of Quadrotor UAV using Fuzzy PID
Deepak Gautam,CheolKeun Ha(하철근) 제어로봇시스템학회 2012 제어로봇시스템학회 합동학술대회 논문집 Vol.2012 No.7
This paper presents the modeling, control strategy and path planning of four-rotor vertical takeoff and landing (VTOL) unmanned air vehicle (UAV) known as Quadrotor. The UAV’s Mathematical model is derived based on Newton-Euler formulation. Motor model is included for the better approximation of system. Aerodynamic, Coriolis, and gyroscopic effect are neglected. Fuzzy-PID is proposed for the pose (position and orientation) control of the vehicle. Conventional approach of controller design is adopted where linear controller is developed based on linearized dynamics and applied to the nonlinear model. Proposed controller utilizes the fuzzy rules and reasoning to tune the PID gains over certain range. Path planning is done using Dijkstra’s algorithm. For provided initial position, destination, environment and obstacles, Dijkstra’s algorithm calculates the shortest route through given environment whilst avoiding obstacles in the path. Proposed algorithms are simulated using Matlab/Simulink environment and results are presented.
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GPU-warp based finite element matrices generation and assembly using coloring method
Utpal Kiran,Deepak Sharma,Sachin Singh Gautam 한국CDE학회 2019 Journal of computational design and engineering Vol.6 No.4
Finite element method has been successfully implemented on the graphics processing units to achieve a significant reduction in simulation time. In this paper, new strategies for the finite element matrix gen-eration including numerical integration and assembly are proposed by using a warp per element for a given mesh. These strategies are developed using the well-known coloring method. The proposed strate-gies use a specialized algorithm to realize fine-grain parallelism and efficient use of on-chip memory resources. The warp shuffle feature of Compute Unified Device Architecture (CUDA) is used to accelerate numerical integration. The evaluation of elemental stiffness matrix is further optimized by adopting a partial parallel implementation of numerical integration. Performance evaluations of the proposed strate-gies are done for three-dimensional elasticity problem using the 8-noded hexahedral elements with three degrees of freedom per node. We obtain a speedup of up to 8.2 over the coloring based assembly by element strategy (using a single thread per element) on NVIDIA Tesla K40 GPU. Also, the proposed strate-gies achieve better arithmetic throughput and bandwidth
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( Rajesh Malhotra ),( Deepak Gautam ) 대한고관절학회 2019 Hip and Pelvis Vol.31 No.2
Purpose: Cup-cage construct technique was developed to address the massive acetabular defects during revision hip arthroplasty. Indications have extended to complex acetabular fractures with pelvic discontinuity necessitating acute total hip arthroplasty. However, its use is constrained in low socioeconomic countries due to non-availability of the original cages from Trabecular Metal Acetabular Revision System and high cost. We used a novel technique using the less expensive Burch-Schneider (BS) cage and Trabecular Metal Revision Shell (TMRS) to address the problem. Materials and Methods: We reviewed a consecutive series of 8 cases of acetabular fractures reconstructed using a ‘cup-cage construct’ technique using a BS cage along with a TMRS. The mean age of the patients was 61.4 years. Patients were followed up for a mean period of 50.5 months (24 to 72 months). The patients were assessed clinically with Harris Hip Score and radiologically with serial X-rays. Results: All the patients were available at the latest follow up. The mean Harris Hip Score was 87.2. There was no radiological evidence of failure. One patient had dislocation two months following the surgery, which was treated by closed reduction and hip abduction brace. One patient developed an infection at 3 weeks necessitating debridement. The same patient had sciatic nerve palsy that recovered after 4 months. Conclusion: This novel technique of the cup-cage construct seems to provide a stable construct at short to midterm follow-up. However, a long-term follow up would be required.
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