Switched step integral backstepping control for nonlinear motion systems with application to a laboratory helicopter.

In this paper, the energy efficiency of the widespread application of backstepping control to a class of nonlinear motion systems is investigated. A Switched Step Integral Backstepping Control (SSIBC) scheme is introduced to improve immunity to measurement noise and to increase the energy efficiency of conventional backstepping in practice. The SSIBC is realized by switching between two candidate controllers obtained at different steps of the iterative backstepping design process. A bi-state dependent hysteresis rule is developed to supervise stable switching between the different regimes in the presence of noise. The proposed method is experimentally verified on a MIMO twin rotor laboratory helicopter involving coupled nonlinear dynamics, inaccessible states and uncertainties. Experimental results show that in addition to a reduction in power consumption, the SSIBC reduces saturation of the control signal and visible motor jerking in contrast with conventional backstepping. Additional comparisons with a previously proposed optimized decoupling PID controller also show significant improvement in precision achieved with higher energy efficiency. Experimental results obtained with the introduction of an external disturbance into the system also show the robustness of the proposed SSIBC.

Improved integral backstepping control of variable speed motion systems with application to a laboratory helicopter.

This paper proposes an improved method of integral backstepping for real time control of a laboratory helicopter with variable speed rotors known as the Two-Rotor Aero-dynamic System (TRAS). The coupled system is decomposed into the horizontal subsystem (HS) and the vertical subsystem (VS) and traditional backstepping, augmented with direct integral action is designed for each subsystem. The transient response to both constant and time varying references is then simultaneously improved by modifying an already proposed method called dual boundary conditional integration. A switching technique is also employed to enhance the tracking response of the undamped HS for its bi-directional motor which exhibits jerking effects. Experimental results show that the proposed approach yields improved transient and tracking performance when compared to previously proposed methods exploiting conditional integration earlier proposed for improving the transient response of controlled nonlinear systems with integral action. The results also show the robustness of the proposed method in the presence of the coupling effects and additional external disturbance applied to the system in the form of a wind gust.

Foraging behavior and at-sea distribution of White-Tailed Tropicbirds in tropical ocean / Comportamento de forrageio e distribuição no mar do Rabo-de-palha-de-bico-laranja em oceano tropical

Abstract We used miniaturized GPS loggers and site observations to access foraging patterns and nest behaviour of the White-tailed Tropicbird Phaethon lepturus (WTTB), an endangered species at its South Atlantic breeding colony. Dual foraging pattern was observed with alternation between long and short foraging trips. Birds responsible for nest attendance engaged in short foraging trips with mean distance from colony of 25 ± 17 km, total distance covered of 79 ± 65 km and mean duration of 4.02 ± 5.28 hours. Birds flew by dawn and returned before dusk while partners were at sea for long foraging trips that ranged from four to 11 days, with mean maximum distance from colony of 105 ± 47.48 km. Chicks were usually left alone for hours and chick predation by Land Crab Johngartia lagostroma, egg consumption by Goniopsis cruentata and intra-specific competition are suspected to be responsible for high chick mortality rates.

Resumo Utilizamos aparelhos de GPS miniaturizados e observações de campo para determinar padrões de forrageio e comportamento em ninho da espécie ameaçada Rabos-de-palha-de-bico-laranja Phaethon lepturus em sua colônia reprodutiva do Atlântico Sul. Padrão dual de forrageio foi observado, com alternância entre viagens longas e curtas. Aves responsáveis por cuidado parental efetuaram viagens curtas de forrageio com em média 25 ± 17 km de distância da colônia, distância total percorrida média de 79 ± 65 km e duração média de 4.02 ± 5.28 horas. As aves saíram da colônia entre o amanhecer e o entardecer, enquanto seus parceiros estavam em alto-mar em viagens longas de quatro a 11 dias de duração, com média de distância máxima da colônia de 105 ± 47.48 km. Filhotes foram constantemente deixados sozinhos por várias horas, e predação por Johngartia lagostroma, consumo de ovos por Goniopsis cruentata e competição intra-específica possivelmente foram responsáveis por sua morte.

Foraging behavior and at-sea distribution of White-Tailed Tropicbirds in tropical ocean.

We used miniaturized GPS loggers and site observations to access foraging patterns and nest behaviour of the White-tailed Tropicbird Phaethon lepturus (WTTB), an endangered species at its South Atlantic breeding colony. Dual foraging pattern was observed with alternation between long and short foraging trips. Birds responsible for nest attendance engaged in short foraging trips with mean distance from colony of 25 ± 17 km, total distance covered of 79 ± 65 km and mean duration of 4.02 ± 5.28 hours. Birds flew by dawn and returned before dusk while partners were at sea for long foraging trips that ranged from four to 11 days, with mean maximum distance from colony of 105 ± 47.48 km. Chicks were usually left alone for hours and chick predation by Land Crab Johngartia lagostroma, egg consumption by Goniopsis cruentata and intra-specific competition are suspected to be responsible for high chick mortality rates.

Foraging behavior and at-sea distribution of White-Tailed Tropicbirds in tropical ocean

Abstract We used miniaturized GPS loggers and site observations to access foraging patterns and nest behaviour of the White-tailed Tropicbird Phaethon lepturus (WTTB), an endangered species at its South Atlantic breeding colony. Dual foraging pattern was observed with alternation between long and short foraging trips. Birds responsible for nest attendance engaged in short foraging trips with mean distance from colony of 25 ± 17 km, total distance covered of 79 ± 65 km and mean duration of 4.02 ± 5.28 hours. Birds flew by dawn and returned before dusk while partners were at sea for long foraging trips that ranged from four to 11 days, with mean maximum distance from colony of 105 ± 47.48 km. Chicks were usually left alone for hours and chick predation by Land Crab Johngartia lagostroma, egg consumption by Goniopsis cruentata and intra-specific competition are suspected to be responsible for high chick mortality rates.

Resumo Utilizamos aparelhos de GPS miniaturizados e observações de campo para determinar padrões de forrageio e comportamento em ninho da espécie ameaçada Rabos-de-palha-de-bico-laranja Phaethon lepturus em sua colônia reprodutiva do Atlântico Sul. Padrão dual de forrageio foi observado, com alternância entre viagens longas e curtas. Aves responsáveis por cuidado parental efetuaram viagens curtas de forrageio com em média 25 ± 17 km de distância da colônia, distância total percorrida média de 79 ± 65 km e duração média de 4.02 ± 5.28 horas. As aves saíram da colônia entre o amanhecer e o entardecer, enquanto seus parceiros estavam em alto-mar em viagens longas de quatro a 11 dias de duração, com média de distância máxima da colônia de 105 ± 47.48 km. Filhotes foram constantemente deixados sozinhos por várias horas, e predação por Johngartia lagostroma, consumo de ovos por Goniopsis cruentata e competição intra-específica possivelmente foram responsáveis por sua morte.

Breeding of White-tailed Tropicbirds (Phaethon lepturus) in the western South Atlantic / Biologia reprodutiva, tamanho populacional e conservação do rabo-de-palha-de-bico-laranja no Atlântico Sul

Abstract Basic information on natural history is crucial for assessing the viability of populations, but is often lacking for many species of conservation concern. One such species is the White-tailed Tropicbird, Phaethon lepturus (Mathews, 1915). Here, we address this shortfall by providing detailed information on reproductive biology, distribution and threats on the Fernando de Noronha archipelago, Brazil – the largest colony of P. lepturus in the South Atlantic. We assessed reproduction from August 2011 to January 2012 by monitoring tropicbird nests and their contents. A population estimate was obtained through a combination of active searches for nests and by census at sea between 2010 and 2012. Breeding success was calculated by traditional methods. The growth curve of chicks and life table were also calculated. Additional information on nest and mate fidelity and on age of breeding birds was obtained from the banded birds. Our results indicate that the unusual nest form (limestone pinnacles) and predation by crabs may be responsible for the observed patterns of hatching and fledging success. Although the Fernando de Noronha population appears to be stable (at between 100-300 birds), a long term monitoring program would be desirable to assess fluctuations in this globally important population. Conservation strategies should focus on controlling predation by land crabs and tegu lizards.

Resumo Informações básicas sobre história natural são cruciais para acessar a viabilidade de populações, mas são ausentes para muitas espécies que necessitam de conservação. Uma destas espécies é o rabo-de-palha-de-bico-laranja, Phaethon lepturus Daudin, 1802. Aqui, vamos abordar o déficit de dados para esta espécie, fornecendo informações detalhadas sobre a biologia reprodutiva, tamanho da população, distribuição e ameaças em Fernando de Noronha, Brasil – a maior colônia de P. lepturus no Atlântico Sul. Acompanhamos a reprodução do rabo-de-palha-de-bico-laranja de Agosto de 2010 a Janeiro de 2011 monitorando ninhos e seus conteúdos. A estimativa da população foi obtida através de uma combinação de busca ativa de ninhos e censo no mar entre 2010 e 2012. O sucesso reprodutivo foi avaliado por métodos tradicionais. A curva de crescimento da coorte e a tabela de vida também foram obtidas. Além disso, informações sobre fidelidade ao ninho e parceiro e, a idade de reprodutores foi obtida a partir das aves anilhadas anteriormente. Nossos resultados indicam que a forma incomum de ninho (pináculos de calcário) e a predação por caranguejos podem ser responsáveis pelo sucesso observado de eclosão e recrutamento. A população de Fernando de Noronha parece estar estável entre 100-300 aves. No entanto, um programa de monitoramento a longo prazo seria desejável para avaliar as flutuações desta população globalmente importante. As estratégias de conservação devem se concentrar em controlar a predação por caranguejos e lagartos teiú.

Breeding of White-tailed Tropicbirds (Phaethon lepturus) in the western South Atlantic.

Basic information on natural history is crucial for assessing the viability of populations, but is often lacking for many species of conservation concern. One such species is the White-tailed Tropicbird, Phaethon lepturus (Mathews, 1915). Here, we address this shortfall by providing detailed information on reproductive biology, distribution and threats on the Fernando de Noronha archipelago, Brazil - the largest colony of P. lepturus in the South Atlantic. We assessed reproduction from August 2011 to January 2012 by monitoring tropicbird nests and their contents. A population estimate was obtained through a combination of active searches for nests and by census at sea between 2010 and 2012. Breeding success was calculated by traditional methods. The growth curve of chicks and life table were also calculated. Additional information on nest and mate fidelity and on age of breeding birds was obtained from the banded birds. Our results indicate that the unusual nest form (limestone pinnacles) and predation by crabs may be responsible for the observed patterns of hatching and fledging success. Although the Fernando de Noronha population appears to be stable (at between 100-300 birds), a long term monitoring program would be desirable to assess fluctuations in this globally important population. Conservation strategies should focus on controlling predation by land crabs and tegu lizards.

In-situ TEM observation of the response of ultrafine- and nanocrystalline-grained tungsten to extreme irradiation environments.

The accumulation of defects, and in particular He bubbles, can have significant implications for the performance of materials exposed to the plasma in magnetic-confinement nuclear fusion reactors. Some of the most promising candidates for deployment into such environments are nanocrystalline materials as the engineering of grain boundary density offers the possibility of tailoring their radiation resistance properties. In order to investigate the microstructural evolution of ultrafine- and nanocrystalline-grained tungsten under conditions similar to those in a reactor, a transmission electron microscopy study with in situ 2 keV He(+) ion irradiation at 950 °C has been completed. A dynamic and complex evolution in the microstructure was observed including the formation of defect clusters, dislocations and bubbles. Nanocrystalline grains with dimensions less than around 60 nm demonstrated lower bubble density and greater bubble size than larger nanocrystalline (60-100 nm) and ultrafine (100-500 nm) grains. In grains over 100 nm, uniform distributions of bubbles and defects were formed. At higher fluences, large faceted bubbles were observed on the grain boundaries, especially on those of nanocrystalline grains, indicating the important role grain boundaries can play in trapping He and thus in giving rise to the enhanced radiation tolerance of nanocrystalline materials.

1 mJ pulse bursts from a Yb-doped fiber amplifier.

We demonstrate burst-mode operation of a polarization-maintaining Yb-doped fiber amplifier capable of generating 60 µJ pulses within bursts of 11 pulses with extremely uniform energy distribution facilitated by a novel feedback mechanism shaping the seed of the burst-mode amplifier. The burst energy can be scaled up to 1 mJ, comprising 25 pulses with 40 µJ average individual energy. The amplifier is synchronously pulse pumped to minimize amplified spontaneous emission between the bursts. Pulse propagation is entirely in fiber and fiber-integrated components until the grating compressor, which allows for highly robust operation. The burst repetition rate is set to 1 kHz and spacing between individual pulses is 10 ns. The 40 µJ pulses are externally compressible to a full width at half-maximum of 600 fs. However, due to the substantial pedestal of the compressed pulses, the effective pulse duration is longer, estimated to be 1.2 ps.

MIMO variable structure controller design for a bioreactor benchmark process.

In this paper, variable structure control of a bioreactor is studied. The process has two state variables named cell mass and nutrient amount, and two control inputs to maintain the state variables at their desired levels. Although the state space representation of the system seems simple, the system displays several challenges that make it necessary to develop a good flowrate (control) management strategy. Due to the plant-model mismatch, variable structure control technique is applied and it is seen that the sliding subspace is reached in finite time and the behavior thereafter is insensitive to considerable degrees of variation in the parameters and disturbances. The design is based on the nominal model and a comparison with a feedback linearizing controller is presented. The objective of the paper is to illustrate the efficacy of MIMO sliding mode control on a benchmark problem. Overall, the results with the proposed controller demonstrate the following desirable characteristics: (i) very good tracking precision (ii) small percent overshoot values and (iii) good decoupling of the process states.

A general backpropagation algorithm for feedforward neural networks learning.

A general backpropagation algorithm is proposed for feedforward neural network learning with time varying inputs. The Lyapunov function approach is used to rigorously analyze the convergence of weights, with the use of the algorithm, toward minima of the error function. Sufficient conditions to guarantee the convergence of weights for time varying inputs are derived. It is shown that most commonly used backpropagation learning algorithms are special cases of the developed general algorithm.