A5064713953- Target Tracking and Data Fusion in Sensor Networks
- Inertial Sensor and Navigation
- Robotics and Sensor-Based Localization
- Aerospace and Aviation Technology
- Guidance and Control Systems
- Robotic Path Planning Algorithms
- Aerospace Engineering and Control Systems
- GNSS positioning and interference
- Distributed Control Multi-Agent Systems
- Indoor and Outdoor Localization Technologies
- High Temperature Alloys and Creep
- Modular Robots and Swarm Intelligence
- Air Traffic Management and Optimization
- Smart Agriculture and AI
- Adaptive Control of Nonlinear Systems
- Asymmetric Synthesis and Catalysis
- Human-Automation Interaction and Safety
- Advanced Vision and Imaging
- Control Systems and Identification
- Chemical Synthesis and Reactions
- Chemical Synthesis and Analysis
- Fault Detection and Control Systems
- Synthetic Organic Chemistry Methods
- Biotin and Related Studies
- Underwater Vehicles and Communication Systems
West Virginia University
2015-2024
China Railway Corporation
2024
West Virginia University Hospitals
2014-2024
University of Science and Technology Beijing
2024
China Iron and Steel Research Institute Group
2018-2023
Advanced Technology & Materials (China)
2022-2023
Shanghai Municipal Education Commission
2023
Aero Engine Corporation of China (China)
2021-2023
East China Normal University
2020-2021
Nanjing Medical University
2020
This brief presents the results relative to design and flight testing of formation control laws using a set YF-22 research unmanned aerial vehicles (UAVs) designed, built, instrumented at West Virginia University, Morgantown. In configuration, radio pilot maintains ground “leader” aircraft while autonomous “follower” predefined position orientation with respect aircraft. The controller was designed have an inner outerloop structure, where guidance minimized forward, lateral, vertical...
This paper considers the fusion of carrier-phase differential GPS (CP-DGPS), peer-to-peer ranging radios, and low-cost inertial navigation systems (INS) for application relative small unmanned aerial vehicles (UAVs) in close formation-flight. A novel sensor algorithm is presented that incorporates locally processed tightly coupled GPS/INS-based absolute solutions from each UAV a filter estimates baseline separation using integer-fixed CP-DGPS set radios. The robustness dynamic estimation...
In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented (UKF), evaluated with respect to performance complexity. The contributions of study that attitude estimates compared independent measurements provided by a mechanical vertical gyroscope 23 diverse sets flight data, fundamental difference between EKF UKF linearization is evaluated.
<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> The purpose of this paper is to propose the application an extended Kalman filter (EKF) for sensors fusion task within problem aerial refueling unmanned vehicles (UAVs). Specifically, EKF used combine position data from a global positioning system (GPS) and machine vision (MV)-based providing reliable estimation tanker–UAV relative throughout docking phase. performance scheme has been evaluated...
Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but also surpass them in efficiency and uniformity, helping to feed fast-growing human population on Earth. This paper presents design ongoing development an autonomous robot named “BrambleBee”, which aims at pollinating bramble plants a greenhouse environment. Partially inspired by ecology behavior bees, BrambleBee employs state-of-the-art localization mapping, visual perception, path planning,...
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration balance accuracy and traversal rate for planetary rovers. To address this, we investigate...
A new attitude, heading, and wind estimation algorithm is proposed, which incorporates measurements from an air data system to properly relate predicted attitude information with aircraft velocity information. Experimental Unmanned Aerial Vehicle (UAV) flight was used validate the proposed approach. The experimental results demonstrated effective of roll, pitch, yaw, heading angles, provided a smoothed estimate angle attack sideslip angles. were validated respect measurments by local weather...
Using an Unscented Kalman Filter (UKF) as the nonlinear estimator within a Global Positioning System/Inertial Navigation System (GPS/INS) sensor fusion algorithm for attitude estimation, various methods of calculating matrix square root were discussed and compared. Specifically, diagonalization method, Schur Cholesky five different iterative Additionally, method handling requirement, square-root UKF (SR-UKF), was evaluated. The calculations compared based on computational requirements...
This paper presents a novel wind estimation approach, which is compared with existing ideas utilizing different combinations of common aircraft sensors to estimate the velocity in real time at location an aircraft. These techniques were evaluated using simulation data as well two experimental unmanned flight tests validation from ground weather station. Significant performance advantage was shown new filtering technique over approaches.
Monitoring flowers over time is essential for precision robotic pollination in agriculture. To accomplish this, a continuous spatial-temporal observation of plant growth can be done using stationary RGB-D cameras. However, image registration becomes serious challenge due to changes the visual appearance caused by process and occlusions from camera angles. Plants flower manner that produces distinct clusters on branches. This paper presents method matching descriptors generated data considers...
This paper presents a novel analytical redundancy approach for pitot tube failure accommodation using nonlinear Kalman filtering. utilizes information from other sensors that are commonly implemented on aircraft in order to obtain an estimate of the airspeed which is independent tube(s). method was demonstrated be model by providing experimental estimation results two different unmanned aerial vehicle (UAV) research platforms.
This paper considers the problem of target handoff between Unmanned Aerial Vehicles (UAVs) in a GPS denied environment, and focuses on design evaluation an estimation strategy for determining relative pose aircraft. The approach presented this has three distinct components that act concert to achieve overall objective. First, novel cooperative control is used determine from IMU peer-to-peer ranging radio data without any priori knowledge either aircraft's pose. Next, measurement calculated...
The aircraft gate reassignment problem occurs when the departure of an incoming is delayed or a delay in flight. If significant enough to arrival subsequent at assigned gate, airline must revise assignments minimize extra times. This paper describes genetic algorithm approach solving problem. By using global search technique on quantified information, this can efficiently find minimum time solutions that are as effective more than generated by experienced managers.
Adenosine (ADO) is an endogenous homeostatic inhibitory neuromodulator that reduces cellular excitability at sites of tissue injury and inflammation. Inhibition adenosine kinase (AK), the primary metabolic enzyme for ADO, selectively increases ADO concentrations trauma enhances analgesic antiinflammatory actions ADO. Optimization high-throughput screening lead, 4-amino-7-aryl-substituted pteridine (5) (AK IC(50) = 440 nM), led to identification compound 21...