This paper addresses the problem of position control or waypoint tracking for an underactuated quadrotor. The proposed control law is what is known as reaction based in the way that the attitude system reacts to errors in the translational motion. This methodology requires no generation of desired attitude or angular velocity and the resulting control law is model-independent in that it does ...

In this paper the problem of real-time particle tracking is studied. Using sensor measurements, a formation of UAVs autonomously find the closest point with high particle density where they enter a holding pattern. After converging to the holding pattern, one UAV will remain, while the rest will go looking for other maxima. To avoid collisions between the UAVs during the mission, a controller is ...

The growing installation of distributed energy resources (DERs) in a distribution network (DN) poses substantial issues related to voltage regulation. Due to constrained switching operation and slower response time, traditional voltage regulation devices cannot handle current voltage-related challenges. One alternative to solve these problems is to use smart converters to control the reactive ...

Fully electric ships have become popular to meet the demand for emission-free transportation and improve ships' functionality, reliability, and efficiency. Previous studies reviewed the shipboard power systems, the different types of shipboard energy storage devices, and the influences of the shore-to-ship connection on ports' electrical grid. However, the converter topologies used in the electrification ...

Recently, the combination of cognitive radio networks with the nonorthogonal multiple access (NOMA) approach has emerged as a viable option for not only improving spectrum usage but also supporting large numbers of wireless communication connections. However, cognitive NOMA networks are unstable and vulnerable because multiple devices operate on the same frequency band. To overcome this drawback, ...

The dispatch schedule of the electrical power plant units is the result of the solution to the unit commitment optimisation problem, and it minimises the cost of production considering pre-defined technical limits. The security-constrained unit commitment problem has been defined as including the network constraints in the previously mentioned optimisation problem to obtain a feasible power system ...

In this paper the subsumption theory is applied to flight control through composite rotations where multiple tasks can be defined as simple rotations. The tasks can then be arranged as a hierarchy, where the primary task is always fully pursued, and conflicting lower level tasks are removed by the primary rotation. The concept is applied to a group of uavs that move through an urban terrain while ...

This article addresses some challenging perspectives related to offering take-home exams in mathematics at university level. The challenges arose during work on a previous article where four perspectives originating from Bjerrum Nielsen’s framework (2003) were used to analyze universities’ assessment methods during the Covid lockdown in our country. The perspectives had some ethical considerations ...