Proposed Adaptation Mechanism Research Articles

ADArduPilot: an ArduPilot compatible adaptive autopilot⋆

We release an autopilot that is fully compatible with all the vehicle types the ArduPilot suite was designed for (copters, multi-copters, fixed-wing aircraft, rovers, surface vessels, etc.). The main feature of this autopilot is that adaptation capabilities are embedded without modifying the original ArduPilot architecture, hence the name ADArduPilot. We test the proposed autopilot in several scenarios requiring adaptation (different payloads, different vehicle mass, environmental disturbances), showing that the proposed adaptation mechanism can consistently deliver improved performance in terms of tracking error and control effort.

СТРАТЕГІЧНИЙ КОНТРОЛІНГ В АДАПТИВНОМУ УПРАВЛІННІ ВИТРАТАМИ ІНТЕГРОВАНИХ КОРПОРАТИВНИХ ОБ’ЄДНАНЬ ПІДПРИЄМСТВ

Effective cost management is crucial to an enterprise's development. Involving adaptive management principles allows for quick response to changing market conditions and rational allocation of expenses across projects and departments. Enterprise involvement in cooperation processes is a separate direction of adaptive potential accumulation that simultaneously expands the strategic controlling area. The aim of the article is to develop theoretical positions, methods, and practical recommendations for forming a cost management system based on the principles, procedures, and tools of strategic controlling. The research hypothesis is based on the necessity to update the cost management system of the enterprise by expanding cost management methods with strategic control tools and implementing cost-level adjustment adapters aligned with the business capabilities and results of strategic enterprise choice. The proposed adaptation mechanism fully complies with the functions and tasks of strategic and operational controlling. The article suggests that the classic approach to cost control can be enhanced by incorporating adaptation and mutual learning loops into the cost management system. It have been proved that strategic controlling should focus on anticipatory adaptation and formulating reference models for consolidated business capabilities within the integrated corporate entity, while operational controlling should regulate the level of costs using budgeting and plan-fact methods based on the capability map. It has been noted that a cost management system based on the principles of strategic control cannot be created independently of the general system of corporate governance, and the organization of strategic control involves coordinating the parameters of strategic choice of a corporate group with the processes of consolidating business capabilities and defining cost adjustment benchmarks. This approach ensures that the parameters of strategic choice will coincide with the parameters of corporate governance of the integrated group, with the main object of management being the value and needs of consumers in the output of the integrated value chain formation. The structure of enterprises integrated corporate association strategic choice about cost formation chains consolidation has been carried out. The logic of using the classifier of deviations causes in the costs level within the strategic controlling system has been determined. This logic have been mapped on the cost management system adapters work. Keywords: cost management, strategic controlling, adaptive management, corporate integration, business combinations, adaptation scenarios, cost level.

СТРАТЕГІЧНИЙ КОНТРОЛІНГ В АДАПТИВНОМУ УПРАВЛІННІ ВИТРАТАМИ ІНТЕГРОВАНИХ КОРПОРАТИВНИХ ОБ’ЄДНАНЬ ПІДПРИЄМСТВ

Effective cost management is crucial to an enterprise's development. Involving adaptive management principles allows for quick response to changing market conditions and rational allocation of expenses across projects and departments. Enterprise involvement in cooperation processes is a separate direction of adaptive potential accumulation that simultaneously expands the strategic controlling area. The aim of the article is to develop theoretical positions, methods, and practical recommendations for forming a cost management system based on the principles, procedures, and tools of strategic controlling. The research hypothesis is based on the necessity to update the cost management system of the enterprise by expanding cost management methods with strategic control tools and implementing cost-level adjustment adapters aligned with the business capabilities and results of strategic enterprise choice. The proposed adaptation mechanism fully complies with the functions and tasks of strategic and operational controlling. The article suggests that the classic approach to cost control can be enhanced by incorporating adaptation and mutual learning loops into the cost management system. It have been proved that strategic controlling should focus on anticipatory adaptation and formulating reference models for consolidated business capabilities within the integrated corporate entity, while operational controlling should regulate the level of costs using budgeting and plan-fact methods based on the capability map. It has been noted that a cost management system based on the principles of strategic control cannot be created independently of the general system of corporate governance, and the organization of strategic control involves coordinating the parameters of strategic choice of a corporate group with the processes of consolidating business capabilities and defining cost adjustment benchmarks. This approach ensures that the parameters of strategic choice will coincide with the parameters of corporate governance of the integrated group, with the main object of management being the value and needs of consumers in the output of the integrated value chain formation. The structure of enterprises integrated corporate association strategic choice about cost formation chains consolidation has been carried out. The logic of using the classifier of deviations causes in the costs level within the strategic controlling system has been determined. This logic have been mapped on the cost management system adapters work.

Adaptation to Unknown Leader Velocity in Vector-Field UAV Formation

This article presents a new adaptive method for formation control of unmanned aerial vehicles (UAVs) with limited leader information and communication. We study a formation control protocol in the framework of vector-field guidance where the leader can communicate its position and orientation but not its velocity. A practical motivation for this scenario is the so-called congestion-aware control, in which tradeoffs between the density of unmanned vehicles and communication interference caused by many communicating vehicles arise: these tradeoffs may require to reduce the communication load to avoid interference. To compensate for the lack of knowledge of the leader velocity, each UAV makes use of a local estimation mechanism. The resulting method is an adaptive control method, whose stability can be established using Lyapunov stability. We show that the method can be extended to a distributed communication setting with a few neighboring UAVs in place of the leader. Extensive simulations with different formation shapes (Y, V, and T formation) show that the proposed adaptation mechanism effectively achieves the formation despite the unknown leader velocity. The proposed mechanism has a very similar performance to the ideal case when the leader velocity is perfectly known, and outperforms all the nonadaptive cases in which the followers have an incorrect knowledge of the leader velocity.

Hierarchical Robust Adaptive Control for Wind Turbines With Actuator Fault

Abstract This article solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust adaptive control strategy. The developed controller compensates for the uncertainty in the control input effectiveness caused by a pitch actuator fault, unmeasurable wind disturbance, and nonlinearity in the model. Wind turbines have multilayer structures such that the high-level structure is nonlinearly coupled through an aggregation of the low-level control authorities. Hence, the control design is divided into two stages. First, an L2 controller is designed to attenuate the influence of wind disturbance fluctuations on the rotor speed. Then, in the low-level layer, a controller is designed using a proposed adaptation mechanism to compensate for actuator faults. The theoretical results show that the closed-loop equilibrium point of the regulated rotor speed tracking error dynamics in the high level is finite-gain L2 stable, and the closed-loop error dynamics in the low level is globally asymptotically stable. Simulation results show that the developed controller significantly reduces the root mean square of the rotor speed error compared to some well-known works, despite the largely fluctuating wind disturbance, and the time-varying uncertainty in the control input effectiveness.

SCHEDULING WORK UNDER INTEGRATED URBAN DEVELOPMENT USING THE METHOD OF UNCERTAIN RESOURCE COEFFICIENTS

Introduction: Planning integrated development of a residential area involves determining the composition of the objects to be built and creating an appropriate integration mechanism, backed up by a generalized work schedule. The existing methods of forming integrated work schedules do not use a systemic approach, based on a universal mathematical model, to describe the organizational and technological aspects of construction. Methods: The present study uses the method of uncertain resource coefficients to demonstrate a mechanism for systemically describing organizational and technological construction processes. We present a way of adapting this method to forming a generalized construction schedule during integrated development. The proposed adaptation mechanism is based on managing schedule calculations by rationally influencing the elements of the linear equation system that describes the organizational and technological processes. Results and Discussion: The solutions presented in the paper are fully consistent with the calculations obtained by different flow methods of organizing construction, as well as with the critical path method used in project management programs. The method described in the paper has been implemented in well-known project management software, Microsoft Project, as a macro program in the Visual Basic for Applications programming language, making it possible to form, calculate, and optimize a schedule for integrated territory development using the unified software toolkit.

Digital Transformation of Small Enterprise Activities in the Context of Economic Security

Aim. The presented study aims to develop recommendations for improving the existing mechanisms of adaptation of small enterprises to the uncertain conditions of the external environment associated with digitalization processes in the economy.Tasks. The author analyzes the existing mechanisms of adaptation of small enterprises to the conditions of uncertainty; substantiates the connection between the digitalization of business processes and the economic security of enterprises; proposes an original approach to the content of the mechanism of adaptation of small enterprises to the processes of digitalization.Methods. The author uses general and special scientific methods and techniques. General scientific methods include analysis and synthesis, comparison and generalization, modeling, literature review, observation, and expert assessment. Special scientific methods include factor analysis and process analysis.Results. The author substantiates the introduction of digital tools provided by Industry 4.0 and step-by-step digitalization of small enterprises in the form of original diagrams demonstrating the content of the mechanism of adaptation of enterprises to the processes of digitalization, individual elements of this mechanism (Internet marketing and its technologies), and prospects for the development of the mechanism in the form of a diagram of its integration into a large digital ecosystem (region, cluster, etc.). The most significant elements of the proposed adaptation mechanism are the mechanism of digitalization and the mechanism of economic security of small enterprises as well as their relationship and balance of interests. The study examines practical approaches to the step-by-step digitalization of small enterprise activities by assessing the efficiency of introducing certain Internet marketing tools in the activities of a small enterprise that does not directly operate in online mode (a chain of driving schools). A relevant investment project is assessed, showing the efficiency of all proposed scenarios. The author also considers the prospects of integrating small enterprises into a single digital ecosystem of a larger structure or entity (region, cluster, etc.) for a large-scale socio-economic synergetic effect that would serve as a mutual benefit for all participants of the system.Conclusions. In spite of the lack of a clear model for the digitalization of the economy in Russia and many obstacles to the successful digital transformation of small enterprises, practical digitalization mechanisms are already being developed, offering a set of step-by-step actions for small enterprises with allowance for their limited resources and prospects for development in each market. One of the success factors of digitalization is the correlation and balance between digitalization mechanisms and the economic security of enterprises. By adopting international approaches to Internet marketing technologies, a modern small enterprise gains a significant strategic advantage in the long term.

Adaptive RISE control for asymptotic rigid-body attitude tracking with additive disturbances

This paper presents a novel adaptive RISE (robust integral of the sign of the error) control method for the asymptotic rigid-body attitude tracking with inertia uncertainties and bounded unstructured external C2 disturbances. By virtue of a specially constructed synthesis of modified dynamic scaling mechanism, integration by parts, and finite escape analysis, the new design provides a simple but intuitive solution to the long-standing open problem in almost all RISE-based control schemes, that is, establishing global asymptotic tracking results without information about exact bounds of the external disturbances and its derivatives. Besides significant improvement on robustness, the proposed adaptation mechanism itself can also be regarded as a new kind of non-CE (non-certainty-equivalent) adaptive formulation, where very few extra dynamic extensions are required to largely recover ideal parameter estimation performance in commonly seen non-CE designs. The structure of the proposed controller is also equivalent to an adaptive feedforward compensator plus a stable low-pass filter whose input contains high gain feedback components, which allows flexible adjustments to establish ideal transient response and avoid chattering. Numerical simulations demonstrate that the above unique features of the proposed method lead to notable advantages over the composite adaptive RISE method.

A Review of Talent Adaptive Concept and Conceptual Framework of Accelerated Industry4WRD Talent Adaptation in Malaysia

Effective to current practice in the growth of talent by versatility, the companies require expertise to work in different divisions; subsidiaries; or departments; after three to five years’ operating in a specific position, upon request for relocation or promotional activities. Nevertheless, the transfer to work requires specific talent to learn new activities and procedures through adaptation through reading over administrative tasks, as well as to gain technical expertise such as Industry 4.0, which is typically learned by being on the job and takes longer before the talent becomes fully competent to conduct its tasks linked to Industry 4.0 areas. Use eight-dimensional adaptive efficiency as the foundation, this study intends to analysis and to clarify the critical factors in Industry 4.0 job adaptation as well as to create an effective structure that accelerates the cycle of talent adaptation. This framework is expected to contribute to Malaysia Industry4WRD strategy on ‘People’ shift factor and supplement its two aspects of Personal Competence Growth and Top Management Technology Savviness. The study would examine a case study on Malaysian industries and use a semi-structured interview with selected respondents to establish the accelerated proposed adaptation mechanism for Malaysian industry talent.

Personality-Based Affective Adaptation Methods for Intelligent Systems.

In this article, we propose using personality assessment as a way to adapt affective intelligent systems. This psychologically-grounded mechanism will divide users into groups that differ in their reactions to affective stimuli for which the behaviour of the system can be adjusted. In order to verify the hypotheses, we conducted an experiment on 206 people, which consisted of two proof-of-concept demonstrations: a “classical” stimuli presentation part, and affective games that provide a rich and controllable environment for complex emotional stimuli. Several significant links between personality traits and the psychophysiological signals (electrocardiogram (ECG), galvanic skin response (GSR)), which were gathered while using the BITalino (r)evolution kit platform, as well as between personality traits and reactions to complex stimulus environment, are promising results that indicate the potential of the proposed adaptation mechanism.

A new fractional-order hyperchaotic memristor oscillator: Dynamic analysis, robust adaptive synchronization, and its application to voice encryption

Abstract The present study proposes a new fractional-order hyperchaotic memristor oscillator. The proposed system is studied through numerical simulations and analyses, such as the Lyapunov exponents, bifurcation diagrams, and phase portraits. Then, using the sliding mode concept, a robust adaptive control scheme is designed to synchronize the proposed system. The adaptation mechanism is implemented to estimate the unknown parameters of the slave system. Then, the output of the proposed adaptation mechanism is used for the control scheme. The stability of the closed-loop system is proven via a fractional version of the Lyapunov stability theorem and Barbalat's lemma. Numerical simulations of synchronization are shown to investigate the performance of the developed control technique on the uncertain fractional-order hyperchaotic memristor oscillator. Finally, as an engineering application, the proposed fractional-order system is implemented for voice encryption. In this regard, to show the appropriate performance of the proposed system for voice encryption, statistical characteristic of the encryption and decryption processes are performed through different methods including correlation, entropy, root mean square, and root sum of squares.

Adaptive Non-singular Terminal Sliding Mode Control for an Unmanned Underwater Vehicle: Real-time Experiments

This research work focuses on the design of a robust-adaptive control algorithm for a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based in a Non-Singular Terminal Sliding Mode Control (NTSMC) with adaptive gains, where the proposed adaptation mechanism ensures that the gains remain bounded. In this control strategy a non-singular terminal sliding surface is proposed to obtain a faster convergence of the tracking errors. The NTSMC ensures Practical Finite-Time Stability for the closed-loop system as well as exhibits a chattering reduction. In order to demonstrate the satisfactory performance of the proposed controller, a set of experiments was performed with a Non-Singular Terminal Sliding Mode Controller and an Adaptive Non-Singular Terminal Sliding Mode Control (ANTSMC) in real time for trajectory tracking in the X-Y plane, the graphs showed that the ANTSMC converges faster to a smaller region and reduces oscillations.

Stabilization of compressor surge in systems with uncertain equilibrium flow

The adaptive correction of uncertain equilibrium states in feedback controlled systems is studied in this paper, with application to the active control of compressor surge with uncertainty in the characteristic curves. Adaptive compensation methods are introduced to correct for the uncertainty in the equilibrium state in both the state and the output feedback control cases, using information from the feedback control signal to determine the true equilibrium of the nonlinear plant. In particular, our proposed solutions overcome the odd-number condition, or parity condition, which appears as a recurring limitation in comparable solutions reported in the literature. Conditions for the existence of the adaptive solutions are presented, and the stability of the closed-loop system is demonstrated. The effectiveness of the proposed adaptation mechanism is verified using a high fidelity mathematical model of a compression system, commissioned to test active surge control methods by active magnetic bearings.

Self-adaptation of service compositions through product line reconfiguration

The large number of published services has motivated the development of tools for creating customized composite services known as service compositions. While service compositions provide high agility and development flexibility, they can also pose challenges when it comes to delivering guaranteed functional and non-functional requirements. This is primarily due to the highly dynamic environment in which services operate. In this paper, we propose adaptation mechanisms that are able to effectively maintain functional and non-functional quality requirements in service compositions derived from software product lines. Unlike many existing work, the proposed adaptation mechanism does not require explicit user-defined adaptation strategies. We adopt concepts from the software product line engineering paradigm where service compositions are viewed as a collection of features and adaptation happens through product line reconfiguration. We have practically implemented the proposed mechanism in ourMagus tool suite and performed extensive experiments, which show that our work is both practical and efficient for automatically adapting service compositions once violations of functional or non-functional requirements are observed.

Adaptive Natural Oscillator to exploit natural dynamics for energy efficiency

We present a novel adaptive oscillator, called Adaptive Natural Oscillator (ANO), to exploit the natural dynamics of a given robotic system. This tool is built upon the Adaptive Frequency Oscillator (AFO), and it can be used as a pattern generator in robotic applications such as locomotion systems. In contrast to AFO, that adapts to the frequency of an external signal, ANO adapts the frequency of reference trajectory to the natural dynamics of the given system. In this work, we prove that, in linear systems, ANO converges to the system’s natural frequency. Furthermore, we show that this tool exploits the natural dynamics for energy efficiency through minimization of actuator effort. This property makes ANO an appealing tool for energy consumption reduction in cyclic tasks; especially in legged systems. We also extend the proposed adaptation mechanism to high dimensional and general cases; such as n-DOF manipulators. In addition, by investigating a hopper leg in simulation, we show the efficacy of ANO in face of dynamical discontinuities; such as those inherent in legged locomotion. Furthermore, we apply ANO to a simulated compliant robotic manipulator performing a periodic task where the energy consumption is drastically reduced. Finally, the experimental results on a 1-DOF compliant joint show that our adaptive oscillator, despite all practical uncertainties and deviations from theoretical models, exploits the natural dynamics and reduces the energy consumption.

Sensorless Indirect Field Oriented Control of Single-sided Linear Induction Motor With a Novel Sliding Mode MRAS Speed Estimator

This paper proposes a new sliding mode control (SMC) based model reference adaptive system (MRAS) for sensorless indirect field oriented control (IFOC) of a single-sided linear induction motor (SLIM). The operation of MRAS speed estimators dramatically depends on adaptation mechanism. Fixed-gain PI controller is conventionally used for this purpose which may fail to estimate the speed correctly in different condition such as variation in the machine parameters. In this paper, PI controller is replaced by SMC based adaptation mechanism. One of the major problems of SMC is high-frequency chattering due to switching control function. In order to alleviate this problem, a new switching control function is presented. The SMC parameters are tuned using an off-line method through chaotic optimization algorithm (COA) because no design criterion is given to provide these values. The operation of sliding mode MRAS speed estimators (SM-MRAS) is validated by numerical simulation. The simulation results confirm the efficiency of proposed adaptation mechanism.

Proposal adaptation in simulated annealing for continuous optimization problems

In recent years, adaptive Markov Chain Monte Carlo (MCMC) methods have become a standard tool for Bayesian parameter estimation. In adaptive MCMC, the past iterations are used to tune the proposal distribution of the algorithm. The same adaptation mechanisms can be used in Simulated Annealing (SA), a popular optimization method based on MCMC. The difficulty in using adaptation directly in SA is that the target function changes along the iterations in the annealing process, and the adaptation should keep up with the annealing. In this paper, a mechanism for automatically tuning the proposal distribution in SA is proposed. The approach is based on the Adaptive Metropolis algorithm of Haario et al. (Bernoulli 7(2):223---242, 2001), combined with a weighting mechanism to account for the cooling target. The proposed adaptation mechanism does not add any computational complexity to the problem in terms of objective function evaluations. The effect of adaptation is demonstrated using two benchmark problems, showing that the proposed adaptation mechanism can significantly improve optimization results compared to non-adaptive SA. The approach is presented for continuous optimization problems and generalization to integer and mixed-integer problems is a topic of future research.

Transferring Boosted Detectors Towards Viewpoint and Scene Adaptiveness

In object detection, disparities in distributions between the training samples and the test ones are often inevitable, resulting in degraded performance for application scenarios. In this paper, we focus on the disparities caused by viewpoint and scene changes and propose an efficient solution to these particular cases by adapting generic detectors, assuming boosting style. A pretrained boosting-style detector encodes a priori knowledge in the form of selected features and weak classifier weighting. Towards adaptiveness, the selected features are shifted to the most discriminative locations and scales to compensate for the possible appearance variations. Moreover, the weighting coefficients are further adapted with covariate boost, which maximally utilizes the related training data to enrich the limited new examples. Extensive experiments validate the proposed adaptation mechanism towards viewpoint and scene adaptiveness and show encouraging improvement on detection accuracy over state-of-the-art methods.

Adaptive interactions in shared virtual environments for heterogeneous devices

AbstractIn this research, we propose a method to adapt the interfaces and interaction processes of heterogeneous devices. The proposed method models the interaction capability of the devices. The interaction is modeled by categorizing elementary actions and measuring its effect in semantic behaviors. With this model, an interaction process can be modified to a given device by changing sequence of elementary actions for each behavior. In the pilot test, we showed the possibility of interaction adaptation for different situations. With the proposed adaptation mechanism, interface and interaction can be modeled for the device independently and can be transferred over different interaction environments. Copyright © 2010 John Wiley & Sons, Ltd.

An Alternative Adaptation Mechanism for Model Reference Adaptive System Based Sensorless Induction Motor Drive

The model reference adaptive system is one of the methods for speed estimation of a sensorless induction motor drive. The model reference adaptive system comprises of tee blocks—the reference model, the adjustable model, and the adaptation mechanism. A proportional-integral controller is commonly used in the adaptation mechanism. In this article, an alternative structure of the adaptation mechanism is proposed. The model reference adaptive system with the proposed adaptation mechanism is simulated and experimentally validated tough a laboratory developed prototype.