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Article
Publication date: 24 November 2023

Sezer Çoban

The purpose of this research paper is to recover the autonomous flight performance of a mini unmanned aerial vehicle (UAV) via stochastically optimizing the wing over certain…

Abstract

Purpose

The purpose of this research paper is to recover the autonomous flight performance of a mini unmanned aerial vehicle (UAV) via stochastically optimizing the wing over certain parameters (i.e. wing taper ratio and wing aspect ratio) while there are lower and upper constraints on these redesign parameters.

Design/methodology/approach

A mini UAV is produced in the Iskenderun Technical University (ISTE) Unmanned Aerial Vehicle Laboratory. Its complete wing can vary passively before the flight with respect to the result of the stochastic redesign of the wing while maximizing autonomous flight performance. Flight control system (FCS) parameters (i.e. gains of longitudinal and lateral proportional-integral-derivative controllers) and wing redesign parameters mentioned before are simultaneously designed to maximize autonomous flight performance index using a certain stochastic optimization strategy named as simultaneous perturbation stochastic approximation (SPSA). Found results are used while composing UAV flight simulations.

Findings

Using stochastic redesign of mini UAV and simultaneously designing mini ISTE UAV over previously mentioned wing parameters and FCS, it obtained a maximum UAV autonomous flight performance.

Research limitations/implications

Permission of the directorate general of civil aviation in the Republic of Türkiye is essential for real-time UAV autonomous flights.

Practical implications

Stochastic redesign of mini UAV and simultaneously designing mini ISTE UAV wing parameters and FCS approach is very useful for improving any mini UAV autonomous flight performance cost index.

Social implications

Stochastic redesign of mini UAV and simultaneously designing mini ISTE UAV wing parameters and FCS approach succeeds confidence, highly improved autonomous flight performance cost index and easy service demands of mini UAV operators.

Originality/value

Creating a new approach to recover autonomous flight performance cost index (e.g. satisfying less settling time and less rise time, less overshoot during flight trajectory tracking) of a mini UAV and composing a novel procedure performing simultaneous mini UAV having passively morphing wing over certain parameters while there are upper and lower constraints and FCS design idea.

Article
Publication date: 23 October 2007

Argyris Arnellos, Thomas Spyrou and John Darzentas

This paper aims to develop the role of autonomy in the emergence of the design process. It shows how the design process is facilitated by autonomy, how autonomy is enhanced…

Abstract

Purpose

This paper aims to develop the role of autonomy in the emergence of the design process. It shows how the design process is facilitated by autonomy, how autonomy is enhanced through the design process and how the emergence of anticipatory and future‐oriented representational content in an autonomous cognitive system provides the functionality needed for the strengthening of both its autonomy and the design process, in which the autonomous cognitive system purposefully engages.

Design/methodology/approach

Initially, the essential characteristics of the design process and of the cognitive systems participating in it will be identified. Then, an attempt to demonstrate the ability of an enhanced second‐order cybernetic framework to satisfy these characteristics will be made. Next, an analytic description of the design process under this framework is presented and the respective implications are critically discussed.

Findings

The role of autonomy is crucial for the design process, as it seems that autonomy is both the primary motive and the goal for a cognitive system to engage in a design process. A second‐order cybernetic framework is suitable for the analysis of such a complex process, as long as both the constructive and the interactive aspects of a self‐organising system are taken under consideration.

Practical implications

The modelling of the complex design process under the framework of second‐order cybernetics and the indication of the fundamental characteristics of an autonomous cognitive system as well as their interrelations may provide useful insights in multiple levels, from the purely theoretical (i.e. better understanding of the design process and the conditions for each creative fostering), to the purely technical (i.e. the design of artificial agents with design capabilities).

Originality/value

The innovative aspect of the paper is that it attempts an analysis of the design process under a framework of second‐order cybernetics, by attempting to analyse and explain the emergence of such a process from the point of view of an autonomous cognitive system. This results in some interesting implications regarding the nature of the design process, as well as regarding its “mechanisms” of emergence and evolution, with respect to the characteristics of the participating autonomous systems.

Article
Publication date: 11 March 2020

Nan Qiao, Lihui Wang and Mingjie Liu

This paper aims to propose a new autonomous driving controller to calibrate the absolute heading adaptively. Besides, the second purpose of this paper is to propose a new…

Abstract

Purpose

This paper aims to propose a new autonomous driving controller to calibrate the absolute heading adaptively. Besides, the second purpose of this paper is to propose a new angle-track loop with a mass regulator to improve the adaptability of the autonomous driving system under different loads and road conditions.

Design/methodology/approach

In this paper, the error model of heading is built and a new autonomous driving controller with heading adaptive calibration is designed. The new controller calculates the average lateral error by the self-adjusting interval window and calibrates the absolute heading through the incremental proportional–integral–derivative (PID) controller. A window-size adjustment strategy, based on the current lateral error and the derivative of lateral error, is proposed to improve both the transient and the steady-state responses. An angle-tracking loop with mass regulator is proposed to improve the adaptability of autonomous steering system under different loads and road conditions.

Findings

The experiment results demonstrate that this method can compensate the heading installation error and restrain the off-track error from 13.8 to 1.30 cm. The standard error of new controller is smaller than fuzzy-PID calibration controller and the accuracy of autonomous driving system is improved.

Originality/value

The accuracy of heading calibrated by the new controller is not affected by external factors and the efficiency of calibration is improved. As the model parameters of steering system can be obtained manually, the new autonomous steering controller has more simple structure and is easy to implement. Mass regulator is adjusted according to the road conditions and the mass of harvester, which can improve the system adaptability.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 13 November 2017

Salama A. Mostafa, Mohd Sharifuddin Ahmad, Aida Mustapha and Mazin Abed Mohammed

The purpose of this paper is to propose a layered adjustable autonomy (LAA) as a dynamically adjustable autonomy model for a multi-agent system. It is mainly used to efficiently…

Abstract

Purpose

The purpose of this paper is to propose a layered adjustable autonomy (LAA) as a dynamically adjustable autonomy model for a multi-agent system. It is mainly used to efficiently manage humans’ and agents’ shared control of autonomous systems and maintain humans’ global control over the agents.

Design/methodology/approach

The authors apply the LAA model in an agent-based autonomous unmanned aerial vehicle (UAV) system. The UAV system implementation consists of two parts: software and hardware. The software part represents the controller and the cognitive, and the hardware represents the computing machinery and the actuator of the UAV system. The UAV system performs three experimental scenarios of dance, surveillance and search missions. The selected scenarios demonstrate different behaviors in order to create a suitable test plan and ensure significant results.

Findings

The results of the UAV system tests prove that segregating the autonomy of a system as multi-dimensional and adjustable layers enables humans and/or agents to perform actions at convenient autonomy levels. Hence, reducing the adjustable autonomy drawbacks of constraining the autonomy of the agents, increasing humans’ workload and exposing the system to disturbances.

Originality/value

The application of the LAA model in a UAV manifests the significance of implementing dynamic adjustable autonomy. Assessing the autonomy within three phases of agents run cycle (task-selection, actions-selection and actions-execution) is an original idea that aims to direct agents’ autonomy toward performance competency. The agents’ abilities are well exploited when an incompetent agent switches with a more competent one.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 10 no. 4
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 4 January 2013

Gokhan Bayar

The purpose of this paper is to present work which is a part of the Comprehensive Automation for Specialty Crops project (CASC). Desired trajectory tracking objective has been…

Abstract

Purpose

The purpose of this paper is to present work which is a part of the Comprehensive Automation for Specialty Crops project (CASC). Desired trajectory tracking objective has been previously performed by using a non‐model based approach in this project. Long distance autonomous drive has been achieved; however the results haven't met the expectations of the project requirements. In order to provide these requirements, this study is conducted. In this study, long distance autonomous trajectory tracking for an orchard vehicle is studied. Besides longitudinal motion, lateral motion of the vehicle is also considered. The longitudinal and lateral errors are objected to keep into a region of less than 10 cm.

Design/methodology/approach

Car‐like robot kinematic modeling approach is used to create desired trajectory. In order to control longitudinal velocity and steering angle of the vehicle, a controller methodology is proposed. Stability of the controller proposed is shown by using Lyapunov stability approach.

Findings

The proposed model is adapted into a four‐wheeled autonomous orchard vehicle and tested in an experimental orchard for long distance autonomous drives. More than 15 km autonomous drive is successfully achieved and the details are presented in this paper.

Originality/value

In this study, long distance autonomous trajectory tracking for an orchard vehicle is focused. A model based control strategy, including the information about longitudinal and lateral motion of the vehicle, is constructed. A new approach to create steering angles for turning operations of the orchard vehicle is introduced. It is objected that the longitudinal and lateral errors should be less than 10 cm during the trajectory tracking task.

Details

Industrial Robot: An International Journal, vol. 40 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 June 2015

Raul Espejo

Illustrate supported by Beer’s Viable System Model and four vignettes the relevance of self-organisation, recursive structures, self-reference and reflexivity in policy processes…

Abstract

Purpose

Illustrate supported by Beer’s Viable System Model and four vignettes the relevance of self-organisation, recursive structures, self-reference and reflexivity in policy processes. The paper aims to discuss these issues.

Design/methodology/approach

First, the concepts of self-organisation, recursive structures, self-reference and reflexivity are briefly discussed to ground policy processes in good cybernetics. Then, with the support of four vignettes, the idea of good cybernetics in policy processes is illustrated.

Findings

The cybernetics of policy processes is often ignored.

Research limitations/implications

If the purpose of this paper were to influence policy makers it would be necessary to further the empirical base of the four vignettes and clarify desirable forums to ground the relevance of self-organisation, recursive structures, self-reference and reflexivity in policy processes.

Practical implications

Beer’s recursive structures, self-reference and reflexivity have much to contribute to the betterment of policy processes and the amelioration of the unbearable social and organisational costs of many current policies.

Originality/value

The application of concepts such as self-organisation, recursive structures, self-reference and reflexivity adds to the understanding of policy processes.

Details

Kybernetes, vol. 44 no. 6/7
Type: Research Article
ISSN: 0368-492X

Keywords

Article
Publication date: 1 June 2012

Yin Lili, Zhang Rubo and Gu Hengwen

The purpose of this paper is to provide a more capable and holistic adjustable autonomy system, involving situation reasoning among all involved information sources, to make an…

Abstract

Purpose

The purpose of this paper is to provide a more capable and holistic adjustable autonomy system, involving situation reasoning among all involved information sources, to make an adjustable autonomy system which knows what the situation is currently, what needs to be done in the present situation, and how risky the task is in the present situation. This will enhance efficiency for calculating the level of autonomy.

Design/methodology/approach

Situation reasoning methodologies are present in many autonomous systems which are called situation awareness. Situation awareness in autonomous systems is divided into three levels, situation perception, situation comprehension and situation projection. Situation awareness in these systems aims to make the tactical plans cognitive, but situation reasoning in adjustable autonomous systems aim to communicate mission assessments to unmanned vehicle or humans. Thus, in solving this problem, it is important to design a new situation reasoning module for the adjustable autonomous system.

Findings

The contribution of this paper is presenting the Situation Reasoning Module (SRM) for an adjustable autonomous system, which encapsulates event detection, cognitive situations, cognitive tasks, performance capacity assessment and integrated situation reason. The paper concludes by demonstrating the benefits of the SRM in a real‐world scenario, a situation reasoning simulation in unmanned surface vehicles (USV) while performing a navigation mission.

Originality/value

The method presented in this paper represents a new SRM to reason the situation for adjustable autonomous system. While the results presented in the paper are based on fuzzy logic and Bayesian network methodology. The results of this paper can be applicable to land, sea and air robotics in an adjustable autonomous system.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 5 no. 2
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 14 May 2018

Sakchai Jarernsiripornkul and I.M. Pandey

The purpose of this paper is to examine the governance system of autonomous universities in an emerging economy, i.e., Thailand. The authors examine the degree of freedom that…

Abstract

Purpose

The purpose of this paper is to examine the governance system of autonomous universities in an emerging economy, i.e., Thailand. The authors examine the degree of freedom that Thai autonomous universities enjoy and the process that they follow in instituting their governance system.

Design/methodology/approach

The authors use case study method of research where units of analysis are 16 public autonomous universities. Data are collected directly from the Universities and available documents and through interviews with ten informants from five universities. Data are analysed using the triangulation method before presenting findings.

Findings

The authors find that Thai autonomous universities had different degree of readiness when they were granted autonomy status by the government. According to their Acts, the universities can specify their own governance pattern, leadership recruitment, revenue management, budgeting and personnel management. With the strengthening role and accountability, the university councils have enjoyed wider space of actions in institutional governance. Size and composition of the councils differ. Big and more mature universities tend to have more members and their councils comprise more outside experts than the small ones. Thai autonomous universities’ governance structure is in the pattern of corporate-like structure. Participatory process is applied in the university decision making. Big universities are strategically directed towards being research universities, while small and newly established universities are striving to expand to health science education. In academic governance, there is an academic board which helps the council to handle academic standards and give academic related recommendations. The launch of Education Criteria for Performance Excellence Framework to standardise the country’s higher education system has become controversial and is said to lessen the universities’ degree of academic freedom. In financial autonomy, the study finds that most universities are still dependent on government budget.

Originality/value

This case study depicts the governance system of autonomous universities in Thailand, which is one of the emerging countries. Taken into account that existing literature regarding university governance, especially in the emerging countries is limited, the study, which eventually proposes recommendations for lifting these universities’ governance performance, should be able to contribute fruitful knowledge in the area.

Details

Journal of Advances in Management Research, vol. 15 no. 3
Type: Research Article
ISSN: 0972-7981

Keywords

Content available
Article
Publication date: 13 November 2023

Sheuli Paul

This paper presents a survey of research into interactive robotic systems for the purpose of identifying the state of the art capabilities as well as the extant gaps in this…

Abstract

Purpose

This paper presents a survey of research into interactive robotic systems for the purpose of identifying the state of the art capabilities as well as the extant gaps in this emerging field. Communication is multimodal. Multimodality is a representation of many modes chosen from rhetorical aspects for its communication potentials. The author seeks to define the available automation capabilities in communication using multimodalities that will support a proposed Interactive Robot System (IRS) as an AI mounted robotic platform to advance the speed and quality of military operational and tactical decision making.

Design/methodology/approach

This review will begin by presenting key developments in the robotic interaction field with the objective of identifying essential technological developments that set conditions for robotic platforms to function autonomously. After surveying the key aspects in Human Robot Interaction (HRI), Unmanned Autonomous System (UAS), visualization, Virtual Environment (VE) and prediction, the paper then proceeds to describe the gaps in the application areas that will require extension and integration to enable the prototyping of the IRS. A brief examination of other work in HRI-related fields concludes with a recapitulation of the IRS challenge that will set conditions for future success.

Findings

Using insights from a balanced cross section of sources from the government, academic, and commercial entities that contribute to HRI a multimodal IRS in military communication is introduced. Multimodal IRS (MIRS) in military communication has yet to be deployed.

Research limitations/implications

Multimodal robotic interface for the MIRS is an interdisciplinary endeavour. This is not realistic that one can comprehend all expert and related knowledge and skills to design and develop such multimodal interactive robotic interface. In this brief preliminary survey, the author has discussed extant AI, robotics, NLP, CV, VDM, and VE applications that is directly related to multimodal interaction. Each mode of this multimodal communication is an active research area. Multimodal human/military robot communication is the ultimate goal of this research.

Practical implications

A multimodal autonomous robot in military communication using speech, images, gestures, VST and VE has yet to be deployed. Autonomous multimodal communication is expected to open wider possibilities for all armed forces. Given the density of the land domain, the army is in a position to exploit the opportunities for human–machine teaming (HMT) exposure. Naval and air forces will adopt platform specific suites for specially selected operators to integrate with and leverage this emerging technology. The possession of a flexible communications means that readily adapts to virtual training will enhance planning and mission rehearsals tremendously.

Social implications

Interaction, perception, cognition and visualization based multimodal communication system is yet missing. Options to communicate, express and convey information in HMT setting with multiple options, suggestions and recommendations will certainly enhance military communication, strength, engagement, security, cognition, perception as well as the ability to act confidently for a successful mission.

Originality/value

The objective is to develop a multimodal autonomous interactive robot for military communications. This survey reports the state of the art, what exists and what is missing, what can be done and possibilities of extension that support the military in maintaining effective communication using multimodalities. There are some separate ongoing progresses, such as in machine-enabled speech, image recognition, tracking, visualizations for situational awareness, and virtual environments. At this time, there is no integrated approach for multimodal human robot interaction that proposes a flexible and agile communication. The report briefly introduces the research proposal about multimodal interactive robot in military communication.

Article
Publication date: 4 July 2016

Pouria Sarhadi, Reza Nad Ali Niachari, Morteza Pouyan Rad and Javad Enayati

The purpose of this paper is to propose a software engineering procedure for real-time software development and verification of an autonomous underwater robotic system. High…

Abstract

Purpose

The purpose of this paper is to propose a software engineering procedure for real-time software development and verification of an autonomous underwater robotic system. High performance and robust software are one of the requirements of autonomous systems design. A simple error in the software can easily lead to a catastrophic failure in a complex system. Then, a systematic procedure is presented for this purpose.

Design/methodology/approach

This paper utilizes software engineering tools and hardware-inthe-loop (HIL) simulations for real-time system design of an autonomous underwater robot.

Findings

In this paper, the architecture of the system is extracted. Then, using software engineering techniques a suitable structure for control software is presented. Considering the desirable targets of the robot, suitable algorithms and functions are developed. After the development stage, proving the real-time performance of the software is disclosed.

Originality/value

A suitable approach for analyzing the real-time performance is presented. This approach is implemented using HIL simulations. The developed structure is applicable to other autonomous systems.

Details

International Journal of Intelligent Unmanned Systems, vol. 4 no. 3
Type: Research Article
ISSN: 2049-6427

Keywords

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