• A novel approach to the control of quad-rotor helicopters using fuzzy-neural networks

      Wu, Mian Hong; Bousbaine, Amar; Hu, Huosheng; Poyi, Gwangtim Timothy (University of DerbyCollege of Engineering and Technology, 2014-12-01)
      Quad-rotor helicopters are agile aircraft which are lifted and propelled by four rotors. Unlike traditional helicopters, they do not require a tail-rotor to control yaw, but can use four smaller fixed-pitch rotors. However, without an intelligent control system it is very difficult for a human to successfully fly and manoeuvre such a vehicle. Thus, most of recent research has focused on small unmanned aerial vehicles, such that advanced embedded control systems could be developed to control these aircrafts. Vehicles of this nature are very useful when it comes to situations that require unmanned operations, for instance performing tasks in dangerous and/or inaccessible environments that could put human lives at risk. This research demonstrates a consistent way of developing a robust adaptive controller for quad-rotor helicopters, using fuzzy-neural networks; creating an intelligent system that is able to monitor and control the non-linear multi-variable flying states of the quad-rotor, enabling it to adapt to the changing environmental situations and learn from past missions. Firstly, an analytical dynamic model of the quad-rotor helicopter was developed and simulated using Matlab/Simulink software, where the behaviour of the quad-rotor helicopter was assessed due to voltage excitation. Secondly, a 3-D model with the same parameter values as that of the analytical dynamic model was developed using Solidworks software. Computational Fluid Dynamics (CFD) was then used to simulate and analyse the effects of the external disturbance on the control and performance of the quad-rotor helicopter. Verification and validation of the two models were carried out by comparing the simulation results with real flight experiment results. The need for more reliable and accurate simulation data led to the development of a neural network error compensation system, which was embedded in the simulation system to correct the minor discrepancies found between the simulation and experiment results. Data obtained from the simulations were then used to train a fuzzy-neural system, made up of a hierarchy of controllers to control the attitude and position of the quad-rotor helicopter. The success of the project was measured against the quad-rotor’s ability to adapt to wind speeds of different magnitudes and directions by re-arranging the speeds of the rotors to compensate for any disturbance. From the simulation results, the fuzzy-neural controller is sufficient to achieve attitude and position control of the quad-rotor helicopter in different weather conditions, paving way for future real time applications.
    • Quantification of colour emotion and colour harmony

      Ou, Li-Chen (University of Derby, 2004)
    • Quantifying the colour appearance of displays.

      Kwak, Youngshin (University of Derby, 2003)
    • A risk management system for healthcare facilities service operators

      Gombera, Peter Pachipano (University of Derby, 2003)
    • Towards human-oriented design, architecture and urbanism: shifts in education and practice.

      Hudson, Robert Charles; Campbell, Neil; Tracada, Eleni (University of DerbyFaculty of Arts, Design & Technology, 2015-05)
      The scope of this piece of work is to reflect upon a series of past and recent publications as well as those in progress referring to innovations in architectural education which has already led and/or might lead to major shifts in future practices. This is an opportunity for the author to reflect on concepts and ideas for the future of architecture which is currently undergoing innovative developments by embracing new theories and enduring professional formation according to contemporary trends. This reflective work has been based on publication of research, including ongoing editorial work related to this topic. The author’s ideas and philosophy on human-oriented design and fractal patterns of social life has embraced dynamics of urban developments in modern and future cities. She has succeeded in considering, uniquely interpreting and further developing ideas and theories of established authors, such as Christopher Alexander’s concepts on patterns and principles of design and Nikos Salingaros’ thermodynamic models of the built environment. The author was inspired by teachers and renowned scholars in history, philosophy and practices of architecture; her own teachers’ experiences and their teaching had offered a singular momentum in her personal career path. This long process started when her teachers succeeded in placing urbanism and architecture side by side inside the Faculty of Architecture of Florence back in the 1970s. Hence the author reflects not only on recent publications, but also on others that have been published in the last decade or so. In this report it is evident that materials produced during these years have been essential and invaluable for her later endeavours in learning, teaching and the training of designers and architects in Great Britain and beyond.
    • 'Towards retreat'

      LeGrove, Judith (University of Derby, 2007)
    • 'Towards retreat'

      LeGrove, Judith (University of Derby, 2007)