For some reason I now forget, Keith Glover and I were asked to prepare a "discussion paper" on frequency and time domain methods in system identification by the organizers of the IFAC symposium on System Ide...
详细信息
This paper contains a survey of the application of control systems theory to automotive systems. For this application field, the most useful modeling approaches and control design methods are described. Some open prob...
详细信息
ISBN:
(纸本)3540317546
This paper contains a survey of the application of control systems theory to automotive systems. For this application field, the most useful modeling approaches and control design methods are described. Some open problems are mentioned and possible trends for future developments are listed. A case study shows what role control systems may play for maximizing the efficiency of future vehicle propulsion systems.
In this paper, we study the problem of constructing models for a stationary stochastic process {Y-t} assuming values in a finite set M := {1,...,m}. It is assumed that only a finite length sample path of the process i...
详细信息
ISBN:
(纸本)3540317546
In this paper, we study the problem of constructing models for a stationary stochastic process {Y-t} assuming values in a finite set M := {1,...,m}. It is assumed that only a finite length sample path of the process is known, and not the full statistics of the process. Two kinds of problems are studied, namely: modelling for prediction, and modelling for classification. For the prediction problem, in a companion paper it is shown that a well-known approach of modelling the given process as a multi-step Markov process is in fact the only solution satisfying certain nonnegativity constraints. In the present paper, accuracy and confidence bounds are derived for the parameters of this multi-step Markov model. So far as the author is aware, such bounds have not been published previously. For the classification problem, it is assumed that two distinct sets of sample paths of two separate stochastic processes are available - call them {u(1),...,u(r)} and {v(1),...,vs}. The objective here is to develop not one but two models, called C and NC respectively, such that the strings ui have much larger likelihoods with the model C than with the model NC, and the opposite is true for the strings v(j). Then a new string w is classified into the set C or NC according as its likelihood is larger from the model C or the model NC. For the classification problem, we develop a new algorithm called the 4M (Mixed Memory Markov Model) algorithm, which is an improvement over variable length Markov models. We then apply the 4M algorithm to the problem of finding genes from the genome. The performance of the 4M algorithm is compared against that of the popular Glimmer algorithm. In most of the test cases studied, the 4M algorithm correctly classifies both coding as well as non-coding regions more than 90% of the time. Moreover, the accuracy of the 4M algorithm compares well with that of Glimmer. At the same time, the 4M algorithm is amenable to statistical analysis.
This paper develops a class of bipedal running controllers based on the hybrid zero dynamics (HZD) framework and discusses related experiments conducted in September 2004 in Grenoble, France. In these experiments, RAB...
详细信息
ISBN:
(纸本)3540361189
This paper develops a class of bipedal running controllers based on the hybrid zero dynamics (HZD) framework and discusses related experiments conducted in September 2004 in Grenoble, France. In these experiments, RABBIT, a five-link, four-actuator, planar bipedal robot, executed six consecutive running steps. The observed gait was remarkably human-like, having long stride lengths (approx. 50 cm or 36% of body length), flight phases of significant duration (approx. 100 ms or 25% of step duration) I an upright posture, and an average forward rate of 0.6 m/s. A video is available at [7, 17]. In the time allotted for experiments, stability of the gait could not be validated. To put the results into context, background information on hybrid robot modeling, control philosophy, and gait optimization techniques accompany final experimental observations. An additional discussion about some unmodeled dynamic and geometric effects that contributed to implementation difficulties is given.
A dynamic model of running-the spring-loaded inverted pendulum (SLIP)-has proven effective in describing the force patterns found in a wide variety of animals and in designing and constructing a number of terrestrial ...
详细信息
ISBN:
(纸本)3540361189
A dynamic model of running-the spring-loaded inverted pendulum (SLIP)-has proven effective in describing the force patterns found in a wide variety of animals and in designing and constructing a number of terrestrial running robots. Climbing or vertical locomotion has, on the other hand, lacked such a simple and powerful model. Climbing robots to date have all been quasi-static in their operation. This paper introduces a one degree of freedom model of a climbing robot used to investigate the power constraints involved with climbing in a dynamic manner. Particular attention is paid to understanding how springs and body dynamics can be exploited to help relieve a limited power/weight ratio and achieve dynamic running and climbing.
Given a nominal plant, a perturbed plant, an uncertainty structure and performance weights, we use robust model validation ideas to define and compute a measure of the distance between the nominal and perturbed plants...
详细信息
ISBN:
(纸本)3540317546
Given a nominal plant, a perturbed plant, an uncertainty structure and performance weights, we use robust model validation ideas to define and compute a measure of the distance between the nominal and perturbed plants. We also define a stability margin for a feedback system that is related to robust stability and nominal performance, and derive conditions for the stability and bounds for the performance degradation of the perturbed feedback system in terms of the distance measure. These robust stability and robust performance results give the distance measure a feedback interpretation. The simplicity and power of our procedure for computing the distance between two systems is illustrated using a normalized coprime factor uncertainty model to derive results that have already been published in the literature using different techniques. All systems considered in this paper are linear time-invariant.
作者：
Kimura, HRIKEN
Biomimet Control Res Ctr Nagoya Aichi 4630003 Japan
Regulation of gene expression is the fundamental biological process through which a variety of cell functions are organized and executed ([9],[12]). Due to recent advance of molecular biology, a number of gene regulat...
详细信息
Optimal input design for system *** was an active area of research in the 1970’s, with different quality measures of the identified model being used for this optimal design [1-3]. The questions at that time addressed...
详细信息
暂无评论