The snake's interesting gait enables them to climb a hill or wind up a tree to climb it up. Hirose has long investigated the motion of snakes and made several snake robots. He also showed that the trace of the sna...
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The snake's interesting gait enables them to climb a hill or wind up a tree to climb it up. Hirose has long investigated the motion of snakes and made several snake robots. He also showed that the trace of the snake body draws the so called `serpenoid curve'. However, the control of the position of the snake head was shown to be difficult. Here, as the first report of our research outcome, we will show a dynamical position control of the snake robot and discuss the effect of constraining the trace of the head to a serpenoid curve.
Manipulating payloads with gantry cranes can be difficult given the inherent system flexibility. In fact, the payload cannot move until some deflection occurs in the support cable, thereby generating a horizontal forc...
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Manipulating payloads with gantry cranes can be difficult given the inherent system flexibility. In fact, the payload cannot move until some deflection occurs in the support cable, thereby generating a horizontal force. Gantry crane dynamics can often be effectively modeled as a single linear flexible mode. However, if the crane is equipped with a large-mass hook and the payload is sufficiently light, then the dynamics can become complicated by double-pendulum effects. This paper presents a method for determining the contribution of the second pendulum mode to the overall dynamic response. Furthermore, an input shaping scheme is developed to reduce residual oscillations. This control method utilizes the double-pendulum dynamics to determine the parameters of the input shaping algorithm.
The temperature of each reheating furnace burner zone is controlled independently by cascade control of temperature-amount of fuels-amount of air. The premise of this strategy is each burner zone being independently c...
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The temperature of each reheating furnace burner zone is controlled independently by cascade control of temperature-amount of fuels-amount of air. The premise of this strategy is each burner zone being independently controllable. In this strategy, interaction of the connected zones and large time delay, influencing the performance of furnace temperature control, have not been taken into account. To solve this problem, Smith compensation and decoupling technique are applied to transform the furnace into several subsystems with weak coupling and no time delay, then the temperatures of burner zones are controlled based on these subsystems.
We present an optimizing control method for electric district heating and cooling (DHC) plants. The purpose of the method is to minimize the operating cost of the plants. The optimization models are constructed by inp...
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We present an optimizing control method for electric district heating and cooling (DHC) plants. The purpose of the method is to minimize the operating cost of the plants. The optimization models are constructed by input-output properties of the components into mixed 0-1 linear programming problem. The advanced feature of the method is to be able to handle 1) double-bundle heat pumps, 2) thermal storage tanks, and 3) peak-cut strategy. The numerical example shows that the optimization result based on the method gives appropriate schedule for DHC plant operation.
Genetic search techniques constitute an optimization methodology effective for solving discontinuous, non-convex, nonlinear, or non-analytic problems. This paper explores the application of such techniques to a non-an...
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Genetic search techniques constitute an optimization methodology effective for solving discontinuous, non-convex, nonlinear, or non-analytic problems. This paper explores the application of such techniques to a non-analytic event-related air traffic control problem, that of runway assignment, sequencing, and scheduling of arrival flights at an airport with multiple runways. Several genetic search formulations are developed and evaluated with a representative arrival traffic scenario. The results exemplify the importance of the selection of the chromosomal representation for a genetic-search problem.
Diabetes mellitus is a disease that afflicts many people. Here, an output feedback for blood glucose regulation is presented. To this end, the glucose regulation problem is seen as an output tracking problem. In this ...
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Diabetes mellitus is a disease that afflicts many people. Here, an output feedback for blood glucose regulation is presented. To this end, the glucose regulation problem is seen as an output tracking problem. In this way, the proposed controller leads the glucose level from diabetic to normal behavior. The resulting controller contains two parts: (I) A state estimator and (II) a linearizing-like control law. The proposed controller yields smooth control actions. Numerical simulations show that the controller is able to reject load disturbances.
This paper proposed a robust output feedback controller of an atomic force microscope (AFM) device for the purpose of high rate date sampling. The AFM device is modeled as a cantilever-sample system in which the inter...
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This paper proposed a robust output feedback controller of an atomic force microscope (AFM) device for the purpose of high rate date sampling. The AFM device is modeled as a cantilever-sample system in which the interactive forces between the cantilever and the sample consists of a long range attractive force and short range repulsive force. By using the feedback linearization and the singular perturbation technique, an output high-gain feedback controller is designed such that the cantilever tip can track the surface of the sample at a high rate of date sampling even though the topology of the surface is arbitrary and not given a priori. By adopting the controller developed here, the signals to be measured are the deflection of the cantilever. Finally a computer simulation is provided to demonstrate the effectiveness of the proposed controller.
A new formulation of predictive control which uses a closely to the continuous time plant related delta description is given. Starting with the derivation of an end-point state weighted generalized predictive controll...
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A new formulation of predictive control which uses a closely to the continuous time plant related delta description is given. Starting with the derivation of an end-point state weighted generalized predictive controller a polynomial controller representation is given and the theoretical value of the endpoint state weighting matrix is derived. The robustness with respect to additive plant/model mismatch is involved by the H∞ analysis. The Space Crystal Furnace TITUS is modeled using strongly coupled symmetric composite systems. A final simulation underlines the improved accuracy of the temperature gradient.
In chemical batch control applications the specification of how to produce a batch is called a recipe. When several recipes execute concurrently within a plant there is a possibility for circular wait between recipes ...
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In chemical batch control applications the specification of how to produce a batch is called a recipe. When several recipes execute concurrently within a plant there is a possibility for circular wait between recipes utilizing shared resources. A circular wait might lead to the loss of an entire batch;this is costly and should therefore be avoided. This work describes the implementation of a discrete-event supervisor aimed to prevent a batch processing system from running into circular waits by restricting resource allocations. The supervisor interacts with SattLine, a commercial controlsystem for flexible production systems, which in turn executes the batch recipes. The supervisor consists of two parts, (1) generation of a circular wait free specification, and (2) an execution part that restricts the behavior of the controlsystem such that the specification is fulfilled.
We propose an optimized model of coronary circulation for evaluating patho-physiological hemodynamical changes in the intra myocardial blood flow. The model consisted of an equivalent electrical circuit comprised of e...
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We propose an optimized model of coronary circulation for evaluating patho-physiological hemodynamical changes in the intra myocardial blood flow. The model consisted of an equivalent electrical circuit comprised of epicardial, sub epicardial, the middle layer and the sub endocardial regions. The cost function consisted of squares of the temporal and static changes in perfusion pressures, intra myocardial arterial and venous flow rates and control inputs. We could simulate reported experimental data for coronary arterial and venous flows.
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