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2011 UKSim 13th International Conference on Modelling and Simulation, UKSim 2011

作者： Tsoulkas, Vasilis N. Pantelous, Athanasios A. Dritsas, Leonidas Papachristos, Christos Athens Greece University of Liverpool United Kingdom Department of Mathematical Sciences University of Liverpool United Kingdom Hellenic Air Force Academy Division of Automatic Control Athens Greece Division of Information and Transmission Systems and Materials Technology Department of Electrical and Computer Engineering National Technical University Athens Greece

ISBN: (纸本)9780769543765

In this paper, the modules for the conceptual design of an innovative e-learning platform using satellite communications for teaching control systems theory courses are presented. All necessary tools and mechanisms are provided enabling real time text, and audio/video based communication between tutors and learners. The end-user driven services include: virtual classroom, offline operation, sharing of applications, private/ public chatting, audio/video streaming. A concise description of the pilot architecture which depends on the DVB-RCS standard is presented justifying further the choice of the proposed platform. Simulation results concerning the teaching of fundamental issues in Networked control Theory within the proposed architecture are provided. Connections with hybrid configurations such as wireless terrestrial broad-band technologies (DVB-RCS/WiMAX, DVB-RCS/Wi-Fi) are further justified. © 2011 IEEE.

关键词： Teaching

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A computer aided software for nonlinear digital control

A computer aided software for nonlinear digital control

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13th International Symposium on Symbolic and Numeric Algorithms for Scientific Computing, SYNASC 2011

作者： Tanasa, Valentin Normand-Cyrot, Dorothée Laboratoire des Signaux et Systèmes CNRS-Supelec Plateau de Moulon 91190 Gif-sur-Yvette France Automatic Control Systems Engineering Department Politehnica University Bucharest Bucharest Romania

ISBN: (纸本)9780769546308

The aim of this paper is to provide a basic software tool involved in the design and the computation of nonlinear digital control schemes. The complete software SimNLSys will include different modules associated with each control scheme, aimed with respective objectives such as stabilization, damping, output matching or optimality, to quote a few. The software module presented here also encompasses the goal of computing solutions to nonlinear ODE's describing input-affine dynamics. The underlying methodologies propose challenging nonlinear sampled-data control strategies described in terms of Lie series expansions and computable through formal series calculus. The goal is to reach a friendly graphical user interface, to promote the practical efficiency of such strategies. For this, SymNLSys is built using the symbolic Matlab toolbox and the resulting mathematical control law expressions can be implemented directly on experimental plants. The paper describes the used differential geometric methods and discusses the implementation and limitations of the symbolic and numerical algorithms. Also some results obtained via this software are provided. © 2011 IEEE.

关键词： Graphical user interfaces

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A Dynamical systems Model for Improving Gestational Weight Gain Behavioral Interventions

A Dynamical Systems Model for Improving Gestational Weight G...

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American control Conference

作者： Yuwen Dong Daniel E. Rivera Diana M. Thomas Jesus E. Navarro-Barrientos Danielle S. Downs Jennifer S. Savage Linda M. Collins Control Systems Engineering Laboratory (CSEL) School for Engineering of Matter Transport and Energy Arizona State University Tempe AZ USA Department of Mathematical Sciences Montclair State University Montclair NJ USA Society for the Promotion of Applied Computer Science (GFaI) Volmerstr. 3 12489 Berlin Germany Exercise Psychology Laboratory Department of Kinesiology Penn State University University Park PA USA Center for Childhood Obesity Research and the Department of Nutritional Sciences Penn State University University Park PA USA The Methodology Center and Department of Human Development and Family Studies Penn State University University Park PA USA

ISBN: (纸本)9781457710957

Excessive gestational weight gain (GWG) represents a major public health concern. In this paper, we present a dynamical systems model that describes how a behavioral intervention can influence weight gain during pregnancy. The model relies on the integration of a mechanistic energy balance with a dynamical behavioral model. The behavioral model incorporates some well-accepted concepts from psychology: the Theory of Planned Behavior (TPB) and the principle of self-regulation which describes how internal processes within the individual can serve to reinforce the positive outcomes of an intervention. A hypothetical case study is presented to illustrate the basic workings of the model and demonstrate how the proper design of the intervention can counteract natural trends towards declines in healthy eating and reduced physical activity during the course of pregnancy. The model can be used by behavioral scientists to evaluate decision rules for adaptive time-varying behavioral interventions, or as the open-loop model for hybrid model predictive control algorithms acting as decision frameworks for such interventions.

关键词： Adaptation models Educational institutions Mathematical model Predictive models Pregnancy Guidelines USA Councils

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Applications of QFT robust control techniques to marine systems

Applications of QFT robust control techniques to marine syst...

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International Conference on control and Automation (ICCA)

作者： R. Muñoz-Mansilla J. Aranda J.M. Díaz D. Chaos A.J. Reinoso Automatic Control and Computer Engineering Department National Distance University of Spain Madrid Spain

In this work an overview of the application of the Quantitative Feedback Theory (QFT) technique to different marine systems is presented. Namely the problems of the stabilization of a high-speed craft, the dynamic positioning of a moored platform and the tracking control of a hovercraft are studied. An interesting question is that the plants have less degree of freedom for actuation and is more difficult to control. The three multivariable nonlinear problems are tackled by different procedures. Performance evaluation analyses and simulations in different conditions are carried out. It is shown that robust techniques based on QFT methodology result feasible and very suitable; and therefore they constitute attractive alternatives in the application of stabilization, dynamic positioning and tracking control of advanced marine systems.

关键词： Mathematical model Vehicle dynamics Marine vehicles Robustness Transfer functions control systems Couplings

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New results on stability and stabilisation of systems with interval time-varying delay

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IET control Theory and Applications 2011年第3期5卷 429-436页

作者： Zhang, J. Xia, Y. Shi, P. Mahmoud, M.S. Department of Automatic Control Beijing Institute of Technology Beijing 100081 China Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd CF37 1DL United Kingdom Systems Engineering Department KFUPM Saudi Arabia School of Engineering and Science Victoria University Melbourne VIC 8001 Australia School of Mathematics and Statistics University of South Australia Mawson Lakes ACT 5095 Australia

This study is concerned with the stability and stabilisation for systems with interval time-varying delay. First, by appropriately choosing Lyapunov functional and using Finsler's lemma, a new delay-dependent stability criteria involving the minimum and maximum delay bounds is obtained. Second, new results for delay-dependent stabilisation of systems with interval time-varying delay are provided on the basis of a linear matrix inequality (LMI) framework. Both state- and observer-based output feedback controllers are designed. Differing existing design approach of observer-based controller, a single-step approach is proposed to overcome the drawback of the two-step LMI approach often encountered in the literature, and the conditions are also delay dependent. Numerical examples are given to demonstrate the effectiveness and the benefits of the proposed method. © 2011 The Institution of engineering and Technology.

关键词： Linear matrix inequalities

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Hybrid optimal control for aircraft trajectory design with a variable sequence of modes

Hybrid optimal control for aircraft trajectory design with a...

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作者： Kamgarpour, Maryam Soler, Manuel Tomlin, Claire J. Olivares, Alberto Lygeros, John Department of Mechanical Engineering University of California Berkeley United States Department of Statistics and Operations Research URJC 28933 Madrid Spain Department of Electrical Engineering and Computer Sciences University of California Berkeley United States Automatic Control Laboratory ETH Zurich CH-8092 Switzerland

ISBN: (纸本)9783902661937

The problem of aircraft trajectory planning is formulated as a hybrid optimal control problem. The aircraft is modeled as a switched system, that is, a class of hybrid dynamical systems. The sequence of modes, the switching times, and the inputs for each mode are the control variables. An iterative bi-level optimization algorithm is employed to solve the optimal control problem. At the lower level, given a pre-defined sequence of flight modes, the optimal switching times and the input for each mode are determined. This is achieved by extending the continuous state to include the switching times and then solving a conventional optimal control problem for the extended state. At the higher level, the algorithm modifies the mode sequence in order to decrease the value of the cost function. We illustrate the utility of the problem formulation and the solution approach with two case studies in which short horizon aircraft trajectories are optimized in order to reduce fuel burn while avoiding hazardous weather. © 2011 IFAC.

关键词： Hybrid systems

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The hardware component of the technology used to communicate with people with major neuro-locomotor disability using ocular electromyogram

The hardware component of the technology used to communicate...

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2011 IEEE 17th International Symposium for Design and Technology of Electronics Packages, SIITME 2011

作者： Bozomitu, Radu Gabriel Barabaşa, C. Cehan, Vlad Lupu, Robert Gabriel Telecommunications Department Faculty of Electronics Telecommunications and Information Technology Gheorghe Asachi Technical University Iaşi Romania Faculty of Automatic Control and Computer Engineering Gheorghe Asachi Technical University Iaşi Romania

ISBN: (纸本)9781457712753

In this paper, the hardware component of a new technology used to communicate with people with major neuro-locomotor disability using ocular electromyogram is presented. The signals produced by the ocular muscle, provided by five electromyogram sensors are amplified used a new instrumentation amplifier and then processed by the software component of the proposed communication technology. The information obtained after these signals are processed is used in order to move a pointer on a display in concordance to the patient gaze direction. In this way, the needs of the patient are sent to the caretaker by detection of voluntary blinking. © 2011 IEEE.

关键词： Electric potential Electrodes Electrooculography Hardware Oscilloscopes Software biomechanics biomedical communication communication technology data transmission electromyogram electromyogram sensors electromyography handicapped aids hardware component id

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Robustness of prediction based delay compensation for nonlinear systems

Robustness of prediction based delay compensation for nonlin...

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作者： Findeisen, Rolf Grüne, Lars Pannek, Jürgen Varutti, Paolo Otto-von-Guericke-Universität Magdeburg Institute for Automation Engineering Department of Systems Theory and Automatic Control Germany University of Bayreuth Institute of Mathematics Department of Applied Math. Germany Curtin University of Technology Perth Australia

ISBN: (纸本)9783902661937

control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction based compensation schemes. Instead of a single input, a sequence of (predicted) future controls is submitted and implemented at the actuator. If suitable, so-called prediction consistent compensation and control schemes, such as certain predictive control approaches, are used, stability of the closed loop in the presence of delays and packet losses can be guaranteed. In this paper, we show that control schemes employing prediction based delay compensation approaches do posses inherent robustness properties. Specifically, if the nominal closed loop system without delay compensation is ISS with respect to perturbation and measurement errors, then the closed loop system employing prediction based delay compensation techniques is robustly stable. We analyze the influence of the prediction horizon on the robustness gains and illustrate the results in simulation. © 2011 IFAC.

关键词： Closed loop systems

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Dependency analysis for learning class structure for novice Java programmer

Dependency analysis for learning class structure for novice ...

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2011 IEEE 2nd International Conference on Software engineering and Service Science, ICSESS 2011

作者： Wakabayashi, Tomoyoshi Ogata, Shinpei Matsuura, Saeko Department of Electronic Engineering and Computer Science Graduate School of Engineering Shibaura Institute of Technology SIT Saitama Japan Functional Control Systems Graduate School of Engineering Shibaura Institute of Technology SIT Saitama Japan

ISBN: (纸本)9781424496969

Novice Java programmers often cannot make well structured program, so that the program does not have much maintainability. Inappropriate dependency between fields and methods in classes often causes such inappropriate class structure, so responsibility of each class becomes unclear and the readability of the program is reduced. Such programs are difficult to identify the causes of bugs, so that novice programmers often lose the desire to learn programming. This paper proposes a way to learn how to develop a well structured Java program, which includes subject design, evaluation tool, and a web-based programming exercise environment by analyzing some source codes of novice Java programmers. © 2011 IEEE.

关键词： Java programming language

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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