The goal of this work is to develop a robot-assisted surgery system for spinal fusion, which is composed of a robot, a surgical planning system, and an optical tracking system. The system plays roles of assisting surg...
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This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details reg...
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This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details regarding embedded system modeling and its transition to the programming level are presented. Moreover, it describes the embedded system generation and provides data obtained from the hardware synthesis and the application execution. Moreover, it discusses how projects can be optimized according to requirements priorities. It finishes by highlighting the main advantage of SEEP in comparison to other existing methodologies for embedded systems design
Differential linear repetitive processes are characterized by a series of sweeps, or passes, through a set of dynamics defined over a finite interval or duration with interaction between successive passes. They are di...
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作者：
J.R. RiehlJ.P. HespanhaCenter for Control
Dynamical Systems and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA
We introduce methods of hierarchically decomposing three types of graph optimization problems: all-pairs shortest path, all-pairs maximum flow,and search. Each method uses a partition on the graph to create a high lev...
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We introduce methods of hierarchically decomposing three types of graph optimization problems: all-pairs shortest path, all-pairs maximum flow,and search. Each method uses a partition on the graph to create a high level problem and several lower level problems. The computations on each level are identical, so the low level problems can be further decomposed. In this way, the problems become fractal in nature. We use these decomposition methods to establish upper and lower bounds on the optimal criteria of each problem, which can be achieved with much less computation than what is required to solve the original problem. Also, for each problem, we find an optimal number of partitions that minimizes computation time. As the number of hierarchical levels increases, the computational complexity decreases at the expense of looser bounds.
For a class of nonlinear systems affine in controls and with unknown high frequency gain, we develop a hybrid control strategy that guarantees (practical) global input-to-state stability (ISS) with respect to measurem...
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For a class of nonlinear systems affine in controls and with unknown high frequency gain, we develop a hybrid control strategy that guarantees (practical) global input-to-state stability (ISS) with respect to measurement noise. We provide a design procedure for the hybrid controller and apply it to Freeman’s counterexample and minimum-phase relative degree one systems.
In this paper, a novel wireless load-sharing controller for parallel connected UPS inverters is proposed. As opposed to the conventional droop method, the proposed method achieves stable steady-state frequency and amp...
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In this paper, the design of a fault detection filter for nonlinear systems is presented. The nonlinear system is represented as a sequence of linear time-varying approximations and at each linear approximation the de...
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In this paper, the design of a fault detection filter for nonlinear systems is presented. The nonlinear system is represented as a sequence of linear time-varying approximations and at each linear approximation the design of an optimal stochastic fault detection filter for linear time-varying systems is applied. The final residual is primarily affected by a target fault and minimally by nuisance faults.
A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation ...
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A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation signals. The levels, the sub-models on each level and their interconnections are developed and described following a systematic modelling procedure. The computational properties (degree of freedom and differential index) of the developed model have been analyzed and a sub-model has been transformed to meet the index-one requirement for solving the resulting differential algebraic equation (DAE) model by standard methods implemented in MATLAB. The model is extensively verified against engineering expectations using parameter values found in the literature, and a good agreement was found. Parameter sensitivity analysis has also been performed.
Repetitive processes are a distinct class of two-dimensional systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direc...
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Iterative learning control has the potential to significantly improve the tracking performance of repeating trajectory controlsystems. However, until now little attempt has been made to measure this performance quant...
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Iterative learning control has the potential to significantly improve the tracking performance of repeating trajectory controlsystems. However, until now little attempt has been made to measure this performance quantitatively. A new iterative learning control performance index PI N is introduced which allows direct, quantitative, performance comparison of different algorithms, or alternatively a single algorithm which has variable tuning parameters. In particular, PI N can be used as a tool for selecting and adjusting algorithm tuning parameters. Application of the new performance index is demonstrated with both simulation studies and practical implementation on a gantry robot
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