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Nonlinear H2 and H∞ control formulated in the Sobolev space for mechanical systems⁎

IFAC-PapersOnLine 2018年第25期51卷 96-101页

作者： Cardoso, Daniel N. Raffo, Guilherme V. Esteban, Sergio Graduate Program in Electrical Engineering Federal University of Minas Gerais Belo HorizonteMG31270-901 Brazil Department of Electronics Engineering Federal University of Minas Gerais Belo HorizonteMG Brazil Department of Aerospace Engineering Universidad de Sevilla Seville41092 Spain

Two important paradigms in control theory are the classic nonlinear H2 and H∞ control approaches. Their background theory are well developed, and several applications have demonstrated their efficiency. Despite many advantages, they suffer from deficiencies such as minimum settling-time and minimum overshoot. An interesting approach to solve these limitations is the formulation of both controllers in the Sobolev space. Thanks to the nature of the W - norm, the cost variable and its time derivatives are taken into account in the cost functional, leading to controllers with improved transient and steady-state performance. Thus, aiming to deal with mechanical systems this work reformulates the H2 and H∞ controllers in the Sobolev space. It is shown that, for particular systems, the W2 and W∞ optimal controllers are equivalent. An optimal solution for the class of fully actuated mechanical systems is proposed. The controller is corroborated by numerical experiments conducted with a quadrotor UAV. © 2018

关键词： Controllers Mechanics Nonlinear systems Robust control Sobolev spaces Background theory Fully actuated mechanical system H2 control Mechanical systems Numerical experiments Optimal controller Optimal solutions Steady state performance

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A Study on Time Efficiency of CSMA/CA in Inter-Vehicle Communication Systems

A Study on Time Efficiency of CSMA/CA in Inter-Vehicle Commu...

引用

IEEE Global Conference on Consumer electronics (GCCE)

作者： Masashi Kato Masahiro Fujii Graduate School of Engineering Utsunomiya University 7-1-2 Yoto Utsunomiya Tochigi Tochigi Japan Graduate Program in Information Electrical and Electronics Systems Engineering Utsunomiya University 7-1-2 Yoto Utsunomiya Tochigi Tochigi Japan

ISBN: (数字)9781728135755

ISBN: (纸本)9781728135762

CSMA/CA has been widely accepted as a Media Access Control scheme for Inter-Vehicle Communication systems. In CSMA/CA, a mobile station waits a frame transmission during a backoff interval based on random value. Then, the mobile station transmits the frame if the others do not transmit any frames. In this paper, we evaluate system performances of CSMA/CA from the viewpoint of a time efficiency and average frame delay time varying the range of random value by network simulations.

关键词： Access protocols Access control Telecommunication traffic Multiaccess communication Media Access Protocol Wireless communication

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Study on estimating electric potential in space between parallel electrodes

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IEEJ Transactions on Fundamentals and Materials 2018年第8期138卷 400-407页

作者： Tsujita, Atsushi Ohchi, Masashi Wakimoto, Takayuki Master's Program in Electrical Electronics and Computer Engineering Graduate School of Engineering Chiba Institute of Technology 2-17-1 Tudanuma Narashino275-0016 Japan Department of Electrical and Electronic Engineering Faculty of Engineering Chiba Institute of Technology 2-17-1 Tudanuma Narashino275-0016 Japan

We have been studying on estimating distribution of permittivity between measurement electrodes using capacitance and electric potential. Two arc electrodes were separated by long distance and there electrodes were surrounded by additional electrodes respectively. In past research work, we carried out numerical electric analysis for calculating the capacitance and electric potential using Finite Element Method(FEM) and compared with experimental and numerical results. The capacitance values were almost agree with experimental and numerical results. However, the electric potential values were different between experimental and numerical results in conventional studies. In this paper, we proposed an equivalent circuit including the stray capacity and measurement method for capacitance, the electric potential in space between long distance electrodes was estimeded. © 2018 The Institute of Electrical Engineers of Japan.

关键词： Electric potential

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Numerical electric field analysis of capacitance and potential in space for estimation of permittivity distribution

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IEEJ Transactions on Fundamentals and Materials 2018年第4期138卷 119-126页

作者： Yamanobe, Hiroshi Ohchi, Masashi Master's Program in Electrical Electronics and Computer Engineering Graduate School of Engineering Chiba Institute of Technology 2-17-1 Tsudanuma Narashino275-0016 Japan Department of Electrical and Electronic Engineering Faculty of Engineering Chiba Institute of Technology 2-17-1 Tsudanuma Narashino275-0016 Japan

We have been studying on measuring capacitance and potential using long distance electrode for estimating a permittivity distribution. The estimating method of permittivity distribution was proposed using Finite Element Method (FEM) and Genetic Algorithm (GA). However, the measurement accuracy was not reviewed. In this paper, we carried out numerical analysis using FEM in case of change of diameter, position and permittivity of a rod of dielectric and discussed the measurement accuracy of capacitance and potential. © 2018 The Institute of Electrical Engineers of Japan.

关键词： Finite element method

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Tube-based MPC with Nonlinear Control for Load Transportation using a UAV

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IFAC-PapersOnLine 2018年第25期51卷 459-465页

作者： Santos, Marcelo A. Ferramosca, Antonio Raffo, Guilherme V. Graduate Program in Electrical Engineering Federal University of Minas Gerais Belo HorizonteMG Brazil CONICET UTN Facultad Regional Reconquista SantaFe 3560 Argentina Department of Electronics Engineering Federal University of Minas Gerais Belo HorizonteMG Brazil

This paper presents a two-stage cascade control framework to solve hierarchically the trajectory tracking problem of a Tilt-rotor Unmanned Aerial Vehicle (UAV) carrying a suspended load. Initially, a nonlinear dynamic model is presented, which is after decoupled into two subsystems. The outer control system is designed by means of a robust tube-based Model Predictive Control (MPC) strategy, which is used to control the UAV's planar motion and stabilize the suspended load. For the inner control system, the input-output feedback linearization (IOFL) technique combined with the dynamic extension approach and a discrete mixed H2/H∞ controller is considered to control the UAV's altitude and attitude. Simulations results are carried out to corroborate the proposed control strategy. © 2018

关键词： Aircraft control Aircraft detection Altitude control Antennas Cascade control systems Feedback linearization Model predictive control Predictive control systems Unmanned aerial vehicles (UAV) Cascade control Control strategies Dynamic extension Input output feedback linearization Non linear control Planar motion Suspended loads Trajectory tracking problems

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Intermediate-luminosity Type IIP SN 2021gmj: a low-energy explosion with signatures of circumstellar material

arXiv

引用

arXiv 2024年

作者： Murai, Yuta Tanaka, Masaomi Kawabata, Miho Taguchi, Kenta Teja, Rishabh Singh Nakaoka, Tatsuya Maeda, Keiichi Kawabata, Koji S. Nagao, Takashi Moriya, Takashi J. Sahu, D.K. Anupama, G.C. Tominaga, Nozomu Morokuma, Tomoki Imazawa, Ryo Inutsuka, Satoko Isogai, Keisuke Kasuga, Toshihiro Kobayashi, Naoto Kondo, Sohei Maehara, Hiroyuki Mori, Yuki Niino, Yuu Ogawa, Mao Ohsawa, Ryou Okumura, Shin-Ichiro Saito, Sei Sako, Shigeyuki Takahashi, Hidenori Uno, Kohki Yamanaka, Masayuki Astronomical Institute Tohoku University Sendai980-8578 Japan Division for the Establishment of Frontier Sciences Organization for Advanced Studies Tohoku University Sendai980-8577 Japan Nishi-Harima Astronomical Observatory Center for Astronomy University of Hyogo 407-2 Nishigaichi Sayo-cho Hyogo Sayo679-5313 Japan Department of Astronomy Kyoto University Kitashirakawa-Oiwake-cho Sakyo-ku Kyoto606-8502 Japan Indian Institute of Astrophysics Koramangala 2nd Block Bangalore560034 India Pondicherry University Chinna Kalapet Kalapet Puducherry605014 India Hiroshima Astrophysical Science Centre Hiroshima University 1-3-1 Kagamiyama Higashi-Hiroshima Hiroshima739-8526 Japan Department of Physics Graduate School of Advanced Science and Engineering Hiroshima University 1-3-1 Kagamiyama Higashi-Hiroshima Hiroshima739-8526 Japan Department of Physics and Astronomy University of Turku TurkuFI-20014 Finland Aalto University Metsähovi Radio Observatory Metsähovintie 114 Kylmälä02540 Finland Aalto University Department of Electronics and Nanoengineering P.O. BOX 15500 AaltoFI-00076 Finland National Astronomical Observatory of Japan National Institutes of Natural Sciences 2-21-1 Osawa Mitaka Tokyo181-8588 Japan School of Physics and Astronomy Faculty of Science Monash University ClaytonVIC3800 Australia Astronomical Science Program Graduate Institute for Advanced Studies SOKENDAI 2-21-1 Osawa Mitaka Tokyo181-8588 Japan Department of Physics Faculty of Science and Engineering Konan University 8-9-1 Okamoto Hyogo Kobe658-8501 Japan The University of Tokyo 5-1-5 Kashiwanoha Chiba Kashiwa277-8583 Japan Planetary Exploration Research Center Chiba Institute of Technology 2-17-1 Tsudanuma Chiba Narashino275-0016 Japan Institute of Astronomy Graduate School of Science The University of Tokyo 2-21-1 Osawa Mitaka Tokyo181-0015 Japan Okayama Observatory Kyoto University 3037-5 Honjo Kamogatacho Okayama Asakuchi719-0232 Japan Dep

We present photometric, spectroscopic and polarimetric observations of the intermediate-luminosity Type IIP supernova (SN) 2021gmj from 1 to 386 days after the explosion. The peak absolute V-band magnitude of SN 2021gmj is −15.5 mag, which is fainter than that of normal Type IIP SNe. The spectral evolution of SN 2021gmj resembles that of other sub-luminous supernovae: the optical spectra show narrow P-Cygni profiles, indicating a low expansion velocity. We estimate the progenitor mass to be about 12 M☉ from the nebular spectrum and the 56Ni mass to be about 0.02 M☉ from the bolometric light curve. We also derive the explosion energy to be about 3×1050 erg by comparing numerical light curve models with the observed light curves. Polarization in the plateau phase is not very large, suggesting nearly spherical outer envelope. The early photometric observations capture the rapid rise of the light curve, which is likely due to the interaction with a circumstellar material (CSM). The broad emission feature formed by highly-ionized lines on top of a blue continuum in the earliest spectrum gives further indication of the CSM at the vicinity of the progenitor. Our work suggests that a relatively low-mass progenitor of an intermediate-luminosity Type IIP SN can also experience an enhanced mass loss just before the explosion, as suggested for normal Type IIP SNe. © 2024, CC BY.

关键词： Supernovae

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Multi-channel thin film piezoelectric acoustic transducer for cochlear implant applications

Multi-channel thin film piezoelectric acoustic transducer fo...

引用

IEEE Sensors

作者： Muhammed Berat Yuksel Bedirhan Ilik Aziz Koyuncuoglu Haluk Kulah Department of Electrical and Electronics Engineering Middle East Technical University Ankara Turkey Micro Nano Technology Graduate Program Middle East Technical University Ankara Turkey

This paper presents a multi-channel piezoelectric acoustic transducer that is working within the audible frequency band (250- 5500 Hz). The transducer consists of eight cantilevers with thin film PLD-PZT piezoelectric layers. The transducer is well suited to be implanted in middle ear cavity with an active volume of 5×5×0.6 mm~3 and mass of 4.8 mg excluding the test frame. Finite Element Method (FEM) is used for modelling cantilever resonance frequencies and piezoelectric outputs. This model and shaker-table experiments are in good agreement on the frequency (97%) and output voltage (89%) values. Transducer can generate up to 139.36 mV_(pp) under 0.1 g excitation at 316 Hz, which is the highest reported output voltage from a piezoelectric acoustic sensor to the best of our knowledge.

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A Study on Transmission Efficiency of Systematic Spinal Codes

A Study on Transmission Efficiency of Systematic Spinal Code...

引用

International Symposium on Computing and Networking Workshops (CANDARW)

作者： Yota Katagishi Masahiro Fujii Department of Information Systems Science Utsunomiya University Utsunomiya Tochigi JAPAN Graduate Program in Information Electrical and Electronics Systems Engineering Utsunomiya University Utsunomiya Tochigi JAPAN

A spinal code is one of promising rate-less code by combining forward error collection with automatic repeat-request. In the decoding of the spinal code, a collision of codewords may degrade the transmission efficiency. The systematic coded spinal code can improve the transmission efficiency because of the avoidance of the collision of the codewords. In this paper, we compare the systematic spinal code with the conventional convolutional codes used in current communication systems and evaluate the transmission efficiency of the systematic spinal code. As a result, we show that the systematic spinal code has poor error correction capability although it can efficiently use the communication channel in the high SNR.

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Fabrication and Feasibility of Through Silicon Via for 3D MEMS Resonator Integration

Fabrication and Feasibility of Through Silicon Via for 3D ME...

引用

IEEE Sensors

作者： Alper Kaan Soydan Muhammed Berat Yuksel Dilek Isik Akcakaya Haluk Kulah Micro and Nano Technology Graduate Program Middle East Technical University Ankara Turkey Department of Electrical and Electronics Engineering Middle East Technical University Ankara Turkey

In this study, development of a wafer level, void free TSV fabrication process flow and feasibility study of TSV integration to MEMS piezoelectric resonator devices have been presented. TSV structures with 100 μm diameter and 350 μm depth were copper filled with via sealing and bottom-up electroplating process which is a two-step technique. Four-point Kelvin measurements showed 0.8 mΩ TSV resistance on fabricated TSVs. Furthermore, TSV frames were epoxy bonded to MEMS acoustic transducers, which showed 90% to the resonator signal from the TSV.

关键词： Through silicon via Electroplating MEMS resonator Kelvin measurement Cochlear implant

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Planning on discrete event systems using parallelism maximization

arXiv

引用

arXiv 2019年

作者： Alves, Lucas V.R. Pena, Patricia N. Takahashi, Ricardo H.C. Technical College and Graduate Program in Electrical Engineering Universidade Federal de Minas Gerais Department of Electronics Engineering Universidade Federal de Minas Gerais Department of Mathematics Universidade Federal de Minas Gerais

This work aims to present solutions for a production planning problem in Discrete Event Systems. The application of Supervisory Control Theory limits the search universe to safe production sequences, so it makes sense to use the supervisor structure, which defines the closed loop behavior, to determine the best sequences. Two efficient solutions to the problem are proposed, and both seek to maximize the parallelism as a way to minimize the makespan. Note to Practitioners-Planning plays an important role in manufacturing systems, but is also a time consuming task. This paper presents simple and fast algorithms to plan the production of manufacturing systems modeled as Discrete Event Systems (DES) maximizing parallelism instead o minimizing the production time (makespan). The idea behind these algorithms is that, reducing the number of idle equipment we increase productivity, given we are maximizing the used resources. Copyright © 2019, The Authors. All rights reserved.

关键词： Discrete event simulation

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