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10th IFAC Symposium on Advances in control Education, ACE 2013

作者： Vachhani, Leena Interdisciplinary Program in Systems and Control Engineering Indian Institute of Technology Bombay 400076 India

ISBN: (纸本)9783902823434

The performance of a control system depends on its design and implementation. Embedded controllers are the controllers designed on compact embedded systems. Embedded controllers are gaining popularity in industrial applications as the embedded system provides benefits on power consumption, size, cost etc. The education on designing architecture for embedded controllers for (Field Programmable Gate Array) FPGA and Application Specific Integrated Circuits (ASIC) technologies helps in further customization. This paper presents the architecture designs for simple embedded controllers and gives a framework to design architectures for controllers. A novel approach to understand the designing architecture for embedded controller is proposed. This designing technique can be a part of a course on Embedded control systems. © IFAC.

关键词： Embedded systems

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Almost global attitude stabilization of a rigid body for both internal and external actuation schemes

Almost global attitude stabilization of a rigid body for bot...

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European control Conference (ECC)

作者： Ramaprakash Bayadi Ravi N. Banavar Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai India

ISBN: (纸本)9781479901890

Recent developments in the attitude control of a rigid body include the development of almost globally stabilizing coordinate-free control laws. However, all of these results focus on external actuation. In this paper, we observe that the frequently used way of stabilization by error functions can also be given a Hamiltonian interpretation. We show that there exists a class of control laws which are applicable for both external and internal actuation. We also construct such control laws, motivated by the potential energy of a spinning top.

关键词： Equations Asymptotic stability Vectors Stability criteria Torque Rotors

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On Digital Implementation of Continuous Sliding Mode control

On Digital Implementation of Continuous Sliding Mode Control

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Annual Conference of the IEEE Industrial Electronics Society

作者： S. Chakrabarty B. Bandyopadhyay Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay

ISBN: (纸本)9781479902255

The paper presents some new results on digital implementation of sliding mode control when designed from a continuous time system. When a continuous sliding mode control is digitally implemented, it cannot bring the sliding variable to the surface in finite time and stay there, but the sliding variable remains within an ultimate band around the surface. Analysis is done which relates such an ultimate band with the continuous controller parameters. If the controller parameters are chosen accordingly, one can be sure that the sliding motion will remain inside the specified ultimate band, and hence stability can be assured for such a digital implementation of the continuous sliding mode control.

关键词： Discretized system Sliding mode control Quasi-sliding mode Ultimate band Variable structure systems Sliding Digit digitally Digital

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Education on Architecture Development for Embedded controllers

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IFAC Proceedings Volumes 2013年第17期46卷 61-65页

作者： Leena Vachhani Interdisciplinary Program in Systems and Control Engineering Indian Institute of Technology Bombay India - 400076

关键词： Embedded controller Architecture FSMD

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A multiple camera based visual compass for a mobile robot in dynamic environment

A multiple camera based visual compass for a mobile robot in...

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IEEE Conference on control technology and Applications (CCTA)

作者： Anupa Sabnis Leena Vachhani Inter Disciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

It is important to gather knowledge of orientation of the robot at any pose in many mobile robotic tasks. A visual compass is a technique that matches images to find the orientation of a robot. These images are collected at the reference and current pose of the robot. A robust visual compass technique is proposed to determine the orientation of the robot at any pose with respect to a reference direction using multiple cameras for unknown dynamic environment. The multiple camera system is the only sensor used to develop visual compass technique. The method estimates the orientation of the robot by finding first coarse and then fine angle difference between reference and current positions. The experiments in indoor and outdoor dynamic environment validate that the proposed visual compass technique estimates the orientation of a mobile robot with respect to its orientation at reference position within ±5° error. The proposed technique does not use expensive image processing tasks such as feature extraction and feature matching.

关键词： Cameras Robot vision systems Compass Visualization Feature extraction

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Sequence data and association statistics from 12,940 type 2 diabetes cases and controls

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Scientific data 2017年第1期4卷 170179页

作者： Jason Flannick Christian Fuchsberger Anubha Mahajan Tanya M Teslovich Vineeta Agarwala Kyle J Gaulton Lizz Caulkins Ryan Koesterer Clement Ma Loukas Moutsianas Davis J McCarthy Manuel A Rivas John R B Perry Xueling Sim Thomas W Blackwell Neil R Robertson N William Rayner Pablo Cingolani Adam E Locke Juan Fernandez Tajes Heather M Highland Josee Dupuis Peter S Chines Cecilia M Lindgren Christopher Hartl Anne U Jackson Han Chen Jeroen R Huyghe Martijn van de Bunt Richard D Pearson Ashish Kumar Martina Müller-Nurasyid Niels Grarup Heather M Stringham Eric R Gamazon Jaehoon Lee Yuhui Chen Robert A Scott Jennifer E Below Peng Chen Jinyan Huang Min Jin Go Michael L Stitzel Dorota Pasko Stephen C J Parker Tibor V Varga Todd Green Nicola L Beer Aaron G Day-Williams Teresa Ferreira Tasha Fingerlin Momoko Horikoshi Cheng Hu Iksoo Huh Mohammad Kamran Ikram Bong-Jo Kim Yongkang Kim Young Jin Kim Min-Seok Kwon Juyoung Lee Selyeong Lee Keng-Han Lin Taylor J Maxwell Yoshihiko Nagai Xu Wang Ryan P Welch Joon Yoon Weihua Zhang Nir Barzilai Benjamin F Voight Bok-Ghee Han Christopher P Jenkinson Teemu Kuulasmaa Johanna Kuusisto Alisa Manning Maggie C Y Ng Nicholette D Palmer Beverley Balkau Alena Stančáková Hanna E Abboud Heiner Boeing Vilmantas Giedraitis Dorairaj Prabhakaran Omri Gottesman James Scott Jason Carey Phoenix Kwan George Grant Joshua D Smith Benjamin M Neale Shaun Purcell Adam S Butterworth Joanna M M Howson Heung Man Lee Yingchang Lu Soo-Heon Kwak Wei Zhao John Danesh Vincent K L Lam Kyong Soo Park Danish Saleheen Wing Yee So Claudia H T Tam Uzma Afzal David Aguilar Rector Arya Tin Aung Edmund Chan Carmen Navarro Ching-Yu Cheng Domenico Palli Adolfo Correa Joanne E Curran Dennis Rybin Vidya S Farook Sharon P Fowler Barry I Freedman Michael Griswold Daniel Esten Hale Pamela J Hicks Chiea-Chuen Khor Satish Kumar Benjamin Lehne Dorothée Thuillier Wei Yen Lim Jianjun Liu Marie Loh Solomon K Musani Sobha Puppala William R Scott Loïc Yengo Sian-Tsung Tan Herman A Taylor Farook Thameem Gregory Wilson Tien Yin Wong Pål Rasmu Department of Molecular Biology Massachusetts General Hospital Boston Massachusetts USA. Program in Medical and Population Genetics Broad Institute Cambridge Massachusetts USA. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor Michigan USA. Wellcome Trust Centre for Human Genetics Nuffield Department of Medicine University of Oxford Oxford UK. Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge Massachusetts USA. Department of Statistics University of Oxford Oxford UK. Genetics of Complex Traits University of Exeter Medical School University of Exeter Exeter UK. MRC Epidemiology Unit Institute of Metabolic Science University of Cambridge Cambridge UK. Department of Twin Research and Genetic Epidemiology King's College London London UK. Oxford Centre for Diabetes Endocrinology and Metabolism Radcliffe Department of Medicine University of Oxford Oxford UK. Department of Human Genetics Wellcome Trust Sanger Institute Hinxton Cambridgeshire UK. School of Computer Science McGill University Montreal Quebec Canada. McGill University and Génome Québec Innovation Centre Montreal Quebec Canada. Human Genetics Center The University of Texas Graduate School of Biomedical Sciences at Houston The University of Texas Health Science Center at Houston Houston Texas USA. Department of Biostatistics Boston University School of Public Health Boston Massachusetts USA. National Heart Lung and Blood Institute's Framingham Heart Study Framingham Massachusetts USA. Medical Genomics and Metabolic Genetics Branch National Human Genome Research Institute National Institutes of Health Bethesda Maryland USA. Department of Biostatistics Harvard School of Public Health Boston Massachusetts USA. Chronic Disease Epidemiology Swiss Tropical and Public Health Institute University of Basel Basel Switzerland. Institute of Genetic Epidemiology Helmholtz Zentrum München German R

To investigate the genetic basis of type 2 diabetes (T2D) to high resolution, the GoT2D and T2D-GENES consortia catalogued variation from whole-genome sequencing of 2,657 European individuals and exome sequencing of 12,940 individuals of multiple ancestries. Over 27M SNPs, indels, and structural variants were identified, including 99% of low-frequency (minor allele frequency [MAF] 0.1-5%) non-coding variants in the whole-genome sequenced individuals and 99.7% of low-frequency coding variants in the whole-exome sequenced individuals. Each variant was tested for association with T2D in the sequenced individuals, and, to increase power, most were tested in larger numbers of individuals (>80% of low-frequency coding variants in ~82 K Europeans via the exome chip, and ~90% of low-frequency non-coding variants in ~44 K Europeans via genotype imputation). The variants, genotypes, and association statistics from these analyses provide the largest reference to date of human genetic information relevant to T2D, for use in activities such as T2D-focused genotype imputation, functional characterization of variants or genes, and other novel analyses to detect associations between sequence variation and T2D.

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Arbitrary higher order sliding mode control based on control Lyapunov approach

Arbitrary higher order sliding mode control based on control...

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2012 12th International Workshop on Variable Structure systems, VSS 2012

作者： Kamal, S. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India

ISBN: (纸本)9781457720666

This paper proposes an arbitrary higher order sliding mode controller for uncertain minimum phase nonlinear systems. The stability proof of the suggested scheme is analyzed in terms of two Lyapunov functions. Using these two Lyapunov functions it is proved that, output and its higher order derivatives converge to origin in finite time. Simulation results prove the efficiency of the proposed method. © 2012 IEEE.

关键词： Lyapunov functions

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Discrete time sliding mode control with minimal quasi sliding mode band

Discrete time sliding mode control with minimal quasi slidin...

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2012 12th International Workshop on Variable Structure systems, VSS 2012

作者： Chakrabarty, S. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India

ISBN: (纸本)9781457720666

A new approach is presented to analyze sliding mode control in discrete-time systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any previous analysis done with the same reaching law. Also, the controller parameters are evaluated according to the ultimate band that is desired. The approach begins with defining several bands in the space of the surface variable, which are key to understanding the dynamics of it. Conditions on these band values are key to assigning appropriate values to the controller parameters. The switching gain obtained in this way comes out to be negative contradicting popular notion of non-negative switching gains used in sliding mode control. A case is also studied where the states measured contribute a quantization error in the system dynamics. The idea developed in analyzing the case without quantization is used while dealing with it. © 2012 IEEE.

关键词： State feedback

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Methods for equitable distribution of bus access among nodes of controller Area Network

Methods for equitable distribution of bus access among nodes...

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2012 IEEE 7th International Conference on Industrial and Information systems, ICIIS 2012

作者： Vyas, Pranjal Hangal, Swaroop A. Vachhani, Leena Interdisciplinary Programme in Systems and Control Indian Institute of Technology Bombay Mumbai 400076 India Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781467326056

controller Area Network (CAN) is the dominant network in automotive applications and is making inroads in the industrial and medical environments too. The basic CAN protocol suffers an inherent shortfall that it starves low priority nodes to transmit data due to its fixed priority (FP) scheme. The paper proposes implementation of two priority schemes to mitigate the same. In the first scheme, that implements Round-Robin(RR) priority, the access to the bus is given in cyclic fashion. Thus, giving opportunity for lower priority nodes to transmit. In the second scheme, that implements Least Recently Used (LRU) priority, priorities of the nodes are rotated depending on node's recent access of the bus, thereby giving equal opportunity to all the nodes for accessing the bus. Proposed schemes therefore give provisions to change fixed priority scheme of CAN protocol into Round-Robin and Least Recently Used (LRU) priority schemes respectively. Also, the proposed RR and LRU priority schemes can coexist with FP scheme. The proposed schemes are applied at every node which avoids the use of any explicit master node or message scheduler to provide equal opportunity to all the nodes. The proposed schemes do not require changes at physical and data-link layers of CAN protocol. Consideration of emergency state for a particular node is another small contribution of this paper. The proposed emergency priority scheme allows particular nodes to have provision of emergency states for gaining access to the bus out of turn. A software simulation of proposed schemes in LabVIEW verify equitable access to nodes. © 2012 IEEE.

关键词： Buses

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Discrete time sliding mode control with minimal quasi sliding mode band

Discrete time sliding mode control with minimal quasi slidin...

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International Workshop on Variable Structure systems, VSS

作者： S. Chakrabarty B. Bandyopadhyay Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

关键词： Quantization Sliding mode control Switches Variable structure systems Measurement uncertainty Conferences Uncertainty

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