APSO Based Weighting Matrices Selection of LQR Applied to Tracking Control of SIMO System

2015 ◽  
pp. 11-20 ◽  
Author(s):  
S. Karthick ◽  
Jovitha Jerome ◽  
E Vinodh Kumar ◽  
G Raaja
Keyword(s):  
Tracking Control ◽  
Selection Of

Optimal Selection of Basis Functions for Robust Tracking Control of Uncertain Linear Systems - with Application to 3D Printing

2021 ◽  
Author(s):  
Keval Ramani ◽  
Chinedum Okwudire
Keyword(s):  
Linear Systems ◽  
Tracking Control ◽  
Basis Functions ◽  
Frobenius Norm ◽  
Control Input ◽  
Optimal Selection ◽  
Control Methods ◽  
Tracking Accuracy ◽  
Control Effort ◽  
Selection Of

Abstract There is growing interest in the use of the filtered basis functions (FBF) approach to track linear systems, especially nonminimum phase (NMP) plants, because of its distinct advantages compared to other tracking control methods in the literature. The FBF approach expresses the control input to the plant as a linear combination of basis functions with unknown coefficients. The basis functions are forward filtered through the plant dynamics and the coefficients are selected such that tracking error is minimized. Similar to other feedforward control methods, the tracking accuracy of the FBF approach deteriorates in the presence of uncertainties. However, unlike other methods, the FBF approach presents flexibility in terms of the choice of the basis functions, which can be used to improve its accuracy. This paper analyzes the effect of the choice of the basis functions on the tracking accuracy of FBF, in the presence of uncertainties, using the Frobenius norm of the lifted system representation of FBF's error dynamics. Based on the analysis, a methodology for optimal selection of basis functions to maximize robustness is proposed, together with an approach to avoid large control effort when it is applied to NMP systems. The basis functions resulting from this process are called robust basis functions. Applied experimentally to a desktop 3D printer with uncertain NMP dynamics, up to 48% improvement in tracking accuracy is achieved using the proposed robust basis functions compared to B-splines, while utilizing much less control effort.

Trajectory tracking control in workspace-defined tasks for nonholonomic mobile manipulators

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 57-68 ◽  
Author(s):  
Alicja Mazur
Keyword(s):  
Tracking Control ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Regularity Conditions ◽  
Mobile Manipulators ◽  
Input Output ◽  
Trajectory Tracking Control ◽  
Tracking Controllers ◽  
Theoretical Considerations ◽  
Selection Of

SUMMARYThis paper considers a problem of tracking control design for different types of nonholonomic mobile manipulators. The mobile platform is in form of a unicycle. In the first step, an input–output decoupling controller is developed. The proposed selection of output functions is in more general form than the output functions previously introduced by others [Yamamoto and Yun]. It makes possible to move simultaneously, the mobile platform and the manipulator built on it. Regularity conditions that guarantee the existence of the input–output decoupling control law are presented. In the second step, trajectory and path tracking controllers are formulated and presented. Theoretical considerations are illustrated with simulations for the mobile manipulator consisting of a vertical, three degree of freeedom (DOF) pendulum (with holonomic or nonholonomic drives) mounted atop of a unicycle.

Cognitive gadgets and cognitive priors

2019 ◽  
Vol 42 ◽  
Author(s):  
Gian Domenico Iannetti ◽  
Giorgio Vallortigara
Keyword(s):  
Cognitive Neuroscience ◽  
Selection Of

Abstract Some of the foundations of Heyes’ radical reasoning seem to be based on a fractional selection of available evidence. Using an ethological perspective, we argue against Heyes’ rapid dismissal of innate cognitive instincts. Heyes’ use of fMRI studies of literacy to claim that culture assembles pieces of mental technology seems an example of incorrect reverse inferences and overlap theories pervasive in cognitive neuroscience.

Note on Selection of Coordinate Systems for Geodynamics

1975 ◽  
Vol 26 ◽  
pp. 395-407
Author(s):  
S. Henriksen
Keyword(s):  
Sea Level ◽  
The Other ◽  
Coordinate Systems ◽  
Mean Sea Level ◽  
The Earth ◽  
The One ◽  
Static Systems ◽  
Selection Of

The first question to be answered, in seeking coordinate systems for geodynamics, is: what is geodynamics? The answer is, of course, that geodynamics is that part of geophysics which is concerned with movements of the Earth, as opposed to geostatics which is the physics of the stationary Earth. But as far as we know, there is no stationary Earth – epur sic monere. So geodynamics is actually coextensive with geophysics, and coordinate systems suitable for the one should be suitable for the other. At the present time, there are not many coordinate systems, if any, that can be identified with a static Earth. Certainly the only coordinate of aeronomic (atmospheric) interest is the height, and this is usually either as geodynamic height or as pressure. In oceanology, the most important coordinate is depth, and this, like heights in the atmosphere, is expressed as metric depth from mean sea level, as geodynamic depth, or as pressure. Only for the earth do we find “static” systems in use, ana even here there is real question as to whether the systems are dynamic or static. So it would seem that our answer to the question, of what kind, of coordinate systems are we seeking, must be that we are looking for the same systems as are used in geophysics, and these systems are dynamic in nature already – that is, their definition involvestime.

Measurements of the Cape Astrometric Survey of the Southern Hemisphere

1978 ◽  
Vol 48 ◽  
pp. 515-521
Author(s):  
W. Nicholson
Keyword(s):  
Southern Hemisphere ◽  
Automatic Measuring ◽  
Measuring Machine ◽  
Final Selection ◽  
Selection Of

SummaryA routine has been developed for the processing of the 5820 plates of the survey. The plates are measured on the automatic measuring machine, GALAXY, and the measures are subsequently processed by computer, to edit and then refer them to the SAO catalogue. A start has been made on measuring the plates, but the final selection of stars to be made is still a matter for discussion.

Application of Improved Voltage Compensation in the SEM to Imaging of Organic Materials

1973 ◽  
Vol 31 ◽  
pp. 444-445
Author(s):  
P.J. Killingworth ◽  
M. Warren
Keyword(s):  
Electron Beam ◽  
Organic Materials ◽  
Operating Parameters ◽  
Low Density ◽  
Beam Diameter ◽  
Incident Electron Beam ◽  
Specimen Material ◽  
Voltage Compensation ◽  
Selection Of ◽  
Scanning Electron

Ultimate resolution in the scanning electron microscope is determined not only by the diameter of the incident electron beam, but by interaction of that beam with the specimen material. Generally, while minimum beam diameter diminishes with increasing voltage, due to the reduced effect of aberration component and magnetic interference, the excited volume within the sample increases with electron energy. Thus, for any given material and imaging signal, there is an optimum volt age to achieve best resolution.In the case of organic materials, which are in general of low density and electric ally non-conducting; and may in addition be susceptible to radiation and heat damage, the selection of correct operating parameters is extremely critical and is achiev ed by interative adjustment.

Selection and Preparation of Specific Tissue Regions For Tem Using Large Epoxy-Embedded Blocks

1973 ◽  
Vol 31 ◽  
pp. 324-325 ◽  
Author(s):  
P. M. Lowrie ◽  
W. S. Tyler
Keyword(s):  
Electron Microscopy ◽  
Anatomical Structures ◽  
Ultrastructural Studies ◽  
Transmission Electron ◽  
Microscopic Evaluation ◽  
Embedded Blocks ◽  
Specific Tissue ◽  
Definition Of ◽  
Areas Of Interest ◽  
Selection Of

The importance of examining stained 1 to 2μ plastic sections by light microscopy has long been recognized, both for increased definition of many histologic features and for selection of specimen samples to be used in ultrastructural studies. Selection of specimens with specific orien ation relative to anatomical structures becomes of critical importance in ultrastructural investigations of organs such as the lung. The uantity of blocks necessary to locate special areas of interest by random sampling is large, however, and the method is lacking in precision. Several methods have been described for selection of specific areas for electron microscopy using light microscopic evaluation of paraffin, epoxy-infiltrated, or epoxy-embedded large blocks from which thick sections were cut. Selected areas from these thick sections were subsequently removed and re-embedded or attached to blank precasted blocks and resectioned for transmission electron microscopy (TEM).

The DQE of an electron image recording system

1978 ◽  
Vol 36 (1) ◽  
pp. 100-101
Author(s):  
K.-H. Herrmann ◽  
D. Krahl ◽  
H.-P Rust
Keyword(s):  
Primary Electron ◽  
Ideal Case ◽  
Image Recording ◽  
Main Requirement ◽  
High Detection ◽  
Electron Image ◽  
Video Amplifier ◽  
Detection Quantum Efficiency ◽  
Selection Of ◽  
The Ideal

The high detection quantum efficiency (DQE) is the main requirement for an imagerecording system used in electron microscopy of radiation-sensitive specimens. An electronic TV system of the type shown in Fig. 1 fulfills these conditions and can be used for either analog or digital image storage and processing [1], Several sources of noise may reduce the DQE, and therefore a careful selection of various elements is imperative.The noise of target and of video amplifier can be neglected when the converter stages produce sufficient target electrons per incident primary electron. The required gain depends on the type of the tube and also on the type of the signal processing chosen. For EBS tubes, for example, it exceeds 10. The ideal case, in which all impinging electrons create uniform charge peaks at the target, is not obtainable for several reasons, and these will be discussed as they relate to a system with a scintillator, fiber-optic and photo-cathode combination as the first stage.

Applications of Transmission Electron Microscopy in the Characterization of Metal Machinability

1968 ◽  
Vol 26 ◽  
pp. 442-443 ◽  
Author(s):  
L.E. Murr ◽  
A.B. Draper
Keyword(s):  
Electron Microscopy ◽  
State Physics ◽  
Test Material ◽  
Milling Machine ◽  
Rotary Table ◽  
Solid State Physics ◽  
Materials Properties ◽  
Transmission Electron ◽  
Selection Of

The industrial characterization of the machinability of metals and alloys has always been a very arbitrarily defined property, subject to the selection of various reference or test materials; and the adoption of rather naive and misleading interpretations and standards. However, it seems reasonable to assume that with the present state of knowledge of materials properties, and the current theories of solid state physics, more basic guidelines for machinability characterization might be established on the basis of the residual machined microstructures. This approach was originally pursued by Draper; and our presentation here will simply reflect an exposition and extension of this research.The technique consists initially in the production of machined chips of a desired test material on a horizontal milling machine with the workpiece (specimen) mounted on a rotary table vice. A single cut of a specified depth is taken from the workpiece (0.25 in. wide) each at a new tool location.

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