New Special Cases of General Active Change Detection and Control Problem1

2011 ◽  
Vol 44 (1) ◽  
pp. 4260-4265
Author(s):  
M. Šimandl ◽  
J. Široký ◽  
I. Punčochř
Keyword(s):  
Change Detection ◽  
Special Cases ◽  
And Control ◽  
Active Change

Enumeration of Singular Configurations for Robotic Manipulators

1991 ◽  
Vol 113 (3) ◽  
pp. 272-279 ◽  
Author(s):  
H. Lipkin ◽  
E. Pohl
Keyword(s):  
Joint Angle ◽  
Robotic Manipulators ◽  
Systematic Procedure ◽  
Singular Configurations ◽  
Special Cases ◽  
Angle Space ◽  
Six Degree Of Freedom ◽  
Kinematic Singularities ◽  
And Control ◽  
Space Approach

Kinematic singularities are important considerations in the design and control of robotic manipulators. For six degree-of-freedom manipulators, the vanishing of the determinant of the Jacobian yields the conditions for the primary singularities. Examining the vanishing of the minors of the Jacobian yields further singularities which are special cases of the primary ones. A systematic procedure is presented to efficiently enumerate all possible singular configurations. Special geometries of representative manipulators are exploited by expressing the Jacobian in terms of vector elements. In contrast to using a joint-angle space approach, the resulting expressions yield direct physical interpretations.

scholarly journals Active change detection by pigeons and humans.

2013 ◽  
Vol 39 (4) ◽  
pp. 383-389 ◽  
Author(s):  
Carl Erick Hagmann ◽  
Robert G. Cook
Keyword(s):  
Change Detection ◽  
Active Change

scholarly journals Methodology of Teaching the First Control Course

2020 ◽  
Vol 8 (2) ◽  
Author(s):  
Tibor Vámos ◽  
Bars Ruth ◽  
László Keviczky ◽  
Dávid Sík
Keyword(s):  
Case Studies ◽  
Learning Process ◽  
Controller Design ◽  
Active Participation ◽  
Control Engineering ◽  
Special Cases ◽  
Systems And Control ◽  
Analysis And Synthesis ◽  
Teachers And Students ◽  
And Control

System view, understanding systems and how they are controlled is an important discipline in engineering education. Nowadays considering the ever increasing knowledge, the explosion of information available at the internet, the available visual technics and software tools there is a need to revisit the content and the teaching methodology of the first control course. The IFAC Technical Committee on Control Education (9.4) is circulating a pilot survey addressing these questions. Here we present our experience related to renewing the control course. The topics of the course are given. The main ideas are explained on two levels: hopefully in an understandable way for everyone, and precisely, using mathematical tools. In the lectures some parts of the multilevel e-book, Sysbook are referred, which has been elaborated to present the main principles governing systems and control on different levels. Besides static teaching materials interactive demonstrations developed for Sysbook are also used in the lectures which enhance the effectiveness and also enjoyment of the learning process. At the last part of each lecture the students are active solving problems related to the topic of the lecture. They are motivated by the obtained extra evaluation points. Then the solutions of the problems are discussed. Computer laboratory exercises using MATLAB/SIMULINK software contribute to understanding and applying the analysis and synthesis methods discussed in the lectures. The course is supported by the recently published Springer books: Keviczky et al.: Control Engineering and Control Engineering: MATLAB Exercises. In the content of the control course a new feature is the emphasis of the YOULA parameterization method for controller design already in the first control course and showing that other controller design methods can be considered as its special cases. Nowadays in education a new teaching – learning paradigm is Open Content Development (OCD) which means active participation of the teachers and students creating an up-to-date teaching material. This project runs at the Department of Technical Education at the Budapest University of Technology and Economics since 2015 supported by the Hungarian Academy of Sciences. In the frame of vocational teacher training programs several so-called micro-contents have been developed. Utilizing the experiences of these pilot efforts the Sysbook platform has been connected to the OCD model. In a special surface Sysbook provides several case studies for systems and their control (e.g. driving, energy production and distribution, oil refinery, systems and control in the living organism, etc.). Teachers and students studying systems and control can elaborate new case studies in their areas of interest which means active application of the learned topics. After evaluation these projects can be uploaded in the student area of Sysbook. Summarizing: in the methodology of teaching a basic control course the motivation of the students can be increased by active participation in the learning process, including interactive demonstration of the principles, solving exercises at the end of the lectures and getting immediate feedback, solving analysis and synthesis problems in the computer laboratories, and developing their own case studies for Sysbook. It should be also emphasized that the examples of systems and their control should be chosen mainly from the area of the specialization of the students (electrical or software engineering, chemical engineering, biology, economics, etc.). Also it is important to provide real-time experiments in laboratory work or using distant laboratories. IFAC Repository would be also of great help reaching useful resources.

A General Method for a Piezothermoelastic Plate of Crystal Class 6mm Subjected to Axisymmetric Loading

1999 ◽  
Author(s):  
Xiangqing Wang ◽  
Om Prakash Agrawal
Keyword(s):  
Cadmium Selenide ◽  
Solution Method ◽  
Piezoelectric Materials ◽  
Electrical Potential ◽  
Special Cases ◽  
Crystal Class ◽  
Piezoelectric Solids ◽  
And Control ◽  
Electrical Equilibrium ◽  
General Method

Abstract Applications of piezoelectric materials for the development of “intelligent” structural and mechanical systems through sensing, actuation, and control have received considerable recent interest. In this document, we present a general solution method for piezothermoelasticity for hexagonal piezoelectric solids of class 6 mm. In the formulation presented, potential functions are introduced to represent the coupled thermal, elastic, and mechanical fields, which satisfy the thermal, mechanical, and electrical equilibrium and prescribed boundary conditions. The formulation is similar to those presented by Ashida, Tauchert, and Noda (1993, 1994), however, it is simpler and direct, and it eliminates the need to discuss special cases. To demonstrate applications of the technique, a piezothermoelasticity problem subjected to axisymmetric thermal, electrical and mechanical loads on a plate is considered. Numerical calculations for the stresses and the electrical potential are carried out for a cadmium selenide body exhibiting class 6mm symmetry. Results of these calculations are presented graphically.

scholarly journals Role Problems of Offenders and Correctional Workers

1966 ◽  
Vol 12 (4) ◽  
pp. 354-364
Author(s):  
Edwin J. Thomas
Keyword(s):  
Role Conflict ◽  
Role Ambiguity ◽  
Role Theory ◽  
Social Role ◽  
Real Life ◽  
Body Of Knowledge ◽  
The Social ◽  
Special Cases ◽  
Research Findings ◽  
And Control

This paper analyzes selected problems of offenders and work ers in correction as special cases of more general problems of role. The research findings, theory, and related concepts of social role are drawn upon for a better understanding of these specific problems and ways to alter them, and the emerging specialization of role theory is discussed. The role problems of offenders are considered in terms of nonlegitimate socialization, characteristics of the deviant position, role discontinuity, and role conflict. The problems of correctional workers are set forth in terms of role discontinuities, role conflict and dissensus, role ambiguity, and pressure and strain. The identification of these various role prob lems carries implications for their solutions. As one perspective and body of knowledge required to understand and control be havior in real-life situations, role theory provides an emphasis upon the web of external social determinants and thereby helps to counterbalance a pervasive tendency to view personal difficul tiles as individual psychological maladies independent of the social environment.

Particle Methods for Change Detection, System Identification, and Control

2004 ◽  
Vol 92 (3) ◽  
pp. 423-438 ◽  
Author(s):  
C. Andrieu ◽  
A. Doucet ◽  
S.S. Singh ◽  
V.B. Tadic
Keyword(s):  
System Identification ◽  
Change Detection ◽  
Detection System ◽  
Particle Methods ◽  
And Control

A general purpose digital traffic simulator

SIMULATION ◽  
1970 ◽  
Vol 14 (1) ◽  
pp. 9-25 ◽  
Author(s):  
A.M. Blum
Keyword(s):  
Control Systems ◽  
Traffic Control ◽  
Control Experiment ◽  
General Purpose ◽  
Grid Networks ◽  
Special Cases ◽  
Geometrical Character ◽  
Validation Procedure ◽  
And Control ◽  
Real Traffic

The described vehicle traffic simulator is designed to fa cilitate analysis of traffic flow and to experiment with postulated traffic control systems. It offers users a large amount of flexibility in specifying network, intersection, vehicle, and control parameters. The logical flow of ve hicles, as well as much of the control system, is prepro grammed. Vehicles varying in size may change lanes, turn, change velocity (including reaction and acceleration delays), and merge. Input volumes may be varied, turns may be eliminated, and vehicles may be routed through the network. The user supplies the geometrical character istics and input information unique to his particular net work in data cards for the program. Some applications to real traffic networks (including a validation procedure) and a simple control experiment are discussed. The model, programmed in a special version of GPSS II and in FAP for the IBM 7090/94 systems, can be used in the simulation of single intersec tions, arterial routes, grid networks, and, for some special cases, limited access roadways.

Nonexplicit Change Detection in Complex Dynamic Settings

2012 ◽  
Vol 54 (6) ◽  
pp. 996-1007 ◽  
Author(s):  
François Vachon ◽  
Benoît R. Vallières ◽  
Dylan M. Jones ◽  
Sébastien Tremblay
Keyword(s):  
Eye Movements ◽  
Change Detection ◽  
Change Blindness ◽  
Complex Dynamic ◽  
Display Change ◽  
Attentional Processes ◽  
Assessment Task ◽  
Support Tools ◽  
Computer Controlled ◽  
And Control

Objective: We employed a computer-controlled command-and-control (C2) simulation and recorded eye movements to examine the extent and nature of the inability to detect critical changes in dynamic displays when change detection is implicit (i.e., requires no explicit report) to the operator’s task. Background: Change blindness—the failure to notice significant changes to a visual scene—may have dire consequences on performance in C2 and surveillance operations. Method: Participants performed a radar-based risk-assessment task involving multiple subtasks. Although participants were not required to explicitly report critical changes to the operational display, change detection was critical in informing decision making. Participants’ eye movements were used as an index of visual attention across the display. Results: Nonfixated (i.e., unattended) changes were more likely to be missed than were fixated (i.e., attended) changes, supporting the idea that focused attention is necessary for conscious change detection. The finding of significant pupil dilation for changes undetected but fixated suggests that attended changes can nonetheless be missed because of a failure of attentional processes. Conclusion: Change blindness in complex dynamic displays takes the form of failures in establishing task-appropriate patterns of attentional allocation. Application: These findings have implications in the design of change-detection support tools for dynamic displays and work procedure in C2 and surveillance.

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