Fuzzy Optimal Control for Double Inverted Pendulum

In this paper a fuzzy optimal control for stabilizing an upright position a double inverted pendulum (DIP) is developed and compared. Modeling is based on Euler-Lagrange equations. This results in a complicated nonlinear fast reaction, unstable multivariable system. Firstly, the mathematical models of double pendulum system are presented. The weight variable fuzzy input is gained by combining the fuzzy control theory with the optimal control theory. Simulation results show that the controller, which the upper pendulum is considered as main control variable, has high accuracy, quick convergence speed and higher precision.

New methods for the estimation of Takagi-Sugeno model based extended Kalman filter and its applications to optimal control for nonlinear systems

This paper describes new approaches to improve the local and global approximation (matching) and modeling capability of Takagi–Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy and fast convergence. The main problem encountered is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the application of the T-S method because this type of membership function has been widely used during the last 2 decades in the stability, controller design of fuzzy systems and is popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S identification method with optimized performance in approximating nonlinear functions. We propose a noniterative method through weighting of parameters approach and an iterative algorithm by applying the extended Kalman filter, based on the same idea of parameters’ weighting. We show that the Kalman filter is an effective tool in the identification of T-S fuzzy model. A fuzzy controller based linear quadratic regulator is proposed in order to show the effectiveness of the estimation method developed here in control applications. An illustrative example of an inverted pendulum is chosen to evaluate the robustness and remarkable performance of the proposed method locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity, and generality of the algorithm. An illustrative example is chosen to evaluate the robustness. In this paper, we prove that these algorithms converge very fast, thereby making them very practical to use.

A new approach to fuzzy estimation of Takagi-Sugeno model and its applications to optimal control for nonlinear systems

An efficient approach is presented to improve the local and global approximation and modelling capability of Takagi-Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy. The main problem is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the use of the T-S method because this type of membership function has been widely used during the last two decades in the stability, controller design and are popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S method with optimized performance in approximating nonlinear functions. A simple approach with few computational effort, based on the well known parameters' weighting method is suggested for tuning T-S parameters to improve the choice of the performance index and minimize it. A global fuzzy controller (FC) based Linear Quadratic Regulator (LQR) is proposed in order to show the effectiveness of the estimation method developed here in control applications. Illustrative examples of an inverted pendulum and Van der Pol system are chosen to evaluate the robustness and remarkable performance of the proposed method and the high accuracy obtained in approximating nonlinear and unstable systems locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity and generality of the algorithm.

Variable structure control with chattering reduction of a generalized T-S model

In this paper, a fuzzy logic controller (FLC) based variable structure control (VSC) is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. New functions for chattering reduction and error convergence without sacrificing invariant properties are proposed. The main feature of the proposed method is that the switching function is added as an additional fuzzy variable and will be introduced in the premise part of the fuzzy rules; together with the state variables. In this work, a tuning of the well known weighting parameters approach is proposed to optimize local and global approximation and modelling capability of the Takagi-Sugeno (T-S) fuzzy model to improve the choice of the performance index and minimize it. The main problem encountered is that the T-S identification method can not be applied when the membership functions are overlapped by pairs. This in turn restricts the application of the T-S method because this type of membership function has been widely used in control applications. The approach developed here can be considered as a generalized version of the T-S method. An inverted pendulum mounted on a cart is chosen to evaluate the robustness, effectiveness, accuracy and remarkable performance of the proposed estimation approach in comparison with the original T-S model. Simulation results indicate the potential, simplicity and generality of the estimation method and the robustness of the chattering reduction algorithm. In this paper, we prove that the proposed estimation algorithm converge the very fast, thereby making it very practical to use. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved.

Extreme ultraviolet detection using AlGaN-on-Si inverted Schottky photodiodes

We report on the fabrication of aluminum gallium nitride (AlGaN) Schottky diodes for extreme ultraviolet (EUV) detection. AlGaN layers were grown on silicon wafers by molecular beam epitaxy with the conventional and inverted Schottky structure, where the undoped, active layer was grown before or after the n-doped layer, respectively. Different current mechanisms were observed in the two structures. The inverted Schottky diode was designed for the optimized backside sensitivity in the hybrid imagers. A cut-off wavelength of 280 nm was observed with three orders of magnitude intrinsic rejection ratio of the visible radiation. Furthermore, the inverted structure was characterized using a EUV source based on helium discharge and an open electrode design was used to improve the sensitivity. The characteristic He I and He II emission lines were observed at the wavelengths of 58.4 nm and 30.4 nm, respectively, proving the feasibility of using the inverted layer stack for EUV detection

Quadruple-junction inverted metamorphic concentrator devices

We present results for quadruple-junction inverted metamorphic (4J-IMM) devices under the concentrated direct spectrum and analyze the present limitations to performance. The devices integrate lattice-matched subcells with rear heterojunctions, as well as lattice-mismatched subcells with low threading dislocation density. To interconnect the subcells, thermally stable lattice-matched tunnel junctions are used, as well as a metamorphic GaAsSb/GaInAs tunnel junction between the lattice-mismatched subcells. A broadband antireflection coating is used, as well as a front metal grid designed for high concentration operation. The best device has a peak efficiency of (43.8 ± 2.2)% at 327-sun concentration, as measured with a spectrally adjustable flash simulator, and maintains an efficiency of (42.9 ± 2.1)% at 869 suns, which is the highest concentration measured. The V_oc increases from 3.445 V at 1-sun to 4.10 V at 327-sun concentration, which indicates high material quality in all of the subcells. The subcell voltages are analyzed using optical modeling, and the present device limitations and pathways to improvement are discussed. Although further improvements are possible, the 4J-IMM structure is clearly capable of very high efficiency at concentration, despite the complications arising from utilizing lattice-mismatched subcells.

Análisis y clasificación de maderas mediante técnicas no invasivas de baja energía

El estudio de materiales, especialmente biológicos, por medios no destructivos está adquiriendo una importancia creciente tanto en las aplicaciones científicas como industriales. Las ventajas económicas de los métodos no destructivos son múltiples. Existen numerosos procedimientos físicos capaces de extraer información detallada de las superficie de la madera con escaso o nulo tratamiento previo y mínima intrusión en el material. Entre los diversos métodos destacan las técnicas ópticas y las acústicas por su gran versatilidad, relativa sencillez y bajo coste. Esta tesis pretende establecer desde la aplicación de principios simples de física, de medición directa y superficial, a través del desarrollo de los algoritmos de decisión mas adecuados basados en la estadística, unas soluciones tecnológicas simples y en esencia, de coste mínimo, para su posible aplicación en la determinación de la especie y los defectos superficiales de la madera de cada muestra tratando, en la medida de lo posible, no alterar su geometría de trabajo. Los análisis desarrollados han sido los tres siguientes: El primer método óptico utiliza las propiedades de la luz dispersada por la superficie de la madera cuando es iluminada por un laser difuso. Esta dispersión produce un moteado luminoso (speckle) cuyas propiedades estadísticas permiten extraer propiedades muy precisas de la estructura tanto microscópica como macroscópica de la madera. El análisis de las propiedades espectrales de la luz laser dispersada genera ciertos patrones mas o menos regulares relacionados con la estructura anatómica, composición, procesado y textura superficial de la madera bajo estudio que ponen de manifiesto características del material o de la calidad de los procesos a los que ha sido sometido. El uso de este tipo de láseres implica también la posibilidad de realizar monitorizaciones de procesos industriales en tiempo real y a distancia sin interferir con otros sensores. La segunda técnica óptica que emplearemos hace uso del estudio estadístico y matemático de las propiedades de las imágenes digitales obtenidas de la superficie de la madera a través de un sistema de scanner de alta resolución. Después de aislar los detalles mas relevantes de las imágenes, diversos algoritmos de clasificacion automatica se encargan de generar bases de datos con las diversas especies de maderas a las que pertenecían las imágenes, junto con los márgenes de error de tales clasificaciones. Una parte fundamental de las herramientas de clasificacion se basa en el estudio preciso de las bandas de color de las diversas maderas. Finalmente, numerosas técnicas acústicas, tales como el análisis de pulsos por impacto acústico, permiten complementar y afinar los resultados obtenidos con los métodos ópticos descritos, identificando estructuras superficiales y profundas en la madera así como patologías o deformaciones, aspectos de especial utilidad en usos de la madera en estructuras. La utilidad de estas técnicas esta mas que demostrada en el campo industrial aun cuando su aplicación carece de la suficiente expansión debido a sus altos costes y falta de normalización de los procesos, lo cual hace que cada análisis no sea comparable con su teórico equivalente de mercado. En la actualidad gran parte de los esfuerzos de investigación tienden a dar por supuesto que la diferenciación entre especies es un mecanismo de reconocimiento propio del ser humano y concentran las tecnologías en la definición de parámetros físicos (módulos de elasticidad, conductividad eléctrica o acústica, etc.), utilizando aparatos muy costosos y en muchos casos complejos en su aplicación de campo. Abstract The study of materials, especially the biological ones, by non-destructive techniques is becoming increasingly important in both scientific and industrial applications. The economic advantages of non-destructive methods are multiple and clear due to the related costs and resources necessaries. There are many physical processes capable of extracting detailed information on the wood surface with little or no previous treatment and minimal intrusion into the material. Among the various methods stand out acoustic and optical techniques for their great versatility, relative simplicity and low cost. This thesis aims to establish from the application of simple principles of physics, surface direct measurement and through the development of the more appropriate decision algorithms based on statistics, a simple technological solutions with the minimum cost for possible application in determining the species and the wood surface defects of each sample. Looking for a reasonable accuracy without altering their work-location or properties is the main objetive. There are three different work lines: Empirical characterization of wood surfaces by means of iterative autocorrelation of laser speckle patterns: A simple and inexpensive method for the qualitative characterization of wood surfaces is presented. it is based on the iterative autocorrelation of laser speckle patterns produced by diffuse laser illumination of the wood surfaces. The method exploits the high spatial frequency content of speckle images. A similar approach with raw conventional photographs taken with ordinary light would be very difficult. A few iterations of the algorithm are necessary, typically three or four, in order to visualize the most important periodic features of the surface. The processed patterns help in the study of surface parameters, to design new scattering models and to classify the wood species. Fractal-based image enhancement techniques inspired by differential interference contrast microscopy: Differential interference contrast microscopy is a very powerful optical technique for microscopic imaging. Inspired by the physics of this type of microscope, we have developed a series of image processing algorithms aimed at the magnification, noise reduction, contrast enhancement and tissue analysis of biological samples. These algorithms use fractal convolution schemes which provide fast and accurate results with a performance comparable to the best present image enhancement algorithms. These techniques can be used as post processing tools for advanced microscopy or as a means to improve the performance of less expensive visualization instruments. Several examples of the use of these algorithms to visualize microscopic images of raw pine wood samples with a simple desktop scanner are provided. Wood species identification using stress-wave analysis in the audible range: Stress-wave analysis is a powerful and flexible technique to study mechanical properties of many materials. We present a simple technique to obtain information about the species of wood samples using stress-wave sounds in the audible range generated by collision with a small pendulum. Stress-wave analysis has been used for flaw detection and quality control for decades, but its use for material identification and classification is less cited in the literature. Accurate wood species identification is a time consuming task for highly trained human experts. For this reason, the development of cost effective techniques for automatic wood classification is a desirable goal. Our proposed approach is fully non-invasive and non-destructive, reducing significantly the cost and complexity of the identification and classification process.

Order 10 4 speedup in global linear instability analysis using matrix formation

A unified solution framework is presented for one-, two- or three-dimensional complex non-symmetric eigenvalue problems, respectively governing linear modal instability of incompressible fluid flows in rectangular domains having two, one or no homogeneous spatial directions. The solution algorithm is based on subspace iteration in which the spatial discretization matrix is formed, stored and inverted serially. Results delivered by spectral collocation based on the Chebyshev-Gauss-Lobatto (CGL) points and a suite of high-order finite-difference methods comprising the previously employed for this type of work Dispersion-Relation-Preserving (DRP) and Padé finite-difference schemes, as well as the Summationby- parts (SBP) and the new high-order finite-difference scheme of order q (FD-q) have been compared from the point of view of accuracy and efficiency in standard validation cases of temporal local and BiGlobal linear instability. The FD-q method has been found to significantly outperform all other finite difference schemes in solving classic linear local, BiGlobal, and TriGlobal eigenvalue problems, as regards both memory and CPU time requirements. Results shown in the present study disprove the paradigm that spectral methods are superior to finite difference methods in terms of computational cost, at equal accuracy, FD-q spatial discretization delivering a speedup of ð (10 4). Consequently, accurate solutions of the three-dimensional (TriGlobal) eigenvalue problems may be solved on typical desktop computers with modest computational effort.

O Botafumeiro: parametric pumping in the Middle Age

The pendular motion of a giant censer (O Botafumeiro) that hangs in the transept of the cathedral of Santiago de Compostela, and is cyclically pumped by men who pull at the supporting rope, is analyzed. Maximum angular amplitude attainable, and number of cycles and time needed to attain it, are calculated; the results agree with observed values (~ 82°, ~ 17 cycles, ~ 80 seconds) to the few percent accuracy of both the analysis and the observations and parameter measurements. The energy gain in a pumping cycle is obtained for an arbitrary pumping procedure to two orders in the small fractional change of pendular length; the relevance of the ratio (characteristic radial acceleration during pumping)/g to the gain is discussed- Effects due to rope mass, air drag on both Censer and rope, and the fact that the Censer is not a point mass, are considered. If the pumping cycle is inverted once the maximum amplitude has been attained, the Censer could be swiftly brought to rest, avoiding the usual violent stop. Historically recorded accidents, rope shape, and the influence of relevant parameters on the motion are discussed.

On super free fall.

Villermaux & Pomeau (J. Fluid Mech., vol. 642, 2010, p. 147) analysed the motion of the interface of an inviscid liquid column released from rest in a vertical tube whose area expands gradually downwards, with application to an inverted conical container for which experimental measurements were carried out. An error in the analysis is found and corrected in the present investigation, which provides the new governing equation for the super-accelerated interface motion down gradually varying tubes in general, and integrated results for interface trajectories, velocities and accelerations down a conical tube in particular. Interestingly, the error does not affect any of the conclusions given in the 2010 paper. Further new results are reported here such as the equation governing the centre of mass and proof that the end point acceleration is exactly that of gravity

Horizontal to vertical spectral ratio measurements in Port-au-Prince (Haiti) area damaged by the 2010 Haiti earthquake

In order to evaluate ground shaking characteristics due to surface soil layers in the urban area of Port-au-Prince, short-period ambient noise observation has been performed approximately in a 500x500m grid. The HVSR method was applied to this set of 36 ambient noise measurement points to determine a distribution map of soil predominant periods. This map reveals a general increasing trend in the period values, from the Miocene conglomerates in the northern and southern parts of the town to the central and western zones formed of Pleistocene and Holocene alluvial deposits respectively, where the shallow geological materials that cover the basement increase in thickness. Shorter predominant periods (less than 0.3 s) were found in mountainous and neighbouring zones, where the thickness of sediments is smaller whereas longer periods (greater than 0.5 s) appear in Holocene alluvial fans, where the thickness of sediments is larger. The shallow shear-wave velocity structure have been estimated by means of inversion of Rayleigh wave dispersion data obtained from vertical-component array records of ambient noise. The measurements were carried out at one open space located in Holocene alluvial deposits, using 3 regular pentagonal arrays with 5, 10 and 20m respectively. Reliable dispersion curves were retrieved for frequencies between 4.0 and 14 Hz, with phase velocity values ranging from 420m/s down to 270 m/s. Finally, the average shear-wave velocity of the upper 30 m (VS30) was inverted for characterization of this geological unit.

Outline of Europe-Japan collaborative research on concentrator photovoltaics

The Europe-Japan Collaborative Research Project on Concentrator Photovoltaics (CPV) has been initiated under support by the EC (European Commission) and NEDO (New Energy and Industrial Technology Development Organization) since June 2011. This is project (NGCPV Project; a New Generation of Concentrator PhotoVoltaic cells, modules and systems) is aiming to accelerate the move to very high efficiency and lower cost CPV technologies and to enhance widespread deployment of CPV systems. 7 organizations such as UPM, FhG-ISE Imperial College, BSQ, CEA-INES, ENEA, and PSE in Europe and 9 organizations such as TTI, Univ. Tokyo, AIST, Sharp Co. Daido Steel Co., Kobe Univ., Miyazaki Univ., Asahi Kasei Co., and Takano Co. participate in this project. The targets of this project are 1) to develop world-record efficiency CPV cells of more than 45%, 2) to develop world-record efficiency CPV modules of 35%, 3) to establish standard measurements of CPV cells and modules, 4) to install 50kW CPV system in Spain, to carry out field test of CPV system and to manage power generation of CPV systems, and 5) to develop high-efficiency and low-cost new materials and structure cells such as III-V-N, III-V-on-Si tandem, quantum dots and wells. This paper presents outline of this project and most recent results such as world record efficiency (37.9% under 1-sun) cell and high-efficiency (43.5% under 240-306 suns) concentrator cell with inverted epitaxial grown InGaP/GaAs/InGaAs 3-junction solar cells.

Surface velocity and ice discharge of the ice cap on King George Island, Antarctica

Glaciers on King George Island, Antarctica, have shown retreat and surface lowering in recent decades, concurrent with increasing air temperatures. A large portion of the glacier perimeter is ocean-terminating, suggesting possible large mass losses due to calving and submarine melting. Here we estimate the ice discharge into the ocean for the King George Island ice cap. L-band synthetic aperture radar images covering the time-span January 2008 to January 2011 over King George Island are processed using an intensity-tracking algorithm to obtain surface velocity measurements. Pixel offsets from 40 pairs of radar images are analysed and inverted to estimate a weighted average surface velocity field. Ice thicknesses are derived from simple principles of ice flow mechanics using the computed surface velocity fields and in situ thickness data. The maximum ice surface speeds reach mayor que 225 m/yr, and the total ice discharge for the analysed flux gates of King George Island is estimated to be 0.720+/-0.428 Gt/yr, corresponding to a specific mass loss of 0.64+/-0.38 m w.e./yr over the area of the entire ice cap (1127 km2).

Post-fracture behavior of laminated plates after human impact test

For safety barriers the load bearing capacity of the glass when subjected to the soft body impact should be verified. The soft body pendulum test became a testing standard to classify safety glass plates. The classification of the safety glass do not consider the structural behavior when one sheet of a laminated glass is broken; in situations when the replacement of the plate could not be very urgent, structural behavior should be evaluated. The main objective of this paper is to present the structural behavior o laminated glass plates, though modal test and human impact test, including the post fracture behavior for the laminated cases. A god reproducibility and repeatability is obtained. Two main aspects of the structural behavior can be observed: the increment of the rupture load for laminated plates after the failure of the first sheet, and some similarities with a tempered monolithic behavior of equivalent thickness.

Análisis de la durabilidad de la cubierta plana invertida, a través del estudio de las interacciones e incompatibilidades entre las membranas sintéticas y el poliestireno extrusionado

La cubierta plana invertida se forma, cuando sobre una membrana impermeable se coloca un aislamiento térmico. Estos materiales pueden separarse con capas auxiliares que impiden el contacto directo entre ellos. Muchos de los materiales que forman esta solución constructiva pueden ser polímeros, como lo son algunas membranas impermeables, las capas auxiliares separadoras o el poliestireno extrusionado (XPS). La mayoría de los polímeros son incompatibles entre sí, por lo que en esta tesis se plantea como hipótesis la posibilidad de que se produzcan interacciones e incompatibilidades entre algunos de estos materiales. Por ello se hace una búsqueda bibliográfica y documental de otras investigaciones que pudieran estar relacionadas con el tema, y se estudian y analizan normas y documentación facilitada por fabricantes. Sin embargo, tras consultar toda la bibliografía y documentación que se referencia en esta tesis doctoral, no fue encontrado ningún trabajo de investigación sobre la influencia de la interacción entre los materiales que componen las cubiertas planas invertidas, y de cómo afecta esta a la durabilidad de las mismas. El propósito de esta tesis es el análisis de la durabilidad de la cubierta plana invertida, desde el punto de vista de las interacciones e incompatibilidades que pueden producirse entre los materiales formantes de esta solución constructiva. Además de este objetivo general, se estudian alternativas que puedan prolongar el ciclo de vida de la cubierta plana invertida. Para ello, se desarrolla un plan experimental con el fin de analizar dichas incompatibilidades, y estudiar los factores que las condicionan. Algunos de los resultados obtenidos, muestran que determinadas láminas impermeables utilizadas normalmente para la construcción de cubiertas planas, pueden interactuar con el XPS y sufrir deterioro. El contacto con el mismo, la incorrecta separación, la presión y el calor, son factores determinantes para que se produzca deterioro. Se puede señalar como una de las conclusiones de esta investigación, que la protección térmica que proporciona el XPS a la cubierta plana invertida, puede no ser suficiente (dependiendo del espesor del mismo, y de la ubicación de la cubierta fundamentalmente), para reducir la cantidad de calor que alcanza la línea de contacto entre los materiales, y por tanto paliar las interacciones que se producen. Además, aunque los geotextiles utilizados como capas auxiliares separadoras, en los gramajes por metro cuadrado, recomendados por algunas de las normas reguladoras de este tipo de cubiertas minoran las interacciones, estas siguen produciéndose. ABSTRACT The inverted flat roof is formed from a waterproofing membrane on which the thermal insulation is placed. These materials may be separated with auxiliary layers, which prevent the direct contact between them. Many of the materials forming this constructive solution can be polymers, such as some waterproofing membranes, the auxiliary separating layers, or the extruded polystyrene board (XPS). Most polymers are incompatible, so this thesis hypothesized that interactions and incompatibilities between some of these materials might be possible. Therefore, a literature search, and other documentation that could be related to the topic, are studied and analyzed, as well as, standards and documentation provided by manufacturers. However, after consulting all literature and documents referenced in this dissertation, it was not found any research about the influence of interaction between the materials forming the inverted flat roof, and how this affects to the durability of them. The purpose of this thesis is the analysis of the durability of the inverted flat roof, from the point of view of interactions and incompatibilities may occur between the materials setting up this constructive solution. Along with this general objective, alternatives that can prolong the life cycle of the inverted roof are studied. To get this, an experimental plan is developed, in order to analyze these incompatibilities, and study the factors conditioning them. Some of the results show, that certain normally used waterproofing laminas for building flat roofs, may interact with XPS producing lamina deterioration. Contact, incorrect separation, pressure and heat, are determinant factors for degradation. It can be pointed out, as one of the conclusions of this research, that the thermal protection provided by XPS to the inverted flat roof, cannot be enough (depending on the XPS thickness, and the location of the flat mainly) to reduce the amount of heat that reaches the contact line between materials, and thus to cut down interactions. Furthermore, although geotextiles used as auxiliary separating layers, within the weights per square meter recommended by some of the regulating rules of this type of roofs reduce interactions, these still occur.