Impedance control is tuned to multiple directions of movement

Humans are able to learn tool-handling tasks, such as carving, demonstrating their competency to make and vary the direction of movements in unstable environments. It has been shown that when a single reaching movement is repeated in unstable dynamics, the central nervous system (CNS) learns an impedance internal model to compensate for the environment instability. However, there is still no explanation for how humans can learn to move in various directions in such environments. In this study, we investigated whether and how humans compensate for instability while learning two different reaching movements simultaneously. Results show that when performing movements in two different directions, separated by a 35° angle, the CNS was able to compensate for the unstable dynamics. After adaptation, the force was found to be similar to the free movement condition, but stiffness increased in the direction of instability, specifically for each direction of movement. Our findings suggest that the CNS either learned an internal model generalizing over different movements, or alternatively that it was able to switch between specific models acquired simultaneously. © 2008 IEEE.

A Bayesian Approach to the Restoration of Degraded Audio Signals

In this paper we derive the a posteriori probability for the location of bursts of noise additively superimposed on a Gaussian AR process. The theory is developed to give a sequentially based restoration algorithm suitable for real-time applications. The algorithm is particularly appropriate for digital audio restoration, where clicks and scratches may be modelled as additive bursts of noise. Experiments are carried out on both real audio data and synthetic AR processes and Significant improvements are demonstrated over existing restoration techniques. © 1995 IEEE

Mechanism And Selectivity In The Epoxidation Of Ethylene Over Silver: The Results Of Single Crystal Measurements

The silver-catalysed oxidation of ethylene has been examined on the (III) face of a single crystal by a combination of electron spectroscopy and kinetic measurements at pressures of up to 50 Torr. The necessary and sufficient conditions for ethylene oxide formation are established, reaction intermediates are identified, kinetic isotope effects are observed and the role of Cs in modifying reaction selectivity is examined. It is shown that surface alkali exhibits opposite effects on the reactions which lead to the further oxidation of ethylene oxide and on the direct combustion of ethylene. © 1984.

Hybrid model predictive control applied to switching control of burner load for a compact marine boi

This paper discusses the application of hybrid model predictive control to control switching between different burner modes in a novel compact marine boiler design. A further purpose of the present work is to point out problems with finite horizon model predictive control applied to systems for which the optimal solution is a limit cycle. Regarding the marine boiler control the aim is to find an optimal control strategy which minimizes a trade-off between deviations in boiler pressure and water level from their respective setpoints while limiting burner switches.The approach taken is based on the Mixed Logic Dynamical framework. The whole boiler systems is modelled in this framework and a model predictive controller is designed. However to facilitate on-line implementation only a small part of the search tree in the mixed integer optimization is evaluated to find out whether a switch should occur or not. The strategy is verified on a simulation model of the compact marine boiler for control of low/high burner load switches. It is shown that even though performance is adequate for some disturbance levels it becomes deteriorated when the optimal solution is a limit cycle. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.

Demonstration of Radio-over-Fibre Transmission of Broadband MIMO over Multimode Fibre using Mode Division Multiplexing

Abstract (40-Word Limit): A novel method for sending MIMO wireless signals to remote antenna units over a single multimode fibre is proposed. MIMO streams are sent via different fibre modes using mode division multiplexing. Combined channel measurements of 2km MMF and a typical indoor radio environment show in principle a 2x2 MIMO link at carrier frequencies up to 6GHz.

A perturbation approach to the stabilization of nonlinear cascade systems with time-delay

The effect of bounded input perturbations on the stability of nonlinear globally asymptotically stable delay differential equations is analyzed. We investigate under which conditions global stability is preserved and if not, whether semi-global stabilization is possible by controlling the size or shape of the perturbation. These results are used to study the stabilization of partially linear cascade systems with partial state feedback.

Demonstration of radio-over-fibre transmission of broadband MIMO over multimode fibre using mode division multiplexing

A novel method for sending MIMO wireless signals to remote antenna units over a single multimode fibre is proposed. MIMO streams are sent via different fibre modes using mode division multiplexing. Combined channel measurements of 2km MMF and a typical indoor radio environment show in principle a 2×2 MIMO link at carrier frequencies up to 6GHz. © 2012 Optical Society of America.