Optimally distributed actuator placement and control for a slewing single-link flexible manipulator

A method is proposed for determining the optimal placement and controller design for multiple distributed actuators to reduce the vibrations of flexible structures. In particular, application of piezoceramic patches to a horizontally-slewing single-link flexible manipulator modeled using the assumed modes method is investigated. The optimization method uses simulated annealing and allows placement of any number of distributed actuators of unequal length, although piezoceramics of fixed equal lengths are used in the example. It also designs an linear-quadratic-regulator controller as part of the optimization procedure. The measures of performance used in the investigation to determine optimality are the total mass of the system and the time integral of the absolute value of the hub and tip position error. This study also varies the relative weightings for each of these performance measures to observe the effects on the controller designs and piezoceramic patch positions in the optimized solutions.

Robust multivariable control of complex biological processes

This paper addresses advanced control of a biological nutrient removal (BNR) activated sludge process. Based on a previously validated distributed parameter model of the BNR activated sludge process, we present robust multivariable controller designs for the process, involving loop shaping of plant model, robust stability and performance analyses. Results from three design case studies showed that a multivariable controller with stability margins of 0.163, 0.492 and 1.062 measured by the normalised coprime factor, multiplicative and additive uncertainties respectively give the best results for meeting performance robustness specifications. The controller robustly stabilises effluent nutrients in the presence of uncertainties with the behaviour of phosphorus accumulating organisms as well as to effectively attenuate major disturbances introduced as step changes. This study also shows that, performance of the multivariable robust controller is superior to multi-loops SISO PI controllers for regulating the BNR activated sludge process in terms of robust stability and performance and controlling the process using inlet feed flowrate is infeasible. (C) 2003 Elsevier Ltd. All rights reserved.

Formal verification of ASM designs using the MDG tool

In this paper, we present a formal hardware verification framework linking ASM with MDG. ASM (Abstract State Machine) is a state based language for describing transition systems. MDG (Multiway Decision Graphs) provides symbolic representation of transition systems with support of abstract sorts and functions. We implemented a transformation tool that automatically generates MDG models from ASM specifications, then formal verification techniques provided by the MDG tool, such as model checking or equivalence checking, can be applied on the generated models. We support this work with a case study of an Island Tunnel Controller, which behavior and structure were specified in ASM then using our ASM-MDG tool successfully verified within the MDG tool.

Variance-balanced designs under interference for dependent observations

It is shown that variance-balanced designs can be obtained from Type I orthogonal arrays for many general models with two kinds of treatment effects, including ones for interference, with general dependence structures. These designs can be used to obtain optimal and efficient designs. Some examples and design comparisons are given. (C) 2002 Elsevier B.V. All rights reserved.

Single-subject research designs and data analyses for assessing elite athletes' conditioning

Research in conditioning (all the processes of preparation for competition) has used group research designs, where multiple athletes are observed at one or more points in time. However, empirical reports of large inter-individual differences in response to conditioning regimens suggest that applied conditioning research would greatly benefit from single-subject research designs. Single-subject research designs allow us to find out the extent to which a specific conditioning regimen works for a specific athlete, as opposed to the average athlete, who is the focal point of group research designs. The aim of the following review is to outline the strategies and procedures of single-subject research as they pertain to.. the assessment of conditioning for individual athletes. The four main experimental designs in single-subject research are: the AB design, reversal (withdrawal) designs and their extensions, multiple baseline designs and alternating treatment designs. Visual and statistical analyses commonly used to analyse single-subject data, and advantages and limitations are discussed. Modelling of multivariate single-subject data using techniques such as dynamic factor analysis and structural equation modelling may identify individualised models of conditioning leading to better prediction of performance. Despite problems associated with data analyses in single-subject research (e.g. serial dependency), sports scientists should use single-subject research designs in applied conditioning research to understand how well an intervention (e.g. a training method) works and to predict performance for a particular athlete.

Robust stability of sequential multi-input multi-output quantitative feedback theory designs

This paper re-examines the stability of multi-input multi-output (MIMO) control systems designed using sequential MIMO quantitative feedback theory (QFT). In order to establish the results, recursive design equations for the SISO equivalent plants employed in a sequential MIMO QFT design are established. The equations apply to sequential MIMO QFT designs in both the direct plant domain, which employs the elements of plant in the design, and the inverse plant domain, which employs the elements of the plant inverse in the design. Stability theorems that employ necessary and sufficient conditions for robust closed-loop internal stability are developed for sequential MIMO QFT designs in both domains. The theorems and design equations facilitate less conservative designs and improved design transparency.

On stability in nonsequential MIMO QFT designs

This paper reexamines the stability of uncertain closed-loop systems resulting from the nonsequential (NS) MIMO QFT design methodology. By combining the effect of satisfying both the robust stability and robust performance specifications in a NS MIMO QFT design, a proof for the stability of the uncertain closed-loop system is derived. The stability theorem proves that, subject to the satisfaction of a critical necessary and sufficient condition, the original NS MIMO QFT design methodology will provide a robustly stable closed-loop system. This necessary and sufficient condition provides a useful existence test for a successful NS MIMO QFT design. The results expose the salient features of the NS MIMO QFT design methodology. Two 2 x 2 MIMO design examples are presented to illustrate the key features of the stability, theorem.

Embedding partial G-designs where G is a 4-cycle with a pendant edge

Let D denote the graph consisting of a cycle of length 4 with a pendant edge. In this paper, two very different small embeddings of partial D-designs are presented. (c) 2005 Elsevier B.V. All rights reserved.

Existence of complementary pairs of proportionally balanced designs

Proportionally balanced designs (pi BDs) were introduced by Gray and Matters in response to a need for the allocation of markers of the Queensland Core Skills Test to have a certain property. Subsequent papers extended the theoretical results relating to such designs and provided further instances and general constructions. This work focused on designs comprising blocks of precisely two sizes, and when each variety occurs with one of precisely two possible frequencies. Two designs based on the set V of varieties are complementary if, whenever B is a block of one, then its complement with regard to the set V is a block of the other. Here we present necessary conditions for the existence of complementary pairs of such pi BDs and provide lists of some restricted parameter sets satisfying these necessary conditions. The lists are arranged according to the number of blocks. We demonstrate that not all of these parameter sets give rise to designs. However we establish by construction of the sets of blocks that, for every feasible number of blocks less than or equal to 100, with the possible exception of 63, there exists at least one pair of complementary pi BDs. We also investigate the conditions under which the complementary design can be isomorphic to the original design, and again provide a list of feasible parameters for pairs of such designs with at most 400 blocks.

Longitudinal research designs in Music Therapy: Recommendations from a study of people with dementia.

Longitudinal research studies in music therapy are not frequently reported within the music therapy literature despite the need for these within the discipline. This article aims to encourage music therapists to undertake longitudinal research, by providing information on aspects of this type of research design. The authors discuss some advantages of longitudinal research approaches, and present the challenges expected to be faced by those conducting longitudinal research studies. Reflections on the authors' experiences in investigating long term effects of music therapy on people with dementia are described, along with recommendations as to how future researchers might address or accommodate some of these challenges

Embedding a restricted class of partial K-4-designs

Given a partial K-4-design (X, P), if x is an element of X is a vertex which occurs in exactly one block of P, then call x a free vertex. In this paper, a technique is described for obtaining a cubic embedding of any partial K-4-design with the property that every block in the partial design contains at least two free vertices.

Designs for generalized linear models with several variables and model uncertainty

Standard factorial designs sometimes may be inadequate for experiments that aim to estimate a generalized linear model, for example, for describing a binary response in terms of several variables. A method is proposed for finding exact designs for such experiments that uses a criterion allowing for uncertainty in the link function, the linear predictor, or the model parameters, together with a design search. Designs are assessed and compared by simulation of the distribution of efficiencies relative to locally optimal designs over a space of possible models. Exact designs are investigated for two applications, and their advantages over factorial and central composite designs are demonstrated.

Optimal crossover designs for logistic regression models in pharmacodynamics

Pharmacodynamics (PD) is the study of the biochemical and physiological effects of drugs. The construction of optimal designs for dose-ranging trials with multiple periods is considered in this paper, where the outcome of the trial (the effect of the drug) is considered to be a binary response: the success or failure of a drug to bring about a particular change in the subject after a given amount of time. The carryover effect of each dose from one period to the next is assumed to be proportional to the direct effect. It is shown for a logistic regression model that the efficiency of optimal parallel (single-period) or crossover (two-period) design is substantially greater than a balanced design. The optimal designs are also shown to be robust to misspecification of the value of the parameters. Finally, the parallel and crossover designs are combined to provide the experimenter with greater flexibility.

Efficient experimental designs when most treatments are unreplicated

In early generation variety trials, large numbers of new breeders' lines (varieties) may be compared, with each having little seed available. A so-called unreplicated trial has each new variety on just one plot at a site, but includes several replicated control varieties, making up around 10% and 20% of the trial. The aim of the trial is to choose some (usually around one third) good performing new varieties to go on for further testing, rather than precise estimation of their mean yields. Now that spatial analyses of data from field experiments are becoming more common, there is interest in an efficient layout of an experiment given a proposed spatial analysis and an efficiency criterion. Common optimal design criteria values depend on the usual C-matrix, which is very large, and hence it is time consuming to calculate its inverse. Since most varieties are unreplicated, the variety incidence matrix has a simple form, and some matrix manipulations can dramatically reduce the computation needed. However, there are many designs to compare, and numerical optimisation lacks insight into good design features. Some possible design criteria are discussed, and approximations to their values considered. These allow the features of efficient layouts under spatial dependence to be given and compared. (c) 2006 Elsevier Inc. All rights reserved.