Optimizing time delay feedback for active vibration control of a cantilever beam using a genetic algorithm

Active vibration control using time delay for a cantilever beam is developed in this paper. The equation of motion of the system is developed using the discrete standard formulation, and the discrete quadratic function is used to design the controller. The original contribution in this paper is using a genetic algorithm to determine the optimal time delay feedback for active vibration control of a cantilever beam. Simulations of the beam demonstrated that the genetic algorithm correctly identified the time delay which produced the quickest attenuation of unwanted vibrations for both mode one and mode two. In terms of frequency response, the optimal time delay for both modes reduced the resonant amplitude. In a mixed mode situation, the simulation demonstrated that an optimal time delay could be identified.

Reduced-order output feedback controllers for discrete-time systems

This article considers the stabilization by output feedback controllers for discrete-time systems. The controller can place all of the closed-loop poles within a specified disk D(-α, 1/β), centred at (-α,0) with radius 1/β, where | - α|  + 1/β < 1. The design method involves the decomposition of the system into two portions. The first portion comprises of all of the poles that are lying outside of the specified disk. A reduced-order model is constructed for this portion. The second portion comprises of all of the remaining poles of the system and is characterized by an H_∞-norm bound. The controller design is then accomplished by using H_∞-control theory. It is shown that, subject to the solvability of an algebraic Riccati equation, output feedback controllers can be systematically derived. The order of the controller is low, and can be as low as the number of the open-loop poles that are lying outside of the specified disk. A step-by-step design algorithm is provided. Numerical examples are given to illustrate the attractiveness of the design method.

Haptic control of multi-axis robotic systems

Control of tele-operated remote robot’s is nothing new; the public was introduced to this 'new' field in 1986 when the Chernobyl cleanup began. Pictures of weird and wonderful robotic workers pouring concrete or moving rubble flooded the world. Integration of force feedback or 'haptics' to remote robot's is a new development and one that is likely to make a big difference in man-machine interaction. Development of haptic capable tele-operation schema is a challenge. Often platform specific software is developed for one off tasks. This research focussed on the development of an open software platform for haptic control of multiple remote robotic platforms. The software utilises efficient server/client architecture for low data latency, while efficiently performing required kinematic transforms and data manipulation in real time. A description of the algorithm, software interface and hardware is presented in this paper. Preliminary results are encouraging as haptic control has been shown to greatly enhances remote positioning tasks.

Problem of precision missile guidance: LQR and H‡ control frameworks

Addressed here is the precision missile guidance problem where the successful intercept criterion has been defined in terms of both minimizing the miss distance and controlling the missile body attitude with respect to the target at the terminal point. We show that the H∞ control theory, when suitably modified, provides an effective framework for the precision missile guidance problem. The existence of feedback controllers (guidance laws) is investigated for the case of finite horizon and non-zero initial conditions. Both state feedback and output feedback implementations are explored.

Observer-based control of multi-agent systems under decentralized information structure

This paper addresses the problem of decentralized implementation of a global state feedback controller for multi-agent systems. The system is assumed to be under the constraint of a complete decentralized information structure. The decentralization of the control task is achieved through the construction of low-order decentralized functional observers with the purpose of generating the required corresponding control signal for each local control station. A design procedure is developed for obtaining an approximate solution to the design of the observers. Stability analysis is provided for the global system using the proposed observer-based approach. A numerical example is given to illustrate the design procedure and cases when the observers' order increases from the lowest value.

Mutually clock-controlled feedback shift registers provide resistance to algebraic attacks

Algebraic attacks have been applied to several types of clock-controlled stream ciphers. However, to date there are no such attacks in the literature on mutually clock-controlled ciphers. In this paper, we present a preliminary step in this direction by giving the first algebraic analysis of mutually clock-controlled feedback shift register stream ciphers: the bilateral stop-and-go generator, A5/1, Alpha 1 and the MICKEY cipher. We show that, if there are no regularly clocked shift registers included in the system, mutually clock-controlled feedback shift register ciphers appear to be highly resistant to algebraic attacks. As a demonstration of the weakness inherent in the presence of a regularly clocked shift register, we present a simple algebraic attack on Alpha 1 based on only 29 keystream bits.

Quantitative analysis of research mediums' consious experiences during a discarnate reading versus a control task : a pilot study

Mediums claim to be able to report accurate and specific information about the deceased loved ones (termed discarnates) of living people (termed sitters) even without any prior knowledge about the sitters or the discarnates and in the complete absence of any sensory feedback. Despite recent proof-focused experimental research investigating this phenomenon (e.g., Beischel & Schwartz, 2007), no published studies have attempted to quantify the phenomenological effects of discarnate readings. The aim of the present study was, thus, to investigate experimentally the phenomenological differences that arose psychologically in accordance with the demands of a discarnate reading task versus a control task. Seven mediums were administered counter-balanced sequences of a discarnate reading and control condition. The discarnate reading condition consisted of a phone reading including questions about a discarnate where only a blinded medium and a blinded experimenter were on the phone. The control condition consisted of a phone conversation between the medium and the same experimenter in which the medium was asked similar questions regarding a living person s/he (i.e., the medium) knew. Mediums’ phenomenology during each condition was retrospectively assessed using the Phenomenology of Consciousness Inventory (PCI). Phenomenology associated with the discarnate reading condition appeared to be significantly different from phenomenology associated with the control condition. Future research might use the PCI to address whether the phenomenology reported by mediums during discarnate readings is quantitatively different from their experiences during psychic telepathy readings for the living.

Fuzzy neural networks for control of dynamic systems

This thesis provides a unified and comprehensive treatment of the fuzzy neural networks as the intelligent controllers. This work has been motivated by a need to develop the solid control methodologies capable of coping with the complexity, the nonlinearity, the interactions, and the time variance of the processes under control. In addition, the dynamic behavior of such processes is strongly influenced by the disturbances and the noise, and such processes are characterized by a large degree of uncertainty. Therefore, it is important to integrate an intelligent component to increase the control system ability to extract the functional relationships from the process and to change such relationships to improve the control precision, that is, to display the learning and the reasoning abilities. The objective of this thesis was to develop a self-organizing learning controller for above processes by using a combination of the fuzzy logic and the neural networks. An on-line, direct fuzzy neural controller using the process input-output measurement data and the reference model with both structural and parameter tuning has been developed to fulfill the above objective. A number of practical issues were considered. This includes the dynamic construction of the controller in order to alleviate the bias/variance dilemma, the universal approximation property, and the requirements of the locality and the linearity in the parameters. Several important issues in the intelligent control were also considered such as the overall control scheme, the requirement of the persistency of excitation and the bounded learning rates of the controller for the overall closed loop stability. Other important issues considered in this thesis include the dependence of the generalization ability and the optimization methods on the data distribution, and the requirements for the on-line learning and the feedback structure of the controller. Fuzzy inference specific issues such as the influence of the choice of the defuzzification method, T-norm operator and the membership function on the overall performance of the controller were also discussed. In addition, the e-completeness requirement and the use of the fuzzy similarity measure were also investigated. Main emphasis of the thesis has been on the applications to the real-world problems such as the industrial process control. The applicability of the proposed method has been demonstrated through the empirical studies on several real-world control problems of industrial complexity. This includes the temperature and the number-average molecular weight control in the continuous stirred tank polymerization reactor, and the torsional vibration, the eccentricity, the hardness and the thickness control in the cold rolling mills. Compared to the traditional linear controllers and the dynamically constructed neural network, the proposed fuzzy neural controller shows the highest promise as an effective approach to such nonlinear multi-variable control problems with the strong influence of the disturbances and the noise on the dynamic process behavior. In addition, the applicability of the proposed method beyond the strictly control area has also been investigated, in particular to the data mining and the knowledge elicitation. When compared to the decision tree method and the pruned neural network method for the data mining, the proposed fuzzy neural network is able to achieve a comparable accuracy with a more compact set of rules. In addition, the performance of the proposed fuzzy neural network is much better for the classes with the low occurrences in the data set compared to the decision tree method. Thus, the proposed fuzzy neural network may be very useful in situations where the important information is contained in a small fraction of the available data.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control

This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Short-interval intracortical inhibition is not affected by varying visual feedback in an isometric task in biceps brachiii muscle

Purpose : To establish if visual feedback and force requirements influence SICI.

Methods : SICI was assessed from 10 healthy adults (5 males and 5 females aged between 21 and 35 years) in three submaximal isometric elbow flexion torque levels [5, 20, and 40% of maximal voluntary contraction (MVC)] and with two tasks differing in terms of visual feedback. Single-pulse and paired-pulse motor-evoked potentials (MEPs), supramaximal M-wave, and background surface electromyogram (sEMG) were recorded from the biceps brachii muscle.

Results : Repeated measures MANOVA was used for statistical analyses. Background sEMG did not differ between tasks (F = 0.4, P = 0.68) nor was task × torque level interaction observed (F = 1.2, P = 0.32), whereas background sEMG increased with increasing torque levels (P = 0.001). SICI did not differ between tasks (F = 0.9, P = 0.43) and no task × torque level interaction was observed (F = 2.3, P = 0.08). However, less SICI was observed at 40% MVC compared to the 5 and 20% MVC torque levels (P = 0.01–0.001).

Conclusion : SICI was not altered by performing the same task with differing visual feedback. However, SICI decreased with increasing submaximal torque providing further evidence that SICI is one mechanism of modulating cortical excitability and plays a role in force gradation.