Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model

Positioning and orientation precision of a multirotor aerial robot can be increased by using additional control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative (PID) controller tuned with pole-placement law, is presented in the paper. The research has been conducted with respect to model/plant matching uncertainty and with the use of antiwindup compensators for a simple motor-rotor model approximated by first-order inertia plus delay. From the obtained simulation results one concludes that appropriate choice of AWC compensator improves tracking performance and increases robustness against parametric uncertainty.

Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator

This paper aims to formulate and investigate the application of various nonlinear H(infinity) control methods to a fiee-floating space manipulator subject to parametric uncertainties and external disturbances. From a tutorial perspective, a model-based approach and adaptive procedures based on linear parametrization, neural networks and fuzzy systems are covered by this work. A comparative study is conducted based on experimental implementations performed with an actual underactuated fixed-base planar manipulator which is, following the DEM concept, dynamically equivalent to a free-floating space manipulator. (C) 2011 Elsevier Ltd. All rights reserved.

Robust model predictive controller with output feedback and target tracking

A model predictive controller (MPC) is proposed, which is robustly stable for some classes of model uncertainty and to unknown disturbances. It is considered as the case of open-loop stable systems, where only the inputs and controlled outputs are measured. It is assumed that the controller will work in a scenario where target tracking is also required. Here, it is extended to the nominal infinite horizon MPC with output feedback. The method considers an extended cost function that can be made globally convergent for any finite input horizon considered for the uncertain system. The method is based on the explicit inclusion of cost contracting constraints in the control problem. The controller considers the output feedback case through a non-minimal state-space model that is built using past output measurements and past input increments. The application of the robust output feedback MPC is illustrated through the simulation of a low-order multivariable system.

Fixed-point DSP implementation of nonlinear H(infinity) controller for large gap electromagnetic suspension system

Electromagnetic suspension systems are inherently nonlinear and often face hardware limitation when digitally controlled. The main contributions of this paper are: the design of a nonlinear H(infinity) controller. including dynamic weighting functions, applied to a large gap electromagnetic suspension system and the presentation of a procedure to implement this controller on a fixed-point DSP, through a methodology able to translate a floating-point algorithm into a fixed-point algorithm by using l(infinity) norm minimization due to conversion error. Experimental results are also presented, in which the performance of the nonlinear controller is evaluated specifically in the initial suspension phase. (C) 2009 Elsevier Ltd. All rights reserved.

Immediate and lasting improvements in weight distribution seen in baropodometry following a high-velocity, low-amplitude thrust manipulation of the sacroiliac joint

The biomechanics of the sacroiliac joint makes the pelvic segment responsible for proper weight distribution between lower extremities; however, it is known to be susceptible to altered mobility. The objective of this study was to analyze baropodometric responses following thrust manipulation on subjects with sacroiliac joint restrictions. Twenty asymptomatic subjects were submitted to computerized baropodometric analysis before, after, and seven days following sacroiliac manipulation. The variables peak pressure and contact area were obtained at each of these periods as the average of absolute values of the difference between the right and left foot based on three trials. Data revealed significant reduction only in peak pressure immediately after manipulation and at follow-up when compared to pre-manipulative values (p < 0.05). Strong correlation was found between the dominant foot and the foot with greater contact area (r - 0.978), as well as between the side of joint restriction and the foot with greater contact area (r = 0.884). Weak correlation was observed between the dominant foot and the foot with greater peak pressure (r = 0.501), as well as between the side of joint restriction and the foot with greater peak pressure (r = 0.694). The results suggest that sacroiliac joint manipulation can influence peak pressure distribution between feet, but contact area does not seem to be related to the biomechanical aspects addressed in this study. (C) 2011 Elsevier Ltd. All rights reserved.

ATM, a central controller of cellular responses to DNA damage

Mutations in the ATM gene lead to the genetic disorder ataxia-telangiectasia. ATM encodes a protein kinase that is mainly distributed in the nucleus of proliferating cells. Recent studies reveal that ATM regulates multiple cell cycle checkpoints by phosphorylating different targets at different stages of the cell cycle. ATM also functions in the regulation of DNA repair and apoptosis, suggesting that it is a central regulator of responses to DNA double-strand breaks.

Network air gap controller

As ameaças à segurança da informação, (INFOSEC) atentam contra a perda da respectiva confidencialidade, integridade e disponibilidade, pelo que as organizações são impelidas a implementar políticas de segurança, quer ao nível físico quer ao nível lógico, utilizando mecanismos específicos de defesa. O projecto Network Air Gap Controller (NAGC) foi concebido no sentido de contribuir para as questões da segurança, designadamente daquelas que se relacionam directamente com a transferência de informação entre redes de classificação de segurança diferenciadas ou de sensibilidades distintas, sem requisitos de comunicação em tempo real, e que mereçam um maior empenho nas condições de robustez, de disponibilidade e de controlo. Os organismos que, em razão das atribuições e competências cometidas, necessitam de fazer fluir informação entre este tipo de redes, são por vezes obrigados a realizar a transferência de dados com recurso a um processo manual, efectuado pelo homem e não pela máquina, que envolve dispositivos amovivéis, como sejam o CD, DVD, PEN, discos externos ou switches manuais. Neste processo, vulgarmente designado por Network Air Gap (NAG), o responsável pela transferência de dados deverá assumir de forma infalível, como atribuições intrínsecas e inalienáveis da função exercida, as garantias do cumprimento de um vasto conjunto de normas regulamentares. As regras estabelecidas desdobram-se em ferramentas e procedimentos que se destinam, por exemplo, à guarda em arquivo de todas as transferências efectuadas; à utilização de ferramentas de segurança (ex: antivírus) antes da colocação da informação na rede de classificação mais elevada; ao não consentimento de transferência de determinados tipos de ficheiro (ex: executáveis) e à garantia de que, em consonância com a autonomia que normalmente é delegada no elemento responsável pela operação das comunicações, apenas se efectuam transferências de informação no sentido da rede de classificação inferior para a rede de classificação mais elevada. Face ao valor da informação e do impacto na imagem deste tipo de organizações, o operador de comunicações que não cumpra escrupulosamente o determinado é inexoravelmente afastado dessas funções, sendo que o processo de apuramento de responsabilidades nem sempre poderá determinar de forma inequívoca se as razões apontam para um acto deliberado ou para factores não intencionais, como a inépcia, o descuido ou a fadiga. Na realidade, as actividades periódicas e rotineiras, tornam o homem propenso à falha e poderão ser incontornavelmente asseguradas, sem qualquer tipo de constrangimentos ou diminuição de garantias, por soluções tecnológicas, desde que devidamente parametrizadas, adaptadas, testadas e amadurecidas, libertando os recursos humanos para tarefas de manutenção, gestão, controlo e inspecção. Acresce que, para este tipo de organizações, onde se multiplicam o número de redes de entrada de informação, com diferentes classificações e actores distintos, e com destinatários específicos, a utilização deste tipo de mecanismos assume uma importância capital. Devido a este factor multiplicativo, impõe-se que o NAGC represente uma opção válida em termos de oferta tecnológica, designadamente para uma gama de produtos de baixíssimo custo e que possa desenvolver-se por camadas de contributo complementar, em função das reais necessidades de cada cenário.

A Sensorless PMDC Motor Speed Controller with a Logical Overcurrent Protection

A method to control the speed or the torque of a permanent-magnet direct current motor is presented. The rotor speed and the external torque estimation are simultaneously provided by appropriate observers. The sensorless control scheme is based on current measurement and switching states of power devices. The observer’s performances are dependent on the accurate machine parameters knowledge. Sliding mode control approach was adopted for drive control, providing the suitable switching states to the chopper power devices. Despite the predictable chattering, a convenient first order switching function was considered enough to define the sliding surface and to correspond with the desired control specifications and drive performance. The experimental implementation was supported on a single dsPIC and the controller includes a logic overcurrent protection.

The utilization bound of non-preemptive rate-monotonic scheduling in controller area networks is 25%

Consider a distributed computer system comprising many computer nodes, each interconnected with a controller area network (CAN) bus. We prove that if priorities to message streams are assigned using rate-monotonic (RM) and if the requested capacity of the CAN bus does not exceed 25% then all deadlines are met.

Influence of grease rheology on thrust ball bearings friction torque

The friction torque and the operating temperatures in a thrust ball bearing were measured for seven different types of greases, including three biodegradable greases having low toxicity. These friction torque tests were performed using a modified Four-Ball machine. Rheological evaluations of the lubricating greases were made using a rheometer. Bleed oils were extracted from the greases and the dynamic viscosities were measured. In order to compare the performance of the lubricant greases in terms of friction, the grease characteristics were related to experimental results, showing that the interaction between thickener and base oil have strong influences in the bearing friction torque.

Multifunctional controller architecture for sold-state marx modulator based on FPGA

This paper proposes a multifunctional architecture to implement field-programmable gate array (FPGA) controllers for power converters and presents a prototype for a pulsed power generator based on a solid-state Marx topology. The massively parallel nature of reconfigurable hardware platforms provides very high processing power and fast response times allowing the implementation of many subsystems in the same device. The prototype includes the controller, a failure detection system, an interface with a safety/emergency subsystem, a graphical user interface, and a virtual oscilloscope to visualize the generated pulse waveforms, using a single FPGA. The proposed architecture employs a modular design that can be easily adapted to other power converter topologies.

Friction and wear in thrust ball bearings lubricated with biodegradable greases

Thrust ball bearings lubricated with several different types of grease, including three biodegradable low-toxicity greases, were tested in a modified four-ball machine in order to evaluate the bearing friction torque. At the end of each test, grease samples were obtained and analysed through ferrography, allowing the quantification and evaluation of the bearing wear. In order to compare the grease performance in terms of friction and wear, a correlation between the grease characteristics (base oil, bleed oil, thickener structure, and rheological parameters) and the experimental results was established.

Friction torque in grease lubricated thrust ball bearings

Thrust ball bearings lubricated with several different greases were tested on a modified Four-Ball Machine, where the Four-Ball arrangement was replaced by a bearing assembly. The friction torque and operating temperatures in a thrust ball bearing were measured during the tests. At the end of each test a grease sample was analyzed through ferrographic techniques in order to quantify and evaluate bearing wear. A rolling bearing friction torque model was used and the coefficient of friction in full film lubrication was determined for each grease, depending on the operating conditions. The experimental results obtained showed that grease formulation had a very significant influence on friction torque and operating temperature. The friction torque depends on the viscosity of the grease base oil, on its nature (mineral, ester, PAO, etc.), on the coefficient of friction in full film conditions, but also on the interaction between grease thickener and base oil, which affected contact replenishment and contact starvation, and thus influenced the friction torque.

Board-level prototype validation: a built-in controller and extended BST architecture

Prototype validation is a major concern in modern electronic product design and development. Simulation, structural test, functional and timing debug are all forming parts of the validation process, although very often addressed as dissociated tasks. In this paper we describe an integrated approach to board-level prototype validation, based on a set of mandatory/optional BST instructions and a built-in controller for debug and test, that addresses the late mentioned tasks as inherent parts of a whole process

Influence of grease formulation on thrust bearings power loss

The minimization of the power loss and the use of the biodegradable greases have attracting considerable attention. To compare the energetic performance of biodegradable lubricant greases, power loss tests were performed on a modified four-ball machine. A correlation between the grease formulation and rheology was established with its energetic performance