H-2 and H-infinity - norm control of intelligent structures using LMI techniques

Linear Matrix Inequalities (LMIs) is a powerful too] that has been used in many areas ranging from control engineering to system identification and structural design. There are many factors that make LMI appealing. One is the fact that a lot of design specifications and constrains can be formulated as LMIs [1]. Once formulated in terms of LMIs a problem can be solved efficiently by convex optimization algorithms. The basic idea of the LMI method is to formulate a given problem as an optimization problem with linear objective function and linear matrix inequalities constrains. An intelligent structure involves distributed sensors and actuators and a control law to apply localized actions, in order to minimize or reduce the response at selected conditions. The objective of this work is to implement techniques of control based on LMIs applied to smart structures.

Effect of posture-control insoles on function in children with cerebral palsy: Randomized controlled clinical trial

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Active control in flexible plates with piezoelectric actuators using linear matrix inequalities

The study of algorithms for active vibrations control in flexible structures became an area of enormous interest, mainly due to the countless demands of an optimal performance of mechanical systems as aircraft, aerospace and automotive structures. Smart structures, formed by a structure base, coupled with piezoelectric actuators and sensor are capable to guarantee the conditions demanded through the application of several types of controllers. The actuator/sensor materials are composed by piezoelectric ceramic (PZT - Lead Zirconate Titanate), commonly used as distributed actuators, and piezoelectric plastic films (PVDF-PolyVinyliDeno Floride), highly indicated for distributed sensors. The design process of such system encompasses three main phases: structural design; optimal placement of sensor/actuator (PVDF and PZT); and controller design. Consequently, for optimal design purposes, the structure, the sensor/actuator placement and the controller have to be considered simultaneously. This article addresses the optimal placement of actuators and sensors for design of controller for vibration attenuation in a flexible plate. Techniques involving linear matrix inequalities (LMI) to solve the Riccati's equation are used. The controller's gain is calculated using the linear quadratic regulator (LQR). The major advantage of LMI design is to enable specifications such as stability degree requirements, decay rate, input force limitation in the actuators and output peak bounder. It is also possible to assume that the model parameters involve uncertainties. LMI is a very useful tool for problems with constraints, where the parameters vary in a range of values. Once formulated in terms of LMI a problem can be solved efficiently by convex optimization algorithms.

Distributed generation modelling for unbalanced three-phase power flow calculations in smart grids

Distributed Generators (DG) are generally modeled as PQ or PV buses in power flow studies. But in order to integrate DG units into the distribution systems and control the reactive power injection it is necessary to know the operation mode and the type of connection to the system. This paper presents a single-phase and a three-phase mathematical model to integrate DG in power flow calculations in distribution systems, especially suited for Smart Grid calculations. If the DG is in PV mode, each step of the power flow algorithm calculates the reactive power injection from the DG to the system to keep the voltage in the bus in a predefined level, if the DG is in PQ mode, the power injection is considered as a negative load. The method is tested on two well known test system, presenting single-phase results on 85 bus system, and three-phase results in the IEEE 34 bus test system. © 2011 IEEE.

Active vibration control using delayed resonant feedback

Delayed feedback (DF) control is a well-established technique to suppress single frequency vibration of a non-minimum phase system. Modal control is also a well-established technique to control multiple vibration modes of a minimum phase system. In this paper these techniques are combined to simultaneously suppress multiple vibration modes of a non-minimum phase system involving a small time delay. The control approach is called delayed resonant feedback (DRF) where each modal controller consists of a modal filter to extract the target mode signal from the vibration response, and a phase compensator to account for the phase delay of the mode. The methodology is first discussed using a single mode system. A multi-mode system is then studied and experimental results are presented to demonstrate the efficacy of the control approach for two modes of a beam. It is shown that the system behaves as if each mode under control has a dynamic vibration absorber attached to it, even though the actuator and the sensor are not collocated and there is a time delay in the control system. © 2013 IOP Publishing Ltd.

QoS management in smart grids: a Markovian approach

In Smart Grids, a variety of new applications are available to users of the electrical system (from consumers to the electric system operators and market operators). Some applications such as the SCADA systems, which control generators or substations, have consequences, for example, with a communication delay. The result of a failure to deliver a control message due to noncompliance of the time constraint can be catastrophic. On the other hand, applications such as smart metering of consumption have fewer restrictions. Since each type of application has different quality of service requirements (importance, delay, and amount of data to transmit) to transmit its messages, the policy to control and share the resources of the data communication network must consider them. In this paper Markov Decision Process Theory is employed to determine optimal policies to explore as much as possible the availability of throughput in order to transmit all kinds of messages, considering the quality of service requirements defined to each kind of message. First a non-preemptive model is formulated and after that a preemptive model is derived. Numerical results are used to compare FIFO, non-preemptive and preemptive policies.

Energy Management and Control for Islanded Microgrid Using Multi-Agents

This paper presents a multi-agent system for real-time operation of simulated microgrid using the Smart-Grid Test Bed at Washington State University. The multi-agent system (MAS) was developed in JADE (Java Agent DEvelopment Framework) which is a Foundation for Intelligent Physical Agents (FIPA) compliant open source multi-agent platform. The proposed operational strategy is mainly focused on using an appropriate energy management and control strategies to improve the operation of an islanded microgrid, formed by photovoltaic (PV) solar energy, batteries and resistive and rotating machines loads. The focus is on resource management and to avoid impact on loads from abrupt variations or interruption that changes the operating conditions. The management and control of the PV system is performed in JADE, while the microgrid model is simulated in RSCAD/RTDS (Real-Time Digital Simulator). Finally, the outcome of simulation studies demonstrated the feasibility of the proposed multi-agent approach for real-time operation of a microgrid.

Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

This paper describes an experimental study into the vibration control of a servo system comprising a servo motor and a flexible manipulator. Two modes of the system are controlled by using the servo motor and an accelerometer attached to the tip of the flexible manipulator. The control system is thus non-collocated. It consists of two electrical dynamic absorbers, each of which consists of a modal filter and, in case of an out-of-phase mode, a phase inverter. The experimental results show that each absorber acts as a mechanical dynamic vibration absorber attached to each mode and significantly reduces the settling time for the system response to a step input.

Smart Grid e Carros Elétricos - Influência da Carga de Carros Elétricos Sobre o Sistema Elétrico

The technologies are advancing at a pace so expressive that allow the increase of the power quality from generation until the distribution to end customers. This improvement has been made possible through the automation of the energy that follows to a better quality of the energy provided, a lower energy supply disruptions and a very short recovery time. The trend of today and the near future is the distributed energy generation. To keep the automated control of the chain, the presence of Smart Grids is needed and that will be the most efficient and economical way to manage the entire system. Within this theme, is going to be necessary analyze the electric cars that promise to promote a more sustainable transport because it doesn’t uses fossil fuels, and more healthy because it does not emit pollutants into the atmosphere. The popularization of this type of vehicle is estimated to happen in a few decades and the case study analyzing its influence on the demand of the electrical system is something that will be very important in the near future. This paper presents a study of the influence of the inclusion of charges refering to electric cars

Active power reserve for frequency control provided by distributed generators in distribution networks

In a smart grid environment, attention should be paid not only to the power supplied to satisfy loads and system losses but also to the services necessary to provide security and stability to the system: the so-called ancillary services. As they are well known the benefits that distributed generation can bring to electrical systems and to the environment, in this work the possibility that active power reserve for frequency control could be provided by distributed generators (DGs) in an efficient and economical way is explored. The proposed methodology was tested using the IEEE 34-bus distribution test system. The results show improvements in the capacity of the system for this ancillary service and decrease in system losses and payments of the distribution system operator to the DGs.

Análise de desempenho de redes de comunicação wireless em aplicações de Smart Grid

Pós-graduação em Engenharia Elétrica - FEIS

THE ROLE OF INDUSTRY IN DEVELOPING NEW MATERIALS FOR VERTEBRATE PEST CONTROL

In the first paper presented to you today by Dr. Spencer, an expert in the Animal Biology field and an official authority at the same time, you heard about the requirements imposed on a chemical in order to pass the different official hurdles before it ever will be accepted as a proven tool in wildlife management. Many characteristics have to be known and highly sophisticated tests have to be run. In many instances the governmental agency maintains its own screening, testing or analytical programs according to standard procedures. It would be impossible, however, for economic and time reasons to work out all the data necessary for themselves. They, therefore, depend largely on the information furnished by the individual industry which naturally has to be established as conscientiously as possible. This, among other things, Dr. Spencer has made very clear; and this is also what makes quite a few headaches for the individual industry, but I am certainly not speaking only for myself in saying that Industry fully realizes this important role in developing materials for vertebrate control and the responsibilities lying in this. This type of work - better to say cooperative work with the official institutions - is, however, only one part and for the most of it, the smallest part of work which Industry pays to the development of compounds for pest control. It actually refers only to those very few compounds which are known to be effective. But how to get to know about their properties in the first place? How does Industry make the selection from the many thousands of compounds synthesized each year? This, by far, creates the biggest problems, at least from the scientific and technical standpoint. Let us rest here for a short while and think about the possible ways of screening and selecting effective compounds. Basically there are two different ways. One is the empirical way of screening as big a number of compounds as possible under the supposition that with the number of incidences the chances for a "hit" increase, too. You can also call this type of approach the statistical or the analytical one, the mass screening of new, mostly unknown candidate materials. This type of testing can only be performed by a producer of many new materials,that means by big industries. It requires a tremendous investment in personnel, time and equipment and is based on highly simplified but indicative test methods, the results of which would have to be reliable and representative for practical purposes. The other extreme is the intellectual way of theorizing effective chemical configurations. Defenders of this method claim to now or later be able to predict biological effectiveness on the basis of the chemical structure or certain groups in it. Certain pre-experience should be necessary, that means knowledge of the importance of certain molecular requirements, then the detection of new and effective complete molecules is a matter of coordination to be performed by smart people or computers. You can also call this method the synthetical or coordinative method.

Biomarkers and Bacterial Pneumonia Risk in Patients with Treated HIV Infection: A Case-Control Study

Background: Despite advances in HIV treatment, bacterial pneumonia continues to cause considerable morbidity and mortality in patients with HIV infection. Studies of biomarker associations with bacterial pneumonia risk in treated HIVinfected patients do not currently exist. Methods: We performed a nested, matched, case-control study among participants randomized to continuous combination antiretroviral therapy (cART) in the Strategies for Management of Antiretroviral Therapy trial. Patients who developed bacterial pneumonia (cases) and patients without bacterial pneumonia (controls) were matched 1:1 on clinical center, smoking status, age, and baseline cART use. Baseline levels of Club Cell Secretory Protein 16 (CC16), Surfactant Protein D (SP-D), C-reactive protein (hsCRP), interleukin-6 (IL-6), and d-dimer were compared between cases and controls. Results: Cases (n = 72) and controls (n = 72) were 25.7% female, 51.4% black, 65.3% current smokers, 9.7% diabetic, 36.1% co-infected with Hepatitis B/C, and 75.0% were on cART at baseline. Median (IQR) age was 45 (41, 51) years with CD4+ count of 553 (436, 690) cells/mm3. Baseline CC16 and SP-D were similar between cases and controls, but hsCRP was significantly higher in cases than controls (2.94 mg/mL in cases vs. 1.93 mg/mL in controls; p = 0.02). IL-6 and d-dimer levels were also higher in cases compared to controls, though differences were not statistically significant (p-value 0.06 and 0.10, respectively). Conclusions: In patients with cART-treated HIV infection, higher levels of systemic inflammatory markers were associated with increased bacterial pneumonia risk, while two pulmonary-specific inflammatory biomarkers, CC16 and SP-D, were not associated with bacterial pneumonia risk.

Control automatizado de audiencias televisivas

[ES] Actualmente en España existe una única compañía dedicada a la medida de las audiencias televisivas, que realiza mediante la instalación de unos pequeños aparatos en el domicilio de los voluntarios, obteniendo datos de los mismos. Sin embargo, el funcionamiento de estos dispositivos es manual, siendo el usuario el responsable de indicar en todo momento el canal que está espectando y el número de espectadores presentes. Ésto además de una carga, puede suponer una desviación, voluntaria o involuntaria de los datos por parte del usuario. Para mejorar estas funcionalidades, se llevará a cabo un estudio en la aplicación de técnicas de visión por computador en el campo de la medición de audiencias. Durante este estudio se llevará a cabo el desarrollo de un sistema distribuido que permite la captación, análisis y representación de la información obtenida. Este sistema distribuido estará formado por: Una aplicación cliente, encargada de la obtención de los datos sin intervención del usuario a través de técnicas de visión por computador, barajándose las posibilidades de utilizar como base hardware un Smart-T o un mini-pc, sobre los que se ejecutaría un sistema basado en Linux. Esta aplicación se ejecutará, obviamente, en el hogar del usuario. Un servidor, que ejecutará la aplicación encargada de la clasificación y estudio de los datos obtenidos mediante el uso de Bases de Datos, así como su representación a través de una aplicación web para su consulta a través de un navegador.

Coordinated Control of Robotic Swarms in Unknown Environments

This thesis gathers the work carried out by the author in the last three years of research and it concerns the study and implementation of algorithms to coordinate and control a swarm of mobile robots moving in unknown environments. In particular, the author's attention is focused on two different approaches in order to solve two different problems. The first algorithm considered in this work deals with the possibility of decomposing a main complex task in many simple subtasks by exploiting the decentralized implementation of the so called \emph{Null Space Behavioral} paradigm. This approach to the problem of merging different subtasks with assigned priority is slightly modified in order to handle critical situations that can be detected when robots are moving through an unknown environment. In fact, issues can occur when one or more robots got stuck in local minima: a smart strategy to avoid deadlock situations is provided by the author and the algorithm is validated by simulative analysis. The second problem deals with the use of concepts borrowed from \emph{graph theory} to control a group differential wheel robots by exploiting the Laplacian solution of the consensus problem. Constraints on the swarm communication topology have been introduced by the use of a range and bearing platform developed at the Distributed Intelligent Systems and Algorithms Laboratory (DISAL), EPFL (Lausanne, CH) where part of author's work has been carried out. The control algorithm is validated by demonstration and simulation analysis and, later, is performed by a team of four robots engaged in a formation mission. To conclude, the capabilities of the algorithm based on the local solution of the consensus problem for differential wheel robots are demonstrated with an application scenario, where nine robots are engaged in a hunting task.