On Modelling, System Identification and Control of Servo-Systems with a Flexible Load

The present study was done with two different servo-systems. In the first system, a servo-hydraulic system was identified and then controlled by a fuzzy gainscheduling controller. The second servo-system, an electro-magnetic linear motor in suppressing the mechanical vibration and position tracking of a reference model are studied by using a neural network and an adaptive backstepping controller respectively. Followings are some descriptions of research methods. Electro Hydraulic Servo Systems (EHSS) are commonly used in industry. These kinds of systems are nonlinearin nature and their dynamic equations have several unknown parameters.System identification is a prerequisite to analysis of a dynamic system. One of the most promising novel evolutionary algorithms is the Differential Evolution (DE) for solving global optimization problems. In the study, the DE algorithm is proposed for handling nonlinear constraint functionswith boundary limits of variables to find the best parameters of a servo-hydraulic system with flexible load. The DE guarantees fast speed convergence and accurate solutions regardless the initial conditions of parameters. The control of hydraulic servo-systems has been the focus ofintense research over the past decades. These kinds of systems are nonlinear in nature and generally difficult to control. Since changing system parameters using the same gains will cause overshoot or even loss of system stability. The highly non-linear behaviour of these devices makes them ideal subjects for applying different types of sophisticated controllers. The study is concerned with a second order model reference to positioning control of a flexible load servo-hydraulic system using fuzzy gainscheduling. In the present research, to compensate the lack of dampingin a hydraulic system, an acceleration feedback was used. To compare the results, a pcontroller with feed-forward acceleration and different gains in extension and retraction is used. The design procedure for the controller and experimental results are discussed. The results suggest that using the fuzzy gain-scheduling controller decrease the error of position reference tracking. The second part of research was done on a PermanentMagnet Linear Synchronous Motor (PMLSM). In this study, a recurrent neural network compensator for suppressing mechanical vibration in PMLSM with a flexible load is studied. The linear motor is controlled by a conventional PI velocity controller, and the vibration of the flexible mechanism is suppressed by using a hybrid recurrent neural network. The differential evolution strategy and Kalman filter method are used to avoid the local minimum problem, and estimate the states of system respectively. The proposed control method is firstly designed by using non-linear simulation model built in Matlab Simulink and then implemented in practical test rig. The proposed method works satisfactorily and suppresses the vibration successfully. In the last part of research, a nonlinear load control method is developed and implemented for a PMLSM with a flexible load. The purpose of the controller is to track a flexible load to the desired position reference as fast as possible and without awkward oscillation. The control method is based on an adaptive backstepping algorithm whose stability is ensured by the Lyapunov stability theorem. The states of the system needed in the controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive and responses are presented.

Correlations of glycogen synthase and phosphorylase activities with glycogen concentration in human muscle biopsies. Evidence for a double-feedback mechanism regulating glycogen synthesis and breakdown.

The purpose of this study was to verify in man the relationships of muscle glycogen synthase and phosphorylase activities with glycogen concentration that were reported in animal studies. The upper level of glycogen concentration in muscle is known to be tightly controlled, and glycogen concentration was reported to have an inhibitory effect on synthase activity and a stimulatory effect on phosphorylase activity. Glycogen synthase and phosphorylase activity and glycogen concentration were measured in muscle biopsies in a group of nine normal subjects after stimulating an increase of their muscle glycogen concentration through either an intravenous glucose-insulin infusion to stimulate glycogen synthesis, or an Intralipid (Vitrum, Stockholm, Sweden) infusion in the basal state to inhibit glycogen mobilization by favoring lipid oxidation at the expense of glucose oxidation. Phosphorylase activity increased from 71.3 +/- 21.0 to 152.8 +/- 20.0 nmol/min/mg protein (P < .005) after the glucose-insulin infusion. Phosphorylase activity was positively correlated with glycogen concentration (P = .005 and P = .0001) after the glucose-insulin and Intralipid infusions, respectively. Insulin-stimulated glycogen synthase activity was significantly negatively correlated with glycogen concentration at the end of the Intralipid infusion (P < .005). In conclusion, by demonstrating a negative correlation of glycogen concentration with glycogen synthase and a positive correlation with phosphorylase, this study might confirm in man the double-feedback mechanism by which changes in glycogen concentration regulate glycogen synthase and phosphorylase activities. It suggests that this mechanism might play an important role in the regulation of glucose storage.

Moottorimalliton skalaarisäätö

Työssä tutkitaan nopeusanturittoman vaihtovirtakäytön skalaarisia ohjaus- ja säätömenetelmiä. Työn alussa esitetään perusteoriat taajuusmuuttajista ja oikosulkumoottoreista. Tämän jälkeen esitellään yleisimmin kirjallisuudessa esiintyneet skalaariohjaukset ja –säädöt. Vektorisäätöä ja erityisesti moottoriparametrien vaikutusta säädön toimivuuteen esitellään lyhyesti. Työn tavoitteena on ACS800 taajuusmuuttajan skalaarisäädön tutkiminen. ACS800:n nykyinen skalaarisäätö on liian sidoksissa vektorisäätöön, joten simulointien ja kirjallisuustutkimuksen tarkoituksena on täysin vektorisäädöstä eriytetyn skalaarisäädön kehitysmahdollisuuksien tutkiminen. Kirjallisuudessa esiintyneiden säätöjen avulla muodostetaan diskreettiaikainen toteutus skalaarisäädölle vaihtovirtakäytössä, jossa on käytössä virran ja välipiirijännitteen takaisinkytkentä. Säädettävää moottoria mallinnetaan jatkuvaaikaisella L-sijaiskytkennällä. Välipiirin mallinnus toimii myös jatkuva-aikaisena lukuun ottamatta välipiirin tasavirtakomponenttia, joka muodostetaan virran takaisinkytkennän ja PWM-modulaattorin kytkinasentojen avulla. Simuloinnin tarkoituksena on mallintaa skalaarisäädön suurimpia ongelmia, kuten virta- ja välijännitesäätöä. Tuloksista voidaan päätellä, että perussäädöt toimivat moitteettomasti, mutta erityisesti virtasäätöä tulisi kehittää.

Real-time Quality of Service Controller for Differentiated Services

IP-verkkojen hyvin tunnettu haitta on, että nämä eivät pysty takaamaan tiettyä palvelunlaatua (Quality of Service) lähetetyille paketeille. Seuraavat kaksi tekniikkaa pidetään lupaavimpina palvelunlaadun tarjoamiselle: Differentiated Services (DiffServ) ja palvelunlaatureititys (QoS Routing). DiffServ on varsin uusi IETF:n määrittelemä Internetille tarkoitettu palvelunlaatumekanismi. DiffServ tarjoaa skaalattavaa palvelujen erilaistamista ilman viestintää joka hypyssä ja per-flow –tilan ohjausta. DiffServ on hyvä esimerkki hajautetusta verkkosuunnittelusta. Tämän palvelutasomekanismin tavoite on viestintäjärjestelmien suunnittelun yksinkertaistaminen. Verkkosolmu voidaan rakentaa pienestä hyvin määritellystä rakennuspalikoiden joukosta. Palvelunlaatureititys on reititysmekanismi, jolla liikennereittejä määritellään verkon käytettävissä olevien resurssien pohjalta. Tässä työssä selvitetään uusi palvelunlaatureititystapa, jota kutsutaan yksinkertaiseksi monitiereititykseksi (Simple Multipath Routing). Tämän työn tarkoitus on suunnitella palvelunlaatuohjain DiffServille. Tässä työssä ehdotettu palvelunlaatuohjain on pyrkimys yhdistää DiffServ ja palvelunlaatureititysmekanismeja. Työn kokeellinen osuus keskittyy erityisesti palvelunlaatureititysalgoritmeihin.

Parallel feedback loops control the basal activity of the HOG MAPK signaling cascade.

Tight regulation of the MAP kinase Hog1 is crucial for survival under changing osmotic conditions. Interestingly, we found that Hog1 phosphorylates multiple upstream components, implying feedback regulation within the signaling cascade. Taking advantage of an unexpected link between glucose availability and Hog1 activity, we used quantitative single cell measurements and computational modeling to unravel feedback regulation operating in addition to the well-known adaptation feedback triggered by glycerol accumulation. Indeed, we found that Hog1 phosphorylates its activating kinase Ssk2 on several sites, and cells expressing a non-phosphorylatable Ssk2 mutant are partially defective for feedback regulation and proper control of basal Hog1 activity. Together, our data suggest that Hog1 activity is controlled by intertwined regulatory mechanisms operating with varying kinetics, which together tune the Hog1 response to balance basal Hog1 activity and its steady-state level after adaptation to high osmolarity.

Papaya seedlings growth using a low-cost, automatic watering controller

The study assessed growth and physiological parameters of 'Sunrise Golden' and 'Tainung 01' papaya seedlings grown in 280mL plastic tubes and watered using a low-cost automatic irrigation system adjusted to operate at substrate water tension for starting irrigation (STI) of 3.0, 6.0 or 9.0 kPa. The water depths applied by the dripping system and drainage were monitored during germination and seedling growth. Germination, emergence velocity index (EVI), leaf area, plant height, shoot and root dry weight, stomatal conductance, relative water content (RWC) and relative chlorophyll content (RCC) were evaluated. Soil nutrient levels were determined by electrical conductivity (EC). Water use efficiency (WUE) corresponded to the ratio of plant dry mass to depth of water applied. STI settings did not affect papaya germination or EVI. System configuration to 3.0 and 6.0 kPa STI exhibited the highest drainage and lowest EC and RCC, indicating soil nutrient loss and plant nutrient deficiency. Drainage was greater in tubes planted with the 'Tainung 01' variety, which developed smaller root systems and lower stomatal conductance than 'Sunrise Golden' seedlings. The highest values for shoot dry weight and WEU were obtained at 6.0 kPa STI for 'Sunrise Golden' (0.62 g and 0.69 g L-1) and at 9.0 kPa in 'Tainung 01' (0.35 g and 0.82 g L-1). RWC at 9.0 kPa STI was lower than at 3.0 kPa in both varieties. The results indicate that the low-cost technology developed for irrigation automation is promising. Even so, new studies are needed to evaluate low-flow irrigation systems as well as the nutrient and water needs of different papaya varieties.

Hakkuriteholähteen säädön suunnittelu

Diplomityö on tehty osana ETX-tutkimushanketta: 'Volyymiteholähteen suunnittelumetodien kehitys ja optimointi DFM-viitekehyksessä'. Työssä suunnitellaan hakkuriteholähteelle säätäjä. Tähän suunnittelun sektoriin syventyminen on teollisuudessa jäänyt monesti vähälle. Säätö on tavallisesti ajan puutteen ja apuvälineiden käytön osaamattomuuden tai puuttumisen takia suunniteltu kokeilemalla. Työssä muodostetaan jännitemuotoisesti säädetylle hakkurille piensignaalimallilla linearisoidut siirtofunktiot, joiden perusteella voidaan tarkastella hakkurin stabiilisuutta takaisinkytketyssä säätösilmukassa. Stabiiliustarkastelu tehdään taajuustasossa käyttäen Bode-kuvaajia. Näiden kuvaajien perusteella viritetään järjestelmään säätäjä. Säätäjän toimintaa aikatasossa tarkastellaan simuloimalla ja reaalisen laitteen toimimista laboratorioprototyypin avulla. Tulosten perusteella voidaan todeta, että jännitemuotoisella säädöllä flyback-hakkuri saadaan nopeaksi epäjatkuvalla käämivirralla. Mikäli halutaan hakkurin toimivan jatkuvalla käämivirralla, on syytä käyttää muita säätömenetelmiä, esimerkiksi huippuvirtasäätöä.

A Feedfordward Adaptive Controller to Reduce the Imaging Time of Large-Sized Biological Samples with a SPM-Based Multiprobe Station

The time required to image large samples is an important limiting factor in SPM-based systems. In multiprobe setups, especially when working with biological samples, this drawback can make impossible to conduct certain experiments. In this work, we present a feedfordward controller based on bang-bang and adaptive controls. The controls are based in the difference between the maximum speeds that can be used for imaging depending on the flatness of the sample zone. Topographic images of Escherichia coli bacteria samples were acquired using the implemented controllers. Results show that to go faster in the flat zones, rather than using a constant scanning speed for the whole image, speeds up the imaging process of large samples by up to a 4x factor.

Spontaneous cell polarization: Feedback control of Cdc42 GTPase breaks cellular symmetry.

Spontaneous polarization without spatial cues, or symmetry breaking, is a fundamental problem of spatial organization in biological systems. This question has been extensively studied using yeast models, which revealed the central role of the small GTPase switch Cdc42. Active Cdc42-GTP forms a coherent patch at the cell cortex, thought to result from amplification of a small initial stochastic inhomogeneity through positive feedback mechanisms, which induces cell polarization. Here, I review and discuss the mechanisms of Cdc42 activity self-amplification and dynamic turnover. A robust Cdc42 patch is formed through the combined effects of Cdc42 activity promoting its own activation and active Cdc42-GTP displaying reduced membrane detachment and lateral diffusion compared to inactive Cdc42-GDP. I argue the role of the actin cytoskeleton in symmetry breaking is not primarily to transport Cdc42 to the active site. Finally, negative feedback and competition mechanisms serve to control the number of polarization sites.

Feblesa de tutories: manca de feedback i autoregulació en l'estudiant d'infermeria. Valoració de l'avaluació continuada en l'assignatura Ciències Psicosocials Aplicades a la Salut en el Grau d'Infermeria (EEES), (2009-2010)

Resum: En el nou model derivat de l"Espai Europeu d"Educació Superior (EEES), l"ensenyament aprenentatge (E-A) es centra en l"estudiant, enfront del rol més destacat del professor en l"ensenyament tradicional. El procés d"experimentació al que assistim en el nostre medi, requereix la valoració de les primeres experiències. Objectiu: L"objectiu d"aquest estudi és identificar si la metodologia utilitzada en l"assignatura Ciències Psicosocials Aplicades a la Salut, en el Grau d"Infermeria a l"Escola d" infermeria de la Universitat de Barcelona, està ben enfocada per assolir una avaluació continuada de qualitat. Metodologia: Es presenta a traves d"un estudi descriptiu. La població estudiada mitjançant un qüestionari, ha estat els estudiants dels quatre grups de primer curs, del primer any de desenvolupament del Grau d"Infermeria en el nostre Centre, passades el curs acadèmic 2009-2010, amb una mostra total de 221 alumnes. Conclusions: Els resultats permeten tres franges interpretatives: 1) qualificació de notable que fa referència a la modalitat disciplinar i experiència docent del professorat, 2) qualificació entre notable i aprovat referida a la metodologia didàctica i organitzativa, 3) qualificació d"aprovat que fa referència a les tutories.

Feblesa de tutories: manca de feedback i autoregulació en l'estudiant d'infermeria. Valoració de l'avaluació continuada en l'assignatura Ciències Psicosocials Aplicades a la Salut en el Grau d'Infermeria (EEES), (2009-2010)

Resum: En el nou model derivat de l"Espai Europeu d"Educació Superior (EEES), l"ensenyament aprenentatge (E-A) es centra en l"estudiant, enfront del rol més destacat del professor en l"ensenyament tradicional. El procés d"experimentació al que assistim en el nostre medi, requereix la valoració de les primeres experiències. Objectiu: L"objectiu d"aquest estudi és identificar si la metodologia utilitzada en l"assignatura Ciències Psicosocials Aplicades a la Salut, en el Grau d"Infermeria a l"Escola d" infermeria de la Universitat de Barcelona, està ben enfocada per assolir una avaluació continuada de qualitat. Metodologia: Es presenta a traves d"un estudi descriptiu. La població estudiada mitjançant un qüestionari, ha estat els estudiants dels quatre grups de primer curs, del primer any de desenvolupament del Grau d"Infermeria en el nostre Centre, passades el curs acadèmic 2009-2010, amb una mostra total de 221 alumnes. Conclusions: Els resultats permeten tres franges interpretatives: 1) qualificació de notable que fa referència a la modalitat disciplinar i experiència docent del professorat, 2) qualificació entre notable i aprovat referida a la metodologia didàctica i organitzativa, 3) qualificació d"aprovat que fa referència a les tutories.

Lineaarisen hammashihnaservokäytön tilasäätö

Tuotantotehokkuus näyttelee yhä suurempaa roolia teollisuudessa, minkä vuoksi myös pakkauslinjas­toille joudutaan asettamaan suuria vaatimuksia. Usein leik­kaus- ja kappaleensiirtosovelluksissa käyte­tään lineaarisia ruuvikäyttöjä, jotka voitaisiin tietyin edellytyksin korvata halvemmilla ja osittain suori­tuskykyisimmillä hammashihnavetoisilla johteilla. Yleensä paikkasäädetty työsolu muodostuu kahden tai kolmen eri koordinaatisto­akselin suuntaan asen­netuista johteista. Tällaisen työsolun paikoitustarkkuuteen vaikuttavat muun muassa käytetty säätöra­kenne, moottorisäätöketjun viiveet, sekä laitteiston eri epälineaarisuudet, kuten kitka. Tässä työssä esitetään lineaarisen hammashihnaservokäytön dynaamista käytöstä kuvaava matemaatti­nen malli ja laaditaan mallin pohjalta laitteen simulointimalli. Mallin toimivuus varmistetaan käytän­nön identifiointitesteillä. Lisäksi työssä tut­kitaan, kuinka hyvään suorituskykyyn lineaarinen hammas­hihnaservokäyttö kyke­nee, jos teollisuudessa paikoitussäätörakenteena tyypillisesti käytetty kaskadira­kenne tai PID-rakenne korvataan kehittyneemmällä mallipohjaisella tilasäädinra­kenteella. Säädön toi­mintaa arvioidaan simulointien ja koelaitteistolla suoritetta­vien mittaus­ten perusteella.

Feedback i oportunitats de millora: una avaluació orientada a l"aprenentatge actiu

This paper analyzes an innovative experience of formative assessment aimed at improving the teaching of Statistics, which could be easily extrapolated to other studies. We detail the implementation of the double correction, consisting of correcting students' work twice. With the first correction, carried out by classmates according to a rubric developed by the academic, possible errors or deficiencies are discovered, and students are provided with a feedback that allows them to correct and improve their work before being graded by the teacher; whereas in the second correction of the work, once upgraded, the professor evaluates and grades the work. As a result, there is a significant improvement in the quality of students" works, and an active learning from their own mistakes. Both contents and competencies are reinforced by the experience.

Negative feedback regulation of calcineurin-dependent Prz1 transcription factor by the CaMKK-CaMK1 axis in fission yeast

Calcium signals trigger the translocation of the Prz1 transcription factor from the cytoplasm to the nucleus. The process is regulated by the calciumactivated phosphatase calcineurin, which activates Prz1 thereby maintaining active transcription during calcium signalling. When calcium signalling ceases, Prz1 is inactivated by phosphorylation and exported to the cytoplasm. In budding yeast and mammalian cells, different kinases have been reported to counter calcineurin activity and regulate nuclear export. Here, we show that the Ca2+/calmodulin-dependent kinase Cmk1 is first phosphorylated and activated by the newly identified kinase CaMKK2 homologue, Ckk2, in response to Ca2+. Then, active Cmk1 binds, phosphorylates and inactivates Prz1 transcription activity whilst at the same time cmk1 expression is enhanced by Prz1 in response to Ca2+. Furthermore, Cdc25 phosphatase is also phosphorylated by Cmk1, inducing cell cycle arrest in response to an increase in Ca2+. Moreover, cmk1 deletion shows a high tolerance to chronic exposure to Ca2+, due to the lack of cell cycle inhibition and elevated Prz1 activity. This work reveals that Cmk1 kinase activated by the newly identified Ckk2 counteracts calcineurin function by negatively regulating Prz1 activity which in turn is involved in activating cmk1 gene transcription. These results are the first insights into Cmk1 and Ckk2 function in Schizosaccharomyces pombe.