A Direct Approach to Robustness Optimization

This dissertation reformulates and streamlines the core tools of robustness analysis for linear time invariant systems using now-standard methods in convex optimization. In particular, robust performance analysis can be formulated as a primal convex optimization in the form of a semidefinite program using a semidefinite representation of a set of Gramians. The same approach with semidefinite programming duality is applied to develop a linear matrix inequality test for well-connectedness analysis, and many existing results such as the Kalman-Yakubovich--Popov lemma and various scaled small gain tests are derived in an elegant fashion. More importantly, unlike the classical approach, a decision variable in this novel optimization framework contains all inner products of signals in a system, and an algorithm for constructing an input and state pair of a system corresponding to the optimal solution of robustness optimization is presented based on this information. This insight may open up new research directions, and as one such example, this dissertation proposes a semidefinite programming relaxation of a cardinality constrained variant of the H ∞ norm, which we term sparse H ∞ analysis, where an adversarial disturbance can use only a limited number of channels. Finally, sparse H ∞ analysis is applied to the linearized swing dynamics in order to detect potential vulnerable spots in power networks.

Suspensión trasera regulable pra una moto de competición: altenrativa full-floater

[ES] El objeto de este estudio consiste en el diseño de un sistema de suspensión trasera regulable y progresiva, así como el prediseño de un basculante, para una motocicleta de competición. La motocicleta compite dentro de la categoría MotoStudent, por lo que se ha realizado el estudio de acuerdo con las normas de la Organización y las especificaciones del equipo de la ETSI.

Diseño del sistema de tensor de cadena y acople de pinza de freno trasero para moto de competición.

[ES]En este documento se propone el diseño de dos sistemas imprescindibles en el tren trasero de una moto de competición, el sistema de tensor de cadena y el del acople de pinza de freno trasero. Junto a estos sistemas se diseñará, dada su relevancia, el basculante de la moto. Estos diseños se realizarán de tal manera que cumplan una serie de requisitos geométricos y de resistencia, garantizando en todo momento la estabilidad y seguridad del piloto. Se realizará también el estudio de la fabricación de cada uno de los elementos que componen los sistemas, con el fin de realizar diseños viables, que resulten económicamente factibles y mantengan un alto grado de calidad. En el proyecto se analizarán las diferentes alternativas de los sistemas que se puedan adoptar, sus ventajas y desventajas, para así poder escoger, con un alto grado de seguridad, la opción que mejor cumpla los objetivos y condiciones establecidos. Cabe destacar que este proyecto se encuentra dentro de otro de mayor envergadura consistente en el diseño y la fabricación de una motocicleta de competición para participar en el campeonato internacional llamado “MotoStudent”. Esta competición se realiza entre universidades de todo el mundo y en ella los equipos de estudiantes se enfrentan al desafío de diseñar y desarrollar un prototipo de motocicleta de competición similar a la categoría mundialista de “Moto3”.

Linhas imprevistas no horizonte

Linhas Imprevistas no Horizonte é uma reflexão sobre experiências de desestabilização de um limite imaginado da paisagem, sugerido pela linha do horizonte. Este traço do pensamento é materializado através de vídeos ou objetos em operações poéticas que investigam novos olhares sobre a paisagem. São registros de gestos que se situam entre a desconstrução e a permanência dessa demarcação fictícia. Os trabalhos partem da linha enquanto elemento essencial do desenho para investigar as tensões produzidas ao redesenhar as fronteiras desestabilizadas. Aproximações, deslocamentos, superposição de imagens, espelhamentos e alteração de escalas são alguns dos recursos explorados para questionar o visível e resignificar a paisagem natural. Da mesma forma que cartografias e objetos antigos agregam novos significados às linhas que compõem paisagens poéticas. Assim os trabalhos oscilam entre o desejo de imersão no espaço para fazer fugir os limites e a necessidade de distanciar-se para ver sem perder o foco. Conceitos surgem de conexões entre a arte e a biologia e buscam repensar vivências associadas à sensação de desterritorialização. O que move o processo artístico é a reinvenção constante das identidades humanas e territoriais, associada à noção de paisagem como uma experiência do corpo no espaço

Saberes do corpo: capoeira, cultura corporal e educação

A Capoeira é defesa, é ataque, é ginga de corpo, é malandragem, ação e reação, um jogo de xadrez, segundo alguns capoeiristas. Para uns, esporte, para outros dança, luta, briga, filosofia de vida. Mas há ainda os que a veem como um espetáculo acrobático de habilidades corporais propagado nos filmes, shows, jogos de vídeo game, eventos turísticos, acabando por criar determinados estereótipos corporais de beleza e desempenho físico. Nesse sentido, a pesquisa teve como objetivo descrever, analisar e interpretar a cultura corporal, assim como a percepção de capoeiristas em relação ao corpo na capoeira, e dos seus contramestres/mestrando, localizados em diferentes grupos de capoeira situados em diferentes instituições, tais como: Bloco de carnaval; Clube esportivo; Academia de ginástica. Parte-se do entendimento de cultura corporal enquanto expressão de uma cultura historicamente construída, acumulada, ressignificada e expressa pelos movimentos corporais que destaca traços marcantes de um determinado grupo, de uma determinada localidade. Neste caso, dos diferentes grupos de capoeira e de suas respectivas instituições. Qual a percepção dos capoeiristas em relação ao seu próprio corpo, ao corpo de seus colegas e de seu contramestre/mestrando de capoeira? O que esperam os capoeiristas aprenderem na capoeira? E para esses capoeiristas e seus contramestres/mestrando qual o principal objetivo ao se ensinar/aprender capoeira? Seria algo em torno de um aspecto mais tecnicista que visasse prioritariamente o desenvolvimento e aperfeiçoamento das técnicas dos movimentos, floreios, esquivas? Ou também, aliado a estes aspectos, seria mais importante, para os capoeiristas, conhecer a história da capoeira, como esta veio ao longo do tempo se ressignificando e resistindo para ser hoje reconhecida como um esporte verdadeiramente nacional? Será que haveria aqueles que praticassem capoeira simplesmente para manter um padrão corporal estético propagado pela mídia e pela indústria da moda? A partir das observações, reflexões e interpretações das entrevistas chega-se a conclusão que de fato as instituições nas quais os grupos realizam suas práticas podem influenciar na filosofia de ensino/aprendizado destes. E que as percepções e interesses dos capoeiristas em relação ao próprio corpo variam pela busca de um melhor desempenho técnico, padrão de estética e pelo conhecimento histórico da capoeira, dos movimentos, golpes, esquivas e como estes vem ao longo do tempo se ressignificando

Distribution, demography, and discard mortality of crabs caught as bycatch in an experimental pot fishery for toothfish (Dissostichus eleginoides) in the South Atlantic

Between March 2000 and April 2001 two commercial fishing vessels fished for toothfish (Dissostichus eleginoides) off South Georgia using pots. A significant number of lithodid crabs (three species of Paralomis spp.) were caught as bycatch. Paralomis spinosissima occurred in shallow water, generally shallower than 700 m. Paralomis anamerae, not previously reported from this area and therefore representing a considerable southerly extension in the reported geographic range of this species, had an intermediate depth distribution from 400 to 800 m. Paralomis formosa was present in shallow waters but reached much higher catch levels (and, presumably, densities) between 800 and 1400 m. Differences were also noted in depth distribution of the sexes and size of crabs. Depth, soak time, and area were found to significantly influence crab catch rates. Few crabs (3% of P. spinosissima and 7% of P. formosa) were males above the legal size limit and could therefore be retained. All other crabs were discarded. Most crabs (>99% of P. formosa, >97% of P. spinosissima, and >90% of P. anamerae) were lively on arrival on deck and at subsequent discard. Mortality rates estimated from re-immersion experiments indicated that on the vessel where pots were emptied directly onto the factory conveyor belt 78–89% of crabs would survive discarding, whereas on the vessel where crabs were emptied down a vertical chute prior to being sorted, survivorship was 38–58%. Of the three, P. anamerae was the most vulnerable to handling onboard and sub-sequent discarding. Paralomis spinosissima seemed more vulnerable than P. formosa.

Perspectives on the origin of microfilaments, microtubules, the relevant chaperonin system and cytoskeletal motors - a commentary on the spirochaete origin of flagella

The origin of cytoskeleton and the origin of relevant intracellular transportation system are big problems for understanding the emergence of eukaryotic cells. The present article summarized relevant information of evidences and molecular traces on the origin of actin, tubulin, the chaperonin system for folding them, myosins, kinesins, axonemal dyneins and cytoplasmic dyneins. On this basis the authors proposed a series of works, which should be done in the future, and indicated the ways for reaching the targets. These targets are mainly: 1) the reconstruction of evolutionary path from MreB protein of archaeal ancestor of eukaryotic cells to typical actin; 2) the finding of the MreB or MreB-related proteins in crenarchaea and using them to examine J. A. Lake's hypothesis on the origin of eukaryote from "eocytes" (crenarchaea); 3) the examinations of the existence and distribution of cytoskeleton made of MreB-related protein within coccoid archaea, especially in amoeboid archaeon Thermoplasm acidophilum; 4) using Thermoplasma as a model of archaeal ancestor of eukaryotic cells; 5) the searching for the homolog of ancestral dynein in present-day living archaea. During the writing of this article, Margulis' famous spirochaete hypothesis on the origin of flagella and cilia was unexpectedly involved and analyzed from aspects of tubulins, dyneins and spirochaetes. Actually, spirochaete cannot be reasonably assumed as the ectosymbiotic ancestor of eukaryotic flagella and cilia, since their swing depends upon large amount of bacterial flagella beneath the flexible outer wall, but not depends upon their intracellular tubules and the assumed dyneins. In this case, if they had "evolved" into cilia and lost their bacterial flagella, they would immediately become immobile! In fact, tubulin and dynein-like proteins have not been found in any spirochaete.

Active steering of a tractor-semi-trailer

This paper develops a path-following steering control strategy for an articulated heavy goods vehicle. The controller steers the axles of the semi-trailer so that its rear end follows the path of the fifth wheel coupling: for all paths and all speeds. This substantially improves low-speed manoeuvrability, off-tracking, and tyre scrubbing (wear). It also increases high-speed stability, reduces 'rearward amplification', and reduces the propensity to roll over in high-speed transient manoeuvres. The design of a novel experimental heavy goods vehicle with three independent hydraulically actuated steering axles is presented. The path-following controller is tested on the experimental vehicle, at low and high speeds. The field test results are compared with vehicle simulations and found to agree well. The benefits of this steering control approach are quantified. In a low-speed 'roundabout' manoeuvre, low-speed off-tracking was reduced by 73 per cent, from 4.25 m for a conventional vehicle to 1.15 m for the experimental vehicle; swept-path width was reduced by 2 m (28 per cent); peak scrubbing tyre forces were reduced by 83 per cent; and entry tail-swing was eliminated. In an 80 km/h lane-change manoeuvre, peak path error for the experimental vehicle was 33 per cent less than for the conventional vehicle, and rearward amplification of the trailer was 35 per cent less. Increasing the bandwidth of the steering actuators improved the high-speed dynamic performance of the vehicle, but at the expense of increased oil flow.

The brave new era of human genetic testing

The commercialization of 'big science' is in full swing, leading to situations in which the ethical principles of academia are beginning to be compromised. This is exemplified by the profitable business of genetic ancestry testing. The goals of this sort

Effect of bend orientation on life and puncture point location due to solid particle erosion of a high concentration flow in pneumatic conveyors

An investigation into predicting failure of pneumatic conveyor pipe bends due to hard solid particle impact erosion has been carried out on an industrial scale test rig. The bend puncture point locations may vary with many factors. However, bend orientation was suspected of being a main factor due to the biased particle distribution pattern of a high concentration flow. In this paper, puncture point locations have been studied with different pipe bend orientations and geometry (a solids loading ratio of 10 being used for the high concentration flow). Test results confirmed that the puncture point location is indeed most significantly influenced by the bend orientation (especially for a high concentration flow) due to the biased particle distribution and biased particle flux distribution. © 2004 Elsevier B.V. All rights reserved.

SoC energy savings = reduce+reuse+recycle: A case study using a 660MHz DC-DC converter with integrated output filter

This paper advocates 'reduce, reuse, recycle' as a complete energy savings strategy. While reduction has been common to date, there is growing need to emphasize reuse and recycling as well. We design a DC-DC buck converter to demonstrate the 3 techniques: reduce with low-swing and zero voltage switching (ZVS), reuse with supply stacking, and recycle with regulated delivery of excess energy to the output load. The efficiency gained from these 3 techniques helps offset the loss of operating drivers at very high switching frequencies which are needed to move the output filter completely on-chip. A prototype was fabricated in 0.18μm CMOS, operates at 660MHz, and converts 2.2V to 0.75-1.0V at ∼50mA.1 © 2008 IEEE.

A 660MHz ZVS DC-DC converter using gate-driver charge-recycling in 0.18μm CMOS with an integrated output filter

The design and manufacture of a prototype chip level power supply is described, with both simulated and experimental results. Of particular interest is the inclusion of a fully integrated on-chip LC filter. A high switching frequency of 660MHz and the design of a device drive circuit reduce losses by supply stacking, low-swing signaling and charge recycling. The paper demonstrates that a chip level converter operating at high frequency can be built and shows how this can be achieved, using zero voltage switching techniques similar to those commonly used in larger converters. Both simulations and experimental data from a fabricated circuit in 0.18μm CMOS are included. The circuit converts 2.2V to 0.75∼1.0V at ∼55mA. ©2008 IEEE.

Device and circuit-level performance of carbon nanotube field-effect transistor with benchmarking against a nano-MOSFET

The performance of a semiconducting carbon nanotube (CNT) is assessed and tabulated for parameters against those of a metal-oxide-semiconductor field-effect transistor (MOSFET). Both CNT and MOSFET models considered agree well with the trends in the available experimental data. The results obtained show that nanotubes can significantly reduce the drain-induced barrier lowering effect and subthreshold swing in silicon channel replacement while sustaining smaller channel area at higher current density. Performance metrics of both devices such as current drive strength, current on-off ratio (Ion/Ioff), energy-delay product, and power-delay product for logic gates, namely NAND and NOR, are presented. Design rules used for carbon nanotube field-effect transistors (CNTFETs) are compatible with the 45-nm MOSFET technology. The parasitics associated with interconnects are also incorporated in the model. Interconnects can affect the propagation delay in a CNTFET. Smaller length interconnects result in higher cutoff frequency. © 2012 Tan et al.

Modelling and control of nonlinear systems using Gaussian processes with partial model information

Gaussian processes are gaining increasing popularity among the control community, in particular for the modelling of discrete time state space systems. However, it has not been clear how to incorporate model information, in the form of known state relationships, when using a Gaussian process as a predictive model. An obvious example of known prior information is position and velocity related states. Incorporation of such information would be beneficial both computationally and for faster dynamics learning. This paper introduces a method of achieving this, yielding faster dynamics learning and a reduction in computational effort from O(Dn2) to O((D - F)n2) in the prediction stage for a system with D states, F known state relationships and n observations. The effectiveness of the method is demonstrated through its inclusion in the PILCO learning algorithm with application to the swing-up and balance of a torque-limited pendulum and the balancing of a robotic unicycle in simulation. © 2012 IEEE.

Flexible conversion ratio fast reactors: Overview

Conceptual designs of lead-cooled and liquid salt-cooled fast flexible conversion ratio reactors were developed. The performance achievable by the unity conversion ratio cores of these reactors was compared to an existing supercritical carbon dioxide-cooled (S-CO2) fast reactor design and an uprated version of an existing sodium-cooled fast reactor. All concepts have cores rated at 2400 MWt. The cores of the liquid-cooled reactors are placed in a large-pool-type vessel with dual-free level, which also contains four intermediate heat exchangers (IHXs) coupling a primary coolant to a compact and efficient supercritical CO2 Brayton cycle power conversion system. The S-CO2 reactor is directly coupled to the S-CO2 Brayton cycle power conversion system. Decay heat is removed passively using an enhanced reactor vessel auxiliary cooling system (RVACS) and a passive secondary auxiliary cooling system (PSACS). The selection of the water-cooled versus air-cooled heat sink for the PSACS as well as the analysis of the probability that the PSACS may fail to complete its mission was performed using risk-informed methodology. In addition to these features, all reactors were designed to be self-controllable. Further, the liquid-cooled reactors utilized common passive decay heat removal systems whereas the S-CO2 uses reliable battery powered blowers for post-LOCA decay heat removal to provide flow in well defined regimes and to accommodate inadvertent bypass flows. The multiple design limits and challenges which constrained the execution of the four fast reactor concepts are elaborated. These include principally neutronics and materials challenges. The neutronic challenges are the large positive coolant reactivity feedback, small fuel temperature coefficient, small effective delayed neutron fraction, large reactivity swing and the transition between different conversion ratio cores. The burnup, temperature and fluence constraints on fuels, cladding and vessel materials are elaborated for three categories of material - materials currently available, available on a relatively short time scale and available only with significant development effort. The selected fuels are the metallic U-TRU-Zr (10% Zr) for unity conversion ratio and TRU-Zr (75% Zr) for zero conversion ratio. The principal selected cladding and vessel materials are HT-9 and A533 or A508, respectively, for current availability, T-91 and 9Cr-1Mo steel for relatively short-term availability and oxide dispersion strengthened ferritic steel (ODS) available only with significant development. © 2009 Elsevier B.V. All rights reserved.