Fractional order modelling of fractional-order holds

Discrete time control systems require sample- and-hold circuits to perform the conversion from digital to analog. Fractional-Order Holds (FROHs) are an interpolation between the classical zero and first order holds and can be tuned to produce better system performance. However, the model of the FROH is somewhat hermetic and the design of the system becomes unnecessarily complicated. This paper addresses the modelling of the FROHs using the concepts of Fractional Calculus (FC). For this purpose, two simple fractional-order approximations are proposed whose parameters are estimated by a genetic algorithm. The results are simple to interpret, demonstrating that FC is a useful tool for the analysis of these devices.

The effect of fractional order in variable structure control

This paper studies fractional variable structure controllers. Two cases are considered namely, the sliding reference model and the control action, that are generalized from integer into fractional orders. The test bed consists in a mechanical manipulator and the effect of the fractional approach upon the system performance is evaluated. The results show that fractional dynamics, both in the switching surface and the control law are important design algorithms in variable structure controllers.

Modeling and control of a dragonfly-like robot

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

Fuzzy, integer and fractional-order control: application on a wind turbine benchmark model

This paper presents a comparison between proportional integral control approaches for variable speed wind turbines. Integer and fractional-order controllers are designed using linearized wind turbine model whilst fuzzy controller also takes into account system nonlinearities. These controllers operate in the full load region and the main objective is to extract maximum power from the wind turbine while ensuring the performance and reliability required to be integrated into an electric grid. The main contribution focuses on the use of fractional-order proportional integral (FOPI) controller which benefits from the introduction of one more tuning parameter, the integral fractional-order, taking advantage over integer order proportional integral (PI) controller. A comparison between proposed control approaches for the variable speed wind turbines is presented using a wind turbine benchmark model in the Matlab/Simulink environment. Results show that FOPI has improved system performance when compared with classical PI and fuzzy PI controller outperforms the integer and fractional-order control due to its capability to deal with system nonlinearities and uncertainties. © 2014 IEEE.

A survey of technologies and applications for climbing robots locomotion and adhesion

The interest in the development of climbing robots has grown rapidly in the last years. Climbing robots are useful devices that can be adopted in a variety of applications, such as maintenance and inspection in the process and construction industries. These systems are mainly adopted in places where direct access by a human operator is very expensive, because of the need for scaffolding, or very dangerous, due to the presence of an hostile environment. The main motivations are to increase the operation efficiency, by eliminating the costly assembly of scaffolding, or to protect human health and safety in hazardous tasks. Several climbing robots have already been developed, and other are under development, for applications ranging from cleaning to inspection of difficult to reach constructions. A wall climbing robot should not only be light, but also have large payload, so that it may reduce excessive adhesion forces and carry instrumentations during navigation. These machines should be capable of travelling over different types of surfaces, with different inclinations, such as floors, walls, or ceilings, and to walk between such surfaces (Elliot et al. (2006); Sattar et al. (2002)). Furthermore, they should be able of adapting and reconfiguring for various environment conditions and to be self-contained. Up to now, considerable research was devoted to these machines and various types of experimental models were already proposed (according to Chen et al. (2006), over 200 prototypes aimed at such applications had been developed in the world by the year 2006). However, we have to notice that the application of climbing robots is still limited. Apart from a couple successful industrialized products, most are only prototypes and few of them can be found in common use due to unsatisfactory performance in on-site tests (regarding aspects such as their speed, cost and reliability). Chen et al. (2006) present the main design problems affecting the system performance of climbing robots and also suggest solutions to these problems. The major two issues in the design of wall climbing robots are their locomotion and adhesion methods. With respect to the locomotion type, four types are often considered: the crawler, the wheeled, the legged and the propulsion robots. Although the crawler type is able to move relatively faster, it is not adequate to be applied in rough environments. On the other hand, the legged type easily copes with obstacles found in the environment, whereas generally its speed is lower and requires complex control systems. Regarding the adhesion to the surface, the robots should be able to produce a secure gripping force using a light-weight mechanism. The adhesion method is generally classified into four groups: suction force, magnetic, gripping to the surface and thrust force type. Nevertheless, recently new methods for assuring the adhesion, based in biological findings, were proposed. The vacuum type principle is light and easy to control though it presents the problem of supplying compressed air. An alternative, with costs in terms of weight, is the adoption of a vacuum pump. The magnetic type principle implies heavy actuators and is used only for ferromagnetic surfaces. The thrust force type robots make use of the forces developed by thrusters to adhere to the surfaces, but are used in very restricted and specific applications. Bearing these facts in mind, this chapter presents a survey of different applications and technologies adopted for the implementation of climbing robots locomotion and adhesion to surfaces, focusing on the new technologies that are recently being developed to fulfill these objectives. The chapter is organized as follows. Section two presents several applications of climbing robots. Sections three and four present the main locomotion principles, and the main "conventional" technologies for adhering to surfaces, respectively. Section five describes recent biological inspired technologies for robot adhesion to surfaces. Section six introduces several new architectures for climbing robots. Finally, section seven outlines the main conclusions.

Reliability and availability in reconfigurable computing: a basis for a common solution

Dynamically reconfigurable SRAM-based field-programmable gate arrays (FPGAs) enable the implementation of reconfigurable computing systems where several applications may be run simultaneously, sharing the available resources according to their own immediate functional requirements. To exclude malfunctioning due to faulty elements, the reliability of all FPGA resources must be guaranteed. Since resource allocation takes place asynchronously, an online structural test scheme is the only way of ensuring reliable system operation. On the other hand, this test scheme should not disturb the operation of the circuit, otherwise availability would be compromised. System performance is also influenced by the efficiency of the management strategies that must be able to dynamically allocate enough resources when requested by each application. As those resources are allocated and later released, many small free resource blocks are created, which are left unused due to performance and routing restrictions. To avoid wasting logic resources, the FPGA logic space must be defragmented regularly. This paper presents a non-intrusive active replication procedure that supports the proposed test methodology and the implementation of defragmentation strategies, assuring both the availability of resources and their perfect working condition, without disturbing system operation.

Towards high-available and energy-efficient virtual computing environments in the cloud

Empowered by virtualisation technology, cloud infrastructures enable the construction of flexi- ble and elastic computing environments, providing an opportunity for energy and resource cost optimisation while enhancing system availability and achieving high performance. A crucial re- quirement for effective consolidation is the ability to efficiently utilise system resources for high- availability computing and energy-efficiency optimisation to reduce operational costs and carbon footprints in the environment. Additionally, failures in highly networked computing systems can negatively impact system performance substantially, prohibiting the system from achieving its initial objectives. In this paper, we propose algorithms to dynamically construct and readjust vir- tual clusters to enable the execution of users’ jobs. Allied with an energy optimising mechanism to detect and mitigate energy inefficiencies, our decision-making algorithms leverage virtuali- sation tools to provide proactive fault-tolerance and energy-efficiency to virtual clusters. We conducted simulations by injecting random synthetic jobs and jobs using the latest version of the Google cloud tracelogs. The results indicate that our strategy improves the work per Joule ratio by approximately 12.9% and the working efficiency by almost 15.9% compared with other state-of-the-art algorithms.

A new approach to assess defragmentation strategies in dynamically reconfigurable FPGAs

Fragmentation on dynamically reconfigurable FPGAs is a major obstacle to the efficient management of the logic space in reconfigurable systems. When resource allocation decisions have to be made at run-time a rearrangement may be necessary to release enough contiguous resources to implement incoming functions. The feasibility of run-time relocation depends on the processing time required to set up rearrangements. Moreover, the performance of the relocated functions should not be affected by this process or otherwise the whole system performance, and even its operation, may be at risk. Relocation should take into account not only specific functional issues, but also the FPGA architecture, since these two aspects are normally intertwined. A simple and fast method to assess performance degradation of a function during relocation and to speed up the defragmentation process, based on previous function labelling and on the application of the Euclidian distance concept, is proposed in this paper.

Run-time defragmentation for dynamically reconfigurable hardware

Reconfigurable computing experienced a considerable expansion in the last few years, due in part to the fast run-time partial reconfiguration features offered by recent SRAM-based Field Programmable Gate Arrays (FPGAs), which allowed the implementation in real-time of dynamic resource allocation strategies, with multiple independent functions from different applications sharing the same logic resources in the space and temporal domains. However, when the sequence of reconfigurations to be performed is not predictable, the efficient management of the logic space available becomes the greatest challenge posed to these systems. Resource allocation decisions have to be made concurrently with system operation, taking into account function priorities and optimizing the space currently available. As a consequence of the unpredictability of this allocation procedure, the logic space becomes fragmented, with many small areas of free resources failing to satisfy most requests and so remaining unused. A rearrangement of the currently running functions is therefore necessary, so as to obtain enough contiguous space to implement incoming functions, avoiding the spreading of their components and the resulting degradation of system performance. A novel active relocation procedure for Configurable Logic Blocks (CLBs) is herein presented, able to carry out online rearrangements, defragmenting the available FPGA resources without disturbing functions currently running.

O controlo da tuberculose em Portugal : uma apreciação crítica epidemiológica gl

RESUMO - Com tanto ruído informativo e peças de informação incompletas e descontextualizadas, relativos ao controlo da tuberculose em Portugal, a chegarem ao cidadão e aos profissionais de saúde, não é fácil que eles disponham do conhecimento necessário ao desempenho dos respectivos papéis nesse controlo. O presente artigo pretende contribuir para um ganho real em conhecimento quanto (1) ao progresso no controlo da tuberculose em Portugal, enquadrado na evolução desse controlo noutras regiões pertinentes, e (2) aos aspectos do conhecimento disponível e da intervenção na população portuguesa que suscitem especial atenção, para melhoria no futuro imediato. Tem como estratégia integrar, e elevar ao nível de conhecimento, a informação disponibilizada nas fontes mais credíveis e pertinentes, valorizada no contexto da validade das mesmas fontes e da coerência dos diversos componentes. Relata o resultado de um exercício independente de apreciação crítica, com uma perspectiva epidemiológica. São observados: a situação actual, sobretudo a relativa aos anos de 2006 e 2007, e o desempenho do Programa Nacional de Controlo da Tuberculose (PNT), ambos relativizados à evolução recente e ao panorama internacional. O exercício de observação e revisão independentes baseia-se numa selecção de informação oficial e segue o mesmo método de abordagem que a O.M.S. faz nos seus relatórios anuais, à semelhança de outros exercícios já antes realizados. O controlo da tuberculose tem prosseguido a sua tímida, mas firme, evolução favorável, aproximando-se do nível já conseguido nos países seus vizinhos da Europa Ocidental. Em 2007, Portugal contribuiu para os 9 milhões de casos novos anuais, estimados no mundo, com 2916 casos notificados. A este número corresponde a taxa de incidência notificada de 25,7 por 100 000 habitantes e uma redução de 14% em relação ao ano anterior. Esta evolução afigura-se animadora, ainda que seja desejável um impacte mais acentuado do PNT, conforme é de esperar considerando o grau de desenvolvimento do País. A taxa de detecção de casos novos estimada é elevada e continua uma das melhores da Europa Ocidental — o que desfavorece artificialmente a imagem notificada do País, relativamente aos países com pior capacidade de detecção. A taxa de sucesso terapêutico melhorou de novo, situando- -se acima da meta de 85% preconizada pela O.M.S, para um bom controlo da tuberculose. Uma das consequências importantes é que se consegue um melhor aproveitamento da detecção habitualmente alcançada. O conhecimento no seu conjunto aponta para que o grau de controlo possa e deva realmente ser melhorado, sendo imperiosa a discriminação positiva das áreas geográficas e dos grupos populacionais em que tende a concentrar-se a emergência de maior número de casos e de resistências aos medicamentos. Deverão assim ser reforçados selectivamente tanto os meios de detecção e de intervenção clínica, como a qualidade da organização local da intervenção, para o cumprimento efectivo da estratégia DOTS. Enquanto programa vertical que atravessa os diversos níveis do sistema de cuidados de saúde, o desempenho do PNT sofre os efeitos das atribulações desses serviços, sobretudo os de cuidados primários, funcionando como uma «situação-marcadora» quanto ao desempenho do sistema de saúde. A evidência é de que é nesta primeira linha de cuidados que se decide o sucesso na detecção e no tratamento dos casos de tuberculose, reflectindo-se também aí o grau de desenvolvimento social e os comportamentos das populações, por sua vez determinantes do risco de doença e do sucesso terapêutico. ------------------- ABSTRACT - It is not easy that both the citizen and health professionals get enabled with the required knowledge, in order do play the corresponding roles in the control of tuberculosis, considering all the information noise and incomplete, out of context information pieces about the subject, that reach them. This paper is envisaging to contribute for a real gain in knowledge, regarding: (1) the progress in tuberculosis control in Portugal, framed by the evolution of such control in other pertinent regions and (2) the available knowledge and intervention aspects in the Portuguese population that require a special attention, for improvement. The article’s strategy is to integrate, and raise to a knowledge level, information provided by the most accredited and pertinent sources, interpreted as a function of the validity context of the same sources and of the coherence of the several components. Two aspects are observed: the current situation, in particular concerning years 2006 and 2007, and the performance of the National Programme for the Tuberculosis Control (PNT), both made relative to the recent evolution and to the international panorama. This independent observation and revision exercise is based on a selection of official information and follows the same approach that the World Health Organization (W.H.O.) uses in its annual reports, like other similar exercises previously undertaken. The control of tuberculosis is evolving in a shy, but firm, fashion, getting closer to the level already attained by the neighbor countries, in Western Europe. Portugal has contributed with 2916 new notified cases, to the 9 million annual cases estimated in the world, in 2007. This number corresponds to an incidence rate, for notified cases, of 25.7 per 100000 population, and to a reduction of 14% in one year. Such evolution seems encouraging, although a greater impact of PNT is desirable, as expected in relation to the degree of the Country development. Estimated new cases detection rate is high and keeps being one of the best in Western Europe — and this artificially disadvantages the notified image of the Country, as compared with other countries having a worst detection capacity. Treatment success rate has improved again and it is above the 85% target proposed by W.H.O., so that a good control of the disease is achieved. One of the important consequences is a better use of the attained detection. Altogether, knowledge suggests that the degree of control can and must be in fact better; and that a positive discrimination of geographic areas and population groups, in which a greater number of new cases and drug resistances tend to concentrate, is mandatory. Therefore, either clinical detection and intervention resources, or the quality of the local intervention organization have to be reinforced, if a total fulfillment of DOTS strategy is to be obtained. As a vertical programme that crosses the several levels of the health care system, PNT performance suffers the effects of services tribulations, mainly primary care, thus acting as a «markersituation » as to this system performance. Evidence shows that it is in this first line of care that success in both detection and treatment of tuberculosis cases is decided; and that this level also reveals the degree of social developmen

Modeling and Control of a Dragonfly-Like Robot

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper it is studied the dynamics of a dragonfly-inspired robot. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movement, the dynamics and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

Gait Analysis of Natural and Artificial Walking Systems

This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute energy, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Energy analysis of Multi-legged Locomotion Systems

4th International Conference on Climbing and Walking Robots - From Biology to Industrial Applications

Adaptive modeling and high quality spectral estimation for speech enhancement

In this work an adaptive modeling and spectral estimation scheme based on a dual Discrete Kalman Filtering (DKF) is proposed for speech enhancement. Both speech and noise signals are modeled by an autoregressive structure which provides an underlying time frame dependency and improves time-frequency resolution. The model parameters are arranged to obtain a combined state-space model and are also used to calculate instantaneous power spectral density estimates. The speech enhancement is performed by a dual discrete Kalman filter that simultaneously gives estimates for the models and the signals. This approach is particularly useful as a pre-processing module for parametric based speech recognition systems that rely on spectral time dependent models. The system performance has been evaluated by a set of human listeners and by spectral distances. In both cases the use of this pre-processing module has led to improved results.

QoS in LEO satellite networks with multipacket reception

Dissertação apresentada para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia