Infinite horizon MPC with non-minimal state space feedback

In the MPC literature, stability is usually assured under the assumption that the state is measured. Since the closed-loop system may be nonlinear because of the constraints, it is not possible to apply the separation principle to prove global stability for the Output feedback case. It is well known that, a nonlinear closed-loop system with the state estimated via an exponentially converging observer combined with a state feedback controller can be unstable even when the controller is stable. One alternative to overcome the state estimation problem is to adopt a non-minimal state space model, in which the states are represented by measured past inputs and outputs [P.C. Young, M.A. Behzadi, C.L. Wang, A. Chotai, Direct digital and adaptative control by input-output, state variable feedback pole assignment, International journal of Control 46 (1987) 1867-1881; C. Wang, P.C. Young, Direct digital control by input-output, state variable feedback: theoretical background, International journal of Control 47 (1988) 97-109]. In this case, no observer is needed since the state variables can be directly measured. However, an important disadvantage of this approach is that the realigned model is not of minimal order, which makes the infinite horizon approach to obtain nominal stability difficult to apply. Here, we propose a method to properly formulate an infinite horizon MPC based on the output-realigned model, which avoids the use of an observer and guarantees the closed loop stability. The simulation results show that, besides providing closed-loop stability for systems with integrating and stable modes, the proposed controller may have a better performance than those MPC controllers that make use of an observer to estimate the current states. (C) 2008 Elsevier Ltd. All rights reserved.

A dynamic model with on-line identification for rotary sugar drying processes

A dynamic modelling methodology, which combines on-line variable estimation and parameter identification with physical laws to form an adaptive model for rotary sugar drying processes, is developed in this paper. In contrast to the conventional rate-based models using empirical transfer coefficients, the heat and mass transfer rates are estimated by using on-line measurements in the new model. Furthermore, a set of improved sectional solid transport equations with localized parameters is developed in this work to reidentified on-line using measurement data, the model is able to closely track the dynamic behaviour of rotary drying processes within a broad range of operational conditions. This adaptive model is validated against experimental data obtained from a pilot-scale rotary sugar dryer. The proposed modelling methodology can be easily incorporated into nonlinear model based control schemes to form a unified modelling and control framework.place the global correlation for the computation of solid retention time. Since a number of key model variables and parameters are identified on-line using measurement data, the model is able to closely track the dynamic behaviour of rotary drying processes within a broad range of operational conditions. This adaptive model is validated against experimental data obtained from a pilot-scale rotary sugar dryer. The proposed modelling methodology can be easily incorporated into nonlinear model based control schemes to form a unified modelling and control framework.

Engineering real-time applications with WorldFIP: tools and analysis

WorldFIP is standardised as European Norm EN 50170 - General Purpose Field Communication System. Field communication systems (fieldbuses) started to be widely used as the communication support for distributed computer-controlled systems (DCCS), and are being used in all sorts of process control and manufacturing applications within different types of industries. There are several advantages in using fieldbuses as a replacement of for the traditional point-to-point links between sensors/actuators and computer-based control systems. Indeed they concern economical ones (cable savings) but, importantly, fieldbuses allow an increased decentralisation and distribution of the processing power over the field. Typically DCCS have real-time requirements that must be fulfilled. By this, we mean that process data must be transferred between network computing nodes within a maximum admissible time span. WorldFIP has very interesting mechanisms to schedule data transfers. It explicit distinguishes to types of traffic: periodic and aperiodic. In this paper we describe how WorldFIP handles these two types of traffic, and more importantly, we provide a comprehensive analysis for guaranteeing the real-time requirements of both types of traffic. A major contribution is made in the analysis of worst-case response time of aperiodic transfer requests.

Distributed computing for the factory-floor: a real-time approach using WorldFIP networks

Field communication systems (fieldbuses) are widely used as the communication support for distributed computer-controlled systems (DCCS) within all sort of process control and manufacturing applications. There are several advantages in the use of fieldbuses as a replacement for the traditional point-to-point links between sensors/actuators and computer-based control systems, within which the most relevant is the decentralisation and distribution of the processing power over the field. A widely used fieldbus is the WorldFIP, which is normalised as European standard EN 50170. Using WorldFIP to support DCCS, an important issue is “how to guarantee the timing requirements of the real-time traffic?” WorldFIP has very interesting mechanisms to schedule data transfers, since it explicitly distinguishes periodic and aperiodic traffic. In this paper, we describe how WorldFIP handles these two types of traffic, and more importantly, we provide a comprehensive analysis on how to guarantee the timing requirements of the real-time traffic.

Dynamic adaptation of stability periods for service level agreements

A QoS adaptation to dynamically changing system conditions that takes into consideration the user’s constraints on the stability of service provisioning is presented. The goal is to allow the system to make QoS adaptation decisions in response to fluctuations in task traffic flow, under the control of the user. We pay special attention to the case where monitoring the stability period and resource load variation of Service Level Agreements for different types of services is used to dynamically adapt future stability periods, according to a feedback control scheme. System’s adaptation behaviour can be configured according to a desired confidence level on future resource usage. The viability of the proposed approach is validated by preliminary experiments.

Towards Active Course Marks for Autonomous Sailing Competitions

This paper describes the environmental monitoring / regatta beacon buoy under development at the Laboratory of Autonomous Systems (LSA) of the Polytechnic Institute of Porto. On the one hand, environmentalmonitoring of open water bodies in real or deferred time is essential to assess and make sensible decisions and, on the other hand, the broadcast in real time of position, water and wind related parameters allows autonomous boats to optimise their regatta performance. This proposal, rather than restraining the boats autonomy, fosters the development of intelligent behaviour by allowing the boats to focus on regatta strategy and tactics. The Nautical and Telemetric Application (NAUTA) buoy is a dual mode reconfigurable system that includes communications, control, data logging, sensing, storage and power subsystems. In environmental monitoring mode, the buoy gathers and stores data from several underwater and above water sensors and, in regatta mode, the buoy becomes an active course mark for the autonomous sailing boats in the vicinity. During a race, the buoy broadcasts its position, together with the wind and the water current local conditions, allowing autonomous boats to navigate towards and round the mark successfully. This project started with the specification of the requirements of the dual mode operation, followed by the design and building of the buoy structure. The research is currently focussed on the development of the modular, reconfigurable, open source-based control system. The NAUTA buoy is innovative, extensible and optimises the on board platform resources.

A layer 2 multipath fabric using a centralized controller

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Lightweight robust behavior industrial agent methodology

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Zylinderdruckbasierte Auflade- und Abgasrückführregelung für PKW-Dieselmotoren

Boost pressure, egr, cylinder pressure, ecu, model based control strategy, diesel engine

Short-course thymoglobulin induction and steroid-free immunosuppressive regimen in renal transplantation

Purpose: Optimal induction and maintenance immunosuppressive therapies in renal transplantation are still a matter of debate.Chronic corticosteroid usage is a major cause of morbidity but steroid-free immunosuppression (SF) can result in unacceptably high rates of acute rejection and even graft loss. Methods and materials: We have conducted a prospective openlabelled clinical trial in the Geneva-Lausanne Transplant Network from March 2005 to May 2008. 20 low immunological risk (<20% PRA, no DSA) adult recipients of a primary kidney allograft received a 4-day course of thymoglobulin (1.5 mg/kg/d) with methylprednisolone and maintenance based immunosuppression of tacrolimus and entericcoated mycophenolic acid (MPA). The control arm consisted of 16 matched recipients treated with basiliximab induction, tacrolimus, mycophenolate mofetil and corticosteroids. Primary endpoints were the percentage of recipients not taking steroids and the percentage of rejection-free recipients at 12 months.Secondary end points were allograft survival at 12 months and significant thymoglobulin and/or other drugs side effects. Results: In the SF group, 85% of the kidney recipients remained steroid-free at 12 months. The 3 cases of steroids introduction were due to one acute tubulo-interstitial rejection occurring at day 11, one tacrolimus withdrawal due to thrombotic microangiopathy and one MPA withdrawal because of multiple sinusitis and CMV reactivations. No BK viremia was detected nor CMV disease. The 6 CMV negative patients who received a positive CMV allograft had a symptomatic primoinfection after their 6-month course valgancyclovir prophylaxis. In the steroid-based group, 3 acute rejection episodes (acute humoral rejection, acute tubulointerstitial Banff IA and vascular Banff IIA) occurred in 2 recipients, 3 BK virus nephropathies were diagnosed between 45 and 135 days post transplant No side effects were associated with thymoglobulin infusion.In the SF group, 4 recipients presented severe leukopenia or agranulocytosis and one recipient had febrile hepatitis leading to transient MPA withdrawal. Discontinuation of MPA was needed in 2 patients for recurrent sinusitis and CMV reactivations. Patient and graft survival was 100% in both groups at 12 month follow-up. Conclusion: Steroid-free with short-course thymoglobulin induction therapy was a safe protocol in low-risk renal transplant recipients. Lower rates of acute rejection and BK virus infections episodes were seen compared to the steroid-based control group. A longer follow-up will be needed to determine whether this SF immunosuppressive regimen will result in higher graft and patient survival.

Controladores PI con acción de reset

El control automàtic exerceix un paper important en molts processos de la industria. Cada un dels sistemes de control requereix d’un controlador, la majoria dels quals són del tipus PI. L’objectiu d’aquest projecte es investigar tècniques que permetin superar les limitacions que tenen els controladors PI lineals. En la resposta d’un sistema de control es poden distingir dues tasques diferents: El seguiment a un canvi d’entrada o consigna correspon a la tasca de servo, mentre que el rebuig a pertorbacions correspon a la tasca de regulatori. Al típic esquema de control realimentat, aquestes dues tasques estan enfrontades, és a dir, una millora a la tasca de servo implica un empitjorament a la tasca de regulatori i a l’inversa. Això suposa un problema al rendiment del sistema, així com la necessitat d’establir un cert compromís entre les dues tasques. El que es pretén en aquest projecte es implementar senzilles regles de control no lineal amb la finalitat de millorar el rendiment del sistema i evitar la necessitat d’establir un compromís entre les dues tasques. Així, es pretén superar les limitacions que aquest té, obtenint controladors PI alternatius fàcilment sintetitzables.

State power and protected areas: Dynamics and contradictions of forest conservation in Madhya Pradesh, India

The traditionally coercive and state-controlled governance of protected areas for nature conservation in developing countries has in many cases undergone change in the context of widespread decentralization and liberalization. This article examines an emerging "mixed" (coercive, community- and market-oriented) conservation approach in managed-resource protected areas and its effects on state power through a case study on forest protection in the central Indian state of Madhya Pradesh. The findings suggest that imperfect decentralization and partial liberalization resulted in changed forms, rather than uniform loss, of state power. A forest co-management program paradoxically strengthened local capacity and influence of the Forest Department, which generally maintained its territorial and knowledge-based control over forests and timber management. Furthermore, deregulation and reregulation enabled the state to withdraw from uneconomic activities but also implied reduced place-based control of non-timber forest products. Generally, the new policies and programs contributed to the separation of livelihoods and forests in Madhya Pradesh. The article concludes that regulatory, community- and market-based initiatives would need to be better coordinated to lead to more effective nature conservation and positive livelihood outcomes.

Gradation Analysis of Cold Feed and Extracted Bituminuous Mix Samples, MLR-88-2, 1988

Since 1987, the Iowa Department of Transportation has based control of hot asphalt concrete mixes on cold feed gradations. This report presents results of comparisons between cold feed gradations and gradations of aggregate from the same material after it has been processed through the plant and laydown machine. Results are categorized based on mix type, plant type, and method of dust control, in an effort to quantify and identify the factors contributing to those changes. Results of the report are: 1. From the 390 sample comparisons made, aggregate degradation due to asphalt plant processing was demonstrated by an average increase of +0.7% passing the #200 sieve and an average increase in surface area of +1.8 sq. ft. per pound of aggregate. 2. Categories with Type A Mix or Recycling as a sorting criteria generally produced greater degradation than categories containing Type B Mixes and/or plants with scrubbers. 3. None of the averages calculated for the categories should be considered unacceptably high, however, it is information that should be considered when making mix changes in the field, selecting asphalt contents for borderline mix designs, or when evaluating potential mix gradation specification or design criteria changes.

Visualizing key authenticity: turning your face into your public key

La informació biomètrica s'ha convertit en una tecnologia complementària a la criptografia que permet administrar còmodament les dades criptogràfiques. Són útils dues necessitats importants: en primer lloc, posar aquestes dades sempre a mà i, a més, fent fàcilment identificable el seu legítim propietari. En aquest article es proposa un sistema que integra la signatura biomètrica de reconeixement facial amb un esquema de signatura basat en la identitat, de manera que la cara de l'usuari esdevé la seva clau pública i la ID del sistema. D'aquesta manera, altres usuaris poden verificar els missatges utilitzant fotos del remitent, proporcionant un intercanvi raonable entre la seguretat del sistema i la usabilitat, així com una manera molt més senzilla d'autenticar claus públiques i processos de distribució.

Virtuaalitodellisuuslaboratorion laiteympäristön kehittäminen - ohjaimet ja ohjelmistot

Tämä diplomityö on tehty osana HumanICT-projektia, jonka tavoitteena on kehittää uusi, virtuaalitekniikoita hyödyntävä, työkoneiden käyttäjäliityntöjen suunnittelumenetelmä. Työn tarkoituksena oli kehittää VTT:n Tuotteet ja tuotanto tutkimusyksikköön kuluvan Ihminen-kone-turvallisuus ryhmän nykyistä virtuaalitodellisuuslaboratoriota siten, että sitä voidaan käyttää työkoneiden suunnittelussa sekä monipuolisissa ergonomiatarkasteluissa. Itse ympäristön kehittäminen pitää sisällään uuden ohjainjärjestelmän suunnittelun sekä sen implementoinnin nykyisin käytössä olevaan virtuaaliympäristöön. Perinteisesti ohjaamosimulaattorit ovat olleet sovelluskohteisiin räätälöityjä, joten ne ovat kalliita ja niiden konfiguroinnin muuttaminen on vaikeaa, joskus jopa mahdotonta. Tämän työntarkoituksena oli kehittää PC-tietokoneeseen ja yleiseen käyttöjärjestelmään perustuva ohjainjärjestelmä, joka on nopeasti kytkettävissä erilaisiin virtuaaliympäristön sovelluksiin, kuten ohjaamomalleihin. Työssä tarkasteltiin myös tapoja mallintaa fysikaalisia ilmiöitä reaaliaikasovelluksissa, eli on-line simuloinnissa. Tämän tarkastelun perusteella etsittiin ja valittiin jatkokäsittelyyn ohjelmistoja, joiden reaaliaikaisen dynamiikan simulointialgoritmitolivat kaikkein kehittyneimpiä ja monipuolisia.