Control of instabilities in non-Newtonian free surface fluid flows

Free surface flows in inclined channels can develop periodic instabilities that are propagated downstream as shock waves with well-defined wavelengths and amplitudes. Such disturbances are called roll waves and are common in channels, torrential lava, landslides, and avalanches. The prediction and detection of such waves over certain types of structures and environments are useful for the prevention of natural risks. In this work, a mathematical model is established using a theoretical approach based on Cauchy's equations with the Herschel-Bulkley rheological model inserted into the viscous part of the stress tensor. This arrangement can adequately represent the behavior of muddy fluids, such as water-clay mixture. Then, taking into account the shallow water and the Rankine-Hugoniot's (shock wave) conditions, the equation of the roll wave and its properties, profile, and propagation velocity are determined. A linear stability analysis is performed with an emphasis on determining the condition that allows the generation of such instabilities, which depends on the minimum Froude number. A sensitivity analysis on the numerical parameters is performed, and numerical results including the influence of the Froude number, the index flow and dimensionless yield stress on the amplitude, the wavelength of roll waves and the propagation velocity of roll waves are shown. We show that our numerical results were in agreement with Coussot's experimental results (1994).

Nonlinear control in an electromechanical transducer with chaotic behaviour

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

Otimização de sistemas de distribuição de energia elétrica radiais usando programação cônica de segunda ordem inteira mista

Pós-graduação em Engenharia Elétrica - FEIS

Nonlinear state estimation and control for chaos suppression in MEMS resonator

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

Equações diferenciais ordinárias não suaves autônomas e não autônomas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Equações diferenciais ordinárias não suaves autônomas e não autônomas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Model and control of tendon actuated robots

The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brief discussion about the benefits that the use of tendons can introduce in the motion control of a robotic device, the design and control aspects of the UB Hand 3 anthropomorphic robotic hand are presented. In particular, the tendon-sheaths transmission system adopted in the UB Hand 3 is analyzed and the problem of force control and friction compensation is taken into account. The implementation of a tendon based antagonistic actuated robotic arm is then investigated. With this kind of actuation modality, and by using transmission elements with nonlinear force/compression characteristic, it is possible to achieve simultaneous stiffness and position control, improving in this way the safety of the device during the operation in unknown environments and in the case of interaction with other robots or with humans. The problem of modeling and control of this type of robotic devices is then considered and the stability analysis of proposed controller is reported. At the end, some tools for the realtime simulation of dynamic systems are presented. This realtime simulation environment has been developed with the aim of improving the reliability of the realtime control applications both for rapid prototyping of controllers and as teaching tools for the automatic control courses.

A multilevel converter structure for grid-connected PV plants

A new conversion structure for three-phase grid-connected photovoltaic (PV) generation plants is presented and discussed in this Thesis. The conversion scheme is based on two insulated PV arrays, each one feeding the dc bus of a standard 2-level three-phase voltage source inverter (VSI). Inverters are connected to the grid by a traditional three-phase transformer having open-end windings at inverters side and either star or delta connection at the grid side. The resulting conversion structure is able to perform as a multilevel VSI, equivalent to a 3-level inverter, doubling the power capability of a single VSI with given voltage and current ratings. Different modulation schemes able to generate proper multilevel voltage waveforms have been discussed and compared. They include known algorithms, some their developments, and new original approaches. The goal was to share the grid power with a given ratio between the two VSI within each cycle period of the PWM, being the PWM pattern suitable for the implementation in industrial DSPs. It has been shown that an extension of the modulation methods for standard two-level inverter can provide a elegant solution for dual two-level inverter. An original control method has been introduced to regulate the dc-link voltages of each VSI, according to the voltage reference given by a single MPPT controller. A particular MPPT algorithm has been successfully tested, based on the comparison of the operating points of the two PV arrays. The small deliberately introduced difference between two operating dc voltages leads towards the MPP in a fast and accurate manner. Either simulation or experimental tests, or even both, always accompanied theoretical developments. For the simulation, the Simulink tool of Matlab has been adopted, whereas the experiments have been carried out by a full-scale low-voltage prototype of the whole PV generation system. All the research work was done at the Lab of the Department of Electrical Engineering, University of Bologna.

Analysis and Implementation of Multiphase-Multilevel Inverter for Open-Winding Loads

Research work carried out in focusing a novel multiphase-multilevel ac motor drive system much suitable for low-voltage high-current power applications. In specific, six-phase asymmetrical induction motor with open-end stator winding configuration, fed from four standard two-level three-phase voltage source inverters (VSIs). Proposed synchronous reference frame control algorithm shares the total dc source power among the 4 VSIs in each switching cycle with three degree of freedom. Precisely, first degree of freedom concerns with the current sharing between two three-phase stator windings. Based on modified multilevel space vector pulse width modulation shares the voltage between each single VSIs of two three-phase stator windings with second and third degree of freedom, having proper multilevel output waveforms. Complete model of whole ac motor drive based on three-phase space vector decomposition approach was developed in PLECS - numerical simulation software working in MATLAB environment. Proposed synchronous reference control algorithm was framed in MATLAB with modified multilevel space vector pulse width modulator. The effectiveness of the entire ac motor drives system was tested. Simulation results are given in detail to show symmetrical and asymmetrical, power sharing conditions. Furthermore, the three degree of freedom are exploited to investigate fault tolerant capabilities in post-fault conditions. Complete set of simulation results are provided when one, two and three VSIs are faulty. Hardware prototype model of quad-inverter was implemented with two passive three-phase open-winding loads using two TMS320F2812 DSP controllers. Developed McBSP (multi-channel buffered serial port) communication algorithm able to control the four VSIs for PWM communication and synchronization. Open-loop control scheme based on inverse three-phase decomposition approach was developed to control entire quad-inverter configuration and tested with balanced and unbalanced operating conditions with simplified PWM techniques. Both simulation and experimental results are always in good agreement with theoretical developments.

Distributed Control Nodes for Material Flow System Controls on the Example of Unit Load Conveyor and Sorter Facilities

The Chair of Transportation and Ware-housing at the University of Dortmund together with its industrial partner has developed and implemented a decentralized control system based on embedded technology and Internet standards. This innovative, highly flexible system uses autonomous software modules to control the flow of unit loads in real-time. The system is integrated into Chair’s test facility consisting of a wide range of conveying and sorting equipment. It is built for proof of concept purposes and will be used for further research in the fields of decentralized automation and embedded controls. This presentation describes the implementation of this decentralized control system.

From episodic to habitual prospective memory: ERP-evidence for a linear transition

Performing a prospective memory task repeatedly changes the nature of the task from episodic to habitual. The goal of the present study was to investigate the neural basis of this transition. In two experiments, we contrasted event-related potentials (ERPs) evoked by correct responses to prospective memory targets in the first, more episodic part of the experiment with those of the second, more habitual part of the experiment. Specifically, we tested whether the early, middle, or late ERP-components, which are thought to reflect cue detection, retrieval of the intention, and post-retrieval processes, respectively, would be changed by routinely performing the prospective memory task. The results showed a differential ERP effect in the middle time window (450 - 650 ms post-stimulus). Source localization using low resolution brain electromagnetic tomography analysis (LORETA) suggests that the transition was accompanied by an increase of activation in the posterior parietal and occipital cortex. These findings indicate that habitual prospective memory involves retrieval processes guided more strongly by parietal brain structures. In brief, the study demonstrates that episodic and habitual prospective memory tasks recruit different brain areas.

Higher order parametric excitation modes for spaceborne quadrupole mass spectrometers

This paper describes a technique to significantly improve upon the mass peak shape and mass resolution of spaceborne quadrupolemass spectrometers (QMSs) through higher order auxiliary excitation of the quadrupole field. Using a novel multiresonant tank circuit, additional frequency components can be used to drive modulating voltages on the quadrupole rods in a practical manner, suitable for both improved commercial applications and spaceflight instruments. Auxiliary excitation at frequencies near twice that of the fundamental quadrupole RF frequency provides the advantages of previously studied parametric excitation techniques, but with the added benefit of increased sensed excitation amplitude dynamic range and the ability to operate voltage scan lines through the center of upper stability islands. Using a field programmable gate array, the amplitudes and frequencies of all QMS signals are digitally generated and managed, providing a robust and stable voltage control system. These techniques are experimentally verified through an interface with a commercial Pfeiffer QMG422 quadrupole rod system. When operating through the center of a stability island formed from higher order auxiliary excitation, approximately 50% and 400% improvements in 1% mass resolution and peak stability were measured, respectively, when compared with traditional QMS operation. Although tested with a circular rod system, the presented techniques have the potential to improve the performance of both circular and hyperbolic rod geometry QMS sensors.

El control social sobre los docentes durante la última dictadura militar. Un análisis de los sumarios administrativos en la provincia de Buenos Aires, 1976-1983

En este artículo analizamos las políticas de control social dirigidas hacia los docentes durante la dictadura militar de 1976-1983 y la agencia de los actores encargados de implementarlas, tomando como objeto de análisis la serie completa de los sumarios administrativos que elaboraron los inspectores en esos años en la provincia de Buenos Aires. Siguiendo un enfoque heterodoxo de la historiografía del control social, pretendemos reconocer las contradicciones existentes en el funcionamiento cotidiano de los "aparatos de control", la agencia de los sujetos localizados en las posiciones intermedias del Estado y las múltiples formas en que ese control se ejercía efectiva y cotidianamente.

El control social sobre los docentes durante la última dictadura militar. Un análisis de los sumarios administrativos en la provincia de Buenos Aires, 1976-1983

En este artículo analizamos las políticas de control social dirigidas hacia los docentes durante la dictadura militar de 1976-1983 y la agencia de los actores encargados de implementarlas, tomando como objeto de análisis la serie completa de los sumarios administrativos que elaboraron los inspectores en esos años en la provincia de Buenos Aires. Siguiendo un enfoque heterodoxo de la historiografía del control social, pretendemos reconocer las contradicciones existentes en el funcionamiento cotidiano de los "aparatos de control", la agencia de los sujetos localizados en las posiciones intermedias del Estado y las múltiples formas en que ese control se ejercía efectiva y cotidianamente.

El control social sobre los docentes durante la última dictadura militar. Un análisis de los sumarios administrativos en la provincia de Buenos Aires, 1976-1983

En este artículo analizamos las políticas de control social dirigidas hacia los docentes durante la dictadura militar de 1976-1983 y la agencia de los actores encargados de implementarlas, tomando como objeto de análisis la serie completa de los sumarios administrativos que elaboraron los inspectores en esos años en la provincia de Buenos Aires. Siguiendo un enfoque heterodoxo de la historiografía del control social, pretendemos reconocer las contradicciones existentes en el funcionamiento cotidiano de los "aparatos de control", la agencia de los sujetos localizados en las posiciones intermedias del Estado y las múltiples formas en que ese control se ejercía efectiva y cotidianamente.