Controle de movimentos de pacientes paraplégicos utilizando modelos fuzzy T-S

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Métodos de identificação e redução de modelos para atenuação de vibrações em estruturas inteligentes

Pós-graduação em Engenharia Mecânica - FEIS

Método híbrido para detecção e diagnóstico de falhas baseado em resíduos

The detection and diagnosis of faults, ie., find out how , where and why failures occur is an important area of study since man came to be replaced by machines. However, no technique studied to date can solve definitively the problem. Differences in dynamic systems, whether linear, nonlinear, variant or invariant in time, with physical or analytical redundancy, hamper research in order to obtain a unique solution . In this paper, a technique for fault detection and diagnosis (FDD) will be presented in dynamic systems using state observers in conjunction with other tools in order to create a hybrid FDD. A modified state observer is used to create a residue that allows also the detection and diagnosis of faults. A bank of faults signatures will be created using statistical tools and finally an approach using mean squared error ( MSE ) will assist in the study of the behavior of fault diagnosis even in the presence of noise . This methodology is then applied to an educational plant with coupled tanks and other with industrial instrumentation to validate the system.

Self-ratings and observer-ratings of social skill: a manipulation of state social anxiety in anxious and non-anxious children

The role of state and trait anxiety on observer ratings of social skill and negatively biased self-perception of social skill was examined. Participants were aged between 7 and 13 years (mean=9.65; sd=1.77; N=102), 47 had a current anxiety diagnosis and 55 were non-anxious controls. Participants were randomly allocated to a high or low anxiety condition and asked to complete social tasks. Task instructions were adjusted across conditions to manipulate participants’ state anxiety. Observers rated anxious participants as having poorer social skills than non-anxious controls but there was no evidence that anxious participants exhibited a negative self-perception bias, relative to controls. However, as participants’ ratings of state anxiety increased, their perception of their performance became more negatively biased. The results suggest that anxious children may exhibit real impairments in social skill and that high levels of state anxiety can lead to biased judgements of social skills in anxious and non-anxious children.

Observer-based state-feedback versus H-infinity output feedback control solved by LMI approach for applications in smart structures

This paper aims with the use of linear matrix inequalities approach (LMIs) for application in active vibration control problems in smart strutures. A robust controller for active damping in a panel was designed with piezoelectrical actuators in optimal locations for illustration of the main proposal. It was considered, in the simulations of the closed-loop, a model identified by eigensystem realization algorithm (ERA) and reduced by modal decomposition. We tested two differents techniques to solve the problem. The first one uses LMI approach by state-feedback based in an observer design, considering several simultaneous constraints as: a decay rate, limited input on the actuators, bounded output peak (output energy) and robustness to parametic uncertainties. The results demonstrated the vibration attenuation in the structure by controlling only the first modes and the increased damping in the bandwidth of interest. However, it is possible to occur spillover effects, because the design has not been done considering the dynamic uncertainties related with high frequencies modes. In this sense, the second technique uses the classical H. output feedback control, also solved by LMI approach, considering robustness to residual dynamic to overcome the problem found in the first test. The results are compared and discussed. The responses shown the robust performance of the system and the good reduction of the vibration level, without increase mass.

Sensor fault-tolerant observer applied in satellite attitude control

The observing failure and feedback instability might happen when the partial sensors of a satellite attitude control system (SACS) go wrong. A fault diagnosis and isolation (FDI) method based on a fault observer is introduced to detect and isolate the fault sensor at first. Based on the FDI result, the object system state-space equation is transformed and divided into a corresponsive triangular canonical form to decouple the normal subsystem from the fault subsystem. And then the KX fault-tolerant observers of the system in different modes are designed and embedded into online monitoring. The outputs of all KX fault-tolerant observers are selected by the control switch process. That can make sense that the SACS is part-observed and in stable when the partial sensors break down. Simulation results demonstrate the effectiveness and superiority of the proposed method.

Uniformly accelerated observer in Moyal spacetime

In Minkowski space, an accelerated reference frame may be defined as one that is related to an inertial frame by a sequence of instantaneous Lorentz transformations. Such an accelerated observer sees a causal horizon, and the quantum vacuum of the inertial observer appears thermal to the accelerated observer, also known as the Unruh effect. We argue that an accelerating frame may be similarly defined (i.e. as a sequence of instantaneous Lorentz transformations) in noncommutative Moyal spacetime, and discuss the twisted quantum field theory appropriate for such an accelerated observer. Our analysis shows that there are several new features in the case of noncommutative spacetime: chiral massless fields in (1 + 1) dimensions have a qualitatively different behavior compared to massive fields. In addition, the vacuum of the inertial observer is no longer an equilibrium thermal state of the accelerating observer, and the Bose-Einstein distribution acquires.-dependent corrections.

Robust Observer Design with Application to Fault Detection

A new scheme for robust estimation of the partial state of linear time-invariant multivariable systems is presented, and it is shown how this may be used for the detection of sensor faults in such systems. We consider an observer to be robust if it generates a faithful estimate of the plant state in the face of modelling uncertainty or plant perturbations. Using the Stable Factorization approach we formulate the problem of optimal robust observer design by minimizing an appropriate norm on the estimation error. A logical candidate is the 2-norm, corresponding to an H�¿ optimization problem, for which solutions are readily available. In the special case of a stable plant, the optimal fault diagnosis scheme reduces to an internal model control architecture.

Simulation-based optimal sensor scheduling with application to observer trajectory planning

The sensor scheduling problem can be formulated as a controlled hidden Markov model and this paper solves the problem when the state, observation and action spaces are continuous. This general case is important as it is the natural framework for many applications. The aim is to minimise the variance of the estimation error of the hidden state w.r.t. the action sequence. We present a novel simulation-based method that uses a stochastic gradient algorithm to find optimal actions. © 2007 Elsevier Ltd. All rights reserved.

Descriptions of the U.S. Gulf of Mexico Reef Fish Bottom Longline and Vertical Line Fisheries Based on Observer Data

In July 2006, a mandatory observer program was implemented to characterize the commercial reef fish fishery operating in the U.S. Gulf of Mexico. The primary gear types assessed included bottom longline and vertical line (bandit and handline). A total of 73,205 fish (183 taxa) were observed in the longline fishery. Most (66%) were red grouper, Epinephelus morio, and yellowedge grouper, E. flavolimbatus. In the vertical line fishery, 89,015 fish (178 taxa) were observed of which most (60%) were red snapper, Lutjanus campechanus, and vermilion snapper, Rhomboplites aurorubens. Based on surface observations of discarded under-sized target and unwanted species, the majority of fish were released alive; minimum assumed mortality was 23% for the vertical line and 24% for the bottom longline fishery. Of the individuals released alive in the longline fishery, 42% had visual signs of barotrauma stress (air bladder expansion/and or eyes protruding). In the vertical line fishery, 35% of the fish were released in a stressed state. Red grouper and red snapper size composition by depth and gear type were determined. Catch-per-unit-effort for dominant species in both fisheries, illustrated spatial differences in distribution between the eastern and western Gulf. Hot Spot Analyses for red grouper and red snapper identified areas with significant clustering of high or low CPUE values.

The state estimation of flow demands in gas networks from sparse pressure telemetry

This paper presents novel observer-based techniques for the estimation of flow demands in gas networks, from sparse pressure telemetry. A completely observable model is explored, constructed by incorporating difference equations that assume the flow demands are steady. Since the flow demands usually vary slowly with time, this is a reasonable approximation. Two techniques for constructing robust observers are employed: robust eigenstructure assignment and singular value assignment. These techniques help to reduce the effects of the system approximation. Modelling error may be further reduced by making use of known profiles for the flow demands. The theory is extended to deal successfully with the problem of measurement bias. The pressure measurements available are subject to constant biases which degrade the flow demand estimates, and such biases need to be estimated. This is achieved by constructing a further model variation that incorporates the biases into an augmented state vector, but now includes information about the flow demand profiles in a new form.

Observer-based control design for switched affine systems and applications to DC-DC converters

This paper deals with the problem of establishing a state estimator for switched affine systems. For that matter, a modification on the Luenberger observer is proposed, the switched Luenberger observer, whose idea is to design one output gain matrix for each mode of the original system. The efficiency of the proposed method relies on a simplification on estimation error which is proved always valid, guaranteeing the estimation error to asymptotically converge to zero, for any initial state and switching law. Next, a dynamic output-dependent switching law is formulated. Then, design methodologies using linear matrix inequalities are proposed, which, to the authors's knowledge, have not yet been applied to this problem. Finally, observers for DC-DC converters are designed and simulated as application examples. © 2013 Brazilian Society for Automatics - SBA.

Renal artery assessment with nonenhanced steady-state free precession versus contrast-enhanced MR angiography

PURPOSE: To prospectively assess the diagnostic accuracy of nonenhanced three-dimensional (3D) steady-state free precession (SSFP) magnetic resonance (MR) angiography for detection of renal artery stenosis (RAS), with breath-hold contrast material-enhanced MR angiography performed as the reference standard. MATERIALS AND METHODS: The study was local ethics committee approved; all patients gave written informed consent. Fifty-three patients (30 male, 23 female; mean age, 58 years) with arterial hypertension and suspected of having RAS were examined with 1.5-T 3D SSFP renal MR angiography. Stenosis grade, maximal visible vessel length, and subjective image quality were compared. Sensitivity, specificity, accuracy, and negative predictive value (NPV) were calculated on artery-by-artery and patient-by-patient bases. The significance of the results was assessed with the paired two-sided t test for continuous variables and with the marginal homogeneity test for categorical variables. Cohen kappa statistics were used to estimate interobserver agreement. RESULTS: One hundred eight renal arteries with 20 significant (>or=50%) stenoses were detected with contrast-enhanced MR angiography. At artery-by-artery analysis, sensitivity, specificity, accuracy, and NPV of nonenhanced SSFP MR angiography for RAS detection were 100%, 93%, 94%, and 100%, respectively, for observer 1 and 95%, 95%, 95%, and 99%, respectively, for observer 2. Corresponding patient-by-patient values were 100%, 92%, 94%, and 100%, respectively, for observer 1 and 100%, 95%, 96%, and 100%, respectively, for observer 2. Overestimation of stenosis grade with SSFP MR angiography resulted in six and four false-positive findings for readers 1 and 2, respectively. Mean maximal visible lengths of the renal arteries were 69.9 mm at contrast-enhanced MR angiography and 61.1 mm at SSFP MR angiography (P<.001). Both techniques yielded good to excellent image quality. CONCLUSION: Slab-selective inversion-prepared 3D SSFP MR angiography had high sensitivity, specificity, accuracy, and NPV for RAS detection, without the need for contrast material. However, RAS severity was overestimated in some patients.