ROBOT DYNAMIC CONTROL INSTABILITIES.

The authors demonstrate that a widely proposed method of robot dynamic control can be inherently unstable, due to an algebraic feedback loop condition causing an ill-posed feedback system. By focussing on the concept of ill-posedness a necessary and sufficient condition is derived for instability in robot manipulator systems which incorporate online acceleration cross-coupling control. Also demonstrated is a quasilinear multivariable control framework useful for assessing the robustness of this type of control when the instability condition is not obeyed.

Multivariable toolbox for use with MATLAB.

The authors describe a toolbox for the frequency-domain analysis and design of multivariable feedback systems, to be used with PC-Matlab, or Pro-Matlab. The principal model representations used by the toolbox are described. Its capabilities are illustrated by a worked design example, which shows the use of a Nyquist array method. Other design techniques supported by the toolbox are briefly reviewed.

Efficient minimum manoeuvre time optimisation of an oversteering vehicle at constant forward speed

A receding horizon steering controller is presented, capable of pushing an oversteering nonlinear vehicle model to its handling limit while travelling at constant forward speed. The controller is able to optimise the vehicle path, using a computationally efficient and robust technique, so that the vehicle progression along a track is maximised as a function of time. The resultant method forms part of the solution to the motor racing objective of minimising lap time. © 2011 AACC American Automatic Control Council.

黔东南小香羊与贵州原有其它山羊品种的线粒体DNA 多态性比较

用B am H É、B g lÉ、B g lÊ、D raÉ、E coR É、E coR Í、H indË、Kp nÉ、 P stÉ、P vuÊ、S acÉ、S a lÉ、Sm aÉ、S tuÉ、X hoÉ 15 种识别6 碱基的限制性内 切酶对黔东南小香羊和贵州原有3 个地方山羊品种的93 只个体的m tDNA 进行分 析表明, B am H É、H indË 和S a lÉ 3 种酶表现多态性; 共检出18 种限制性多态型, 归纳得到3 种单倍型, 以单倍型É 和Ê 为基本单倍型。根据此2 种基本单倍型在所 比较各品种中的不同分布比例, 以及遗传距离分析和品种间的聚类关系, 表明黔东 南小香羊的群体遗传构成与贵州省原有其它3 个山羊品种不同, 从而为进一步确认 其为一独立的品种提供了必要的分子生物学依据。

Fluid Mechanics and Thermodynamics of Turbomachinery

For this new edition, author S. Larry Dixon is joined by Cesare Hall from the University of Cambridge, whose diverse background of teaching, research and work ...

Mathematical relationships between representations of structure in linear interconnected dynamical systems

A dynamical system can exhibit structure on multiple levels. Different system representations can capture different elements of a dynamical system's structure. We consider LTI input-output dynamical systems and present four representations of structure: complete computational structure, subsystem structure, signal structure, and input output sparsity structure. We then explore some of the mathematical relationships that relate these different representations of structure. In particular, we show that signal and subsystem structure are fundamentally different ways of representing system structure. A signal structure does not always specify a unique subsystem structure nor does subsystem structure always specify a unique signal structure. We illustrate these concepts with a numerical example. © 2011 AACC American Automatic Control Council.

云南龙陵黄山羊的核型及C－带和Ag－NOR_s研究

采用外周血淋巴细胞培养及染色体分带技术，分析了龙陵黄山羊的核型，Ｃ—带和银染核仁组织区（Ａｇ—ＮＯＲ＿ｓ），结果表明：龙陵黄山羊染色体数为２ｎ＝６０，常染色体及Ｘ染色体为端部着丝粒染色体，Ｙ染色体最小，为中部着丝粒染色体。常染色体着丝粒区均显示Ｃ—带，性染色体未显Ｃ—带．雌性银染核仁组织区（Ａｇ—ＮＯＲ＿ｓ）分布于Ｎｏ．１，２，３，４，５，２５号染色体，雄性分布于Ｎｏ．１，２，２５号染色体，显示了性别及分布多态性。研究还发现三种不同的联合（ＡＳＳＯＣＩＡＴＩＯＮ）。

Impact of heterogeneous link qualities and network connectivity on binary consensus

In this paper we consider a network that is trying to reach consensus over the occurrence of an event while communicating over Additive White Gaussian Noise (AWGN) channels. We characterize the impact of different link qualities and network connectivity on consensus performance by analyzing both the asymptotic and transient behaviors. More specifically, we derive a tight approximation for the second largest eigenvalue of the probability transition matrix. We furthermore characterize the dynamics of each individual node. © 2009 AACC.

Performance evaluation of multiplexed model predictive control for a large airliner in nominal and contingency scenarios

Model predictive control allows systematic handling of physical and operational constraints through the use of constrained optimisation. It has also been shown to successfully exploit plant redundancy to maintain a level of control in scenarios when faults are present. Unfortunately, the computational complexity of each individual iteration of the algorithm to solve the optimisation problem scales cubically with the number of plant inputs, so the computational demands are high for large MIMO plants. Multiplexed MPC only calculates changes in a subset of the plant inputs at each sampling instant, thus reducing the complexity of the optimisation. This paper demonstrates the application of multiplexed model predictive control to a large transport airliner in a nominal and a contingency scenario. The performance is compared to that obtained with a conventional synchronous model predictive controller, designed using an equivalent cost function. © 2012 AACC American Automatic Control Council).

ℓasso MPC: Smart regulation of over-actuated systems

In this paper, a novel MPC strategy is proposed, and referred to as asso MPC. The new paradigm features an 1-regularised least squares loss function, in which the control error variance competes with the sum of input channels magnitude (or slew rate) over the whole horizon length. This cost choice is motivated by the successful development of LASSO theory in signal processing and machine learning. In the latter fields, sum-of-norms regularisation have shown a strong capability to provide robust and sparse solutions for system identification and feature selection. In this paper, a discrete-time dual-mode asso MPC is formulated, and its stability is proven by application of standard MPC arguments. The controller is then tested for the problem of ship course keeping and roll reduction with rudder and fins, in a directional stochastic sea. Simulations show the asso MPC to inherit positive features from its corresponding regressor: extreme reduction of decision variables' magnitude, namely, actuators' magnitude (or variations), with a finite energy error, being particularly promising for over-actuated systems. © 2012 AACC American Automatic Control Council).

Decentralised minimal-time dynamic consensus

This paper considers a group of agents that aim to reach an agreement on individually received time-varying signals by local communication. In contrast to static network averaging problem, the consensus considered in this paper is reached in a dynamic sense. A discrete-time dynamic average consensus protocol can be designed to allow all the agents tracking the average of their reference inputs asymptotically. We propose a minimal-time dynamic consensus algorithm, which only utilises a minimal number of local observations of a randomly picked node in a network to compute the final consensus signal. Our results illustrate that with memory and computational ability, the running time of distributed averaging algorithms can be indeed improved dramatically as suggested by Olshevsky and Tsitsiklis. © 2012 AACC American Automatic Control Council).

Sensor data scheduling for linear quadratic Gaussian control with full state feedback

Networked control systems (NCSs) have attracted much attention in the past decade due to their many advantages and growing number of applications. Different than classic control systems, resources in NCSs, such as network bandwidth and communication energy, are often limited, which degrade the closed-loop system performance and may even cause the system to become unstable. Seeking a desired trade-off between the closed-loop system performance and the limited resources is thus one heated area of research. In this paper, we analyze the trade-off between the sensor-to-controller communication rate and the closed-loop system performance indexed by the conventional LQG control cost. We present and compare several sensor data schedules, and demonstrate that two event-based sensor data schedules provide better trade-off than an optimal offline schedule. Simulation examples are provided to illustrate the theories developed in the paper. © 2012 AACC American Automatic Control Council).

Time-optimal control of a 3-level quantum system and its generalization to an n-level system

We solve the problem of steering a three-level quantum system from one eigen-state to another in minimum time and study its possible extension to the time-optimal control problem for a general n-level quantum system. For the three-level system we find all optimal controls by finding two types of symmetry in the problem: ℤ2 × S3 discrete symmetry and S1 continuous symmetry, and exploiting them to solve the problem through discrete reduction and symplectic reduction. We then study the geometry, in the same framework, which occurs in the time-optimal control of a general n-level quantum system. © 2007 IEEE.

Mechanism study on the frequent variations of cell-bound microcystins in cyanobacterial blooms in Lake Taihu: Implications for water quality monitoring and assessments

Although Microcystis-based toxins have been intensively studied, previous studies using laboratory cultures of Microcystis strains are difficult to explain the phenomenon that microcystin concentrations and toxin variants in natural blooms differ widely and frequently within a short-term period. The present study was designed to unravel the mechanisms for the frequent variations of intracellular toxins related to the differences in cyanobacterial colonies during bloom seasons in Lake Taihu, China. Monitoring of Microcystis colonies during warm seasons indicated that the variations in microcystins in both concentrations and toxin species were associated with the frequent alteration of Microcystis colonies in Lake Taihu. High concentration of microcystins in the blooms was always associated with two Microcystis colonies, Microcystis flos-aquae and Microcystis aeruginosa, whereas when Microcystis wesenbergii was the dominant colonial type, the toxin production of the blooms was low. Additionally, environmental factors such as temperature and nutrition were also shown to have an effect on the toxin production of the blooms, and may also potentially influence the Microcystis species present. The results of the present study provides insight into a new consideration for quick water quality monitoring, assessment and risk alert in cyanobacterium- and toxin-contaminated freshwaters, which will be beneficial not only for water agencies but also for public health. (C) 2009 Elsevier Ltd. All rights reserved.