Active Voodoo Dolls: A Vision Based Input Device for Nonrigid Control

A vision based technique for non-rigid control is presented that can be used for animation and video game applications. The user grasps a soft, squishable object in front of a camera that can be moved and deformed in order to specify motion. Active Blobs, a non-rigid tracking technique is used to recover the position, rotation and non-rigid deformations of the object. The resulting transformations can be applied to a texture mapped mesh, thus allowing the user to control it interactively. Our use of texture mapping hardware allows us to make the system responsive enough for interactive animation and video game character control.

The control of wave energy converters using active bipolar damping

A novel method for controlling wave energy converters using active bipolar damping is described and compared with current control methods. The performance of active bipolar damping is modelled numerically for two distinct types of wave energy converter and it is found that in both cases the power capture can be significantly increased relative to optimal linear damping. It is shown that this is because active bipolar damping has the potential for providing a quasi-spring or quasi-inertia, which improves the wave energy converter's tuning and amplitude of motion, resulting in the increase in power capture observed. The practical implementation of active bipolar damping is also discussed. It is noted that active bipolar damping does not require a reactive energy store and thereby reduces the cost and eliminates losses due to the cycling of reactive energy. It is also noted that active bipolar damping could be implemented using a single constant pressure double-acting hydraulic cylinder and so potentially represents a simple, efficient, robust and economic solution to the control of wave energy converters.

Optimal dynamic control of laminated adaptive structures using a higher order model and a genetic algorithm

This paper deals with a finite element formulation based on the classical laminated plate theory, for active control of thin plate laminated structures with integrated piezoelectric layers, acting as sensors and actuators. The control is initialized through a previous optimization of the core of the laminated structure, in order to minimize the vibration amplitude. Also the optimization of the patches position is performed to maximize the piezoelectric actuator efficiency. The genetic algorithm is used for these purposes. The finite element model is a single layer triangular plate/shell element with 24 degrees of freedom for the generalized displacements, and one electrical potential degree of freedom for each piezoelectric element layer, which can be surface bonded or embedded on the laminate. To achieve a mechanism of active control of the structure dynamic response, a feedback control algorithm is used, coupling the sensor and active piezoelectric layers. To calculate the dynamic response of the laminated structures the Newmark method is considered. The model is applied in the solution of an illustrative case and the results are presented and discussed.

A mixed H2/H∞-based semiactive control for vibration mitigation in flexible structures

In this paper, we address this problem through the design of a semiactive controller based on the mixed H2/H∞ control theory. The vibrations caused by the seismic motions are mitigated by a semiactive damper installed in the bottom of the structure. It is meant by semiactive damper, a device that absorbs but cannot inject energy into the system. Sufficient conditions for the design of a desired control are given in terms of linear matrix inequalities (LMIs). A controller that guarantees asymptotic stability and a mixed H2/H∞ performance is then developed. An algorithm is proposed to handle the semiactive nature of the actuator. The performance of the controller is experimentally evaluated in a real-time hybrid testing facility that consists of a physical specimen (a small-scale magnetorheological damper) and a numerical model (a large-scale three-story building)

QFT control for vibration reduction in structures equipped with MR dampers

This short paper addresses the problem of designing a QFT (quantitative feedback theory) based controllers for the vibration reduction in a 6-story building structure equipped with shear-mode magnetorheological dampers. A new methodology is proposed for characterizing the nonlinear hysteretic behavior of the MR damper through the uncertainty template in the Nichols chart. The design procedure for QFT control design is briefly presented

Semiactive control strategies for vibration mitigation in adaptronic structures equipped with magnetorheological dampers

Los sistemas tales como edificios y veh¨ªculos est¨¢n sujetos a vibraciones que pueden causar mal funcionamiento, incomodidad o colapso. Para mitigar estas vibraciones, se suelen instalar amortiguadores. Estas estructuras se convierten en sistemas adaptr¨®nicos cuando los amortiguadores son controlables. Esta tesis se enfoca en la soluci¨®n del problema de vibraciones en edificios y veh¨ªculos usando amortiguadores magnetoreol¨®gicos (MR). Estos son unos amortiguadores controlables caracterizados por una din¨¢mica altamente no lineal. Adem¨¢s, los sistemas donde se instalan se caracterizan por la incertidumbre param¨¦trica, la limitaci¨®n de medidas y las perturbaciones desconocidas, lo que obliga al uso de t¨¦cnicas complejas de control. En esta tesis se usan Backstepping, QFT y H2/H¡Þ mixto para resolver el problema. Las leyes de control se verifican mediante simulaci¨®n y experimentaci¨®n.

Active control comparisons: the ideal trial design

This report describes the concept for a clinical trial that uses carbamazepine as the gold-standard active control for a study of newly diagnosed patients. The authors describe an endpoint including efficacy and tolerability, and a stopping rule that uses a series of interim analyses in order to reach a conclusion as efficiently as possible without sacrificing reliability.

Active-control trials with binary data: a comparison of methods for testing superiority or non-inferiority using the odds ratio

This paper considers methods for testing for superiority or non-inferiority in active-control trials with binary data, when the relative treatment effect is expressed as an odds ratio. Three asymptotic tests for the log-odds ratio based on the unconditional binary likelihood are presented, namely the likelihood ratio, Wald and score tests. All three tests can be implemented straightforwardly in standard statistical software packages, as can the corresponding confidence intervals. Simulations indicate that the three alternatives are similar in terms of the Type I error, with values close to the nominal level. However, when the non-inferiority margin becomes large, the score test slightly exceeds the nominal level. In general, the highest power is obtained from the score test, although all three tests are similar and the observed differences in power are not of practical importance. Copyright (C) 2007 John Wiley & Sons, Ltd.

Sample size considerations in active-control non-inferiority trials with binary data based on the odds ratio

This paper presents an approximate closed form sample size formula for determining non-inferiority in active-control trials with binary data. We use the odds-ratio as the measure of the relative treatment effect, derive the sample size formula based on the score test and compare it with a second, well-known formula based on the Wald test. Both closed form formulae are compared with simulations based on the likelihood ratio test. Within the range of parameter values investigated, the score test closed form formula is reasonably accurate when non-inferiority margins are based on odds-ratios of about 0.5 or above and when the magnitude of the odds ratio under the alternative hypothesis lies between about 1 and 2.5. The accuracy generally decreases as the odds ratio under the alternative hypothesis moves upwards from 1. As the non-inferiority margin odds ratio decreases from 0.5, the score test closed form formula increasingly overestimates the sample size irrespective of the magnitude of the odds ratio under the alternative hypothesis. The Wald test closed form formula is also reasonably accurate in the cases where the score test closed form formula works well. Outside these scenarios, the Wald test closed form formula can either underestimate or overestimate the sample size, depending on the magnitude of the non-inferiority margin odds ratio and the odds ratio under the alternative hypothesis. Although neither approximation is accurate for all cases, both approaches lead to satisfactory sample size calculation for non-inferiority trials with binary data where the odds ratio is the parameter of interest.

Novel active and passive anti-vibration mountings

This paper investigates a novel design approach for a vibration isolator for use in space structures. The approach used can particularly be applicable for aerospace structures that support high precision instrumentation such as satellite payloads. The isolator is a space-frame structure that is folded in on itself to act as a mechanical filter over a defined frequency range. The absence of viscoelastic elements in such a mounting makes the design suitable for use in a vacuum and in high temperature or harsh environments with no risk of drift in alignment of the structure. The design uses a genetic algorithm based geometric optimisation routine to maximise passive vibration isolation, and this is hybridised with a geometric feasibility search. To complement the passive isolation system, an active system is incorporated in the design to add damping. Experimental work to validate the feasibility of the approach is also presented, with the active/passive structure achieving transmissibility of about 19 dB over a range of 1-250 Hz. It is shown here that the use of these novel anti-vibration mountings has no or little consequent weight and cost penalties whilst maintaining their effectiveness with the vibration levels. The approach should pave the way for the design of anti-vibration mountings that can be used between most pieces of equipment and their supporting structure. Crown Copyright (C) 2011 Published by Elsevier Ltd. All rights reserved.

Laboratory Assessment of two Active Ingredients for Control of Coptotermes gestroi (Isoptera: Rhinotermitidae)

The subterranean termite Coptotermes gestroi Wasmann (Isoptera: Rhinotermitidae) is a pest of major economic importance in urban environments of southeastern Brazil. Compared to using pesticides for termite control, termite bait products target termites more specifically and also address environmental contamination issues. In this point of view, we performed two different bioassays ill order to evaluate the efficacy of boric acid and fipronil against different populations of C. gestroi. The results showed that concentration between 2000 and 3000 ppm of boric acid caused approximately 100 percent mortality ill termites. Concentrations between 0.01 and 0.0001 ppm of fipronil resulted in 100% termite mortality after 2 wk exposure. The data displayed a fast mortality of termites contaminated with fipronil, even with small concentrations, and therefore it is riot a Suitable product to be used ill baits against C gestroi. The present Study showed a delayed toxicity of boric acid against the subterranean termite C gestroi which suggests a need for further field tests.

On an Active Control for a Structurally Nonlinear Mechanical System, Taking Into Account an Energy Pumping

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