Probabilistic robust control : theory and applications

In this work, the development of a probabilistic approach to robust control is motivated by structural control applications in civil engineering. Often in civil structural applications, a system's performance is specified in terms of its reliability. In addition, the model and input uncertainty for the system may be described most appropriately using probabilistic or "soft" bounds on the model and input sets. The probabilistic robust control methodology contrasts with existing H∞/μ robust control methodologies that do not use probability information for the model and input uncertainty sets, yielding only the guaranteed (i.e., "worst-case") system performance, and no information about the system's probable performance which would be of interest to civil engineers.

The design objective for the probabilistic robust controller is to maximize the reliability of the uncertain structure/controller system for a probabilistically-described uncertain excitation. The robust performance is computed for a set of possible models by weighting the conditional performance probability for a particular model by the probability of that model, then integrating over the set of possible models. This integration is accomplished efficiently using an asymptotic approximation. The probable performance can be optimized numerically over the class of allowable controllers to find the optimal controller. Also, if structural response data becomes available from a controlled structure, its probable performance can easily be updated using Bayes's Theorem to update the probability distribution over the set of possible models. An updated optimal controller can then be produced, if desired, by following the original procedure. Thus, the probabilistic framework integrates system identification and robust control in a natural manner.

The probabilistic robust control methodology is applied to two systems in this thesis. The first is a high-fidelity computer model of a benchmark structural control laboratory experiment. For this application, uncertainty in the input model only is considered. The probabilistic control design minimizes the failure probability of the benchmark system while remaining robust with respect to the input model uncertainty. The performance of an optimal low-order controller compares favorably with higher-order controllers for the same benchmark system which are based on other approaches. The second application is to the Caltech Flexible Structure, which is a light-weight aluminum truss structure actuated by three voice coil actuators. A controller is designed to minimize the failure probability for a nominal model of this system. Furthermore, the method for updating the model-based performance calculation given new response data from the system is illustrated.

Active interaction control for civil structures

This thesis presents a civil engineering approach to active control for civil structures. The proposed control technique, termed Active Interaction Control (AIC), utilizes dynamic interactions between different structures, or components of the same structure, to reduce the resonance response of the controlled or primary structure under earthquake excitations. The primary control objective of AIC is to minimize the maximum story drift of the primary structure. This is accomplished by timing the controlled interactions so as to withdraw the maximum possible vibrational energy from the primary structure to an auxiliary structure, where the energy is stored and eventually dissipated as the external excitation decreases. One of the important advantages of AIC over most conventional active control approaches is the very low external power required.

In this thesis, the AIC concept is introduced and a new AIC algorithm, termed Optimal Connection Strategy (OCS) algorithm, is proposed. The efficiency of the OCS algorithm is demonstrated and compared with two previously existing AIC algorithms, the Active Interface Damping (AID) and Active Variable Stiffness (AVS) algorithms, through idealized examples and numerical simulations of Single- and Multi-Degree-of Freedom systems under earthquake excitations. It is found that the OCS algorithm is capable of significantly reducing the story drift response of the primary structure. The effects of the mass, damping, and stiffness of the auxiliary structure on the system performance are investigated in parametric studies. Practical issues such as the sampling interval and time delay are also examined. A simple but effective predictive time delay compensation scheme is developed.

Reestructuración financiera del sistema bancario español

A finales del año 2007 se produjeron una serie de acontecimientos que más tarde, y por efecto del contagio internacional, desembocaron en una de las crisis económico-financieras más determinantes que se recuerdan en España. El presente proyecto tiene como objetivo entender todo el proceso de reestructuración llevado a cabo en los últimos años. Para ello, recoge inicialmente el origen de la crisis económico-financiera, para más tarde hacer referencia a las principales medidas que se han tenido que llevar a cabo para modificar el sistema financiero. Además, explica la última reforma de las Cajas de Ahorro y fundaciones bancarias junto con los cambios que la misma ha generado en el Sistema Financiero y en la Obra Social. Por último, después de analizar lo sucedido años atrás, llega a una serie de conclusiones acerca de la situación actual y futura del nuevo mapa financiero Español.

Effects of atmosphere visibility on performances of non-line-of-sight ultraviolet communication systems

Dependence of performances of non-line-of-sight (NLOS) solar-blind ultraviolet (UV) communication systems on atmosphere visibility is investigated numerically by correlating the propagation of UV radiation with the visibility. A simplified solar-blind UV atmospheric propagation model is introduced, and the NLOS UV communication system model is constituted based on the single scattering assumption. Using the model, numerical simulation is conducted for two typical geometry configurations and different modulation formats. The results indicate that the performance of the NLOS UV communication system is insensitive to variation of visibility in quite a large range, and deteriorates significantly only in very low-visibility weather, and is also dependent on the geometry configuration of the system. The results also show that the pulse position modulation (PPM) is preferable due to its high-power efficiency to improve the system performance. (c) 2007 Elsevier GmbH. All rights reserved.

图像处理在光路自动准直系统中的应用

光路自动准直系统应用于惯性约束聚变的高功率激光装置中的光束自动调整。图像处理是光路自动准直的关键技术之一。针对神光Ⅲ原型装置，结合阈值化、重心法、中值滤波和圆拟合等多种不同的图像处理方法设计了一套合理的准直方案，并且在模拟实验平台上进行了实验验证。实验结果表明，光路自动准直系统能够在15min之内顺利完成光路的自动调整，光束近场调整精度优于近场光斑的±0．5％，光束远场调整精度≤±0．3″，满足了原型装置的总体要求。

基于RS编码及网格编码调制的光PPM通信纠错技术

分析了RS（Reed-Solomon）纠错码和网格编码调制（Trellis Coded Modulation，TCM）技术在光脉冲位置调制通信中的应用．在此基础上，提出了以RS码作为外码，以网格编码调制技术作为内码，用于光脉冲位置调制通信的新编码方案，能以几乎不减少通信速率的优势，提高传统RS码系统在时变带限光信道中的通信性能．模拟研究了在不同空间光信道条件下，传统RS码的符号正确传输率和误码率，并对网格编码调制的编码增益、RS码与网格编码调制级联时的编码增益进行了仿真研究，证实了本方案的有效性．

Projeto de redes neurais para determinar os ganhos PID de um sistema de posicionamento dinâmico de uma embarcação.

As sintonias dos Controladores PID existentes em um Sistema de Posicionamento Dinâmico, utilizado em embarcações e plataformas a fim de manter uma posição fixa em alto-mar ou de realizar determinada manobra, sempre tem sido um desafio a ser vencido. Trata-se de uma tarefa demorada, dependente das condições ambientais e com um elevado custo financeiro, uma vez que as horas dedicadas do profissional habilitado são caras. Além disso, a embarcação deve-se manter estabilizada durante o período de tempo no qual determinada função é realizada, como por exemplo, perfuração, abastecimento, ou lançamento de dutos. Foi utilizado um software para simular o posicionamento de uma embarcação em alto-mar sob diversas condições de vento e correnteza, com o qual foi possível verificar a influência da sintonia dos parâmetros PID do Controlador no desempenho do sistema de controle. O Sistema dinâmico abordado possui um comportamento não linear e sujeito a fortes distúrbios não medidos, o que são apenas alguns exemplos de questões avaliadas deste trabalho. Neste contexto, foram projetadas Redes Neurais com o intuito de aprimorar a técnica utilizada para determinar os ganhos de um dos Controladores PID de um Sistema de Posicionamento Dinâmico. Os melhores resultados foram obtidos através da avaliação de desempenho de diversas simulações de Redes Neurais que revelam a viabilidade da implementação da sintonia automática de Controladores em Sistemas de Posicionamento Dinâmico.

Contributions to High-Throughput Computing Based on the Peer-to-Peer Paradigm

XII, 116 p.

Robust design optimization of gas turbine compression systems

Gas turbine compression systems are required to perform adequately over a range of operating conditions. Complexity has encouraged the conventional design process for compressors to focus initially on one operating point, usually the most commonor arduous, to draw up an outline design. Generally, only as this initial design is refined is its offdesign performance assessed in detail. Not only does this necessarily introduce a potentially costly and timeconsuming extra loop in the design process, but it also may result in a design whose offdesign behavior is suboptimal. Aversion of nonintrusive polynomial chaos was previously developed in which a set of orthonormal polynomials was generated to facilitate a rapid analysis of robustness in the presence of generic uncertainties with good accuracy. In this paper, this analysis method is incorporated in real time into the design process for the compression system of a three-shaft gas turbine aeroengine. This approach to robust optimization is shown to lead to designs that exhibit consistently improved system performance with reduced sensitivity to offdesign operation.

测量薄膜微粗糙度的总积分散射仪

介绍了一种检测光学薄膜表面总积分散射（TIS）分布的总积分散射仪。对仪器的基本结构、理论基础、测量原理以及系统性能等进行了阐述，提出了抑制系统噪音和提高测量精度的有效措施。利用该仪器对K9基底上的银（Ag）膜和氧化锆（ZrO2）薄膜进行了测量，并根据标量散射理论得到了表面均方根（RMS）粗糙度。利用光学轮廓仪和原子力显微镜（AFM）分别测量了上述Ag膜和ZrO2薄膜的表面均方根粗糙度，并与总积分散射仪所得的粗糙度进行了比较。结果表明，根据测量的薄膜表面总积分散射计算得到的表面均方根粗糙度与光学轮廓仪及原子

Gráficos de controle adaptativos para monitoramento de perfis

Processos de produção precisam ser avaliados continuamente para que funcionem de modo mais eficaz e eficiente possível. Um conjunto de ferramentas utilizado para tal finalidade é denominado controle estatístico de processos (CEP). Através de ferramentas do CEP, o monitoramento pode ser realizado periodicamente. A ferramenta mais importante do CEP é o gráfico de controle. Nesta tese, foca-se no monitoramento de uma variável resposta, por meio dos parâmetros ou coeficientes de um modelo de regressão linear simples. Propõe-se gráficos de controle χ2 adaptativos para o monitoramento dos coeficientes do modelo de regressão linear simples. Mais especificamente, são desenvolvidos sete gráficos de controle χ2 adaptativos para o monitoramento de perfis lineares, a saber: gráfico com tamanho de amostra variável; intervalo de amostragem variável; limites de controle e de advertência variáveis; tamanho de amostra e intervalo de amostragem variáveis; tamanho de amostra e limites variáveis; intervalo de amostragem e limites variáveis e por fim, com todos os parâmetros de projeto variáveis. Medidas de desempenho dos gráficos propostos foram obtidas através de propriedades de cadeia de Markov, tanto para a situação zero-state como para a steady-state, verificando-se uma diminuição do tempo médio até um sinal no caso de desvios pequenos a moderados nos coeficientes do modelo de regressão do processo de produção. Os gráficos propostos foram aplicados a um exemplo de um processo de fabricação de semicondutores. Além disso, uma análise de sensibilidade dos mesmos é feita em função de desvios de diferentes magnitudes nos parâmetros do processo, a saber, no intercepto e na inclinação, comparando-se o desempenho entre os gráficos desenvolvidos e também com o gráfico χ2 com parâmetros fixos. Os gráficos propostos nesta tese são adequados para vários tipos de aplicações. Neste trabalho também foi considerado características de qualidade as quais são representadas por um modelo de regressão não-linear. Para o modelo de regressão não-linear considerado, a proposta é utilizar um método que divide o perfil não-linear em partes lineares, mais especificamente, um algoritmo para este fim, proposto na literatura, foi utilizado. Desta forma, foi possível validar a técnica proposta, mostrando que a mesma é robusta no sentido que permite tipos diferentes de perfis não-lineares. Aproxima-se, portanto um perfil não-linear por perfis lineares por partes, o que proporciona o monitoramento de cada perfil linear por gráficos de controle, como os gráficos de controle desenvolvidos nesta tese. Ademais apresenta-se a metodologia de decompor um perfil não-linear em partes lineares de forma detalhada e completa, abrindo espaço para ampla utilização.

Análise dinâmica e estudo de conforto humano das arquibancadas do Estádio Nacional de Brasília.

Ao longo dos anos, inúmeros estádios de futebol no Brasil têm sido projetados para suportar as cargas acidentais (carga de pessoas) como sendo do tipo estática (4kN/m2). Entretanto, ultimamente com base na mudança do comportamento do público, especialmente em jogos de futebol, através da ação de torcidas organizadas e, ainda, com o emprego desses estádios para shows de música, os sistemas estruturais passaram a sofrer um maior impacto pela natureza dinâmica dos carregamentos solicitantes. Assim sendo, alguns destes estádios passaram a apresentar problemas de vibrações excessivas e tornou-se necessária a consideração efetiva das cargas dinâmicas nos projetos estruturais. Deste modo, este trabalho de pesquisa objetiva o estudo do comportamento dinâmico e avaliação do desempenho do sistema estrutural das arquibancadas do Estádio Nacional de Brasília, no que diz respeito ao conforto humano. Cabe ressaltar que o referido estádio foi projetado e construído para ser utilizado na Copa do Mundo de 2014, realizada no Brasil. Os resultados alcançados ao longo do desenvolvimento deste estudo são confrontados com aqueles fornecidos por normas e recomendações internacionais de projeto. Os resultados revelam a importância da análise dinâmica para o projeto de estádios de futebol, no que tange a obtenção de dados relevantes para o conforto humano e, bem como, segurança dos usuários desse tipo de estrutura.

Phone-level pronunciation scoring and assessment for interactive language learning

This paper investigates a method of automatic pronunciation scoring for use in computer-assisted language learning (CALL) systems. The method utilizes a likelihood-based `Goodness of Pronunciation' (GOP) measure which is extended to include individual thresholds for each phone based on both averaged native confidence scores and on rejection statistics provided by human judges. Further improvements are obtained by incorporating models of the subject's native language and by augmenting the recognition networks to include expected pronunciation errors. The various GOP measures are assessed using a specially recorded database of non-native speakers which has been annotated to mark phone-level pronunciation errors. Since pronunciation assessment is highly subjective, a set of four performance measures has been designed, each of them measuring different aspects of how well computer-derived phone-level scores agree with human scores. These performance measures are used to cross-validate the reference annotations and to assess the basic GOP algorithm and its refinements. The experimental results suggest that a likelihood-based pronunciation scoring metric can achieve usable performance, especially after applying the various enhancements.

Investigation of acoustic units for LVCSR systems

One important issue in designing state-of-the-art LVCSR systems is the choice of acoustic units. Context dependent (CD) phones remain the dominant form of acoustic units. They can capture the co-articulatory effect in speech via explicit modelling. However, for other more complicated phonological processes, they rely on the implicit modelling ability of the underlying statistical models. Alternatively, it is possible to construct acoustic models based on higher level linguistic units, for example, syllables, to explicitly capture these complex patterns. When sufficient training data is available, this approach may show an advantage over implicit acoustic modelling. In this paper a wide range of acoustic units are investigated to improve LVCSR system performance. Significant error rate gains up to 7.1% relative (0.8% abs.) were obtained on a state-of-the-art Mandarin Chinese broadcast audio recognition task using word and syllable position dependent triphone and quinphone models. © 2011 IEEE.

Effective handling of dialogue state in the hidden information state POMDP-based dialogue manager

Effective dialogue management is critically dependent on the information that is encoded in the dialogue state. In order to deploy reinforcement learning for policy optimization, dialogue must be modeled as a Markov Decision Process. This requires that the dialogue statemust encode all relevent information obtained during the dialogue prior to that state. This can be achieved by combining the user goal, the dialogue history, and the last user action to form the dialogue state. In addition, to gain robustness to input errors, dialogue must be modeled as a Partially Observable Markov Decision Process (POMDP) and hence, a distribution over all possible states must be maintained at every dialogue turn. This poses a potential computational limitation since there can be a very large number of dialogue states. The Hidden Information State model provides a principled way of ensuring tractability in a POMDP-based dialogue model. The key feature of this model is the grouping of user goals into partitions that are dynamically built during the dialogue. In this article, we extend this model further to incorporate the notion of complements. This allows for a more complex user goal to be represented, and it enables an effective pruning technique to be implemented that preserves the overall system performance within a limited computational resource more effectively than existing approaches. © 2011 ACM.