On Modelling, System Identification and Control of Servo-Systems with a Flexible Load

The present study was done with two different servo-systems. In the first system, a servo-hydraulic system was identified and then controlled by a fuzzy gainscheduling controller. The second servo-system, an electro-magnetic linear motor in suppressing the mechanical vibration and position tracking of a reference model are studied by using a neural network and an adaptive backstepping controller respectively. Followings are some descriptions of research methods. Electro Hydraulic Servo Systems (EHSS) are commonly used in industry. These kinds of systems are nonlinearin nature and their dynamic equations have several unknown parameters.System identification is a prerequisite to analysis of a dynamic system. One of the most promising novel evolutionary algorithms is the Differential Evolution (DE) for solving global optimization problems. In the study, the DE algorithm is proposed for handling nonlinear constraint functionswith boundary limits of variables to find the best parameters of a servo-hydraulic system with flexible load. The DE guarantees fast speed convergence and accurate solutions regardless the initial conditions of parameters. The control of hydraulic servo-systems has been the focus ofintense research over the past decades. These kinds of systems are nonlinear in nature and generally difficult to control. Since changing system parameters using the same gains will cause overshoot or even loss of system stability. The highly non-linear behaviour of these devices makes them ideal subjects for applying different types of sophisticated controllers. The study is concerned with a second order model reference to positioning control of a flexible load servo-hydraulic system using fuzzy gainscheduling. In the present research, to compensate the lack of dampingin a hydraulic system, an acceleration feedback was used. To compare the results, a pcontroller with feed-forward acceleration and different gains in extension and retraction is used. The design procedure for the controller and experimental results are discussed. The results suggest that using the fuzzy gain-scheduling controller decrease the error of position reference tracking. The second part of research was done on a PermanentMagnet Linear Synchronous Motor (PMLSM). In this study, a recurrent neural network compensator for suppressing mechanical vibration in PMLSM with a flexible load is studied. The linear motor is controlled by a conventional PI velocity controller, and the vibration of the flexible mechanism is suppressed by using a hybrid recurrent neural network. The differential evolution strategy and Kalman filter method are used to avoid the local minimum problem, and estimate the states of system respectively. The proposed control method is firstly designed by using non-linear simulation model built in Matlab Simulink and then implemented in practical test rig. The proposed method works satisfactorily and suppresses the vibration successfully. In the last part of research, a nonlinear load control method is developed and implemented for a PMLSM with a flexible load. The purpose of the controller is to track a flexible load to the desired position reference as fast as possible and without awkward oscillation. The control method is based on an adaptive backstepping algorithm whose stability is ensured by the Lyapunov stability theorem. The states of the system needed in the controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive and responses are presented.

Perception of acceleration in motion-in-depth with only monocular and both monocular and binocular information

Observers are often required to adjust actions with objects that change their speed. However, no evidence for a direct sense of acceleration has been found so far. Instead, observers seem to detect changes in velocity within a temporal window when confronted with motion in the frontal plane (2D motion). Furthermore, recent studies suggest that motion-in-depth is detected by tracking changes of position in depth. Therefore, in order to sense acceleration in depth a kind of second-order computation would have to be carried out by the visual system. In two experiments, we show that observers misperceive acceleration of head-on approaches at least within the ranges we used [600-800 ms] resulting in an overestimation of arrival time. Regardless of the viewing condition (only monocular or monocular and binocular), the response pattern conformed to a constant velocity strategy. However, when binocular information was available, overestimation was highly reduced.

Let's share perspectives! Mentalistic skills involved in cooperation = ¿A tu Izquierda o a la Mía? Habilidades Mentalistas Implicadas en la Cooperación

Previous research has found a link between theory of mind and cooperation. The aim of this study is to deepen into this relationship, to identify which theory of mind skills are more related to the cooperative capacity on a referential communication task. A total of 50 children from first and fifth grade completed a battery of theory of mind tasks, and also a cooperative task where children worked in pairs to build block models. Each pair was composed by a builder and a guide, who gave instructions to his partner about how to build a replica of the model. The results show a significant relationship between the theory of mind skills and cooperation. Specifically, we found that the second-order false-belief task was the variable most related to cooperation after controlling the effect of age. In addition, we observed that the mentalist skills were more important for cooperation in the builders than in the guides. Finally, we discuss the findings of this study and make suggestions for the future

Replicabilidad de los factores de segundo orden del 16PF-5 en muestras americanas y españolas

El objetivo de este estudio fue replicar las estructuras de 5 y 6 factores de segundo orden del 16PF-5. Para la estructura de 5 factores se toma como referencia teórica la estructura obtenida por Russell y Karol (1995), y para la estructura de 6 factores (incluyendo un factor adicional de Razonamiento) la obtenida en muestras americanas por Cattell y Cattell (1995). Se utilizan tres procedimientos para el estudio de la replicabilidad, a) análisis factorial exploratorio, b) análisis de la estructura ortogonal Procrustes, y c) análisis de los índices de congruencia entre las tres matrices factoriales. Las matrices factoriales obtenidas en el presente estudio son similares a las informadas en los estudios de referencia, aunque la solución Procrustes se revela ligeramente más parecida. Los índices de congruencia en ge- neral son aceptables por lo que se concluye que el 16PF-5 demuestra buena replicabilidad.

Espeleotoponímia de motivació paleontològica i antracotoponímia de les Illes Balears

En aquest treball es recopilen i estudien, des d’una perspectiva etnopaleontològica, les aportacions i influencies exercides pels fòssils en relació al patrimoni onomàstic toponímic relacionat amb cavitats càrstiques de l’àmbit geogràfic de les Illes Balears. Generalment es tracta de microtopònims moderns o recents, en vies de popularització i/o tradicionalització (neotopònims), establerts pels científics que estudien les coves i/o esportistes del món de l’espeleologia (topocultismes). Es poden distingir entre espeleotopònims de primer ordre (quan es refereixen a cavitats completes) i de segon ordre (quan es refereixen a un sector d’una cavitat). També es realitza una primera aproximació als topònims referits a mines d’extracció de carbó fòssil (antracotopònims).

Phenomenological models of holographic superconductors and hall currents

We study general models of holographic superconductivity parametrized by four arbitrary functions of a neutral scalar field of the bulk theory. The models can accommodate several features of real superconductors, like arbitrary critical temperatures and critical exponents in a certain range, and perhaps impurities or boundary or thickness effects. We find analytical expressions for the critical exponents of the general model and show that they satisfy the Rushbrooke identity. An important subclass of models exhibit second order phase transitions. A study of the specific heat shows that general models can also describe holographic superconductors undergoing first, second and third (or higher) order phase transitions. We discuss how small deformations of the HHH model can lead to the appearance of resonance peaks in the conductivity, which increase in number and become narrower as the temperature is gradually decreased, without the need for tuning mass of the scalar to be close to the Breitenlohner-Freedman bound. Finally, we investigate the inclusion of a generalized ¿theta term¿ producing Hall effect without magnetic field.

Application of Information Statistical Theory to the Description of the Effect of Heat Conduction on the Chemical Reaction Rate in Gases

The effect of the heat flux on the rate of chemical reaction in dilute gases is shown to be important for reactions characterized by high activation energies and in the presence of very large temperature gradients. This effect, obtained from the second-order terms in the distribution function (similar to those obtained in the Burnett approximation to the solution of the Boltzmann equation), is derived on the basis of information theory. It is shown that the analytical results describing the effect are simpler if the kinetic definition for the nonequilibrium temperature is introduced than if the thermodynamic definition is introduced. The numerical results are nearly the same for both definitions

A simple model to describe the thixotropic behavior of paints.

We propose a simple rheological model to describe the thixotropic behavior of paints, since the classical hysteresis area, which is usually used, is not enough to evaluate thixotropy. The model is based on the assumption that viscosity is a direct measure of the structural level of the paint. The model depends on two equations: the Cross-Carreau equation to describe the equilibrium viscosity and a second order kinetic equation to express the time dependence of viscosity. Two characteristic thixotropic times are differentiated: one for the net structure breakdown, which is defined as a power law function of shear rate, and an other for the net structure buildup, which is not dependent on the shear rate. The knowledge of both kinetic processes can be used to improve the quality and applicability of paints. Five representative commercial protective marine paints are tested. They are based on chlorinated rubber, acrylic, alkyd, vinyl, and epoxy resins. The temperature dependence of the rheological behavior is also studied with the temperature ranging from 5 ºC to 35 ºC. It is found that the paints exhibit both shear thinning and thixotropic behavior. The model fits satisfactorily the thixotropy of the studied paints. It is also able to predict the thixotropy dependence on temperature. Both viscosity and the degree of thixotropy increase as the temperature decreases.

Microscopic-macroscopic approach for binding energies with the Wigner-Kirkwood method. II. Deformed nuclei

The binding energies of deformed even-even nuclei have been analyzed within the framework of a recently proposed microscopic-macroscopic model. We have used the semiclassical Wigner-Kirkwood ̄h expansion up to fourth order, instead of the usual Strutinsky averaging scheme, to compute the shell corrections in a deformed Woods-Saxon potential including the spin-orbit contribution. For a large set of 561 even-even nuclei with Z 8 and N 8, we find an rms deviation from the experiment of 610 keV in binding energies, comparable to the one found for the same set of nuclei using the finite range droplet model of Moller and Nix (656 keV). As applications of our model, we explore its predictive power near the proton and neutron drip lines as well as in the superheavy mass region. Next, we systematically explore the fourth-order Wigner-Kirkwood corrections to the smooth part of the energy. It is found that the ratio of the fourth-order to the second-order corrections behaves in a very regular manner as a function of the asymmetry parameter I=(N−Z)/A. This allows us to absorb the fourth-order corrections into the second-order contributions to the binding energy, which enables us us to simplify and speed up the calculation of deformed nuclei.

Estimación de funciones no lineales en mezclas post-no lineales

This paper proposes a new method for blindly inverting a nonlinear mapping which transforms a sum of random variables. This is the case of post-nonlinear (PNL) source separation mixtures. The importance of the method is based on the fact that it permits to decouple the estimation of the nonlinear part from the estimation of the linear one. Only the nonlinear part is inverted, without considering on the linear part. Hence the initial problem is transformed into a linear one that can then be solved with any convenient linear algorithm. The method is compared with other existing algorithms for blindly approximating nonlinear mappings. Experiments show that the proposed algorithm outperforms the results obtained with other algorithms and give a reasonably good linearized data

On cumulant techniques in speech processing

This paper analyzes applications of cumulant analysis in speech processing. A special focus is made on different second-order statistics. A dominant role is played by an integral representation for cumulants by means of integrals involving cyclic products of kernels.

When Langmuir is too simple: H2 dissociation on Pd(111) at high coverage

Recent experiments of H2 adsorption on Pd(111) [T. Mitsui et al., Nature (London) 422, 705 (2003)] have questioned the classical Langmuir picture of second order adsorption kinetics at high surface coverage requiring pairs of empty sites for the dissociative chemisorption. Experiments find that at least three empty sites are needed. Through density functional theory, we find that H2 dissociation is favored on ensembles of sites that involve a Pd atom with no direct interaction with adsorbed hydrogen. Such active sites are formed by aggregation of at least 3 H-free sites revealing the complex structure of the "active sites."

The Psychometric Properties of the French Version of the Personality Inventory for DSM-5.

In the context of the publication of DSM-5, the Personality Inventory for DSM-5 (PID-5) has been proposed as a new dimensional assessment tool for personality disorders. This instrument includes a pool of 220 items organized around 25 facets included in a five-factor second-order domain structure. The examination of the replicability of the trait structure across methods and populations is of primary importance. In view of this need, the main objective of the current study was to validate the French version of the PID-5 among French-speaking adults from a European community sample (N=2,532). In particular, the assumption of unidimensionality of the 25 facet and the five domain scales was tested, as well as the extent to which the five-factor structure of the PID-5 and the DSM-5 personality trait hierarchical structure are replicated in the current sample. The results support the assumption of unidimensionality of both the facets and the domains. Exploratory factor and hierarchical analyses replicated the five-factor structure as initially proposed in the PID-5.

Método Melhorado para Calcular a Leitura Infinita de Cinéticas de Primeira Ordem

Infinity readings for first order kinetics can be calculated from any three measurements (triads) of a physical property l at three equallyspaced times. Accurate results can be obtained from time intervals aslow as 0.4 half-life. Calculation of infinity readings l¥ from severaltriads at increasing values of time gives an insight into the deviation of the first order kinetics when parallel, consecutive or other spurious reactions occur along with the main first order reaction, not allowing direct measurements or calculation of l¥. The proposed method is more sensitive in distinguishing between first and second order kinetics than the Guggenheim and Kezdy-Swinbourne methods.

Separação de espectros simulados e de luminescência total através do método generalizado de anulação do posto (GRAM)

A multivariate curve resolution method, "GENERALIZED RANK ANNIHILATION METHOD (GRAM)", is discussed and tested with simulated and experimental data. The analysis of simulated data provides general guidelines concerning the condition for uniqueness of a solution for a given problem. The second-order emission-excitation spectra of human and animal dental calculus deposits were used as an experimental data to estimate the performance of the above method. Three porphyrinic spectral profiles, for both human and cat, were obtained by the use of GRAM.