Adaptive regulation of vector-controlled induction motors

This paper addresses the speed and flux regulation of induction motors under the assumption that the motor parameters are poorly known. An adaptive passivity-based control is proposed that guarantees robust regulation as well as accurate estimation of the electrical parameters that govern the motor performance. This paper provides a local stability analysis of the adaptive scheme, which is illustrated by simulations and supported by a successful experimental validation on an industrial product. © 2009 IEEE.

Stabilization and disturbance attenuation of nonlinear systems using dissipativity theory

In this paper, we survey some recent results on stabilization and disturbance attenuation for nonlinear systems using a dissipativity approach. After reviewing the basic dissipativity concept, we stress the connections between Lyapunov designs and the problem of achieving passivity by feedback. Focusing on physical models, we then illustrate how the design of stabilizing feedback can take advantage of the natural energy balance equation of the system. Here stabilization is viewed as the task of shaping the energy of the system to enforce a minimum at the desired equilibrium. Finally, we show the implications of dissipativity theory as an appropriate framework to study the nonlinear H∞ control problem. © 2002 EUCA.

Constructive Nonlinear Control

In this book several streams of nonlinear control theory are merged and di- rected towards a constructive solution of the feedback stabilization problem. Analytic, geometric and asymptotic concepts are assembled as design tools for a wide variety of nonlinear phenomena and structures. Di®erential-geometric concepts reveal important structural properties of nonlinear systems, but al- low no margin for modeling errors. To overcome this de¯ciency, we combine them with analytic concepts of passivity, optimality and Lyapunov stability. In this way geometry serves as a guide for construction of design procedures, while analysis provides robustness tools which geometry lacks.

On differentially dissipative dynamical systems

Dissipativity is an essential concept of systems theory. The paper provides an extension of dissipativity, named differential dissipativity, by lifting storage functions and supply rates to the tangent bundle. Differential dissipativity is connected to incremental stability in the same way as dissipativity is connected to stability. It leads to a natural formulation of differential passivity when restricting to quadratic supply rates. The paper also shows that the interconnection of differentially passive systems is differentially passive, and provides preliminary examples of differentially passive electrical systems. © IFAC.

Exploiting passive dynamics for robot throwing task

Throwing is a complex and highly dynamic task. Humans usually exploit passive dynamics of their limbs to optimize their movement and muscle activation. In order to approach human throwing, we developed a double pendulum robotic platform. To introduce passivity into the actuated joints, clutches were included in the drive train. In this paper, we demonstrate the advantage of exploiting passive dynamics in reducing the mechanical work. However, engaging and disengaging the clutches are done in discrete fashions. Therefore, we propose an optimization approach which can deal with such discontinuities. It is shown that properly engaging/disengaging the clutches can reduce the mechanical work of a throwing task. The result is compared to the solution of fully actuated double pendulum, both in simulation and experiment. © 2012 IEEE.

互联网上机器人的遥控理论与方法综述

给出了系统的研究模型,指出系统控制和设计必须考虑的3个关键问题:稳定性、透明性和时延处理.阐述了4个主要的稳定性分析方法:Lyapunov稳定性、输入输出稳定性、无源稳定性和基于事件的稳定性,总结了这些方法的优势和局限性.接着,给出了几种主要的控制策略,指出了现有控制方法的优缺点.最后,提出了进一步的主要研究方向.

Reabilitação fixa aparafusada Vs. reabilitação fixa cimentada

Projeto de Pós-Graduação/Dissertação apresentado à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Mestre em Medicina Dentária

Inquiring into perspective transformation in university education

My Portfolio of Exploration tackles the difficult question as to whether adult mental development can be accelerated and if so how. Rooted in constructive-developmental ideas, adult mental development is explained as an evolutionary unfolding of human capability. Going beyond this I look at the possibility of advancing development as transformational growth in adulthood in the belief that a broader perspective leads to increased effectiveness in professional life. Initially I explored my own meaning making, to make sense of my experiences, knowledge, relationships and my own motivations. This exploration has provided me with a ‘developmental bridge’ between my current way of knowing and a new more enlightened way. I have come to view my way of making meaning in the world as an evolving and progressive sequence of emotional and cognitive development. Through the formation of new stretching experiences, increased self - awareness and reflection my previous perspective has been overtaken by a more complex form of being aware of myself, others and the world. I refer to this process of growth as transformation. As part of my own transformational work I have conducted an inquiry into transformational growth and learning in the early academic life of university undergraduates. The result shows how accelerated adult mental development can be achieved in an academic environment ably preparing students for the workplace. This new model of education is part of a truly unique and exciting model signalling ground-breaking change for the undergraduate experience. The overhaul of a traditional BA degree in Economics into a world-class transformational programme is discussed through-out my Portfolio. Central to my broadening awareness is the challenge and nurturing required to awaken the student’s ‘internal authority’ . This involves stimulating students to take ownership for their own thinking, steering them away from the passivity and complacency of thinking through the minds of others. In doing so, the ultimate aim of renewing the BA is to narrow the developmental ‘mismatch’ which exists for m any college students between them and the world of work, by encouraging and inviting them to take on the challenge of thinking independently. Mindfulness, awareness, and personal authority are treated with reverence throughout the exploration as I consider them core parts of the students engaging with development. Engagement is construed as an active and open-minded process of awareness involving planning and reviewing one’s own goals and performance, engaging in constructive feedback, reflection and new action. I conclude with a view that the journey of adult mental development is relentless and that undergraduate education represents a crucial beginning. The value and relevance of transformational education rooted in developmental principles provides a significant opportunity in advancing development and perspectives at the start of adult life.

Victims or survivors? Debate about victimhood in Northern Ireland.

There is a broad range of definitions of victimhood. The term 'victim' might be seen in a negative sense, because it is often perceived as implying stereotypes of vulnerability, passivity and weakness. But, on the other hand, the term can entail benefits such as recognition, validation, support and compensation. In Northern Ireland, the debate becomes extremely politically loaded and follows well-trodden sectarian lines. The main aims of this paper are to briefly examine the various connotations of the terms victim and survivor, to analyse the debate in Northern Ireland and its political implications, and finally, to present a general overview of the research undertaken to identify who are the victims. co-authored with research assistants

Re-imagining DDR Ex-combatants, leadership and moral agency in conflict transformation

Drawing upon criminological studies in the field of prisoner rehabilitation, this essay explores the relevance of the Demobilisation, Disarmament and Reintegration (DDR) framework to the process of conflict transformation in Northern Ireland. In a similar fashion to the critique of 'passivity' offered by, for example, the 'strengths based' or 'good lives' approach to prisoner resettlement and reintegration more generally, the authors contend that the Northern Ireland peace process offers conspicuous examples of former prisoners and combatants as agents and indeed leaders in the process of conflict transformation. They draw out three broad styles of leadership which have emerged amongst ex-combatants over the course of the Northern Ireland transition from conflict-political, military and communal. They suggest that cumulatively such leadership speaks to the potential of ex-prisoners and ex-combatants as moral agents in conflict transformation around which peacemaking can be constructed rather than as obstacles which must be 'managed' out of existence.

Denial, Silence and the Politics of the Past: Unpicking the Opposition to Truth Recovery in Northern Ireland

There has been considerable and protracted debate on whether a formal truth recovery process should be established in Northern Ireland. Some of the strongest opposition to the creation of such a body has been from unionist political elites and the security forces. Based on qualitative fieldwork, this article argues that the dynamics of denial and silence have been instrumental in shaping their concerns. It explores how questions of memory, identity and denial have created a ‘myth of blamelessness’ in unionist discourse that is at odds with the reasons for a truth process being established. It also examines how three interlocking manifestations of silence – ‘silence as passivity,’ ‘silence as loyalty’ and ‘silence as pragmatism’ – have furthered unionists’ opposition to dealing with the past. This article argues that making peace with the past requires an active deconstruction of these practices.

The performance of a cathodic protection system in reinforced concrete structure: Monitoring and Service Life Modelling

The use of cathodic protection in reinforced concrete is becoming increasingly common with such systems being installed on a number of structures throughout the United Kingdom and Ireland. However the prescribed design lives (or service life) of each cathodic protection system vary widely. The aim of this project was to assess the effectiveness of a sacrificial anode cathodic protection system and to predict its design life through a series of laboratory based experiments. The experimental plan involved casting a number of slabs which represented a common road bridge structure. The corrosion of the steel within the experimental slabs was then accelerated prior to installation of a cathodic protection system. During the experiment corrosion potential of the steel reinforcement was monitored using half-cell measurement. Additionally the current flow between the cathodic protection system and the steel reinforcement was recorded to assess the degree of protection. A combination of theoretical calculations and experimental results were then collated to determine the design life of this cathodic protection system. It can be concluded that this sacrificial anode based cathodic protection system was effective in halting the corrosion of steel reinforcement in the concrete slabs studied. Both the corrosion current and half-cell potentials indicated a change in passivity for the steel reinforcement once sacrificial anodes were introduced. The corrosion current was observed to be sensitive to the changes to the exposure environment. Based on the experimental variables studied the design life of this sacrificial anode can be taken as 26 to 30 years.

"Je ne sais plus du tout qui je suis": The Phenomenology of Cancer in Anne Cuneo’s 'Une cuillerée de bleu'

Taking as its case study Anne Cuneo’s autopathography, Une cuillerée de bleu (1979), and supported by a phenomenological reading of the subjective realities of illness, including feelings of alienation, fragmentation, and passivity, this article considers how the experience of cancer affects the patient’s perception of her body, self, and world.

La protection des actionnaires minoritaires lors d'opérations de prises de contrôle

Les actionnaires sont au centre du gouvernement des entreprises. Bien qu'une certaine passivité leur soit parfois reprochée, simultanément, des craintes existent qu'une démocratie des actionnaires ne limite excessivement la gestion quotidienne des entreprises. Loin d'être incompatibles, ces deux remarques reflètent la diversité des actionnaires. En pratique, leurs attentes et leur comportement dépendent fortement de deux éléments : la part du capital ou des voix qu'ils détiennent de même que leur identité. Notre recherche porte sur la protection des actionnaires minoritaires dans le cadre d'opérations de prises de contrôle de sociétés publiques. Le sujet soulève une problématique d'une grande actualité dans le contexte canadien, contexte caractérisé par une concentration de l'actionnariat des sociétés publiques. Le sujet fait la conjonction de deux problèmes d'actualité. D'une part, la multiplication des prises de contrôle s'est accrue lors des dernières décennies et ce phénomène semble, plus que jamais, promis à un brillant avenir. D'autre part, le problème de la protection des actionnaires minoritaires se pose de façon toujours plus aiguë, dans le cadre des sociétés par actions de plus en plus importantes où leur rôle tend à s'amenuiser.

L’activisme actionnarial : une perspective canadienne

Si l’on considère que le rôle des actionnaires varie dans un continuum qui s’étend de la passivité à l’une des extrémités jusqu’au contrôle total de la société dans laquelle ils ont investi, on peut affirmer que si, à une certaine époque, les investisseurs institutionnels ont privilégié une certaine forme d’apathie rationnelle, cette réalité a évolué. Loins d’avoir atteint l’autre extrémité du spectre, on doit néanmoins constater que désormais, les dirigeants et les actionnaires dominants doivent faire face à un nombre limité d’actionnaires institutionnels qui se connaissent et détiennent une part importante des titres d’une société. Malgré la présence d’obstacles légaux et organisationnels qui entravent toujours aujourd’hui l’exercice des droits des actionnaires, il semble que les interventions des investisseurs institutionnels aient transcendé la règle de la majorité en ayant recours à des moyens inusités pour diminuer les risques d’opportunisme au sein des sociétés ouvertes. En effet, si l’activisme des investisseurs institutionnels est un phénomène complexe qui prend des formes multiples souvent opaques et qui est difficile à cerner avec précision, il est néanmoins possible d’affirmer que ce mécanisme de gouvernance joue un rôle des plus importants en contribuant à limiter les coûts d’agence découlant de l’extraction de bénéfices privés par les dirigeants et les actionnaires dominants. En effet, au Canada, où la structure de propriété d’une majorité de sociétés est concentrée, l’activisme actionnarial permet de faire contrepoids au vaste pouvoir discrétionnaire des dirigeants ainsi qu’à l’influence qu’exercent les actionnaires dominants afin d’assurer une certaine forme de protection aux droits des actionnaires minoritaires.