Adaptive Flight-Control Design Using Neural-Network-Aided Optimal Nonlinear Dynamic Inversion

A neural-network-aided nonlinear dynamic inversion-based hybrid technique of model reference adaptive control flight-control system design is presented in this paper. Here, the gains of the nonlinear dynamic inversion-based flight-control system are dynamically selected in such a manner that the resulting controller mimics a single network, adaptive control, optimal nonlinear controller for state regulation. Traditional model reference adaptive control methods use a linearized reference model, and the presented control design method employs a nonlinear reference model to compute the nonlinear dynamic inversion gains. This innovation of designing the gain elements after synthesizing the single network adaptive controller maintains the advantages that an optimal controller offers, yet it retains a simple closed-form control expression in state feedback form, which can easily be modified for tracking problems without demanding any a priori knowledge of the reference signals. The strength of the technique is demonstrated by considering the longitudinal motion of a nonlinear aircraft system. An extended single network adaptive control/nonlinear dynamic inversion adaptive control design architecture is also presented, which adapts online to three failure conditions, namely, a thrust failure, an elevator failure, and an inaccuracy in the estimation of C-M alpha. Simulation results demonstrate that the presented adaptive flight controller generates a near-optimal response when compared to a traditional nonlinear dynamic inversion controller.

Maximum Spreading of Liquid Drops Impacting on Groove-Textured Surfaces: Effect of Surface Texture

Maximum, spreading of liquid drops impacting on solid surfaces textured with unidirectional parallel grooves is studied for drop Weber number in the range 1-100 focusing on the role of texture geometry and wettability. The maximum spread factor of impacting drops measured perpendicular to grooves; beta(m,perpendicular to) is seen to be less than, that:measured parallel to grooves, beta(m,perpendicular to).The difference between beta(m,perpendicular to), and beta(m,parallel to) increases with drop impact velocity. This deviation of beta(m,perpendicular to) from beta(m,parallel to) is analyzed by considering the possible mechanisms, correspond, ing to experimental observations (1) impregnation of drop into the grooves, (2) convex shape of liquid vapor interface near contact line at maximum spreading, and (3) contact line pinning of spreading drop at the pillar edges by incorporating them into an energy conservation-based model. The analysis reveals that contact line pinning offers a physically meaningful justification of the observed: deviation of beta(m,perpendicular to) from beta(m,parallel to) compared to other possible candidates. A unified model, incorporating all the above-mentioned mechanisms, is formulated, which predicts beta(m,perpendicular to) on several groove-textured surfaces made of intrinsically hydrophilic and hydrophobic materials with an average error of 8.3%. The effect of groove-texture geometrical parameters,on maximum drop spreading is explained using this unified model. A special case of the unified model, with contact line pinning, absent, predicts beta(m,parallel to) with an average error of 6.3%.

A constitutive description of the inelastic response of ceramics

The objective of the article is to present a unified model for the dynamic mechanical response of ceramics under compressive stress states. The model incorporates three principal deformation mechanisms: (i) lattice plasticity due to dislocation glide or twinning; (ii) microcrack extension; and (iii) granular flow of densely packed comminuted particles. In addition to analytical descriptions of each mechanism, prescriptions are provided for their implementation into a finite element code as well as schemes for mechanism transitions. The utility of the code in addressing issues pertaining to deep penetration is demonstrated through a series of calculations of dynamic cavity expansion in an infinite medium. The results reveal two limiting behavioral regimes, dictated largely by the ratio of the cavity pressure p to the material yield strength σY. At low values of p/σY, cavity expansion occurs by lattice plasticity and hence its rate diminishes with increasing σY. In contrast, at high values, expansion occurs by microcracking followed by granular plasticity and is therefore independent of σY. In the intermediate regime, the cavity expansion rate is governed by the interplay between microcracking and lattice plasticity. That is, when lattice plasticity is activated ahead of the expanding cavity, the stress triaxiality decreases (toward more negative values) which, in turn, reduces the propensity for microcracking and the rate of granular flow. The implications for penetration resistance to high-velocity projectiles are discussed. Finally, the constitutive model is used to simulate the quasi-static and dynamic indentation response of a typical engineering ceramic (alumina) and the results compared to experimental measurements. Some of the pertinent observations are shown to be captured by the present model whereas others require alternative approaches (such as those based on fracture mechanics) for complete characterization. © 2011 The American Ceramic Society.

Studies on two-phase co-current air/non-Newtonian shear-thinning fluid flows in inclined smooth pipes

In this work. co-current flow characteristics of air/non-Newtonian liquid systems in inclined smooth pipes are studied experimentally and theoretically using transparent tubes of 20, 40 and 60 turn in diameter. Each tube includes two 10 m lone pipe branches connected by a U-bend that is capable of being inclined to any angle, from a completely horizontal to a fully vertical position. The flow rate of each phase is varied over a wide range. The studied flow phenomena are bubbly, plug flow, slug flow, churn flow and annular flow. These are observed and recorded by a high flow. stratified flow. -speed camera over a wide range of operating conditions. The effects of the liquid phase properties, the inclination angle and the pipe diameter on two-phase flow characteristics are systematically studied. The Heywood-Charles model for horizontal flow was modified to accommodate stratified flow in inclined pipes, taking into account the average void fraction and pressure drop of the mixture flow of a gas/non-Newtonian liquid. The pressure drop gradient model of Taitel and Barnea for a gas/Newtonian liquid slug flow was extended to include liquids possessing shear-thinning flow behaviour in inclined pipes. The comparison of the predicted values with the experimental data shows that the models presented here provide a reasonable estimate of the average void fraction and the corresponding pressure drop for the mixture flow of a gas/ non-Newtonian liquid. (C) 2007 Elsevier Ltd. All rights reserved.

Understanding planet formation through high precision photometry and spectroscopy

From studies of protoplanetary disks to extrasolar planets and planetary debris, we aim to understand the full evolution of a planetary system. Observational constraints from ground- and space-based instrumentation allows us to measure the properties of objects near and far and are central to developing this understanding. We present here three observational campaigns that, when combined with theoretical models, reveal characteristics of different stages and remnants of planet formation. The Kuiper Belt provides evidence of chemical and dynamical activity that reveals clues to its primordial environment and subsequent evolution. Large samples of this population can only be assembled at optical wavelengths, with thermal measurements at infrared and sub-mm wavelengths currently available for only the largest and closest bodies. We measure the size and shape of one particular object precisely here, in hopes of better understanding its unique dynamical history and layered composition.

Molecular organic chemistry is one of the most fundamental and widespread facets of the universe, and plays a key role in planet formation. A host of carbon-containing molecules vibrationally emit in the near-infrared when excited by warm gas, T~1000 K. The NIRSPEC instrument at the W.M. Keck Observatory is uniquely configured to study large ranges of this wavelength region at high spectral resolution. Using this facility we present studies of warm CO gas in protoplanetary disks, with a new code for precise excitation modeling. A parameterized suite of models demonstrates the abilities of the code and matches observational constraints such as line strength and shape. We use the models to probe various disk parameters as well, which are easily extensible to others with known disk emission spectra such as water, carbon dioxide, acetylene, and hydrogen cyanide.

Lastly, the existence of molecules in extrasolar planets can also be studied with NIRSPEC and reveals a great deal about the evolution of the protoplanetary gas. The species we observe in protoplanetary disks are also often present in exoplanet atmospheres, and are abundant in Earth's atmosphere as well. Thus, a sophisticated telluric removal code is necessary to analyze these high dynamic range, high-resolution spectra. We present observations of a hot Jupiter, revealing water in its atmosphere and demonstrating a new technique for exoplanet mass determination and atmospheric characterization. We will also be applying this atmospheric removal code to the aforementioned disk observations, to improve our data analysis and probe less abundant species. Guiding models using observations is the only way to develop an accurate understanding of the timescales and processes involved. The futures of the modeling and of the observations are bright, and the end goal of realizing a unified model of planet formation will require both theory and data, from a diverse collection of sources.

Coisa julgada dinâmica: limites objetivos e temporais. Entre continuidade, mudança e transição de posições processuais estáveis

O presente trabalho pretende apresentar um modelo unificado para o tratamento das estabilidades processuais (coisa julgada e preclusões). Para tanto, parte de duas premissas fundamentais: a segurança como continuidade jurídica, uma forma dinâmica de proteger a estabilidade sem impedir alterações de conteúdo nos atos jurídicos estáveis; e, de outro lado, a concepção das estabilidades processuais como uma cadeia de vínculos em contraditório. A combinação destas premissas resgata o papel da argumentação jurídica no sistema da coisa julgada, retomando a importância da vinculatividade das razões de decidir; e também incorpora ao modelo uma dimensão interprocessual que visa a garantir harmonia e coerência ao tráfego jurídico. Com base nestes pilares, tenta-se propor parâmetros para uma nova compreensão dos limites objetivos e temporais da coisa julgada. No campo dos limites objetivos, destaca-se a elaboração em torno dos esquemas argumentativos, estruturas aglutinadas de elementos processuais referentes ao exercício do contraditório. Em relação aos limites temporais, procura-se elaborar um modelo de revisão das estabilidades que incorpore o novum sem impedir a mudança. Neste contexto, trabalham-se também mecanismos compensatórios para a superação das estabilidades, tais como o ônus argumentativo no procedimento de quebra, e as regras de transição editadas pelo próprio Poder Judiciário.

How are internal models of unstable tasks formed?

The results of recent studies suggest that humans can form internal models that they use in a feedforward manner to compensate for both stable and unstable dynamics. To examine how internal models are formed, we performed adaptation experiments in novel dynamics, and measured the endpoint force, trajectory and EMG during learning. Analysis of reflex feedback and change of feedforward commands between consecutive trials suggested a unified model of motor learning, which can coherently unify the learning processes observed in stable and unstable dynamics and reproduce available data on motor learning. To our knowledge, this algorithm, based on the concurrent minimization of (reflex) feedback and muscle activation, is also the first nonlinear adaptive controller able to stabilize unstable dynamics.

A computer algorithm for determining the tensile strength of float glass

The extrinsic tensile strength of glass can be determined explicitly if the characteristics of the critical surface flaw are known, or stochastically if the critical flaw characteristics are unknown. This paper makes contributions to both these approaches. Firstly it presents a unified model for determining the strength of glass explicitly, by accounting for both the inert strength limit and the sub-critical crack growth threshold. Secondly, it describes and illustrates the use of a numerical algorithm, based on the stochastic approach, that computes the characteristic tensile strength of float glass by piecewise summation of the surface stresses. The experimental validation and sensitivity analysis reported in this paper show that the proposed computer algorithm provides an accurate and efficient means of determining the characteristic strength of float glass. The algorithm is particularly useful for annealed and thermally treated float glass used in the construction industry. © 2012 Elsevier Ltd.

基于UKF的移动机器人主动建模及模型自适应控制方法

利用基于无色卡尔曼滤波(UnscentedKalmanFilter,UKF)的状态和参数联合估计方法对移动机器人进行在线主动建模,基于该主动模型的逆动力学控制方法,实现了移动机器人对其自身不确定因素的自主性.在针对全方位移动机器人的仿真实验中,验证了UKF对时变的状态和参数的收敛性和跟踪能力,并给出了不确定界.基于主动建模的逆动力学控制方法与常值PID控制方法的比较结果,验证了该方法的有效性.

基于神经网络的一类非线性系统模型参考控制

针对一类非线性系统,提出了一种神经网络模型参考控制方案。在训练实现对象模型的网络和实现控制器的网络时,由状态方程产生训练样本。通过对倒立摆系统的仿真实验验证了控制方案和样本生成策略的有效性,在仿真实验中用不同初始状态验证了训练后的神经网络的泛化能力。

吗啡奖赏效应及其敏化与空间学习能力的关系

Rewarding experience after drug use is one of the mechanisms of substance abuse. Previous evidence indicated that rewarding experience was closely related to learning processes. Neuroscience studies have already established multiple-mode learning model. Reference memory system and habit memory are associated with hippocampus and dorsa striatum respectively, which are also involved in the rewarding effect of morphine. However, the relationship between spatial/habit learning and morphine reward property is still unclear. After drug use, with sensitization to rewarding effect, spatial learning is also changed. To study the mechanism of increment of spatial learning would provide new perspective about reward learning. Based on the individual difference between spatial learning and reward learning, the experiments studied relationship between the two leaning abilities and tested the function of dorsal hippocampus and dorsal striatum in morphine-induced CPP. The results were summarized below： 1 In a single－rule learning water maze task, subjects better in spatial learning also excelled in rewarding learning. In a multi-rule learning task, morphine administration was more rewarding to subjects of use place strategy. 2 Treatment potentiating the rewarding effect of morphine also increased place-rule learning, with no significant improvement in habit learning. 3 Intracranial injections into CA1 of hippocampus or dorsal striatum of M1 antagonist, Pirenzepine, could block the establishment of morphine CPP after three days morphine treatment. In contrast, the antagonist of D1 receptor SCH23390 had no blocking effect. Both Pirenzepine and SCH23390 blocked the locomotor-stimulating effect of morphine. In summary, spatial learning stimulated the behavioral expression of morphine’s rewarding effect, in which CA1 of hippocampus was critically involved. On the other side, a pretreatment schedule of morphine, while increased the rewarding effect, improved place-rule learning, indicating that spatial learning might be one chain of sensitization to drug rewards effects

Chemical composition of B-type supergiants in the OB 8, OB 10, OB 48, OB 78 associations of M 31

Absolute and differential chemical abundances are presented for the largest group of massive stars in M31 studied to date. These results were derived from intermediate resolution spectra of seven B-type supergiants, lying within four OB associations covering a galactocentric distance of 5-12 kpc. The results are mainly based on an LTE analysis, and we additionally present a full non-LTE, unified model atmosphere analysis of one star (OB 78-277) to demonstrate the reliability of the differential LTE technique. A comparison of the stellar oxygen abundance with that of previous nebular results shows that there is an off set of between similar to0.15-0.4 dex between the two methods which is critically dependent on the empirical calibration adopted for the R 23 parameter with [O/H]. However within the typical errors of the stellar and nebular analyses (and given the strength of dependence of the nebular results on the calibration used) the oxygen abundances determined in each method are fairly consistent. We determine the radial oxygen abundance gradient from these stars, and do not detect any systematic gradient across this galactocentric range. We find that the inner regions of M31 are not, as previously thought, very "metal rich". Our abundances of C, N, O, Mg, Si, Al, S and Fe in the M31 supergiants are very similar to those of massive stars in the solar neighbourhood.

Spatial turnover in the global avifauna

Despite its wide implications for many ecological issues, the global pattern of spatial turnover in the occurrence of species has been little studied, unlike the global pattern of species richness. Here, using a database on the breeding distributions of birds, we present the first global maps of variation in spatial turnover for an entire taxonomic class, a pattern that has to date remained largely a matter of conjecture, based on theoretical expectations and extrapolation of inconsistent patterns from different biogeographic realms. We use these maps to test four predictions from niche theory as to the form that this variation should take, namely that turnover should increase with species richness, towards lower latitudes, and with the steepness of environmental gradients and that variation in turnover is determined principally by rare (restricted) species. Contrary to prediction, we show that turnover is high both in areas of extremely low and high species richness, does not increase strongly towards the tropics, and is related both to average environmental conditions and spatial variation in those conditions. These results are closely associated with a further important and novel finding, namely that global patterns of spatial turnover are driven principally by widespread species rather than the restricted ones. This complements recent demonstrations that spatial patterns of species richness are also driven principally by widespread species, and thus provides an important contribution towards a unified model of how terrestrial biodiversity varies both within and between the Earth's major land masses.

Les centres de travailleurs : un moyen d’élargir le champ d’action syndical? : études de cas

Le monde du travail connaît actuellement de grandes transformations. Le modèle nord-américain d’organisation syndicale ne semble plus permettre au mouvement syndical de répondre efficacement à ces transformations, favorisant le développement de plusieurs initiatives de renouveau syndical. Pour évaluer les impacts d’initiatives de renouveau syndical, nous avons développé un modèle basé sur le concept de zone syndicale (Haiven, 2003, 2006). Nous avons dû déterminer les facteurs définissant la zone syndicale, comme la littérature était muette à ce sujet. En utilisant d’abord la théorie des déterminants de la densité syndicale (Schnabel, 2003), nous avons intégré au modèle les éléments de la théorie des ressources du pouvoir syndical (Lévesque et Murray, 2010) pour considérer les facteurs internes aux syndicats qui influencent la zone syndicale. L’intégration de ces trois théories dans un modèle unifié constitue une innovation théorique significative. Le modèle a été appliqué à deux centres de travailleurs : le Vermont Workers Center et le Centre des Travailleurs de St-Rémi. Dans les deux cas, ces initiatives ont permis d’élargir la zone syndicale. Par contre, le Centre du Vermont applique les principes du syndicalisme communautaire, en cherchant à développer du leaderhsip chez ses membres (Cranford et Ladd, 2013), alors que celui de St-Rémi applique un syndicalisme de mobilisation, où le leadership s’exerce par les organisateurs syndicaux (Camfield, 2007). Cette différence et leurs différents mandats font que les impacts des deux cas étudiés diffèrent. D’autres études sont nécessaires pour améliorer le modèle proposé. Ce dernier demeure malgré tout un outil pour les chercheurs ou les syndicats qui veulent évaluer des initiatives ou des pratiques syndicales et permettre, à terme, d’augmenter l’influence du mouvement syndical sur le marché du travail et la société.

TU Graz: Course: 707.000 Web Science and Web Technology: Lecture 9: Metadata, Tagging and Folksonomies

In this class, we will discuss metadata as well as current phenomena such as tagging and folksonomies. Readings: Ontologies Are Us: A Unified Model of Social Networks and Semantics, P. Mika, International Semantic Web Conference, 522-536, 2005. [Web link] Optional: Folksonomies: power to the people, E. Quintarelli, ISKO Italy-UniMIB Meeting, (2005)