H ∞ state feedback control of discrete-time Markov jump linear systems through linear matrix inequalities

This paper addresses the H ∞ state-feedback control design problem of discretetime Markov jump linear systems. First, under the assumption that the Markov parameter is measured, the main contribution is on the LMI characterization of all linear feedback controllers such that the closed loop output remains bounded by a given norm level. This results allows the robust controller design to deal with convex bounded parameter uncertainty, probability uncertainty and cluster availability of the Markov mode. For partly unknown transition probabilities, the proposed design problem is proved to be less conservative than one available in the current literature. An example is solved for illustration and comparisons. © 2011 IFAC.

Mutual occlusion between real and virtual elements in Augmented Reality based on fiducial markers

Augmented Reality (AR) systems which use optical tracking with fiducial marker for registration have had an important role in popularizing this technology, since only a personal computer with a conventional webcam is required. However, in most these applications, the virtual elements are shown only in the foreground a real element does not occlude a virtual one. The method presented enables AR environments based on fiducial markers to support mutual occlusion between a real element and many virtual ones, according to the elements position (depth) in the environment. © 2012 IEEE.

Healing outcomes at implants installed in sites augmented with particulate autologous bone and xenografts. An experimental study in dogs

Aim: To evaluate the integration of implants installed at the interface of pristine and grafted tissue augmented with particulate autologous bone or deproteinized bovine bone mineral (DBBM), concomitantly with a collagen membrane. Material and methods: In 6 Labrador dogs, the distal root of 3P3 and 4P4 was endodontically treated and hemi-sected, and the mesial roots extracted concomitantly with the extraction of 2P2. The buccal bony walls were removed, and two box-shaped defects, one larger and one smaller, were created. After 3 months, flaps were elevated, and the defects were filled with particulate autologous bone or DBBM in the right and left side of the mandible, respectively. Collagen membranes were used to cover the grafted areas. Three months later, flaps were elevated, and a customized device was used as surgical guide to prepare the recipient sites at the interface between grafts and pristine bone. One implant was installed in each of the four defects. After 3 months, biopsies were harvested and ground sections prepared for histological evaluation. Results: The augmentation technique was effective at all sites and all the foreseen implants were installed. In the histological analysis, all implants were integrated in mature bone, at both the buccal and lingual aspects. The most coronal bone-to-implant contact and the top of the buccal bony crest were located at a similar distance between test and control implants. However, these distances were higher at the larger compared with the smaller defects. Especially in the large defect, residual particles of DBBM were found embedded into connective tissue and located outside the bony crest. Conclusions: Particulate autologous bone as well as DBBM particles used to augment horizontally the alveolar bony process allowed for the osseointegration of implants installed after 3 months of healing. © 2012 John Wiley & Sons A/S.

Grip and load force coordination in cyclical isometric manipulation task is not affected by the feedback type

Background: The relationship between normal and tangential force components (grip force - GF and load force - LF, respectively) acting on the digits-object interface during object manipulation reveals neural mechanisms involved in movement control. Here, we examined whether the feedback type provided to the participants during exertion of LF would influence GF-LF coordination and task performance. Methods. Sixteen young (24.7 ±3.8 years-old) volunteers isometrically exerted continuously sinusoidal FZ (vertical component of LF) by pulling a fixed instrumented handle up and relaxing under two feedback conditions: targeting and tracking. In targeting condition, FZ exertion range was determined by horizontal lines representing the upper (10 N) and lower (1 N) targets, with frequency (0.77 or 1.53 Hz) dictated by a metronome. In tracking condition, a sinusoidal template set at similar frequencies and range was presented and should be superposed by the participants' exerted FZ. Task performance was assessed by absolute errors at peaks (AEPeak) and valleys (AEValley) and GF-LF coordination by GF-LF ratios, maximum cross-correlation coefficients (r max), and time lags. Results: The results revealed no effect of feedback and no feedback by frequency interaction on any variable. AE Peak and GF-LF ratio were higher and rmax lower at 1.53 Hz than at 0.77 Hz. Conclusion: These findings indicate that the type of feedback does not influence task performance and GF-LF coordination. Therefore, we recommend the use of tracking tasks when assessing GF-LF coordination during isometric LF exertion in externally fixed instrumented handles because they are easier to understand and provide additional indices (e.g., RMSE) of voluntary force control. © 2013 Pedão et al.; licensee BioMed Central Ltd.

Effective synchronization of a class of chua's chaotic systems using an exponential feedback coupling

A robust exponential function based controller is designed to synchronize effectively a given class of Chua's chaotic systems. The stability of the drive-response systems framework is proved through the Lyapunov stability theory. Computer simulations are given to illustrate and verify the method. © 2013 Patrick Louodop et al.

Influence of visual feedback sampling on obstacle crossing behavior in people with Parkinson's disease

The purpose of the current study was to investigate the role of visual information on gait control in people with Parkinson's disease as they crossed over obstacles. Twelve healthy individuals, and 12 patients with mild to moderate Parkinson's disease, walked at their preferred speeds along a walkway and stepped over obstacles of varying heights (ankle height or half-knee height), under three visual sampling conditions: dynamic (normal lighting), static (static visual samples, similar to stroboscopic lighting), and voluntary visual sampling. Subjects wore liquid crystal glasses for visual manipulation. In the static visual sampling condition only, the patients with Parkinson's disease made contact with the obstacle more often than did the control subjects. In the successful trials, the patients increased their crossing step width in the static visual sampling condition as compared to the dynamic and voluntary visual sampling conditions; the control group maintained the same step width for all visual sampling conditions. The patients showed lower horizontal mean velocity values during obstacle crossing than did the controls. The patients with Parkinson's disease were more dependent on optic flow information for successful task and postural stability than were the control subjects. Bradykinesia influenced obstacle crossing in the patients with Parkinson's disease. © 2013 Elsevier B.V.

Active vibration control using delayed resonant feedback

Delayed feedback (DF) control is a well-established technique to suppress single frequency vibration of a non-minimum phase system. Modal control is also a well-established technique to control multiple vibration modes of a minimum phase system. In this paper these techniques are combined to simultaneously suppress multiple vibration modes of a non-minimum phase system involving a small time delay. The control approach is called delayed resonant feedback (DRF) where each modal controller consists of a modal filter to extract the target mode signal from the vibration response, and a phase compensator to account for the phase delay of the mode. The methodology is first discussed using a single mode system. A multi-mode system is then studied and experimental results are presented to demonstrate the efficacy of the control approach for two modes of a beam. It is shown that the system behaves as if each mode under control has a dynamic vibration absorber attached to it, even though the actuator and the sensor are not collocated and there is a time delay in the control system. © 2013 IOP Publishing Ltd.

Técnica de projeto de controlador fuzzy aplicada ao acionamento vetorial de motor de indução

Este trabalho investiga uma estratégia de controle fuzzy Takagi-Sugeno aplicada ao controle de velocidade do motor de indução. A estratégia implementa uma interpolação ponderada entre um conjunto de controladores locais previamente projetados. Ao ocorrer variações nas condições operacionais do motor de indução, os ganhos da lei de controle são ajustados automaticamente, de modo a manter satisfatório o desempenho do sistema de controle. Para o projeto do controlador fuzzy a representação em espaço de estados da planta foi considerada sob a forma de um sistema aumentado, incluindo-se uma nova variável de estado que, nesse caso, foi selecionada como sendo a integral do erro de velocidade. Tal formulação permitiu o projeto de controladores locais com a estrutura PI, através de realimentação completa de estados, com posicionamento de pólos. Como variáveis de operação para o chaveamento fuzzy dos controladores locais, foram selecionados as variáveis velocidade angular do rotor e a componente da corrente de estator responsável pelo torque elétrico do motor. Em seguida, a estabilidade do controlador fuzzy Takagi- Sugeno projetado foi comprovada através do critério de Lyapunov, para isso o problema de estabilidade foi escrito na forma de LMIs. O desempenho do controlador fuzzy Takagi-Sugeno foi avaliado através de estudos de simulação, e seus resultados comparados ao desempenho de um controlador PI convencional, para a regulação da velocidade do rotor. Os resultados obtidos nas simulações mostram que o emprego da estratégia proposta torna o sistema mais robusto a variações paramétricas no sistema de acionamento.

Efeito da manipulação do feedback da percepção subjetiva de esforço esperada na percepção subjetiva de esforço e no desempenho de adultos de diferentes faixas etárias

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Robust controller design of a wheelchair mobile via LMI approach to SPR systems with feedback output

This article discusses the design of robust controller applied to Wheelchair Furniture via Linear Matrix Inequalities (LMI), to obtain Strictly Positive Real (SPR) systems. The contributions of this work were the choice of a mathematical model for wheelchair: mobile with uncertainty about the position of the center of gravity (CG), the decoupling of the kinematic and dynamical systems, linearization of the models, the headquarters building of parametric uncertainties, the proposal of the control loop and control law with a specified decay rate.

Semi-supervised learning for relevance feedback on image retrieval tasks

Relevance feedback approaches have been established as an important tool for interactive search, enabling users to express their needs. However, in view of the growth of multimedia collections available, the user efforts required by these methods tend to increase as well, demanding approaches for reducing the need of user interactions. In this context, this paper proposes a semi-supervised learning algorithm for relevance feedback to be used in image retrieval tasks. The proposed semi-supervised algorithm aims at using both supervised and unsupervised approaches simultaneously. While a supervised step is performed using the information collected from the user feedback, an unsupervised step exploits the intrinsic dataset structure, which is represented in terms of ranked lists of images. Several experiments were conducted for different image retrieval tasks involving shape, color, and texture descriptors and different datasets. The proposed approach was also evaluated on multimodal retrieval tasks, considering visual and textual descriptors. Experimental results demonstrate the effectiveness of the proposed approach.

ARBOT: augmented reality system for teaching logic algorithmic

This article purposes the ARBot, a system that has as main objective the presentation of concepts of logic for students of elementary and secondary education. The system was developed using the technology known as Augmented Reality (AR), which allows complement the actual environment where the user is, by adding virtual objects. In this scenario the RA created from a virtual game interface is used, through which cognitive challenges are presented. To solve these challenges, users must set up three-dimensional virtual characters using visual language. As a result it follows that, in a playful way, concepts of algorithms and programming are assimilated by users. In addition, the system enables two users to interact in a cooperative game mode. In cooperative mode, the system focuses on collaborative learning, since it allows users to jointly solve the cognitive challenge presented by the system.

Using Descriptive Feedback In a Sixth Grade Mathematics Classroom

In this action research of my 6th grade math class, I investigated whether or not my students would improve their ability to reflect on their learning process when they received descriptive feedback from a peer. I discovered the process of giving and receiving feedback was challenging for the students to initially learn, but eventually using the feedback was highly beneficial. Descriptive feedback allowed the students to learn and understand their mistakes immediately, which in turn improved their learning. In my action research, I also began to discover more ways to implement descriptive feedback in my instruction so it could be more effectively for the students and efficiently so there would be less time taken out from instruction. As a result of this research, I plan to continue having students provide and receive descriptive feedback and to find more evidence of how descriptive feedback could influence student achievement.

Improving the Effectiveness of Independent Practice with Corrective Feedback

In this action research study of my 8th grade Algebra class, I investigated the effects of teacher-to-student written corrective feedback on student performance and attitude toward mathematics. The corrective feedback was given on solutions for selected independent practice problems assigned as homework. Each problem being assessed was given a score based on a 3- point rubric and additional comments were written. I discovered that providing teacher-to-student written corrective feedback for independent practice problems was beneficial for both students and teachers. The feedback positively affected the attitudes of students and teacher toward independent practice work resulting in an improved quality of solutions produced by students. I plan to extend my research to explore ways to provide corrective feedback to students in all of my mathematics classes.