Sliding Mode Control for Active Suspension System with Data Acquisition Delay

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Influence of the deposition parameters on the morphology and electrical conductivity of PANI/PSS self-assembled films

The influence of deposition parameters, namely polymer concentration and pH of the deposition solution, cleaning, and drying steps on the morphology and electrical characteristics of polyaniline and sulfonated polystyrene (PANI/PSS) nanostructured films deposited by the self-assembly technique is evaluated by UV-Vis spectroscopy, optical and atomic force microscopy, and electrical resistance measurements. It is found that stirring the cleaning solution during the cleaning step is crucial for obtaining homogenous films. Stirring of the cleaning solution also influences the amount of PANI adsorbed in the films. In this regard, the drying process seems to be less critical since PANI amount and film thickness are similar in films dried with N-2 flow or with an absorbent tissue. It is observed, however, that drying with N-2 flow results in rougher films. As an additional point, an assessment of the influence of the deposition method (manual versus mechanical) on the film characteristics was carried out. A significant difference on the amount of PANI and film thickness between films prepared by different human operators and by a homemade mechanical device was observed. The variability in film thickness and PANI adsorbed amount is smaller in films mechanically assembled. (c) 2007 Elsevier B.V. All rights reserved.

Linear parameter varying control design for rotating systems supported by journal bearings

Linear parameter varying (LPV) control is a model-based control technique that takes into account time-varying parameters of the plant. In the case of rotating systems supported by lubricated bearings, the dynamic characteristics of the bearings change in time as a function of the rotating speed. Hence, LPV control can tackle the problem of run-up and run-down operational conditions when dynamic characteristics of the rotating system change significantly in time due to the bearings and high vibration levels occur. In this work, the LPV control design for a flexible shaft supported by plain journal bearings is presented. The model used in the LPV control design is updated from unbalance response experimental results and dynamic coefficients for the entire range of rotating speeds are obtained by numerical optimization. Experimental implementation of the designed LPV control resulted in strong reduction of vibration amplitudes when crossing the critical speed, without affecting system behavior in sub- or supercritical speeds. (C) 2012 Elsevier Ltd. All rights reserved.

Improved low-voltage-ride-through capability of fixed-speed wind turbines using decentralised control of STATCOM with energy storage system

The design and implementation of a new control scheme for reactive power compensation, voltage regulation and transient stability enhancement for wind turbines equipped with fixed-speed induction generators (IGs) in large interconnected power systems is presented in this study. The low-voltage-ride-through (LVRT) capability is provided by extending the range of the operation of the controlled system to include typical post-fault conditions. A systematic procedure is proposed to design decentralised multi-variable controllers for large interconnected power systems using the linear quadratic (LQ) output-feedback control design method and the controller design procedure is formulated as an optimisation problem involving rank-constrained linear matrix inequality (LMI). In this study, it is shown that a static synchronous compensator (STATCOM) with energy storage system (ESS), controlled via robust control technique, is an effective device for improving the LVRT capability of fixed-speed wind turbines.

Integrazione della riduzione della mobilità respiratoria nel trattamento radiante esterno conformazionale

Several methods to reduce respiratory-induced motion have been described in literature, with the goal of increasing accuracy of treatment to minimize normal tissue toxicity or increase dose to the target volume. We analyzed two different techniques of respiratory gating: the deep inspiration breath hold technique and the respiratory gating using the Real-time Position Management (RPM) system. The first method is a self-gating technique in which radiation treatment take place during a phase of breath-holding. The second technique use a reflective marker placed on the patient’s anterior surface. The motion of the marker is tracked using a camera interfaced to a computer. The gating thresholds are set when the tumor is in the desired portion of the respiratory cycle. These thresholds determine when the gating system turns the treatment beam on and off. We compared both techniques with a standard external radiation treatment. The dosimetric analysis has led to considerable advantage of these methods compared to the external radiation treatment, particularly in reducing the dose to the lung.

Mobile phone technologies and advanced data analysis towards the enhancement of diabetes self-management

Advances in the area of mobile and wireless communication for healthcare (m-Health) along with the improvements in information science allow the design and development of new patient-centric models for the provision of personalised healthcare services, increase of patient independence and improvement of patient's self-control and self-management capabilities. This paper comprises a brief overview of the m-Health applications towards the self-management of individuals with diabetes mellitus and the enhancement of their quality of life. Furthermore, the design and development of a mobile phone application for Type 1 Diabetes Mellitus (T1DM) self-management is presented. The technical evaluation of the application, which permits the management of blood glucose measurements, blood pressure measurements, insulin dosage, food/drink intake and physical activity, has shown that the use of the mobile phone technologies along with data analysis methods might improve the self-management of T1DM.

IMPULSE CONTROL AND COOPERATION IN CAPUCHIN MONKEYS (Cebus apella)

The benefits animals derive from living in social groups have produced the evolution of many forms of cooperative behavior. To cooperate, two or more individuals coordinate their actions to accomplish a common goal. One cognitive process that has the potential to influence cooperation is self control. Individuals delaying their impulsive choice for an immediate reward may potentially receive a larger reward later by cooperating with others. In this study, I measured whether brown capuchin monkeys (Cebus apella) were capable of impulse control and whether impulse control was related to cooperation. Impulse control and cooperation were measured using a lazy susan-like apparatus, on which animals could turn a wheel to receive food rewards. The capuchins went through two training phases that taught them how to turn the wheel efficiently to obtain rewards and how to turn the wheel to obtain the larger of two rewards. After training, I tested impulse control by giving the capuchins a choice between a smaller and a larger reward placed at shorter or more distant locations on the wheel. The capuchins demonstrated impulse control in that they tended to inhibit the impulse to select the smaller reward when it was closer and easier to reach and instead selected the larger reward when it was farther away. Cooperation was tested in all possible dyads of seven individuals, a total of 21 dyads, by allowing each dyad 10 trials to work together with effort on the lazy-susan so that each would obtain a reward. Seventeen out of 21 dyads cooperated by simultaneously moving the wheel in the same direction. The correlation between how often a particular dyad cooperated and their average impulse control score was not statistically significant, r(21) = -.125, p = .591. Capuchins demonstrated impulse control and cooperation using this novel apparatus but the two abilities were not related. Other factors such as the unique social relationship between two individuals may play a more prominent role in the motivation to cooperate rather than the cognitive capacity to inhibit behavior.

THA performed using conventional and navigated tissue-preserving techniques

Less invasive methods of performing total hip arthroplasty have been considered controversial after increased complication rates and component malpositioning were reported. A new method of performing total hip arthroplasty through an incision in the superior capsule, posterior to the abductors and anterior to the posterior capsule, was developed with the aim of producing a technique that maintained the joint stability of the transgluteal exposure and the rapid abductor recovery of the posterior exposure. We assessed the recovery and complications of this technique performed with surgical navigation. The study group was compared with similar subjects who had conventional total hip arthroplasty, without surgical navigation, using the transgluteal exposure. There were 185 consecutive total hip arthroplasties in the study group and 189 nonconsecutive historical total hip arthroplasties in the control group. The two groups were controlled for complexity and had no differences in body mass index, gender, diagnosis, operative side, bilateral operations, and previous surgeries. Patients were evaluated for clinical recovery and perioperative complications at 9 and 24 weeks. The study group recovered faster at both followup examinations. The study group had fewer perioperative and postoperative complications compared with the control group. Accuracy of component positioning was not compromised compared to the control group. Less invasive surgery with the philosophy of maximally preserving the abductors, posterior capsule, and short rotators may result in a safer operation with faster recovery than traditional techniques.

A STUDY ON THE FEASIBILITY OF UNIVERSAL CHIP CONTROL IN MACHINING

A novel solution to the long standing issue of chip entanglement and breakage in metal cutting is presented in this dissertation. Through this work, an attempt is made to achieve universal chip control in machining by using chip guidance and subsequent breakage by backward bending (tensile loading of the chip's rough top surface) to effectively control long continuous chips into small segments. One big limitation of using chip breaker geometries in disposable carbide inserts is that the application range is limited to a narrow band depending on cutting conditions. Even within a recommended operating range, chip breakers do not function effectively as designed due to the inherent variations of the cutting process. Moreover, for a particular process, matching the chip breaker geometry with the right cutting conditions to achieve effective chip control is a very iterative process. The existence of a large variety of proprietary chip breaker designs further exacerbates the problem of easily implementing a robust and comprehensive chip control technique. To address the need for a robust and universal chip control technique, a new method is proposed in this work. By using a single tool top form geometry coupled with a tooling system for inducing chip breaking by backward bending, the proposed method achieves comprehensive chip control over a wide range of cutting conditions. A geometry based model is developed to predict a variable edge inclination angle that guides the chip flow to a predetermined target location. Chip kinematics for the new tool geometry is examined via photographic evidence from experimental cutting trials. Both qualitative and quantitative methods are used to characterize the chip kinematics. Results from the chip characterization studies indicate that the chip flow and final form show a remarkable consistency across multiple levels of workpiece and tool configurations as well as cutting conditions. A new tooling system is then designed to comprehensively break the chip by backward bending. Test results with the new tooling system prove that by utilizing the chip guidance and backward bending mechanism, long continuous chips can be more consistently broken into smaller segments that are generally deemed acceptable or good chips. It is found that the proposed tool can be applied effectively over a wider range of cutting conditions than present chip breakers thus taking possibly the first step towards achieving universal chip control in machining.

Self-esteem, coping styles, and quality of life in polish adolescents and young adults with unilateral cleft lip and palate.

Objectives : To evaluate self-esteem, coping styles, and health-related quality of life and their relationships in Polish adolescents and young adults with unilateral complete cleft lip and palate and related sex differences. Design and Participants : Self-report questionnaires measuring self-esteem (Multidimensional Self-Esteem Inventory), coping styles (Coping Inventory for Stressful Situations), and health-related quality of life (WHOQOL-BREF) were completed by 48 participants with cleft lip and palate (age, 16 to 23 years; 31 males, 17 females) and 48 controls without cleft lip and palate (age, 16 to 23 years; 28 males, 20 females) matched for age, place of residence, and socioeconomic status. Results : Regarding self-esteem, individuals with cleft lip and palate scored higher on body functioning (P < .01) and defensive self-enhancement (P < .05). Self-control showed an interaction effect: Females with cleft lip and palate scored higher than controls, but males did not differ between groups (P < .05). Males with cleft lip and palate scored lower than controls in personal power but higher in body functioning (P < .05); females showed no differences between groups. The groups did not differ with regard to coping styles or quality of life, but several correlations were found between self-esteem and coping styles, and quality of life (P < .01). Conclusions : Late adolescents and young adults with and without cleft lip and palate differed little in terms of psychological adjustment measures. The higher scores in defensive self-enhancement of individuals with cleft lip and palate suggest the need for instruments measuring social approval in psychosocial adjustment research involving this group.

Anxiety, ego depletion, and sports performance

In the present article, we analyzed the role of self-control strength and state anxiety in sports performance. We tested the hypothesis that self-control strength and state anxiety interact in predicting sports performance on the basis of two studies, each using a different sports task (Study 1: performance in a basketball free throw task, N = 64; Study 2: performance in a dart task, N = 79). The patterns of results were as expected in both studies: Participants with depleted self-control strength performed worse in the specific tasks as their anxiety increased, whereas there was no significant relation for participants with fully available self-control strength. Furthermore, different degrees of available self-control strength did not predict performance in participants who were low in state anxiety, but did in participants who were high in state anxiety. Thus increasing self-control strength could reduce the negative anxiety effects in sports and improve athletes' performance under pressure.

The effect of ego depletion on distractibility

Athletes in a state of ego depletion do not perform up to their capabilities in high pressure situations (e.g., Englert & Bertrams, 2012). We assume that momentarily available self-control strength determines whether individuals in high pressure situations can resist distracting stimuli. In the present study, we applied a between-subjects design, as 31 experienced basketball players were randomly assigned to a depletion group or a non-depletion group. Participants performed 30 free throws while listening to statements representing worrisome thoughts (as frequently experienced in high pressure situations; Oudejans, Kuijpers, Kooijman, & Bakker, 2011) over stereo headphones. Participants were instructed to block out these distracting audio messages and focus on the free throws. We postulated that depleted participants would be more likely to be distracted and would perform worse in the free throw task. The results supported our assumption as depleted participants paid more attention to the distracting stimuli and displayed worse performance in the free throw task. These results indicate that sufficient levels of self-control strength can serve as a buffer against increased distractibility under pressure. Implementing self-control trainings into workout routines may be a useful approach (e.g., Oaten & Cheng, 2007).

Advanced Control for Very Fast DC-DC Converters Based on Hysteresis of the C-out Current

The bandwidth achievable by using voltage mode control or current mode control in switch-mode power supply is limited by the switching frequency. Fast transient response requires high switching frequency, although lower switching frequencies could be more suitable for higher efficiency. This paper proposes the use of hysteretic control of the output capacitor $(C_{out})$ current to improve the dynamic response of the buck converter. An external voltage loop is required to accurately regulate the output voltage. The design of the hysteretic loop and the voltage loop are presented. Besides, it is presented a non-invasive current sensor that allows measuring the current in the capacitor. This strategy has been applied for DVS (dynamic voltage scaling) on a 5 MHz buck converter. Experimental results validate the proposed control technique and show fast transient response from 1.5 V to 2.5 V in 2 $mu{rm s}$.

Control por modos deslizantes como estrategia de navegación en una flota de robots

En esta tesis se presenta el desarrollo de un esquema de cooperación entre vehículos terrestres (UGV) y aéreos (UAV) no tripulados, que sirve de base para conformar dos flotas de robots autónomos (denominadas FRACTAL y RoMA). Con el fin de comprobar, en diferentes escenarios y con diferente tareas, la validez de las estrategias de coordinación y cooperación propuestas en la tesis se utilizan los robots de la flota FRACTAL, que sirven como plataforma de prueba para tareas como el uso de vehículos aéreos y terrestres para apoyar labores de búsqueda y rescate en zonas de emergencia y la cooperación de una flota de robots para labores agrícolas. Se demuestra además, que el uso de la técnica de control no lineal conocida como Control por Modos Deslizantes puede ser aplicada no solo para conseguir la navegación autónoma individual de un robot aéreo o terrestre, sino también en tareas que requieren la navegación coordinada y sin colisiones de varios robots en un ambiente compartido. Para esto, se conceptualiza teóricamente el uso de la técnica de Control por Modos Deslizantes como estrategia de coordinación entre robots, extendiendo su aplicación a robots no-holonómicos en R2 y a robots aéreos en el espacio tridimensional. Después de dicha contextualización teórica, se analizan las condiciones necesarias para determinar la estabilidad del sistema multi-robot controlado y, finalmente, se comprueban las características de estabilidad y robustez ofrecidas por esta técnica de control. Tales comprobaciones se hacen simulando la navegación segura y eficiente de un grupo de UGVs para la detección de posibles riesgos ambientales, aprovechando la información aportada por un UAV. Para estas simulaciones se utilizan los modelos matemáticos de robots de la flota RoMA. Estas tareas coordinadas entre los robots se hacen posibles gracias a la efectividad, estabilidad y robustez de las estrategias de control que se desarrollan como núcleo fundamental de este trabajo de investigación. ABSTRACT This thesis presents the development of a cooperation scheme between unmanned ground (UGV) and aerial (UAV) vehicles. This scheme is the basis for forming two fleets of autonomous robots (called FRACTAL and RoMA). In order to assess, in different settings and on different tasks, the validity of the coordination and cooperation strategies proposed in the thesis, the FRACTAL fleet robots serves as a test bed for tasks like using coordinated aerial and ground vehicles to support search and rescue work in emergency scenarios or cooperation of a fleet of robots for agriculture. It is also shown that using the technique of nonlinear control known as Sliding Modes Control (SMC) can be applied not only for individual autonomous navigation of an aircraft or land robot, but also in tasks requiring the coordinated navigation of several robots, without collisions, in a shared environment. To this purpose, a strategy of coordination between robots using Sliding Mode Control technique is theoretically conceptualized, extending its application to non-holonomic robots in R2 and aerial robots in three-dimensional space. After this theoretical contextualization, the stability conditions of multi-robot system are analyzed, and finally, the stability and robustness characteristics are validated. Such validations are made with simulated experiments about the safe and efficient navigation of a group of UGV for the detection of possible environmental hazards, taking advantage of the information provided by a UAV. This simulations are made using mathematical models of RoMA fleet robots. These coordinated tasks of robots fleet are made possible thanks to the effectiveness, stability and robustness of the control strategies developed as core of this research.

Advanced Control Strategies for a 6 DoF Hydraulic Parallel Robot Based on the Dynamic Model

Nowadays robots have made their way into real applications that were prohibitive and unthinkable thirty years ago. This is mainly due to the increase in power computations and the evolution in the theoretical field of robotics and control. Even though there is plenty of information in the current literature on this topics, it is not easy to find clear concepts of how to proceed in order to design and implement a controller for a robot. In general, the design of a controller requires of a complete understanding and knowledge of the system to be controlled. Therefore, for advanced control techniques the systems must be first identified. Once again this particular objective is cumbersome and is never straight forward requiring of great expertise and some criteria must be adopted. On the other hand, the particular problem of designing a controller is even more complex when dealing with Parallel Manipulators (PM), since their closed-loop structures give rise to a highly nonlinear system. Under this basis the current work is developed, which intends to resume and gather all the concepts and experiences involve for the control of an Hydraulic Parallel Manipulator. The main objective of this thesis is to provide a guide remarking all the steps involve in the designing of advanced control technique for PMs. The analysis of the PM under study is minced up to the core of the mechanism: the hydraulic actuators. The actuators are modeled and experimental identified. Additionally, some consideration regarding traditional PID controllers are presented and an adaptive controller is finally implemented. From a macro perspective the kinematic and dynamic model of the PM are presented. Based on the model of the system and extending the adaptive controller of the actuator, a control strategy for the PM is developed and its performance is analyzed with simulation.