Robust predictive control with feasible contingencies for fault tolerance

This paper introduces the notion of M-step robust fault tolerance for discrete-time systems where finite-time completion of a control manoeuvre is desired. It considers a scenario with two distinct objectives; a primary and secondary target are specified as sets to be reached in finite-time, whilst satisfying operating constraints on the states and inputs. The primary target is switched to the secondary target when a fault affects the system. As it is unknown when or if the fault will occur, the trajectory to the primary target is constrained to ensure reachability of the secondary target within M steps. A variable-horizon linear MPC formulation is developed to illustrate the concept. The formulation is then extended to provide robustness to bounded disturbances by use of tightened constraints. Simulations demonstrate the efficacy of the controller formulation on a double-integrator model. © 2011 IFAC.

Transient flows in enclosures: A generalised approach for modelling the effects of geometry, heat gains and wind

Transient flows in a confined ventilated space induced by a buoyancy source of time-varying strength and an external wind are examined. The space considered has varying cross-sectional area with height. A generalised theoretical model is proposed to investigate the flow dynamics following the activation of an external wind and an internal source of buoyancy. To investigate the effect of geometry, we vary the angle of the wall inclination of a particular geometry in which a point source of constant buoyancy is activated in the absence of wind. Counter-intuitively the ventilation is worse and lower airflow rates are established for geometries of increasing cross-sectional areas with height. We investigate the effect of the source buoyancy strength by comparing two cases: (1) when the buoyancy input is constant and (2) when the buoyancy input gradually increases over time so that after a finite time the total buoyancy inputs for (1) and (2) are identical. The rate at which the source heat gains are introduced has a significant role on the flow behaviour as we find that, in case (2), a warmer layer and a more pronounced overshoot are obtained than in case (1). The effect of assisting and opposing wind on the transient ventilation of an enclosure of constant cross-sectional area with height and constant heat gains is examined. A Froude number Fr is used to define the relative strengths of the buoyancy-induced and wind-induced velocities and five different transient states and their associated critical Fr are identified. © 2010 Elsevier Ltd.

Contraction of monotone phase-coupled oscillators

This paper establishes a global contraction property for networks of phase-coupled oscillators characterized by a monotone coupling function. The contraction measure is a total variation distance. The contraction property determines the asymptotic behavior of the network, which is either finite-time synchronization or asymptotic convergence to a splay state. © 2012 Elsevier B.V. All rights reserved.

Dread and the disvalue of future pain.

Standard theories of decision-making involving delayed outcomes predict that people should defer a punishment, whilst advancing a reward. In some cases, such as pain, people seem to prefer to expedite punishment, implying that its anticipation carries a cost, often conceptualized as 'dread'. Despite empirical support for the existence of dread, whether and how it depends on prospective delay is unknown. Furthermore, it is unclear whether dread represents a stable component of value, or is modulated by biases such as framing effects. Here, we examine choices made between different numbers of painful shocks to be delivered faithfully at different time points up to 15 minutes in the future, as well as choices between hypothetical painful dental appointments at time points of up to approximately eight months in the future, to test alternative models for how future pain is disvalued. We show that future pain initially becomes increasingly aversive with increasing delay, but does so at a decreasing rate. This is consistent with a value model in which moment-by-moment dread increases up to the time of expected pain, such that dread becomes equivalent to the discounted expectation of pain. For a minority of individuals pain has maximum negative value at intermediate delay, suggesting that the dread function may itself be prospectively discounted in time. Framing an outcome as relief reduces the overall preference to expedite pain, which can be parameterized by reducing the rate of the dread-discounting function. Our data support an account of disvaluation for primary punishments such as pain, which differs fundamentally from existing models applied to financial punishments, in which dread exerts a powerful but time-dependent influence over choice.

Predictive control for spacecraft rendezvous in an elliptical orbit using an FPGA

A field programmable gate array (FPGA)-based predictive controller for a spacecraft rendezvous manoeuvre is presented. A linear time varying prediction model is used to accommodate elliptical orbits, and a variable prediction horizon is used to facilitate finite time completion of manoeuvres. The resulting constrained optimisation problems are solved using a primal dual interior point algorithm. The majority of the computational demand is in solving a set of linear equations at each iteration of this algorithm. To accelerate this operation, a custom circuit is implemented, using a combination of Mathworks HDL Coder and Xilinx System Generator for DSP, and used as a peripheral to a MicroBlaze soft core processor. The system is demonstrated in closed loop by linking the FPGA with a simulation of the plant dynamics running in Simulink on a PC, using Ethernet. © 2013 EUCA.

Field programmable gate array based predictive control system for spacecraft rendezvous in elliptical orbits

Copyright © 2014 John Wiley & Sons, Ltd. Copyright © 2014 John Wiley & Sons, Ltd. Summary A field programmable gate array (FPGA) based model predictive controller for two phases of spacecraft rendezvous is presented. Linear time-varying prediction models are used to accommodate elliptical orbits, and a variable prediction horizon is used to facilitate finite time completion of the longer range manoeuvres, whilst a fixed and receding prediction horizon is used for fine-grained tracking at close range. The resulting constrained optimisation problems are solved using a primal-dual interior point algorithm. The majority of the computational demand is in solving a system of simultaneous linear equations at each iteration of this algorithm. To accelerate these operations, a custom circuit is implemented, using a combination of Mathworks HDL Coder and Xilinx System Generator for DSP, and used as a peripheral to a MicroBlaze soft-core processor on the FPGA, on which the remainder of the system is implemented. Certain logic that can be hard-coded for fixed sized problems is implemented to be configurable online, in order to accommodate the varying problem sizes associated with the variable prediction horizon. The system is demonstrated in closed-loop by linking the FPGA with a simulation of the spacecraft dynamics running in Simulink on a PC, using Ethernet. Timing comparisons indicate that the custom implementation is substantially faster than pure embedded software-based interior point methods running on the same MicroBlaze and could be competitive with a pure custom hardware implementation.

Dynamic behaviors of mode III interfacial crack under a constant loading rate

In an earlier study on intersonic crack propagation, Gao et al. (J. Mech. Phys. Solids 49: 2113-2132, 2001) described molecular dynamics simulations and continuum analysis of the dynamic behaviors of a mode II dominated crack moving along a weak plane under a constant loading rate. The crack was observed to initiate its motion at a critical time after the onset of loading, at which it is rapidly accelerated to the Rayleigh wave speed and propagates at this speed for a finite time interval until an intersonic daughter crack is nucleated at a peak stress at a finite distance ahead of the original crack tip. The present article aims to analyze this behavior for a mode III crack moving along a bi-material interface subject to a constant loading rate. We begin with a crack in an initially stress-free bi-material subject to a steadily increasing stress. The crack initiates its motion at a critical time governed by the Griffith criterion. After crack initiation, two scenarios of crack propagation are investigated: the first one is that the crack moves at a constant subsonic velocity; the second one is that the crack moves at the lower shear wave speed of the two materials. In the first scenario, the shear stress ahead of the crack tip is singular with exponent -1/2, as expected; in the second scenario, the stress singularity vanishes but a peak stress is found to emerge at a distance ahead of the moving crack tip. In the latter case, a daughter crack supersonic with respect to the softer medium can be expected to emerge ahead of the initial crack once the peak stress reaches the cohesive strength of the interface.

FIRST ISOCHRONOUS MASS MEASUREMENTS AT CSRe

With the commissioning of the Cooler Storage Ring at the Heavy Ion Research Facility in Lanzhou (HIRFL-CSR), a pilot experiment operating the CSRe in isochronous mode to test the power of HIRFL-CSR for measuring the mass of the short-lived nucleus was performed in December of 2007. The transition point gamma t of CSRe in isochronous mode is 1.395 which corresponds to the energy about 368 MeV/u for the ions with atomic number-to-charge ratio A/q = 2. The fragments with A/q = 2 of Ar-36 were injected into CSRe and their revolution frequencies were measured with a fast time pick-up detector with a thin foil in the circulating path of the ions. A mass resolution of better than 105 for m/Delta m was achieved.

Stabilization of Uncertain Nonholonomic Dynamic Systems with Bounded Inputs

The sliding mode approach and the multi-step control strategy are exploited to propose a stabilizing controller for uncertain nonholonomic dynamic systems with bounded inputs. This controller can stabilize the system to an arbitrarily small neighborhood about its equilibrium in a finite time .Its application to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective

南海北部陆缘深水区构造－热演化与烃源岩成熟度史研究

Abstract In order to provide basic data for evaluation of the petroleum potential in the deep water area of the northern margin of the South China Sea (SCS), present-day thermal regime and basin tectonothermal evolution are reconstructed and the maturation history of the Cenozoic major source rocks in the study area is derived. The present-day geothermal regime in the deep water area of the northern margin of SCS is defined according to the geothermal gradient, thermal properties and heat flow data. Tectonic subsidence history is reconstructed based on borehole and seismic data, and accordingly the stretching episodes are determined from the subsidence pattern. Heat flow history in the deep water area of the northern margin of SCS is estimated on a finite time, laterally non-uniform and multi-episode stretching model. Maturation history of the main source rocks in the study area is estimated through EASYRo% kinetic model and thermal history, and the potential of petroleum in the deep water area of the northern margin of SCS is evaluated based on the data above. The results show that the present-day geothermal regime in the deep water area of the northern margin of SCS is characterized by “hot basin” with high geothermal gradient (39.1±7.4℃/km) and high heat flow (77.5±14.8 mW/m2), and that the Qiongdongnan Basin (QDNB) underwent three stretching episodes and consequently suffered three heating episodes (Eocene, Oligocene and Pliocene time) with highest paleo-heat flow of 65～90 mW/m2 at the end of the Pliocene, that the Pearl River Mouth Basin (PRMB) two stretching and two heating episodes (Eocene, Oligocene time) with highest paleo-heat flow of 60～70 mW/m2 at the end of the Oligocene, and that the source rocks matured drastically responding to the heating episodes. There are four hydrocarbon generation kitchens in the deep water area of the northern margin of SCS which are favor of its bright petroleum perspective. Tectonothermal analysis indicates that the present-day geothermal regime which is characterized with “hot basin” in the deep water area of the PRMB resulted mainly from the Cenozoic stretching as well as faulting and magmatic activities during the Neotectonic period, and that the Pliocene heating episode of the QDNB is coupled with the transition from sinistral to dextral gliding of the Red Rive fault, and that the deep water basins in the northern margin of SCS are typical of multiple rifting which caused multi-episode heating process.

Formation of channels for fast-ion diffusion in alkali silicate melts: A quasielastic neutron scattering study

Kargl, Florian; Meyer, A.; Koza, M.M.; Schober, H., (2006) 'Formation of channels for fast-ion diffusion in alkali silicate melts: A quasielastic neutron scattering study', Physical Review B: Condensed Matter and Materials Physics 74 pp.14304 RAE2008

A Virtual Deadline Scheduler for Window-Constrained Service Guarantees

This paper presents a new approach to window-constrained scheduling, suitable for multimedia and weakly-hard real-time systems. We originally developed an algorithm, called Dynamic Window-Constrained Scheduling (DWCS), that attempts to guarantee no more than x out of y deadlines are missed for real-time jobs such as periodic CPU tasks, or delay-constrained packet streams. While DWCS is capable of generating a feasible window-constrained schedule that utilizes 100% of resources, it requires all jobs to have the same request periods (or intervals between successive service requests). We describe a new algorithm called Virtual Deadline Scheduling (VDS), that provides window-constrained service guarantees to jobs with potentially different request periods, while still maximizing resource utilization. VDS attempts to service m out of k job instances by their virtual deadlines, that may be some finite time after the corresponding real-time deadlines. Notwithstanding, VDS is capable of outperforming DWCS and similar algorithms, when servicing jobs with potentially different request periods. Additionally, VDS is able to limit the extent to which a fraction of all job instances are serviced late. Results from simulations show that VDS can provide better window-constrained service guarantees than other related algorithms, while still having as good or better delay bounds for all scheduled jobs. Finally, an implementation of VDS in the Linux kernel compares favorably against DWCS for a range of scheduling loads.

Ergodicity and Mixing Rate of One-Dimensional Cellular Automata

One-and two-dimensional cellular automata which are known to be fault-tolerant are very complex. On the other hand, only very simple cellular automata have actually been proven to lack fault-tolerance, i.e., to be mixing. The latter either have large noise probability ε or belong to the small family of two-state nearest-neighbor monotonic rules which includes local majority voting. For a certain simple automaton L called the soldiers rule, this problem has intrigued researchers for the last two decades since L is clearly more robust than local voting: in the absence of noise, L eliminates any finite island of perturbation from an initial configuration of all 0's or all 1's. The same holds for a 4-state monotonic variant of L, K, called two-line voting. We will prove that the probabilistic cellular automata Kε and Lε asymptotically lose all information about their initial state when subject to small, strongly biased noise. The mixing property trivially implies that the systems are ergodic. The finite-time information-retaining quality of a mixing system can be represented by its relaxation time Relax(⋅), which measures the time before the onset of significant information loss. This is known to grow as (1/ε)^c for noisy local voting. The impressive error-correction ability of L has prompted some researchers to conjecture that Relax(Lε) = 2^(c/ε). We prove the tight bound 2^(c1log^21/ε) ＜ Relax(Lε) ＜ 2^(c2log^21/ε) for a biased error model. The same holds for Kε. Moreover, the lower bound is independent of the bias assumption. The strong bias assumption makes it possible to apply sparsity/renormalization techniques, the main tools of our investigation, used earlier in the opposite context of proving fault-tolerance.

Universal Quantum Circuits

We define and construct efficient depth universal and almost size universal quantum circuits. Such circuits can be viewed as general purpose simulators for central classes of quantum circuits and can be used to capture the computational power of the circuit class being simulated. For depth we construct universal circuits whose depth is the same order as the circuits being simulated. For size, there is a log factor blow-up in the universal circuits constructed here. We prove that this construction is nearly optimal. Our results apply to a number of well-studied quantum circuit classes.

Innovations in learning and teaching approaches using game technologies - can "The Movies" teach how to make a movie?

The use of games technology in education is not a new phenomenon. Even back in the days of 286 processors, PCs were used in some schools along with (what looks like now) primitive simulation software to teach a range of different skills and techniques – from basic programming using Logo (the turtle style car with a pen at the back that could be used to draw on the floor – always a good way of attracting the attention of school kids!) up to quite sophisticated replications of physical problems, such as working out the trajectory of a missile to blow up an enemies’ tank. So why are games not more widely used in education (especially in FE and HE)? Can they help to support learners even at this advanced stage in their education? We aim to provide in this article an overview of the use of game technologies in education (almost as a small literature review for interested parties) and then go more in depth into one particular example we aim to introduce from this coming academic year (Sept. 2006) to help with teaching and assessment of one area of our Multimedia curriculum. Of course, we will not be able to fully provide the reader with data on how successful this is but we will be running a blog (http://themoviesineducation.blogspot.com/) to keep interested parties up to date with the progress of the project and to hopefully help others to set up similar solutions themselves. We will also only consider a small element of the implementation here and cover how the use of such assessment processes could be used in a broader context. The use of a game to aid learning and improve achievement is suggested because traditional methods of engagement are currently failing on some levels. By this it is meant that various parts of the production process we normally cover in our Multimedia degree are becoming difficult to monitor and continually assess.