Sähkökäyttöjen kaapelivärähtelyt

Taajuudenmuuttajan kytkennän synnyttämä nopea jännitemuutos aiheuttaa pitkään moottorikaapeliin sähköisen värähtelyilmiön. Ilmiö on tullut erityisesti esille uusien nopeasti kytkevien puolijohdetehokytkimien ilmestyttyä markkinoille. Taajuudenmuuttajan lähtöön asennettu jännitteen nousunopeutta rajoittava suodin vähentää kaapelivärähtelyä, mutta riittävän pitkässä kaapelissa värähtely on voimakasta lähtösuotimesta huolimatta. Kaapelivärähtelyilmiön seurauksena moottorikaapelin taajuudenmuuttajan puoleiseen päähän syntyy voimakas virtavärähtely ja moottorin puoleiseen päähän voimakas jännitevärähtely. Sähkökäyttöjen vektorisäätöalgoritmit tekevät ohjauspäätöksiä moottorikaapelin taajuudenmuuttajan päästä tehtyjen virtamittausten perusteella. Säädön päätösväli on niin lyhyt, että kaapelin virtavärähtely ehtii häiritä säädön toimintaa. Tässä työssä on esitetty kaapelivärähtelyä kuvaava taajuudenmuuttajan lähtösuotimen huomioon ottava siirtofunktioperustainen matemaattinen malli. Mallin avulla kaapelivärähtelyilmiötä voi analysoida lineaarisen säätöteorian menetelmillä. Virtavärähtelyn moottorisäätöön tuomiin ongelmiin ratkaisuksi on esitetty virran mittasignaalin käsittelemistä analogisella ja digitaalisella suotimella. Simulointitulosten perusteella ratkaisua voidaan pitää toimivana. Lopuksi esitetään, kuinka avaruusvektoriteorian mukaista induktiomoottorimallia ja kaapelivärähtelymallia voidaan simuloida yhdessä.

Shared feature extraction for nearest neighbor face recognition

In this paper, we propose a new supervised linearfeature extraction technique for multiclass classification problemsthat is specially suited to the nearest neighbor classifier (NN).The problem of finding the optimal linear projection matrix isdefined as a classification problem and the Adaboost algorithmis used to compute it in an iterative way. This strategy allowsthe introduction of a multitask learning (MTL) criterion in themethod and results in a solution that makes no assumptions aboutthe data distribution and that is specially appropriated to solvethe small sample size problem. The performance of the methodis illustrated by an application to the face recognition problem.The experiments show that the representation obtained followingthe multitask approach improves the classic feature extractionalgorithms when using the NN classifier, especially when we havea few examples from each class

Analysis of the calving pattern of herds in small-scale dairy systems in central Mexico

This study sets out to find the best calving pattern for small-scale dairy systems in Michoacan State, central Mexico. Two models were built. First, a linear programming model was constructed to optimize calving pattern and herd structure according to metabolizable energy availability. Second, a Markov chain model was built to investigate three reproductive scenarios (good, average and poor) in order to suggest factors that maintain the calving pattern given by the linear programming model. Though it was not possible to maintain the optimal linear programming pattern, the Markov chain model suggested adopting different reproduction strategies according to period of the year that the cow is expected to calve. Comparing different scenarios, the Markov model indicated the effect of calving interval on calving pattern and herd structure.

Closed loop design for a simple nonlinear aircraft model using eigenstructure assignment

Aircraft systems are highly nonlinear and time varying. High-performance aircraft at high angles of incidence experience undesired coupling of the lateral and longitudinal variables, resulting in departure from normal controlled flight. The aim of this work is to construct a robust closed-loop control that optimally extends the stable and decoupled flight envelope. For the study of these systems nonlinear analysis methods are needed. Previously, bifurcation techniques have been used mainly to analyze open-loop nonlinear aircraft models and investigate control effects on dynamic behavior. In this work linear feedback control designs calculated by eigenstructure assignment methods are investigated for a simple aircraft model at a fixed flight condition. Bifurcation analysis in conjunction with linear control design methods is shown to aid control law design for the nonlinear system.

On variational data assimilation in continuous time

Variational data assimilation in continuous time is revisited. The central techniques applied in this paper are in part adopted from the theory of optimal nonlinear control. Alternatively, the investigated approach can be considered as a continuous time generalization of what is known as weakly constrained four-dimensional variational assimilation (4D-Var) in the geosciences. The technique allows to assimilate trajectories in the case of partial observations and in the presence of model error. Several mathematical aspects of the approach are studied. Computationally, it amounts to solving a two-point boundary value problem. For imperfect models, the trade-off between small dynamical error (i.e. the trajectory obeys the model dynamics) and small observational error (i.e. the trajectory closely follows the observations) is investigated. This trade-off turns out to be trivial if the model is perfect. However, even in this situation, allowing for minute deviations from the perfect model is shown to have positive effects, namely to regularize the problem. The presented formalism is dynamical in character. No statistical assumptions on dynamical or observational noise are imposed.

Sampling, WLS, and Mixed Models

Mixed models may be defined with or without reference to sampling, and can be used to predict realized random effects, as when estimating the latent values of study subjects measured with response error. When the model is specified without reference to sampling, a simple mixed model includes two random variables, one stemming from an exchangeable distribution of latent values of study subjects and the other, from the study subjects` response error distributions. Positive probabilities are assigned to both potentially realizable responses and artificial responses that are not potentially realizable, resulting in artificial latent values. In contrast, finite population mixed models represent the two-stage process of sampling subjects and measuring their responses, where positive probabilities are only assigned to potentially realizable responses. A comparison of the estimators over the same potentially realizable responses indicates that the optimal linear mixed model estimator (the usual best linear unbiased predictor, BLUP) is often (but not always) more accurate than the comparable finite population mixed model estimator (the FPMM BLUP). We examine a simple example and provide the basis for a broader discussion of the role of conditioning, sampling, and model assumptions in developing inference.

Estrutura ANFIS modificada para identificação e controle de plantas com ampla faixa de operação e não linearidade acentuada

In this work a modification on ANFIS (Adaptive Network Based Fuzzy Inference System) structure is proposed to find a systematic method for nonlinear plants, with large operational range, identification and control, using linear local systems: models and controllers. This method is based on multiple model approach. This way, linear local models are obtained and then those models are combined by the proposed neurofuzzy structure. A metric that allows a satisfactory combination of those models is obtained after the structure training. It results on plant s global identification. A controller is projected for each local model. The global control is obtained by mixing local controllers signals. This is done by the modified ANFIS. The modification on ANFIS architecture allows the two neurofuzzy structures knowledge sharing. So the same metric obtained to combine models can be used to combine controllers. Two cases study are used to validate the new ANFIS structure. The knowledge sharing is evaluated in the second case study. It shows that just one modified ANFIS structure is necessary to combine linear models to identify, a nonlinear plant, and combine linear controllers to control this plant. The proposed method allows the usage of any identification and control techniques for local models and local controllers obtaining. It also reduces the complexity of ANFIS usage for identification and control. This work has prioritized simpler techniques for the identification and control systems to simplify the use of the method

Controle por modos deslizantes com compensação difusa aplicado a sistemas com descontinuidade

The development of non-linear controllers gained space in the theoretical ambit and of practical applications on the moment that the arising of digital computers enabled the implementation of these methodologies. In comparison with the linear controllers more utilized, the non -linear controllers present the advantage of not requiring the linearity of the system to determine the parameters of control, which permits a more efficient control especially when the system presents a high level of non-linearity. Another additional advantage is the reduction of costs, since to obtain the efficient control through linear controllers it is necessary the utilization of sensors and more refined actuators than when it is utilized a non-linear controller. Among the non-linear theories of control, the method of control by gliding ways is detached for being a method that presents more robustness, before uncertainties. It is already confirmed that the adoption of compensation on the region of residual error permits to improve better the performance of these controllers. So, in this work it is described the development of a non-linear controller that looks for an association of strategy of control by gliding ways, with the fuzzy compensation technique. Through the implementation of some strategies of fuzzy compensation, it was searched the one which provided the biggest efficiency before a system with high level of nonlinearities and uncertainties. The electrohydraulic actuator was utilized as an example of research, and the results appoint to two configurations of compensation that permit a bigger reduction of the residual error

Proportional controllers: Direct method for stability analysis and MATLAB implementation

In most cases, the cost of a control system increases based on its complexity. Proportional (P) controller is the simplest and most intuitive structure for the implementation of linear control systems. The difficulty to find the stability range of feedback systems with P controllers, using the Routh-Hurwitz criterion, increases with the order of the plant. For high order plants, the stability range cannot be easily obtained from the investigation of the coefficient signs in the first column of the Routh's array. A direct method for the determination of the stability range is presented. The method is easy to understand, to compute, and to offer the students a better comprehension on this subject. A program in MATLAB language, based on the proposed method, design examples, and class assessments, is provided in order to help the pedagogical issues. The method and the program enable the user to specify a decay rate and also extend to proportional-integral (PI), proportional-derivative (PD), and proportional-integral-derivative (PID) controllers.

Heterodyne Interferometry Applied to the Characterization of Acousto-Electro-Optic Light Modulators

When the electro-optic and acousto-optic effects are combined into a single device, the resulting acousto-electro-optic (AEO) modulator shows improved flexibility to overcome some limitations of the individual modulators or their cascade combinations. By using optical interferometry, it is possible to investigate the AEO modulator behavior as a function of this applied voltage. By this way, a lithium niobate AEO modulator is positioned in one of the arms of a Mach-Zehnder interferometer and operates at 62 MHz frequency, which constitutes the intermediate frequency of the heterodyne interferometer. Operating the AEO modulator in the acousto-optic small diffraction efficiency regime, the photodetected signal amplitude and phase are analyzed, and the induced phase shift, transmission curve and linearity response are obtained. The experimental results show good agreement with that expected from the coupled-mode theory. The possibility of linear control of the optical phase shift by the external voltage, from 0 to 2 p radians, is demonstrated.

Microbiologic and radiographic analysis of ligature-induced peri-implantitis with different dental implant surfaces

Purpose: The goal of this study was to evaluate microbiota and radiographic peri-implant bone loss associated with ligature-induced peri-implantitis. Materials and Methods: Thirty-six dental implants with 4 different surfaces (9 commercially pure titanium, 9 titanium plasma-sprayed, 9 hydroxyapatite, and 9 acid-etched) were placed in the edentulous mandibles of 6 dogs. After 3 months with optimal plaque control, abutment connection was performed. On days 0, 20, 40, and 60 after placement of cotton ligatures, both microbiologic samples and periapical radiographs were obtained. The presence of Actinobacillus actinomycetemcomitans, Porphyromonas gingivalis, Prevotella intermedia/nigrescens, Campylobacter spp, Capnocytophaga spp, Fusobacterium spp, beta-hemolytic Streptococcus, and Candida spp were evaluated culturally. Results: P intermedia/nigrescens was detected in 13.89% of implants at baseline and 100% of implants at other periods. P gingivalis was not detected at baseline, but after 20 and 40 days it was detected in 33.34% of implants and at 60 days it was detected in 29.03% of dental implants. Fusobacterium spp was detected in all periods. Streptococci were detected in 16.67% of implants at baseline and in 83.34%, 72.22%, and 77.42% of implants at 20, 40, and 60 days, respectively. Campylobacter spp and Candida spp were detected in low proportions. The total viable count analysis showed no significant differences among surfaces (P = .831), although a significant difference was observed after ligature placement (P < .0014). However, there was no significant qualitative difference, in spite of the difference among the periods. The peri-implant bone loss was not significantly different between all the dental implant surfaces (P = .908). Discussion and Conclusions: These data suggest that with ligature-induced peri-implantitis, both time and periodontal pathogens affect all surfaces equally after 60 days.

Experimental peri-implant tissue breakdown around different dental implant surfaces: Clinical and radiographic evaluation in dogs

Purpose: Tissue reactions to 4 different implant surfaces were evaluated in regard to the development and progression of ligature-induced peri-implantitis. Materials and Methods: In 6 male mongrel dogs, a total of 36 dental implants with different surfaces (9 titanium plasma-sprayed, 9 hydroxyapatite-coated, 9 acid-etched, and 9 commercially pure titanium) were placed 3 months after mandibular premolar extraction. After 3 months with optimal plaque control, abutment connection was performed. Forty-five days later, cotton ligatures were placed around the implants to induce peri-implantitis. At baseline and 20, 40, and 60 days after placement, the presence of plaque, peri-implant mucosal redness, bleeding on probing, probing depth, clinical attachment loss, mobility, vertical bone loss, and horizontal bone loss were assessed. Results: The results did not show significant differences among the surfaces for any parameter during the study (P > .05). All surfaces were equally susceptible to ligature-induced peri-implantitis over time (P < .001). Correlation analysis revealed a statistically significant relationship between width of keratinized tissue and vertical bone loss (r 2 = 0.81; P = .014) and between mobility and vertical bone loss (r 2 = 0.66; P = .04), both for the titanium plasma-sprayed surface. Discussion and Conclusions: The present data suggest that all surfaces were equally susceptible to experimental peri-implantitis after a 60-day period.

Comparative study of LMI-based output feedback spr synthesis for plants with different numbers of inputs and outputs

New Linear Matrix Inequalities (LMI) conditions are proposed for the following problem, called Strictly Positive Real (SPR) synthesis: given a linear time-invariant plant, find a constant output feedback matrix Ko and a constant output tandem matrix F for the controlled system to be SPR. It is assumed that the plant has the number of outputs greater than the number of inputs. Some sufficient conditions for the solution of the problem are presented and compared. These results can be directly applied in the LMI-based design of Variable Structure Control (VSC) of uncertain plants. ©2008 IEEE.

Realimentação derivativa e modelo fuzzy Takagi-Sugeno paracontrole da articulação do joelho de pacientes paraplégicos com o uso de acelerômetros

Feedback control systems have been used to move the muscles and joints of the limbs of paraplegic patients. The feedback signal, related to the knee joint angle, can be obtained by using an electrogoniometer. However, the use of accelerometers can help the measurements due the facility of adhering these devices to the skin. Accelerometers are also very suitable for these applications due their small dimensions and weight. In this paper a new method for designing a control system that can vary the knee joint angle using Functional Electrical Stimulation (FES) is presented, as well as a simulation with parameters values available in the literature. The nonlinear control system was represented by a Takagi-Sugeno fuzzy model and the feedback signals were obtained by using accelerometers. The design method considered all plant nonlinearities and was efficient and reliable to control the leg position of a paraplegic patient with the angle of the knee ranging from 0° to 30°, considering electric stimulation at the quadriceps muscle. The proposed method is viable and offers a new alternative for designing control systems of the knee joint angle using more comfortable sensors for the patients.

Controle robusto de sistemas não lineares e chaveado de sistemas lineares usando realimentação derivativa

Pós-graduação em Engenharia Elétrica - FEIS