Robust control of polytopic systems by convex optimization

Robust control synthesis of linear time-invariant SISO polytopic systems is investigated using the polynomial approach. A convex set of all stabilizing controllers for a polytopic system is given over an infinite-dimensional space. A finite-dimensional approximation of this set is obtained using the orthonormal basis functions and represented by a set of LMIs thanks to the KYP lemma. Then, an LMI based convex optimization problem for robust pole placement with sensitivity function shaping in two- and infinity-norm is proposed. The simulation results show the effectiveness of the proposed method.     

Information cut for clustering using a gradient descent approach

We introduce a new graph cut for clustering which we call the Information Cut. It is derived using Parzen windowing to estimate an information theoretic distance measure between probability density functions. We propose to optimize the Information Cut using a gradient descent-based approach. Our algorithm has several advantages compared to many other graph-based methods in terms of determining an appropriate affinity measure, computational complexity, memory requirements and coping with different data scales. We show that our method may produce clustering and image segmentation results comparable or better than the state-of-the art graph-based methods.     

3D model retrieval using principal plane analysis and dynamic programming

Three dimensional models play an important role in many applications; the problem is how to select the appropriate models from a 3D database rapidly and accurately. In recent years, a variety of shape representations, statistical methods, and geometric algorithms have been proposed for matching 3D shapes or models. In this paper, we propose a 3D shape representation scheme based on a combination of principal plane analysis and dynamic programming. The proposed 3D shape representation scheme consists of three steps. First, a 3D model is transformed into a 2D image by projecting the vertices of the model onto its principal plane. Second, the convex hall of the 2D shape of the model is further segmented into multiple disjoint triangles using dynamic programming. Finally, for each triangle, a projection score histogram and moments are extracted as the feature vectors for similarity searching. Experimental results showed the robustness of the proposed scheme, which resists translation, rotation, scaling, noise, and destructive attacks. The proposed 3D model retrieval method performs fairly well in retrieving models having similar characteristics from a database of 3D models.     

Robust pole clustering in a good ride quality region of aircraft for matrices with structured uncertainties

This paper presents a general analysis of robust pole clustering in a good ride quality region (GRQR) of aircraft for matrices with structured uncertainties. This region is an intersection of a ring and a horizontal strip, located in the left half-plane, which is a specific non-Ω-transformable region providing good ride quality of aircraft. The paper applies the Rayleigh principle along the norm theory to analyze robust pole clustering within this region since the generalized Lyapunov theory is not valid for non-Ω-transformable regions. Concerned uncertainties are structured/parametric uncertainties, including interval matrices. The results are useful for robust control analysis and design, especially, of robust good ride quality of aircraft, shuttles, vehicles and space station, as well as some industrial systems. An example of the F-16 dynamics for which GRQR is suitable is included to illustrate the results.     

Robot control and parameter estimation with only joint position measurements

Most adaptive control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers, this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows to read joint position pretty accurately, it is desirable to estimate joint velocities through an observer. This paper presents an adaptive scheme designed in conjunction with a linear observer. Boundedness of the estimated parameters and uniform ultimate boundedness for the tracking and observation errors are guaranteed. Experimental results are included to support the developed theory.     

The application of ionizing radiation in reversible addition-fragmentation chain transfer (RAFT) polymerization: Renaissance of a key synthetic and kinetic tool

Ionizing radiation, such as γ, ultraviolet, microwave and X-ray radiation, has long been used in polymer chemistry as a means of initiating polymerization, crosslinking gels and decomposing particular polymer components. More recently, ionizing radiation has found application in tandem with living radical polymerization to form novel polymeric materials with defined molecular weight and narrow molecular weight distribution. In particular, γ-rays and ultraviolet light both have shown promise as sources of initiation in reversible addition-fragmentation chain transfer (RAFT) polymerization. The ability to apply these sources of initiation at low temperatures is useful in applications where elevated temperature is likely to be detrimental to the system, for instance, in preparing protein-polymer conjugates. Similarly, the use of these initiating sources at low temperature is particularly suitable for some monomers, such as allyl compounds, which have not been synthesized using any other living radical approach. The current review examines the development of ionizing radiation as a tool in RAFT polymerization, with particular reference to the elucidation of the polymerization mechanism, the synthesis of high functionality polymers and probing the kinetic parameters of the RAFT process.     

Reactivity of Aluminum Nitride Powder in Aqueous Silicon Nitride and Silicon Carbide Slurries

The reactivity of AlN powder with water in supernatants obtained from centrifuged Si₃N₄ and SiC slurries was studied by monitoring the pH versus time. Various Si₃N₄ and SiC powders were used, which were fabricated by different production routes and had surfaces oxidized to different degrees. The reactivity of the AlN powder in the supernatants was found to depend strongly on the concentration of dissolved silica in these slurries relative to the surface area of the AlN powder in the slurry. The hydrolysis of AlN did not occur if the concentration of dissolved silica, with respect to the AlN powder surface, was high enough (1 mg SiO₂/(m² AlN powder)) to form a layer of aluminosilicates on the AlN powder surface. This assumption was verified by measuring the pH of more concentrated (31 vol%) Si₃N₄ and SiC suspensions also including 5 wt% of AlN powder (with respect to the solids).