Simultaneous H control of a finite collection of linear plants with a single nonlinear digital controller

This paper considers the problem of simultaneous H^∞ control of a finite collection of linear time-invariant systems via a nonlinear digital output feedback controller. The main result is given in terms of the existence of suitable solutions to Riccati algebraic equations and a dynamic programming equation. Our main result shows that if the simultaneous H^∞ control problem for k linear time-invariant plants of orders n₁,n₂,…,n_k can be solved, then this problem can be solved via a nonlinear time-invariant controller of order nn₁+n₂++n_k.     

INS algorithm using quaternion model for low cost IMU

This paper presents a generic inertial navigation system (INS) error propagation model that does not rely on small misalignment angles assumption. The modelling uses quaternions in the computer frame approach. Based on this model, an INS algorithm is developed for low cost inertial measurement unit (IMU) to solve the initial attitudes uncertainty using in-motion alignment. The distribution approximation filter (DAF) is used to implement the non-linear data fusion algorithm.     

Hybrid accident simulation methodology using artificial neural networks for nuclear power plants

A hybrid accident simulation methodology for nuclear power plants is proposed to enhance the capabilities of compact simulator by introducing artificial neural networks. Two neural networks are trained with the target values obtained from the analyses of detailed computer codes and trained results are combined with the compact simulator to perform the following roles: (i) compensation for inaccuracies of a compact simulator occurring from simplified governing equation and reduced number of physical control volumes, and (ii) prediction of the critical parameter usually calculated from the sophisticated computer code: the autoassociative neural network improves the computational results of the compact simulator up to the accuracy level of detailed best estimate computer code, while the backpropagation neural network predicts the minimum departure from nucleate boiling ratio (DNBR). Simulations are carried out to verify the applicability of the proposed methodology for the loss of flow accidents and the results show that the neural networks can be used as a complementary tool to improve the results of a compact simulator.     

On the secure implementation of security protocols

We consider the problem of implementing a security protocol in such a manner that secrecy of sensitive data is not jeopardized. Implementation is assumed to take place in the context of an API that provides standard cryptography and communication services. Given a dependency specification, stating how API methods can produce and consume secret information, we propose an information flow property based on the idea of invariance under perturbation, relating observable changes in output to corresponding changes in input. Besides the information flow condition itself, the main contributions of the paper are results relating the admissibility property to a direct flow property in the special case of programs which branch on secrets only in cases permitted by the dependency rules. These results are used to derive an unwinding theorem, reducing a behavioural correctness check (strong bisimulation) to an invariant.     

Using non-keyboard input devices: interviews with users in the workplace

A study of 45 non-keyboard input device (NKID) users was undertaken at nine organisations to investigate the extent, pattern and method of NKID usage, workstation configurations, postures adopted and musculoskeletal symptoms. A number of methods were used: work activity diaries, interviews, observations and postural assessments. A range of NKID were seen including the mouse, touchscreen, joystick, trackball, and tablet and pen; however, the mouse was the most commonly used device. Use of an input device varied from 2% to 100% of the working day. Workers undertook common tasks using a variety of methods (e.g. pull down menus, icons, device buttons). Users reported problems associated with the use of some devices, e.g. poor maintenance, lack of device responsiveness. Musculoskeletal pain and discomfort (e.g. stiffness and discomfort in the hands and wrist) was reported by 45% (n=19) of mouse users and 16% (n=5) of other NKID users. Workstation configurations varied and in some cases constrained the position of the input device, resulting in users having to work with the device at some distance away from the body. Despite the existence of regulations and guidance, this paper indicates that there are still many problems related to NKID use at computer workstations.

Relevance to industry

The reliance of many software applications on NKID (e.g. mouse, trackball, touchpad, joystick, touchscreen) necessitates the investigation of their use in the workplace. Whilst the performance aspects of NKID (e.g. speed) have been well researched, the possible implications for user health have received little attention in the UK.     

Adaptive generic model control for a class of nonlinear time-varying processes with input time delay

In this article, an adaptive control approach––Adaptive Generic Model Control (AGMC) for a class of nonlinear time-varying processes with input time delay is proposed. First, a nonlinear state predictor (NSP) is introduced, which extends the conventional generic model control (GMC) to a class of nonlinear processes with input time delay. Then a class of nonlinear time-varying processes with input time delay is further considered. A modified strong tracking filter (MSTF) is adopted to estimate the time-varying parameters of the nonlinear processes, and the state estimates are then utilized to update the plant models used in the NSP and MSTF, this results in an adaptive generic model control scheme for a class of nonlinear time-varying processes with input time delay. A modified mathematical model of a three-tank-system is used for computer simulations, the results show that the proposed AGMC algorithm is satisfactory, and it has definite robustness against model/plant mismatch in the measurement noise.     

Revisiting the Ziegler–Nichols step response method for PID control

The Ziegler–Nichols step response method is based on the idea of tuning controllers based on simple features of the step response. In this paper this idea is investigated from the point of view of robust loop shaping. The results are: insight into the properties of PI and PID control and simple tuning rules that give robust performance for processes with essentially monotone step responses.     

Fabrication process of open surfaces by robotic fibre placement

Composite materials are being used extensively in many industrial sectors. They offer excellent material properties compared to other structural materials available. However, the traditional fabrication process using manual hand lay-up is time consuming and labour intensive. Therefore, robotic fibre placement has been introduced to overcome these drawbacks. This approach may greatly reduce cycle time and manufacturing costs. This paper describes the overall strategy for the establishment of a flexible robotic fibre placement technique. The fabrication process planning of this new technique is presented. Three different types of fibre placement for open surfaces are discussed. These include simulation-based fibre path generation, fibre steering, and sensory-based contour following methodologies. The system architecture for the process control is also presented.     

Coordinated scheduling of production and delivery from multiple plants

This paper deals with the scheduling of orders and vehicle assignment for production and distribution planning in a scenario of no-wait, immediate delivery to the customer site. We first describe the problem and then present an integer programming model that maximizes the weighted value of the orders served. We consider a special case of the problem which can be solved in polinomial time by a minimum cost flow algorithm. Based on this approach we develop a heuristic procedure for the general case. Comparisons with an exact graph-based method attest that our heuristic produces good-quality solutions in short running times.     

Algebraic Riccati equation and J-spectral factorization for estimation

In this paper we investigate on the existence of the stabilizing solution of the algebraic Riccati equation (ARE) related to the filtering problem with a prescribed attenuation level γ. It is well known that such a solution exists and is positive definite for γ larger than a certain γ_F and it does not exist for γ smaller than a certain γ₀. We consider the intermediate case γ(γ₀,γ_F] and show that in this interval the stabilizing solution does exist, except for a finite number of values of γ. We show how the solution of the ARE may be employed to obtain a minimum-phase J-spectral factor of the J-spectrum associated with the filtering problem.