Low order integral-action controller synthesis

A simple controller synthesis method is developed for certain classes of linear, time-invariant, multi-input multi-output plants. The number of poles in each entry of these controllers depends on the number of right-half plane plant zeros, and is independent of the number of poles of the plant to be stabilized. Furthermore, these controllers have integral-action so that they achieve asymptotic tracking of step input references with zero steady-state error. The designed controller’s poles and zeros are all in the stable region with the exception of one pole at the origin for the integral-action design requirement. The freedom available in the design parameters may be used for additional performance objectives, although the only goal here is stabilization and tracking of constant references.     

Optimal recursive state estimation with quantized measurements

A set of exact nonlinear filters is derived and analyzed. The filters perform recursive state estimation when only coarsely quantized output signals are available. A system with the dynamics given by n integrators, together with a uniform prior on the state vector, form the model assumptions. In the case with one integrator, properties of the quantizer allows the construction of an exact recursive algorithm for the updating of the probability density function (p.d.f.), using only the corners of a convex polygon defining the region where the p.d.f. is nonzero. It is also shown how to generalize the algorithm to handle multiple measurements quantized with vector quantizers     

On an optimal control problem of train operation

This paper examines the operation of a train on a variable grade profile subject to arbitrary speed restrictions. The purpose of the study is to determine a detailed program for traction and brake applications, which minimizes energy consumption in moving the train along a given route for a given time. Stated in the form of optimal control, this problem is solved by constructing a numerical algorithm which essentially exploits analytical properties of the optimal solution obtained from the maximum principle analysis. Due to its analytical origin, the algorithm has inherent accuracy and adequate quick-operation that are demonstrated in numerical examples     

A robotics wheelchair for crowded public environment

Describes the robotic wheelchair MAid (Mobility Aid for Elderly and Disabled People). MAid's task is to support and transport people with limited motion skills. It is based on a commercial wheelchair that has been equipped with an intelligent control and navigation system. Conversations with disabled and elderly people and with their physicians indicate that the automatic functions desired in a robotic wheelchair do not include following walls or passing doorways, but do include navigation in narrow, cluttered environments and through wide, crowded areas. MAid performs these functions     

Evolutionary pattern search algorithms for unconstrained andlinearly constrained optimization

We describe a convergence theory for evolutionary pattern search algorithms (EPSA) on a broad class of unconstrained and linearly constrained problems. EPSA adaptively modify the step size of the mutation operator in response to the success of previous optimization steps. The design of EPSA is inspired by recent analyzes of pattern search methods. Our analysis significantly extends the previous convergence theory for EPSA. Our analysis applies to a broader class of EPSA and it applies to problems that are nonsmooth, have unbounded objective functions, and are linearly constrained. Further, we describe a modest change to the algorithmic framework of EPSA for which a nonprobabilistic convergence theory applies. These analyses are also noteworthy because they are considerably simpler than previous analyses of EPSA     

An evolutionary approach to select a pull system among Kanban, Conwip and Hybrid

This paper describes a methodology for the choice of a pull production-control strategy. The methodology is based on optimization, using an Evolutionary Algorithm and discrete-event simulation, of a generic system that can model Kanban, Conwip, and Hybrid. This approach is illustrated through the examples of production lines with six, eight, and ten stages. The optimization procedure leads to a simplified Hybrid system.     

Efficient multitasking in a dual-core CPU system

The paper offers an associative-neural-net method to optimize resource allocation between independent tasks in a multiprocessor system. In the case of a dual-core CPU the method allows the task to be fully solved in O(M) operations. The text was submitted by the authors in English.     

A new framework for understanding educational digital library use: re-examining digital divides in U.S. schools

Despite their decade of deployment, educational digital libraries have not achieved sustained use in elementary and secondary schools in the United States. Barriers to accessing the Internet and computers have been widely targeted by myriad initiatives, but efforts aimed at bridging this first-level “digital divide” have not led to increased use of the Internet and digital library resources in U.S. classrooms. In fact, such programs have revealed additional divides that affect educators’ use. This paper examines the additional digital divide levels and proposes a new framework for understanding technology innovation in schools that can improve development and outreach approaches by digital library developers.     

Cross-Layer Optimization for State Update in Mobile Gaming

In a large-scale mobile gaming environment with limited wireless network bandwidth, efficient mechanisms for state update are crucial to allow graceful real-time interaction for a large number of players. By using the state updating threshold as a key parameter that bridges the resulting state distortion and the network traffic, we are able to study the fundamental traffic-distortion tradeoffs via both theoretical modeling and numerical analysis using real game traces. We consider a WiMAX link model, where the bandwidth allocation is driven by the underlying physical layer link quality as well as application layer gaming behaviors. Such a cross-layer optimization problem can be solved using standard convex programming techniques. By exploring the temporal locality of gaming behavior, we also propose a prediction method for on-line bandwidth adaptation. Using real data traces from a multiplayer driving game, TORCS, the proposed network-aware bandwidth allocation method (NABA) is able to achieve significant reduction in state distortion compared to two baselines: uniform and proportional policies.     

Local Dynamic Stability Assessment of Motion Impaired Elderly Using Electronic Textile Pants

A clear association has been demonstrated between gait stability and falls in the elderly. Integration of wearable computing and human dynamic stability measures into home automation systems may help differentiate fall-prone individuals in a residential environment. The objective of the current study was to evaluate the capability of a pair of electronic textile (e-textile) pants system to assess local dynamic stability and to differentiate motion-impaired elderly from their healthy counterparts. A pair of e-textile pants comprised of numerous e-TAGs at locations corresponding to lower extremity joints was developed to collect acceleration, angular velocity and piezoelectric data. Four motion-impaired elderly together with nine healthy individuals (both young and old) participated in treadmill walking with a motion capture system simultaneously collecting kinematic data. Local dynamic stability, characterized by maximum Lyapunov exponent, was computed based on vertical acceleration and angular velocity at lower extremity joints for the measurements from both e-textile and motion capture systems. Results indicated that the motion-impaired elderly had significantly higher maximum Lyapunov exponents (computed from vertical acceleration data) than healthy individuals at the right ankle and hip joints. In addition, maximum Lyapunov exponents assessed by the motion capture system were found to be significantly higher than those assessed by the e-textile system. Despite the difference between these measurement techniques, attaching accelerometers at the ankle and hip joints was shown to be an effective sensor configuration. It was concluded that the e-textile pants system, via dynamic stability assessment, has the potential to identify motion-impaired elderly.