Shaping stable periodic motions of inertia wheel pendulum: theory and experiment

We consider an underactuated two‐link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC‐motor. The goal is to create stable oscillations of the pendulum, which is not directly actuated. We exploit a recently proposed feedback‐control design strategy based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving orbitally exponentially stable oscillatory motions. The main contribution is a step‐by‐step procedure on how to achieve oscillations with pre‐specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Formalizing process-based risk with Value-Focused Process Engineering

Following calls to advance the integration of risk and business process modeling paradigms, this paper formalizes the process of incorporating risk into business process models through the principles of Value-Focused Process Engineering (VFPE). In doing so, the paper aims to extend the existing VFPE modeling notation to reflect a set of necessary constructs required to adequately represent risk in goal-oriented business-process models. The extended set of constructs is proposed to support a formal systems view of process-based risk. Process-based risk is formalized on the one hand, as a product of complex interactions between activity-based elements, and on the other hand, as a natural component of the value creation mechanism of an elementary function or a complex process. The proposed risk-aware VFPE formalism also formulates rules for decomposing risk in process models according to the organizational values, thereby enabling better risk visibility, reducing process complexity, and ensuring continuity of business processes.     

SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations

Numerically finding stabilising feedback control laws for linear systems of periodic differential equations is a nontrivial task with no known reliable solutions. The most successful method requires solving matrix differential Riccati equations with periodic coefficients. All previously proposed techniques for solving such equations involve numerical integration of unstable differential equations and consequently fail whenever the period is too large or the coefficients vary too much. Here, a new method for numerical computation of stabilising solutions for matrix differential Riccati equations with periodic coefficients is proposed. Our approach does not involve numerical solution of any differential equations. The approximation for a stabilising solution is found in the form of a trigonometric polynomial, matrix coefficients of which are found solving a specially constructed finite-dimensional semidefinite programming (SDP) problem. This problem is obtained using maximality property of the stabilising solution of the Riccati equation for the associated Riccati inequality and sampling technique. Our previously published numerical comparisons with other methods shows that for a class of problems only this technique provides a working solution. Asymptotic convergence of the computed approximations to the stabilising solution is proved below under the assumption that certain combinations of the key parameters are sufficiently large. Although the rate of convergence is not analysed, it appeared to be exponential in our numerical studies.     

Data exchange and schema mappings in open and closed worlds

In the study of data exchange one usually assumes an open-world semantics, making it possible to extend instances of target schemas. An alternative closed-world semantics only moves ‘as much data as needed’ from the source to the target to satisfy constraints of a schema mapping. It avoids some of the problems exhibited by the open-world semantics, but limits the expressivity of schema mappings. Here we propose a mixed approach: one can designate different attributes of target schemas as open or closed, to combine the additional expressivity of the open-world semantics with the better behavior of query answering in closed worlds. We define such schema mappings, and show that they cover a large space of data exchange solutions with two extremes being the known open and closed-world semantics. We investigate the problems of query answering and schema mapping composition, and prove two trichotomy theorems, classifying their complexity based on the number of open attributes. We find conditions under which schema mappings compose, extending known results to a wide range of closed-world mappings. We also provide results for restricted classes of queries and mappings guaranteeing lower complexity.     

Real-time 2D to 3D video conversion

We present a real-time implementation of 2D to 3D video conversion using compressed video. In our method, compressed 2D video is analyzed by extracting motion vectors. Using the motion vector maps, depth maps are built for each frame and the frames are segmented to provide object-wise depth ordering. These data are then used to synthesize stereo pairs. 3D video synthesized in this fashion can be viewed using any stereoscopic display. In our implementation, anaglyph projection was selected as the 3D visualization method, because it is mostly suited to standard displays.

Particularities of condensation of atoms with increased kinetic energy

Novel universal method for measurement of the condensation coefficient α is developed. Using this method, noticeable difference between measured (α≈0.8) and expected (α≈1) values of the condensation coefficient for sputtered Cr atoms was revealed for the first time. The effect is assumed to be a result of considerable elevation of the surface temperature during atomic condensation induced by the energy delivered to the condensation surface by sputtered atoms and from the plasma.     

Grain boundary effect on electron-beam-induced current in La3Ga5.5Ta0.5O14 crystal

La₃Ga_5.5Ta_0.5O₁₄ crystal recently attracted more attention due to its superior electromechanical properties and high Q × f product. We report that the first electron-beam-induced current experiment on La₃Ga_5.5Ta_0.5O₁₄ single crystal. This method is employed to study the effect of the crystal's grain boundary on the incident electron beam. The experimental results clearly show that when the electron beam scans over the grain boundary of the crystal, a fraction of the carriers recombine at the grain boundary and is unavailable for the current generation. This recombination rate will be enhanced when the electron beam was close to the boundary and cause a dip in the collected current. Although the crystal is an insulator, this effect still can be observed if the coating metal is proper to be chosen. It is also pointed out that the different diffusion lengths of the crystal might be due to the tilted grain boundary.     

Microwave remote sensing of physically buried objects in the Negev Desert: implications for environmental research

We report remote detections of physically buried specularly reflecting objects using microwave radar at two sites: Ashalim and Tseelim in the northern region of the Negev Desert, Israel. These detections provide confirmation that microwave subsurface remote sensing is a genuine phenomenon. At Ashalim, a scatterometer operating in the P-band (441 MHz, 68 cm) was mounted on a cherry picker truck at a height of 8 m and used to detect two triangular aluminum mesh reflectors (forming a 1-m square area reflector) buried down to a depth of 8 cm in dry sand. At Tseelim, the same scatterometer was mounted on an airplane flying at an altitude of 70 m and used to detect 1-m square aluminum reflectors (each one submerged at a different location along the airplane flight path) buried down to a depth of 20 cm. The experimental results compare favorably with a theoretical model that incorporates radar absorption effects arising in the sandy subsurface layer and radar interference effects arising from phase differences between reflections from the surface and buried reflector. The theoretical modeling also predicts the detection of a subsurface reflector down to a depth of about 4.4 m. This experiment and the associated modeling approach is the first of a series of planned experiments, which we outline for the detection and the theoretical evaluation of buried reflectors using remote microwave and VHF radar. We identify potential subject areas for environmental research.     

On the H fixed-lag smoothing: how to exploit the information preview

The problem of the continuous-time H^∞ fixed-lag smoothing over the infinite horizon is studied. The first solution to the problem is derived in terms of one algebraic Riccati equation of the same dimension as in the filtering case and the mechanism by which the performance improvements with respect to the H^∞ filtering occur is clarified. It is shown that the H^∞ smoother exploits the information preview in an “H² manner”.