Controller design for flexible structure vibration suppression with robustness to contacts

Model-based feedback control of vibration in flexible structures can be complicated by the possibility that interaction with an external body occurs. If not accounted for, instability or poor performance may result. In this paper, a method is proposed for achieving robust vibration control of flexible structures under contact. The method uses robust linear state feedback, coupled with a state estimation scheme utilizing contact force measurement. Uncertain contact characteristics are modelled by a sector-bounded non-linear function, such that state feedback gains can be synthesized using a matrix inequality formulation of the Popov stability criterion. A separation theorem is used to establish a robust H₂ cost bound for the closed loop system. Experimental results from a multi-mode flexible structure testbed confirm that vibration attenuation and stability can be maintained over a broad range of contact characteristics, in terms of compliance and clearance.     

Laparoscopic versus open appendectomy

BACKGROUND: Clinical manifestations and course of sickle-cell anemia are variable. Knowledge about the factors, possibly geographic, that influence prognosis are still scanty. POPULATION AND METHODS: Data of hospitalization and management of children with sickle-cell disease were studied during two years (1992-1993) in the Pediatric Unit of Libreville Hospital. They concerned 205 admissions of 171 children and 131 outpatients. RESULTS: The main causes of hospitalization were: acute anemia (36 cases before the age of 5 years); painful crisis whose frequency increased with age (23% before 5 years, 35% between 5 and 10, 42% after 10 years); infections, essentially pulmonary occurring early, and bone infections at any age. Eight children died (because a complication of their disease). Among the 131 outpatients, half were detected because pyrexia, anemia and/or more often "hand-foot syndrome". More than 60% had hepatomegaly, one third still had splenomegaly after five years of age and more than one third was icteric. More than half children older than ten years had growth disorders. Mean hemoglobin level was 7 g/dL. 21 of the 83 tested children for HBsAg were positive and only one out of 79 was positive for HIV. CONCLUSIONS: Clinical manifestations and course of sickle-cell anemia in our patients are similar to those reported in Congolese children. Genetic and environmental factors may be responsible for differences with children from other, in particular French, cohorts.     

Polygon subdivision for pocket machining process planning

This paper presents a new approach to improve tool selection for arbitrary shaped pockets based on an approximate polygon subdivision technique. The pocket is subdivided into smaller sub-polygons and tools are selected separately for each sub-polygon. A set of tools for the entire pocket is obtained based on both machining time and the number of tools used. In addition, the sub-polygons are sequenced to eliminate the requirement of multiple plunging operations. In process planning for pocket machining, selection of tool sizes and minimizing the number of plunging operations can be very important factors. The approach presented in this paper is an improvement over previous work in its use of a polygon subdivision strategy to improve the machining time as well as reducing the number of plunges. The implementation of this technique suggests that using a subdivision approach can reduce machining time when compared to solving for the entire polygonal region.     

Exploring probabilistic bisimulations, part I

We take a fresh look at strong probabilistic bisimulations for processes which exhibit both non-deterministic and probabilistic behaviour. We suggest that it is natural to interpret such processes as distributions over states in a probabilistic labelled transition system, a pLTS; this enables us to adapt the standard notion of contextual equivalence to this setting. We then prove that a novel form of bisimulation equivalence between distributions are both sound and complete with respect to this contextual equivalence. We also show that a very simple extension to HML, Hennessy–Milner Logic, provides finite explanations for inequivalences between distributions. Finally we show that our bisimulations between distributions in a pLTS are simply an alternative characterisation of a standard notion of probabilistic bisimulation equivalence, defined between states in a pLTS.     

Model checking agent programming languages

In this paper we describe a verification system for multi-agent programs. This is the first comprehensive approach to the verification of programs developed using programming languages based on the BDI (belief-desire-intention) model of agency. In particular, we have developed a specific layer of abstraction, sitting between the underlying verification system and the agent programming language, that maps the semantics of agent programs into the relevant model-checking framework. Crucially, this abstraction layer is both flexible and extensible; not only can a variety of different agent programming languages be implemented and verified, but even heterogeneous multi-agent programs can be captured semantically. In addition to describing this layer, and the semantic mapping inherent within it, we describe how the underlying model-checker is driven and how agent properties are checked. We also present several examples showing how the system can be used. As this is the first system of its kind, it is relatively slow, so we also indicate further work that needs to be tackled to improve performance.