On the Achievable Delay Margin Using LTI Control for Unstable Plants

Handling delays in control systems is difficult and is of long-standing interest. It is well known that, given a finite-dimensional linear time-invariant (FDLTI) plant and controller forming a strictly proper stable feedback connection, closed-loop stability will be maintained under a small delay in the feedback loop, although most closed loop systems become unstable for large delays. One previously unsolved fundamental problem in this context is whether, for a given FDLTI plant, an arbitrarily large delay margin can be achieved using LTI control. Here, we adopt a frequency domain approach and demonstrate that, for a strictly proper real rational plant, there is a uniform upper bound on the delay that can be tolerated when using an LTI controller, if and only if the plant has at least one closed right half plane pole not at the origin. We also give several explicit upper bounds on the achievable delay margin, and, in some special cases, demonstrate that these bounds are tight.     

Energy storage devices for future hybrid electric vehicles

Powertrain hybridization as well as electrical energy management are imposing new requirements on electrical storage systems in vehicles. This paper characterizes the associated vehicle attributes and, in particular, the various levels of hybrids. New requirements for the electrical storage system are derived, including: shallow-cycle life, high dynamic charge acceptance particularly for regenerative braking and robust service life in sustained partial-state-of-charge usage. Lead/acid, either with liquid or absorptive glass-fibre mat electrolyte, is expected to remain the predominant battery technology for 14 V systems, including micro-hybrids, and with a cost-effective battery monitoring system for demanding applications. Advanced AGM batteries may be considered for mild or even medium hybrids once they have proven robustness under real-world conditions, particularly with respect to cycle life at partial-states-of-charge and dynamic charge acceptance. For the foreseeable future, NiMH and Li-ion are the dominating current and potential battery technologies for higher-functionality HEVs. Li-ion, currently at development and demonstration stages, offers attractive opportunities for improvements in performance and cost. Supercapacitors may be considered for pulse power applications. Aside from cell technologies, attention to the issue of system integration of the battery into the powertrain and vehicle is growing. Opportunities and challenges for potential “battery pack” system suppliers are discussed.     

The modern face of prejudice and structural features that moderate the effect of cooperation on affect

Facial muscle activity and self-reports were examined for racial bias in 3 studies. In the first 2 experiments, While participants imagined cooperating with a Black or White partner. Experiment 1 manipulated reward structure in the context of cooperating with a deficient partner. Experiment 2 manipulated partner deficiency and willingness to expend compensatory effort. On both facial EMG and self-report measures, joint rewards produced more negative affect than independent rewards. However, all partners were liked more when they were willing to try to compensate for their deficits. In addition, more liking was reported for Black partners, but EMG activity indicated bias against Blacks. Experiment 3 investigated individual differences in prejudice. Again, a greater preference for Blacks than Whites occurred on self-report measures, but in their facial muscle activity, high-prejudiced participants exhibited bias against Blacks.     

Optimal tracing and replay for debugging message-passing parallel programs

A common debugging strategy involves reexecuting a program (on a given input) over and over, each time gaining more information about bugs. Such techniques can fail on message-passing parallel programs. Because of nondeterminacy, different runs on the given input may produce different results. This nonrepeatability is a serious debugging problem, since an execution cannot always be reproduced to track down bugs. This paper presents a technique for tracing and replaying message-passing programs. By tracing the order in which messages are delivered, a reexecution can be forced to deliver messages in their original order, reproducing the original execution. To reduce the overhead of such a scheme, we show that the delivery'order of only messages involved inraces need be traced (and not every message). Our technique makes run-time decisions to detect and trace racing messages and is usuallyoptimal in the sense that the minimal number of racing messages is traced. Experiments indicate that only 1% of the messages are often traced, gaining a reduction of two orders of magnitude over traditional techniques that trace every message. These traces allow an execution to be reproduced any number of times for debugging. Our work is novel in that we adaptively decide what to trace, and trace only those messages that introduce nondeterminacy. With our strategy, large reductions in trace size allow long-running programs to be replayed that were previously unmanageable. In addition, the reduced tracing requirements alleviate tracing bottle-necks, allowing executions to be debugged with substantially lower execution time overhead.This work was supported in part by National Science Foundation grants CCR-8815928 and CCR-9100968, Office of Naval Research grant N00014-89-J-1222, and a grant from Sequent Computer Systems, Inc.     

Successful weight loss in a self-taught, self-administered program

There is little evidence concerning the effectiveness of self-help materials for weight control. The purpose of this research was to evaluate a self-help weight-loss program. Obese (body fat > or = 25.0%, range = 25.0-48.6%, mean +/- SEM = 36.5 +/- 1.3%) men (n = 14) and women (n = 21) were given a workbook detailing a behavior modification approach to weight loss that emphasizes self-monitoring of diet and exercise behaviors, and then sent home for 6 months to learn how to lose weight on their own. A group of 9 controls (CONT) who did not get a workbook were used for comparison. ANOVA showed that the experimental group (EXP) lost 8.1 +/- 0.9 (mean +/- SEM) kg body weight, 6.4 +/- 0.8 kg fat, and 3.9 +/- 0.6% body fat; all significant over time (p < 0.001) and different from the CONT (p < 0.0001) who showed no change in these variables. The EXP also reduced their fat intake (% of joules) from 36.1 +/- 1.0% to 27.9 +/- 1.3% (p < 0.0001), increased their carbohydrate intake from 45.7 +/- 1.2% to 50.0 +/- 1.7% (p < 0.007) and their protein intake from 16.3 +/- 0.05% to 20.7 +/- 0.7% (0 < 0.03), all of which were significantly different (p < 0.03) than the CONT who did not change. Dietary fiber increased in the EXP from 19.8 +/- 1.4 to 27.3 +/- 2.2 g/d (p < 0.001) even with a significant reduction in energy intake (11.3 +/- 0.6 vs. 8.9 +/- 0.5 Mj/d; p < 0.0001).(ABSTRACT TRUNCATED AT 250 WORDS)     

On the temporal relations between memory scanning and response preparation

Three experiments were conducted to investigate whether response processes can start before memory scanning has finished when both are required in the same task. In Experiment 1 the color of a stimulus letter determined which hand might respond, and the letter's memory set membership determined whether that response should be made or withheld. Electrophysiological data suggested that lateralized response preparation was not initiated until memory scanning finished. Experiment 2 replicated these results with a consistent stimulus-response mapping to make the scanning process easier. Experiment 3 tested for earlier response priming with a probe reaction time paradigm, and the results suggested that color information can be used to activate a response before memory scanning is finished. The results of Experiments 1-3 suggest that interference between memory scanning and response preparation precludes the concurrent operation of these processes.     

High-temperature polyimide nanofoams for microelectronic applications

Foamed polyimides have been developed in order to obtain thin film dielectric layers with very low dielectric constants for use in microelectronic devices. In these systems the pore sizes are in the nanometer range, thus, the term ‘nanofoam’. The polyimide foams are prepared from block copolymers consisting of thermally stable and thermally labile blocks, the latter being the dispersed phase. Foam formation is effected by thermolysis of the thermally labile block, leaving pores of the size and shape corresponding to the initial copolymer morphology. Nanofoams prepared from a number of polyimides as matrix materials were investigated as well as from a number of thermally labile polymers. The foams were characterized by a variety of experiments including TEM, SAXS, WAXD, DMTA, density measurements, refractive index measurements and dielectric constant measurements. Thin film foams, with high thermal stability and low dielectric constants approaching 2.0, can be prepared using the copolymer/nanofoam approach.     

Visual discrimination on colour VDTs at two viewing distances

The paper describes a research study on visual discrimination of textual and graphic symbols on a visual display terminal (VDT) screen when viewed at eye-lo-screen distances of 61 cm and 152 cm (24 and 60 ins). Conducted as part of a development programme at McDonnell Douglas Corporation's St. Louis Aircraft Company for an Integrated Manufacturing Composites Centre (ICC), the study investigated symbol shapes, symbol sizes, symbol colours and background colours at the two viewing distances. The longer distance is representative of required placements of the VDTs at some manufacturing workstations to avoid interference with process or control equipment. Knowledge gained from the study was incorporated in the selection of the manufacturing computer information system (CIS) terminals.

All four treatments showed significant effects on visual discrimination at both viewing distances and, particularly at the 152 cm distance, the mix of symbol and background colours was highly significant. A black screen background colour with more luminous symbols such as orange, green, yellow provided much better visual discrimination at the extended viewing distance than less luminous symbols such as red and blue on a white background. Visual discrimination at the extended viewing distance, when compared with the shorter viewing distance and using symbols of equal size, was better than the loss in visual angle would suggest.

Sex and age (to age 65) did not significantly affect visual discrimination mean scores, but the variance among individuals in the 51-65 years age group was greater than for the younger age groups.

The visual discrimination scores for symbol sizes of 4 mm² were not significantly different from the 6 mm² symbols at the 61 cm viewing distance. The 4 mm² symbol size was therefore adequate for visual discrimination of standalone symbols at this distance. Although 8 mm symbols were not used in this study, projections from the data indicate that such symbol sizes at 152 cm would provide comparable discrimination scores to the 4 mm² at 61 cm.

Improved visual discrimination of standalone symbols occurs with gaps or changes in the angles of symbols, such as sets 'C' versus 'O' and 'Xl' versus'+'.     

Influence of cage design on precision of tube-trap bioassay for attractants of the onion fly,Delia antiqua

Responses of onion flies,Delia antiqua, to known attractants were measured in the laboratory with a novel tube-trap bioassay. The relative numbers of flies caught in tube traps baited with enzymatic yeast hydrolysate, brewer's yeast, andn-dipropyl disulfide were similar to those obtained previously with cone traps in the field. Changing the shape of the bioassay cage from a cuboid to a cylinder decreased the experimental error obtained from analysis of variance, as did rotating the floor of the circular cage. This bioassay should be useful in evaluating attractants for other insects that orient along the substrate.Diptera: Anthomyiidae.Paper No. 11327 of the Michigan State University Agricultural Experiment Station. Received for publication June 8, 1984.