Graphic approach for the determination of the existence of sequences guaranteeing observability of switched linear systems

This paper deals with the design of sequences allowing the observability of the state of a switched linear system. The proposed method, based on a graph-theoretic approach, needs only the knowledge of the system’s structure. The necessary and sufficient conditions for the existence of at least one switching sequence guaranteeing the observability of a switched structured system are provided. Such conditions are particularly intuitive and they can be implemented with classic algorithms of the graph theory.     

Manipulability of leader–follower networks with the rigid-link approximation

This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. Effectiveness is interpreted to characterize how the movements of the leader nodes translate into responses among the remaining follower nodes. This notion of effectiveness is a function of the interaction topologies, the agent configurations, and the particular choice of inputs used to influence the network. In fact, classic manipulability is an index used in robotics to analyze the singularity and efficiency of configurations of robot-arm manipulators. To define similar notions for leader–follower networks, we use a rigid-link approximation of the follower dynamics and, under this assumption, we prove that the instantaneous follower velocities can be uniquely determined from that of the leaders’, which allows us to define a meaningful and computable manipulability index for the leader–follower networks. This paper examines the property of the proposed index in simulation and with real mobile robots, and demonstrates how the index can be used to find effective interaction topologies.     

Multivariable adaptive control: A survey

Adaptive control is a control methodology capable of dealing with uncertain systems to ensure desired control performance. This paper provides an overview of some fundamental theoretical aspects and technical issues of multivariable adaptive control, and a thorough presentation of various adaptive control schemes for multi-input–multi-output systems, literature reviews on adaptive control foundations and multivariable adaptive control methods, and related technical problems. It covers some basic concepts and issues such as certainty equivalence, stability, tracking, robustness, and parameter convergence. It discusses some of the most important topics of adaptive control: plant uncertainty parametrization, stable controller adaptation, and design conditions for different adaptive control schemes. The paper also presents a detailed study of well-developed multivariable model reference adaptive control theory and design techniques. It provides an introduction to multivariable adaptive pole placement and adaptive nonlinear control, and it concludes by identifying some open research problems.     

Locally optimal controllers and globally inverse optimal controllers

In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can be formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has been synthesized employing an LQ approach, then the associated Lyapunov function can be seen as the value function of an optimal problem with some specific local properties. We illustrate these results on two specific classes of systems: backstepping and feedforward systems. Finally, we show how this framework can be employed when considering the orbital transfer problem.     

Quadratic control of stochastic hybrid systems with renewal transitions

We study the quadratic control of a class of stochastic hybrid systems with linear continuous dynamics for which the lengths of time that the system stays in each mode are independent random variables with given probability distribution functions. We derive a condition for finding the optimal feedback policy that minimizes a discounted infinite horizon cost. We show that the optimal cost is the solution to a set of differential equations with unknown boundary conditions. Furthermore, we provide a recursive algorithm for computing the optimal cost and the optimal feedback policy. The applicability of our result is illustrated through a numerical example, motivated by stochastic gene regulation in biology.     

Development of a system‐based water balance model to assess interrelated physical and anthropogenic constraints in lake and reservoir watersheds,applied to Coeur d'Alene Lake,Idaho, USA

This study presents a methodology for the development of a water balance model that uses publicly available data in a manner useful to water scientists and managers who manage complex lake and reservoir watersheds. The approach was applied to Coeur d'Alene Lake, a naturally occurring lake that is controlled by a dam located on its outlet (Spokane River) in North Idaho, USA. As in many other areas, the region surrounding Coeur d'Alene Lake has experienced high rates of population growth in recent years, and there is concern that, as consumptive water use increases, the lake will eventually not be able to be managed to simultaneously maintain the federally mandated minimum flow requirements in the Spokane River and also maintain the target summertime elevation of 2128 feet (648.6 m) for recreation and hydropower purposes. The complexity caused by the competing uses at Coeur d'Alene Lake makes it an excellent case study for similarly characterized watersheds. Both a natural flow model and regulated elevation model were developed, and sensitivity analysis was conducted on both models to evaluate which lake processes have the greatest effects on lake elevation, thereby requiring the most attention. A ‘low‐flow’ scenario was modelled to demonstrate the usefulness of the model and to inform Coeur d'Alene Lake regional stakeholders regarding the interrelationship between current water policy and the lake's physical behaviour under stressed conditions that could result from climate change. Model result indicates that, while lake elevation may be maintained at the summertime elevation of 2128 feet (648.6 m) under a low‐flow scenario, the outflows in the Spokane River start to approach the minimum flow requirements in the month of August. The developed approach is useful where publicly available data exist and allows for economic, yet rigorous, water resources systems evaluation without requiring significant field data collection.     

内陆核电厂放射性废液中硼酸的反渗透分离实验研究

建设内陆核电是我国经济社会发展的必然需求,但由于内陆核电自然环境和社会环境的特殊性,必须更进一步考虑排放对环境和公众的安全影响,对放射性废液进行深化处理,在解控排放的基础上进一步降低排放水平。本文在内陆AP1000机组已实施的放射性废液处理系统改进的基础上,开展了放射性废液深化处理研究,通过大量实验考察了不同进水pH值、硼浓度、含盐量、水温等水质条件和不同工作压力、回收率等运行条件下反渗透装置对硼酸的去除性能和对模拟放射性核素的截留能力。结果表明,通过控制适当的工艺条件,可以去除废液中80%以上的硼酸,同时保持很好的核素去除效果,达到进一步降低排放水平的目的。研究成果可为内陆核电厂放射性废液处理系统深化处理工程应用提供有力的技术支撑,并为后续内陆核电放射性废液深化处理提供参考。     

Five-year experience with setup and implementation of an integrated database system for clinical documentation and research

In radiation oncology, where treatment concepts are elaborated in interdisciplinary collaborations, handling distributed, large heterogeneous amounts of data efficiently is very important, yet challenging, for an optimal treatment of the patient as well as for research itself. This becomes a strong focus, as we step into the era of modern personalized medicine, relying on various quantitative data information, thus involving the active contribution of multiple medical specialties. Hence, combining patient data from all involved information systems is inevitable for analyses. Therefore, we introduced a documentation and data management system integrated in the clinical environment for electronic data capture. We discuss our concept and five-year experience of a precise electronic documentation system, with special focus on the challenges we encountered. We specify how such a system can be designed and implemented to plan, tailor and conduct (multicenter) clinical trials, ultimately reaching the best clinical performance, and enhancing interdisciplinary and clinical research.     

一种基于边界特征线且特征点可变的二阶非线性离散跟踪微分器及在测速定位系统中的应用

利用状态反推方法确定最速离散二阶系统的线性区域的边界特征线及控制特征线,以相平面上的点及边界曲线、控制线的相对位置按线性规则确定控制量的大小,区分可达区与线性区,并依此构造最速分段线性函数形式的跟踪微分器（Tracking-differentiator,TD）,这种算法可以方便地修改特征点,适应能力强,而且运算中不包含任何根号运算,使得控制综合函数的形式极大简化,有利于工程实现.对正弦信号及方波信号的仿真结果表明了上述结论的合理性.验证了特征点分段线性算法在适当修改特征点后得到的TD,与经典TD以及它的线性近似进行比较,跟踪能力和微分提取能力都得到了较大的提高.应用移动平均算法构成的跟踪微分器组,具有相位补偿功能,适当选取TD参数后,得到了滤波能力强、相位特性良好的滤波器,并应用于基于长定子齿槽检测的永磁电动磁悬浮列车的测速定位系统中.实验结果表明,本文提出的简化TD按相位补偿确定的方案能有效滤除脉冲和扰动等噪声,对过轨道接缝时的畸变信号进行修复,边界容易修改,算法简单有效,实时性强,易于工程实现.     

广义Mamdani模糊系统依K-积分模的泛逼近及其实现过程

首先,通过引入拟减法算子给出K-积分模定义,并针对广义Mamdani模糊系统实施等距剖分其输入空间. 其次,应用分片线性函数（Piecewise linear function,PLF）的性质构造性地证明了广义Mamdani模糊系统在K-积分模意义下具有泛逼近性,从而将该模糊系统对连续函数空间的逼近能力扩展到一类可积函数类空间上. 最后,通过模拟实例给出该广义Mamdani模糊系统对给定可积函数的泛逼近及实现过程.