Robust tracking control design for uncertain robotic systems with persistent bounded disturbances

In this study, a robust nonlinear L_∞‐gain tracking control design for uncertain robotic systems is proposed under persistent bounded disturbances. The design objective is that the peak of the tracking error in time domain must be as small as possible under persistent bounded disturbances. Since the nonlinear L_∞ ‐gain optimal tracking control cannot be solved directly, the nonlinear L_∞ ‐gain optimal tracking problem is transformed into a nonlinear L_∞ ‐gain tracking problem by given a prescribed disturbance attenuation level for the L_∞ ‐gain tracking performance. To guarantee that the L_∞ ‐gain tracking performance can be achieved for the uncertain robotic systems, a sliding‐mode scheme is introduced to eliminate the effect of the parameter uncertainties. By virtue of the skew‐symmetric property of the robotic systems, sufficient conditions are developed for solving the robust L_∞ ‐gain tracking control problems in terms of an algebraic equation instead of a differential equation. The proposed method is simple and the algebraic equation can be solved analytically. Therefore, the proposed robust L_∞ ‐gain tracking control scheme is suitable for practical control design of uncertain robotic systems. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

The Other Mathematical Bridge

This paper contextualises, describes and discusses a student project which takes a particular exploratory approach to using mathematical surface definition as a language and vehicle for co-rational design co-authorship for architecture and engineering. The project has two authors, one from an architectural and one from an engineering educational background. It investigates the metaphorical and operational role of mathematics in the design process and outcomes.     

Robust stability and H-infinity control for uncertain discrete-time Markovian jump singular systems

The robust stability and stabilization, and H-infinity control problems for discrete-time Markovian jump singular systems with parameter uncertainties are discussed. Based on the restricted system equivalent （r.s.e.） transformation and by introducing new state vectors, the singular system is transformed into a discrete-time Markovian jump standard linear system, and the linear matrix inequality （LMI） conditions for the discrete-time Markovian jump singular systems to be regular, causal, stochastically stable, and stochastically stable with 7- disturbance attenuation are obtained, respectively. With these conditions, the robust state feedback stochastic stabilization problem and H-infinity control problem are solved, and the LMI conditions are obtained. A numerical example illustrates the effectiveness of the method given in the oaoer.     

Gas particle industrial flow simulation using RANSTAD

A turbulent gas particle finite-volume flow simulation of a representative coal classifier is presented. Typical values of the loading ratio permit a one-way coupling analysis. As a case study, the computational fluid dynamics code,ranstad, and the modelling aspects are discussed in some detail. The simulation indicates that small (≈ 30 μm) coal particles pass through the classifier to the furnace but that large (≈ 300 μm) particles are captured and remilled. The computational simulation indicates that the classifier performance can be improved by internal geometric modification. The commitment of the Electricity Commission of New South Wales (Pacific Power) to the exploitation of Computational Engineering for the improvement of all aspects of electricity generation is acknowledged.     

Theoretical comparisons of search strategies in branch-and-bound algorithms

Four known search strategies used in branch-and-bound algorithms-heuristic search, depth-first search, best-bound search, and breadth-first search-are theoretically compared from the viewpoint of the performance of the resulting algorithms. Heuristic search includes the other three as special cases. Since heuristic search is determined by a heuristic functionh, we first investigate how the performance of the resulting algorithms depends onh. In particular, we show that heuristic search is stable in the sense that a slight change inh causes only a slight change in its performance. The best and the worst heurstic functions are clarified, and also discussed is how the heuristic functionh should be modified to obtain a branch-and-bound algorithm with an improved performance. Finally, properties and limitations of depth-first search, best-bound search, and breadth-first search viewed as special cases of heuristic search are considered. In particular, it is shown that the stability observed for heuristic search no longer holds for depth-first search.     

Interplay Between Wetting and Phase Behavior in Binary Polymer Films and Wedges: Monte Carlo Simulations and Mean Field Calculations

Confining a binary mixture, one can profoundly alter its miscibility behavior. The qualitative features of miscibility in confined geometry are ratheruniversal and shared by polymer mixtures as well as small molecules, but the unmixing transition in the bulk and the wetting transition are typically well separated in polymer blends. The interplay between wetting and miscibility of a symmetric polymer mixture via large-scale Monte Carlo simulations in the framework of the bond fluctuation model and via numerical self–consistent field calculations is studied. The film surfaces interact with the monomers via short ranged potentials, and the wetting transition of the semi–infinite system is of first order. It can be accurately located in the simulations by measuring the surface and interface tensions and using Young’s equation. If both surfaces in a film attract the same component, capillary condensation occurs and the critical point is close to the critical point of the bulk. If surfaces attract different components, an interface localization/delocalization occurs which gives rise to phase diagrams with two critical points in the vicinity of the pre-wetting critical point of the semi–infinite system. The crossover between these two types of phase diagrams as a function of the surface field asymmetry is studied. The dependence of the phase diagram on the film thickness Δ for antisymmetric surface fields is investigated. Upon decreasing the film thickness, the two critical points approach the symmetry axis of the phase diagram, and below a certain thickness Δ_tri, there remains only a single critical point at the symmetric composition. This corresponds to a second-order interface localization/delocalization transition even though the wetting transition is of first order. At a specific film thickness, Δ_tri, tricritical behavior is found. The behavior of antisymmetric films is compared with the phase behavior in an antisymmetric double wedge. While the former is the analog of the wetting transition of a planar surface, the latter is related to the filling behavior of a single wedge. Evidence for a second-order interface localization/delocalization transition in an antisymmetric double wedge is presented, and its unconventional critical behavior is related to the predictions of Parry et al. (Phys. Rev. Lett. 83:5535 (1999)) for wedge filling. The critical behavior differs from the Ising universality class and is characterized by strong anisotropic fluctuations.Invited paper presented at the Fifteenth Symposium on Thermophysical Properties, June 022–27, 2003, Boulder, Colorado, U.S.A.     

On the computational power of insertion-deletion systems

Gene insertion and deletion are basic phenomena found in DNA processing or RNA editing in molecular biology. The genetic mechanism and development based on these evolutionary transformations have been formulated as a formal system with two operations of insertion and deletion, called insertion-deletion systems (Kari and Thierrin, 1996; Kari et al., 1997).We investigate the generative power of insertion-deletion systems (InsDel systems), and show that the family INS ¹ ₁ DEL ¹ ₁ is equal to the family of recursively enumerable languages. This gives a positive answer to an open problem posed in Kari et al. (1997) where it was conjectured contrary. This revised version was published online in June 2006 with corrections to the Cover Date.     

Coordination in networks: An economic equilibrium analysis

Networks utilizing modern communication technologies can offer competitive advantages to those using them wisely. But due to the existence of network effects, planning and operating cooperation networks is difficult. In this paper, the strategic situation of individual agents deciding on network participation is analysed. A systematic equilibrium analysis using computer-based simulations reveals principal solution scenarios for network agents and shows that network cooperation problems might frequently be not as difficult to resolve as often feared. In particular, strategic situations are identified showing that a majority of individuals might be better off getting the optimal solution from a central principal and that in many cases simple information intermediation can solve the start-up problem notorious in network economics.