13,383 research outputs found
Automatic Analyzer for Iterative Design
The Office of Naval Research Department Of The Navy Contract Nonr 1834 (03) Project NR-064-18
Optimal control of ankle joint moment: Toward unsupported standing in paraplegia
This paper considers part of the problem of how to provide unsupported standing for paraplegics by feedback control. In this work our overall objective is to stabilize the subject by stimulation only of his ankle joints while the other joints are braced, Here, we investigate the problem of ankle joint moment control. The ankle plantarflexion muscles are first identified with pseudorandom binary sequence (PRBS) signals, periodic sinusoidal signals, and twitches. The muscle is modeled in Hammerstein form as a static recruitment nonlinearity followed by a linear transfer function. A linear-quadratic-Gaussian (LQG)-optimal controller design procedure for ankle joint moment was proposed based on the polynomial equation formulation, The approach was verified by experiments in the special Wobbler apparatus with a neurologically intact subject, and these experimental results are reported. The controller structure is formulated in such a way that there are only two scalar design parameters, each of which has a clear physical interpretation. This facilitates fast controller synthesis and tuning in the laboratory environment. Experimental results show the effects of the controller tuning parameters: the control weighting and the observer response time, which determine closed-loop properties. Using these two parameters the tradeoff between disturbance rejection and measurement noise sensitivity can be straightforwardly balanced while maintaining a desired speed of tracking. The experimentally measured reference tracking, disturbance rejection, and noise sensitivity are good and agree with theoretical expectations
Continuity argument revisited: geometry of root clustering via symmetric products
We study the spaces of polynomials stratified into the sets of polynomial
with fixed number of roots inside certain semialgebraic region , on its
border, and at the complement to its closure. Presented approach is a
generalisation, unification and development of several classical approaches to
stability problems in control theory: root clustering (-stability) developed
by R.E. Kalman, B.R. Barmish, S. Gutman et al., -decomposition(Yu.I.
Neimark, B.T. Polyak, E.N. Gryazina) and universal parameter space method(A.
Fam, J. Meditch, J.Ackermann).
Our approach is based on the interpretation of correspondence between roots
and coefficients of a polynomial as a symmetric product morphism.
We describe the topology of strata up to homotopy equivalence and, for many
important cases, up to homeomorphism. Adjacencies between strata are also
described. Moreover, we provide an explanation for the special position of
classical stability problems: Hurwitz stability, Schur stability,
hyperbolicity.Comment: 45 pages, 4 figure
Consistent interactions and involution
Starting from the concept of involution of field equations, a universal
method is proposed for constructing consistent interactions between the fields.
The method equally well applies to the Lagrangian and non-Lagrangian equations
and it is explicitly covariant. No auxiliary fields are introduced. The
equations may have (or have no) gauge symmetry and/or second class constraints
in Hamiltonian formalism, providing the theory admits a Hamiltonian
description. In every case the method identifies all the consistent
interactions.Comment: Minor misprints corrected, to appear in JHE
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