Novel fuzzy logic controllers with self-tuning capability

Two controllers which extend the PD+I fuzzy logic controller to deal with the plant having time varying nonlinear dynamics are proposed. The adaptation ability of the first self tuning PD+I fuzzy logic controller (STPD+I_31) is achieved by adjusting the output scaling factor automatically thereby contributing to significant improvement in performance. Second controller (STPD+I_9) is the simplified version of STPD+I_31 which is designed under the imposed constraint that allows only minimum number of rules in the rule bases. The proposed controllers are compared with two classical nonlinear controllers: the pole placement self tuning PID controller and sliding mode controller. All the controllers are applied to the two-links revolute robot for the tracking control. The tracking performance of STPD+I_31 and STPD+I_9 are much better than the pole placement self tuning PID controller during high speed motions while the performance are comparable at low and medium speed. In addition, STPD+I_31 and STPD+I_9 outperform sliding mode controller using same method of comparison study

Multiple relativistic outbursts of GRS 1915+105: radio emission and internal shocks

We present 5-GHz MERLIN radio images of the microquasar GRS 1915+105 during two separate outbursts in 2001 March and 2001 July, following the evolution of the jet components as they move outwards from the core of the system. Proper motions constrain the intrinsic jet speed to be >0.57c, but the uncertainty in the source distance prevents an accurate determination of the jet speed. No deceleration is observed in the jet components out to an angular separation of about 300mas. Linear polarisation is observed in the approaching jet component, with a gradual rotation in position angle and a decreasing fractional polarisation with time. Our data lend support to the internal shock model whereby the jet velocity increases leading to internal shocks in the pre-existing outflow before the jet switches off. The compact nuclear jet is seen to re-establish itself within two days, and is visible as core emission at all epochs. The energetics of the source are calculated for the possible range of distances; a minimum power of 1-10 per cent of the Eddington luminosity is required to launch the jet.Comment: 18 pages, 14 figures, accepted for publication in MNRAS. For higher-resolution versions of Figures 3, 5, and 12, see http://remote.science.uva.nl/~jmiller/grs1915/figures.htm

Design, Control and Validation of Two-Speed Clutch-less Automatic Transmission for Electric Vehicle

Two-speed or multiple-speed automatic transmissions can obviously improve the overall manipulating performance in terms of shifting quality and energy efficiency when equipped in electric vehicles (EVs). This study details the design of a two-speed clutch-less automatic transmission (2AT) for EVs and the motor controlled shifting mechanism. Firstly, a novel two-speed clutch automatic transmission is devised with a motor-controlled shifting mechanism, which enables the shift motions and the speed control of the driving motor for synchronization during shifts. Secondly, a coordinated control strategy of the driving motor and controlling motor for shifting is detailed during different shifting processes to achieve fast and smooth shifting. The torque trajectory optimization during synchronizing process is attained by applying the Pontryagin's minimum principle. The simulation and experimental results verify the shifting mechanism design and the shift control algorithm in terms of shift response and smoothness for the designed 2AT

Advanced trajectory tracking for UAVs using combined feedforward/feedback control design

Trajectory tracking is a major challenge for UAVs. The more complex the trajectory is, the more accurate tracking is required with minimum divergence from the trajectory. Apart from active trajectory tracking mechanisms, current solutions to accurate trajectory tracking in narrow areas require low speed motions. This paper presents a systematic design methodology using centralised feedforward/feedback control architecture for advanced trajectory tracking without compromising the speed of the vehicle. Using the norm as a measure for the design criteria, the proposed method proves fast tracking with no overshooting and less actuators energy compared with single degree-of-freedom feedback control method. The results are verified using simulations for two systems: a tri-rotor VTOL UAV (fully actuated system), and a quadrotor trainer (over-actuated system)

Effects of Non-Circular Motions on Azimuthal Color Gradients

Assuming that density waves trigger star formation, and that young stars preserve the velocity components of the molecular gas where they are born, we analyze the effects that non-circular gas orbits have on color gradients across spiral arms. We try two approaches, one involving semi-analytical solutions for spiral shocks, and another with magnetohydrodynamic (MHD) numerical simulation data. We find that, if non-circular motions are ignored, the comparison between observed color gradients and stellar population synthesis models would in principle yield pattern speed values that are systematically too high for regions inside corotation, with the difference between the real and the measured pattern speeds increasing with decreasing radius. On the other hand, image processing and pixel averaging result in systematically lower measured spiral pattern speed values, regardless of the kinematics of stellar orbits. The net effect is that roughly the correct pattern speeds are recovered, although the trend of higher measured $\Omega_p$ at lower radii (as expected when non-circular motions exist but are neglected) should still be observed. We examine the Martinez-Garcia et al. (2009) photometric data and confirm that this is indeed the case. The comparison of the size of the systematic pattern speed offset in the data with the predictions of the semi-analytical and MHD models corroborates that spirals are more likely to end at Outer Lindblad Resonance, as these authors had already found.Comment: 32 pages, 15 figures, accepted to Ap

An Effect of Relative Motion on Trajectory Discrimination

Psychophysical studies point to the existence of specialized mechanisms sensitive to the relative motion between an object and its background. Such mechanisms would seem ideal for the motion-based segmentation of objects; however, their properties and role in processing the visual scene remain unclear. Here we examine the contribution of relative motion mechanisms to the processing of object trajectory. In a series of four psychophysical experiments we examine systematically the effects of relative direction and speed differences on the perceived trajectory of an object against a moving background. We show that background motion systematically influences the discrimination of object direction. Subjects’ ability to discriminate direction was consistently better for objects moving opposite a translating background than for objects moving in the same direction as the background. This effect was limited to the case of a translating background and did not affect perceived trajectory for more complex background motions associated with self-motion. We interpret these differences as providing support for the role of relative motion mechanisms in the segmentation and representation of object motions that do not occlude the path of an observer’s self-motion