Flexible manipulator control experiments and analysis

Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches

Reach Control on Simplices by Piecewise Affine Feedback

We study the reach control problem for affine systems on simplices, and the focus is on cases when it is known that the problem is not solvable by continuous state feedback. We examine from a geometric viewpoint the structural properties of the system which make continuous state feedbacks fail. This structure is encoded by so-called reach control indices, which are defined and developed in the paper. Based on these indices, we propose a subdivision algorithm and associated piecewise affine feedback. The method is shown to solve the reach control problem in all remaining cases, assuming it is solvable by open-loop controls

On the Relation Between Optimal Transport and Schr\uf6dinger Bridges: A Stochastic Control Viewpoint

We take a new look at the relation between the optimal transport problem and the Schr\uf6dinger bridge problem from a stochastic control perspective. Our aim is to highlight new connections between the two that are richer and deeper than those previously described in the literature. We begin with an elementary derivation of the Benamou\u2013Brenier fluid dynamic version of the optimal transport problem and provide, in parallel, a new fluid dynamic version of the Schr\uf6dinger bridge problem. We observe that the latter establishes an important connection with optimal transport without zero-noise limits and solves a question posed by Eric Carlen in 2006. Indeed, the two variational problems differ by a Fisher information functional. We motivate and consider a generalization of optimal mass transport in the form of a (fluid dynamic) problem of optimal transport with prior. This can be seen as the zero-noise limit of Schr\uf6dinger bridges when the prior is any Markovian evolution.We finally specialize to the Gaussian case and derive an explicit computational theory based on matrix Riccati differential equations. A numerical example involving Brownian particles is also provided

Viewpoint: Evaluating the impact of malaria control efforts on mortality in sub-Saharan Africa

OBJECTIVE To describe an approach for evaluating the impact of malaria control efforts on malaria-associated mortality in sub-Saharan Africa, where disease-specific mortality trends usually cannot be measured directly and most malaria deaths occur among young children. METHODS Methods for evaluating changes in malaria-associated mortality are examined; advantages and disadvantages are presented. RESULTS All methods require a plausibility argument - i.e., an assumption that mortality reductions can be attributed to programmatic efforts if improvements are found in steps of the causal pathway between intervention scale-up and mortality trends. As different methods provide complementary information, they can be used together. We recommend following trends in the coverage of malaria control interventions, other factors influencing childhood mortality, malaria-associated morbidity (especially anaemia), and all-cause childhood mortality. This approach reflects decreases in malaria's direct and indirect mortality burden and can be examined in nearly all countries. Adding other information can strengthen the plausibility argument: trends in indicators of malaria transmission, information from demographic surveillance systems and sentinel sites where malaria diagnostics are systematically used, and verbal autopsies linked to representative household surveys. Health facility data on malaria deaths have well-recognized limitations; however, in specific circumstances, they could produce reliable trends. Model-based predictions can help describe changes in malaria-specific burden and assist with program management and advocacy. CONCLUSIONS Despite challenges, efforts to reduce malaria-associated mortality in Africa can be evaluated with trends in malaria intervention coverage and all-cause childhood mortality. Where there are resources and interest, complementary data on malaria morbidity and malaria-specific mortality could be added

Discrete port-Hamiltonian systems: mixed interconnections

Either from a control theoretic viewpoint or from an analysis viewpoint it is necessary to convert smooth systems to discrete systems, which can then be implemented on computers for numerical simulations. Discrete models can be obtained either by discretizing a smooth model, or by directly modeling at the discrete level itself. The goal of this paper is to apply a previously developed discrete modeling technique to study the interconnection of continuous systems with discrete ones in such a way that passivity is preserved. Such a theory has potential applications, in the field of haptics, telemanipulation etc. It is shown that our discrete modeling theory can be used to formalize previously developed techniques for obtaining passive interconnections of continuous and discrete systems

Method for Correcting Control Surface Angle Measurements in Single Viewpoint Photogrammetry

A method of determining a corrected control surface angle for use in single viewpoint photogrammetry to correct control surface angle measurements affected by wing bending. First and second visual targets are spaced apart &om one another on a control surface of an aircraft wing. The targets are positioned at a semispan distance along the aircraft wing. A reference target separation distance is determined using single viewpoint photogrammetry for a "wind off condition. An apparent target separation distance is then computed for "wind on." The difference between the reference and apparent target separation distances is minimized by recomputing the single viewpoint photogrammetric solution for incrementally changed values of target semispan distances. A final single viewpoint photogrammetric solution is then generated that uses the corrected semispan distance that produced the minimized difference between the reference and apparent target separation distances. The final single viewpoint photogrammetric solution set is used to determine the corrected control surface angle

Apollo experience report: Flight-control data needs, terminal display devices, and ground system configuration requirements

The development of flight-control facilities for the Apollo program is reviewed from the viewpoint of the user organization. These facilities are treated in three categories: data systems, ground-based display and control systems, and configuration management. The effects of certain Apollo program factors on the selection, sizing, and configuration management of these systems are discussed. Recommendations are made regarding improvement of the systems and the reduction of system sensitivity to the program factors

Construction of curious minimal uniquely ergodic homeomorphisms on manifolds: the Denjoy-Rees technique

Mary Rees has constructed a minimal homeomorphism of the 2-torus with positive topological entropy. This homeomorphism f is obtained by enriching the dynamics of an irrational rotation R. We improve Rees construction, allowing to start with any homeomorphism R instead of an irrational rotation and to control precisely the measurable dynamics of f. This yields in particular the following result: Any compact manifold of dimension d>1 which carries a minimal uniquely ergodic homeomorphism also carries a minimal uniquely ergodic homeomorphism with positive topological entropy. More generally, given some homeomorphism R of a (compact) manifold and some homeomorphism h of a Cantor set, we construct a homeomorphism f which "looks like" R from the topological viewpoint and "looks like" R*h from the measurable viewpoint. This construction can be seen as a partial answer to the following realisability question: which measurable dynamical systems are represented by homeomorphisms on manifolds

Consensus for quantum networks: from symmetry to gossip iterations

This paper extends the consensus framework, widely studied in the literature on distributed computing and control algorithms, to networks of quantum systems. We define consensus situations on the basis of invariance and symmetry properties, finding four different generalizations of classical consensus states. This new viewpoint can be directly used to study consensus for probability distributions, as these can be seen as a particular case of quantum statistical states: in this light, our analysis is also relevant for classical problems. We then extend the gossip consensus algorithm to the quantum setting and prove it converges to symmetric states while preserving the expectation of permutation-invariant global observables. Applications of the framework and the algorithms to estimation and control problems on quantum networks are discussed