Decentralised control for complex systems - An invited survey

© 2014 Inderscience Enterprises Ltd. With the advancement of science and technology, practical systems are becoming more complex. Decentralised control has been recognised as a practical, feasible and powerful tool for application to large scale interconnected systems. In this paper, past and recent results relating to decentralised control of complex large scale interconnected systems are reviewed. Decentralised control based on modern control approaches such as variable structure techniques, adaptive control and backstepping approaches are discussed. It is well known that system structure can be employed to reduce conservatism in the control design and decentralised control for interconnected systems with similar and symmetric structure is explored. Decentralised control of singular large scale systems is also reviewed in this paper

Chaotic exploration and learning of locomotion behaviours

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage

Fault tolerant decentralized H∞ control for symmetric composite systems

This note discusses a class of large-scale systems composed of symmetrically interconnected identical subsystems. We consider the decentralized H∞ control design problem and study the fault tolerance of the resulting system. By exploiting the special structure of the systems, a sufficient condition for the existence of a decentralized H∞ controller is derived. Moreover, for the nominal case as well as for contingent situations characterized by control channel failures, the poles and the H∞-norm of the closed-loop system can be calculated easily based on certain systems of reduced dimensions. Consequently, the tolerance to actuator failure can be easily tested.published_or_final_versio

Balanced realizations of symmetric composite systems

In this paper, we investigate the structural properties of balanced realizations, and their truncation, of a class of systems with symmetric interconnected and identical structure. It is established that the balanced realizations of such symmetric composite systems can be constructed via the balanced realizations of two auxiliary systems of comparatively low dimensions. The corresponding truncated realizations, which have a certain symmetric structure, are explicitly constructed.published_or_final_versio

Hunter-gatherers in a howling wilderness: Neoliberal capitalism as a language that speaks itself

The 'self-referential' character of evolutionary process noted by Goldenfeld and Woese (2010) can be restated in the context of a generalized Darwinian theory applied to economic process through a 'language' model: The underlying inherited and learned culture of the firm, the short-time cognitive response of the firm to patterns of threat and opportunity that is sculpted by that culture, and the embedding socioeconomic environment, are represented as interacting information sources constrained by the asymptotic limit theorems of information theory. If unregulated, the larger, compound, source that characterizes high probability evolutionary paths of this composite then becomes, literally, a self-dynamic language that speaks itself. Such a structure is, for those enmeshed in it, more akin to a primitive hunter-gatherer society at the mercy of internal ecological dynamics than to, say, a neolithic agricultural community in which a highly ordered, deliberately adapted, ecosystem is consciously farmed so as to match its productivity to human needs

Intracellular transport driven by cytoskeletal motors: General mechanisms and defects

Cells are strongly out-of-equilibrium systems driven by continuous energy supply. They carry out many vital functions requiring active transport of various ingredients and organelles, some being small, others being large. The cytoskeleton, composed of three types of filaments, determines the shape of the cell and plays a role in cell motion. It also serves as a road network for the so-called cytoskeletal motors. These molecules can attach to a cytoskeletal filament, perform directed motion, possibly carrying along some cargo, and then detach. It is a central issue to understand how intracellular transport driven by molecular motors is regulated, in particular because its breakdown is one of the signatures of some neuronal diseases like the Alzheimer. We give a survey of the current knowledge on microtubule based intracellular transport. We first review some biological facts obtained from experiments, and present some modeling attempts based on cellular automata. We start with background knowledge on the original and variants of the TASEP (Totally Asymmetric Simple Exclusion Process), before turning to more application oriented models. After addressing microtubule based transport in general, with a focus on in vitro experiments, and on cooperative effects in the transportation of large cargos by multiple motors, we concentrate on axonal transport, because of its relevance for neuronal diseases. It is a challenge to understand how this transport is organized, given that it takes place in a confined environment and that several types of motors moving in opposite directions are involved. We review several features that could contribute to the efficiency of this transport, including the role of motor-motor interactions and of the dynamics of the underlying microtubule network. Finally, we discuss some still open questions.Comment: 74 pages, 43 figure

Converse Magnetoelectric Composite Resonator for Sensing Small Magnetic Fields

Magnetoelectric (ME) thin film composites consisting of sputtered piezoelectric (PE) and magnetostrictive (MS) layers enable for measurements of magnetic fields passively, i.e. an AC magnetic field directly generates an ME voltage by mechanical coupling of the MS deformation to the PE phase. In order to achieve high field sensitivities a magnetic bias field is necessary to operate at the maximum piezomagnetic coefficient of the MS phase, harnessing mechanical resonances further enhances this direct ME effect size. Despite being able to detect very small AC field amplitudes, exploiting mechanical resonances directly, implies a limitation to available signal bandwidth along with the inherent inability to detect DC or very low frequency magnetic fields. The presented work demonstrates converse ME modulation of thin film Si cantilever composites of mesoscopic dimensions (25 mm × 2.45 mm × 0.35 mm), employing piezoelectric AlN and magnetostrictive FeCoSiB films of 2 µm thickness each. A high frequency mechanical resonance at about 515 kHz leads to strong induced voltages in a surrounding pickup coil with matched self-resonance, leading to field sensitivities up to 64 kV/T. A DC limit of detection of 210 pT/Hz1/2 as well as about 70 pT/Hz1/2 at 10 Hz, without the need for a magnetic bias field, pave the way towards biomagnetic applications

Fourth Aircraft Interior Noise Workshop

The fourth in a series of NASA/SAE Interior Noise Workshops was held on May 19 and 20, 1992. The theme of the workshop was new technology and applications for aircraft noise with emphasis on source noise prediction; cabin noise prediction; cabin noise control, including active and passive methods; and cabin interior noise procedures. This report is a compilation of the presentations made at the meeting which addressed the above issues