40 research outputs found
Fractional order differentiation by integration: an application to fractional linear systems
International audienceIn this article, we propose a robust method to compute the output of a fractional linear system defined through a linear fractional differential equation (FDE) with time-varying coefficients, where the input can be noisy. We firstly introduce an estimator of the fractional derivative of an unknown signal, which is defined by an integral formula obtained by calculating the fractional derivative of a truncated Jacobi polynomial series expansion. We then approximate the FDE by applying to each fractional derivative this formal algebraic integral estimator. Consequently, the fractional derivatives of the solution are applied on the used Jacobi polynomials and then we need to identify the unknown coefficients of the truncated series expansion of the solution. Modulating functions method is used to estimate these coefficients by solving a linear system issued from the approximated FDE and some initial conditions. A numerical result is given to confirm the reliability of the proposed method
Identification of fractional order systems using modulating functions method
The modulating functions method has been used for the identification of
linear and nonlinear systems. In this paper, we generalize this method to the
on-line identification of fractional order systems based on the
Riemann-Liouville fractional derivatives. First, a new fractional integration
by parts formula involving the fractional derivative of a modulating function
is given. Then, we apply this formula to a fractional order system, for which
the fractional derivatives of the input and the output can be transferred into
the ones of the modulating functions. By choosing a set of modulating
functions, a linear system of algebraic equations is obtained. Hence, the
unknown parameters of a fractional order system can be estimated by solving a
linear system. Using this method, we do not need any initial values which are
usually unknown and not equal to zero. Also we do not need to estimate the
fractional derivatives of noisy output. Moreover, it is shown that the proposed
estimators are robust against high frequency sinusoidal noises and the ones due
to a class of stochastic processes. Finally, the efficiency and the stability
of the proposed method is confirmed by some numerical simulations
Doctor of Philosophy
dissertationRecent developments in magnetic resonance imaging (MRI) provide an in vivo and noninvasive tool for studying the human brain. In particular, the detection of anisotropic diffusion in biological tissues provides the foundation for diffusion-weighted imaging (DWI), an MRI modality. This modality opens new opportunities for discoveries of the brain's structural connections. Clinically, DWI is often used to analyze white matter tracts to understand neuropsychiatric disorders and the connectivity of the central nervous system. However, due to imaging time required, DWI used in clinical studies has a low angular resolution. In this dissertation, we aim to accurately track and segment the white matter tracts and estimate more representative models from low angular DWI. We first present a novel geodesic approach to segmentation of white matter tracts from diffusion tensor imaging (DTI), estimated from DWI. Geodesic approaches treat the geometry of brain white matter as a manifold, often using the inverse tensor field as a Riemannian metric. The white matter pathways are then inferred from the resulting geodesics. A serious drawback of current geodesic methods is that geodesics tend to deviate from the major eigenvectors in high-curvature areas in order to achieve the shortest path. We propose a method for learning an adaptive Riemannian metric from the DTI data, where the resulting geodesics more closely follow the principal eigenvector of the diffusion tensors even in high-curvature regions. Using the computed geodesics, we develop an automatic way to compute binary segmentations of the white matter tracts. We demonstrate that our method is robust to noise and results in improved geodesics and segmentations. Then, based on binary segmentations, we present a novel Bayesian approach for fractional segmentation of white matter tracts and simultaneous estimation of a multitensor diffusion model. By incorporating a prior that assumes the tensor fields inside each tract are spatially correlated, we are able to reliably estimate multiple tensor compartments in fiber crossing regions, even with low angular diffusion-weighted imaging. This reduces the effects of partial voluming and achieves a more reliable analysis of diffusion measurements
Identification et commande en ligne des robots avec utilisation de différentiateurs algébriques
This thesis discusses the identification issues of the robot dynamic parameters. Starting with the well-known inverse dynamic identification model, power and energy identification models for robots, it extends the identification model from an energy point of view, by integrating modulating functions with robot power model. This new identification model avoids the computation of acceleration data. As well, the integration procedures are analyzed in frequency domain so that certain groups of modulating functions are selected in order to offer a good low-pass filtering property. Then, a recently developed high order algebraic differentiator is proposed and studied, named Jacobi differentiators. The analyses are done in both the time domain and in the frequency domain, which gives a clear clue about the differentiator filtering property and about how to select the differentiator parameters. Comparisons among different identification models, differentiators, least square techniques are presented and conclusions are drawn in the robot identification issues.Cette thèse traite de l'identification des paramètres dynamiques des robots, en s'appuyant sur les méthodes d'identification en robotique, qui utilisent le modèle dynamique inverse, ou le modèle de puissance, ou le modèle d'énergie du robot. Ce travail revisite le modèle d'énergie en exploitant le caractère intégral des fonctions modulatrices appliquées au modèle de puissance du robot. En outre, les procédures d'intégration sont analysées dans le domaine fréquentiel, et certains groupes de fonctions modulatrices sont sélectionnés afin d'offrir un bon comportement de filtre passe-bas. Ensuite, l'introduction d'un différentiateur algèbrique récemment développé est proposé, nommé différentiateurs de Jacobi. L'analyse est effectuée dans le domaine temporel, et dans le domaine fréquenciel, ce qui met en évidence la propriété de filtrage passe bande et permet de sélectionner les paramètres des différentiateurs. Puis, ces différentiateurs sont appliqués avec succès à l'identification de robot, ce qui prouve leur bonne performance. Les comparaisons entre les différents modèles d'identification, les différenciateurs, les techniques des moindres carrés sont présentées et des conclusions sont tirées dans le domaine de l'identification de robot
Bifurcations, Chaos, Controlling and Synchronization of Certain Nonlinear Oscillators
In this set of lectures, we review briefly some of the recent developments in
the study of the chaotic dynamics of nonlinear oscillators, particularly of
damped and driven type. By taking a representative set of examples such as the
Duffing, Bonhoeffer-van der Pol and MLC circuit oscillators, we briefly explain
the various bifurcations and chaos phenomena associated with these systems. We
use numerical and analytical as well as analogue simulation methods to study
these systems. Then we point out how controlling of chaotic motions can be
effected by algorithmic procedures requiring minimal perturbations. Finally we
briefly discuss how synchronization of identically evolving chaotic systems can
be achieved and how they can be used in secure communications.Comment: 31 pages (24 figures) LaTeX. To appear Springer Lecture Notes in
Physics Please Lakshmanan for figures (e-mail: [email protected]
Measurement and control of emergent phenomena emulated by resistive-capacitive networks, using fractionalorder internal model control and external adaptive control
A fractional-order internal model control technique is applied to a three-dimensional resistive-capacitive network to enforce desired closed loop
dynamics of first order. In order to handle model mismatch issues resulting from the random allocation of the components within the network, the control law is augmented with a model-reference adaptive strategy in an external loop. By imposing a control law on the system to obey first order dynamics, a calibrated transient response is ensured. The methodology enables feedback control of complex
systems with emergent responses and is robust in the presence of measurement noise or under conditions of poor model identification. Furthermore, it is also applicable to systems that exhibit higher order fractional dynamics. Examples of feedback-controlled transduction include cantilever positioning in atomic force microscopy or the control of complex de-excitation lifetimes encountered in
many types of spectroscopies, e.g., nuclear magnetic, electron-spin, microwave, multiphoton fluorescence, Förster resonance, etc. The proposed solution should also find important applications in more complex electronic, microwave, and photonic lock-in problems. Finally, there are further applications across the broader measurement science and instrumentation community when designing complex feedback systems at the system level, e.g., ensuring the adaptive control of distributed physiological processes through the use of biomedical implants
Effect of Random Parameter Switching on Commensurate Fractional Order Chaotic Systems
This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this record.The paper explores the effect of random parameter switching in a fractional order (FO) unified chaotic system which captures the dynamics of three popular sub-classes of chaotic systems i.e. Lorenz, Lu and Chen's family of attractors. The disappearance of chaos in such systems which rapidly switch from one family to the other has been investigated here for the commensurate FO scenario. Our simulation study show that a noise-like random variation in the key parameter of the unified chaotic system along with a gradual decrease in the commensurate FO is capable of suppressing the chaotic fluctuations much earlier than that with the fixed parameter one. The chaotic time series produced by such random parameter switching in nonlinear dynamical systems have been characterized using the largest Lyapunov exponent (LLE) and Shannon entropy. The effect of choosing different simulation techniques for random parameter FO switched chaotic systems have also been explored through two frequency domain and three time domain methods. Such a noise-like random switching mechanism could be useful for stabilization and control of chaotic oscillation in many real-world applications
Efficient algorithms for arbitrary sample rate conversion with application to wave field synthesis
Arbitrary sample rate conversion (ASRC) is used in many fields of digital signal processing to alter the sampling rate of discrete-time signals by arbitrary, potentially time-varying ratios.
This thesis investigates efficient algorithms for ASRC and proposes several improvements. First, closed-form descriptions for the modified Farrow structure and Lagrange interpolators are derived that are directly applicable to algorithm design and analysis. Second, efficient implementation structures for ASRC algorithms are investigated. Third, this thesis considers coefficient design methods that are optimal for a selectable error norm and optional design constraints.
Finally, the performance of different algorithms is compared for several performance metrics. This enables the selection of ASRC algorithms that meet the requirements of an application with minimal complexity.
Wave field synthesis (WFS), a high-quality spatial sound reproduction technique, is the main application considered in this work. For WFS, sophisticated ASRC algorithms improve the quality of moving sound sources. However, the improvements proposed in this thesis are not limited to WFS, but applicable to general-purpose ASRC problems.Verfahren zur unbeschränkten Abtastratenwandlung (arbitrary sample rate
conversion,ASRC) ermöglichen die Änderung der Abtastrate zeitdiskreter
Signale um beliebige, zeitvarianteVerhältnisse. ASRC wird in vielen
Anwendungen digitaler Signalverarbeitung eingesetzt.In dieser Arbeit wird
die Verwendung von ASRC-Verfahren in der Wellenfeldsynthese(WFS), einem
Verfahren zur hochqualitativen, räumlich korrekten Audio-Wiedergabe,
untersucht.Durch ASRC-Algorithmen kann die Wiedergabequalität bewegter
Schallquellenin WFS deutlich verbessert werden. Durch die hohe Zahl der in
einem WFS-Wiedergabesystembenötigten simultanen ASRC-Operationen ist eine
direkte Anwendung hochwertigerAlgorithmen jedoch meist nicht möglich.Zur
Lösung dieses Problems werden verschiedene Beiträge vorgestellt. Die
Komplexitätder WFS-Signalverarbeitung wird durch eine geeignete
Partitionierung der ASRC-Algorithmensignifikant reduziert, welche eine
effiziente Wiederverwendung von Zwischenergebnissenermöglicht. Dies
erlaubt den Einsatz hochqualitativer Algorithmen zur Abtastratenwandlungmit
einer Komplexität, die mit der Anwendung einfacher konventioneller
ASRCAlgorithmenvergleichbar ist. Dieses Partitionierungsschema stellt
jedoch auch zusätzlicheAnforderungen an ASRC-Algorithmen und erfordert
Abwägungen zwischen Performance-Maßen wie der algorithmischen
Komplexität, Speicherbedarf oder -bandbreite.Zur Verbesserung von
Algorithmen und Implementierungsstrukturen fĂĽr ASRC werdenverschiedene
MaĂźnahmen vorgeschlagen. Zum Einen werden geschlossene,
analytischeBeschreibungen fĂĽr den kontinuierlichen Frequenzgang
verschiedener Klassen von ASRCStruktureneingefĂĽhrt. Insbesondere fĂĽr
Lagrange-Interpolatoren, die modifizierte Farrow-Struktur sowie
Kombinationen aus Ăśberabtastung und zeitkontinuierlichen
Resampling-Funktionen werden kompakte Darstellungen hergeleitet, die sowohl
Aufschluss ĂĽber dasVerhalten dieser Filter geben als auch eine direkte
Verwendung in Design-Methoden ermöglichen.Einen zweiten Schwerpunkt bildet
das Koeffizientendesign fĂĽr diese Strukturen, insbesonderezum optimalen
Entwurf bezüglich einer gewählten Fehlernorm und optionaler
Entwurfsbedingungenund -restriktionen. Im Gegensatz zu bisherigen Ansätzen
werden solcheoptimalen Entwurfsmethoden auch fĂĽr mehrstufige
ASRC-Strukturen, welche ganzzahligeĂśberabtastung mit zeitkontinuierlichen
Resampling-Funktionen verbinden, vorgestellt.FĂĽr diese Klasse von
Strukturen wird eine Reihe angepasster Resampling-Funktionen
vorgeschlagen,welche in Verbindung mit den entwickelten optimalen
Entwurfsmethoden signifikanteQualitätssteigerungen ermöglichen.Die
Vielzahl von ASRC-Strukturen sowie deren Design-Parameter bildet eine
Hauptschwierigkeitbei der Auswahl eines fĂĽr eine gegebene Anwendung
geeigneten Verfahrens.Evaluation und Performance-Vergleiche bilden daher
einen dritten Schwerpunkt. Dazu wirdzum Einen der Einfluss verschiedener
Entwurfsparameter auf die erzielbare Qualität vonASRC-Algorithmen
untersucht. Zum Anderen wird der benötigte Aufwand bezüglich
verschiedenerPerformance-Metriken in Abhängigkeit von Design-Qualität
dargestellt.Auf diese Weise sind die Ergebnisse dieser Arbeit nicht auf WFS
beschränkt, sondernsind in einer Vielzahl von Anwendungen unbeschränkter
Abtastratenwandlung nutzbar
Applications of MATLAB in Science and Engineering
The book consists of 24 chapters illustrating a wide range of areas where MATLAB tools are applied. These areas include mathematics, physics, chemistry and chemical engineering, mechanical engineering, biological (molecular biology) and medical sciences, communication and control systems, digital signal, image and video processing, system modeling and simulation. Many interesting problems have been included throughout the book, and its contents will be beneficial for students and professionals in wide areas of interest