Positive and generalized positive real lemma for slice hyperholomorphic functions

In this paper we prove a quaternionic positive real lemma as well as its generalized version, in case the associated kernel has negative squares for slice hyperholomorphic functions. We consider the case of functions with positive real part in the half space of quaternions with positive real part, as well as the case of (generalized) Schur functions in the open unit ball

Hamiltonian structure for dispersive and dissipative dynamical systems

We develop a Hamiltonian theory of a time dispersive and dissipative inhomogeneous medium, as described by a linear response equation respecting causality and power dissipation. The proposed Hamiltonian couples the given system to auxiliary fields, in the universal form of a so-called canonical heat bath. After integrating out the heat bath the original dissipative evolution is exactly reproduced. Furthermore, we show that the dynamics associated to a minimal Hamiltonian are essentially unique, up to a natural class of isomorphisms. Using this formalism, we obtain closed form expressions for the energy density, energy flux, momentum density, and stress tensor involving the auxiliary fields, from which we derive an approximate, ``Brillouin-type,'' formula for the time averaged energy density and stress tensor associated to an almost mono-chromatic wave.Comment: 68 pages, 1 figure; introduction revised, typos correcte

Positive and Generalized Positive Real Lemma for Slice Hyperholomorphic Functions

In this paper we prove a quaternionic positive real lemma as well as its generalized version, in case the associated kernel has negative squares for slice hyperholomorphic functions. We consider the case of functions with positive real part in the half space of quaternions with positive real part, as well as the case of (generalized) Schur functions in the open unit ball

Communication Research

Contains reports on seven research projects.Carnegie Foundatio

Measurements, Models, Systems and Design

531 s.

Longitudinal Partitioning Waveform Relaxation Methods For The Analysis of Transmission Line Circuits

Three research projects are presented in this manuscript. Projects one and two describe two waveform relaxation algorithms (WR) with longitudinal partitioning for the time-domain analysis of transmission line circuits. Project three presents theoretical results about the convergence of WR for chains of general circuits. The first WR algorithm uses a assignment-partition procedure that relies on inserting external series combinations of positive and negative resistances into the circuit to control the speed of convergence of the algorithm. The convergence of the subsequent WR method is examined, and fast convergence is cast as a generic optimization problem in the frequency-domain. An automatic suboptimal numerical solution of the min-max problem is presented and a procedure to construct its objective function is suggested. Numerical examples illustrate the parallelizability and good scaling of the WR algorithm and point out to the limitation of resistive coupling. In the second WR algorithm, resistances from the previous insertion are replaced with dissipative impedances to address the slow convergence of standard resistive coupling of the first algorithm for low-loss highly reactive circuits. The pertinence and feasibility of impedance coupling are demonstrated and the properties of the subsequent WR method are studied. A new coupling strategy proposes judicious approximations of the optimal convergence conditions for faster speed of convergence. The proposed strategy avoids the difficult problem of optimisation and uses coarse macromodeling of the transmission line to construct approximations with delay under circuit form. Numerical examples confirm a superior speed of convergence which leads to further runtime saving. Finally, new results concerning the nilpotent WR algorithm are presented for chains of circuits when dissipative coupling is used. It is shown that optimal local convergence is necessary to achieve the optimal WR algorithm. However, the converse is not correct: the WR algorithm with optimal local convergences factors can be nilpotent yet not optimal or even be non-nilpotent at all. The second analysis concerns resistive coupling. It is demonstrated that WR always converges for chains circuits. More precisely, it is shown that WR will converge independently of the length of the chain when this late is made of identical symmetric circuits

Energy-oriented Modeling And Control of Robotic Systems

This research focuses on the energy-oriented control of robotic systems using an ultracapacitor as the energy source. The primary objective is to simultaneously achieve the motion task objective and to increase energy efficiency through energy regeneration. To achieve this objective, three aims have been introduced and studied: brushless DC motors (BLDC) control by achieving optimum current in the motor, such that the motion task is achieved, and the energy consumption is minimized. A proof-ofconcept study to design a BLDC motor driver which has superiority compare to an off-the-shelf driver in terms of energy regeneration, and finally, the third aim is to develop a framework to study energy-oriented control in cooperative robots. The first aim is achieved by introducing an analytical solution which finds the optimal currents based on the desired torque generated by a virtual. Furthermore, it is shown that the well-known choice of a zero direct current component in the direct-quadrature frame is sub-optimal relative to our energy optimization objective. The second aim is achieved by introducing a novel BLDC motor driver, composed of three independent regenerative drives. To run the motor, the control law is obtained by specifying an outer-loop torque controller followed by minimization of power consumption via online constrained quadratic optimization. An experiment is conducted to assess the performance of the proposed concept against an off-the-shelf driver. It is shown that, in terms of energy regeneration and consumption, the developed driver has better performance, and a reduction of 15% energy consumption is achieved. v For the third aim, an impedance-based control scheme is introduced for cooperative manipulators grasping a rigid object. The position and orientation of the payload are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy consumption and maintaining stability. To this end, an optimization problem is formulated using energy balance equations. The optimization finds the damping and stiffness gains of the impedance relation such that the energy consumption is minimized. Furthermore, L2 stability techniques are used to allow for time-varying damping and stiffness in the desired impedance. A numerical example is provided to demonstrate the results

Mathematical models for dispersive electromagnetic waves: an overview

In this work, we investigate mathematical models for electromagnetic wave propagation in dispersive isotropic media. We emphasize the link between physical requirements and mathematical properties of the models. A particular attention is devoted to the notion of non-dissipativity and passivity. We consider successively the case of so-called local media and general passive media. The models are studied through energy techniques, spectral theory and dispersion analysis of plane waves. For making the article self-contained, we provide in appendix some useful mathematical background.Comment: 46 pages, 16 figure