Optimal control with structure constraints and its application to the design of passive mechanical systems

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002.Page 214 blank.Includes bibliographical references.Structured control (static output feedback, reduced-order control, and decentralized feedback) is one of the most important open problems in control theory and practice. In this thesis, various techniques for synthesis of structured controllers are surveyed and investigated, including H2 optimization, H[infinity] optimization, L1 control, eigenvalue and eigenstructure treatment, and multiobjective control. Unstructured control-full- state feedback and full-order control-is also discussed. Riccati-based synthesis, linear matrix inequalities (LMI), homotopy methods, gradient- and subgradientbased optimization are used. Some new algorithms and extensions are proposed, such as a subgradient-based method to maximize the minimal damping with structured feedback, a multiplier method for structured optimal H2 control with pole regional placement, and the LMI-based H2/H[infinity]/pole suboptimal synthesis with static output feedback. Recent advances in related areas are comprehensively surveyed and future research directions are suggested. In this thesis we cast the parameter optimization of passive mechanical systems as a decentralized control problem in state space, so that we can apply various decentralized control techniques to the parameter design which might be very hard traditionally. More practical constraints for mechanical system design are considered; for example, the parameters are restricted to be nonnegative, symmetric, or within some physically-achievable ranges. Marginally statable systems and hysterically damped systems are also discussed. Numerical examples and experimental results are given to illustrate the successful application of decentralized control techniques to the design of passive mechanical systems, such as multi-degree-of-freedom tuned-mass dampers, passive vehicle suspensions, and others.by Lei Zuo.S.M

Advanced Strategies for Robot Manipulators

Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored

Applications of Monte Carlo Methods in Biology, Medicine and Other Fields of Science

This volume is an eclectic mix of applications of Monte Carlo methods in many fields of research should not be surprising, because of the ubiquitous use of these methods in many fields of human endeavor. In an attempt to focus attention on a manageable set of applications, the main thrust of this book is to emphasize applications of Monte Carlo simulation methods in biology and medicine

LIPIcs, Volume 274, ESA 2023, Complete Volume

LIPIcs, Volume 274, ESA 2023, Complete Volum

Learning by Fusing Heterogeneous Data

It has become increasingly common in science and technology to gather data about systems at different levels of granularity or from different perspectives. This often gives rise to data that are represented in totally different input spaces. A basic premise behind the study of learning from heterogeneous data is that in many such cases, there exists some correspondence among certain input dimensions of different input spaces. In our work we found that a key bottleneck that prevents us from better understanding and truly fusing heterogeneous data at large scales is identifying the kind of knowledge that can be transferred between related data views, entities and tasks. We develop interesting and accurate data fusion methods for predictive modeling, which reduce or entirely eliminate some of the basic feature engineering steps that were needed in the past when inferring prediction models from disparate data. In addition, our work has a wide range of applications of which we focus on those from molecular and systems biology: it can help us predict gene functions, forecast pharmacological actions of small chemicals, prioritize genes for further studies, mine disease associations, detect drug toxicity and regress cancer patient survival data. Another important aspect of our research is the study of latent factor models. We aim to design latent models with factorized parameters that simultaneously tackle multiple types of data heterogeneity, where data diversity spans across heterogeneous input spaces, multiple types of features, and a variety of related prediction tasks. Our algorithms are capable of retaining the relational structure of a data system during model inference, which turns out to be vital for good performance of data fusion in certain applications. Our recent work included the study of network inference from many potentially nonidentical data distributions and its application to cancer genomic data. We also model the epistasis, an important concept from genetics, and propose algorithms to efficiently find the ordering of genes in cellular pathways. A central topic of our Thesis is also the analysis of large data compendia as predictions about certain phenomena, such as associations between diseases and involvement of genes in a certain phenotype, are only possible when dealing with lots of data. Among others, we analyze 30 heterogeneous data sets to assess drug toxicity and over 40 human gene association data collections, the largest number of data sets considered by a collective latent factor model up to date. We also make interesting observations about deciding which data should be considered for fusion and develop a generic approach that can estimate the sensitivities between different data sets

Compact Models for Integrated Circuit Design

This modern treatise on compact models for circuit computer-aided design (CAD) presents industry standard models for bipolar-junction transistors (BJTs), metal-oxide-semiconductor (MOS) field-effect-transistors (FETs), FinFETs, and tunnel field-effect transistors (TFETs), along with statistical MOS models. Featuring exercise problems at the end of each chapter and extensive references at the end of the book, the text supplies fundamental and practical knowledge necessary for efficient integrated circuit (IC) design using nanoscale devices. It ensures even those unfamiliar with semiconductor physics gain a solid grasp of compact modeling concepts

Fuelling the zero-emissions road freight of the future: routing of mobile fuellers

The future of zero-emissions road freight is closely tied to the sufficient availability of new and clean fuel options such as electricity and Hydrogen. In goods distribution using Electric Commercial Vehicles (ECVs) and Hydrogen Fuel Cell Vehicles (HFCVs) a major challenge in the transition period would pertain to their limited autonomy and scarce and unevenly distributed refuelling stations. One viable solution to facilitate and speed up the adoption of ECVs/HFCVs by logistics, however, is to get the fuel to the point where it is needed (instead of diverting the route of delivery vehicles to refuelling stations) using "Mobile Fuellers (MFs)". These are mobile battery swapping/recharging vans or mobile Hydrogen fuellers that can travel to a running ECV/HFCV to provide the fuel they require to complete their delivery routes at a rendezvous time and space. In this presentation, new vehicle routing models will be presented for a third party company that provides MF services. In the proposed problem variant, the MF provider company receives routing plans of multiple customer companies and has to design routes for a fleet of capacitated MFs that have to synchronise their routes with the running vehicles to deliver the required amount of fuel on-the-fly. This presentation will discuss and compare several mathematical models based on different business models and collaborative logistics scenarios

Proceedings of the 1st WSEAS International Conference on "Environmental and Geological Science and Engineering (EG'08)"

This book contains the proceedings of the 1st WSEAS International Conference on Environmental and Geological Science and Engineering (EG'08) which was held in Malta, September 11-13, 2008. This conference aims to disseminate the latest research and applications in Renewable Energy, Mineral Resources, Natural Hazards and Risks, Environmental Impact Assessment, Urban and Regional Planning Issues, Remote Sensing and GIS, and other relevant topics and applications. The friendliness and openness of the WSEAS conferences, adds to their ability to grow by constantly attracting young researchers. The WSEAS Conferences attract a large number of well-established and leading researchers in various areas of Science and Engineering as you can see from http://www.wseas.org/reports. Your feedback encourages the society to go ahead as you can see in http://www.worldses.org/feedback.htm The contents of this Book are also published in the CD-ROM Proceedings of the Conference. Both will be sent to the WSEAS collaborating indices after the conference: www.worldses.org/indexes In addition, papers of this book are permanently available to all the scientific community via the WSEAS E-Library. Expanded and enhanced versions of papers published in this conference proceedings are also going to be considered for possible publication in one of the WSEAS journals that participate in the major International Scientific Indices (Elsevier, Scopus, EI, ACM, Compendex, INSPEC, CSA .... see: www.worldses.org/indexes) these papers must be of high-quality (break-through work) and a new round of a very strict review will follow. (No additional fee will be required for the publication of the extended version in a journal). WSEAS has also collaboration with several other international publishers and all these excellent papers of this volume could be further improved, could be extended and could be enhanced for possible additional evaluation in one of the editions of these international publishers. Finally, we cordially thank all the people of WSEAS for their efforts to maintain the high scientific level of conferences, proceedings and journals

The HBP1 tumor suppressor is a negative epigenetic regulator of MYCN driven neuroblastoma through interaction with the PRC2 complex

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