Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc-Numerical Solutions

We study two nilpotent affine control systems derived from the dynamic and control of a vertical rolling disc that is a simplification of a differential drive wheeled mobile robot. For both systems, their controllable Lie algebras are calculated and optimal control problems are formulated, and their Hamiltonian systems of ODEs are derived using the Pontryagin maximum principle. These optimal control problems completely determine the energetically optimal trajectories between two states. Then, a novel numerical algorithm based on optimisation for finding the Maxwell points is presented and tested on these control systems. The results show that the use of such numerical methods can be beneficial in cases where common analytical approaches fail or are impractical

Empirical Casestudy on Approaches to Sampled Control

Two main approaches on sampled control are compared, the descrete equivalent design and the direct discrete design. Both design methods are used to implement a control system for a real plant, DC-motor. It is shown that discrete equivalent design works well with su cient high sampling rates and that direct discrete design works nearly independent of sampling time

Computational Scattering Models for Elastic and Electromagnetic Waves in Particulate Media

Numerical models were developed to simulate the propagation of elastic and electromagnetic waves in an arbitrary, dense dispersion of spherical particles. The scattering interactions were modeled with vector multipole fields using pure-orbital vector spherical harmonics, and solved using the full vector form of the boundary conditions. Multiple scattering was simulated by translating the scattered wave fields from one particle to another with the use of translational addition theorems, summing the multiple-scattering contributions, and recalculating the scattering in an iterative fashion to a convergent solution. The addition theorems were rederived in this work using an integral method, and were shown to be numerically equivalent to previously published theorems. Both ordered and disordered collections of up to 5,000 spherical particles were used to demonstrate the ability of the scattering models to predict the spatial and frequency distributions of the transmitted waves. The results of the models show they are qualitatively correct for many particle configurations and material properties, displaying predictable phenomena such as refractive focusing, mode conversion, and photonic band gaps. However, the elastic wave models failed to converge for specific frequency regions, possibly due to resonance effects. Additionally, comparison of the multiple-scattering simulations with those using only single-particle scattering showed the multiple-scattering computations are quantitatively inaccurate. The inaccuracies arise from nonconvergence of the translational addition theorems, introducing errors into the translated fields, which minimize the multiple-scattering contributions and bias the field amplitudes towards single-scattering contributions. The addition theorems are shown to converge very slowly, and to exhibit plateaus in convergence behavior that can lead to false indications of convergence. The theory and algorithms developed for the models are broad-based, and can accommodate a variety of structures, compositions, and wave modes. The generality of the approach also lends itself to the modeling of static fields and currents. Suggestions are presented for improving and implementing the models, including extension to nonspherical particles, efficiency improvements for the algorithms, and specific applications in a variety of fields

Reports to the President

A compilation of annual reports for the 1989-1990 academic year, including a report from the President of the Massachusetts Institute of Technology, as well as reports from the academic and administrative units of the Institute. The reports outline the year's goals, accomplishments, honors and awards, and future plans