Iterative learning control for constrained linear systems

This paper considers iterative learning control for linear systems with convex control input constraints. First, the constrained ILC problem is formulated in a novel successive projection framework. Then, based on this projection method, two algorithms are proposed to solve this constrained ILC problem. The results show that, when perfect tracking is possible, both algorithms can achieve perfect tracking. The two algorithms differ however in that one algorithm needs much less computation than the other. When perfect tracking is not possible, both algorithms can exhibit a form of practical convergence to a "best approximation". The effect of weighting matrices on the performance of the algorithms is also discussed and finally, numerical simulations are given to demonstrate the e®ectiveness of the proposed methods

On subsets of S^n whose (n + 1)-point subsets are contained in open hemispheres

We investigate the nature of subsets of spheres which satisfy a tameness condition associated with the Bieri–Groves FPm-conjecture. We find that there is a natural polyhedrality in the case of n-tame subsets of an (n − 1)-sphere. In the case n = 3 we establish a strong polyhedrality condition for certain maximal open 3-tame sets. Many examples are included

Modelling the influence of non-minimum phase zeros on gradient based linear iterative learning control

The subject of this paper is modeling of the influence of non-minimum phase plant dynamics on the performance possible from gradient based norm optimal iterative learning control algorithms. It is established that performance in the presence of right-half plane plant zeros typically has two phases. These consist of an initial fast monotonic reduction of the L2 error norm followed by a very slow asymptotic convergence. Although the norm of the tracking error does eventually converge to zero, the practical implications over finite trials is apparent convergence to a non-zero error. The source of this slow convergence is identified and a model of this behavior as a (set of) linear constraint(s) is developed. This is shown to provide a good prediction of the magnitude of error norm where slow convergence begins. Formulae for this norm are obtained for single-input single-output systems with several right half plane zeroes using Lagrangian techniques and experimental results are given that confirm the practical validity of the analysis

Multivariable norm optimal iterative learning control with auxiliary optimization

The paper describes a substantial extension of Norm Optimal Iterative Learning Control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously converging to the solution of a constrained quadratic optimization problem. The theory is presented in a general functional analytical framework using operators between chosen real Hilbert spaces. This is applied to solve problems in continuous time where tracking is only required at selected intermediate points of the time interval but, simultaneously, the solution is required to minimize a specified quadratic objective function of the input signals and chosen auxiliary (state) variables. Applications to the discrete time case, including the case of multi-rate sampling, are also summarized. The algorithms are motivated by practical need and provide a methodology for reducing undesirable effects such as payload spillage, vibration tendencies and actuator wear whilst maintaining the desired tracking accuracy necessary for task completion. Solutions in terms of NOILC methodologies involving both feedforward and feedback components offer the possibilities of greater robustness than purely feedforward actions. Robustness of the feedforward implementation is discussed and the work is illustrated by experimental results from a robotic manipulator

The Price Premium for Organic Babyfood: A Hedonic Analysis

The price premium associated with organic babyfood is estimated by applying a hedonic model to price and characteristic data for babyfood products collected in two cities: Raleigh, North Carolina, and San Jose, California. The price per ounce of babyfood is modeled as a function of a number of babyfood and store characteristics. The estimated organic price premium is generally equal to 3 cents to 4 cents per ounce. To the extent this premium reflects consumer willingness to pay to reduce pesticide exposures, it could be used to infer values for reduced dietary exposures to pesticide residues for babies.babyfood, hedonic analysis, organic foods, Demand and Price Analysis,

Graduate Education in Geographically - Integrated History: A Personal Account

This article discusses graduate education in geographically-integrated history as developed by the History Department of Idaho State University for its M.A. in Historical Resources Management. This Master's program is based the use of geographic information systems (GIS) and related information technologies. In addition to discussing the rationale and design of the program, the article illustrates what is involved in graduate education of this type through a description of the author's introductory graduate course "Geographic Information Systems in Historical Studies.

Scout motor performance analysis and prediction study /PAPS/

Scout motor performance analysis and predictio

Flow pattern transition accompanied with sudden growth of flow resistance in two-dimensional curvilinear viscoelastic flows

We find three types of steady solutions and remarkable flow pattern transitions between them in a two-dimensional wavy-walled channel for low to moderate Reynolds (Re) and Weissenberg (Wi) numbers using direct numerical simulations with spectral element method. The solutions are called "convective", "transition", and "elastic" in ascending order of Wi. In the convective region in the Re-Wi parameter space, the convective effect and the pressure gradient balance on average. As Wi increases, the elastic effect becomes suddenly comparable and the first transition sets in. Through the transition, a separation vortex disappears and a jet flow induced close to the wall by the viscoelasticity moves into the bulk; The viscous drag significantly drops and the elastic wall friction rises sharply. This transition is caused by an elastic force in the streamwise direction due to the competition of the convective and elastic effects. In the transition region, the convective and elastic effects balance. When the elastic effect dominates the convective effect, the second transition occurs but it is relatively moderate. The second one seems to be governed by so-called Weissenberg effect. These transitions are not sensitive to driving forces. By the scaling analysis, it is shown that the stress component is proportional to the Reynolds number on the boundary of the first transition in the Re-Wi space. This scaling coincides well with the numerical result.Comment: 33pages, 23figures, submitted to Physical Review

Observational Prospects for Afterglows of Short Duration Gamma-ray Bursts

If the efficiency for producing $\gamma$-rays is the same in short duration (\siml 2 s) Gamma-Ray Bursts (GRBs) as in long duration GRBs, then the average kinetic energy of short GRBs must be $\sim 20$ times less than that of long GRBs. Assuming further that the relativistic shocks in short and long duration GRBs have similar parameters, we show that the afterglows of short GRBs will be on average 10--40 times dimmer than those of long GRBs. We find that the afterglow of a typical short GRB will be below the detection limit (\siml 10 \microJy) of searches at radio frequencies. The afterglow would be difficult to observe also in the optical, where we predict R \simg 23 a few hours after the burst. The radio and optical afterglow would be even fainter if short GRBs occur in a low-density medium, as expected in NS-NS and NS-BH merger models. The best prospects for detecting short-GRB afterglows are with early (\siml 1 day) observations in X-rays.Comment: 5 pages, 2 figures, submitted to ApJ lette