Correlation-Based Tuning of a Restricted-Complexity Controller for an Active Suspension System

A correlation-based controller tuning method is proposed for the ``Design and optimization of restricted-complexity controllers'' benchmark problem. The approach originally proposed for model following is extended to solve the disturbance rejection problem. The idea is to tune the controller parameters such that the closed-loop output be uncorrelated with the disturbance signal. Since perfect decorrelation between the closed-loop output and the disturbance signal is not attainable in the restricted-complexity controller design, the cross correlation between these two signals is minimized iteratively using the stochastic approximation method. Since control specifications can normally be expressed in terms of constraints on the sensitivity functions, a frequency-domain analysis of the criterion is performed. Straightforward implementation of the proposed approach on the active suspension system of the Automatic Control Laboratory of Grenoble (LAG) provides a 2nd-order controller that meets the control specifications very well

Energy in higher-derivative gravity via topological regularization

Indexación: Scopus.We give a novel definition of gravitational energy for an arbitrary theory of gravity including quadratic-curvature corrections to Einstein's equations. We focus on the theory in four dimensions, in the presence of a negative cosmological constant, and with asymptotically anti-de Sitter (AdS) boundary conditions. As a first example, we compute the gravitational energy and angular momentum of Schwarzschild-AdS black holes, for which we obtain results consistent with previous computations performed using different methods. However, our method is qualitatively different due to the fact that it is intrinsically nonlinear. It relies on the idea of adding to the gravity action topological invariant terms which suffice to regularize the Noether charges and render the variational problem well-posed. This is an idea that has been previously considered in the case of second-order theories, such as general relativity and which, as shown here, extends to higher-derivative theories. Besides black holes, we consider other solutions such as gravitational waves in AdS, for which we also find results that are in agreement. This enables us to investigate the consistency of this approach in the non-Einstein sector of the theory. © 2018 authors. Published by the American Physical Society.https://journals.aps.org/prd/abstract/10.1103/PhysRevD.98.04404

Iterative Correlation-Based Controller Tuning: Application to a Magnetic Suspension System

Iterative tuning of the parameters of a restricted-order controller using the data acquired in closed-loop operation seems to be a promising idea, especially for tuning PID controllers in industrial applications. In this paper, a new tuning approach based on decorrelation is proposed. The basic idea is to make the output error between the designed and achieved closed-loop systems uncorrelated with the reference signal. The controller parameters are calculated as the solution to correlation equations involving instrumental variables. Different choices of instrumental variables are proposed and compared via simulation. The stochastic properties of the correlation approach are compared with those of standard IFT using Monte-Carlo simulation. The proposed approach is also implemented on an experimental magnetic suspension system, and excellent performance using only a few real-time experiments is achieved

Torsion induces Gravity

In this work the Poincare-Chern Simons and Anti de Sitter Chern Simons gravities are studied. For both a solution that can be casted as a black hole with manifest torsion is found. Those solutions resemble Schwarzschild and Schwarzschild-AdS solutions respectively.Comment: 4 pages, RevTe

Randomized controlled trial investigating the effect of music on the virtual reality laparoscopic learning performance of novice surgeons

Background: Findings have shown that music affects cognitive performance, but little is known about its influence on surgical performance. The hypothesis of this randomized controlled trial was that arousing (activating) music has a beneficial effect on the surgical performance of novice surgeons in the setting of a laparoscopic virtual reality task. Methods: For this study, 45 junior surgeons with no previous laparoscopic experience were randomly assigned to three equal groups. Group 1 listened to activating music; group 2 listened to deactivating music; and group 3 had no music (control) while each participant solved a surgical task five times on a virtual laparoscopic simulator. The assessed global task score, the total task time, the instrument travel distances, and the surgeons' heart rate were assessed. Results: All surgical performance parameters improved significantly with experience (task repetition). The global score showed a trend for a between-groups difference, suggesting that the group listening to activating music had the worst performance. This observation was supported by a significant between-groups difference for the first trial but not subsequent trials (activating music, 35 points; deactivating music, 66 points; no music, 91 points; p=0.002). The global score (p=0.056) and total task time (p=0.065) showed a trend toward improvement when participants considered the music pleasant rather than unpleasant. Conclusions: Music in the operating theater may have a distracting effect on novice surgeons performing new tasks. Surgical trainers should consider categorically switching off music during teaching procedure

Mental practice with interactive 3D visual aids enhances surgical performance

Background: Evidence suggests that Mental Practice (MP) could be used to finesse surgical skills. However, MP is cognitively demanding and may be dependent on the ability of individuals to produce mental images. In this study, we hypothesised that the provision of interactive 3D visual aids during MP could facilitate surgical skill performance. Methods: 20 surgical trainees were case-matched to one of three different preparation methods prior to performing a simulated Laparoscopic Cholecystectomy (LC). Two intervention groups underwent a 25-minute MP session; one with interactive 3D visual aids depicting the relevant surgical anatomy (3D-MP group, n = 5) and one without (MP-Only, n = 5). A control group (n = 10) watched a didactic video of a real LC. Scores relating to technical performance and safety were recorded by a surgical simulator. Results: The Control group took longer to complete the procedure relative to the 3D&MP condition (p = .002). The number of movements was also statistically different across groups (p = .001), with the 3D&MP group making fewer movements relative to controls (p = .001). Likewise, the control group moved further in comparison to the 3D&MP condition and the MP-Only condition (p = .004). No reliable differences were observed for safety metrics. Conclusion: These data provide evidence for the potential value of MP in improving performance. Furthermore, they suggest that 3D interactive visual aids during MP could potentially enhance performance, beyond the benefits of MP alone. These findings pave the way for future RCTs on surgical preparation and performance

Effect of bisacodyl on postoperative bowel motility in elective colorectal surgery: a prospective, randomized trial

Background: Postoperative ileus is a common condition after abdominal surgery. Many prokinetic drugs have been evaluated including osmotic laxatives. The data on colon-stimulating laxatives are scarce. This prospective, randomized, double-blind trial investigates the effect of the colon-stimulating laxative bisacodyl on postoperative ileus in elective colorectal resections. Materials and methods: Between November 2004 and February 2007, 200 consecutive patients were randomly assigned to receive either bisacodyl or placebo. Primary endpoint was time to gastrointestinal recovery (mean time to first flatus passed, first defecation, and first solid food tolerated; GI-3). Secondary endpoints were incidence and duration of nasogastric tube reinsertion, incidence of vomiting, length of hospital stay, and visual analogue scores for pain, cramps, and nausea. Results: One hundred sixty-nine patients were analyzed, and 31 patients discontinued the study. Groups were comparable in baseline demographics. Time to GI-3 was significantly shorter in the bisacodyl group (3.0 versus 3.7days, P = 0.007). Of the single parameters defining GI-3, there was a 1-day difference in time to defecation in favor to the bisacodyl group (3.0 versus 4.0days, P = 0.001), whereas no significant difference in time to first flatus or tolerance of solid food was seen. No significant difference in the secondary endpoints was seen. Morbidity and mortality did not differ between groups. Conclusion: Bisacodyl accelerated gastrointestinal recovery and might be considered as part of multimodal recovery programs after colorectal surger

Control of an Active Suspension System as a Benchmark for Design and Optimization of Restricted Complexity Controllers

A benchmark problem for restricted complexity controller design is introduced. The objective is to design the lowest-order controller which meets the control specifications for an active suspension system. The input-output data of the plant are provided on the benchmark site and the final controllers are evaluated using the closed-loop data. Thirteen solutions proposed to solve the benchmark problem are briefly presented and classified in terms of methodology and compared with respect to their complexity and performance

Hamilton-Jacobi Counterterms for Einstein-Gauss-Bonnet Gravity

The on-shell gravitational action and the boundary stress tensor are essential ingredients in the study of black hole thermodynamics. We employ the Hamilton-Jacobi method to calculate the boundary counterterms necessary to remove the divergences and allow the study of the thermodynamics of Einstein-Gauss-Bonnet black holes.Comment: 21 pages, LaTe