Experimental study of contact transition control incorporating joint acceleration feedback

Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters, A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated

Adaptive Coordination of Distributed Energy Resources in Lossy Power Distribution Systems

This paper is concerned with the problem of coordinating a set of distributed energy resources (DERs) in a lossy power distribution system to provide frequency regulation services to a bulk power grid with the explicit consideration of system losses. To this end, we formulate the problem as an optimization problem, the objective of which is to minimize some cost function subject to a set of constraints. The formulation requires knowledge of incremental total system losses, which we approximate using the so-called loss factors (LFs) that explicitly capture the impacts of both active and reactive power injections on system losses. The LFs are estimated recursively using power injection measurements; thus, they are adaptive to various phenomena that impact the power system operation. Numerical simulation on a 33-bus distribution test feeder validated the effectiveness of the proposed framework

Automatic Classification of Text Databases through Query Probing

Many text databases on the web are "hidden" behind search interfaces, and their documents are only accessible through querying. Search engines typically ignore the contents of such search-only databases. Recently, Yahoo-like directories have started to manually organize these databases into categories that users can browse to find these valuable resources. We propose a novel strategy to automate the classification of search-only text databases. Our technique starts by training a rule-based document classifier, and then uses the classifier's rules to generate probing queries. The queries are sent to the text databases, which are then classified based on the number of matches that they produce for each query. We report some initial exploratory experiments that show that our approach is promising to automatically characterize the contents of text databases accessible on the web.Comment: 7 pages, 1 figur

Control Barrier Function Based Quadratic Programs for Safety Critical Systems

Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive applications, this paper develops a methodology that allows safety conditions -- expressed as control barrier functions -- to be unified with performance objectives -- expressed as control Lyapunov functions -- in the context of real-time optimization-based controllers. Safety conditions are specified in terms of forward invariance of a set, and are verified via two novel generalizations of barrier functions; in each case, the existence of a barrier function satisfying Lyapunov-like conditions implies forward invariance of the set, and the relationship between these two classes of barrier functions is characterized. In addition, each of these formulations yields a notion of control barrier function (CBF), providing inequality constraints in the control input that, when satisfied, again imply forward invariance of the set. Through these constructions, CBFs can naturally be unified with control Lyapunov functions (CLFs) in the context of a quadratic program (QP); this allows for the achievement of control objectives (represented by CLFs) subject to conditions on the admissible states of the system (represented by CBFs). The mediation of safety and performance through a QP is demonstrated on adaptive cruise control and lane keeping, two automotive control problems that present both safety and performance considerations coupled with actuator bounds

Electronic properties of bilayer phosphorene quantum dots in the presence of perpendicular electric and magnetic fields

Using the tight-binding approach, we investigate the electronic properties of bilayer phosphorene (BLP) quantum dots (QDs) in the presence of perpendicular electric and magnetic fields. Since BLP consists of two coupled phosphorene layers, it is of interest to examine the layer-dependent electronic properties of BLP QDs, such as the electronic distributions over the two layers and the so-produced layer-polarization features, and to see how these properties are affected by the magnetic field and the bias potential. We find that in the absence of a bias potential only edge states are layer-polarized while the bulk states are not, and the layer-polarization degree (LPD) of the unbiased edge states increases with increasing magnetic field. However, in the presence of a bias potential both the edge and bulk states are layer-polarized, and the LPD of the bulk (edge) states depends strongly (weakly) on the interplay of the bias potential and the interlayer coupling. At high magnetic fields, applying a bias potential renders the bulk electrons in a BLP QD to be mainly distributed over the top or bottom layer, resulting in layer-polarized bulk Landau levels (LLs). In the presence of a large bias potential that can drive a semiconductor-to-semimetal transition in BLP, these bulk LLs exhibit different magnetic-field dependences, i.e., the zeroth LLs exhibit a linear-like dependence on the magnetic field while the other LLs exhibit a square-root-like dependence.Comment: 11 pages, 6 figure