Unified Approach to Convex Robust Distributed Control given Arbitrary Information Structures

We consider the problem of computing optimal linear control policies for linear systems in finite-horizon. The states and the inputs are required to remain inside pre-specified safety sets at all times despite unknown disturbances. In this technical note, we focus on the requirement that the control policy is distributed, in the sense that it can only be based on partial information about the history of the outputs. It is well-known that when a condition denoted as Quadratic Invariance (QI) holds, the optimal distributed control policy can be computed in a tractable way. Our goal is to unify and generalize the class of information structures over which quadratic invariance is equivalent to a test over finitely many binary matrices. The test we propose certifies convexity of the output-feedback distributed control problem in finite-horizon given any arbitrarily defined information structure, including the case of time varying communication networks and forgetting mechanisms. Furthermore, the framework we consider allows for including polytopic constraints on the states and the inputs in a natural way, without affecting convexity

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

It is known that the set of internally stabilizing controller $\mathcal{C}_{\text{stab}}$ is non-convex, but it admits convex characterizations using certain closed-loop maps: a classical result is the {Youla parameterization}, and two recent notions are the {system-level parameterization} (SLP) and the {input-output parameterization} (IOP). In this paper, we address the existence of new convex parameterizations and discuss potential tradeoffs of each parametrization in different scenarios. Our main contributions are: 1) We first reveal that only four groups of stable closed-loop transfer matrices are equivalent to internal stability: one of them is used in the SLP, another one is used in the IOP, and the other two are new, leading to two new convex parameterizations of $\mathcal{C}_{\text{stab}}$. 2) We then investigate the properties of these parameterizations after imposing the finite impulse response (FIR) approximation, revealing that the IOP has the best ability of approximating $\mathcal{C}_{\text{stab}}$ given FIR constraints. 3) These four parameterizations require no \emph{a priori} doubly-coprime factorization of the plant, but impose a set of equality constraints. However, these equality constraints will never be satisfied exactly in numerical computation. We prove that the IOP is numerically robust for open-loop stable plants, in the sense that small mismatches in the equality constraints do not compromise the closed-loop stability. The SLP is known to enjoy numerical robustness in the state feedback case; here, we show that numerical robustness of the four-block SLP controller requires case-by-case analysis in the general output feedback case.Comment: 20 pages; 5 figures. Added extensions on numerial computation and robustness of closed-loop parameterization

On the Equivalence of Youla, System-level and Input-output Parameterizations

A convex parameterization of internally stabilizing controllers is fundamental for many controller synthesis procedures. The celebrated Youla parameterization relies on a doubly-coprime factorization of the system, while the recent system-level and input-output characterizations require no doubly-coprime factorization but a set of equality constraints for achievable closed-loop responses. In this paper, we present explicit affine mappings among Youla, system-level and input-output parameterizations. Two direct implications of the affine mappings are 1) any convex problem in Youla, system level, or input-output parameters can be equivalently and convexly formulated in any other one of these frameworks, including the convex system-level synthesis (SLS); 2) the condition of quadratic invariance (QI) is sufficient and necessary for the classical distributed control problem to admit an equivalent convex reformulation in terms of Youla, system-level, or input-output parameters.Comment: 8 pages, 3 figure

Espectrometria gama de uma placa do elemento combustível do Reator Argonauta

O presente trabalho foi realizado com o objetivo de fazer uma espectrometria gama de uma placa do elemento combustível irradiada do reator Argonauta. As medidas de espectrometria foram realizadas através da análise de espectros da detecção de raios gamas emitidos no processo de decaimento de produtos de fissão radiativos presentes na placa combustível irradiada

Thermal neutron computed tomography at the Argonauta Reactor

Since 1985 the Argonauta Reactor at the Instituto de Engenharia Nuclear - IEN/CNEN has been used as a source of thermal neutrons to acquire transmission-generated radiographic images. From that time until the end of the last century, some Universities and Research Institutions have as well used the irradiation facilities of this reactor for that purpose and for technical and scientific training of personnel. Quite recently, a joint work program with the Laborat´orio de Instrumentac¸ ˜ao Nuclear - LIN/COPPE-UFRJ has been initiated addressing the research in the field of radiographic images using thermal neutrons, with special emphasis on Computer Aided Tomography. Within this frame, different tomographic systems - each one with their intrinsic features - have been developed aiming at their use in the industry field which requires the inspection of objects exhibiting different sizes and compositions. This work focuses the developed tomographs presenting their constraints and performances such as Spatial Resolution, Modulation Transfer Function and Density Resolution. The acquired images of some objects and test-bodies are as well presented for the sake of qualitative evaluation. They show a fair agreement with the performance of the tomographic system as expected from the measured quantitative parameters

Performance ao a thermal neutron radiographic system using imaging plates

A performance evaluation of a neutron radiographic system equipped with a thermal neutron sensitive imaging plate has been undertaken. It includes the assessment of spatial resolution, linearity, dynamic range and the response to exposure time, as well as a comparison of these parameters with the equivalent ones for neutron radiography employing conventional films and a gadolinium foil as converter. The evaluation and comparison between the radiographic systems have been performed at the Instituto de Engenharia Nuclear - CNEN, using the Argonauta Reactor as source of thermal neutrons and a commercially available imaging plate reade

Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields.

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this thesis, a nonlinear-geometric guidance strategy is presented, addressing this problem. More broadly, a methodology is proposed for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. As an alternative approach, an algorithm based on Model Predictive Control (MPC) is developed, and a comparison between advantages and disadvantages of both approaches is drawn. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach

Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields.

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this thesis, a nonlinear-geometric guidance strategy is presented, addressing this problem. More broadly, a methodology is proposed for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. As an alternative approach, an algorithm based on Model Predictive Control (MPC) is developed, and a comparison between advantages and disadvantages of both approaches is drawn. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach

Extended Field of View using Multi Conjugated Deformable Lenses

Aberration correction in an optical system is a critical step in optical design. Nowadays optical design can be consideredd optically perfect and most of the cases where we face aberration or imagedegradation this is due to external causes such as refractive index inhomogeneities of the sample in the case of microscopy, thermal aberrations in the case oh high power beam lasers or air turbulence in the case of astronomy or optical communications. One of the main tool for aberrations correction is Adaptive Optics (AO) that by using a multi actuator deformable mirror in its standard configuration can correct for pupil aberrations. There are some cases however where the aberrations are field dependent. This led to the Multi Conjugated Adaptive Optics (MCAO) implementation where multiple deformable mirrors are used. This configuration tough highly increase system complexity, so in my thesis work I studied for the first time the use of deformable lenses as a replacement for deformable mirrors in the case of a MCAO setup in microscopy or atmospheric turbulence correction.Aberration correction in an optical system is a critical step in optical design. Nowadays optical design can be consideredd optically perfect and most of the cases where we face aberration or imagedegradation this is due to external causes such as refractive index inhomogeneities of the sample in the case of microscopy, thermal aberrations in the case oh high power beam lasers or air turbulence in the case of astronomy or optical communications. One of the main tool for aberrations correction is Adaptive Optics (AO) that by using a multi actuator deformable mirror in its standard configuration can correct for pupil aberrations. There are some cases however where the aberrations are field dependent. This led to the Multi Conjugated Adaptive Optics (MCAO) implementation where multiple deformable mirrors are used. This configuration tough highly increase system complexity, so in my thesis work I studied for the first time the use of deformable lenses as a replacement for deformable mirrors in the case of a MCAO setup in microscopy or atmospheric turbulence correction

Toxic effects of mercury, lead and gadolinium on vascular reactivity

Heavy metals have been used in a wide variety of human activities that have significantly increased both professional and environmental exposure. Unfortunately, disasters have highlighted the toxic effects of metals on different organs and systems. Over the last 50 years, the adverse effects of chronic lead, mercury and gadolinium exposure have been underscored. Mercury and lead induce hypertension in humans and animals, affecting endothelial function in addition to their other effects. Increased cardiovascular risk after exposure to metals has been reported, but the underlying mechanisms, mainly for short periods of time and at low concentrations, have not been well explored. The presence of other metals such as gadolinium has raised concerns about contrast-induced nephropathy and, interestingly, despite this negative action, gadolinium has not been defined as a toxic agent. The main actions of these metals, demonstrated in animal and human studies, are an increase of free radical production and oxidative stress and stimulation of angiotensin I-converting enzyme activity, among others. Increased vascular reactivity, highlighted in the present review, resulting from these actions might be an important mechanism underlying increased cardiovascular risk. Finally, the results described in this review suggest that mercury, lead and gadolinium, even at low doses or concentrations, affect vascular reactivity. Acting via the endothelium, by continuous exposure followed by their absorption, they can increase the production of free radicals and of angiotensin II, representing a hazard for cardiovascular function. In addition, the actual reference values, considered to pose no risk, need to be reducedResearch supported by CAPES and CNPq/FAPES/ FUNCITEC (#39767531/07), Brazil, and MCINN (#SAF 2009-07201) and ISCIII (Red RECAVA, #RD06/0014/0011), Spai