Optimal control design for robust fuzzy friction compensation in a robot joint

This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals

D-brane Categories for Orientifolds -- The Landau-Ginzburg Case

We construct and classify categories of D-branes in orientifolds based on Landau-Ginzburg models and their orbifolds. Consistency of the worldsheet parity action on the matrix factorizations plays the key role. This provides all the requisite data for an orientifold construction after embedding in string theory. One of our main results is a computation of topological field theory correlators on unoriented worldsheets, generalizing the formulas of Vafa and Kapustin-Li for oriented worldsheets, as well as the extension of these results to orbifolds. We also find a doubling of Knoerrer periodicity in the orientifold context.Comment: 45 pages, 6 figure

Quiver Theories from D6-branes via Mirror Symmetry

We study N=1 four dimensional quiver theories arising on the worldvolume of D3-branes at del Pezzo singularities of Calabi-Yau threefolds. We argue that under local mirror symmetry D3-branes become D6-branes wrapped on a three torus in the mirror manifold. The type IIB (p,q) 5-brane web description of the local del Pezzo, being closely related to the geometry of its mirror manifold, encodes the geometry of 3-cycles and is used to obtain gauge groups, quiver diagrams and the charges of the fractional branes.Comment: 30 pages, citations adde

Multiobjective control of a vehicle with triple trailers

We consider the backing-up control of a vehicle with triple trailers using a model-based fuzzy-control methodology. First, the vehicle model is represented by a Takagi-Sugeno fuzzy model. Then, we employ the so-called "parallel distributed compensation" design to arrive at a controller that guarantees the stability of the closed-loop system consisted of the fuzzy model and controller. The control-design problem is cast in terms of linear matrix inequalities (LMIs). In addition to stability, the control performance considerations such as decay rate, constraints on input and output, and disturbance rejection are incorporated in the LMI conditions. In application to the vehicle with triple trailers setup, we utilize these LMI conditions to explicitly avoid the saturation of the steering angle and the jackknife phenomenon in the control design. Both simulation and experimental results are presented. Our results demonstrate that the fuzzy controller effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the saturation of the actuator and "jackknife" phenomenon

Automated Model Construction for Seismic Disaster Assessment of Pipeline Network in Wide Urban Area

This chapter is on rational seismic damage assessment over a wide area through the development of a module for the automated model construction of a pipeline network of lifelines using geographic information system (GIS) data. The module is assigned a functionality that can generate a simple one-dimensional line model and a two-dimensional surface model with high fidelity for the pipe shape. The source code of the module is written in object-oriented programming in order to make it easier to extend it to generate other analysis models. The module was applied to the actual GIS, and the shape of the output model was verified. Numerical analysis was performed on the output of the module, and it showed that the automatically constructed model is mechanically valid and can be used for seismic response analysis

Effects of Teaching a Questioning Strategy on Reading Comprehension of Learning Disabled Adolescents

This research was published by the KU Center for Research on Learning, formerly known as the University of Kansas Institute for Research in Learning Disabilities.Nine junior high learning disabled students received a Questioning Treatment and an equivalent Control Group received traditional reading training. The results of this study confirmed the hypothesis that training a questioning strategy is an effective method to increase reading comprehension performance as measured by a formal reading test. No significant relationship was found between questioning frequency levels and reading comprehension performance, and no significant interaction occurred between training conditions and questioning frequency levels

Hemoglobin genotype has minimal influence on the physiological response of juvenile atlantic cod (Gadus morhua) to environmental challenges

Hemoglobin (Hb) polymorphism in cod is associated with temperature‐related differences in biogeographical distribution, and several authors have suggested that functional characteristics of the various hemoglobin isoforms (HbIs) directly influence phenotypic traits such as growth rate. However, no study has directly examined whether Hb genotype translates into physiological differences at the whole animal level. Thus, we generated a family of juvenile Atlantic cod consisting of all three main Hb genotypes (HbI‐1/1, HbI‐2/2, and HbI‐1/2) by crossing a single pair of heterozygous parents, and we compared their metabolic and cortisol responses to an acute thermal challenge (10&deg;C to their critical thermal maximum [CTM] or 22&deg;C, respectively) and tolerance of graded hypoxia. There were no differences in routine metabolism (at 10&deg;C), maximum metabolic rate, metabolic scope, CTM (overall mean 22.9&deg; &plusmn; 0.2&deg;C), or resting and poststress plasma cortisol levels among Hb genotypes. Further, although the HbI‐1/1 fish grew more (by 15%&ndash;30% during the first 9 mo) when reared at 10&deg; &plusmn; 1&deg;C and had a slightly enhanced hypoxia tolerance at 10&deg;C (e.g., the critical O2 levels for HbI‐1/1, HbI‐2/2, and HbI‐1/2 cod were 35.56% &plusmn; 1.24%, and 40.20% &plusmn; 1.99% air saturation, respectively), these results are contradictory to expectations based on HbI functional properties. Thus, our findings (1) do not support previous assumptions that growth rate differences among cod Hb genotypes result from a more efficient use of the oxygen supply&mdash;that is, reduced standard metabolic rates and/or increased metabolic capacity&mdash;and (2) suggest that in juvenile cod, there is no selective advantage to having a particular Hb genotype with regards to the capacity to withstand ecologically relevant environmental challenges.<br /

First observation of two hyperfine transitions in antiprotonic He-3

We report on the first experimental results for microwave spectroscopy of the hyperfine structure of antiprotonic He-3. Due to the helium nuclear spin, antiprotonic He-3 has a more complex hyperfine structure than antiprotonic He-4 which has already been studied before. Thus a comparison between theoretical calculations and the experimental results will provide a more stringent test of the three-body quantum electrodynamics (QED) theory. Two out of four super-super-hyperfine (SSHF) transition lines of the (n,L)=(36,34) state were observed. The measured frequencies of the individual transitions are 11.12559(14) GHz and 11.15839(18) GHz, less than 1 MHz higher than the current theoretical values, but still within their estimated errors. Although the experimental uncertainty for the difference of these frequencies is still very large as compared to that of theory, its measured value agrees with theoretical calculations. This difference is crucial to be determined because it is proportional to the magnetic moment of the antiproton.Comment: 8 pages, 6 figures, just published (online so far) in Physics Letters

Orientifolds of Gepner Models

We systematically construct and study Type II Orientifolds based on Gepner models which have N=1 supersymmetry in 3+1 dimensions. We classify the parity symmetries and construct the crosscap states. We write down the conditions that a configuration of rational branes must satisfy for consistency (tadpole cancellation and rank constraints) and spacetime supersymmetry. For certain cases, including Type IIB orientifolds of the quintic and a two parameter model, one can find all solutions in this class. Depending on the parity, the number of vacua can be large, of the order of 10^{10}-10^{13}. For other models, it is hard to find all solutions but special solutions can be found -- some of them are chiral. We also make comparison with the large volume regime and obtain a perfect match. Through this study, we find a number of new features of Type II orientifolds, including the structure of moduli space and the change in the type of O-planes under navigation through non-geometric phases.Comment: 142 page