Nonholonomic control systems: from steering to stabilization with sinusoids

The authors present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law combines earlier work in steering nonholonomic systems using sinusoids at integrally related frequencies, with the ideas in recent results on globally stabilizing linear and nonlinear systems through the use of saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included

Librarian to Librarian Networking Summit: Collaboratively Providing Professional Development for School Media Personnel

Effective professional development remains a major focus for universities, educational agencies, school districts and educators. Successful staff development projects for educators provide long-range effects in which administrators, communities, universities, students and even parents eventually receive benefits. Quality professional development encompasses a wide range of opportunities for the purpose of enhancing educator performance and excellence. This article discusses the organization and implementation of a summit designed to target an audience of school media personnel. Additionally, the paper presents the organization and implementation of the summit. In the planning of any professional development activity, two equally important tasks emerge (1) developing the program and (2) selecting the targeted participants. The development of the program is based on the needs of the targeted audience; therefore, the targeted audience must be determined prior to the beginning of the planning process. Several additional factors are critical in the success of a staff development event. It is equally essential to have clear library administrative support of the project and have a wide-range of professional contacts for identifying and recruiting experts to facilitate sessions

Designing an Academic Outreach Program through Partnerships with Public Schools

Abstract The article discusses an outreach program at the Teaching Resources Center of J.Y. Joyner Library, East Carolina University. The collaborative project consists of three significant components created to partner with public schools within a designated service area. A library card for educators, interlibrary loan services and a production center provide commitment and support to area educators

Life-History Divergence In Chinook Salmon: Historic Contingency And Parallel Evolution

By jointly considering patterns of genetic and life-history diversity in over 100 populations of Chinook salmon from California to British Columbia, we demonstrate the importance of two different mechanisms for life history evolution. Mapping adult run timing (the life-history trait most commonly used to characterize salmon populations) onto a tree based on the genetic data shows that the same run-time phenotypes exist in many different genetic lineages. In a hierarchical gene diversity analysis, differences among major geographic and ecological provinces explained the majority (62%) of the overall GST, whereas run-time differences explained only 10%. Collectively, these results indicate that run-timing diversity has developed independently by a process of parallel evolution in many different coastal areas. However, genetic differences between coastal populations with different run timing from the same basin are very modest (GST \u3c 0.02), indicating that evolutionary divergence of this trait linked to reproductive isolation has not led to parallel speciation, probably because of ongoing gene flow. A strikingly different pattern is seen in the interior Columbia River Basin, where run timing and other correlated life-history traits map cleanly onto two divergent genetic lineages (GST ~ 0.15), indicating that some patterns of life-history diversity have a much older origin. Indeed, genetic data indicate that in the interior Columbia Basin, the two divergent lineages behave essentially as separate biological species, showing little evidence of genetic contact in spite of the fact that they co-migrate through large areas of the river and ocean and in some locations spawn in nearly adjacent areas

Differential Sensitivity Between a Virtual Reality Balance Module and Clinically Used Concussion Balance Modalities

Balance assessments are part of the recommended clinical concussion evaluation, along with computerized neuropsychological testing and self-reported symptoms checklists. New technology has allowed for the creation of virtual reality (VR) balance assessments to be used in concussion care, but there is little information on the sensitivity and specificity of these evaluations. The purpose of this study is to establish the sensitivity and specificity of a VR balance module for detecting lingering balance deficits clinical concussion care

Continuous Uniform Finite Time Stabilization of Planar Controllable Systems

Continuous homogeneous controllers are utilized in a full state feedback setting for the uniform finite time stabilization of a perturbed double integrator in the presence of uniformly decaying piecewise continuous disturbances. Semiglobal strong $\mathcal{C}^1$ Lyapunov functions are identified to establish uniform asymptotic stability of the closed-loop planar system. Uniform finite time stability is then proved by extending the homogeneity principle of discontinuous systems to the continuous case with uniformly decaying piecewise continuous nonhomogeneous disturbances. A finite upper bound on the settling time is also computed. The results extend the existing literature on homogeneity and finite time stability by both presenting uniform finite time stabilization and dealing with a broader class of nonhomogeneous disturbances for planar controllable systems while also proposing a new class of homogeneous continuous controllers

An ISS Small-Gain Theorem for General Networks

We provide a generalized version of the nonlinear small-gain theorem for the case of more than two coupled input-to-state stable (ISS) systems. For this result the interconnection gains are described in a nonlinear gain matrix and the small-gain condition requires bounds on the image of this gain matrix. The condition may be interpreted as a nonlinear generalization of the requirement that the spectral radius of the gain matrix is less than one. We give some interpretations of the condition in special cases covering two subsystems, linear gains, linear systems and an associated artificial dynamical system.Comment: 26 pages, 3 figures, submitted to Mathematics of Control, Signals, and Systems (MCSS

Nonholonomic control systems: from steering to stabilization with sinusoids

The authors present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law combines earlier work in steering nonholonomic systems using sinusoids at integrally related frequencies, with the ideas in recent results on globally stabilizing linear and nonlinear systems through the use of saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included

Genetic analysis of juvenile coho salmon (Oncorhynchus kisutch) off Oregon and Washington reveals few Columbia River wild fish

Little is known about the ocean distributions of wild juvenile coho salmon off the Oregon-Washington coast. In this study we report tag recoveries and genetic mixed-stock estimates of juvenile fish caught in coastal waters near the Columbia River plume. To support the genetic estimates, we report an allozyme-frequency baseline for 89 wild and hatchery-reared coho salmon spawning populations, extending from northern California to southern British Columbia. The products of 59 allozyme-encoding loci were examined with starch-gel electrophoresis. Of these, 56 loci were polymorphic, and 29 loci had P0.95 levels of polymorphism. Average heterozygosities within populations ranged from 0.021 to 0.046 and averaged 0.033. Multidimensional scaling of chord genetic distances between samples resolved nine regional groups that were sufficiently distinct for genetic mixed-stock analysis. About 2.9% of the total gene diversity was due to differences among populations within these regions, and 2.6% was due to differences among the nine regions. This allele-frequency data base was used to estimate the stock proportions of 730 juvenile coho salmon in offshore samples collected from central Oregon to northern Washington in June and September-October 1998−2000. Genetic mixed-stock analysis, together with recoveries of tagged or fin-clipped fish, indicates that about one half of the juveniles came from Columbia River hatcheries. Only 22% of the ocean-caught juveniles were wild fish, originating largely from coastal Oregon and Washington rivers (about 20%). Unlike previous studies of tagged juveniles, both tag recoveries and genetic estimates indicate the presence of fish from British Columbia and Puget Sound in southern waters. The most salient feature of genetic mixed stock estimates was the paucity of wild juveniles from natural populations in the Columbia River Basin. This result reflects the large decrease in the abundances of these populations in the last few decades

Ball on a beam: stabilization under saturated input control with large basin of attraction

This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The straight beam-and-ball system has one unstable mode in the motion near the equilibrium point. The proposed control law ensures that the basin of attraction coincides with the controllability domain. The circular beam-and-ball system has two unstable modes near the equilibrium point. Therefore, this device, never considered in the past, is much more difficult to control than the straight beam-and-ball system. The main contribution is to propose a simple new control law, which ensures by adjusting its gain parameters that the basin of attraction arbitrarily can approach the controllability domain for the linear case. For both nonlinear systems, simulation results are presented to illustrate the efficiency of the designed nonlinear control laws and to determine the basin of attraction