Bounded control via geometrically shaping Lyapunov function derivatives

This paper is two folded: in the first part a result is presented on bounded passivity-based control. This is applied on a reduced-size building model, in order to protect it from earthquakes. The second part of this paper presents an attempt to extend the same methodology towards bounded backstepping-based control. The key point here are the Lyapunov function derivative terms: by manipulating their geometrical shapes, feedback properties follow. On a simple one-dimensional system, we analyze performance, robustness and bounded control

A rule-based assistive control algorithm for safe navigation for a powered wheelchair

This paper addresses the problem of safe navigation in an environment with randomly placed static obstacles. We convert a commercial powered wheelchair into a semiautonomous vehicle with limited sight (environment awareness), by instrumenting it using off-the-shelf ultrasonic sensors and associated electronic boards (Arduino). In the continuity of our previous work where we had used stochastic dynamic programming to formulate optimization problems which led to relatively large size look-up tables that can be used as supervisory control, here we propose to extract rules using those results (that data). The advantage of this approach is a lowcomputational cost for future online implementation, and the drawback is a suboptimal policy. The feasibility is assessed by running simulations in a fairly realistic environment (Unity3D)

An ECMS-based powertrain control of a parallel hybrid electric forklift

n this paper we focus on the supervisory control problem of a parallel hybrid electric vehicle (HEV): minimize fuel consumption while ensuring self-sustaining State-of-Charge (SoC). We reapply the state of the art methodology by comparing optimal results of Dynamic Programming (DP) against a real-time control candidate. After careful selection, we opted for an Equivalent Consumption Minimization Strategy (ECMS) based approach for the following reasons: (i) results are quite remarkable with less than 5% fuel usage increase when compared to DP; (ii) simple and intuitive tuning of control parameters; (iii) readily usable for code generation (prototyping). Topics that distinguish this article from others in the literature include: (i) the usage of trapezoidal rule of integration implementing DP and ECMS; consequently, the offline simulation results are intended to be more precise and representative when compared against the more common, often used rectangular rule; (ii) a particular post-processing procedure of the recorded driving cycle data based on physical interpretation; it allows consistent offline simulations with quite high sampling period (in the order of seconds); (iii) tuning of control parameters in such a way that control system is robust towards new, unknown, unpredictable but closely resembling driving cycles. In particular, we focus on the supervisory control of a forklift truck. The real-time control is able to compute: (i) the power split (i.e. a balanced usage between an internal combustion engine and a supercapacitor); (ii) the drivetrain control (i.e. automatic gear shifting and clutching). Numerous numerical implementation issues are discussed along our presentation

Trapping in irradiated p-on-n silicon sensors at fluences anticipated at the HL-LHC outer tracker

The degradation of signal in silicon sensors is studied under conditions expected at the CERN High-Luminosity LHC. 200 $\mu$m thick n-type silicon sensors are irradiated with protons of different energies to fluences of up to $3 \cdot 10^{15}$ neq/cm$^2$. Pulsed red laser light with a wavelength of 672 nm is used to generate electron-hole pairs in the sensors. The induced signals are used to determine the charge collection efficiencies separately for electrons and holes drifting through the sensor. The effective trapping rates are extracted by comparing the results to simulation. The electric field is simulated using Synopsys device simulation assuming two effective defects. The generation and drift of charge carriers are simulated in an independent simulation based on PixelAV. The effective trapping rates are determined from the measured charge collection efficiencies and the simulated and measured time-resolved current pulses are compared. The effective trapping rates determined for both electrons and holes are about 50% smaller than those obtained using standard extrapolations of studies at low fluences and suggests an improved tracker performance over initial expectations

Search for neutral MSSM Higgs bosons decaying to a pair of tau leptons in pp collisions

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Measurement of top quark–antiquark pair production in association with a W or Z boson in pp collisions at √s=8 TeV

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Searches for electroweak production of charginos, neutralinos, and sleptons decaying to leptons and W, Z, and Higgs bosons in pp collisions at 8 TeV

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Measurement of prompt J/ψ pair production in pp collisions at √s = 7 Tev

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Study of hadronic event-shape variables in multijet final states in pp collisions at √s=7 TeV

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