Meromorphic observer-based pole assignment in time delay systems

summary:The paper deals with a novel method of control system design which applies meromorphic transfer functions as models for retarded linear time delay systems. After introducing an auxiliary state model a finite-spectrum observer is designed to close a stabilizing state feedback. The observer finite spectrum is the key to implement a state feedback stabilization scheme and to apply the affine parametrization in controller design. On the basis of the so- called RQ-meromorphic functions an algebraic solution to the problem of time- delay system stabilization and control is presented that practically provides a finite spectrum assignment of the control loop

Návrh laboratorní soustavy pro testování algoritmů tlumení vibrací s dopravním zpožděním

Vibrations occur in wide field of application in mechanical engineering hence developing new and advanced algorithms is useful. For practical verification of theoretical control algorithms it is necessary not only to simulate them, but also to test them in laboratory conditions at least. This article describes design of multipurpose laboratory set-up for testing active vibration control algorithms which consists of series of carts connected to each other on linear guides. Carts are equipped with accelerometers and position sensors for feedback control. Linear electric motors on the carts are used for suppressing vibration. The laboratory set-up is controlled by Matlab/Simulink via DAQ card connected to PC. Next to the set-up itself, two control algorithms intended for testing are presented in this article. First, principle of algorithm of resonator absorber with delayed acceleration feedback is described. Furthermore algorithm using input shaping for pre-compensating the oscillatory modes of the system is presented. By adding time delays into closed loop it becomes an infinite dimensional and in this case different approach than in conventional methods is needed. Finally some successful simulation results are presented as a part of practical experiment preparation.Vibrace, jako nežádoucí efekt, se vyskytují v celé oblasti strojírenství. Z tohoto důvodu je vývoj nových algoritmů k jejich potlačování velmi přínosný. Pro praktické ověření teoretických řídicích algoritmů je nezbytné nejen simulovat matematické modely, ale také podpořit teorii alespoň v laboratorních podmínkách. Tento článek popisuje návrh univerzální laboratorní soustavy pro testování algoritmů pro aktivní tlumení vibrací. Soustava je tvořena několika vozíky vzájemně propojenými na lineárním vedení. Vozíky jsou osazeny akcelerometry a snímači polohy jednotlivých vozíků. K potlačení vibrací jsou pak využity lineární elektromotory. Laboratorní soustava je řízena pomocí softwaru Matlab/Simulink a DAQ karty připojené k PC. Kromě samotné soustavy jsou v článku popsány dva algoritmy, které budou na soustavě testovány. Nejprve je popsán princip absorbéru vibrací s akcelerační zpožděnou zpětnou vazbou. Dále pak je popsán algoritmus pro tvarování vstupního signálu tak, aby kompenzoval kmitavé módy v systému. Přidáním dopravního zpoždění do soustavy vznikne soustava nekonečného řádu a z tohoto důvodu je nutné systémy takovéhoto charakteru zkoumat jinými než běžnými metodami. Na závěr jsou zobrazeny výsledky ze simulací, sloužící k přípravě praktických experimentů

Project The Mole In The Network

Příspěvek seznamuje laickou i odbornou veřejnost s projektem Krtek v síti. Tento projekt je zaměřen na podporu komplexní péče o děti s onkologickým onemocněním, jejich sourozence a rodiče. Hlavním cílem projektu je vytvoření sítí organizací na úrovni neziskových organizací, školských a zdravotnických organizací a vysokých škol, zabývajících se zvyšováním kvality života dětí s onkologickým onemocněním během léčby a po jejím ukončení. Bude vytvořen systém spolupráce na úrovni Nadačního fondu dětské onkologie KRTEK (Česká republika), Univerzity Palackého v Olomouci (České republika) a sdružení Rady mládeže Žilinského kraje (Slovenská republika). Pomocí česko-slovenské spolupráce chceme vytvořit unikátní systém výměnných pobytových programů zaměřených na aplikované pohybové aktivity, kde se budou děti s onkologickým onemocněním, jejich rodiče i sourozenci České a Slovenské republiky společně setkávat a absolvovat tyto programy pod odborným vedením.The paper introduces the mole in the network, a professional public project. This project aims to support the comprehensive care of children with oncological disease, their siblings and parents. The chief aim of the project is to create networks of organisations at the level of non-profit organisations, educational and health organizations and universities that deal with improving the quality of life of children with oncological disease during and after treatment. A system of cooperation will be created at the level of Endowment fund pediatric Oncology KRTEK (Czech Republic), Palacky University in Olomouc (Czech Republic) and the Regional youth council of Žilina (Slovak Republic). With the czech-slovak cooperation we want to create an unique system of exchangeable residential programs aimed at adapted physical activity where the children with oncological disease, their parents and siblings from the Czech and Slovak Republic will meet together and attend the programs under professional guidance

The Way Of Living And Selected Determinants Of Children With Oncological Diseases

Děti a mládež s onkologickým onemocněním (OnOn) v době po intenzivní léčbě (tzv. období remise) představují skupinu se speciálními potřebami a problémy. Ty jsou nejčastěji bezprostředně spojené právě s léčbou OnOn. Patří mezi ně návrat mezi vrstevníky po dlouhodobém odloučení, často ostych okolí a obavy z přijetí, formování vlastní osoby v průběhu doby léčení, často změna hodnotového žebříčku, změna životního stylu apod. Právě proto, že životní způsob této cílové skupiny z pohledu determinant, které jej ovlivňují jako zásadní, je předmětem našeho zkoumání. Cílem našeho šetření je zjistit a popsat specifičnost konkrétních vybraných determinant pro budoucí nápravu potenciálních rizik. Hlavním výzkumným nástrojem je dotazník označovaný jako disHB-SC („dis“ označuje souhrnně skupinu osob se zdravotním postižením a zdravotním znevýhodněním; dále Health Behaviour of School – aged Children). Provedli jsme pilotní šetření u skupiny mládeže s OnOn, které nám poskytlo zajímavé výsledky pro další zpracování.Children and young people with oncological diseases (OD) after intensive treatment (the so-called period of remission) are a group with special needs and problems. These are directly associated with the immediate treatment of OD. After a long separation due to treatment, they are often shy around others and become more isolated during the period of treatment, often changing the value system or a change of lifestyle, etc. The aim of our investigation is to find out and describe the specificity of particular selected determinants for future remediation of potential risks. The main research instrument is the questionnaire known as the disHBSC (“dis” means a group of people with disabilities and health handicaps; Health Behaviour of School-aged Children). We conducted a pilot survey for youth groups with the OD, which are provided by the interesting results for further processing

Polynomial approximation of quasipolynomials based on digital filter design principles

This contribution is aimed at a possible procedure approximating quasipolynomials by polynomials. Quasipolynomials appear in linear time-delay systems description as a natural consequence of the use of the Laplace transform. Due to their infinite root spectra, control system analysis and synthesis based on such quasipolynomial models are usually mathematically heavy. In the light of this fact, there is a natural research endeavor to design a sufficiently accurate yet simple engineeringly acceptable method that approximates them by polynomials preserving basic spectral information. In this paper, such a procedure is presented based on some ideas of discrete-time (digital) filters designing without excessive math. Namely, the particular quasipolynomial is subjected to iterative discretization by means of the bilinear transformation first; consequently, linear and quadratic interpolations are applied to obtain integer powers of the approximating polynomial. Since dominant roots play a decisive role in the spectrum, interpolations are made in their very neighborhood. A simulation example proofs the algorithm efficiency. © Springer International Publishing Switzerland 2016

CHARACTERIZATION OF CEMENT-BASED COMPOSITE EXPOSED TO HIGH TEMPERATURES VIA ULTRASONIC PULSE METHOD

In this paper, the attention is paid to the investigation of the influence of high temperature acting on specimens made from specially designed cement-based composite. The experimental programme was carried out on six sets of beam specimens with the dimensions of 20 × 40 × 200 mm. The specimens were loaded to a pre-set temperature of 100, 200, 400, 600, 800 and 1000 °C and then the temperature was kept for 60 minutes. When the temperature loading had been done, the specimens were left to cool down to the ambient temperature. After that, the ultrasonic pulse method was used to determine the degree of damage of temperature loaded specimens. The measured data obtained by this non-destructive method are in high correlation with values of informative compressive strength of the composite obtained after the temperature loading of specimens

Value orientation of children with oncological diseases in relation to quality of life

INTRODUCTION This presentation is targed at value orientation of 6 - 15 years old children with oncological diseases. We are focused on the question about quality of life with the accent of health and physical acitivity. Aim The aim of research was to analyze the structure of value orientation and find the position of health and physical activity. METHODS The projective technique of "open sentences" was used in order to study and evaluate self perception of these children. We have used this technique among 28 children with oncological diseases (age 6-15 yrs). RESULTS Most children emphasize the value of health and impact of disease on quality of their lives - 21,4%. 14,8% perceive the need to engage in common daily activities and 11,6% realize the importance of family life. Only 4,76% of children recognize the need of sport activities. CONCLUSION We found that the most of children with oncological disease accent the health as a ideal, wish and meaning for reaching of their goals and plans. The children are also orientated on the activity of common life and home. Children perceive physical activity as less important and emphasize the value of health and impact of disease on quality of their life. The boys prefer the physical activity more than girls. The position of physical activity is on the 7th position overall from 14 possible

Návrh silně stabilní derivační stavové zpětné vazby pro potlačení vibrací systému

The effect of small delays in the state derivative feedback control loop is studied. Such an unusual feedback has proved useful in system vibration suppression, which is used here as a case study example. It is shown that even very small delays at the system inputs can destroy stability of the closed loop system. To prevent such fragility with respect to the delays, the strong stability concept developed for the neutral time delay systems is adopted. It is demonstrated that only such feedback gains can practically be used for which the closed loop system is strongly stable.Článek se zabývá studiem vlivu malých dopravních zpoždění na stabilitu systému, který je řízen derivační stavovou zpětnou vazbou. Tuto neobvyklou zpětnou vazbu je možné s výhodou využít k potlačení vibrací systému, jak je ukázáno na prezentovaném aplikačním příkladu. Je také ukázáno, že i velmi malá dopravní zpoždění mohou způsobit nestabilitu uzavřeného regulačního obvodu. K zamezení vzniku takto křehké stability vzhledem ke zpožděním je aplikován koncept silné stability neutrálních systémů. Z praktického hlediska pouze takové koeficienty zpětné vazby mohou být použity pro řízení, pro které je uzavřený regulační obvod silně stabilní

ANALYSIS OF INFINITE SPECTRA OF TIME DELAY SYSTEMS USING QUASIPOLYNOMIAL ROOT FINDER IMPLEMENTED IN MATLAB

Abstract: Two original algorithms for computing the roots of low order quasipolynomials are introduced in the paper. The first algorithm is based on Weyl's construction combined with argument principle rule. The second algorithm is based on quasipolynomial function mapping in the complex plane. Both algorithms provide the approximate positions of the roots located inside a selected region. The accuracy of the roots is then increased by using Newton's iteration method. The quasipolynomial rootfinder using the second algorithm has been implemented in Matlab. The presented algorithms provide the significant contribution to the analysis of time delay systems, whose characteristic functions are of the quasipolynomial form

Multi-criteria optimisation design of shapers with piece-wise equally distributed time-delay

The paper presents an optimisation based method to parametrize input shapers with time delays of piece-wise-equal distribution. The design respects the two key requirements on the shaper performance that are the prompt response time and the robustness represented by residual vibration functions, which are however conflicting criteria as a rule. Thus, the optimisation task is solved as a constrained multi-objective problem where the constraints respect the additional requirements on the shaper performance such as a non-decreasing step response or zero residual function at some frequency points. The result is a Pareto front that shows a trade-off between the two main requirements. Next to the presentation of the results in an example, a user friendly shaper-design tool is presented.status: publishe