An extension of the quickened display for manual control

It is very difficult (or even impossible) for a human to control plants of third order or more with little or no damping by just knowing the instantaneous error. It has been shown that adding first and/or higher order derivatives to the error signal and displaying the combined signal are effective in facilitating human control over such plants. This signal quickening technique by Birmingham and Taylor is further extended to incorporate the future trajectory variation into the displayed signal so as to minimize the tracking error. A method for tuning free parameters in ordinary and extended quickening is established by applying discrete-time optimal control. Experimental results for a triple integrator plant indicate the effectiveness of the proposed method to achieve high quality tracking

Proofs of Control of a Quadrotor and a Ground Vehicle Manipulating an Object

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the object to a desired pose characterized by its position and inclination. The dynamics are derived using Euler-Lagrange method. A pre-stabilizing control law is proposed where the UGV is tasked to deploy the object to a certain position whereas the UAV adjusts its inclination. In particular, a proportional-derivative control law is proposed for the UGV, and a cascade control approach is used for the UAV, where the inner loop controls the attitude of the UAV and the outer loop stabilizes the inclination of the object. Then, we prove the stability of the points of equilibrium using small gain arguments. To ensure constraints satisfaction at all times, a reference governor unit is added to the pre-stabilizing control scheme. Finally, numerical results combined with experimental results are provided to validate the effectiveness of the proposed control scheme in practice.Comment: 16 pages, 7 figure

Analytical developments for definition and prediction of USB noise

A systematic acoustic data base and associated flow data are used in identifying the noise generating mechanisms of upper surface blown flap configurations of short takeoff and landing aircraft. Theory is developed for the radiated sound field of the highly sheared flow of the trailing edge wake. An empirical method is also developed using extensive experimental data and physical reasonings to predict the noise levels

Use of Devolved Controllers in Data Center Networks

In a data center network, for example, it is quite often to use controllers to manage resources in a centralized man- ner. Centralized control, however, imposes a scalability problem. In this paper, we investigate the use of multiple independent controllers instead of a single omniscient controller to manage resources. Each controller looks after a portion of the network only, but they together cover the whole network. This therefore solves the scalability problem. We use flow allocation as an example to see how this approach can manage the bandwidth use in a distributed manner. The focus is on how to assign components of a network to the controllers so that (1) each controller only need to look after a small part of the network but (2) there is at least one controller that can answer any request. We outline a way to configure the controllers to fulfill these requirements as a proof that the use of devolved controllers is possible. We also discuss several issues related to such implementation.Comment: Appears in INFOCOM 2011 Cloud Computing Worksho

Coronal heating in multiple magnetic threads

Context. Heating the solar corona to several million degrees requires the conversion of magnetic energy into thermal energy. In this paper, we investigate whether an unstable magnetic thread within a coronal loop can destabilise a neighbouring magnetic thread. Aims. By running a series of simulations, we aim to understand under what conditions the destabilisation of a single magnetic thread can also trigger a release of energy in a nearby thread. Methods. The 3D magnetohydrodynamics code, Lare3d, is used to simulate the temporal evolution of coronal magnetic fields during a kink instability and the subsequent relaxation process. We assume that a coronal magnetic loop consists of non-potential magnetic threads that are initially in an equilibrium state. Results. The non-linear kink instability in one magnetic thread forms a helical current sheet and initiates magnetic reconnection. The current sheet fragments, and magnetic energy is released throughout that thread. We find that, under certain conditions, this event can destabilise a nearby thread, which is a necessary requirement for starting an avalanche of energy release in magnetic threads. Conclusions. It is possible to initiate an energy release in a nearby, non-potential magnetic thread, because the energy released from one unstable magnetic thread can trigger energy release in nearby threads, provided that the nearby structures are close to marginal stability