Robust control of systems with output hysteresis and input saturation using a finite time stability approach

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This paper presents a robust control approach for a class of nonlinear dynamic systems consisting of a linear plant connected in series with a hysteresis operator, and affected by control input saturation. Such a class of systems commonly appears in applications concerning smart materials, in particular thermal shape memory alloys wire actuators. The goal of this paper is to design a robust controller, in the form of an output PI law, which ensures set-point regulation with a desired decay rate and, at the same time, accounts for the effects of both hysteresis and input saturation. The resulting controller appears as attractive on the implementation stand-point, since no accurate hysteresis compensator is required. In order to deal with the proposed problem, the hysteretic plant is first reformulated as a linear parameter-varying system. Subsequently, a finite time stability approach is used to impose constraints on the control input. A new set of bilinear matrix inequalities is developed, in order to perform the design with reduced conservatism by properly exploiting some structural properties of the model. The effectiveness of the method is finally validated by means of a numerical case of study. © 2018 IEEE.Peer ReviewedPostprint (author's final draft

Finite element modeling and simulation of a robotic finger actuated by Ni-Ti shape memory alloy wires

In this paper, a dynamic model for an artificial finger driven by Shape Memory Alloy (SMA) wires is presented. Due to their high energy density, these alloys permit the realization of highly compact actuation solutions with potential applications in many areas of robotics, ranging from industrial to biomedical ones. Despite many advantages, SMAs exhibit a highly nonlinear and hysteretic behavior which complicates system design, modeling, and control. In case SMA wires are used to activate complex robotic systems, the further kinematic nonlinearities and contact problems make the modeling significantly more challenging. In this paper, we present a finite element model for a finger prototype actuated by a bundle of SMA wires. The commercially available software COMSOL is used to couple the finger structure with the SMA material, described via the Muller-Achenbach-Seelecke model. By means of several experiments, it is demonstrated how the model reproduces the finger response for different control inputs and actuator geometries

Hybrid Meta-Heuristics for Robust Scheduling

The production and delivery of rapidly perishable goods in distributed supply networks involves a number of tightly coupled decision and optimization problems regarding the just-in-time production scheduling and the routing of the delivery vehicles in order to satisfy strict customer specified time-windows. Besides dealing with the typical combinatorial complexity related to activity assignment and synchronization, effective methods must also provide robust schedules, coping with the stochastic perturbations (typically transportation delays) affecting the distribution process. In this paper, we propose a novel metaheuristic approach for robust scheduling. Our approach integrates mathematical programming, multi-objective evolutionary computation, and problem-specific constructive heuristics. The optimization algorithm returns a set of solutions with different cost and risk tradeoffs, allowing the analyst to adapt the planning depending on the attitude to risk. The effectiveness of the approach is demonstrated by a real-world case concerning the production and distribution of ready-mixed concrete

Genetic Algorithms in Supply Chain Scheduling of Ready-Mixed Concrete

The coordination of just-in-time production and transportation in a network of partially independent facilities to guarantee timely delivery to distributed customers is one of the most challenging aspects of supply chain management. From the theoretical perspective, the timely production/distribution can be viewed as a hybrid combination of planning, scheduling and routing problem, each notoriously affected by nearly prohibitive combinatorial complexity. From a practical viewpoint, the problem calls for a trade-off between risks and profits. This paper focuses on the ready-made concrete delivery: in addition to the mentioned complexity, strict time-constraints forbid both earliness and lateness of the supply. After developing a detailed model of the considered problem, we propose a novel meta-heuristic approach based on a hybrid genetic algorithm combined with constructive heuristics. A detailed case study derived from industrial data is used to illustrate the potential of the proposed approach

Effect of Antioxidant Treatment on Fibrogenesis in Rats with Carbon Tetrachloride-Induced Cirrhosis

Aim. This study aimed to assess the antioxidant activity of quercetin (Q) in an experimental model of cirrhosis induced by CCl4 inhalation. Materials and Methods. We used 25 male Wistar rats (250 g) that were divided into 3 groups: control (CO), CCl4, and CCl4 + Q. The rats were subjected to CCl4 inhalation (2x/week) for 16 weeks, and they received phenobarbital in their drinking water at a dose of 0.3 g/dL as a P450 enzyme inducer. Q (50 mg/Kg) was initiated intraperitoneally at 10 weeks of inhalation and lasted until the end of the experiment. Statistical analysis was by ANOVA Student Newman-Keuls (mean ± SEM), and differences were considered statistically significant when P < 0.05. Results. After treatment with quercetin, we observed an improvement in liver complications, decreased fibrosis, as analyzed by picrosirius for the quantification of collagen, and decreased levels of matrix metalloproteinase 2 (MMP-2) compared with the CCl4 group. It also reduced oxidative stress, as confirmed by the decrease of substances reacting to thiobarbituric acid (TBARS), the increased activity of antioxidant enzymes, and the reduced glutathione ratio and glutathione disulfide (GSH/GSSG). Conclusion. We suggest that the use of quercetin might be promising as an antioxidant therapy in liver fibrosis

Modeling and Design Optimization of a Rotational Soft Robotic System Driven by Double Cone Dielectric Elastomer Actuators

Dielectric elastomers (DEs) consist of highly compliant electrostatic transducers which can be operated as actuators, by converting an applied high voltage into motion, and as sensors, since capacitive changes can be related to displacement information. Due to large achievable deformation (on the order of 100%) and high flexibility, DEs appear as highly suitable for the design of soft robotic systems. An important requirement for robotic systems is the possibility of generating a multi degree-of-freedom (MDOF) actuation. By means of DE technology, a controllable motion along several directions can be made possible by combining different membrane actuators in protagonist-antagonist configurations, as well as by designing electrode patterns which allow independent activation of different sections of a single membrane. However, despite several concepts of DE soft robots have been presented in the recent literature, up to date there is still a lack of systematic studies targeted at optimizing the design of the system. To properly understand how different parameters influence the complex motion of DE soft robots, this paper presents an experimental study on how geometry scaling affects the performance of a specific MDOF actuator configuration. The system under investigation consists of two cone DE membranes rigidly connected along the outer diameter, and pre-compressed out-of-plane against each other via a rigid spacer. The electrodes of both membranes are partitioned in four sections that can be activated separately, thus allowing the desired MDOF actuation feature. Different prototypes are assembled and tested to study the influence of the inner radius as well as the length of the rigid spacer on the achievable motion range. For the first experimental study presented here, we focus our analysis on a single actuation variable, i.e., the rotation of the rigid spacer about a fixed axis. A physics-based model is then developed and validated based on the collected experimental measurements. A model-based investigation is subsequently performed, with the aim of studying the influence of the regarded parameters on the rotation angle. Finally, based on the results of the performed study, a model-based optimization of the prototype geometry is performed

The Ubiquitous Dermokine Delta Activates Rab5 Function in the Early Endocytic Pathway

The expression of the recently identified dermokine (Dmkn) gene leads to four families of proteins with as yet unknown functions. The secreted α, β and γ isoforms share an epidermis-restricted expression pattern, whereas the δ isoform is intracellular and ubiquitous. To get an insight into Dmknδ function, we performed yeast two-hybrid screening and identified the small GTPases Rab5 as partners for Dmknδ. The Rab5 proteins are known to regulate membrane docking and fusion in the early endocytic pathway. GST pull-down assays confirmed the direct interaction between Rab5 and Dmknδ. Transient expression of Dmknδ in HeLa cells led to the formation of punctate structures colocalized with endogenous Rab5 and clathrin, indicating Dmknδ involvement in the early steps of endocytosis. Dmknδ indeed colocalized with transferrin at early stages of endocytosis, but did not modulate its endocytosis or recycling kinetics. We also showed that Dmknδ was able to bind both inactive (GDP-bound) and active (GTP-bound) forms of Rab5 in vitro but preferentially targeted GDP-bound form in HeLa cells. Interestingly, Dmknδ expression rescued the Rab5S34N-mediated inhibition of endosome fusion. Moreover, Dmknδ caused the enlargement of vesicles positive for Rab5 by promoting GTP loading onto the small GTPase. Together our data reveal that Dmknδ activates Rab5 function and thus is involved in the early endosomal trafficking