Analiza FPGA implementacije bilateralnih algoritama upravljanja za dodirnu teleoperaciju

This paper presents the FPGA implementation of sliding mode control algorithm for bilateral teleoperation, such that, the problem of haptic teleoperation is addressed. The presented study improves haptic fidelity by widening the control bandwidth. For wide control bandwidth, short control periods as well as short sampling periods are required that was achieved by the FPGA. The presented FPGA design methodology applies basic optimization methods in order to meet the required control period as well as the required hardware resource consumption. The circuit specification was performed by the high-level programing language LabVIEW using the fixed-point data type. Hence, short design times for producing the FPGA logic circuit can be achieved. The proposed FPGA-based bilateral teleoperation was validated by master-slave experimental device.Ovaj rad opisuje FPGA implementaciju algoritama upravljanja kliznim režimima za bilateralnu teleoperaciju, pri čemu je opisan problem haptičke teleoperacije. Prikazano istraživanje poboljšava dodirnu pouzdanost proširenjem upravljačkog propusnog pojasa. Za široki propusni pojas, potrebni su kratki upravljački periodi i brzo vrijeme uzorkovanja, što je postignuto primjenom FPGA sklopovlja. Prikazana metodologija za projektiranje FPGA sklopovlja koristi osnovne optimizacijske metode s ciljem postizanja potrebnih upravljačkih perioda i zahtijevane fizičke iskorištenosti sklopovlja. Specifikacije sklopovlja su provedene programskim jezikom visoke razine LabVIEW uz korištenje podataka s nepomičnim decimalnim zarezom. Stoga je moguće implementirati traženu logiku na FPGA sklopovlje u kratkom vremenu. Opisana bilateralna teleoperacija temeljena na FPGA slopovlju je testirana na eksperimentalnom postavu s nadre.enim i podre.enim čvorom

Re-branding Abu Dhabi: From oil giant to energy titan

This article presents a case study of Abu Dhabi\u27s \u27energy re-branding\u27 since 2005 when it declared its intention to transform itself from an oil exporter to a total energy giant that also embraces alternative (renewable and nuclear) energy. The first part of the article identifies the benefits of this policy for Abu Dhabi\u27s external diplomacy but argues that the real driver is the emirate\u27s domestic gas shortage and its effects on economic diversification and political legitimacy. The second part of the article discusses the motivations and interactions of local and foreign agents by focusing on the implementation of alternative energy platforms. It therefore provides a rare glimpse of the policy-making process in Abu Dhabi. The final part of the article examines the extent to which energy re-branding may be linked to a process by the government to reiterate, reinterpret and repudiate Emirati identity in order to enhance regime legitimacy in the twenty-first century. © 2012 Macmillan Publishers Ltd

On mean square boundedness of stochastic linear systems with bounded controls

We start by summarizing the state of the art in stabilization of stochastic linear systems with bounded inputs and highlight remaining open problems. We then report two new results concerning mean-square boundedness of a linear system with additive stochastic noise. The first states that, given any nonzero bound on the controls, it is possible to construct a policy with bounded memory requirements that renders a marginally stable stabilizable system mean-square bounded in closed-loop. The second states that it is not possible to ensure mean-square boundedness in closed-loop with a bounded control policy for systems affected by unbounded noise and having at least one eigenvalue outside the unit circle. (C) 2011 Elsevier B.V. All rights reserved

LEFT-VENTRICULAR OUTFLOW TRACT OBSTRUCTION IN ATRIOVENTRICULAR SEPTAL-DEFECTS - A PATHOLOGICAL AND MORPHOMETRIC EVALUATION

Abstract Subaortic stenosis has been described with increasing frequency as an ominous feature of atrioventricular septal defect (AVSD), especially following surgical correction of the anomaly in non-Down's syndrome patients. In order to study the surgical anatomy of the left ventricular outflow tract in this malformation, 48 hearts featuring AVSD were examined. Obstructive lesions were classified into unequivocal forms (class A, 13.5%) and potential ones (class B, 10.8%). In the remaining hearts (class C, 75.7%) no obstruction was noted. In class A, subaortic stenosis was due to exaggeration of the anticipated anomalous arrangement of atrioventricular valve tensor apparatus, to the persistence of a subaortic muscular infundibulum, and to a discrete fibrous diaphragm. A potential for subaortic stenosis is provided by the unwedged position of the aortic valve. The left ventricular outflow tract is transformed into a long, forward-displaced fibromuscular channel. Morphometric analysis showed in AVSD (with both common annulus and separate orifices) a significantly (p less than 0.01) lower inflow/outflow tract ratio, and a significantly (p less than 0.01) lower right ventricular/left ventricular outflow length ratio than normal hearts. These results suggest that AVSD is characterized not only, as commonly stated, by inflow tract shortening, but by outflow tract lengthening as well. On these anatomical grounds, nearly all cases of AVSD could harbor the potential for subaortic stenosis; however, this becomes a real hazard (class B) only when associated with forward displacement of the left anterior papillary muscle, or direct insertion on the ventricular septum of the anterior bridging leaflet, and it may be converted to an actual obstruction by the effects of surgery.(ABSTRACT TRUNCATED AT 250 WORDS