Extremum Seeking With Enhanced Convergence Speed for Optimization of Time-Varying Steady-State Behavior of Industrial Motion Stages

Recently, an extremum-seeking control (ESC) approach has been developed for optimization of generically time-varying steady-state responses of nonlinear systems. A generic filter structure was introduced, the so-called dynamic cost function, which has been instrumental in facilitating the use of ESC in the more generic, time-varying context. However, the dynamic cost function must operate sufficiently slow compared to the time-varying nature of the system responses, thereby compromising the convergence speed of the ESC scheme. In this work, a modified ESC approach is proposed that incorporates explicit knowledge about the user-defined dynamic cost function, able to enhance the convergence speed of the ESC scheme. Moreover, we provide a stability analysis for this extended approach. The main contribution of this work is the experimental demonstration of both ESC approaches for the performance optimal tuning of a variable-gain control (VGC) strategy employed on a high-accuracy industrial motion stage setup, exhibiting generically time-varying steady-state responses. VGC is able to enhance the system performance by balancing the typical linear control tradeoff between low-frequency disturbance suppression properties and sensitivity to high-frequency disturbances in a more desirable manner. We experimentally show that, for the unknown disturbance situation at hand, the variable-gain controller can be automatically tuned using both ESC approaches to achieve the optimal system performance. In addition, enhanced convergence speed with the modified ESC approach is evidenced experimentally.acceptedVersio

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.Wave-based control (WBC) is a technique for motion control of under-actuated flexible sys-tems. It envisages actuator motion as launching a motion wave into the system, while simulta-neously absorbing any wave returning from the system. For rest-to-rest motion the net launch displacement is set at half the target displacement. In absorbing the returning wave and vibra-tions, WBC moves the system the remaining distance to the target, with zero steady-state error. The focus of this paper is on very small residual vibrations around the target position which can endure for a long time after arrival at target. This issue was discovered through a recent devel-opment within WBC context on controlling complex two-dimensional, mass-spring, beam-like arrays. To date their existence has been unidentified. This paper investigates and interprets the nature of these vibrations, explains and identifies them based on wave ideas, and finally offers a new wave-based approach to mitigate or suppress them. It also discusses their implication, not just for WBC but for the general problem of control of flexible systems

The Lysosome and Intracellular Signalling.

In addition to being the terminal degradative compartment of the cell's endocytic and autophagic pathways, the lysosome is a multifunctional signalling hub integrating the cell's response to nutrient status and growth factor/hormone signalling. The cytosolic surface of the limiting membrane of the lysosome is the site of activation of the multiprotein complex mammalian target of rapamycin complex 1 (mTORC1), which phosphorylates numerous cell growth-related substrates, including transcription factor EB (TFEB). Under conditions in which mTORC1 is inhibited including starvation, TFEB becomes dephosphorylated and translocates to the nucleus where it functions as a master regulator of lysosome biogenesis. The signalling role of lysosomes is not limited to this pathway. They act as an intracellular Ca2+ store, which can release Ca2+ into the cytosol for both local effects on membrane fusion and pleiotropic effects within the cell. The relationship and crosstalk between the lysosomal and endoplasmic reticulum (ER) Ca2+ stores play a role in shaping intracellular Ca2+ signalling. Lysosomes also perform other signalling functions, which are discussed. Current views of the lysosomal compartment recognize its dynamic nature. It includes endolysosomes, autolysosome and storage lysosomes that are constantly engaged in fusion/fission events and lysosome regeneration. How signalling is affected by individual lysosomal organelles being at different stages of these processes and/or at different sites within the cell is poorly understood, but is discussed

Groei van ongelijkjarige mengingen van grove den en berk op arme zandgronden; resultaten van metingen in 22 opstanden op de Veluwe en de Sallandse Heuvelrug

Het voorkomen en de groei van berk in ongelijkjarige mengingen van grove den en berk is bepaald op basis van opstandgemiddelden. Er is geen duidelijk verband tussen het voorkomen en de groei van berk en de schermdichtheid van grove den. Actuele groeigegevens zijn noodzakelijk voor een nadere detaillering. Berk kan onder een breed scala van condities voorkomen; sturen van berk is dan ook moeilijk. De onderzochte mengingen vertonen een hogere productiviteit dan monoculturen. Door de vele mogelijke interacties in gemengde bossen is het gebruik van modellen in het onderzoek noodzakelijk. Gerichte studies naar de actuele groei in relatie tot omgevingsfactoren zijn hiervoor onontbeerlijk

Norm Optimal Cross-Coupled Iterative Learning Control

Abstract-In this paper, we focus on improving contour tracking in precision motion control (PMC

Groei van ongelijkjarige mengingen van grove den en berk op arme zandgronden; resultaten van metingen in 22 opstanden op de Veluwe en de Sallandse Heuvelrug

Het voorkomen en de groei van berk in ongelijkjarige mengingen van grove den en berk is bepaald op basis van opstandgemiddelden. Er is geen duidelijk verband tussen het voorkomen en de groei van berk en de schermdichtheid van grove den. Actuele groeigegevens zijn noodzakelijk voor een nadere detaillering. Berk kan onder een breed scala van condities voorkomen; sturen van berk is dan ook moeilijk. De onderzochte mengingen vertonen een hogere productiviteit dan monoculturen. Door de vele mogelijke interacties in gemengde bossen is het gebruik van modellen in het onderzoek noodzakelijk. Gerichte studies naar de actuele groei in relatie tot omgevingsfactoren zijn hiervoor onontbeerlijk