Robust tracking control of two-degrees-of-freedom mobile robots

A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of the reference trajectory. This allows accurate positioning at low speeds, close to obstacles. The dynamics of the velocity-controlled mobile robot are considered as perturbed unity transfer from input velocity to actual velocity. It is shown that the tracking controller is robust with respect to these perturbations

Learning feedforward controller for a mobile robot vehicle

This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning feedforward component, containing a single-layer neural network, that generates a control contribution on the basis of the desired trajectory of the vehicle. The neural network uses B-spline basis functions, enabling a computationally fast implementation and fast learning. The resulting control system is able to correct for errors due to parameter mismatches and classes of structural errors in the model used for the controller design. After sufficient learning, an existing static gain controller designed on the basis of an extensive model has been outperformed in terms of tracking accuracy

Rudder roll stabilization for ships

This paper describes the design of an autopilot for rudder roll stabilization for ships. This autopilot uses the rudder not only for course keeping but also for reduction of the roll. The system has a series of properties which make the controller design far from straightforward: the process has only one input (the rudder angle) and two outputs (the heading and the roll angle); the transfer from rudder to roll is non-minimum-phase; because large and high-frequency rudder motions are necessary, the non-linearities of the steering machine cannot be disregarded; the disturbances caused by the waves vary considerably in amplitude and frequency spectrum.\ud \ud In order to solve these problems a new approach to the LQG method has been developed. The control algorithms were tested by means of computer simulations, scale-model experiments and full-scale trials at sea. The results indicate that a rudder roll stabilization system is able to reduce the roll as well as a conventional fin stabilization system, while it requires less investments. Based on the results obtained in this project the Royal Netherlands Navy has decided to implement rudder roll stabilization on a series of ships under construction at this moment

Lateral flow (immuno)assay: its strengths, weaknesses, opportunities and threats. A literature survey

Lateral flow (immuno)assays are currently used for qualitative, semiquantitative and to some extent quantitative monitoring in resource-poor or non-laboratory environments. Applications include tests on pathogens, drugs, hormones and metabolites in biomedical, phytosanitary, veterinary, feed/food and environmental settings. We describe principles of current formats, applications, limitations and perspectives for quantitative monitoring. We illustrate the potentials and limitations of analysis with lateral flow (immuno)assays using a literature survey and a SWOT analysis (acronym for 'strengths, weaknesses, opportunities, threats'). Articles referred to in this survey were searched for on MEDLINE, Scopus and in references of reviewed papers. Search terms included 'immunochromatography', 'sol particle immunoassay', 'lateral flow immunoassay' and 'dipstick assay'

Yang-Yang thermodynamics on an atom chip

We investigate the behavior of a weakly interacting nearly one-dimensional (1D) trapped Bose gas at finite temperature. We perform in situ measurements of spatial density profiles and show that they are very well described by a model based on exact solutions obtained using the Yang-Yang thermodynamic formalism, in a regime where other, approximate theoretical approaches fail. We use Bose-gas focusing [Shvarchuck etal., Phys. Rev. Lett. 89, 270404 (2002)] to probe the axial momentum distribution of the gas, and find good agreement with the in situ results.Comment: extended introduction and conclusions, and minor changes throughout; accepted for publication in Phys. Rev. Let

A Supervisor for Control of Mode-switch Process

Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, and adaptive controller could be used. When the operation point changes often, a large number of parameters would have to be adapted over and over again. This makes application of conventional adaptive control unattractive, which is more suited for processes with slowly changing parameters. Furthermore, continuous adaptation is not always needed or desired. An extension of adaptive control is presented, in which for each operation point the process behaviour can be stored in a memory, retrieved from it and evaluated. These functions are co-ordinated by a ¿supervisor¿. This concept is referred to as a supervisor for control of mode-switch processes. It leads to an adaptive control structure which quickly adjusts the controller parameters based on retrieval of old information, without the need to fully relearn each time. This approach has been tested on experimental set-ups of a flexible beam and of a flexible two-link robot arm, but it is directly applicable to other processes, for instance, in the (petro) chemical industry

Box traps on an atom chip for one-dimensional quantum gases

We present the implementation of tailored trapping potentials for ultracold gases on an atom chip. We realize highly elongated traps with box-like confinement along the long, axial direction combined with conventional harmonic confinement along the two radial directions. The design, fabrication and characterization of the atom chip and the box traps is described. We load ultracold ($\lesssim1 \mu$K) clouds of $^{87}$Rb in a box trap, and demonstrate Bose-gas focusing as a means to characterize these atomic clouds in arbitrarily shaped potentials. Our results show that box-like axial potentials on atom chips are very promising for studies of one-dimensional quantum gases.Comment: 9 pages 4 figure

Probing quantum-mechanical level repulsion in disordered systems by means of time-resolved selectively-excited resonance fluorescence

We argue that the time-resolved spectrum of selectively-excited resonance fluorescence at low temperature provides a tool for probing the quantum-mechanical level repulsion in the Lifshits tail of the electronic density of states in a wide variety of disordered materials. The technique, based on detecting the fast growth of a fluorescence peak that is red-shifted relative to the excitation frequency, is demonstrated explicitly by simulations on linear Frenkel exciton chains.Comment: 4 pages, 4 figures, to appear in Phys. Rev. Let

Light-harvesting in bacteria exploits a critical interplay between transport and trapping dynamics

Light-harvesting bacteria Rhodospirillum Photometricum were recently found to adopt strikingly different architectures depending on illumination conditions. We present analytic and numerical calculations which explain this observation by quantifying a dynamical interplay between excitation transfer kinetics and reaction center cycling. High light-intensity membranes (HLIM) exploit dissipation as a photo-protective mechanism, thereby safeguarding a steady supply of chemical energy, while low light-intensity membranes (LLIM) efficiently process unused illumination intensity by channelling it to open reaction centers. More generally, our analysis elucidates and quantifies the trade-offs in natural network design for solar energy conversion.Comment: 4 pages and 4 figures. Accepted for publication in Physical Review Letters

Short to long-range charge-transfer excitations in the zincbacteriochlorin-bacteriochlorin complex: a Bethe-Salpeter study

We study using the Bethe-Salpeter formalism the excitation energies of the zincbacteriochlorinbacteriochlorin dyad, a paradigmatic photosynthetic complex. In great contrast with standard timedependent density functional theory calculations with (semi)local kernels, charge transfer excitations are correctly located above the intramolecular Q-bands transitions found to be in excellent agreement with experiment. Further, the asymptotic Coulomb behavior towards the true quasiparticle gap for charge transfer excitations at long distance is correctly reproduced, showing that the present scheme allows to study with the same accuracy intramolecular and charge transfer excitations at various spatial range and screening environment without any adjustable parameter.Comment: 5 pages, 2 figures, 1 tabl