H∞ Loop shaping control for PLL-based mechanical resonance tracking in NEMS resonant mass sensors

International audienceAbstract--A simple dynamic detection of the resonance frequency shift in NEMS resonant mass sensors is described. This is done without the use of an external frequency sweep signal nor a frequency counter limiting the dynamic variation detection. Neither an amplitude control nor a phase switcher is required for maintaining the resonant oscillations. The sensor is driven directly by the VCO's output for which the control signal is calculated by a robust H∞ controller using loopshaping method. Only the sensor and the VCO's signals signs are detected and compared so that the controller regulates the phase difference between them, maintaining it at π / 2 which occurs on resonance frequency. The measurement issue is transformed to a novel control problem that rejects the disturbance described by the resonance frequency shift, attenuates the phase noise and guarantees good stability margins

Microbeam dynamic shaping by closed-loop electrostatic actuation using modal control

International audienceA closed-loop control approach for the dynamic shaping of a microbeam by electrostatic actuation is described. Starting from a desired displacements reference vector of N small segments of the beam (representing the approximation of the continuous case), n controllers (n is the number of considered modes) output the stresses that must be distributed throughout the beam, on the N actuators. Because this reference may vary with time, the controllers are designed so that they accomplish good response dynamics, as well as performance and robustness specifications. The innovation in this method is that we control the dynamic coefficients associated to the modes of the microbeam and not directly the physical displacements in each small segment, which reduces the number of correctors from N to the number of n modes to control

Analyse du couplage main-système haptique par identification de paramètres

International audienceL'analyse du couplage main-système haptique comme un seul système non séparable est une question importante pour le développement de dispositifs de haute qualité et leur utilisation dans des tâches dynamiques où la modalité haptique joue un rôle important. En particulier, nous nous intéressons aux gestes ou tâches périodiques ainsi qu'aux modèles d'interaction capables de les générer.Nous proposons l'équation de Van der Pol comme une première approche pour la modélisation du couplage main-système haptique. Nous analysons ce système et nous identifions ses paramètres à partir des données de position acquises lors des simulations sous MATLAB et sur la plateforme temps réel ERGOS. Dans ce document, nous présentons des résultats préliminaires. L'identification des paramètres du système couplé devrait nous permettre d'améliorer les performances des dispositifs haptiques

A robust control method for electrostatic microbeam dynamic shaping with capacitive detection

International audienceA robust closed-loop control and observation methodology for an electrostatic dynamic shaping of a microbeam using N small separate electrodes is described. After decomposing the displacements vector on the n eigenmodes using the modal analysis, n controllers are designed to control the dynamic coefficients of each mode and thus to deliver the stresses that must be distributed throughout the beam. In previous works, we considered direct access to non noisy displacement measurements. In this paper, we investigate the capacitive measurement of the local displacements done by each small electrode, which gives a noisy readout. Robust control methodology applied on extended standard model permits to design n observers associated to n controllers and guarantees precise shape tracking, free from noise and robust against parameters incertitud

Using Periodic Systems to Model Hand-Haptic Interface Coupling

International audienceThe analysis of hand-haptic interface coupling as a whole system is an important question for the development of high quality haptic devices and their use in dynamical tasks where the haptic modality plays an important role. In this paper, we propose a periodic system, the Van der Pol equation, as a first approach for modeling hand-haptic interface coupling. In particular, we are interested in periodical gestures or tasks and the interaction models able to generate them. We analyze this system and we identify its parameters from the data position acquired during simulation. In this paper we present some preliminary results.The identification of this parameters should lead as to improve haptic systems performances

Visual-vestibular compensation in balance recovery: A transfer function model-based analysis

International audienc

Управление затратами предприятия

Объектом исследования является УМП "Комбинат спецобслуживания". Целью работы является разработка мероприятий по совершенствованию системы управления затратами УМП "Комбинат спецослуживания". В процессе исследования проводился анализ деятельности предприятия и разработка мероприятий по совершенствованию системы управления затратами предприятия. Результаты анализа деятельности предприятия и разработанные мероприятия по совершенствованию системы управления затратами УМП "Комбинат спецобслуживания" могут быть использованы для разработки новой методологии управления затратами и внедрены в систему управления затратами на предприятии на примере метода АВС. Проведен анализ деятельности предприятия, а также разработаны новые системы управления затратами предприятия на примере метода АВС.The object of the study is the UMP "Combinat specobsluzhvaniya". The purpose of the work is to develop measures to improve the cost management system of the " Combinat specobsluzhvaniya ". In the process of the study, an analysis of the enterprise's activities and development of measures to improve the enterprise cost management system was conducted. The results of the enterprise activity analysis and the developed measures to improve the cost management system of the " Combinat specobsluzhvaniya " can be used to develop a new methodology for cost management and implemented in the enterprise cost management system using the ABC method as an example. The enterprise activity analysis is carried out, and new enterprise cost management systems are developed using the ABC method as an example

Micro, Nanosystems and Systems on Chips: Modeling, Control, and Estimation

320 pagesInternational audienceMicro- and nanosystems represent an area of major scientific and technological opportunity and challenge with actual and potential applications in almost all fields of human activity. The aim of this book is to present the central concepts of dynamic control systems (modeling, estimation, obesrvation, identification, feedback control) and to show how they can be adapted and applied to the development of novel very small-scale systems and theira ssociated human interfaces. The application fields presented here come from micro and nano-robotics, biochips, near-field microscopy (AFM and STM) and nanosystems networks. Alina Voda has assembled contributions from leading experts at top research universities to produce the first overview of the major role that control systems science will play in the development of micro- and nano-science and technologies. Alina Voda is Associate Professor of Control Systems at Grenoble University in France. She is a well-known expert in control applications of different dynamical systems and their applications in industry

Observer-based parameter estimation in Liénard systems

International audienceA general excitation condition is provided for parameter identification in so-called Liénard second order nonlinear systems. This condition allows a quite simple observer design for asymptotic state and parameter estimation. Such a condition has already been very recently shown to be satisfied for Van der Pol ocillators, and is further checked here for nonlinear pendulum equations, for which illustrative simulation results are provided