Structural modeling for control design (articulated multibody component representation)

High gain, high frequency flexible responses in gimbaled multibody systems are discussed. Their origin and physical significance are described in terms of detailed mass and stiffness modeling at actuator/sensor interfaces. Guyan Reduction, Generalized Dynamic Reduction, inadequate mass modeling detail, as well as system mode truncation, are shown to suppress the high gain high frequency response and thereby lose system flexibility important for stability and performance predictions. Model validation by modal survey testing is shown to risk similar loss of accuracy. Difficulties caused by high frequency responses in component mode simulations, such as DISCOS, and also linearized system mode simulations, are described, and approaches for handling these difficulties are discussed

Learning for Advanced Motion Control

Iterative Learning Control (ILC) can achieve perfect tracking performance for mechatronic systems. The aim of this paper is to present an ILC design tutorial for industrial mechatronic systems. First, a preliminary analysis reveals the potential performance improvement of ILC prior to its actual implementation. Second, a frequency domain approach is presented, where fast learning is achieved through noncausal model inversion, and safe and robust learning is achieved by employing a contraction mapping theorem in conjunction with nonparametric frequency response functions. The approach is demonstrated on a desktop printer. Finally, a detailed analysis of industrial motion systems leads to several shortcomings that obstruct the widespread implementation of ILC algorithms. An overview of recently developed algorithms, including extensions using machine learning algorithms, is outlined that are aimed to facilitate broad industrial deployment.Comment: 8 pages, 15 figures, IEEE 16th International Workshop on Advanced Motion Control, 202

Pricing Structures in the Deregulated UK Electricity Market

As residential energy markets open to competition, consumers can choose from a range of tariffs offered by different suppliers. We examine the relationship between the fixed charge levied on each consumer, and the variable charge per unit of energy used across all these tariffs. Data are the tariffs offered in April 2002 in the 14 electricity regions of Great Britain by seventeen suppliers, seven of whom operate nationally. Our analysis focuses on the revenue trade-off for the company. We identify the effect of payment method on the relationship between fixed and variable charge. We find significant effects of the distribution and transmission charges which the suppliers pay in each area, as well as the size of the market both by number of customers and area; and confirm that incumbents charge significantly more that entrants. We also find significant differences between the prepayment and credit tariffs

Burkholderia Hep_Hag autotransporter (BuHA) proteins elicit a strong antibody response during experimental glanders but not human melioidosis

Background The bacterial biothreat agents Burkholderia mallei and Burkholderia pseudomallei are the cause of glanders and melioidosis, respectively. Genomic and epidemiological studies have shown that B. mallei is a recently emerged, host restricted clone of B. pseudomallei. Results Using bacteriophage-mediated immunoscreening we identified genes expressed in vivo during experimental equine glanders infection. A family of immunodominant antigens were identified that share protein domain architectures with hemagglutinins and invasins. These have been designated Burkholderia Hep_Hag autotransporter (BuHA) proteins. A total of 110/207 positive clones (53%) of a B. mallei expression library screened with sera from two infected horses belonged to this family. This contrasted with 6/189 positive clones (3%) of a B. pseudomallei expression library screened with serum from 21 patients with culture-proven melioidosis. Conclusion Members of the BuHA proteins are found in other Gram-negative bacteria and have been shown to have important roles related to virulence. Compared with other bacterial species, the genomes of both B. mallei and B. pseudomallei contain a relative abundance of this family of proteins. The domain structures of these proteins suggest that they function as multimeric surface proteins that modulate interactions of the cell with the host and environment. Their effect on the cellular immune response to B. mallei and their potential as diagnostics for glanders requires further study

Enterprise Mashups: A New Approach for Business Solutions

A mashup is a Web application that integrates content from different providers in order to create a new service which is not offered by the content provider. The development of this kind of applications involves activities such as accessing heterogeneous sources, combining data from different data sources and building graphical interfaces. This factor limits non-experienced computer users to develop these applications. However, nowadays there are enterpriseoriented tools that allow non-experienced user for building mashups in order to respond business needs in an easy and rapid way. Due to this, the enterprise mashup approach has been widely adopted by a large number of enterprises. This paper presents an overview of the enterprise mashup approach, as well as a review of four enterprise-oriented tools which provide a set of features that allows non-expertise users developing mashups into an enterprise. Finally, we present the challenges to be addressed by enterprise-oriented mashup tools in order to provide an easier and faster way of developing mashups