Continuous-time norm-constrained Kalman filtering

This paper considers continuous-time state estimation when part of the state estimate or the entire state estimate is norm-constrained. In the former case continuous-time state estimation is considered by posing a constrained optimization problem. The optimization problem can be broken up into two separate optimization problems, one which solves for the optimal observer gain associated with the unconstrained state estimates, while the other solves for the optimal observer gain associated with the constrained state estimates. The optimal constrained state estimate is found by projecting the time derivative of an unconstrained estimate onto the tangent space associated with the norm constraint. The special case where the entire state estimate is norm-constrained is briefly discussed. The utility of the filtering results developed are highlighted through a spacecraft attitude estimation example. Numerical simulation results are included.     

Nonlinear Consensus Algorithms with Uncertain Couplings

Distributed algorithms for synchronization and consensus in multi‐agent networks are considered. The agents are assumed to be linear of arbitrary order, the interaction topology may switch, and the couplings are uncertain, assumed only to satisfy certain quadratic constraints. Using the Kalman‐Yakubovich‐Popov lemma and absolute stability theory techniques, consensus criteria for the networks of this type are obtained. These criteria extend a number of known results for agents with special dynamics and are close in spirit to the celebrated circle criterion for the stability of Lurie systems.     

Inhibition of hepatic cholesterol biosynthesis by chloroquine

Chloroquine is shown to be a potent inhibitor of cholesterol biosynthesis by isolated rat hepatocytes. Half-maximal inhibition of cholesterogenesis occurs at ca. 10μM chloroquine. Chloroquine does not affect fatty acid synthesis by isolated hepatocytes. This suggests that chloroquine acts on the cholesterol biosynthetic pathway beyond the cytosolic acetyl-CoA branchpoint of cholesterol and fatty acid synthesis.     

Dynamic mechanical behaviour of random copolymers of a LC-methacrylate and octyl methacrylate

The dynamic mechanical behaviour of random copolymers of LC monomer-1-(hexyloxycarbonyl)ethyl 4-[4-(methacryloyloxy)benzoyloxy]benzoate (HB) and octyl methacrylate (OMA) was studied in the main transition and flow regions. Even though the aliphatic end groups of the side chain of HB and OMA are roughly the same, the T _g temperature of poly(HB) is ∼ 80 K higher than that of poly(OMA); this fact is due to the presence of the stiff phenyl benzoate mesogenic group in the side chain of HB. With increasing content of OMA in the copolymer the superimposed curves of the storage G′ _p and loss G′′ _p moduli at a constant temperature shift towards shorter frequencies. It has been shown that this shift is mainly due to an increase of the free volume in the copolymers with increasing content of OMA. While HB monomer shows liquid crystalline (LC) properties, its polymer (poly(HB)) and random copolymers with OMA show only isotropic thermal behaviour because no flexible spacer is present in the side chain of HB which would decouple the main chain and mesogenic group motions. This means that neither the homopolymer of HB, nor its copolymers with a flexible comonomer retain the LC properties of the starting LC monomer, HB. Received: 26 September 1996/Revised: 7 November 1996/Accepted: 7 November 1996     

Performance control for interconnection of identical systems: Application to PLL network design

In this paper, the problem of the control law design for interconnected identical systems ensuring the global stability and the global performance properties is under consideration. Inspired by the decentralized control law design methodology using the dissipativity input–output approach, the problem is reduced to the problem of satisfying two conditions: (i) the condition on the interconnection and (ii) the condition on the local subsystem dynamics. Both problems are efficiently solved applying a (quasi‐) convex LMI optimization and standard H_∞ synthesis. The proposed design methodology is applied to the control law design of a synchronous PLL network. Copyright © 2014 John Wiley & Sons, Ltd.     

Dynamic behavior of the discrete‐time double integrator with saturated locally stabilizing linear state feedback laws

The main contribution of this paper is to completely characterize the dynamic behavior of the discrete‐time double integrator with a saturated locally stabilizing linear state feedback law. In continuous‐time setting, any linear state feedback control law that locally stabilizes the double integrator also globally stabilizes the system in the presence of actuator saturation. In discrete‐time setting, the equivalent of the double integrator does not have the same property. In this paper, we completely characterize the global behavior of saturated locally stabilizing linear state feedback laws for the discrete‐time double integrator. Copyright © 2012 John Wiley & Sons, Ltd.     

Creative practices in the design studio culture: collaboration and communication

For the purpose of developing collaborative support in design studio environments, we have carried out ethnographic fieldwork in professional and academic product design studios. Our intention was to understand design practices beyond the productivity point of view and take into account the experiential, inspirational and aesthetical aspects of design practices. Using examples from our fieldwork, we develop our results around three broad themes by which design professionals support communication and collaboration: (1) use of artefacts, (2) use of space and (3) designerly practices. We use the results of our fieldwork for drawing implications for designing technologies for the design studio culture.     

Shaping stable periodic motions of inertia wheel pendulum: theory and experiment

We consider an underactuated two‐link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC‐motor. The goal is to create stable oscillations of the pendulum, which is not directly actuated. We exploit a recently proposed feedback‐control design strategy based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving orbitally exponentially stable oscillatory motions. The main contribution is a step‐by‐step procedure on how to achieve oscillations with pre‐specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

How can I help you? Design principles for task-oriented speech dialog systems in customer service

Organizations are increasingly delegating customer inquiries to speech dialog systems (SDSs) to save personnel resources. However, customers often report frustration when interacting with SDSs due to poorly designed solutions. Despite these issues, design knowledge for SDSs in customer service remains elusive. To address this research gap, we employ the design science approach and devise a design theory for SDSs in customer service. The design theory, including 14 requirements and five design principles, draws on the principles of dialog theory and undergoes validation in three iterations using five hypotheses. A summative evaluation comprising a two-phase experiment with 205 participants yields positive results regarding the user experience of the artifact. This study contributes to design knowledge for SDSs in customer service and supports practitioners striving to implement similar systems in their organizations.

     

Nanowire encapsulation with polymer for electrical isolation and enhanced optical properties

Light management and electrical isolation are essential for the majority of optoelectronic nanowire (NW) devices.Here,we present a cost-effective technique,based on vapor-phase deposition of parylene-C and subsequent annealing,that provides conformal encapsulation,anti-reflective coating,improved optical properties,and electrical insulation for GaAs nanowires.The process presented allows facile encapsulation and insulation that is suitable for any nanowire structure.In particular,the parylene-C encapsulation functions as an efficient antireflection coating for the nanowires,with reflectivity down to ＜1％ in the visible spectrum.Furthermore,the parylene-C coating increases photoluminescence intensity,suggesting improved light guiding to the NWs.Finally,based on this process,a NW LED was fabricated,which showed good diode performance and a clear electroluminescence signal.We believe the process can expand the fabrication possibilities and improve the performance of optoelectronic nanowire devices.