Gondhalekar R.,Frontier Engineering |
Jones C.N.,ETH Zurich
Automatica | Year: 2011
State-feedback model predictive control (MPC) of discrete-time linear periodic systems with time-dependent state and input dimensions is considered. The states and inputs are subject to periodically time-dependent, hard, convex, polyhedral constraints. First, periodic controlled and positively invariant sets are characterized, and a method to determine the maximum periodic controlled and positively invariant sets is derived. The proposed periodic controlled invariant sets are then employed in the design of least-restrictive strongly feasible reference-tracking MPC problems. The proposed periodic positively invariant sets are employed in combination with well-known results on optimal unconstrained periodic linear-quadratic regulation (LQR) to yield constrained periodic LQR control laws that are stabilizing and optimal. One motivation for systems with time-dependent dimensions is efficient control law synthesis for discrete-time systems with asynchronous inputs, for which a novel modeling framework resulting in low dimensional models is proposed. The presented methods are applied to a multirate nano-positioning system. © 2010 Elsevier Ltd. All rights reserved.
Gondhalekar R.,Frontier Engineering |
Imurab J.-I.,Tokyo Institute of Technology
Automatica | Year: 2010
Move-blocking lowers the computational complexity of model predictive control (MPC) problems by reducing the number of optimization variables. However, this may render states close to constraints infeasible. Thus move-blocking generally results in control laws that are restrictive; the controller domains may be unacceptably and unnecessarily small. Furthermore, different move-blocking strategies may result in controller domains of different sizes, all other factors being equal. In this paper an approach is proposed to design move-blocking MPC control laws that are least-restrictive, i.e. the controller domain is equal to the maximum controlled invariant set. The domains of different move-blocking controllers are then by design equal to each other. This allows comparison of differing move-blocking strategies based on cost performance only, without needing to consider domain size also. Thus this paper is a step towards being able to derive optimal move-blocking MPC control laws. © 2010 Elsevier Ltd. All rights reserved.
Vijayaprakash K.M.,Frontier Engineering |
Sridharan N.,University of Madras
Journal of Pharmacology and Pharmacotherapeutics | Year: 2013
Till date, NYU MASCIS (New York University, Multicenter Animal Spinal Cord Injury Study) impactor and Ohio State University electromagnetic spinal cord injury device impactor were under use for simulating an experimental spinal cord injury in rodents; functional recovery being assessed through Basso, Beattie and Bresnahan (BBB) scoring method which is an open field behavior based scoring system. Although, the cited impactors are state-of-Art devices, affordability to scientists in developing and under developed countries is questionable. Since the acquisition of these impact devices are expensive, we designed a customized impact device based on the requirement, satisfying all the parameters to withstand a standard animal model for contusion type of spinal cord injury at the thoracic level without compromising the lesion reproducibility. Here, a spinal cord contusion is created using a blunt-force impactor in male Wistar rats. Our method gave consistent lesion effects as evaluated by behavior scoring methods. All the animals showed equal degree of performance in tests like narrow beam, inclined plane and horizontal ladder and in BBB scores (open field locomotor test). The aim of presenting our experience is to reinstate the fact that lack of affordability to get sophisticated instrumentation need not be a hurdle in the pursuit of science.
Chen Y.,Frontier Engineering |
Kakuchi T.,Changchun University
Chemical Record | Year: 2016
In contrast to the conventional group transfer polymerization (GTP) using a catalyst of either an anionic nucleophile or a transition-metal compound, the organocatalyzed GTP has to a great extent improved the living characteristics of the polymerization from the viewpoints of synthesizing structurally well-defined acrylic polymers and constructing defect-free polymer architectures. In this article, we describe the organocatalyzed GTP from a relatively personal perspective to provide our colleagues with a perspicuous and systematic overview on its recent progress as well as a reply to the curiosity of how excellently the organocatalysts have performed in this field. The stated perspectives of this review mainly cover five aspects, in terms of the assessment of the livingness of the polymerization, limit and scope of applicable monomers, mechanistic studies, control of the polymer structure, and a new GTP methodology involving the use of tris(pentafluorophenyl)borane and hydrosilane. © 2016 The Chemical Society of Japan & Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.
Agency: Department of Defense | Branch: Missile Defense Agency | Program: SBIR | Phase: Phase I | Award Amount: 99.77K | Year: 2010
This proposal provides an innovative solution to reduce the size and mass of a precision regulator used on typical liquid DACS systems. Novel friction-reducing Belleville washer designs and a secondary spring unit keep the regulator compact, simple and low weight while maintaining a +/-5% regulated pressure outlet tolerance. The simple temperature-compensating device keeps the size small and helps increase regulation precision. Low seat stress materials will keep the lockup pressure increase low.