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See detailQuadratic Surface Lyapunov Functions in Global Stability Analysis of Saturation Systems
Goncalves, Jorge UL

in Proceedings of the American Control Conference (2001)

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See detailQuadratic Surface Lyapunov Functions in the Analysis of Feedback Systems with Double Integrators and Saturations
Goncalves, Jorge UL

in Proceedings of the 10th IEEE Mediterranean Conference on Control and Automation (2002)

Many systems like servo systems, satellites, harddisks, and CD players, can be modeled as linear systems with a single integrator and a saturation. Many times, such systems are controlled with a PI ... [more ▼]

Many systems like servo systems, satellites, harddisks, and CD players, can be modeled as linear systems with a single integrator and a saturation. Many times, such systems are controlled with a PI controller resulting in a feedback interconnection with a double integrator and a saturation. In this paper, we propose a loop transformation that results in bounded operators so that classical analysis tools like mu􀀀-analysis or IQCs can be applied. In order to show boundedness of all operators, we use quadratic surface Lyapunov functions to efficiently check if a double integrator in feedback with a saturation nonlinearity has L2 􀀀-gain less than gamma > 0 􀀀. We show that for many of such systems, the L2 􀀀-gain is non-conservative in the sense that this is approximately equal to the lower bound obtained by replacing the saturation with a constant gain of . [less ▲]

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See detailQuantifying partial observability in network sensor location problems
Viti, Francesco UL; Rinaldi, Marco; Corman, Francesco

Scientific Conference (2013)

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See detailQuantitative Assignment of Reaction Directionality in a Multicompartmental Human Metabolic Reconstruction
Haraldsdottir, Hulda UL; Thiele, Ines UL; Fleming, Ronan MT UL

in Biophysical Journal (2012), 102(8), 17031711

Reaction directionality is a key constraint in the modeling of genome-scale metabolic networks. We thermodynamically constrained reaction directionality in a multicompartmental genome-scale model of human ... [more ▼]

Reaction directionality is a key constraint in the modeling of genome-scale metabolic networks. We thermodynamically constrained reaction directionality in a multicompartmental genome-scale model of human metabolism, Recon 1, by calculating, in vivo, standard transformed reaction Gibbs energy as a function of compartment-specific pH, electrical potential, and ionic strength. We show that compartmental pH is an important determinant of thermodynamically determined reaction directionality. The effects of pH on transport reaction thermodynamics are only seen to their full extent when metabolites are represented as pseudoisomer groups of multiple protonated species. We accurately predict the irreversibility of 387 reactions, with detailed propagation of uncertainty in input data, and manually curate the literature to resolve conflicting directionality assignments. In at least half of all cases, a prediction of a reversible reaction directionality is due to the paucity of compartment-specific quantitative metabolomic data, with remaining cases due to uncertainty in estimation of standard reaction Gibbs energy. This study points to the pressing need for 1), quantitative metabolomic data, and 2), experimental measurement of thermochemical properties for human metabolites. [less ▲]

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See detailQuasi-dynamic traffic assignment with spatial queueing, control and blocking back
Smith, Mike; Huang, Wei; Viti, Francesco UL et al

in Transportation Research. Part B, Methodological (2019)

This paper introduces a steady-state, fixed (or inelastic) demand equilibrium model with explicit link-exit capacities, explicit bottleneck or queueing delays and explicit bounds on queue storage ... [more ▼]

This paper introduces a steady-state, fixed (or inelastic) demand equilibrium model with explicit link-exit capacities, explicit bottleneck or queueing delays and explicit bounds on queue storage capacities. The model is a quasi-dynamic model. The link model at the heart of this quasi-dynamic equilibrium model is a spatial queueing model, which takes account of the space taken up by queues both when there is no blocking back and also when there is blocking back. The paper shows that if this quasi-dynamic model is utilised then for any feasible demand there is an equilibrium solution, provided (i) queue storage capacities are large or (ii) prices are used to help impose capacity restrictions; the prices either remove queueing delays entirely or just reduce spatial queues sufficiently to ensure that blocking back does not occur at equilibrium. Similar results, but now involving the P0 control policy (introduced in Smith (1979a, 1987)) and two new variations of this policy (i.e., the spatial P0 control policy, and the biased spatial P0 control policy) are obtained. In these results, the control policies allow green-times to vary in response to prices as well as spatial queueing delays. These three policies are also tested on a small simple network. In these tests, the biased spatial version of P0 is much the best in reducing equilibrium delays (on this simple network). The paper further illustrates how the spatial queueing model works on simple networks with different merge models; it is demonstrated that equilibrium may be prevented by certain (fixed ratio) merge models. It is also shown in this case that equilibrium may be imposed on just the controlled area itself by a variety of (merge model, gating strategy) combinations. Opportunities for developing such combined gating and merging control strategies are finally discussed. [less ▲]

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See detailQuasicontinuum methods for planar beam lattices (abstract)
Beex, Lars UL; Kerfriden, Pierre; Heaney, Claire et al

Scientific Conference (2015, July)

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See detailQuizbot: Exploring Formative Feedback with Conversational Interfaces
Vijayakumar, Bharathi UL; Höhn, Sviatlana UL; Schommer, Christoph UL

in Vijayakumar, Bharathi; Höhn, Sviatlana; Schommer, Christoph (Eds.) Proceedings of the (2018)

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See detailRandomised controlled non-inferiority trial of primary care-based facilitated access to an alcohol reduction website: cost-effectiveness analysis
Hunter, Rachael; Wallace, Paul; Struzzo, Pierluigi et al

in BMJ Open (2017), 7(11),

Objectives To evaluate the 12-month costs and quality-adjusted life years (QALYs) gained to the Italian National Health Service of facilitated access to a website for hazardous drinkers compared with a ... [more ▼]

Objectives To evaluate the 12-month costs and quality-adjusted life years (QALYs) gained to the Italian National Health Service of facilitated access to a website for hazardous drinkers compared with a standard face-to-face brief intervention (BI). Design Randomised 1:1 non-inferiority trial. Setting Practices of 58 general practitioners (GPs) in Italy. Participants Of 9080 patients (>18 years old) approached to take part in the trial, 4529 (49·9%) logged on to the website and 3841 (84.8%) undertook online screening for hazardous drinking. 822 (21.4%) screened positive and 763 (19.9%) were recruited to the trial. Interventions Patients were randomised to receive either a face-to-face BI or access via a brochure from their GP to an alcohol reduction website (facilitated access). Primary and secondary outcome measures The primary outcome is the cost per QALY gained of facilitated access compared with face-to-face. A secondary analysis includes total costs and benefits per 100 patients, including number of hazardous drinkers prevented at 12 months. Results The average time required for the face-to-face BI was 8 min (95% CI 7.5 min to 8.6 min). Given the maximum time taken for facilitated access of 5 min, face-to-face is an additional 3 min: equivalent to having time for another GP appointment for every three patients referred to the website. Complete case analysis adjusting for baseline the difference in QALYs for facilitated access is 0.002 QALYs per patient (95% CI −0.007 to 0.011). Conclusions Facilitated access to a website to reduce hazardous drinking costs less than a face-to-face BI given by a GP with no worse outcomes. The lower cost of facilitated access, particularly in regards to investment of time, may facilitate the increase in provision of BIs for hazardous drinking. Trial registration number NCT01638338;Post-results. [less ▲]

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See detailRationalised computational time in fracture simulation: adaptive model reduction and domain decomposition
Goury, Olivier; Kerfriden, Pierre; Margetts, Lee et al

Scientific Conference (2011, June)

Detailed reference viewed: 68 (1 UL)
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See detailRe-Interpretation of Conceptualisation - A Contribution to the Advance of Design Theory
Bender, Bernd; Blessing, Lucienne UL

in Lindemann, Udo (Ed.) Human Behaviour in Design. Individuals, Teams, Tools (2003)

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See detailReachability analysis of continuous time piecewise linear systems
Hamadeh, A. O.; Goncalves, Jorge UL

in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference (2005)

This paper presents a new approach to the reachability problem for a class of hybrid systems called Piecewise Linear Systems (PLS). The principal tool used is the impact map between switching surfaces ... [more ▼]

This paper presents a new approach to the reachability problem for a class of hybrid systems called Piecewise Linear Systems (PLS). The principal tool used is the impact map between switching surfaces. The method consists of specifying a ellipsoidal set on the initial switching surface and finding upper- and lower-bound estimates of the possible reach sets using tools such as the S-procedure to set up linear matrix inequalities, of which numerical solutions are then computed. [less ▲]

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See detailReachability analysis of continuous-time piecewise affine systems
Hamadeh, A. O.; Goncalves, Jorge UL

in Automatica (2008), 44(12), 3189-3194

This paper proposes an algorithm for the characterization of reachable sets of states for continuous-time piecewise affine systems. Given a model of the system and a bounded set of possible initial states ... [more ▼]

This paper proposes an algorithm for the characterization of reachable sets of states for continuous-time piecewise affine systems. Given a model of the system and a bounded set of possible initial states, the algorithm employs an LMI approach to compute both upper and lower bounds on reachable regions. Rather than performing computations in the state-space, this method uses impact maps to find the reachable sets on the switching surfaces of the system. This tool can then be used to deduce safety and performance results about the system. [less ▲]

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See detailA real time hybrid controller for regulating bus operations and reducing stops at signals
Laskaris, Georgios UL; Seredynski, Marcin; Viti, Francesco UL

Scientific Conference (2019, June)

We propose a hybrid controller which consists of holding and a Driver Advisory System (DAS). It combines the objectives of seeking the regularization of operation and the reduction of stop and go actions ... [more ▼]

We propose a hybrid controller which consists of holding and a Driver Advisory System (DAS). It combines the objectives of seeking the regularization of operation and the reduction of stop and go actions at signalized intersections. A simple headway based holding criterion is applied at stops to define the time needed to maintain even spaced headways between buses and additionally a speed recommendation is given to traverse during green indication at the downstream signalized intersection. The controller is tested using simulation for a bus line of the city of Luxembourg, Luxembourg and compared to a benchmark scenario, the single application of bus holding, two advisory systems and different levels of transit signal priority. Results show that there are additional benefits compared to traditional holding in terms of regularity while similar performance to strong transit signal priority is achieved in terms of time spent at traffic lights. [less ▲]

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See detailReal time multiline holding control for networks with shared transit corridor
Laskaris, Georgios UL; Cats, Oded; Jenelius, Erik et al

Scientific Conference (2018, September 05)

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See detailReal-time Error Control for Surgical Simulation
Phuoc Bui, Huu; Tomar, Satyendra; Courtecuisse, Hadrien et al

in IEEE Transactions on Biomedical Engineering (2017)

To present the first real-time a posteriori error-driven adaptive finite element approach for realtime simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational ... [more ▼]

To present the first real-time a posteriori error-driven adaptive finite element approach for realtime simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a frictional needle/tissue interaction model. The problem is solved using finite elements within SOFA. The refinement strategy relies upon a hexahedron-based finite element method, combined with a posteriori error estimation driven local h-refinement, for simulating soft tissue deformation. Results: We control the local and global error level in the mechanical fields (e.g. displacement or stresses) during the simulation. We show the convergence of the algorithm on academic examples, and demonstrate its practical usability on a percutaneous procedure involving needle insertion in a liver. For the latter case, we compare the force displacement curves obtained from the proposed adaptive algorithm with that obtained from a uniform refinement approach. Conclusions: Error control guarantees that a tolerable error level is not exceeded during the simulations. Local mesh refinement accelerates simulations. Significance: Our work provides a first step to discriminate between discretization error and modeling error by providing a robust quantification of discretization error during simulations. [less ▲]

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See detailReal-time error controlled adaptive mesh refinement in surgical simulation: Application to needle insertion simulation
Bui, Huu Phuoc; Tomar, Satyendra UL; Courtecuisse, Hadrien et al

in IEEE Transactions on Biomedical Engineering (n.d.)

This paper presents the first real-time discretisation-error-driven adaptive finite element approach for corotational elasticity problems involving strain localisation. We propose a hexahedron-based ... [more ▼]

This paper presents the first real-time discretisation-error-driven adaptive finite element approach for corotational elasticity problems involving strain localisation. We propose a hexahedron-based finite element method combined with local oct-tree $h$-refinement, driven by a posteriori error estimation, for simulating soft tissue deformation. This enables to control the local error and global error level in the mechanical fields during the simulation. The local error level is used to refine the mesh only where it is needed, while maintaining a coarser mesh elsewhere. We investigate the convergence of the algorithm on academic examples, and demonstrate its practical usability on a percutaneous procedure involving needle insertion in a liver. For the latter case, we compare the force displacement curves obtained from the proposed adaptive algorithm with that obtained from a uniform refinement approach. [less ▲]

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See detailReal-time Fault Diagnosis for Large-Scale Nonlinear Power Networks
Pan, Wei UL; Yuan, Ye; Sandberg, Henrik et al

in The proceedings of the IEEE 52nd Annual Conference on Decision and Control (2013)

In this paper, automatic fault diagnosis in large scale power networks described by second-order nonlinear swing equations is studied. This work focuses on a class of faults that occur in the transmission ... [more ▼]

In this paper, automatic fault diagnosis in large scale power networks described by second-order nonlinear swing equations is studied. This work focuses on a class of faults that occur in the transmission lines. Transmission line protection is an important issue in power system engineering because a large portion of power system faults is occurring in transmission lines. This paper presents a novel technique to detect, isolate and identify the faults on transmissions using only a small number of observations. We formulate the problem of fault diagnosis of nonlinear power network into a compressive sensing framework and derive an optimisation-based formulation of the fault identification problem. An iterative reweighted ℓ1-minimisation algorithm is finally derived to solve the detection problem efficiently. Under the proposed framework, a real-time fault monitoring scheme can be built using only measurements of phase angles of nonlinear power networks. [less ▲]

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See detailReal-time graph-based SLAM in unknown environments using a small UAV
Annaiyan, Arun UL; Olivares Mendez, Miguel Angel UL; Voos, Holger UL

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS); Miami 13-16 June 2017 (2017)

Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection ... [more ▼]

Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection for online mapping of unknown outdoor environments using a small UAV. Here, we used an onboard front facing stereo camera as the primary sensor. The data extracted by the cameras are used by the graph-based slam algorithm to estimate the position and create the graph-nodes and construct the map. To avoid multiple detections of one object as different objects and to identify re-visited locations, a loop closure detection is applied with optimization algorithm using the g2o toolbox to minimize the error. Furthermore, 3D occupancy map is used to represent the environment. This technique is used to save memory and computational time for the online processing. Real experiments are conducted in outdoor cluttered and open field environments.The experiment results show that our presented approach works under real time constraints, with an average time to process the nodes of the 3D map is 17.79ms. [less ▲]

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See detailReal-time Model Predictive Control for Aerial Manipulation
Dentler, Jan Eric UL

Doctoral thesis (2018)

The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future keys in these domains are the ... [more ▼]

The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future keys in these domains are the abilities to autonomously interact with the environment and with other robotic systems. This thesis is providing control engineering solutions to contribute to these key capabilities. The first step of this thesis is to develop an understanding of the dynamic behavior of UAVs. For this purpose, dynamic and kinematic models are presented to describe a UAV's motion. This includes a kinematic model which is suitable for off-the-shelf UAVs and combines full 360° heading operation with a low computational complexity. The presented models are subsequently used to develop a nonlinear model predictive control NMPC strategy. In this context, the performance of several NMPC solvers and inequality constraint handling techniques is evaluated. The real-time capability and NMPC performance are validated with real AR.Drone 2.0 and DJI M100 quadrotors. This includes collision avoidance and advanced tracking scenarios. The design work-flow for the related control objectives and constraints is presented accordingly. As a next step, this UAV NMPC strategy is extended for a UAV with attached robotic arm. For this purpose, the forward kinematics of the robotic arm are developed and combined with the kinematic model of the UAV. The resulting NMPC strategy is validated in a grasping scenario with a real aerial manipulator. The final step of this thesis is the NMPC of cooperating UAVs. The computational complexity of such scenarios conflicts directly with the fast UAV dynamics. In addition, control objectives and system topologies can dynamically change. To address these challenges, this thesis presents the DENMPC software framework. DENMPC provides a computationally efficient central NMPC strategy that allows changing the control scenario at runtime. This is finally stated in the control of a real cooperative aerial manipulation scenario. [less ▲]

Detailed reference viewed: 312 (27 UL)