摘要 :
Sheila Jasanoff’s Designs on Nature is a masterly work of analysis
of decades of biotechnology debates and policy making in Europe
and the US. The current problem of assimilating knowledge into
public policy-making in the modern ...
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Sheila Jasanoff’s Designs on Nature is a masterly work of analysis
of decades of biotechnology debates and policy making in Europe
and the US. The current problem of assimilating knowledge into
public policy-making in the modern democratic state stems largely
from the fact that socially relevant knowledge often appears too
complex and underdetermined to effectively check the arbitrary use
of political power by policy-makers. Furthermore, political power
has become too diffused, unstable, and elusive to effectively guide
and regulate the production and uses of knowledge. The remark-
able achievement of Jasanoff in this book consists of her uncanny
ability to enter this minefield for scholars and deliver such a precise
and clear description of the enormously complex dynamic interac-
tion of science and politics while providing her readers with a pre-
cious series of insights into the normative and cultural contexts
that help explain this interaction and its outcomes.
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摘要 :
Bilateral control can obtain human motions based on the velocity and force information. Based on the obtained data of human motions, it is possible to reproduce them by position–force hybrid control. The possible applications of ...
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Bilateral control can obtain human motions based on the velocity and force information. Based on the obtained data of human motions, it is possible to reproduce them by position–force hybrid control. The possible applications of the position–force hybrid control can be in the training of experts, rehabilitation, and so on. In the position–force hybrid control, a more adaptive and flexible property is desired since the reproduced motion is strictly affected by the environmental situation in the saved phase. Thus, conventional position–force hybrid control is not sufficient for the training purpose because the reproduced motion is inflexible and its performance is limited. This paper shows a mixed reproduction of physical human operation and data-based motions. In the method, the indexes for human interaction under the automatic reproduction of a saved motion are introduced. The human operationality and the data-based motion reproducibility are stabilized based on frequency filtering. In addition, some comparisons between the conventional method and the proposed method are shown by performance and stability analyses. From these analyses, the effectiveness of the proposed method is confirmed.
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This paper proposes a framework called nonlinear robust internal-loop compensator that enables us to bring nonlinear optimality to robot controllers in a unified and simple way. Using the framework, a controller designed for the ...
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This paper proposes a framework called nonlinear robust internal-loop compensator that enables us to bring nonlinear optimality to robot controllers in a unified and simple way. Using the framework, a controller designed for the nominal plant can achieve additional robustness by simply adding PID-type auxiliary input to the original control law. Robust performance is guaranteed by the nonlinear optimality and robust stability is guaranteed by proving the extended disturbance input-to-state stability. Moreover, the framework preserves the passivity property of the original controller. Finally, the performance bound can be predicted and leads to the gain tuning rules. By virtue of the tuning rules, the performance can be tuned using only a single variable. The proposed method was validated through the simulations and experiments.
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Due to high nonlinearities and time-varying dynamics of today's control systems fuzzy learning controllers find appliance in practice. The present paper proposes a method for the synthesis of the learning fuzzy controllers where a...
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Due to high nonlinearities and time-varying dynamics of today's control systems fuzzy learning controllers find appliance in practice. The present paper proposes a method for the synthesis of the learning fuzzy controllers where an expert knowledge about a process is applied to form a learning mechanism that is used to acquire information for the knowledge base of the main fuzzy controller. According to the proposed method an expert knowledge is used to describe how the controller should learn to control rather than to control the process. The results of experiments on heating system and level/pressure system prove the practical relevance of the design strategy of a learning fuzzy controller.
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The goal of this article is to suggest a framework for viewing control applications that will help the control practitioner understand and articulate the nature of the engineering challenge. The author hopes that this framework wi...
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The goal of this article is to suggest a framework for viewing control applications that will help the control practitioner understand and articulate the nature of the engineering challenge. The author hopes that this framework will provide a useful guide to approaching new control applications while increasing the chances of success. He explores the question in five phases: control strategy, control physics, control architecture, control hardware, and control tuning.
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This study summarizes the most important developments and results found in the specialized research literature on Control of Irrigation Canals in the last ten years. The control of irrigation canals is not an easy task to carry ou...
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This study summarizes the most important developments and results found in the specialized research literature on Control of Irrigation Canals in the last ten years. The control of irrigation canals is not an easy task to carry out without solid background knowledge on the theme. Fortunately, this subject has attracted the attention of many researchers around the world in the last decades.
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摘要 :
Weltumspannende Unternehmensstrukturen mit einem hohen Grad an internen Leistungsverflechtungen auf ubergeordnete Unternehmensziele effektiv und effizient auszurichten, stellt sehr hohe Anspruche an die Fuhrung. Unter dem Eindruck...
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Weltumspannende Unternehmensstrukturen mit einem hohen Grad an internen Leistungsverflechtungen auf ubergeordnete Unternehmensziele effektiv und effizient auszurichten, stellt sehr hohe Anspruche an die Fuhrung. Unter dem Eindruck der fortlaufenden Dynamisierung der Rahmenbedingungen - hier sei der plakative Begriff des "Hyperwettbewerbs" strapaziert - gilt dies im besonderen Masse. In Unternehmenspraxis und Theorie hat sich im vergangenen Vierteljahrhundert das Konzept des Controllings sehr erfolgreich etabliert, welches durch spezifische Koordinationstatigkeiten das Management gezielt unterstutzt. Naturlich mussen auch die Controlling-Konzepte zur Sicherung der Funktionalitat mit dem Wandel der Rahmenbedingungen weiterentwickelt werden,. Nur durch die Schaffung von flexiblen und aktionsorientierten Controllingsensoren und -Strukturen lassen sich die Herausforderungen der Zukunft erfolgreich bestreiten. Im folgenden Beitrag soll dieser Aspekt am Beispiel des Volkswagen-Konzerns beschrieben werden. Ausgehend von der ursprunglich dominierenden Dokumentationsfunktion soll die Entwicklung des Controllings bei VW bis hin zur Rolle des Zukunftsgestalters beschrieben werden und dabei besonders auf heutige und zukunftige Herausforderungen sowie aktuelle Losungsansatze eingegangen werden.
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New likelihood-based stochastic knock controllers have the potential to deliver a significantly improved regulatory response relative to conventional strategies, while also maintaining a rapid transient response, but evaluation st...
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New likelihood-based stochastic knock controllers have the potential to deliver a significantly improved regulatory response relative to conventional strategies, while also maintaining a rapid transient response, but evaluation studies to date have been performed only in simulation. In this paper, an experimental validation of the new strategy is presented. To demonstrate the robustness of the method, the algorithm is implemented on two different engine platforms, using two different knock intensity metrics, and evaluated under different operating conditions. One of these platforms is a five-cylinder variable compression ratio engine, enabling the controller to be tested under different compression ratios, as well as different speed and load conditions. The regulatory and transient performance of the likelihood-based controller is assessed in a back-to-back comparison with a conventional knock controller and it is shown that the new controller is able to operate closer to the knock limit with less variation in control action without increasing the risk of engine damage.
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This article proposes an experimental investigation of a four-storey structure that is connected to a shaking table. Also, the whale optimization algorithm (WOA) is used for the identification of the experimental structure paramet...
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This article proposes an experimental investigation of a four-storey structure that is connected to a shaking table. Also, the whale optimization algorithm (WOA) is used for the identification of the experimental structure parameters such as mass, stiffness and damping. Moreover, this article addresses a numerical study which is a productive approach based on a combination of two well-known and practical controllers, namely optimal-based robust control method and proportional-integral-derivative (PID) controller. The suggested hybrid optimal-based robust and PID controller (HORPID) is used for vibration attenuation of a four-degree-of-freedom smart structure equipped with an active tuned mass damper. By using an optimization process based on the WOA, the HORPID is designed. By taking into consideration four real data of earthquake ground motion, the performance of the HORPID is evaluated. After that, the results obtained from the simulations are compared with the results achieved by robust control. The simulation results show that the proposed HORPID is more effective than the earlier method in decreasing the amplitude of displacement and acceleration of each floor level.
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This brief presents a backstepping controller design for helicopters. The controller objective is for the helicopter to autonomously track predefined position and yaw reference trajectories. The incorporation of nested saturation ...
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This brief presents a backstepping controller design for helicopters. The controller objective is for the helicopter to autonomously track predefined position and yaw reference trajectories. The incorporation of nested saturation feedback functions in the backstepping design preserves the helicopter's motion and power physical constraints. The intermediate control signals related to the attitude dynamics exploit the structural properties of the rotation matrix and are enhanced with terms that guarantee that the helicopter will not overturn while tracking the desired position trajectory. The attitude dynamics are rendered exponentially stable while the translational dynamics are globally asymptotically stable. Numerical simulations illustrate the applicability of the proposed design.
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