Decision-making in a fuzzy environment

Decision making where goals or constraints are not sharply defined boundaries and fuzzy using dynamic programmin

Estimation of internal source distributions using external field measurements in radiative transfer

Intensity of emergent radiation for finite homogeneous slab which absorbs radiation and scatters it isotropicall

Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles

A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonistic bi-articular muscles. Given the input redundancy naturally occurring among multiple muscle groups, the force direction at the pedal is explicitly determined as a means to improve the efficiency of cycling. A model of a stationary cycle and rider is developed as a closed-chain mechanism. A strategy is then developed to switch between muscle groups for improved efficiency based on the force direction of each muscle group. Stability of the developed controller is analyzed through Lyapunov-based methods.Comment: 8 pages, 4 figures, submitted to ACC201

Numerical estimation of derivatives with an application to radiative transfer in spherical shells

Numerical estimation of derivatives with application to radiative transfer in spherical shell

Stationary Cycling Induced by Switched Functional Electrical Stimulation Control

Functional electrical stimulation (FES) is used to activate the dysfunctional lower limb muscles of individuals with neuromuscular disorders to produce cycling as a means of exercise and rehabilitation. However, FES-cycling is still metabolically inefficient and yields low power output at the cycle crank compared to able-bodied cycling. Previous literature suggests that these problems are symptomatic of poor muscle control and non-physiological muscle fiber recruitment. The latter is a known problem with FES in general, and the former motivates investigation of better control methods for FES-cycling.In this paper, a stimulation pattern for quadriceps femoris-only FES-cycling is derived based on the effectiveness of knee joint torque in producing forward pedaling. In addition, a switched sliding-mode controller is designed for the uncertain, nonlinear cycle-rider system with autonomous state-dependent switching. The switched controller yields ultimately bounded tracking of a desired trajectory in the presence of an unknown, time-varying, bounded disturbance, provided a reverse dwell-time condition is satisfied by appropriate choice of the control gains and a sufficient desired cadence. Stability is derived through Lyapunov methods for switched systems, and experimental results demonstrate the performance of the switched control system under typical cycling conditions.Comment: 8 pages, 3 figures, submitted to ACC 201

Invariant imbedding and perturbation techniques applied to diffuse reflection from spherical shells

Invariant imbedding and perturbation techniques applied to diffuse reflection from spherical shell

The invariant imbedding equation for the dissipation function of a homogeneous finite slab

Differential-integral equation for dissipation function and derivation of conservation relationship connecting reflection, transmission and dissipation functions of finite sla

Gigantic transmission band edge resonance in periodic stacks of anisotropic layers

We consider Fabry-Perot cavity resonance in periodic stacks of anisotropic layers with misaligned in-plane anisotropy at the frequency close to a photonic band edge. We show that in-plane dielectric anisotropy can result in a dramatic increase in field intensity and group delay associated with the transmission resonance. The field enhancement appears to be proportional to forth degree of the number N of layers in the stack. By contrast, in common periodic stacks of isotropic layers, those effects are much weaker and proportional to N^2. Thus, the anisotropy allows to drastically reduce the size of the resonance cavity with similar performance. The key characteristic of the periodic arrays with the gigantic transmission resonance is that the dispersion curve omega(k)at the photonic band edge has the degenerate form Delta(omega) ~ Delta(k)^4, rather than the regular form Delta(omega) ~ Delta(k)^2. This can be realized in specially arranged stacks of misaligned anisotropic layers. The degenerate band edge cavity resonance with similar outstanding properties can also be realized in a waveguide environment, as well as in a linear array of coupled multimode resonators, provided that certain symmetry conditions are in place.Comment: To be submitted to Phys. Re

Path integrals and symmetry breaking for optimal control theory

This paper considers linear-quadratic control of a non-linear dynamical system subject to arbitrary cost. I show that for this class of stochastic control problems the non-linear Hamilton-Jacobi-Bellman equation can be transformed into a linear equation. The transformation is similar to the transformation used to relate the classical Hamilton-Jacobi equation to the Schr\"odinger equation. As a result of the linearity, the usual backward computation can be replaced by a forward diffusion process, that can be computed by stochastic integration or by the evaluation of a path integral. It is shown, how in the deterministic limit the PMP formalism is recovered. The significance of the path integral approach is that it forms the basis for a number of efficient computational methods, such as MC sampling, the Laplace approximation and the variational approximation. We show the effectiveness of the first two methods in number of examples. Examples are given that show the qualitative difference between stochastic and deterministic control and the occurrence of symmetry breaking as a function of the noise.Comment: 21 pages, 6 figures, submitted to JSTA

Analytic calculation of energies and wave functions of the quartic and pure quartic oscillators

Ground state energies and wave functions of quartic and pure quartic oscillators are calculated by first casting the Schr\"{o}dinger equation into a nonlinear Riccati form and then solving that nonlinear equation analytically in the first iteration of the quasilinearization method (QLM). In the QLM the nonlinear differential equation is solved by approximating the nonlinear terms by a sequence of linear expressions. The QLM is iterative but not perturbative and gives stable solutions to nonlinear problems without depending on the existence of a smallness parameter. Our explicit analytic results are then compared with exact numerical and also with WKB solutions and it is found that our ground state wave functions, using a range of small to large coupling constants, yield a precision of between 0.1 and 1 percent and are more accurate than WKB solutions by two to three orders of magnitude. In addition, our QLM wave functions are devoid of unphysical turning point singularities and thus allow one to make analytical estimates of how variation of the oscillator parameters affects physical systems that can be described by the quartic and pure quartic oscillators.Comment: 8 pages, 12 figures, 1 tabl