Non-linear control of a bipedal (Three-Linked) Walker using feedback Linearization is a research project for control theory subject in Robotics Master Course in the Higher Institute of Applied Science and Technology.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about modeling electrical and mechanical systems (transnational and rotational) in frequency domain.
Energy-Based Control of Under-Actuated Mechanical Systems - Remotely Driven A...Mostafa Shokrian Zeini
This presentation concerns the energy-based swing-up control for a remotely driven acrobot (RDA) which is a 2-link planar robot with the first link being underactuated and the second link being remotely driven by an actuator mounted at a fixed base through a belt.
Robust Fuzzy Output Feedback Controller for Affine Nonlinear Systems via T–S ...Mostafa Shokrian Zeini
This presentation concerns the design of a robust H_∞ fuzzy output feedback controller for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T–S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H_∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about basic rules of sketching root locus.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about time response of systems derived by inspection of poles and zeros. Stability concepts and steady state errors are taught.
Anti-Synchronization Of Four-Scroll Chaotic Systems Via Sliding Mode Control IJITCA Journal
In this paper, new results are derived for the anti-synchronization of identical Liu-Chen four-scroll chaotic systems (Liu and Chen, 2004) and identical Lü-Chen-Cheng four-scroll chaotic systems (Lü,Chen and Cheng, 2004) by sliding mode control. The stability results derived in this paper for the antisynchronization of identical four-scroll chaotic systems are established using sliding mode control and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve anti-synchronization of the identical four-scroll chaotic systems. Numerical simulations are shown to illustrate and validate the antisynchronization schemes derived in this paper for the identical four-scroll systems
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about modeling electrical and mechanical systems (transnational and rotational) in frequency domain.
Energy-Based Control of Under-Actuated Mechanical Systems - Remotely Driven A...Mostafa Shokrian Zeini
This presentation concerns the energy-based swing-up control for a remotely driven acrobot (RDA) which is a 2-link planar robot with the first link being underactuated and the second link being remotely driven by an actuator mounted at a fixed base through a belt.
Robust Fuzzy Output Feedback Controller for Affine Nonlinear Systems via T–S ...Mostafa Shokrian Zeini
This presentation concerns the design of a robust H_∞ fuzzy output feedback controller for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T–S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H_∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about basic rules of sketching root locus.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about time response of systems derived by inspection of poles and zeros. Stability concepts and steady state errors are taught.
Anti-Synchronization Of Four-Scroll Chaotic Systems Via Sliding Mode Control IJITCA Journal
In this paper, new results are derived for the anti-synchronization of identical Liu-Chen four-scroll chaotic systems (Liu and Chen, 2004) and identical Lü-Chen-Cheng four-scroll chaotic systems (Lü,Chen and Cheng, 2004) by sliding mode control. The stability results derived in this paper for the antisynchronization of identical four-scroll chaotic systems are established using sliding mode control and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve anti-synchronization of the identical four-scroll chaotic systems. Numerical simulations are shown to illustrate and validate the antisynchronization schemes derived in this paper for the identical four-scroll systems
Avionics 738 Adaptive Filtering at Air University PAC Campus by Dr. Bilal A. Siddiqui in Spring 2018. This lecture covers background material for the course.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about time response of systems derived by inspection of poles and zeros. First and second order systems are considered, along with higher order and nonminimum phase systems
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about frequency domain solutions of differential equations and transfer functions.
HYBRID SYNCHRONIZATION OF HYPERCHAOTIC LIU SYSTEMS VIA SLIDING MODE CONTROLijccmsjournal
This paper derives new results for the hybrid synchronization of identical hyperchaotic Liu systems (Liu,
Liu and Zhang, 2008) via sliding mode control. In hybrid synchronization of master and slave systems,
the odd states of the two systems are completely synchronized, while their even states are anti-
synchronized. The stability results derived in this paper for the hybrid synchronization of identical
hyperchaotic Liu systems have been proved using Lyapunov stability theory. Since the Lyapunov
exponents are not required for these calculations, the sliding mode control method is very effective and
convenient to achieve anti- synchronization of the identical hyperchaotic Liu systems. Numerical
simulations are shown to illustrate and validate the hybrid synchronization schemes derived in this paper
for the identical hyperchaotic Liu systems.
SLIDING MODE CONTROLLER DESIGN FOR SYNCHRONIZATION OF SHIMIZU-MORIOKA CHAOTIC...ijistjournal
This paper investigates the global chaos synchronization of identical Shimizhu-Morioka chaotic systems (Shimizu and Morioka, 1980) by sliding mode control. The stability results derived in this paper for the complete synchronization of identical Shimizu-Morioka chaotic systems are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Shimizu-Morioka chaotic systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Shimizu-Morioka systems.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
Avionics 738 Adaptive Filtering at Air University PAC Campus by Dr. Bilal A. Siddiqui in Spring 2018. This lecture deals with introduction to Kalman Filtering. Based n Optimal State Estimation by Dan Simon.
Introduction to physical modelling of low order linear systems. For full slide set and supporting material go to:
http://controleducation.group.shef.ac.uk/OER_index.htm
Avionics 738 Adaptive Filtering at Air University PAC Campus by Dr. Bilal A. Siddiqui in Spring 2018. This lecture covers background material for the course.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about time response of systems derived by inspection of poles and zeros. First and second order systems are considered, along with higher order and nonminimum phase systems
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about frequency domain solutions of differential equations and transfer functions.
HYBRID SYNCHRONIZATION OF HYPERCHAOTIC LIU SYSTEMS VIA SLIDING MODE CONTROLijccmsjournal
This paper derives new results for the hybrid synchronization of identical hyperchaotic Liu systems (Liu,
Liu and Zhang, 2008) via sliding mode control. In hybrid synchronization of master and slave systems,
the odd states of the two systems are completely synchronized, while their even states are anti-
synchronized. The stability results derived in this paper for the hybrid synchronization of identical
hyperchaotic Liu systems have been proved using Lyapunov stability theory. Since the Lyapunov
exponents are not required for these calculations, the sliding mode control method is very effective and
convenient to achieve anti- synchronization of the identical hyperchaotic Liu systems. Numerical
simulations are shown to illustrate and validate the hybrid synchronization schemes derived in this paper
for the identical hyperchaotic Liu systems.
SLIDING MODE CONTROLLER DESIGN FOR SYNCHRONIZATION OF SHIMIZU-MORIOKA CHAOTIC...ijistjournal
This paper investigates the global chaos synchronization of identical Shimizhu-Morioka chaotic systems (Shimizu and Morioka, 1980) by sliding mode control. The stability results derived in this paper for the complete synchronization of identical Shimizu-Morioka chaotic systems are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Shimizu-Morioka chaotic systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Shimizu-Morioka systems.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
Avionics 738 Adaptive Filtering at Air University PAC Campus by Dr. Bilal A. Siddiqui in Spring 2018. This lecture deals with introduction to Kalman Filtering. Based n Optimal State Estimation by Dan Simon.
Introduction to physical modelling of low order linear systems. For full slide set and supporting material go to:
http://controleducation.group.shef.ac.uk/OER_index.htm
HYBRID SYNCHRONIZATION OF HYPERCHAOTIC LIU SYSTEMS VIA SLIDING MODE CONTROLijccmsjournal
This paper derives new results for the hybrid synchronization of identical hyperchaotic Liu systems (Liu, Liu and Zhang, 2008) via sliding mode control. In hybrid synchronization of master and slave systems, the odd states of the two systems are completely synchronized, while their even states are antisynchronized. The stability results derived in this paper for the hybrid synchronization of identical hyperchaotic Liu systems have been proved using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve anti- synchronization of the identical hyperchaotic Liu systems. Numerical simulations are shown to illustrate and validate the hybrid synchronization schemes derived in this paper for the identical hyperchaotic Liu systems.
Radial basis function neural network control for parallel spatial robotTELKOMNIKA JOURNAL
The derivation of motion equations of constrained spatial multibody system is an important problem of dynamics and control of parallel robots. The paper firstly presents an overview of the calculating the torque of the driving stages of the parallel robots using Kronecker product. The main content of this paper is to derive the inverse dynamics controllers based on the radial basis function (RBF) neural network control law for parallel robot manipulators. Finally, numerical simulation of the inverse dynamics controller for a 3-RRR delta robot manipulator is presented as an illustrative example.
The International Journal of Information Technology, Control and Automation (...IJITCA Journal
The International Journal of Information Technology, Control and Automation (IJITCA) is a Quarterly open access peer-reviewed journal that publishes articles which contribute new results in all areas of Information Technology (IT), Control Systems and Automation Engineering. The journal focuses on all technical and practical aspects of IT, Control Systems and Automation with applications in real-world engineering and scientific problems. The goal of this journal is to bring together researchers and practitioners from academia and industry to focus on information technology, control engineering, automation, modeling concepts and establishing new collaborations in these areas.
Authors are invited to contribute to this journal by submitting articles that illustrate research results, projects, surveying works and industrial experiences that describe significant advances in Information Technology, Control Systems and Automation.
The myphotonics project deals with the construction of opto-mechanical components and optical experiment implementation using modular systems such as LEGO®.
The components are low cost and the instructions that originated them are free to use. OpenAdaptonik and myphotonics can work together sharing the same purpose.
Basic Elements of Control System, Open loop and Closed loop systems, Differential
equations and Transfer function, Modeling of Electric systems, Translational and rotational
mechanical systems, Block diagram reduction Techniques, Signal flow graph
ANTI-SYNCHRONIZATION OF HYPERCHAOTIC BAO AND HYPERCHAOTIC XU SYSTEMS VIA ACTI...IJCSEIT Journal
This paper investigates the anti-synchronization of identical hyperchaotic Bao systems (Bao and Liu,
2008), identical hyperchaotic Xu systems (Xu, Cai and Zheng, 2009) and non-identical hyperchaotic Bao
and hyperchaotic Xu systems. Active nonlinear control has been deployed for the anti- synchronization of
the hyperchaotic systems addressed in this paper and the main results have been established using
Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the active
nonlinear control method is very effective and convenient to achieve anti-synchronization of identical and
non-identical hyperchaotic Bao and hyperchaotic Xu systems. Numerical simulations have been provided to
validate and demonstrate the effectiveness of the anti-synchronization results for the hyperchaotic Cao and
hyperchaotic Xu systems.
SLIDING MODE CONTROLLER DESIGN FOR SYNCHRONIZATION OF SHIMIZU-MORIOKA CHAOTIC...ijistjournal
This paper investigates the global chaos synchronization of identical Shimizhu-Morioka chaotic systems (Shimizu and Morioka, 1980) by sliding mode control. The stability results derived in this paper for the complete synchronization of identical Shimizu-Morioka chaotic systems are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Shimizu-Morioka chaotic systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Shimizu-Morioka systems.
An optimal control for complete synchronization of 4D Rabinovich hyperchaotic...TELKOMNIKA JOURNAL
This paper derives new results for the complete synchronization of 4D
identical Rabinovich hyperchaotic systems by using two strategies: active
and nonlinear control. Nonlinear control strategy is considered as one
of the powerful tool for controlling the dynamical systems. The stabilization
results of error dynamics systems are established based on Lyapunov second
method. Control is designed via the relevant variables of drive and response
systems. In comparison with previous strategies, the current controller
(nonlinear control) focuses on convergence speed and the minimum limits
of relevant variables. Better performance is to achieve full synchronization
by designing the control with fewer terms. The proposed control has
certain significance for reducing the time and complexity for strategy
implementation.
Sliding Mode Controller Design for Hybrid Synchronization of Hyperchaotic Che...ijcsa
This paper derives new results for the design of sliding mode controller for the hybrid synchronization of identical hyperchaotic Chen systems (Jia, Dai and Hui, 2010). The synchronizer results derived in this paper for the hybrid synchronization of identical hyperchaotic Chen systems are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve hybrid synchronization of the
identical hyperchaotic Chen systems. Numerical simulations are shown to illustrate and validate the hybrid synchronization schemes derived in this paper for the identical hyperchaotic Chen systems.
ANALYSIS AND SLIDING CONTROLLER DESIGN FOR HYBRID SYNCHRONIZATION OF HYPERCHA...IJCSEA Journal
Hybrid synchronization of chaotic systems is a research problem with a goal to synchronize the states of master and slave chaotic systems in a hybrid manner, namely, their even states are completely synchronized (CS) and odd states are anti-synchronized. This paper deals with the research problem of hybrid synchronization of chaotic systems. First, a detailed analysis is made on the qualitative properties of hyperchaotic Yujun system (2010). Then sliding controller has been derived for the hybrid synchronization of identical hyperchaotic Yujun systems, which is based on a general hybrid result derived in this paper.MATLAB simulations have been shown in detail to illustrate the new results derived for the hybrid synchronization of hyperchaotic Yujun systems. The results are proved using Lyapunov stability theory.
SLIDING MODE CONTROLLER DESIGN FOR GLOBAL CHAOS SYNCHRONIZATION OF COULLET SY...ijistjournal
This paper derives new results for the design of sliding mode controller for the global chaos synchronization of identical Coullet systems (1981). The synchronizer results derived in this paper for the complete chaos synchronization of identical hyperchaotic systems are established using sliding control theory and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Coullet systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Coullet systems.
SLIDING MODE CONTROLLER DESIGN FOR GLOBAL CHAOS SYNCHRONIZATION OF COULLET SY...ijistjournal
This paper derives new results for the design of sliding mode controller for the global chaos synchronization of identical Coullet systems (1981). The synchronizer results derived in this paper for the complete chaos synchronization of identical hyperchaotic systems are established using sliding control theory and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Coullet systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Coullet systems.
Similar to Non-linear control of a bipedal (Three-Linked) Walker using feedback Linearization. (20)
Smart TV Buyer Insights Survey 2024 by 91mobiles.pdf91mobiles
91mobiles recently conducted a Smart TV Buyer Insights Survey in which we asked over 3,000 respondents about the TV they own, aspects they look at on a new TV, and their TV buying preferences.
Accelerate your Kubernetes clusters with Varnish CachingThijs Feryn
A presentation about the usage and availability of Varnish on Kubernetes. This talk explores the capabilities of Varnish caching and shows how to use the Varnish Helm chart to deploy it to Kubernetes.
This presentation was delivered at K8SUG Singapore. See https://feryn.eu/presentations/accelerate-your-kubernetes-clusters-with-varnish-caching-k8sug-singapore-28-2024 for more details.
UiPath Test Automation using UiPath Test Suite series, part 4DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 4. In this session, we will cover Test Manager overview along with SAP heatmap.
The UiPath Test Manager overview with SAP heatmap webinar offers a concise yet comprehensive exploration of the role of a Test Manager within SAP environments, coupled with the utilization of heatmaps for effective testing strategies.
Participants will gain insights into the responsibilities, challenges, and best practices associated with test management in SAP projects. Additionally, the webinar delves into the significance of heatmaps as a visual aid for identifying testing priorities, areas of risk, and resource allocation within SAP landscapes. Through this session, attendees can expect to enhance their understanding of test management principles while learning practical approaches to optimize testing processes in SAP environments using heatmap visualization techniques
What will you get from this session?
1. Insights into SAP testing best practices
2. Heatmap utilization for testing
3. Optimization of testing processes
4. Demo
Topics covered:
Execution from the test manager
Orchestrator execution result
Defect reporting
SAP heatmap example with demo
Speaker:
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
State of ICS and IoT Cyber Threat Landscape Report 2024 previewPrayukth K V
The IoT and OT threat landscape report has been prepared by the Threat Research Team at Sectrio using data from Sectrio, cyber threat intelligence farming facilities spread across over 85 cities around the world. In addition, Sectrio also runs AI-based advanced threat and payload engagement facilities that serve as sinks to attract and engage sophisticated threat actors, and newer malware including new variants and latent threats that are at an earlier stage of development.
The latest edition of the OT/ICS and IoT security Threat Landscape Report 2024 also covers:
State of global ICS asset and network exposure
Sectoral targets and attacks as well as the cost of ransom
Global APT activity, AI usage, actor and tactic profiles, and implications
Rise in volumes of AI-powered cyberattacks
Major cyber events in 2024
Malware and malicious payload trends
Cyberattack types and targets
Vulnerability exploit attempts on CVEs
Attacks on counties – USA
Expansion of bot farms – how, where, and why
In-depth analysis of the cyber threat landscape across North America, South America, Europe, APAC, and the Middle East
Why are attacks on smart factories rising?
Cyber risk predictions
Axis of attacks – Europe
Systemic attacks in the Middle East
Download the full report from here:
https://sectrio.com/resources/ot-threat-landscape-reports/sectrio-releases-ot-ics-and-iot-security-threat-landscape-report-2024/
GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
The Art of the Pitch: WordPress Relationships and SalesLaura Byrne
Clients don’t know what they don’t know. What web solutions are right for them? How does WordPress come into the picture? How do you make sure you understand scope and timeline? What do you do if sometime changes?
All these questions and more will be explored as we talk about matching clients’ needs with what your agency offers without pulling teeth or pulling your hair out. Practical tips, and strategies for successful relationship building that leads to closing the deal.
Transcript: Selling digital books in 2024: Insights from industry leaders - T...BookNet Canada
The publishing industry has been selling digital audiobooks and ebooks for over a decade and has found its groove. What’s changed? What has stayed the same? Where do we go from here? Join a group of leading sales peers from across the industry for a conversation about the lessons learned since the popularization of digital books, best practices, digital book supply chain management, and more.
Link to video recording: https://bnctechforum.ca/sessions/selling-digital-books-in-2024-insights-from-industry-leaders/
Presented by BookNet Canada on May 28, 2024, with support from the Department of Canadian Heritage.
Elevating Tactical DDD Patterns Through Object CalisthenicsDorra BARTAGUIZ
After immersing yourself in the blue book and its red counterpart, attending DDD-focused conferences, and applying tactical patterns, you're left with a crucial question: How do I ensure my design is effective? Tactical patterns within Domain-Driven Design (DDD) serve as guiding principles for creating clear and manageable domain models. However, achieving success with these patterns requires additional guidance. Interestingly, we've observed that a set of constraints initially designed for training purposes remarkably aligns with effective pattern implementation, offering a more ‘mechanical’ approach. Let's explore together how Object Calisthenics can elevate the design of your tactical DDD patterns, offering concrete help for those venturing into DDD for the first time!
UiPath Test Automation using UiPath Test Suite series, part 3DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 3. In this session, we will cover desktop automation along with UI automation.
Topics covered:
UI automation Introduction,
UI automation Sample
Desktop automation flow
Pradeep Chinnala, Senior Consultant Automation Developer @WonderBotz and UiPath MVP
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
JMeter webinar - integration with InfluxDB and GrafanaRTTS
Watch this recorded webinar about real-time monitoring of application performance. See how to integrate Apache JMeter, the open-source leader in performance testing, with InfluxDB, the open-source time-series database, and Grafana, the open-source analytics and visualization application.
In this webinar, we will review the benefits of leveraging InfluxDB and Grafana when executing load tests and demonstrate how these tools are used to visualize performance metrics.
Length: 30 minutes
Session Overview
-------------------------------------------
During this webinar, we will cover the following topics while demonstrating the integrations of JMeter, InfluxDB and Grafana:
- What out-of-the-box solutions are available for real-time monitoring JMeter tests?
- What are the benefits of integrating InfluxDB and Grafana into the load testing stack?
- Which features are provided by Grafana?
- Demonstration of InfluxDB and Grafana using a practice web application
To view the webinar recording, go to:
https://www.rttsweb.com/jmeter-integration-webinar
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
Generating a custom Ruby SDK for your web service or Rails API using Smithyg2nightmarescribd
Have you ever wanted a Ruby client API to communicate with your web service? Smithy is a protocol-agnostic language for defining services and SDKs. Smithy Ruby is an implementation of Smithy that generates a Ruby SDK using a Smithy model. In this talk, we will explore Smithy and Smithy Ruby to learn how to generate custom feature-rich SDKs that can communicate with any web service, such as a Rails JSON API.
2. Overview
▪ Introduction to Non-linear feedback control
▪ Introduction to feedback Linearization
▪ Lie derivatives and Lie groups
▪ Relative degree of a System
▪ Zero dynamics of a System
▪ The Case of study (Three-Linked Walker)
▪ The Model Assumptions
▪ Lagrange Dynamics and Motion Model
▪ The Implementation of the Non-Linear Feedback Control in this kind of
models
▪ Results
▪ Summery
2
3. Nonlinear control
Nonlinear control theory is the area of control theory which deals with
systems that are nonlinear, time-variant, or both. Control theory is an
interdisciplinary branch of engineering and mathematics that is concerned
with the behavior of dynamical systems with inputs, and how to modify the
output by changes in the input using feedback,feed-forward, or signal
filtering. The system to be controlled is called the "plant". One way to make the
output of a system follow a desired reference signal is to compare the output
of the plant to the desired output, and provide feedback to the plant to modify
the output to bring it closer to the desired output.
3
4. Feedback linearization
Feedback linearization is a common approach used in
controlling nonlinear systems. The approach involves coming
up with a transformation of the nonlinear system into an
equivalent linear system through a change of variables and a
suitable control input. Feedback linearization may be applied
to nonlinear systems of the form :
ሶ𝑥 = 𝑓 𝑥 + 𝑔 𝑥 𝑢 ; 𝑦 = ℎ(𝑥)
4
5. Feedback linearization
where x ∈ R is the state vector, u ∈ R is the vector of inputs,
and y ∈ R is the vector of outputs. The goal is to develop a
control input:
𝑢 = 𝛼 𝑥 + 𝛽 𝑥 𝑣
that renders a linear input–output map between the new input
v and the output. An outer-loop control strategy for the
resulting linear control system can then be applied.
5
6. Three-Link Walker
A three-link walker has no knees
and hence suffers from scuffing
and this model does not possess
any stable walking motions without
feedback control.
The three-link walker provides the
simplest example where torso
stabilization is important.
6
θ3
θ1 -θ2
𝑀 𝑇
𝑀 𝐻
m m
𝑙
𝑟
𝑟/2
Parameter Units Value
Torso length,𝒍 m 0.5
Leg length, 𝒓 m 1.0
Torso mass, 𝑴 𝑻 kg 10
Hip mass, 𝑴 𝑯 kg 15
Leg mass, m kg 5
7. Assumptions (Robot and point feet)
▪ comprised of 3 rigid links connected by 2 revolute joints to form a single
open kinematic chain.
▪ each link has nonzero mass and its mass is not distributed
(i.e., each link is modeled as a point mass).
▪ planar, with motion constrained to the sagittal plane.
▪ bipedal, with two symmetric legs connected at a common point
called the hip, and both leg ends are terminated in points.
▪ independently actuated at each of the 2 revolute joints.
▪ unactuated at the point of contact between the stance leg and
ground.
7
8. Assumptions (Links and Joints)
▪ The robot will be modeled as connections of rigid links through revolute
joints, with all links lying in a common plane and the axes of rotation of
the joints being normal to the plane.
▪ each joint is further assumed to be ideal, meaning that the connection is
rigid and frictionless
▪ Finally, links are implicitly assumed to be noninterfering, meaning that,
magically, individual links can assume arbitrary positions and
orientations without contacting one another.
8
9. Assumptions (Walking)
▪ there are alternating phases of single support and impact
▪ during the single support phase, the stance leg end acts as an ideal pivot.
▪ at impact, the swing leg neither slips nor rebounds, while the former
stance leg releases without interaction with the ground.
▪ in each step, the swing leg starts from strictly behind the stance leg and
is placed strictly in front of the stance leg at impact.
▪ walking is from left to right and takes place on a level surface.
9
11. Lagrange Equations (energy equations)
Instead of forces, Lagrangian mechanics uses the energies in the system. The central quantity of
Lagrangian mechanics is the Lagrangian, a function which summarizes the dynamics of the
entire system
Lagrangian for a system of particles can be defined by: 𝑳 = 𝑲 − 𝑽
Where K is the total kinetic energy of the system, equaling the sum Σ of the kinetic energies of the
smaller pieces of the system with respect to some fixed frame. Generally noted as:
𝑲 =
𝟏
𝟐
𝒌=𝟏
𝒏
𝒎𝒗 𝟐
The potential energy of the system reflects the energy of conservative forces (e.g. Newtonian gravity)
its not always the case of Newtonian gravity But in the case of normal ridged body dynamics its noted
as:
𝑽 = 𝑴𝒕𝒐𝒕𝒂𝒍 ∗ 𝒈 ∗ 𝒑 𝒗 𝒄𝒐𝒎
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12. Lagrange Equations (lagrangian)
The Lagrangian is the real-valued function given by the total kinetic energy minus the total
potential energy Lagrangian for a system of particles can be defined by: 𝑳 = 𝑲 − 𝑽
Lagrange’s equation is
𝑑
𝑑𝑡
𝜕𝐿
𝜕 ሶ𝑞
−
𝜕𝐿
𝜕𝑞
= Γ + σ 𝐹𝑒𝑥
where Γ is the vector of generalized torques and forces from the
actuator.
If the kinetic energy is quadratic, that is: 𝐾(𝑞, 𝑞˙) =
1
2
ሶ𝑞′
𝐷(𝑞) ሶ𝑞
then the Lagrange equation results in the second-order differential
equation
𝐷 𝑞 ሷ𝑞 + 𝐶 𝑞, ሶ𝑞 ሶ𝑞 + 𝐺 𝑞 = Γ
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13. Lagrange Equations (Dynamics)
𝐷 𝑞 ሷ𝑞 + 𝐶 𝑞, ሶ𝑞 ሶ𝑞 + 𝐺 𝑞 = Γ
where G(q) =
𝜕𝑉(𝑞)
𝜕𝑞
is the gravitational
𝐷(𝑞) is called the inertia matrix of the system and its generally derived
from the kinetic energy as : 𝐾(𝑞, 𝑞˙) =
1
2
ሶ𝑞′
𝐷(𝑞) ሶ𝑞
where 𝐶 𝑞, ሶ𝑞 ሶ𝑞 = σ𝑖=0
𝑛 1
2
(
𝜕𝐷 𝑘𝑗
𝜕𝑞𝑖
+
𝜕𝐷 𝑘𝑖
𝜕𝑞 𝑗
−
𝜕𝐷 𝑖𝑗
𝜕𝑞 𝑘
) ሶ𝑞𝑖
where 1 ≤ k, j ≤ N and 𝐶 𝑘𝑗 is the k,j entry of the matrix C.
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15. Motion Model repesentaion
The system is from the form ሶ𝑥 = 𝑓 𝑥 + 𝑔 𝑥 ∗ 𝑢
That means that u is linear but the control is not and the state space is
not either .
There exist a second dynamic of the system a (discrete dynamic) when
the leg impact the ground and its :
𝑥+
= ∆ 𝑥 ∗ 𝑥−
Where the 𝑥−
means the state space right before the impact
Where the 𝑥+
means the state space right after the impact
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17. Non-Linear Feedback control
We select h to view theta2 and theta3 the entities that we want to
control and we add to them the desired output because we want to
control them to zero of the output this leads to:
ℎ 𝑥 = 𝑥2 − 𝑥2𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑥3 − 𝑥3𝑑𝑒𝑠𝑖𝑟𝑒𝑑
and we derive y 2 times (until the control terms kick in).
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18. Non-Linear Feedback control
We select h to view theta2 and theta3 the entities that we want to
control and we add to them the desired output because we want to
control them to zero of the output this leads to:
ℎ 𝑥 = 𝑥2 − 𝑥2𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑥3 − 𝑥3𝑑𝑒𝑠𝑖𝑟𝑒𝑑
and we derive y 2 times (until the control terms kick in).
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19. Non-Linear Feedback control
We arrive at
But the new control and derived output system don’t describe the whole
system
If we want to describe the whole system we imply:
And we see that the new system looks like:
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20. Non-Linear Feedback control
We arrive at
And thus the new system can be written like :
ሷ𝑦 = 𝑣
𝑣 describe a linear controller .
To control the new system we impose:
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21. Non-Linear Feedback control
And that transforms u as:
And the old system became a closed loop system:
And the hybrid model of bipedal robot in closed loop control is:
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v
22. Non-Linear Feedback control
We arrive at
This last term has two component ζ1 a dynamic term related to the
control and ζ0 a dynamical system not related to the control and when
we are controlling the y output to zero then this ζ0 term is called zero
dynamics of the system.
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24. Summery
▪ The controls up until now has an infinite amplitude (maybe errors in
the motion model)
▪ Controlling this under-actuated system tells us that there exist a zero
dynamics in the system and it can’t be controlled directly using this
method.
▪ The non-linear feedback controller can control the robot to some
extend.
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25. Refrences
-Feedback Control of Dynamic Bipedal Robot Locomotion book
- NonLinear Control via Input-Output Feedback Linearization of a
Robot Manipulator
Wafa Ghozlane*, Jilani Knani
- Non-linear control Normal Form Slides..
- Nonlinear Control Systems Slides
Ant´onio Pedro Aguiar
pedro@isr.ist.utl.pt
7. Feedback Linearization
IST-DEEC PhD Course
http://users.isr.ist.utl.pt/%7Epedro/NCS2012/
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