Plenária I - Wearable Robotics in Rehabilitation and Assistance: Past, Present and Future Directions
Segunda-feira (26/10) das 11:05 às 12:05 - Auditório Central
Prof. Pons obtained his PhD in Physics, Universidad Complutense Madrid, in 1997. In 1998 he was appointed as Postdoctoral Fellow at the Institute for Industrial Automation of the Spanish Council for Scientific Research, CSIC. In 1999 he was awarded a position as Tenured Scientist, in 2007 a position as Research Scientist and eventually in 2008 a position as Full Professor, all of them at the same institution. Prof. J.L. Pons is with CSIC since 1993 and has actively participated in a number of National, European and International RTD projects in the area of rehabilitation robotics, new actuators and control technologies. In particular, he was co-ordinator of EU GAIT, EU MANUS and EU ESBiRRo projects. In addition he is currently co-ordinating of several national scope and European projects, e.g. EU NeuroTREMOR, Biomot, H2R and HYPER.
Plenária II - Robust design of an electromechanical system with an embarked hammer and impact phenomena.
Segunda-feira (26/10) das 15:20 às 16:20 - Auditório Central
It is presented the robust design with an uncertain model of a vibro-impact electromechanical system. The electromechanical system is composed of a cart, whose motion is excited by a DC motor (motor with continuous current), and an embarked hammer into this cart. The hammer is connected to the cart by a nonlinear spring component and by a linear damper, so that a relative motion exists between them. A linear flexible barrier, placed outside of the cart, constrains the hammer motion. Due to the relative motion between the hammer and the barrier, impacts can occur between these two elements. The developed model of the system takes into account the influence of the DC motor in the dynamic behavior of the system. Some system parameters are uncertain, such as the stiffness and the damping coefficients of the flexible barrier. It is done an optimization of this electromechanical system with respect to design parameters in order to maximize the impact power under the constraint that the electric power consumed by the DC motor is lower than a maximum value. To choose the design parameters in the optimization problem, a sensitivity analysis was performed in order to find the most sensitive system parameters. The optimization is formulated in the framework of robust design due to the presence of uncertainties in the model. The probability distributions of random variables are constructed using the Maximum Entropy Principle and statistics of the stochastic response of the system are computed using the Monte Carlo method. The set of nonlinear equations are presented, and an adapted time domain solver is developed. The stochastic nonlinear constrained design optimization problem is solved for different levels of uncertainties, and also for the deterministic case. The results are different and this show the importance of the stochastic modeling.
Plenária III - Periodicity and chaos: How are they organized in lasers, circuits, biochemical oscillators and other complex flows?
Terça-feira (27/10) das 11:05 às 12:05 - Auditório Central
We present an overview and tutorial about the systematic classification of oscillatory phases and complex phenomena recently observed in the control parameter space of several lasers, in electronic circuits, in chemical and biochemical oscillators, and other oscillators of interest. High-resolution stability diagrams for such systems [see, e.g., Chaos, 25, 064603 and 097607 (2015), New J. Phys. 17, 053038 (2015), Nature Sci. Rep. 5, 08447 (2015)] provide evidence of global and unanticipated self-organizations of stable spiking and bursting phases, as well as novel regular and irregular features. In particular, several stability diagrams suggest nonlinear oscillators to harbor remarkable symmetries that were not yet accounted for theoretically but which are experimentally accessible. In the last four decades, considerable effort has been devoted to studying chaos. But understanding the organization of periodic solutions is as important an issue as chaos.
Plenária IV - Granular Evolving Modeling and Control
Terça-feira (27/10) das 15:20 às 16:20 - Auditório Central
On-line and real time modeling and control of systems using data flowing from complex systems motivate rethinking several aspects of the machine learning methodology and algorithms. Modeling and control from stream data is concerned with extracting structured knowledge from spatiotemporal correlated data. A number of methods and algorithms devoted to this end have been developed under the conceptual framework of evolving granular computing. The presentation aims at outlining the evolving fuzzy set-based granular evolving modeling and control approaches for learning and adaptive control using imprecise data streams. Granulation is important because when modeling complex systems using uncertain data streams, details may be abstracted. The evolving aspect is fundamental to handle the endless flow of nonstationary data and structural adaptation of the models and controllers. Experiments with classic benchmarks and examples of system modeling with actual data suggest that granular evolving modeling and control is a promising and competitive approach to handle nonlinear nonstationary process in real time.
Plenária V - Fractional calculus: fundamentals and applications
Quarta-feira (28/10) das 11:05 às 12:05 - Auditório Central
Fractional Calculus (FC) started in 1695 when L'Hôpital wrote a letter to Leibniz asking for the meaning of Dny for n = 1/2. Starting with the ideas of Leibniz many important mathematicians developed the theoretical concepts. By the beginning of the twentieth century Olivier Heaviside applied FC in the electrical engineering, but, the visionary and important contributions were forgotten. Only during the eighties FC emerged associated with phenomena such as fractal and chaos and, consequently, in nonlinear dynamical. This lecture introduces the FC fundamental mathematical concepts, and reviews the main computational approaches for implementing fractional operators. In the last years Fractional Calculus (FC) become 'new' tool for the analysis of dynamical systems. Based on the FC mathematical concepts, this lecture presents several applications in the areas of systems modeling and control.