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The American Control Conference is made possible each year by the volunteers who invest their time each year. The Society Review Chairs and Associate Editors that serve under them, the Program and Operating Committees, the reviewers, the organizers of invited sessions and workshops, the session chairs and co-chairs, and the authors deserve the credit for the technical quality of this conference.
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United Technologies Research Center (UTRC) is an internationally recognized corporate research organization of United Technologies Corporation (UTC) that conducts research and development across a range of technology areas to drive its mission of “growth through innovation.” UTRC partners with UTC business units and renowned external research organizations to impact organic growth of the Corporation...
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An introduction to cancer modeling and control is followed by a description of the design of targeted drug therapies for cancer treatment. Recent efforts have been directed towards understanding why such therapies demonstrate very little anti-tumor activity for certain cancers. A class of tyrosine kinase inhibitors that target human epidermal growth factor receptors (HER) is unexpectedly inefficient...
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Physical systems typically evolve continuously whereas modern controllers and signal processing devices invariably operate in discrete time. Hence sampling arises as a cornerstone problem in essentially all aspects of modern systems science. This paper reviews various aspects of sampling of signals and systems. We argue that careful consideration must be given to sampling to obtain meaningful results...
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As President of the American Automatic Control Council (AACC), it gives me great pleasure to welcome you to the 2010 American Control Conference. It has been a tradition for ACC to be held in eastern United States every third year, and we are pleased to return this year to the east after Seattle (2008) and St. Louis (2009), and hold the ACC in Baltimore, a city rich in history and with a beautiful...
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The following topics are dealt with: sampling; nano-class unmanned aerial systems; cooperative control; adaptive control; hybrid systems; stability; nonholonomic systems; quantized systems; communication networks; linear systems; stochastic systems; education; optimization; energy systems; disease modeling; learning control; flight control; networked control system; linear observers; mechanical systems;...
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The altitude control of flapping-wing micro-aerial vehicles (MAVs) is discussed in this paper. The Tamkang University (TKU) has been devoted to the development of flapping-wing robots for a long period, including design, fabrication and control. On the basis of the earlier knowledge on the Golden Snitch, a flapping-wing MAV in TKU, we develop a non-intrusive navigation methodology by using stereo...
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The vectors of the local geomagnetic field, the direction of the sun at the time, and acceleration due to gravity constitute a unique natural frame of reference at any point on earth. A combination of 3-axis magnetometer, CMOS array, and accelerometers-all in the realm of a few grams can measure these quantities. We show that measurement of these quantities at sufficient resolution uniquely identifies...
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The world's first robotic insect capable of vertical takeoff was developed and demonstrated by the Harvard Microrobotics Lab. This vehicle consisted of a single power actuator that drove both wings symmetrically. In this case, there was no method to generate body torques, only lift could be modulated. The Harvard Microrobotics Lab has modified this configuration to include not only a single power...
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In this paper, we present a mathematical model of near-hover attitude dynamics and control in flapping flight. Then we apply this model to fruit fly (Drosophila) as an example. The attitude dynamics are derived from the complete 6-DOF equations of motion. Stability derivatives are estimated based on quasi-steady aerodynamic models of Flapping counter-torques (FCTs). Control derivatives are derived...
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This paper details the flight dynamics and control of a prototype mono-wing rotorcraft that mimics the passive transit of the species of samara (winged seed), Acer diabolicum Blume. The asymmetric and all-rotating platform requires the development of a novel sensing and control framework. The general rigid body dynamics are separated into rotor dynamics and particle navigation, which are derived for...
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This paper describes the Samarai - a rotating mono-wing nano air vehicle (NAV) designed at Lockheed Martin Advanced Technology Laboratories. Challenges uniquely associated with developing this type of vehicle are identified and a dynamic modeling and control synthesis procedure is described for tackling them. It is shown that, by modeling the rotating wing as a lower-complexity spinning disk, and...
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This paper presents an extension of existing cooperative control algorithms that have been developed for multi-UAV applications to utilize real-time observations and/or performance metric(s) in conjunction with learning methods to generate a more intelligent planner response. We approach this issue from a cooperative control perspective and embed elements of feedback control and active learning, resulting...
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In this work, we study the collective behavior of fish shoals in annular domains. Shoal mates are modeled as self-propelled particles moving on a discrete lattice. Collective decision making is determined by information exchange among neighbors. Topological distances are used to specify neighborhoods within the fish shoal. We employ random variables to model fish self-propulsion and obedience to group...
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This paper investigates the effect of coupling in a collective decision-making scenario, in which the task is to correctly identify a (noisy) stimulus between two known alternatives. Multiple interconnected decision-making units, each represented by a Drift-Diffusion Model (DDM), accumulate evidence toward a decision. A number of different graph topologies among the DDM's are considered, and their...
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In this article a direct adaptive fuzzy control methodology is developed to handle formation control and target tracking problems in a class of multi-agent systems with nonlinear and uncertain dynamics. The proposed adaptive method guarantees stability and achievement of the desired tracking and formation tasks. The effectiveness of the algorithm is verified with numerical simulations.
