Incompatibilists hold that, in order for you to be responsible, your choices must come from yourself; thus, determinism is incompatible with responsibility. One way of defending this claim is the Controller Argument: You are not responsible if your choices are caused by a controller, and natural determinism is relevantly similar to such control, therefore... Q.E.D. Compatibilists dispute both of these premises, insisting upon a relevant dissimilarity, or allowing, in a tollens move, that since we can be determined and (...) responsible, we can be controlled and responsible. Positing a divine controller strengthens the argument against these two responses. (shrink)

Aerial work platform is a kind of engineering vehicle which is used for hoisting personnel to the appointed place for maintenance or installation. Based on the dynamics model considering the flexible deformation existing in the arm system of folding-boom aerial platform vehicle, this study presents a NN-based backstepping controller used for trajectory tracking control of work platform. The proposed controller can reduce tracking error of work platform and suppress the vibration simultaneously by using the RBF neural network system (...) to compensate model uncertainties and disturbances. Furthermore, we prove that the whole system is stable and convergent by Lyapunov stability theorem. In addition, we give the simulation results which show that the good control performance of the designed controller for trajectory tracking and vibration inhabiting of work platform in the case of model uncertainties. (shrink)

The aerial manipulator is a complex system with high coupling and instability. The motion of the robotic arm will affect the self-stabilizing accuracy of the unmanned aerial vehicles. To enhance the stability of the aerial manipulator, a composite controller combining conventional proportion integration differentiation control, fuzzy theory, and neural network algorithm is proposed. By blurring the attitude error signal of UAV as the input of the neural network, the anti-interference ability and stability of UAV is improved. At the same (...) time, a neural network model identifier based on Maxout activation function is built to realize accurate recognition of the controlled model. The simulation results show that, compared with the conventional PID controller, the composite controller combined with fuzzy neural network can improve the anti-interference ability and stability of UAV greatly. (shrink)

The large scale, time varying, and diversification of physically coupled networked infrastructures such as power grid and transportation system lead to the complexity of their controller design, implementation, and expansion. For tackling these challenges, we suggest an online distributed reinforcement learning control algorithm with the one-layer neural network for each subsystem or called agents to adapt the variation of the networked infrastructures. Each controller includes a critic network and action network for approximating strategy utility function and desired control (...) law, respectively. For avoiding a large number of trials and improving the stability, the training of action network introduces supervised learning mechanisms into reduction of long-term cost. The stability of the control system with learning algorithm is analyzed; the upper bound of the tracking error and neural network weights are also estimated. The effectiveness of our proposed controller is illustrated in the simulation; the results indicate the stability under communication delay and disturbances as well. (shrink)

An iterative learning robust fault-tolerant control algorithm is proposed for a class of uncertain discrete systems with repeated action with nonlinear and actuator faults. First, by defining an actuator fault coefficient matrix, we convert the iterative learning control system into an equivalent unknown nonlinear repetitive process model. Then, based on the mixed Lyapunov function approach, we describe the stability of the nonlinear repetitive mechanism on time and trial indices and have appropriate conditions for the repeated control system’s stability in terms (...) of linear matrix inequality theory. Through LMI techniques, we have obtained satisfactory results and controller stability, and robustness against fault tolerance is also discussed in detail. Finally, the simulation results of the output tracking control of the two exemplary models verify the effectiveness of the proposed algorithm. (shrink)

An adaptive fractional-order nonsingular terminal sliding mode controller for a microgyroscope is presented with uncertainties and external disturbances using a fuzzy neural network compensator based on a backstepping technique. First, the dynamic of the microgyroscope is transformed into an analogical cascade system to guarantee the application of a backstepping design. Then, a fractional-order nonsingular terminal sliding mode surface is designed which provides an additional degree of freedom, higher precision, and finite convergence without a singularity problem. The proposed control scheme (...) requires no prior knowledge of the unknown dynamics of the microgyroscope system since the fuzzy neural network is utilized to approximate the upper bound of the lumped uncertainties and adaptive algorithms are derived to allow online adjustment of the unknown system parameters. The chattering phenomenon can be reduced simultaneously by the fuzzy neural network compensator. The stability and finite time convergence of the system can be established by the Lyapunov stability theorem. Finally, simulation results verify the effectiveness of the proposed controller and the comparison of root mean square error between different fractional orders and integer order is given to signify the high precision tracking performance of the proposed control scheme. (shrink)

The fault ride-through capability and fault current issues are the main challenges in doubly fed induction generator- based wind turbines. Application of the bridge-type fault current limiter was recognized as a promising solution to cope with these challenges. This paper proposes a nonlinear sliding mode controller for the BFCL to enhance the FRT performance of the DFIG-based WT. This controller has robust performance in unpredicted voltage sag level and nonlinear features. Theoretical discussions, power circuit, and nonlinear control consideration (...) of the SMC-based BFCL are conducted, and then, its performance is verified through time-domain simulations in the PSCAD/EMTDC environment. To reduce the chattering phenomenon and decrease the reaching time, it used the exponential reaching law for designed SMC. Also, the SMC-based BFCL performance is compared with the conventional and PI controller-based BFCL for both symmetrical and asymmetrical short-circuit faults. Simulation results reveal that the SMC-based BFCL provides better performance compared with the conventional and PI controller-based BFCL to enhance the FRT. (shrink)

This paper addresses the adaptive asymptotic tracking control problem for nonlinear systems whose virtual control gains are unknown nonlinear functions of system states. Only in the first step, the Nussbaum gain technique is utilized to handle the uncertain virtual control gain. In the remaining steps, virtual control gains are dealt with by constructing novel control laws without the approximation of the uncertain nonlinear functions and external disturbances by neural networks or fuzzy logic. New adaptive laws are defined to compensate for (...) unknown virtual control gains, uncertain parameters, and external disturbances. Finally, an adaptive tracking controller is designed and applied to the control of a 3-order robot system, which guarantees the boundedness of all the signals in the closed-loop system and asymptotic stability of the tracking error. (shrink)

The suspension system is referred to as the set of springs, shock absorbers, and linkages that connect the car to the wheel system. The main purpose of the suspension system is to provide comfort for the passengers, which is created by reducing the effects of road bumpiness. It is worth noting that reducing the effects of such vibrations also diminishes the noise and undesirable sound as well as the effects of fatigue on mechanical parts of the vehicle. Due to the (...) importance of the abovementioned issues, the objective of this article is to reduce such vibrations on the car by implementing an active control method on the suspension system. For this purpose, a conventional first-order sliding mode controller has been designed for stochastic control of the quarter-car model. It is noteworthy that this controller has a significant ability to overcome the stochastic effects, uncertainty, and deal with nonlinear factors. To design a controller, the governing dynamical equation of the quarter-car system has been presented by considering the nonlinear terms in the springs and shock absorber, as well as taking into account the uncertainty factors in the system and the actuator. The design process of the sliding mode controller has been presented and its stability has been investigated in terms of the Lyapunov stability. In the current research, road surface variations are considered as Gaussian white noise. The dynamical system behavior for controlled and uncontrolled situations has been simulated and the extracted results have been presented. Besides, the effects of existing uncertainty in the suspension system and actuator have been evaluated and controller robustness has been checked. Also, the obtained quantitative and qualitative compressions have been presented. Moreover, the effect of controller parameters on the basin of attraction set and its extensiveness has been assessed. The achieved results have indicated the good performance and significant robustness of the designed controller to stabilize the suspension system and mitigate the effects of road bumpiness in the presence of uncertainty and noise factors. (shrink)

This paper presents an approach for monitoring exercises of hand rehabilitation for post stroke patients. The developed solution uses a leap motion controller as hand-tracking device and embeds a supervised machine learning. The K-nearest neighbor methodology is adopted for automatically characterizing the physiotherapist or helper hand movement resulting a unique movement pattern that constitutes the basis of the rehabilitation process. In the second stage, an evaluation of the patients rehabilitation exercises results is compared to the movement pattern of the (...) patient and results are presented, saved and statistically analyzed. Physicians and physiotherapists monitor and assess patients’ rehabilitation improvements through a web application, furthermore, offer medical assisted rehabilitation processes through low cost technology, which can be easily exploited at home. Recorded tracked motion data and results can be used for further medical study and evaluating rehabilitation trends according to patient’s rehabilitation practice and improvement. (shrink)

This paper presents an approach for monitoring exercises of hand rehabilitation for post stroke patients. The developed solution uses a leap motion controller as hand-tracking device and embeds a supervised machine learning. The K-nearest neighbor methodology is adopted for automatically characterizing the physiotherapist or helper hand movement resulting a unique movement pattern that constitutes the basis of the rehabilitation process. In the second stage, an evaluation of the patients rehabilitation exercises results is compared to the movement pattern of the (...) patient and results are presented, saved and statistically analyzed. Physicians and physiotherapists monitor and assess patients’ rehabilitation improvements through a web application, furthermore, offer medical assisted rehabilitation processes through low cost technology, which can be easily exploited at home. Recorded tracked motion data and results can be used for further medical study and evaluating rehabilitation trends according to patient’s rehabilitation practice and improvement. (shrink)

The use of wireless sensor networks and the Internet of things to detect forest fire outbreaks may help to reduce the response time and avoid natural disasters. This work proposes the deployment of WSN to enhance the real-time monitoring of dynamic variables such as polluting gases, temperature or the presence of fire flames by infrared. In addition, the activation of forest fire alerts if environmental status may involve evidence of a recent fire outbreak. A fuzzy-based controller is implemented to (...) manage the uncertainty related to estimating forest fire occurrence and dynamic update of fuzzy sets is developed to distinguish usual and unusual environmental conditions of every monitored forest area. Merkle trees, AES and hash functions are considered to protect the integrity of environmental data. (shrink)

The two-wheeled self-balancing robot is based on the axletree and inverted pendulum. Its balancing problem requires a control action. To speed up the response of the robot and minimize the steady state error, in this article, a grey wolf optimizer method is proposed for TWSBR control based on state space feedback control technique. The controller stabilizes the balancing robot and minimizes the overshoot value of the system. The dynamic model of the system is derived based on Euler formula and (...) linearized to state space representation to enhance the control technique. Then, the GWO optimizes the state feedback controller parameters. Simulation results show that the system reaches the zero steady-state error with less than 2 ms, which proves the effectiveness of the proposed controller over the classical state feedback controller in terms of fast response, very small overall error, and minimum overshoot. (shrink)

Self-control is integral to successful human agency. Without it we cannot extend our agency across time and secure central social, moral, and personal goods. But self-control is not a unitary capacity. In the first part of this paper we provide a taxonomy of self-control and trace its connections to agency and the self. In part two, we turn our attention to the external conditions that support successful agency and the exercise of self-control. We argue that what we call moral security (...) is a critical foundation for agency. Parts three and four explore what happens to agency when moral security is lacking, as in the case of those subject to racism, and those living in poverty. The disadvantages suffered by those who are poor, in a racial minority or other oppressed group, or suffering mental illness or addiction, are often attributed to a lack of individual self-control or personal responsibility. In particular, members of these groups are often seen as irresponsibly focused on short-term pleasures over long-term good, a view underwritten by particular psychological theories of self-control. We explore how narratives about racism and poverty undermine moral security, and limit and distort the possibility of synchronic and diachronic self-control. Where moral security is undermined, the connection between self-control and diachronic goods often fails to obtain and agency contracts accordingly. We close with some preliminary reflections on the implications for responsibility. (shrink)

In this paper, a three-dimensional chaotic system with a line equilibrium is studied, in which a single nonbifurcation parameter is used to control the amplitude and frequency. A variety of chaotic signals can be modified using the amplitude-frequency control switch. The realization of circuit simulation based on multisim further verifies the theoretical analysis. Finally, the method for encrypting color images is tested, and the process performance is valued. It shows that the novel chaotic oscillation has a promising application prospect in (...) image encryption. (shrink)

Sensations of acting and control have been neglected in theory of action. I argue that they form the core of action and are integral and indispensible parts of our actions, participating as they do in feedback loops consisting of our intentions in acting, the bodily movements required for acting and the sensations of acting. These feedback loops underlie all activities in which we engage when we act and generate our control over our movements.The events required for action according to the (...) causal theory, or Searle. (shrink)

The extensive involvement of nonconscious processes in human behaviour has led some to suggest that consciousness is much less important for the control of action than we might think. In this article I push against this trend, developing an understanding of conscious control that is sensitive to our best models of overt action control. Further, I assess the cogency of various zombie challenges—challenges that seek to demote the importance of conscious control for human agency. I argue that though nonconscious contributions (...) to action control are evidently robust, these challenges are overblown. (shrink)

Self-control, so important in the theory and practice of psychology, has usually been understood introspectively. This target article adopts a behavioral view of the self (as an abstract class of behavioral actions) and of self-control (as an abstract behavioral pattern dominating a particular act) according to which the development of self-control is a molar/molecular conflict in the development of behavioral patterns. This subsumes the more typical view of self-control as a now/later conflict in which an act of self-control is a (...) choice of a larger but later reinforcer over a smaller but sooner reinforcer. If at some future time the smaller-sooner reinforcer will be more valuable than the larger-later reinforcer, self-control may be achieved through a commitment to the largerlater reinforcer prior to that point. According to some, there is a progressive internalization of commitment in the development of self-control. This presents theoretical and empirical problems. In two experiments temporal patterning of choices increased self-control. (shrink)

The vital status of patients who are a part of controlled donation after circulatory death (cDCD) is widely debated in bioethical literature. Opponents to currently applied cDCD protocols argue that they violate the dead donor rule, while proponents of the protocols advocate compatibility. In this article, we argue that both parties often misinterpret the moral implications of the dead donor rule. The rule as such does not require an assessment of a donor’s vital status, we contend, but rather an assessment (...) of whether procurement of organs in cDCD cause the death of the donor or not. We then argue that commonly practiced cDCD protocols do not violate the dead donor rule, since the donation does not trigger or cause the death of the donors. (shrink)

Beliefs are held to norms in a way that seems to require control over what we believe. Yet we don’t control our beliefs at will, in the way we control our actions. I argue that this problem can be solved by recognising a different form of control, which we exercise when we revise our beliefs directly for reasons. We enjoy this form of attitudinal control not only over our beliefs, but also over other attitudes, including intentions—that is, over the will (...) itself. Closely tied to our capacity for reasoning, attitudinal control is in important respects more fundamental than the voluntary control that we exercise over our actions. In the course of developing this account I respond to two objections recently raised against an earlier version of it by Booth. (shrink)

Our focus here is on whether, when influenced by implicit biases, those behavioural dispositions should be understood as being a part of that person’s character: whether they are part of the agent that can be morally evaluated.[4] We frame this issue in terms of control. If a state, process, or behaviour is not something that the agent can, in the relevant sense, control, then it is not something that counts as part of her character. A number of theorists have argued (...) that individuals do not have control, in the relevant sense, over the operation of implicit bias. We will argue that this claim is mistaken. We articulate and develop a notion of control that individuals have with respect to implicit bias, and argue that this kind of control can ground character-based evaluation of such behavioural dispositions. (shrink)