FJ916,2 & 3'<54#'%AB% - - PDF document

fj916 2
SMART_READER_LITE
LIVE PREVIEW

FJ916,2 & 3'<54#'%AB% - - PDF document

!"#$"%%& '()*+)(,-.&/0+112,32-.&+,4&567212--&8(7& &/(,97(1&(8&:29;(7<24&+,4&=+732>?@+12&?A-92B-& !"#$%&'(#)*%+,-"(..,(% /00122%3)(("'4.%0'(5'#%%


slide-1
SLIDE 1

!"#$"%%& %&

'()*+)(,-.&/0+112,32-.&+,4&567212--&8(7& &/(,97(1&(8&:29;(7<24&+,4&=+732>?@+12&?A-92B-&

!"#$%&'(#)*%+,-"(..,(% /00122%3)(("'4.%0'(5'#%% 6,7"$%8(.9545'%,:%;'<-(,$,=7>%2?'@'(%

C90&DE/F:#&G0H&?@0((1&(,&/(,97(1&(8&:29;(7<24&+,4&=+732>?@+12&?A-92B-&& IJ,2&#%>#C.&#K%%&6,&L72,9(.&M9+1A& 0NOP"";;;Q22Q<90Q-2"R<+112S&

3'<54#'%AB%'()*+),3&+OO16@+)(,-&+,4&@0+112,32-% 3'<54#'%CB%567212--&@(,97(1&-A-92B-&

FJ916,2 &

slide-2
SLIDE 2

!"#$"%%& #&

3'<54#'%AB%'()*+),3&+OO16@+)(,-&+,4&@0+112,32-%

– :29;(7<24&@(,97(1&-A-92B-&0+*2&-(@629+1&6BO(79+,@2& – '+,A&,2;&+OO16@+)(,-&;690&@0+112,36,3&O7(T12B-&

3'<54#'%CB%567212--&@(,97(1&-A-92B-&

– U*27A906,3&;611&T2&;67212--.&6,@1J46,3&@(,97(1&-A-92B-& – M,9272-),3&8J,4+B2,9+1&@0+112,32-&(,&902&6,927-2@)(,& T29;22,&;67212--&,29;(7<6,3&+,4&@(,97(1&

L+<2>0(B2&B2--+32 &

3'<54#'%AB%'()*+),3&+OO16@+)(,-&+,4&@0+112,32-% 3'<54#'%CB%567212--&@(,97(1&-A-92B-&

FJ916,2 &

slide-3
SLIDE 3

!"#$"%%& $&

;;;Q3+OB6,427Q(73 &

  • D. J.C. MacKay. Sustainable Energy–without the hot air. UIT Cambridge, 2008
slide-4
SLIDE 4

!"#$"%%& C&

US Energy Information Administration

U,273A&@(,-JBO)(, &

UV@62,@A&90+,<-&9(&,2;&(7& T2N27&8224T+@<&@(,97(1&

2008 2050

  • D. J.C. MacKay. Sustainable Energy–without the hot air. UIT Cambridge, 2008

UK energy consumption per day and person

slide-5
SLIDE 5

!"#$"%%& W&

50A&,(;X&

L6B2& UYZ&

0,DE45"9,(% 0,DD4()<"9,(% 2'(.)(=% ;'<-%F4.-%

:29;(7<&2*(1J)(,&

M,8(&52T& ?2,-(7&52T& [@)(,&52T&

  • &M,927,29&
  • &555&
  • &YT6\J69(J-&@(BOJ),3&
  • &Z2B(92&-2,-6,3&
  • &'(,69(76,3&2,*67(,B2,9-&
  • &567212--&-2,-(7&,29;(7<-&&
  • &/1(-6,3&902&1((O&
  • &/76)@+1&6,87+-97J@9J72-&
  • &DJB+,-&6,&902&1((O&

'(,69(76,3&-9(7B&O29721-&+9&&]72+9&HJ@<&M-1+,4& L02&M,927,29& L02&-B+79&&2,273A&&3764&

slide-6
SLIDE 6

!"#$"%%& !&

H6369+1&/69A&

=+732>-@+12&,29;(7<24&@(,97(1&-A-92B-&+OO16@+)(,- &

Dominant communication technology

/(BBJ,6@+)(,&6,&O7(@2--&@(,97(1&

567212--&-2,-(7&-A-92B-&T2,2^9&87(B&

  • =(;27&6,-9+11+)(,&+,4&B+6,92,+,@2&@(-9-&
  • M,@72+-24&-2,-6,3&@+O+T616)2-&+,4&_2`6T6169A&&

[ISA100] WirelessHART ISA100 ZigBee …

Major consequences for control system architectures

slide-7
SLIDE 7

!"#$"%%& a&

;,@"7G.%)(@4.5#)"$%<,DD4()<"9,(%"#<-)5'<54#'%

MCC Variable Speed Drives S800 I/O S900 I/O (Ex) Workplaces Control Network Remote Clients System Servers Process Automation Process Automation and Safety Operator Engineering Maintenance Safety

/(,97(1127-& ?2,-(7-& [@9J+9(7-& /(,97(1127-&

/2,97+16b24&@(,97(1&-A-92B&;690&1(;>12*21 & 1((O-&@1(-24&(*27&;6724&,29;(7<&

  • =(@+1&@(,97(1&1((O-&@1(-24&(*27&?)#'$'..%D4$9H-,E%('5?,#*%%
  • G(92,)+1&8(7&+&47+B+)@&@0+,32P&

– c7(B&^`24&0627+7@06@+1&@2,97+16b24&-A-92B&9(&_2`6T12&46-976TJ924& – '(*2&6,9211632,@2&87(B&4246@+924&@(BOJ927-&9(&-2,-(7-"+@9J+9(7-&

;,?"#@.%?)#'$'..%.'(.,#%"(@%"<54"5,#%('5?,#*%"#<-)5'<54#'%

?B+79&[@9J+9(7& ?B+79&?2,-(7&

slide-8
SLIDE 8

!"#$"%%& d&

/(,97(1&(8&87(90&_(9+)(,&O7(@2-- &

  • c7(90&_(9+)(,&O7(@2--&@(,@2,97+92-&

902&B29+1>T2+76,3&B6,27+1&6,&902&(72&

Ore Waste Minerals

567212--&@(,97(1&(8&_(9+)(,&O7(@2-- &

Ore Waste Minerals Controller

slide-9
SLIDE 9

!"#$"%%& e&

567212--&@(,97(1&(8&_(+9+)(,&O7(@2--&

!"#$%#&'()#*+,(-.//0&#-1%#.&($2$%+/( 34+(5.6#,+&(761&%(

I)#'$'..%<,DD4()<"9,(%:,#%5"(*%$'J'$%<,(5#,1&

L2-9>T24&8(7&@(,97(1&(*27&MUUU&dK#Q%WQC&

#W&@(JO124&;+927&9+,<-&@(,,2@924&(*27&;67212--& BJ1)>0(O&,29;(7<& L2-9>T24&9(&2*+1J+92&,2;&@(,97(1&92@0,(1(3A&+,4& ;67212--&,29;(7<&O7(9(@(1-&&&

;2T&

slide-10
SLIDE 10

!"#$"%%& %K&

D(;&-0+72&@(BB(,&,29;(7<&72-(J7@2-&;0612& B+6,9+6,6,3&3J+7+,9224&@1(-24>1((O&O278(7B+,@2X&

Sensors Controllers Actuators Plant

567212--&@(,97(1&-A-92B&

  • &D(;&0+,412&,29;(7<&6BO2782@)(,-P&72-(J7@2&@(,-97+6,9-.&1(--.&@(,_6@9-.&421+A-.&(J9+32-X&
  • &D(;&B(*2&6,9211632,@2&87(B&+&82;&@2,97+1&J,69-&9(&B+,A&46-976TJ924&42*6@2-X&&

H6369+1&/69A&

slide-11
SLIDE 11

!"#$"%%& %%&

:29;(7<24&/(,97(1&[7@0692@9J72&6,&+& ?@+,6+&L7J@<&

f&g+71&DQ&I(0+,--(,.&gLD&

Electronic Control Units connected over 3 Controller Area Networks

M,9211632,9&L7+,-O(79+)(,&?A-92B-&8(7&& Z2+1>L6B2&c1229&'+,+32B2,9&+,4&/(,97(1&

Mårtensson et al., 2011

slide-12
SLIDE 12

!"#$"%%& %#&

L7+V@&G7246@)(,&87(B&H+9+&cJ-6(,&&

Z2+1&)B2&]G?&4+9+&87(B&%.WKK&?9(@<0(1B&9+`6-&& g(J9-(O(J1(-&29&+1.&#K%K.&gLD&ML?&1+T(7+9(7A&

/(11+T(7+)*2&476*6,3&& 8(7&8J21&724J@)(,&

  • H76*2&@1(-27&9(329027&9(&724J@2&+67&47+3&&
  • G72O+72&*206@12-&T+-24&(,&7(+4&+,4&97+V@&6,8(7B+)(,&&&&
  • ?+829A&3J+7+,922-&907(J30&,2;&-2,-(7-&+,4&h#h&+,4&

h#M&@(BBJ,6@+)(,-&

Truck 1 Truck 2 Truck 3 Sahlholm & J, 2010; Allam, Gattami, J, 2010

[67&47+3&724J@)(,&ijk& Z21+)*2&46-9+,@2&6,&O1+9((,&iBk&

Truck 1 Truck 2 Truck 3

slide-13
SLIDE 13

!"#$"%%& %$&

/(11+T(7+)*2&7(+4&37+42&2-)B+)(,&

Sahlholm, 2011

=+732>-@+12&:29;(7<24&/(,97(1&?A-92B&

  • &'J1)O12&+,4&@(,_6@),3&(TS2@)*2-&
  • &/(11+T(7+)*2&+,4&46-976TJ924&-2,-6,3&+,4&2-)B+)(,&
  • &/2,97+16b24&*-&42@2,97+16b24&@(,97(1&
slide-14
SLIDE 14

!"#$"%%& %C&

H6369+1&/69A&

c7(B&+&T7(;,&^214&+72+&9(&+&-J-9+6,+T12&@69A&46-976@9&

?9(@<0(1B&Z(A+1&?2+O(79 &

  • c&
slide-15
SLIDE 15

!"#$"%%& %W&

c7(B&+&T7(;,&^214&+72+&9(&+&-J-9+6,+T12&@69A&46-976@9&

?9(@<0(1B&Z(A+1&?2+O(79 &

  • c&

?B+79&]764&6,&902&?9(@<0(1B&Z(A+1&?2+O(79 &

slide-16
SLIDE 16

!"#$"%%& %!&

L;(&Z(A+1&?2+O(79&G7(S2@9- &

  • ?B+79&3764&@(BBJ,6@+)(,-&(*27&C]&=LU&

– /+,&O(;27&3764&@(,97(1&1((O-&T2&@1(-24&(*27&902&B(T612& @(BBJ,6@+)(,&6,87+-97J@9J72X&&

  • [OO16+,@2&-@024J16,3&+,4&-9(7+32&6,&-B+79&TJ6146,3-&

– /(,97(1&+7@0692@9J72&+,4&B2@0+,6-B-&8(7&42B+,4>72-O(,-2&

L(;+74-&H6-976TJ924&/(,97(1&(8&902&G(;27&]764 &

  • &'J1)O12&+,4&@(,_6@),3&(TS2@)*2-&
  • &]7(;6,3&1+732&J,@279+6,)2-&6,&O7(4J@)(,&+,4&@(,-JBO)(,&
  • &:224&8(7&T2N27&O7246@)(,&+,4&8224T+@<&@(,97(1&
slide-17
SLIDE 17

!"#$"%%& %a&

3'<54#'%AB%'()*+),3&+OO16@+)(,-&+,4&@0+112,32-% 3'<54#'%CB%567212--&@(,97(1&-A-92B-&

FJ916,2 & [&06-9(7A&(8&@(,97(1&

[Baillieul & Antsaklis, 2007]

Wireless control

slide-18
SLIDE 18

!"#$"%%& %d&

D(;&-0+72&@(BB(,&,29;(7<&72-(J7@2-&;0612& B+6,9+6,6,3&3J+7+,9224&@1(-24>1((O&O278(7B+,@2X&

Sensors Controllers Actuators Plant

567212--&@(,97(1&-A-92B&

50+9l-&,2;&;690&@(,97(1&(*27&;67212--&,29;(7<-X&&

  • ;#"@)9,("$%<,(5#,$%-A-92B-&42-63,&6-&T+-24&(,&+--JBO)(,&

(8&E'#:'<5%)(:,#D"9,(%T26,3&@67@J1+924&6,&902&-A-92B&&

  • M,8(7B+)(,&_(;&+72&4246@+924&9(&-O2@6^@&@(,97(1&1((O&
  • H2*6@2-&,224&9(&T2&^`24&9(&6,87+-97J@9J72&

I)#'$'..%<,(5#,$%.7.5'D.&0+*2& >&K,(H)@'"$%<,DD4()<"9,(%T29;22,&-A-92B&42*6@2-m&&&&&&&& 12+4-&9(&6,9278272,@2.&@(,32-)(,.&421+A.&1(--.&(J9+32-&29@Q& n&8(:,#D"9,(&@+,&T2&.-"#'@&T29;22,&@(BO(,2,9-&+,4&1((O-&& n&U,0+,@24&D,L)$)57%"(@%M'N)L)$)57%

Plant

slide-19
SLIDE 19

!"#$"%%& %e&

Y,@279+6,9A&(,&-2*27+1&@(BBJ,6@+)(,&1+A27-&

Physical Datalink Network Transport Application

Zuniga & Krishnamachari, SECON, 2004 40 m

Packet reception rate vs Distance

4 h

Mean bit error rate Packet loss rate

4 h Willig et al., IEEE Trans. Ind. Electron., 49, 6, 2002

Packet reception rate

Park et al., KTH, 2007 4 min

Large variations in

  • Connectivity
  • Bit and packet delivery
  • End-to-end delivery

0,(5'(9,(H:#''%E'#),@&8(7&LH'[&-@024J124&@(BBJ,6@+)(,& 0,(5'(9,(%"<<'..%E'#),@%8(7&7+,4(B&/?'[&@(BBJ,6@+)(,&

50(&-0(J14&329&+@@2--&9(& 902&;67212--&B246JBX&

Periodic superframe of N slots

TDMA = Time division multiple access, CSMA/CA = Carrier Sense Multiple Access with Collision Avoidance

'246JB&[@@2--&/(,97(1&O7(9(@(1-&0+*2&T(90&& &@(,92,)(,>8722&+,4&@(,92,)(,&+@@2--&O276(4-&

slide-20
SLIDE 20

!"#$"%%& #K&

  • =2+4-&9(&0AT764&@1(-24>1((O&-A-92B&
  • ?@024J12-&8(7&2+@0&1((O&@+,&72O72-2,924&+-&+J9(B+9+&
  • c2+-6T12&&(*27+11&-@024J12-&@(BOJ924&+-&6,927-2@)(,-&

(8&+J9(B+9+&&&

Alur, D’Innocenzo, J, Pappas, Weiss, 2009

;OP/%<,DD4()<"9,(%% "(@%<,(5#,$%

50272&9+<6,3&B246JB&+@@2--&42@6-6(,-X&

:29;(7<&B+,+327&+11(@+92-&@(BBJ,6@+)(,&-1(9-&&& ?2,-(7&,(42&B+<2-&1(@+1&42@6-6(,-&(,&;02,&9(&@(BBJ,6@+92& /(,97(1127&72\J2-9-&-2,-(7&4+9+&&&

slide-21
SLIDE 21

!"#$"%%& #%&

M-&90272&+&-2O+7+)(,&O76,@6O12&8(7&

  • @024J16,3>2-)B+)(,>@(,97(1X&

?9(@0+-)@&@(,97(1&8(7BJ1+)(,&

slide-22
SLIDE 22

!"#$"%%& ##&

/279+6,9A&2\J6*+12,@2&72*6-6924&

c214T+JB.&%e!Wm&o-97pB.&%eaKm&q+7>?0+1(B&+,4&L-2.&%eaC&

u P y C

?9+92>T+-24&-@024J127&

Ramesh, Sandberg, Bao, J, 2009, 2010

L02&-2O+7+)(,&O76,@6O12&4(2-&,(9&0(14&8(7&902&(O)B+1&@1(-24>1((O&-A-92B.&

  • (&902&42-63,&(8&902&-@024J127.&2-)B+9(7.&+,4&@(,97(1127&6-&@(JO124&

Corollary The control uk for the optimal closed-loop system has a dual effect.

slide-23
SLIDE 23

!"#$"%%& #$&

WK&

/(,46)(,-&8(7&/279+6,9A&U\J6*+12,@2&

Corollary: The optimal controller for the system {P,S(f),C(g)}, with respect to the cost J is certainty equivalent if and only if the scheduling decisions are not a function of the applied controls.

Ramesh, Sandberg, Bao, J, 2011

  • Observer:
  • Symmetric scheduler:
  • Certainty equivalence achieved at the cost of optimality

FT-27*27>?@024J127&8(7&/279+6,9A&U\J6*+12,@2&

A symmetric scheduling policy results in separation between the estimator and the scheduler, as well as an optimal certainty equivalent controller.

Ramesh, Sandberg, Bao, J, 2011

slide-24
SLIDE 24

!"#$"%%& #C&

U`92,-6(,-&9(&BJ1)O12&1((O-&+,4& @(,92,)(,&72-(1J)(,&B2@0+,6-B-&&

slide-25
SLIDE 25

!"#$"%%& #W&

D(;&9(&B(421&/?'["/[&'[/X&&&

  • U*27A&42*6@2&2`2@J92-&906-&O7(9(@(1&
  • [--JB2&+11&@+77627&-2,-2&2*2,9-&+72&6,42O2,42,9&iq6+,@06.&#KKKk&

h+7+6A+.&#K%%&

  • (J7@2&

7+,4(B& T+@<(r&

  • 2,-2&

@0+,,21& 97+,-B69& 8+61J72& !"8+61J72-& B+`&#"976+1-& O+@<29&

/?'["/[&B2@0+,6-B&(8&+&,(42& 6,&+,&MUUU&dK#Q%WQC&;67212--&,29;(7<&

– [&97+,-B6s,3&,(42&421+A-&8(7&+&7+,4(B& ,JBT27&(8&T+@<(r&O276(4-&6,&iK&.&&#BK&>&%k.& ;0272&!""6-&902&6,6)+1&T+@<(r&2`O(,2,9Q& – M8&9;(&@(,-2@J)*2&@12+7&@0+,,21&+--2--B2,9-& t//[u&+72&6412.&902&,(42&-9+79-&902& 97+,-B6--6(,&+,4&;+69-&8(7&+,&[/g& – M8&902&@0+,,21&6-&TJ-A.&902&O7(@24J72&6-& 72O2+924&6,@72+-6,3&902&T+@<(r&;6,4(;-& J,)1&+&B+`6BJB&T+@<(r&2`O(,2,9&!#Q&& – [v27&+&B+`6BJB&,JBT27&(8&T+@<(r-&!"902& O+@<29&6-&46-@+7424Q& – M,&@+-2&(8&@(116-6(,&902&O7(@24J72&6-&72-9+7924& +,4&72O2+924&J,)1&+&7297A&16B69&$& G+7<.&H6&'+7@(.&?(14+).&c6-@06(,2.&I.&#KKe& /8Q.&q6+,@06.&#KKKm&G(116,&29&+1Q.&#KK!&

slide-26
SLIDE 26

!"#$"%%& #!&

'+7<(*&@0+6,&B(421&(8&/?'["/[&

  • '+7<(*&-9+92&t$.%.&u&&

– -P&T+@<(r&-9+32" – @P&-9+92&(8&T+@<(r&@(J,927" – 7P&-9+92&(8&7297+,-B6--6(,&@(J,927&

  • '(421&O+7+B2927-&

– '(P&97+V@&@(,46)(,&t'(wK&-+9J7+924u& – !()"!)"!*)"#P"'[/&O+7+B2927-"&

  • /(BOJ924&@0+7+@9276-)@-&

– +P&TJ-A&@0+,,21&O7(T+T6169A&4J76,3&//[%& – ,P&TJ-A&@0+,,21&O7(T+T6169A&4J76,3&//[#& – -%P&@(116-6(,&O7(T+T6169A&

G+7<.&H6&'+7@(.&?(14+).&c6-@06(,2.&I.&#KKe&

h+164+924&6,&-6BJ1+)(,&+,4&2`O276B2,9&

slide-27
SLIDE 27

!"#$"%%& #a&

I-'(%5,%5#"(.D)5Q%%

  • '246JB&+@@2--&@(,97(1>16<2&B2@0+,6-B&+9&-2,-(7&

– UQ3Q.&9072-0(14&@7(--6,3.&+4+O)*2&-+BO16,3&

&,?%5,%<,(5#,$Q%

  • U`2@J92&@(,97(1&1+;&(*27&^`24&@(,97(1&+1O0+T29&

– UQ3Q.&O62@2;6-2&@(,-9+,9&@(,97(1-.&6BOJ1-2&@(,97(1&&

Plant Control Generator Sensor Actuator 567212--&,29;(7<& Event Detector Åström, 2007, Rabi and J., WICON, 2008

1N"DE$'B%c6`24&9072-0(14&;690& 6BOJ1-2&@(,97(1&

  • U*2,9>4292@9(7&6BO12B2,924&+-&^`24>

12*21&9072-0(14&+9&-2,-(7&

  • U*2,9>T+-24&6BOJ1-2&@(,97(1&T2N27&

90+,&O276(46@&6BOJ1-2&@(,97(1&

Åström & Bernhardsson, IFAC, 1999 Plant Control Generator Sensor Actuator 567212--&,29;(7<& Event Detector y u

slide-28
SLIDE 28

!"#$"%%& #d&

U*2,9>T+-24&x(D&@(,97(1& ;690&+4+O)*2&-+BO16,3 &

Plant Control Generator Sensor Actuator 567212--&,29;(7<& Event Detector Rabi, J, Johansson, 2008

/(,97(1124&q7(;,6+,&B()(,& ;690&(,2&-+BO16,3&2*2,9 &

[&S(6,9&(O)B+1&@(,97(1&+,4&(O)B+1&-9(OO6,3&O7(T12B&&&

Rabi, J, Johansson, 2008

slide-29
SLIDE 29

!"#$"%%& #e&

U,*21(O2&&42^,2-&(O)B+1&12*21&4292@9(7&

FO)B+1&12*21&4292@9(7 &

Plant Controller Sensor Actuator 567212--&,29;(7<& Level Detector

HA,+B6@&12*21&4292@9(7&

slide-30
SLIDE 30

!"#$"%%& $K&

'J1)O12&-+BO12-&

U`92,-6(,&9(&:y%&-+BO12-& 907(J30&,2-924&-6,312&-+BO12& O7(T12B-& U`92,-6(,-&9(&*+76+T12&TJ4329&

  • +BO16,3.&+11(;6,3&,JBT27&(8&
  • +BO12-&9(&42O2,4&(,&`Q&

U*2,9>T+-24&6BOJ1-2&@(,97(1&

G1+,9& ?+BO16,3&2*2,9-& MBOJ1-2&@(,97(1& [*27+32&-+BO16,3&7+92&& [*27+32&@(-9&

G1+,9& /(,97(1& ]2,27+9(7& ?2,-(7& [@9J+9(7& 567212--&,29;(7<& U*2,9& H292@9(7&

slide-31
SLIDE 31

!"#$"%%& $%&

F742724&-29&(8&12*21-&& 'J1)O12&12*21-&,22424&T2@+J-2&;2&+11(;&O+@<29&1(--&& ?+BO16,3&6,-9+,@2-&&

=2*21>976332724&@(,97(1&

c(7&q7(;,6+,&B()(,.&2\J646-9+,9&-+BO16,3&6-&(O)B+1&& c67-9&2`69&)B2&& Average sampling rate Average cost

=2*21>976332724&@(,97(1&

slide-32
SLIDE 32

!"#$"%%& $#&

&&&&&&&&&&36*2-&2\J+1&+*27+32&-+BO16,3&7+92&8(7&O276(46@&@(,97(1&+,4& 2*2,9>T+-24&@(,97(1&& U*2,9>T+-24&6BOJ1-2&@(,97(1&6-&90722&)B2-&T2N27&90+,&O276(46@&&

/(BO+76-(,&T29;22,&9D'H%+,4&'J'(5HL".'@&@(,97(1&

50+9&&+T(J9&902&6,_J2,@2&(8&@(BBJ,6@+)(,&1(--2-X& M-&2*2,9>T+-24&-+BO16,3&-)11&T2N27X&&

Åström & Bernhardsson, 1999

M,_J2,@2&(8&6Q6Q4Q&O+@<29&1(--&

L6B2-&;02,&O+@<29-&+72&-J@@2--8J11A&72@26*24& [*27+32&7+92&(8&O+@<29&72@2O)(,& H2^,2&902&)B2-&T29;22,&-J@@2--8J1&O+@<29&72@2O)(,-&& [*27+32&@(-9&

slide-33
SLIDE 33

!"#$"%%& $$&

U*2,9>T+-24&@(,97(1&;690&1(--2-&

;-',#'D% M8&O+@<29&1(--2-&+72&6Q6Q4Q&;690&O7(T+T6169A&O.& & & & && 902,&12*21>976332724&-+BO16,3&36*2-& U*2,9>T+-24&@(,97(1&T2N27&90+,&O276(46@&@(,97(1&68&1(--&O7(T+T6169A&

G1+,9& /(,97(1& ]2,27+9(7& ?2,-(7& [@9J+9(7& 567212--&,29;(7<& U*2,9& H292@9(7&

Rabi and J, 2009

M8&@(,97(1127&O2782@91A&+@<,(;12432-&O+@<29-&9(&-2,-(7.&&&&&&&&&&&& 2*2,9&4292@9(7&@+,&+4SJ-9&69-&-+BO16,3&-97+923A& =29& ;0272&&&&&&&&&&&,JBT27&(8&-+BO12-&1(-9&-6,@2&1+-9&-J@@2--8J11A& 97+,-B6N24&O+@<29& ]6*2-&90+9 & & &T2@(B2-&6,42O2,42,9&(8&&& q2N27&O278(7B+,@2&90+,&^`24&&&&&&&&8(7&-+B2&-+BO16,3&7+92P&

0,DD4()<"9,(% "<*(,?$'@='D'(5.%

G1+,9& /(,97(1& ]2,27+9(7& ?2,-(7& [@9J+9(7& 567212--&,29;(7<& U*2,9& H292@9(7&

[/g& Rabi and J, 2009

slide-34
SLIDE 34

!"#$"%%& $C&

;'.5HL'@.%:,#% 'J'(5HL".'@% ?)#'$'..% <,(5#,$% U`O276B2,9+1&2*+1J+)(,&(8&& 2*2,9>&+,4&)B2>T+-24&-+BO16,3&&

G276(46@&-+BO16,3&tC#a&-+BO12-u& U*2,9>T+-24&-+BO16,3&t!#&-+BO12-u&

Araujo et al., 2010

slide-35
SLIDE 35

!"#$"%%& $W&

/(,@1J-6(,-&

  • I)#'$'..%<,(5#,$&"(@%('5?,#*)(=%+72&2,+T16,3&92@0,(1(362-&

6,&B+,A&2B2736,3&6,4J-976+1&+OO16@+)(,-&

  • cJ,4+B2,9+1&@0+112,32-%721+924&9(&&

– 9D'H@#)J'(.&-A,@07(,(J-.&-+BO124&4+9+&@(,97(1&902(7A.&*-& – 'J'(5H@#)J'(.&+-A,@07(,(J-.&+4&0(@&;67212--&,29;(7<6,3&

  • :2;&O76,@6O12-&8(7&@(,97(1&6,&1+732>-@+12&;67212--&-A-92B-&
  • F9027&*62;-&(,&2*2,9>T+-24&@(,97(1&6,&JO@(B6,3&12@9J72-&

3'<54#'%AB%'()*+),3&+OO16@+)(,-&+,4&@0+112,32-%

– :29;(7<24&@(,97(1&-A-92B-&0+*2&-(@629+1&6BO(79+,@2& – '+,A&,2;&+OO16@+)(,-&;690&@0+112,36,3&O7(T12B-&

3'<54#'%CB%567212--&@(,97(1&-A-92B-&

– U*27A906,3&;611&T2&;67212--.&6,@1J46,3&@(,97(1&-A-92B-& – M,9272-),3&8J,4+B2,9+1&@0+112,32-&(,&902&6,927-2@)(,& T29;22,&;67212--&,29;(7<6,3&+,4&@(,97(1&

L+<2>0(B2&B2--+32 &

0NOP"";;;Q22Q<90Q-2"R<+112S&

slide-36
SLIDE 36

!"#$"%%& $!&

q[/gYG&?=MHU?& G7((8&(8&(O)B+1&12*21&4292@9(7&

slide-37
SLIDE 37

!"#$"%%& $a&

slide-38
SLIDE 38

!"#$"%%& $d&