1. AFC @ MESA LAB ME280: Fractional Order Mechanics General Motivations on Fractional Calculus and Fractional Order Thinking (FOT) –Part-1 YangQuan Chen, Ph.D., Director, MESA LAB MESA (Mechatronics, Embedded Systems and Automation) LAB ME/EECS/SNRI/UCSolar, School of Engineering, University of California, Merced E: yqchen@ieee.org ; or, yangquan.chen@ucmerced.edu T: (209)228-4672; O: SE1-254; Lab: Castle #22 (T: 228-4398) 09/03/2013. Thursday 09:00-10:15, KL217

2. AFC @ MESA LAB What is Fractional Calculus? Calculus: integration and differentiation. Fractional Calculus: integration and differentiation of non-integer orders. –Orders can be real number (and even complex numbers!) –Orders are not constrained to be integers or even fractionals How this is possible? Why should I care? Any (good) consequences (to me)? 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-2/1024

3. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-3 of 1024 Slide credit: Igor Podlubny

4. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-4 of 1024 Slide credit: Igor Podlubny

5. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-5 of 1024 Slide credit: Igor Podlubny

6. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-6 of 1024 Fractional Order Thinking or, In Between Thinking For example –Between integers there are non-integers; –Between logic 0 and logic 1, there is the fuzzy logic; –Between integer order splines, there are fractional order splines –Between integer high order moments, there are noninteger order moments (e.g. FLOS) –Between integer dimensions, there are fractal dimensions –Fractional Fourier transform (FrFT) – in-between time-n-freq. –Non-Integer order calculus (fractional order calculus – abuse of terminology.) (FOC – fractional order control, so we use FC, or AFC: Applied Fractional Calculus)

7. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-7 of 1024 Optimal filtering in fractional order Fourier domain Slide credit: HALDUN M. OZAKTAS

8. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-8 of 1024 Optimal filtering in fractional Fourier domain Slide credit: HALDUN M. OZAKTAS

9. AFC @ MESA LAB Conclusion of Talk Integer-Order Calculus Fractional-Order Calculus Slide credit: Richard L. Magin, ICCC12 8/29/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-9/1024

10. AFC @ MESA LAB Integer-Order Calculus Fractional-Order Calculus Discrete gears vs. constantly-variable transmission http://spectrum.ieee.org/energywise/energy/renewables/could-mechanics-best-power-electronics-in-evs Slide credit: Calvin Coopmans, 2/28/2013 email comment Earth/moon 8/29/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-10/1024

11. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-11 of 1024 Slide credit: Igor Podlubny

12. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-12 of 1024 Slide credit: Igor Podlubny

13. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-13 of 1024 Slide credit: Igor Podlubny

14. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-14 of 1024 Slide credit: Igor Podlubny

15. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-15 of 1024 Fractional Order System – official keyword of IFAC pid12.ing.unibs.it/ Good Consequences

16. AFC @ MESA LAB 2001-20102005-2011 Slide-16/1024 ME280 "Fractional Order Mechanics" @ UC Merced Good Consequences 09/03/2013

17. AFC @ MESA LAB ME280 "Fractional Order Mechanics" @ UC Merced Slide-17/1024 09/03/2013 Good Consequences

18. AFC @ MESA LAB ME280: Fractional Order Mechanics! 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-18/1024 One More Good Consequence?

19. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-19 of 1024

20. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-20 of 1024 Slide credit: Igor Podlubny

21. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-21 of 1024

22. AFC @ MESA LAB 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-22 of 1024 Why and How and When Why – Many reasons. Dynamic systems modeling and controls. Better characterization, better control performance How – Analog versus digital realization methods. Many. When – Now. Ubiquitous. Take a try since we have the new tool. Slide credit: Igor Podlubny

23. AFC @ MESA LAB End of lecture side-remarks 09/03/2013 ME280 "Fractional Order Mechanics" @ UC Merced Slide-23/1024

24. AFC @ MESA LAB On Research Excellence YangQuan Chen, Ph.D., Director, MESA LAB MESA (Mechatronics, Embedded Systems and Automation) LAB MEAM/EECS, School of Engineering, University of California, Merced E: yqchen@ieee.org ; or, yangquan.chen@ucmerced.edu T: (209)228-4672; O: SE1-254; Lab: CAS Eng 820 (T: 228-4398) August 31, 2013. Saturday 2:00-2:25 PM R&R Day @ MESA LAB Symposium @ UCMerced

25. AFC @ MESA LAB 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-25/1024 THIS TALK

26. AFC @ MESA LAB Robotics&Ribs@MESALAB@UCMerced Symposium Slide-26/1024 Outline Introducing new MESA Lab members Research Excellence –Finding (research problems to attack) –Writing –Reading –Presenting –Networking, ethics, broad impacts … 08/30/2013

27. AFC @ MESA LAB New MESA Lab members Ph.D. graduate students –Brendan Smith –Tiebiao Zhao MSc. graduate students –Sean Rider –Marwin Ko Visiting Scholars –Professor Zhanbing Bai –Mr. John Taizhi Lyu 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-27/1024

28. AFC @ MESA LAB New MESA Lab members Undergraduate researchers students –Richard Buettner –Bryan Huffman –Jeffry Piety –Fabian Iniguez (ME195) 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-28/1024 Welcome on board!

29. AFC @ MESA LAB Say Goodbye to Miss Chun Yin, Exchange Ph.D. student, UESTC –Best Application Paper ASME/IEEE MESA 2013, Portland, OR., part of ASME IDETC/CIE 2013. –SMC, FO SMC, FO SMC ESC, FO MPPT PV (photovoltaic) CLC (cognitive lighting control) 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-29/1024

30. AFC @ MESA LAB Mechatronics, Embedded Systems and Automation Lab Real solutions for sustainability! Education and Outreach Activities: Projects Related to San Joaquin Valley: mechatronics.ucmerced.edu Dr. YangQuan Chen, yqchen@ieee.org Unmanned Aerial Systems & UAV-based Personal Remote Sensing (PRS) Cyber-Physical Systems (CPS) Mechatronics Applied Fractional Calculus Modeling and Control of Renewable Energy Systems Water (Water/soil salinity management, water sampling UAVs) Precision Ag/Environment (Crop dynamics, optimal harvest, pest …) Energy [Solar energy, CPV, Building efficiency (HVAC lighting), smart grids integration, NG pipelines] ME142 Mechatronics (take-home labs) ME280 Fractional Order Mechanics AfterShock Academic Excellence Night Robotics Club tutorials/workshops Preview Day in Merced Mall The Drone Age @ Castle Air Museum Robots-n-Ribs| MESABox! ASME tutorials 6 capstone teams (24 seniors) … Established August 2012 @ Castle of 1500 sq ft 4 Ph.D/1 MS/ 20+ undergrad members 6 visiting scholars || Sponsored 2 capstone projects and mentored 4+2 capstone teams (F13) Research Areas of Excellence: (ISI H-index=29, Google H-index=49; i10-index=217)

31. AFC @ MESA LAB Robotics&Ribs@MESALAB@UCMerced Symposium Slide-31/1024 Outline Introducing new MESA Lab members Research Excellence –Finding (research problems to attack) –Writing –Reading –Presenting –Networking, ethics, broad impacts … 08/30/2013

32. AFC @ MESA LAB What to Research? First Best Or, different! Or, do not bother! 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-32/1024 Credit: Richard Magins adviser

33. AFC @ MESA LAB 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-33/1024 There is no place for second place in research Do something significant Research matters! Research is an urgent matter! Work harder and smarter! Work hard but not harder to damage your health and GPA.

34. AFC @ MESA LAB 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-34/1024 I have to get you to drop modesty and say to yourself, ``Yes, I would like to do first-class work.'' Our society frowns on people who set out to do really good work. You're not supposed to; luck is supposed to descend on you and you do great things by chance. Well, that's a kind of dumb thing to say. I say, why shouldn't you set out to do something significant. You don't have to tell other people, but shouldn't you say to yourself, ``Yes, I would like to do something significant. Richard Hamming. You and your research http://www.youtube.com/watch?v=a1zDuOPkMSw http://www.johndcook.com/blog/2013/02/14/you-and-your-research/

35. AFC @ MESA LAB 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-35/1024

36. AFC @ MESA LAB If you do not work on an important problem, it's unlikely you'll do important work. It's perfectly obvious. Great scientists have thought through, in a careful way, a number of important problems in their field, and they keep an eye on wondering how to attack them. - Richard Hamming. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-36/1024

37. AFC @ MESA LAB One of the characteristics of successful scientists is having courage. Once you get your courage up and believe that you can do important problems, then you can. If you think you can't, almost surely you are not going to. Courage is one of the things that Shannon had supremely. - Richard Hamming. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-37/1024

38. AFC @ MESA LAB You should do your job in such a fashion that others can build on top of it, so they will indeed say, ``Yes, I've stood on so and sos shoulders and I saw further.'' The essence of science is cumulative. By changing a problem slightly you can often do great work rather than merely good work. Instead of attacking isolated problems, I made the resolution that I would never again solve an isolated problem except as characteristic of a class. - Richard Hamming. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-38/1024

39. AFC @ MESA LAB Robotics&Ribs@MESALAB@UCMerced Symposium Slide-39/1024 Outline Introducing new MESA Lab members Research Excellence –Finding (research problems to attack) –Writing –Reading –Presenting –Networking, ethics, broad impacts … 08/30/2013

40. AFC @ MESA LAB If you do not write down or write up, it did not happen! 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-40/1024

41. AFC @ MESA LAB Writing – A much needed habit A good habit for a good researcher! Dr. Kevin L. Moore on writing/talking –http://www.neng.usu.edu/classes/ece/4840/writingandt alking.pdf 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-41/1024

42. AFC @ MESA LAB Robotics&Ribs@MESALAB@UCMerced Symposium Slide-42/1024 Outline Introducing new MESA Lab members Research Excellence –Finding (research problems to attack) –Writing –Reading –Presenting –Networking, ethics, broad impacts … 08/30/2013

43. AFC @ MESA LAB Reading If you are reading it, you will not publish it! Reading it to beat it. Reading more and more and then less and less Read in brief and read to debrief. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-43/1024

44. AFC @ MESA LAB Robotics&Ribs@MESALAB@UCMerced Symposium Slide-44/1024 Outline Introducing new MESA Lab members Research Excellence –Finding (research problems to attack) –Writing –Reading –Presenting –Networking, ethics, broad impacts … 08/30/2013

45. AFC @ MESA LAB I Words "informing "inspiring "impressing "intimidating "improvising "instilling innovative 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-45/1024

46. AFC @ MESA LAB I have now come down to a topic which is very distasteful; it is not sufficient to do a job, you have to sell it. `Selling' to a scientist is an awkward thing to do. It's very ugly; you shouldn't have to do it. The world is supposed to be waiting, and when you do something great, they should rush out and welcome it. But the fact is everyone is busy with their own work. You must present it so well that they will set aside what they are doing, look at what you've done, read it, and come back and say, ``Yes, that was good. - Richard Hamming. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-46/1024

47. AFC @ MESA LAB Tips: Dr. Kevin L. Moore on writing/talking –http://www.neng.usu.edu/classes/ece/4840/ writingandtalking.pdfhttp://www.neng.usu.edu/classes/ece/4840/ writingandtalking.pdf 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-47/1024 There are three things you have to do in selling. You have to learn to write clearly and well so that people will read it, you must learn to give reasonably formal talks, and you also must learn to give informal talks. - Richard Hamming.

48. AFC @ MESA LAB Robotics&Ribs@MESALAB@UCMerced Symposium Slide-48/1024 Outline Introducing new MESA Lab members Research Excellence –Finding (research problems to attack) –Writing –Reading –Presenting –Networking, ethics, broad impacts … 08/30/2013

49. AFC @ MESA LAB Networking A paper is a name card, an ad, a node of network –Send your paper to all cited authors in the paper? A paper must give your readers something new and useful (informing and inspiring further work) 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-49/1024

50. AFC @ MESA LAB ethics Ten lectures by Professor Michael C. Loui of UIUC. (I met him in person in NSF REU grantee meetings) http://mechatronics.ucmerced.edu/lab-resources Every MESA LAB member should go watch these. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-50/1024

51. AFC @ MESA LAB Now self-delusion in humans is very, very common. There are enumerable ways of you changing a thing and kidding yourself and making it look some other way. When you ask, ``Why didn't you do such and such,'' the person has a thousand alibis. If you look at the history of science, usually these days there are 10 people right there ready, and we pay off for the person who is there first. The other nine fellows say, ``Well, I had the idea but I didn't do it and so on and so on.'' There are so many alibis. Why weren't you first? Why didn't you do it right? Don't try an alibi. Don't try and kid yourself. You can tell other people all the alibis you want. I don't mind. But to yourself try to be honest. - Richard Hamming. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-51/1024

52. AFC @ MESA LAB In summary, I claim that some of the reasons why so many people who have greatness within their grasp don't succeed are: they don't work on important problems, they don't become emotionally involved, they don't try and change what is difficult to some other situation which is easily done but is still important, and they keep giving themselves alibis why they don't. They keep saying that it is a matter of luck. I've told you how easy it is; furthermore I've told you how to reform. Therefore, go forth and become great scientists! - Richard Hamming. 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-52/1024

53. AFC @ MESA LAB Yes, you can excel in research if you want and have the drive 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-53/1024

54. AFC @ MESA LAB Deadlines for your (drone) papers! 9/1/2013 RED-UAS, France. https://www.hds.utc.fr/reduas2013/doku.php 9/27/2013. ACC2014 Portland http://a2c2.org/conferences/acc2014/ 10/30/2013. 2014 IFAC World Congress, Cape Town, South Africa http://www.ifac2014.org/ http://www.ifac2014.org/ 11/10/2013. ICFDA2014. Italy. http://www.icfda14.dieei.unict.it/http://www.icfda14.dieei.unict.it/ 2/3/2014. ICUAS2014. Orlando, FL. http://uasconferences.com/http://uasconferences.com/ 3/10/2014, IEEE/RSJ IROS 2014 Chicago http://www.iros2014.org/http://www.iros2014.org/ 3/20/2014. IEEE CDC 2014 in LA, CA. http://control.disp.uniroma2.it/cdc2014/cfp.php http://control.disp.uniroma2.it/cdc2014/cfp.php ICRA2014 in Hong Kong. (skip?) 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-54/1024

55. AFC @ MESA LAB education Teachers can no longer only throw information, and facts at students and expect 'education' to occur! –Rob Reilly Ed.D. http://www.media.mit.edu/~reillyhttp://www.media.mit.edu/~reilly When you forgot everything, whats left is higher education –YangQuan Chen (??) Google or wikipedia etc. can make you informed but not educated. –YangQuan Chen 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-55/1024

56. AFC @ MESA LAB Thank you for attending my talk! For more information, check http://mechatronics.ucmerced.edu/ Robotics&Ribs@MESALAB@UCMerced Symposium Slide-56/1024 08/30/2013

57. AFC @ MESA LAB Acknowledgements http://www.youtube.com/watch?v=a1zDuOPkMSw Dr. Charles (Chuck) Swenson of Utah State University for first bringing You and Your Research to my attention during our ECE Faculty Retreat in circa 2007(?) and his USU ECE 2011 Talk slides: http://www.neng.usu.edu/classes/ece/6800/fall11_re sources/Swenson%20Fa11%20Presentation.pdf 08/30/2013 Robotics&Ribs@MESALAB@UCMerced Symposium Slide-57/1024

58. AFC @ MESA LAB MESA Lab Philosophy and Ambition "We make real systems that work and others want them." MESA Lab: Staying on top and for sustainability. Nationally and internationally visible and prominent! Slide-58/1024 Robotics&Ribs@MESALAB@UCMerced Seminar "MESALAB @/4 SJV" 02/09/2013