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Theron Hitchman
Works at University of Northern Iowa
Attended University of Michigan
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Theron Hitchman

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Whaaaaaaat??? 
 
Triple Pendulum Control

A few years ago Dr. Tobias Glück from Technische Universität Wien, found that along with his mathematical insights, computers and numerical methods were now fast enough to swing-up and balance a pendulum, on a pendulum, on pendulum on a sliding rail under computer control.

IEEE CSS Video Clip Contest 2014 Submission

Triple Pendulum on a Cart (YT ~1 min.): https://goo.gl/XkKxHL


The presented work deals with the swing-up of the triple pendulum on a cart. The swing-up maneuver is accomplished within a two-degrees-of-freedom control scheme consisting of a nonlinear feedforward controller and an optimal feedback controller. Based on a precise mathematical model, the feedforward controller was obtained by solving a nonlinear two-point boundary value problem with free parameters. A time-variant Riccati Controller was developed in order to stabilize the system along the nominal trajectory and an Extended Kalman Filter was used to estimate the non-measurable states. The overall control strategy for the swing-up maneuver was successfully implemented and tested on an experimental test bench. Up to the authors’ knowledge, this is the first contribution so far providing numerical and experimental results of the swing-up maneuver for a triple pendulum on a cart.

Paper (open pdf): https://goo.gl/oT1cQY

Tobias Glück: https://goo.gl/RZtSte


Here is an easy to follow and graphic explanation of Kalman filters due to Tim Babb, who lives in the San Francisco Bay Area, and is Lighting Optimization Lead for Pixar Animation Studios.

Related Post: https://goo.gl/5X2ZpV

Image: https://goo.gl/nt6jPW
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This site has been posting biographies of prominent Latin and Hispanic mathematicians once a day for National Hispanic Heritage Month, with nine remaining to be revealed. I'm bookmarking it as a useful source for potential expansions to Wikipedia — fewer of these people have articles than I think probably should.

(As for why "Latin and Hispanic" is not redundant: see http://www.vox.com/2015/8/19/9173457/hispanic-latino-comic)
Our Mission. To provide an accessible platform that features prominently the extent of the research and mentoring contributions of Latin@s and Hispanics in different areas of the Mathematical Sciences. Our Vision. A vibrant and diverse Mathematical community where the depiction and participation ...
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So... I wonder what others think.

I am open to this. I have been teaching linear algebra for a few years, now, and maybe I agree with this.

What say you?
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Awa
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Wow
 
James Maynard has been counting prime numbers that don't have the number 7 as a digit. As he informed us at the recent European Congress of Mathematics, he has proved that there are infinitely many of them.
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Hope +Scott Peters​​ is having fun at the USWNT game.

Drink water and stay cool!
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+Theron Hitchman , it was a good time. Tired kids and hot parents, but worth it.
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New +Shapeways Inc​ stuff today. The purple one is a Steinmetz surface. The bronze one is the trefoil as a (2,3) torus knot.

I think it's (2,3). It might be (3,2). I forget which way to put the parameters. Anyway, this if the one where the order two symmetry is more obvious.

More is supposed to arrive tomorrow.
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¯\(ツ)/¯ 
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Lots of goodness here! I esp. like: quote If pedagogy and professional development are secondary priorities for you, don’t be surprised when your class is a secondary priority for your students.

http://www.thetattooedprof.com/archives/624

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That is very nice.
 
This is very cool. It relies on:

- elementary results about symmetric polynomials
- polynomials over C have finitely many roots
- elementary results about sequences
- continuity of polynomials
- the implicit function theorem (for polynomials!)
- a non-empty closed and open subspace of a connected space is the whole space

http://www.daniellitt.com/blog/2016/10/6/a-minimal-proof-of-the-fundamental-theorem-of-algebra
When I was in graduate school, I came up with what I think is a nice proof of the fundamental theorem of algebra. At the time, I wrote it up here somewhat formally; I thought it might make a nice blog post, since the formal write-up obscures the very simple underlying ideas. The goal was to use the minimal amount of technology possible -- in the end I use just a little algebra and some elementary point-set topology, as well as the i...
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This is thing. I am pretty excited about it.

I just need to find enough students to make it run.
#KnotTheory
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When we try to sell a course, we often have the prof give a fun (usually lunchtime) talk about the topic. You could always do something similar featuring the 3D prints you've made and discuss how you make them and what they show without promising the students the ability to produce them if they take the class. Then you have a cool topic with hands-on props.
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All the major professional societies say so!
 
CBMS Statement on Active Learning
Okay, this is a really big deal.  The Conference Board of the Mathematical Sciences has weighed in. CBMS supports active learning ( CBMS Active Learning Statement )! Just to be clear, this isn't one or two professors clicking a like button on social media. ...
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That's adorable.
 
Harry's face says it all. Mandrake Baby Photoshoot by Jesse and Katherine Oldfield: http://bit.ly/29TI9rT
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My first +Shapeways Inc​ designs have arrived!
These came out nice. Maybe I will share some details of the mathematics, soon. But these are both representations of the trefoil knot.

The one on the right is in Horst Schubert's normal form for 2-bridge knots. (And then turned into a pendant by adding a loop for a chain.) The other is as a 2-butterfly, following recent work of Hilden, Montesinos, Tejada, and Toro.
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College Mathematics Teaching, only mostly insane.
Introduction
I am interested in:
Math (especially geometry),
Inquiry Based Instruction,
Standards based assessment,
learning Python,
the Sage math software project,
Soccer,
good books.
Education
  • University of Michigan
    Mathematics, 1997 - 2003
  • THE Ohio State University
    Mathematics, 1993 - 1997
Contact Information
Work
Phone
+1 3192732646
Email
Address
Department of Mathematics 0506 University of Northern Iowa Cedar Falls, IA 50614-0506
Work
Occupation
Professor of Mathematics
Employment
  • University of Northern Iowa
    Professor of Mathematics, 2007 - present
  • Rice University
    VIGRE Lovett Instructor of Mathematics, 2003 - 2006
  • Williams College
    Visiting Assistant Professor, 2006 - 2007
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Male