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Sample records for adaptive sliding mode

  1. Adaptive sliding mode control for a class of chaotic systems

    SciTech Connect

    Farid, R.; Ibrahim, A.; Zalam, B.

    2015-03-30

    Chaos control here means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, an Adaptive Sliding Mode Controller (ASMC) is presented based on Lyapunov stability theory. The well known Chua's circuit is chosen to be our case study in this paper. The study shows the effectiveness of the proposed adaptive sliding mode controller.

  2. Robust observer-based adaptive fuzzy sliding mode controller

    NASA Astrophysics Data System (ADS)

    Oveisi, Atta; Nestorović, Tamara

    2016-08-01

    In this paper, a new observer-based adaptive fuzzy integral sliding mode controller is proposed based on the Lyapunov stability theorem. The plant is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. Based on the classical sliding mode controller, the equivalent control effort is obtained to satisfy the sufficient requirement of sliding mode controller and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. In order to relax the norm-bounded constrains on the control law and solve the chattering problem of sliding mode controller, a fuzzy logic inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, for evaluating the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.

  3. Sliding mode control of wind-induced vibrations using fuzzy sliding surface and gain adaptation

    NASA Astrophysics Data System (ADS)

    Thenozhi, Suresh; Yu, Wen

    2016-04-01

    Although fuzzy/adaptive sliding mode control can reduce the chattering problem in structural vibration control applications, they require the equivalent control and the upper bounds of the system uncertainties. In this paper, we used fuzzy logic to approximate the standard sliding surface and designed a dead-zone adaptive law for tuning the switching gain of the sliding mode control. The stability of the proposed controller is established using Lyapunov stability theory. A six-storey building prototype equipped with an active mass damper has been used to demonstrate the effectiveness of the proposed controller towards the wind-induced vibrations.

  4. Adaptive sliding mode control - convergence and gain boundedness revisited

    NASA Astrophysics Data System (ADS)

    Zhu, Jiang; Khayati, Karim

    2016-04-01

    This paper reviews the main adaptive sliding mode controller (ASMC) designs for nonlinear systems with finite uncertainties of unknown bounds. Different statements of convergence referring to uniformly ultimate boundedness (UUB), asymptotic convergence (AC) and finite-time convergence (FTC) for ASMC shown in recent papers are analysed. Weaknesses and incomplete proofs apropos FTC are pointed out. Thereafter, a new approach is proposed to successfully demonstrate FTC of the so-called sliding variable. We identify a compensating phase and a reaching phase during the ASMC process. A new explicit form for estimating the upper-bound reaching time is provided for any bounded perturbation. An amended form of the real ASMC is recalled showing improved accuracy and chattering reduction. Finally, numerical and experimental applications are performed to convey the discussed results.

  5. Adaptive backstepping slide mode control of pneumatic position servo system

    NASA Astrophysics Data System (ADS)

    Ren, Haipeng; Fan, Juntao

    2016-06-01

    With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental results show that the designed controller can achieve better tracking performance, as compared with some existing methods.

  6. Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method

    PubMed Central

    Zhao, Guoliang; Li, Hongxing

    2013-01-01

    This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model. PMID:24453897

  7. Chattering free adaptive multivariable sliding mode controller for systems with matched and mismatched uncertainty.

    PubMed

    Mondal, Sanjoy; Mahanta, Chitralekha

    2013-05-01

    In this paper, a chattering free adaptive sliding mode controller (SMC) is proposed for stabilizing a class of multi-input multi-output (MIMO) systems affected by both matched and mismatched types of uncertainties. The proposed controller uses a proportional plus integral sliding surface whose gain is adaptively tuned to prevent overestimation. A vertical take-off and landing (VTOL) aircraft system is simulated to demonstrate the effectiveness of the proposed control scheme. PMID:23357555

  8. Adaptive sliding mode control of tri-layer conjugated polymer actuators

    NASA Astrophysics Data System (ADS)

    Wang, Xiangjiang; Alici, Gursel; Nguyen, Chuc Huu

    2013-02-01

    This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances.

  9. Adaptive sliding mode control of tethered satellite deployment with input limitation

    NASA Astrophysics Data System (ADS)

    Ma, Zhiqiang; Sun, Guanghui

    2016-10-01

    This paper proposes a novel adaptive sliding mode tension control method for the deployment of tethered satellite, where the input tension limitation is taken into account. The underactuated governing equations of the tethered satellites system are firstly derived based on Lagrangian mechanics theory. Considering the fact that the tether can only resist axial stretching, the tension input is modelled as input limitation. New adaptive sliding mode laws are addressed to guarantee the stability of the tethered satellite deployment with input disturbance, meanwhile to eliminate the effect of the limitation features of the tension input. Compared with the classic control strategy, the newly proposed adaptive sliding mode control law can deploy the satellite with smaller overshoot of the in-plane angle and implement the tension control reasonably and effectively in engineering practice. The numerical results validate the effectiveness of the proposed methods.

  10. Reaction jet and aerodynamics compound control missile autopilot design based on adaptive fuzzy sliding mode control

    NASA Astrophysics Data System (ADS)

    Wu, Zhenhui; Dong, Chaoyang

    2006-11-01

    Because of nonlinearity and strong coupling of reaction-jet and aerodynamics compound control missile, a missile autopilot design method based on adaptive fuzzy sliding mode control (AFSMC) is proposed in this paper. The universal approximation ability of adaptive fuzzy system is used to approximate the nonlinear function in missile dynamics equation during the flight of high angle of attack. And because the sliding mode control is robustness to external disturbance strongly, the sliding mode surface of the error system is constructed to overcome the influence of approximation error and external disturbance so that the actual overload can track the maneuvering command with high precision. Simulation results show that the missile autopilot designed in this paper not only can track large overload command with higher precision than traditional method, but also is robust to model uncertainty and external disturbance strongly.

  11. Non-linear adaptive sliding mode switching control with average dwell-time

    NASA Astrophysics Data System (ADS)

    Yu, Lei; Zhang, Maoqing; Fei, Shumin

    2013-03-01

    In this article, an adaptive integral sliding mode control scheme is addressed for switched non-linear systems in the presence of model uncertainties and external disturbances. The control law includes two parts: a slide mode controller for the reduced model of the plant and a compensation controller to deal with the non-linear systems with parameter uncertainties. The adaptive updated laws have been derived from the switched multiple Lyapunov function method, also an admissible switching signal with average dwell-time technique is given. The simplicity of the proposed control scheme facilitates its implementation and the overall control scheme guarantees the global asymptotic stability in the Lyapunov sense such that the sliding surface of the control system is well reached. Simulation results are presented to demonstrate the effectiveness and the feasibility of the proposed approach.

  12. Fault tolerant small satellite attitude control using adaptive non-singular terminal sliding mode

    NASA Astrophysics Data System (ADS)

    Cao, Lu; Chen, XiaoQian; Sheng, Tao

    2013-06-01

    The Attitude Control System (ACS) plays a pivotal role in the whole performance of the spacecraft on the orbit; therefore, it is vitally important to design the control system with the performance of rapid response, high control precision and insensitive to external perturbations. In the first place, this paper proposes two adaptive nonlinear control algorithms based on the sliding mode control (SMC), which are designed for small satellite attitude control system. The nonlinear dynamics describing the attitude of small satellite is considered in a circle reference orbit, and the stability of the closed-loop system in the presence of external perturbations is investigated. Then, in order to account for accidental or degradation fault in satellite actuators, the fault-tolerant control schemes are presented. Hence, two adaptive fault-tolerant control laws (continuous sliding mode control and non-singular terminal sliding mode control) are developed by adopting the nonlinear analytical model to describe the system, which can guarantee global asymptotic convergence of the attitude control error with the existence of unknown external perturbations. The nonlinear hyperplane based Terminal sliding mode is introduced into the control law design; therefore, the system convergence performance improves and the control error is convergent in "finite time". As a result, the study on the non-singular terminal sliding mode control is the emphasis and the continuous sliding mode control is used to compare with the non-singular terminal sliding mode control. Meanwhile, an adaptive fuzzy algorithm has been proposed to suppress the chattering phenomenon. Moreover, several numerical examples are presented to demonstrate the efficacy of the proposed controllers by correcting for the external perturbations. Simulation results confirm that the suggested methodologies yield high control precision in control. In addition, actuator degradation, actuator stuck and actuator failure for a

  13. Adaptive terminal sliding mode control subject to input nonlinearity for synchronization of chaotic gyros

    NASA Astrophysics Data System (ADS)

    Yang, Chi-Ching; Ou, Chung-Jen

    2013-03-01

    Under the existence of system uncertainties, external disturbances, and input nonlinearity, complete synchronization and anti-synchronization between two chaotic gyros are achieved by introducing a novel adaptive terminal sliding mode (ATSM) controller. In the literature, by taking account of input nonlinearity, the magnitudes of bounded nonlinear dynamics of synchronous error system were required in the designed sliding mode controller. In this study, the proposed ATSM controller associated with time-varying feedback gains can tackle nonlinear dynamics according to the novel adaptive rules. These feedback gains are not necessary to be determined in advance but updated by the adaptive rules without known the magnitudes of bounded nonlinear dynamics, system uncertainties, and external disturbances. Sufficient conditions to guarantee stable synchronization are given in the sense of the Lyapunov stability theorem, and the numerical simulations are performed to verify the effectiveness of presented schemes.

  14. Synchronization of a class of chaotic systems with fully unknown parameters using adaptive sliding mode approach

    NASA Astrophysics Data System (ADS)

    Roopaei, M.; Zolghadri Jahromi, M.

    2008-12-01

    In this paper, an adaptive sliding mode control method for synchronization of a class of chaotic systems with fully unknown parameters is introduced. In this method, no knowledge of the bounds of parameters is required in advance and the parameters are updated through an adaptive control process. We use our proposed method to synchronize two chaotic gyros, which has been the subject of intense study during the recent years for its application in the navigational, aeronautical, and space engineering domains. The effectiveness of our method is demonstrated in simulation environment and the results are compared with some recent schemes proposed in the literature for the same task.

  15. Design of adaptive fuzzy wavelet neural sliding mode controller for uncertain nonlinear systems.

    PubMed

    Shahriari kahkeshi, Maryam; Sheikholeslam, Farid; Zekri, Maryam

    2013-05-01

    This paper proposes novel adaptive fuzzy wavelet neural sliding mode controller (AFWN-SMC) for a class of uncertain nonlinear systems. The main contribution of this paper is to design smooth sliding mode control (SMC) for a class of high-order nonlinear systems while the structure of the system is unknown and no prior knowledge about uncertainty is available. The proposed scheme composed of an Adaptive Fuzzy Wavelet Neural Controller (AFWNC) to construct equivalent control term and an Adaptive Proportional-Integral (A-PI) controller for implementing switching term to provide smooth control input. Asymptotical stability of the closed loop system is guaranteed, using the Lyapunov direct method. To show the efficiency of the proposed scheme, some numerical examples are provided. To validate the results obtained by proposed approach, some other methods are adopted from the literature and applied for comparison. Simulation results show superiority and capability of the proposed controller to improve the steady state performance and transient response specifications by using less numbers of fuzzy rules and on-line adaptive parameters in comparison to other methods. Furthermore, control effort has considerably decreased and chattering phenomenon has been completely removed. PMID:23453235

  16. Robust dynamic sliding-mode control using adaptive RENN for magnetic levitation system.

    PubMed

    Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai

    2009-06-01

    In this paper, a robust dynamic sliding mode control system (RDSMC) using a recurrent Elman neural network (RENN) is proposed to control the position of a levitated object of a magnetic levitation system considering the uncertainties. First, a dynamic model of the magnetic levitation system is derived. Then, a proportional-integral-derivative (PID)-type sliding-mode control system (SMC) is adopted for tracking of the reference trajectories. Moreover, a new PID-type dynamic sliding-mode control system (DSMC) is proposed to reduce the chattering phenomenon. However, due to the hardware being limited and the uncertainty bound being unknown of the switching function for the DSMC, an RDSMC is proposed to improve the control performance and further increase the robustness of the magnetic levitation system. In the RDSMC, an RENN estimator is used to estimate an unknown nonlinear function of lumped uncertainty online and replace the switching function in the hitting control of the DSMC directly. The adaptive learning algorithms that trained the parameters of the RENN online are derived using Lyapunov stability theorem. Furthermore, a robust compensator is proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher order terms in Taylor series. Finally, some experimental results of tracking the various periodic trajectories demonstrate the validity of the proposed RDSMC for practical applications. PMID:19423437

  17. Fault-tolerant nonlinear adaptive flight control using sliding mode online learning.

    PubMed

    Krüger, Thomas; Schnetter, Philipp; Placzek, Robin; Vörsmann, Peter

    2012-08-01

    An expanded nonlinear model inversion flight control strategy using sliding mode online learning for neural networks is presented. The proposed control strategy is implemented for a small unmanned aircraft system (UAS). This class of aircraft is very susceptible towards nonlinearities like atmospheric turbulence, model uncertainties and of course system failures. Therefore, these systems mark a sensible testbed to evaluate fault-tolerant, adaptive flight control strategies. Within this work the concept of feedback linearization is combined with feed forward neural networks to compensate for inversion errors and other nonlinear effects. Backpropagation-based adaption laws of the network weights are used for online training. Within these adaption laws the standard gradient descent backpropagation algorithm is augmented with the concept of sliding mode control (SMC). Implemented as a learning algorithm, this nonlinear control strategy treats the neural network as a controlled system and allows a stable, dynamic calculation of the learning rates. While considering the system's stability, this robust online learning method therefore offers a higher speed of convergence, especially in the presence of external disturbances. The SMC-based flight controller is tested and compared with the standard gradient descent backpropagation algorithm in the presence of system failures. PMID:22386784

  18. Adaptive Actor-Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances.

    PubMed

    Fan, Quan-Yong; Yang, Guang-Hong

    2016-01-01

    This paper is concerned with the problem of integral sliding-mode control for a class of nonlinear systems with input disturbances and unknown nonlinear terms through the adaptive actor-critic (AC) control method. The main objective is to design a sliding-mode control methodology based on the adaptive dynamic programming (ADP) method, so that the closed-loop system with time-varying disturbances is stable and the nearly optimal performance of the sliding-mode dynamics can be guaranteed. In the first step, a neural network (NN)-based observer and a disturbance observer are designed to approximate the unknown nonlinear terms and estimate the input disturbances, respectively. Based on the NN approximations and disturbance estimations, the discontinuous part of the sliding-mode control is constructed to eliminate the effect of the disturbances and attain the expected equivalent sliding-mode dynamics. Then, the ADP method with AC structure is presented to learn the optimal control for the sliding-mode dynamics online. Reconstructed tuning laws are developed to guarantee the stability of the sliding-mode dynamics and the convergence of the weights of critic and actor NNs. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method. PMID:26357411

  19. An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints

    NASA Astrophysics Data System (ADS)

    Chen, Naijian; Song, Fangzhen; Li, Guoping; Sun, Xuan; Ai, Changsheng

    2013-10-01

    To solve disturbances, nonlinearity, nonholonomic constraints and dynamic coupling between the platform and its mounted robot manipulator, an adaptive sliding mode controller based on the backstepping method applied to the robust trajectory tracking of the wheeled mobile manipulator is described in this article. The control algorithm rests on adopting the backstepping method to improve the global ultimate asymptotic stability and applying the sliding mode control to obtain high response and invariability to uncertainties. According to the Lyapunov stability criterion, the wheeled mobile manipulator is divided into several stabilizing subsystems, and an adaptive law is designed to estimate the general nondeterminacy, which make the controller be capable to drive the trajectory tracking error of the mobile manipulator to converge to zero even in the presence of perturbations and mathematical model errors. We compare our controller with the robust neural network based algorithm in nonholonomic constraints and uncertainties, and simulation results prove the effectivity and feasibility of the proposed method in the trajectory tracking of the wheeled mobile manipulator.

  20. Fractional fuzzy adaptive sliding-mode control of a 2-DOF direct-drive robot arm.

    PubMed

    Efe, Mehmet Onder

    2008-12-01

    This paper presents a novel parameter adjustment scheme to improve the robustness of fuzzy sliding-mode control achieved by the use of an adaptive neuro-fuzzy inference system (ANFIS) architecture. The proposed scheme utilizes fractional-order integration in the parameter tuning stage. The controller parameters are tuned such that the system under control is driven toward the sliding regime in the traditional sense. After a comparison with the classical integer-order counterpart, it is seen that the control system with the proposed adaptation scheme displays better tracking performance, and a very high degree of robustness and insensitivity to disturbances are observed. The claims are justified through some simulations utilizing the dynamic model of a 2-DOF direct-drive robot arm. Overall, the contribution of this paper is to demonstrate that the response of the system under control is significantly better for the fractional-order integration exploited in the parameter adaptation stage than that for the classical integer-order integration. PMID:19022726

  1. Nonlinear adaptive observer-based sliding mode control for LAMOST mount driving

    NASA Astrophysics Data System (ADS)

    Zhou, Wang-Ping; Zheng, Yi; Guo, Wei; Yu, Li; Yang, Chang-Song

    2010-01-01

    Heavy disturbances caused mainly by wind and friction in the mount drive system greatly impair the pointing accuracy of the Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST). To overcome this negative effect, a third order Higher Order Sliding Mode (HOSM) controller is proposed. The key part of this approach is to design an appropriate observer which obtains the acceleration state. A nonlinear adaptive observer is proposed in which a novel polynomial model is applied to estimate the internal disturbances of the mount drive system. Theoretical analysis demonstrates the stability of the proposed observer. Simulation results show that this nonlinear adaptive observer can obtain a high precision acceleration signal which completes the HOSM controller. Furthermore, the HOSM approach can easily satisfy the position tracking requirements of the LAMOST mount drive system.

  2. Adaptive sliding mode dynamic controller with integrator in the loop for nonholonomic wheeled mobile robot trajectory tracking

    NASA Astrophysics Data System (ADS)

    Asif, Muhammad; Junaid Khan, Muhammad; Cai, Ning

    2014-05-01

    In this paper, novel adaptive sliding mode dynamic controller with integrator in the loop is proposed for nonholonomic wheeled mobile robot (WMR). The modified kinematics controller is used to generate kinematics velocities of WMR which are subsequently used as the input to adaptive dynamic controller. Actuator dynamics are also derived to generate actuator voltage of WMR through torque and velocity vectors. Stability of both kinematics and dynamic controller is presented using Lyapunov stability analysis. The proposed scheme is verified and validated using computer simulations for tracking the desired trajectory of WMR. The performance of proposed scheme is compared with standard backstepping kinematics controller and classical sliding mode control. In addition, the performance is further compared with standard backstepping kinematics controller with adaptive sliding mode controller without integrator. It is shown that the proposed scheme exhibits zero steady state error, fast error convergence and robustness in the presence of continuous disturbances and uncertainties.

  3. Decentralized adaptive sliding mode control for beam synchronization of tethered InSAR system

    NASA Astrophysics Data System (ADS)

    Zhang, Jinxiu; Zhang, Zhigang; Wu, Baolin

    2016-10-01

    Beam synchronization problem of tethered interferometric synthetic aperture radar (InSAR) is addressed in this paper. Two antennas of the system are carried by separate satellites connected through a tether to obtain a preferable baseline. A Total Zero Doppler Steering (TZDS) is implemented to mother-satellite to cancel the residual Doppler. Subsequently attitude reference trajectories for the two satellites are generated to achieve the beam synchronization and TZDS. Thereafter, a decentralized adaptive sliding mode control law is proposed to track these reference trajectories in the presence of model uncertainties and external disturbances. Finally, the stability of closed-loop system is proved by the corollary of Barbalat's Lemma. Simulation results show the proposed control law is effective to achieve beam synchronization of the system.

  4. Adaptive sliding mode control on inner axis for high precision flight motion simulator

    NASA Astrophysics Data System (ADS)

    Fu, Yongling; Niu, Jianjun; Wang, Yan

    2008-10-01

    Discrete adaptive sliding mode control (ASMC) with exponential reaching law is proposed to alleviate the influence of the factors such as the periodical fluctuation torque of motor, nonlinear friction, and other disturbance which will deteriorate the tracking performance of a DC torque motor driven inner axis for a high precision flight motion simulator, considering the limited compensating ability of the ASMC for these uncertainty, an equivalent friction advance compensator based on Stribeck model is also presented for extra-low speed servo of the system. Firstly, the way direct using the available parts of the inner axis itself to ascertain the parameters for Stribeck model is listed. Secondly, adaptive approach is used to overcome the difficulty of choice the key parameter for exponential reaching law, and the stability of the algorithm is analyzed. Lastly, comparable experiments are carried out to verify the valid of the combined approach. The experiments results show with a stable 0.00006°/s speed response, 95% of time the tracking error is within 0.0002°, other servos such as sine wave tracking are also with high precision.

  5. Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control.

    PubMed

    Li, Lebao; Sun, Lingling; Zhang, Shengzhou

    2016-05-01

    A new mean deviation coupling synchronization control strategy is developed for multiple motor control systems, which can guarantee the synchronization performance of multiple motor control systems and reduce complexity of the control structure with the increasing number of motors. The mean deviation coupling synchronization control architecture combining second-order adaptive sliding mode control (SOASMC) approach is proposed, which can improve synchronization control precision of multiple motor control systems and make speed tracking errors, mean speed errors of each motor and speed synchronization errors converge to zero rapidly. The proposed control scheme is robustness to parameter variations and random external disturbances and can alleviate the chattering phenomena. Moreover, an adaptive law is employed to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort. Performance comparisons with master-slave control, relative coupling control, ring coupling control, conventional PI control and SMC are investigated on a four-motor synchronization control system. Extensive comparative results are given to shown the good performance of the proposed control scheme. PMID:26899554

  6. 6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying

    NASA Astrophysics Data System (ADS)

    Wang, Jianying; Sun, Zhaowei

    2012-04-01

    This paper addresses the tracking control problem of the leader-follower spacecraft formation, by which we mean that the relative motion between the leader and the follower is required to track a desired time-varying trajectory given in advance. Using dual number, the six-degree-of-freedom motion of the follower spacecraft relative to the leader spacecraft is modeled, where the coupling effect between the translational motion and the rotational one is accounted. A robust adaptive terminal sliding mode control law, including the adaptive algorithms, is proposed to ensure the finite time convergence of the relative motion tracking errors despite the presence of model uncertainties and external disturbances, based on which a modified controller is furthermore developed to solve the dual-equilibrium problem caused by dual quaternion representation. In addition, to alleviate the chattering, hyperbolic tangent function is adopted to substitute for the sign function. And by theoretical analysis, it is proved that the tracking error in such case will converge to a neighborhood of the origin in finite time. Finally, numerical simulations are performed to demonstrate the validity of the proposed approaches.

  7. A novel adaptive switching function on fault tolerable sliding mode control for uncertain stochastic systems.

    PubMed

    Zahiripour, Seyed Ali; Jalali, Ali Akbar

    2014-09-01

    A novel switching function based on an optimization strategy for the sliding mode control (SMC) method has been provided for uncertain stochastic systems subject to actuator degradation such that the closed-loop system is globally asymptotically stable with probability one. In the previous researches the focus on sliding surface has been on proportional or proportional-integral function of states. In this research, from a degree of freedom that depends on designer choice is used to meet certain objectives. In the design of the switching function, there is a parameter which the designer can regulate for specified objectives. A sliding-mode controller is synthesized to ensure the reachability of the specified switching surface, despite actuator degradation and uncertainties. Finally, the simulation results demonstrate the effectiveness of the proposed method. PMID:24954808

  8. Adaptive neuro-fuzzy sliding mode control of multi-joint movement using intraspinal microstimulation.

    PubMed

    Asadi, Ali-Reza; Erfanian, Abbas

    2012-07-01

    During the last decade, intraspinal microstimulation (ISMS) has been proposed as a potential technique for restoring motor function in paralyzed limbs. A major challenge to restoration of a desired functional limb movement through the use of ISMS is the development of a robust control strategy for determining the stimulation patterns. Accurate and stable control of limbs by functional intraspinal microstimulation is a very difficult task because neuromusculoskeletal systems have significant nonlinearity, time variability, large latency and time constant, and muscle fatigue. Furthermore, the controller must be able to compensate the effect of the dynamic interaction between motor neuron pools and electrode sites during ISMS. In this paper, we present a robust strategy for multi-joint control through ISMS in which the system parameters are adapted online and the controller requires no offline training phase. The method is based on the combination of sliding mode control with fuzzy logic and neural control. Extensive experiments on six rats are provided to demonstrate the robustness, stability, and tracking accuracy of the proposed method. Despite the complexity of the spinal neuronal networks, our results show that the proposed strategy could provide accurate tracking control with fast convergence and could generate control signals to compensate for the effects of muscle fatigue. PMID:22711783

  9. A novel discrete adaptive sliding-mode-like control method for ionic polymer-metal composite manipulators

    NASA Astrophysics Data System (ADS)

    Sun, Zhiyong; Hao, Lina; Chen, Wenlin; Li, Zhi; Liu, Liqun

    2013-09-01

    Ionic polymer-metal composite (IPMC), also called artificial muscle, is an EAP material which can generate a relatively large deformation with a low driving voltage (generally less than 5 V). Like other EAP materials, IPMC possesses strong nonlinear properties, which can be described as a hybrid of back-relaxation (BR) and hysteresis characteristics, which also vary with water content, environmental temperature and even the usage consumption. Nowadays, many control approaches have been developed to tune the IPMC actuators, among which adaptive methods show a particular striking performance. To deal with IPMCs’ nonlinear problem, this paper represents a robust discrete adaptive inverse (AI) control approach, which employs an on-line identification technique based on the BR operator and Prandtl-Ishlinskii (PI) hysteresis operator hybrid model estimation method. Here the newly formed control approach is called discrete adaptive sliding-mode-like control (DASMLC) due to the similarity of its design method to that of a sliding mode controller. The weighted least mean squares (WLMS) identification method was employed to estimate the hybrid IPMC model because of its advantage of insensitivity to environmental noise. Experiments with the DASMLC approach and a conventional PID controller were carried out to compare and demonstrate the proposed controller’s better performance.

  10. Based on interval type-2 fuzzy-neural network direct adaptive sliding mode control for SISO nonlinear systems

    NASA Astrophysics Data System (ADS)

    Lin, Tsung-Chih

    2010-12-01

    In this paper, a novel direct adaptive interval type-2 fuzzy-neural tracking control equipped with sliding mode and Lyapunov synthesis approach is proposed to handle the training data corrupted by noise or rule uncertainties for nonlinear SISO nonlinear systems involving external disturbances. By employing adaptive fuzzy-neural control theory, the update laws will be derived for approximating the uncertain nonlinear dynamical system. In the meantime, the sliding mode control method and the Lyapunov stability criterion are incorporated into the adaptive fuzzy-neural control scheme such that the derived controller is robust with respect to unmodeled dynamics, external disturbance and approximation errors. In comparison with conventional methods, the advocated approach not only guarantees closed-loop stability but also the output tracking error of the overall system will converge to zero asymptotically without prior knowledge on the upper bound of the lumped uncertainty. Furthermore, chattering effect of the control input will be substantially reduced by the proposed technique. To illustrate the performance of the proposed method, finally simulation example will be given.

  11. Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

    PubMed Central

    Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik

    2013-01-01

    A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640

  12. A novel approach for state of charge estimation based on adaptive switching gain sliding mode observer in electric vehicles

    NASA Astrophysics Data System (ADS)

    Chen, Xiaopeng; Shen, Weixiang; Cao, Zhenwei; Kapoor, Ajay

    2014-01-01

    In this paper, a novel approach for battery state of charge (SOC) estimation in electric vehicles (EVs) based on an adaptive switching gain sliding mode observer (ASGSMO) has been presented. To design the ASGSMO for the SOC estimation, the state equations based on a battery equivalent circuit model (BECM) are derived to represent dynamic behaviours of a battery. Comparing with a conventional sliding mode observer, the ASGSMO has a capability of minimising chattering levels in the SOC estimation by using the self-adjusted switching gain while maintaining the characteristics of being able to compensate modelling errors caused by the parameter variations of the BECM. Lyapunov stability theory is adopted to prove the error convergence of the ASGSMO for the SOC estimation. The lithium-polymer battery (LiPB) is utilised to conduct experiments for determining the parameters of the BECM and verifying the effectiveness of the proposed ASGSMO in various discharge current profiles including EV driving conditions in both city and suburban.

  13. Active Pneumatic Vibration Control by Using Pressure and Velocity Measurements and Adaptive Fuzzy Sliding-Mode Controller

    PubMed Central

    Chen, Hung-Yi; Liang, Jin-Wei; Wu, Jia-Wei

    2013-01-01

    This paper presents an intelligent control strategy to overcome nonlinear and time-varying characteristics of a diaphragm-type pneumatic vibration isolator (PVI) system. By combining an adaptive rule with fuzzy and sliding-mode control, the method has online learning ability when it faces the system's nonlinear and time-varying behaviors during an active vibration control process. Since the proposed scheme has a simple structure, it is easy to implement. To validate the proposed scheme, a composite control which adopts both chamber pressure and payload velocity as feedback signal is implemented. During experimental investigations, sinusoidal excitation at resonance and random-like signal are input on a floor base to simulate ground vibration. Performances obtained from the proposed scheme are compared with those obtained from passive system and PID scheme to illustrate the effectiveness of the proposed intelligent control. PMID:23820746

  14. Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

    NASA Astrophysics Data System (ADS)

    Cao, Zhengcai; Yin, Longjie; Fu, Yili

    2013-01-01

    Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

  15. Design of an adaptive fuzzy sliding mode control for uncertain discrete-time nonlinear systems based on noisy measurements

    NASA Astrophysics Data System (ADS)

    Yoshimura, Toshio

    2016-02-01

    This paper presents the design of an adaptive fuzzy sliding mode control (AFSMC) for uncertain discrete-time nonlinear dynamic systems. The dynamic systems are described by a discrete-time state equation with nonlinear uncertainties, and the uncertainties include the modelling errors and the external disturbances to be unknown but nonlinear with the bounded properties. The states are measured by the restriction of measurement sensors and the contamination with independent measurement noises. The nonlinear uncertainties are approximated by using the fuzzy IF-THEN rules based on the universal approximation theorem, and the approximation error is compensated by adding an adaptive complementary term to the proposed AFSMC. The fuzzy inference approach based on the extended single input rule modules is proposed to reduce the number of the fuzzy IF-THEN rules. The estimates for the un-measurable states and the adjustable parameters are obtained by using the weighted least squares estimator and its simplified one. It is proved that under some conditions the estimation errors will remain in the vicinity of zero as time increases, and the states are ultimately bounded subject to the proposed AFSMC. The effectiveness of the proposed method is indicated through the simulation experiment of a simple numerical system.

  16. Synchronization analysis and control of three eccentric rotors in a vibrating system using adaptive sliding mode control algorithm

    NASA Astrophysics Data System (ADS)

    Kong, Xiangxi; Zhang, Xueliang; Chen, Xiaozhe; Wen, Bangchun; Wang, Bo

    2016-05-01

    In this paper, self- and controlled synchronizations of three eccentric rotors (ERs) in line driven by induction motors rotating in the same direction in a vibrating system are investigated. The vibrating system is a typical underactuated mechanical-electromagnetic coupling system. The analysis and control of the vibrating system convert to the synchronization motion problem of three ERs. Firstly, the self-synchronization motion of three ERs is analyzed according to self-synchronization theory. The criterions of synchronization and stability of self-synchronous state are obtained by using a modified average perturbation method. The significant synchronization motion of three ERs with zero phase differences cannot be implemented according to self-synchronization theory through analysis and simulations. To implement the synchronization motion of three ERs with zero phase differences, an adaptive sliding mode control (ASMC) algorithm based on a modified master-slave control strategy is employed to design the controllers. The stability of the controllers is verified by using Lyapunov theorem. The performances of the controlled synchronization system are presented by simulations to demonstrate the effectiveness of controllers. Finally, the effects of reference speed and non-zero phase differences on the controlled system are discussed to show the strong robustness of the proposed controllers. Additionally, the dynamic responses of the vibrating system in different synchronous states are analyzed.

  17. A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

    NASA Astrophysics Data System (ADS)

    Zhang, Xiangwen; Xu, Yong; Pan, Ming; Ren, Fenghua

    2014-04-01

    A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehicle velocity, the measured wheel speeds and the vehicle acceleration. According to the estimated parameters of the Burckhardt tyre model, the tyre/road friction coefficients and the optimal slip ratios are calculated. A vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios. And the adjustment method of the sliding-mode gain factors is discussed. Based on the adaptive SMC algorithm, a vehicle's antilock braking system (ABS) control system model is built with the Simulink Toolbox. Under the single-road condition as well as the different road conditions, the performance of the vehicle ABS system is simulated with the vehicle velocity observer, the tyre/road friction coefficient estimator and the adaptive SMC algorithm. The results indicate that the estimated errors of the vehicle velocity and the tyre/road friction coefficients are acceptable and the vehicle ABS adaptive SMC algorithm is effective. So the proposed adaptive SMC algorithm can be used to control the vehicle ABS without the information of the vehicle velocity and the road conditions.

  18. An SOC estimation approach based on adaptive sliding mode observer and fractional order equivalent circuit model for lithium-ion batteries

    NASA Astrophysics Data System (ADS)

    Zhong, Fuli; Li, Hui; Zhong, Shouming; Zhong, Qishui; Yin, Chun

    2015-07-01

    A state of charge (SOC) estimation approach based on an adaptive sliding mode observer (SMO) and a fractional order equivalent circuit model (FOECM) for lithium-ion batteries is proposed in this paper. In order to design the adaptive sliding mode observer (SMO) for the SOC estimation, the state equations based on a FOECM of battery are derived. A new self-adjusting strategy for the observer gains is presented to adjust the observer in the estimating process, which helps to reduce chattering and convergence time. Furthermore, a continuous and smooth function called hyperbolic tangent function is applied to balance the chattering affection and the disturbance. At last, a battery simulation model is established to test the SOC estimation performance of the designed SMOs, and the results show the proposed approach is feasible and effective.

  19. Supersonic flutter suppression of electrorheological fluid-based adaptive panels resting on elastic foundations using sliding mode control

    NASA Astrophysics Data System (ADS)

    Hasheminejad, Seyyed M.; Nezami, M.; Aryaee Panah, M. E.

    2012-04-01

    Brief reviews on suppressing panel flutter vibrations by various active control strategies as well as utilization tunable electrorheological fluids (ERFs) for vibration control of structural systems are presented. Active suppression of the supersonic flutter motion of a simply supported sandwich panel with a tunable ERF interlayer, and coupled to an elastic foundation, is subsequently investigated. The structural formulation is based on the classical beam theory along with the Winkler-Pasternak foundation model, the ER fluid core is modeled as a first-order Kelvin-Voigt material, and the quasi-steady first-order supersonic piston theory is employed to describe the aerodynamic loading. Hamilton’s principle is used to derive a set of fully coupled dynamic equations of motion. The generalized Fourier expansions in conjunction with the Galerkin method are then employed to formulate the governing equations in the state space domain. The critical dynamic pressures at which unstable panel oscillations (coalescence of eigenvalues) occur are obtained via the p-method for selected applied electric field strengths (E = 0,2,4 kV mm-1). The classical Runge-Kutta time integration algorithm is subsequently used to calculate the open-loop aeroelastic response of the system in various basic loading configurations (i.e. uniformly distributed blast, gust, sonic boom, and step loads), with or without an interacting soft/stiff elastic foundation. Finally, a sliding mode control synthesis (SMC) involving the first six natural modes of the structural system is set up to actively suppress the closed-loop system response in supersonic flight conditions and under the imposed excitations. Simulation results demonstrate performance, effectiveness, and insensitivity with respect to the spillover of the proposed SMC-based control system. Limiting cases are considered and good agreements with the data available in the literature as well as with the computations made by using the Rayleigh

  20. Multiple Model Adaptive Two-Step Filter and Motion Tracking Sliding-Mode Guidance for Missiles with Time Lag in Acceleration

    NASA Astrophysics Data System (ADS)

    Zhou, Di; Zhang, Yong-An; Duan, Guang-Ren

    The two-step filter has been combined with a modified Sage-Husa time-varying measurement noise statistical estimator, which is able to estimate the covariance of measurement noise on line, to generate an adaptive two-step filter. In many practical applications such as the bearings-only guidance, some model parameters and the process noise covariance are also unknown a priori. Based on the adaptive two-step filter, we utilize multiple models in the first-step filtering as well as in the time update of the second-step filtering to handle the uncertainties of model parameters and process noise covariance. In each timestep of the multiple model filtering, probabilistic weights punishing the estimates of first-step state from different models, and their associated covariance matrices are acquired according to Bayes’ rule. The weighted sum of the estimates of first-step state and that of the associated covariance matrices are extracted as the ultimate estimate and covariance of the first-step state, and are used as measurement information for the measurement update of the second-step state. Thus there is still only one iteration process and no apparent enhancement of computation burden. A motion tracking sliding-mode guidance law is presented for missiles with non-negligible delays in actual acceleration. This guidance law guarantees guidance accuracy and is able to enhance observability in bearings-only tracking. In bearings-only cases, the multiple model adaptive two-step filter is applied to the motion tracking sliding-mode guidance law, supplying relative range, relative velocity, and target acceleration information. In simulation experiments satisfactory filtering and guidance results are obtained, even if the filter runs into unknown target maneuvers and unknown time-varying measurement noise covariance, and the guidance law has to deal with a large time lag in acceleration.

  1. Adaptive sliding mode back-stepping pitch angle control of a variable-displacement pump controlled pitch system for wind turbines.

    PubMed

    Yin, Xiu-xing; Lin, Yong-gang; Li, Wei; Liu, Hong-wei; Gu, Ya-jing

    2015-09-01

    A variable-displacement pump controlled pitch system is proposed to mitigate generator power and flap-wise load fluctuations for wind turbines. The pitch system mainly consists of a variable-displacement hydraulic pump, a fixed-displacement hydraulic motor and a gear set. The hydraulic motor can be accurately regulated by controlling the pump displacement and fluid flows to change the pitch angle through the gear set. The detailed mathematical representation and dynamic characteristics of the proposed pitch system are thoroughly analyzed. An adaptive sliding mode pump displacement controller and a back-stepping stroke piston controller are designed for the proposed pitch system such that the resulting pitch angle tracks its desired value regardless of external disturbances and uncertainties. The effectiveness and control efficiency of the proposed pitch system and controllers have been verified by using realistic dataset of a 750 kW research wind turbine. PMID:26303957

  2. Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles

    NASA Astrophysics Data System (ADS)

    Kobravi, Hamid-Reza; Erfanian, Abbas

    2009-08-01

    A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

  3. Terminal Sliding Modes In Nonlinear Control Systems

    NASA Technical Reports Server (NTRS)

    Venkataraman, Subramanian T.; Gulati, Sandeep

    1993-01-01

    Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

  4. A neuro-sliding-mode control with adaptive modeling of uncertainty for control of movement in paralyzed limbs using functional electrical stimulation.

    PubMed

    Ajoudani, Arash; Erfanian, Abbas

    2009-07-01

    During the past several years, several strategies have been proposed for control of joint movement in paraplegic subjects using functional electrical stimulation (FES), but developing a control strategy that provides satisfactory tracking performance, to be robust against time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, muscle fatigue, and external disturbances, and to be easy to apply without any re-identification of plant dynamics during different experiment sessions is still an open problem. In this paper, we propose a novel control methodology that is based on synergistic combination of neural networks with sliding-mode control (SMC) for controlling FES. The main advantage of SMC derives from the property of robustness to system uncertainties and external disturbances. However, the main drawback of the standard sliding modes is mostly related to the so-called chattering caused by the high-frequency control switching. To eliminate the chattering, we couple two neural networks with online learning without any offline training into the SMC. A recurrent neural network is used to model the uncertainties and provide an auxiliary equivalent control to keep the uncertainties to low values, and consequently, to use an SMC with lower switching gain. The second neural network consists of a single neuron and is used as an auxiliary controller. The control law will be switched from the SMC to neural control, when the state trajectory of system enters in some boundary layer around the sliding surface. Extensive simulations and experiments on healthy and paraplegic subjects are provided to demonstrate the robustness, stability, and tracking accuracy of the proposed neuroadaptive SMC. The results show that the neuro-SMC provides accurate tracking control with fast convergence for different reference trajectories and could generate control signals to compensate the muscle fatigue and reject the external disturbance. PMID

  5. Fuzzy fractional order sliding mode controller for nonlinear systems

    NASA Astrophysics Data System (ADS)

    Delavari, H.; Ghaderi, R.; Ranjbar, A.; Momani, S.

    2010-04-01

    In this paper, an intelligent robust fractional surface sliding mode control for a nonlinear system is studied. At first a sliding PD surface is designed and then, a fractional form of these networks PDα, is proposed. Fast reaching velocity into the switching hyperplane in the hitting phase and little chattering phenomena in the sliding phase is desired. To reduce the chattering phenomenon in sliding mode control (SMC), a fuzzy logic controller is used to replace the discontinuity in the signum function at the reaching phase in the sliding mode control. For the problem of determining and optimizing the parameters of fuzzy sliding mode controller (FSMC), genetic algorithm (GA) is used. Finally, the performance and the significance of the controlled system two case studies (robot manipulator and coupled tanks) are investigated under variation in system parameters and also in presence of an external disturbance. The simulation results signify performance of genetic-based fuzzy fractional sliding mode controller.

  6. Multivariable robust adaptive sliding mode control of an industrial boiler-turbine in the presence of modeling imprecisions and external disturbances: A comparison with type-I servo controller.

    PubMed

    Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

    2015-09-01

    To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. PMID:25983065

  7. Sliding Mode Control of Steerable Needles

    PubMed Central

    Rucker, D. Caleb; Das, Jadav; Gilbert, Hunter B.; Swaney, Philip J.; Miga, Michael I.; Sarkar, Nilanjan; Webster, Robert J.

    2014-01-01

    Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little computational resources. We show that if the standard nonholonomic model for tip-steered needles holds, then the control law will converge to desired targets in a reachable workspace, within a tolerance that can be defined by the control parameters. Experimental results validate the control law for target points and trajectory following in phantom tissue and ex vivo liver. Experiments with targets that move during insertion illustrate robustness to disturbances caused by tissue deformation. PMID:25400527

  8. Sliding Mode Control of Steerable Needles.

    PubMed

    Rucker, D Caleb; Das, Jadav; Gilbert, Hunter B; Swaney, Philip J; Miga, Michael I; Sarkar, Nilanjan; Webster, Robert J

    2013-10-01

    Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little computational resources. We show that if the standard nonholonomic model for tip-steered needles holds, then the control law will converge to desired targets in a reachable workspace, within a tolerance that can be defined by the control parameters. Experimental results validate the control law for target points and trajectory following in phantom tissue and ex vivo liver. Experiments with targets that move during insertion illustrate robustness to disturbances caused by tissue deformation. PMID:25400527

  9. Phase and speed synchronization control of four eccentric rotors driven by induction motors in a linear vibratory feeder with unknown time-varying load torques using adaptive sliding mode control algorithm

    NASA Astrophysics Data System (ADS)

    Kong, Xiangxi; Zhang, Xueliang; Chen, Xiaozhe; Wen, Bangchun; Wang, Bo

    2016-05-01

    In this paper, phase and speed synchronization control of four eccentric rotors (ERs) driven by induction motors in a linear vibratory feeder with unknown time-varying load torques is studied. Firstly, the electromechanical coupling model of the linear vibratory feeder is established by associating induction motor's model with the dynamic model of the system, which is a typical under actuated model. According to the characteristics of the linear vibratory feeder, the complex control problem of the under actuated electromechanical coupling model converts to phase and speed synchronization control of four ERs. In order to keep the four ERs operating synchronously with zero phase differences, phase and speed synchronization controllers are designed by employing adaptive sliding mode control (ASMC) algorithm via a modified master-slave structure. The stability of the controllers is proved by Lyapunov stability theorem. The proposed controllers are verified by simulation via Matlab/Simulink program and compared with the conventional sliding mode control (SMC) algorithm. The results show the proposed controllers can reject the time-varying load torques effectively and four ERs can operate synchronously with zero phase differences. Moreover, the control performance is better than the conventional SMC algorithm and the chattering phenomenon is attenuated. Furthermore, the effects of reference speed and parametric perturbations are discussed to show the strong robustness of the proposed controllers. Finally, experiments on a simple vibratory test bench are operated by using the proposed controllers and without control, respectively, to validate the effectiveness of the proposed controllers further.

  10. Application of partial sliding mode in guidance problem.

    PubMed

    Shafiei, M H; Binazadeh, T

    2013-03-01

    In this paper, the problem of 3-dimensional guidance law design is considered and a new guidance law based on partial sliding mode technique is presented. The approach is based on the classification of the state variables within the guidance system dynamics with respect to their required stabilization properties. In the proposed law by using a partial sliding mode technique, only trajectories of a part of states variables are forced to reach the partial sliding surfaces and slide on them. The resulting guidance law enables the missile to intercept highly maneuvering targets within a finite interception time. Effectiveness of the proposed guidance law is demonstrated through analysis and simulations. PMID:23260528

  11. Compensation of significant parametric uncertainties using sliding mode online learning

    NASA Astrophysics Data System (ADS)

    Schnetter, Philipp; Kruger, Thomas

    An augmented nonlinear inverse dynamics (NID) flight control strategy using sliding mode online learning for a small unmanned aircraft system (UAS) is presented. Because parameter identification for this class of aircraft often is not valid throughout the complete flight envelope, aerodynamic parameters used for model based control strategies may show significant deviations. For the concept of feedback linearization this leads to inversion errors that in combination with the distinctive susceptibility of small UAS towards atmospheric turbulence pose a demanding control task for these systems. In this work an adaptive flight control strategy using feedforward neural networks for counteracting such nonlinear effects is augmented with the concept of sliding mode control (SMC). SMC-learning is derived from variable structure theory. It considers a neural network and its training as a control problem. It is shown that by the dynamic calculation of the learning rates, stability can be guaranteed and thus increase the robustness against external disturbances and system failures. With the resulting higher speed of convergence a wide range of simultaneously occurring disturbances can be compensated. The SMC-based flight controller is tested and compared to the standard gradient descent (GD) backpropagation algorithm under the influence of significant model uncertainties and system failures.

  12. Robust sliding mode control applied to double Inverted pendulum system

    SciTech Connect

    Mahjoub, Sonia; Derbel, Nabil; Mnif, Faical

    2009-03-05

    A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

  13. Second-order sliding mode control with experimental application.

    PubMed

    Eker, Ilyas

    2010-07-01

    In this article, a second-order sliding mode control (2-SMC) is proposed for second-order uncertain plants using equivalent control approach to improve the performance of control systems. A Proportional + Integral + Derivative (PID) sliding surface is used for the sliding mode. The sliding mode control law is derived using direct Lyapunov stability approach and asymptotic stability is proved theoretically. The performance of the closed-loop system is analysed through an experimental application to an electromechanical plant to show the feasibility and effectiveness of the proposed second-order sliding mode control and factors involved in the design. The second-order plant parameters are experimentally determined using input-output measured data. The results of the experimental application are presented to make a quantitative comparison with the traditional (first-order) sliding mode control (SMC) and PID control. It is demonstrated that the proposed 2-SMC system improves the performance of the closed-loop system with better tracking specifications in the case of external disturbances, better behavior of the output and faster convergence of the sliding surface while maintaining the stability. PMID:20413118

  14. Sliding Mode Thermal Control System for Space Station Furnace Facility

    NASA Technical Reports Server (NTRS)

    Jackson Mark E.; Shtessel, Yuri B.

    1998-01-01

    The decoupled control of the nonlinear, multiinput-multioutput, and highly coupled space station furnace facility (SSFF) thermal control system is addressed. Sliding mode control theory, a subset of variable-structure control theory, is employed to increase the performance, robustness, and reliability of the SSFF's currently designed control system. This paper presents the nonlinear thermal control system description and develops the sliding mode controllers that cause the interconnected subsystems to operate in their local sliding modes, resulting in control system invariance to plant uncertainties and external and interaction disturbances. The desired decoupled flow-rate tracking is achieved by optimization of the local linear sliding mode equations. The controllers are implemented digitally and extensive simulation results are presented to show the flow-rate tracking robustness and invariance to plant uncertainties, nonlinearities, external disturbances, and variations of the system pressure supplied to the controlled subsystems.

  15. Active Suppression of the Transonic Flutter Using Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Degaki, Takanori; Suzuki, Shinji

    This paper describes two-dimensional active flutter suppression to cope with the transonic dip using the sliding mode control. The airfoil model has plunge and pitch degrees of freedom with leading and trailing edge control surfaces. The aerodynamic forces acting on the airfoil, lift and pitching moment, are calculated by solving Euler's equations using computational fluid dynamics. At a specific altitude, flutter occurs between Mach number of 0.7 and 0.88, which corresponds to the transonic dip. The sliding mode control makes the airfoil to be stable all through the Mach number including the transonic dip. The sliding mode controller gives wider flutter margin than a linear quadratic regulator. These characteristics indicate that the sliding mode control is useful for active flutter suppression in the transonic flight.

  16. Second order sliding mode control for a quadrotor UAV.

    PubMed

    Zheng, En-Hui; Xiong, Jing-Jing; Luo, Ji-Liang

    2014-07-01

    A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method. PMID:24751475

  17. Theory of psychological adaptive modes.

    PubMed

    Lehti, Juha

    2016-05-01

    When an individual is facing a stressor and normal stress-response mechanism cannot guarantee sufficient adaptation, special emotional states, adaptive modes, are activated (for example a depressive reaction). Adaptive modes are involuntary states of mind, they are of comprehensive nature, they interfere with normal functioning, and they cannot be repressed or controlled the same way as many emotions. Their transformational nature differentiates them from other emotional states. The object of the adaptive mode is to optimize the problem-solving abilities according to the situation that has provoked the mode. Cognitions and emotions during the adaptive mode are different than in a normal mental state. These altered cognitions and emotional reactions guide the individual to use the correct coping skills in order to deal with the stressor. Successful adaptation will cause the adaptive mode to fade off since the adaptive mode is no longer necessary, and the process as a whole will lead to raised well-being. However, if the adaptation process is inadequate, then the transformation period is prolonged, and the adaptive mode will turn into a dysfunctional state. Many psychiatric disorders are such maladaptive processes. The maladaptive processes can be turned into functional ones by using adaptive skills that are used in functional adaptive processes. PMID:27063089

  18. Sliding mode controllers for a tempered glass furnace.

    PubMed

    Almutairi, Naif B; Zribi, Mohamed

    2016-01-01

    This paper investigates the design of two sliding mode controllers (SMCs) applied to a tempered glass furnace system. The main objective of the proposed controllers is to regulate the glass plate temperature, the upper-wall temperature and the lower-wall temperature in the furnace to a common desired temperature. The first controller is a conventional sliding mode controller. The key step in the design of this controller is the introduction of a nonlinear transformation that maps the dynamic model of the tempered glass furnace into the generalized controller canonical form; this step facilitates the design of the sliding mode controller. The second controller is based on a state-dependent coefficient (SDC) factorization of the tempered glass furnace dynamic model. Using an SDC factorization, a simplified sliding mode controller is designed. The simulation results indicate that the two proposed control schemes work very well. Moreover, the robustness of the control schemes to changes in the system's parameters as well as to disturbances is investigated. In addition, a comparison of the proposed control schemes with a fuzzy PID controller is performed; the results show that the proposed SDC-based sliding mode controller gave better results. PMID:26614678

  19. Adaptive fuzzy switched swing-up and sliding control for the double-pendulum-and-cart system.

    PubMed

    Tao, Chin Wang; Taur, Jinshiuh; Chang, J H; Su, Shun-Feng

    2010-02-01

    In this paper, an adaptive fuzzy switched swing-up and sliding controller (AFSSSC) is proposed for the swing-up and position controls of a double-pendulum-and-cart system. The proposed AFSSSC consists of a fuzzy switching controller (FSC), an adaptive fuzzy swing-up controller (FSUC), and an adaptive hybrid fuzzy sliding controller (HFSC). To simplify the design of the adaptive HFSC, the double-pendulum-and-cart system is reformulated as a double-pendulum and a cart subsystem with matched time-varying uncertainties. In addition, an adaptive mechanism is provided to learn the parameters of the output fuzzy sets for the adaptive HFSC. The FSC is designed to smoothly switch between the adaptive FSUC and the adaptive HFSC. Moreover, the sliding mode and the stability of the fuzzy sliding control systems are guaranteed. Simulation results are included to illustrate the effectiveness of the proposed AFSSSC. PMID:19661002

  20. Robust sliding mode continuous control of an IM drive

    SciTech Connect

    Jezernik, K.; Hren, A.; Drevensek, D.

    1995-12-31

    A control approach for robust trajectory tracking of IM servodrive based on the variable structure systems (VSS) is described. A new discrete-time control algorithm has been developed by combining VSS and Lyapunov design. It possesses all the good properties of the sliding mode and avoids the unnecessary discontinuity of the control input, thus eliminating chattering which has been considering as serious obstacles for applications of VSS. A unified control approach for current, torque and motion control based on the discrete-time sliding mode for application in indirect vector control of an IM drive is developed. The sliding mode approach can be applied to the control of an Im drive due to the replacement of the hysteresis controller with widely used PWM technique. All the theoretical issues are verified by experiment. The experimental system consists of a transputer and a microcontroller, thus allowing parallel processing.

  1. Fuzzy logic sliding mode control for command guidance law design.

    PubMed

    Elhalwagy, Y Z; Tarbouchi, M

    2004-04-01

    Recently, the combination of sliding mode and fuzzy logic techniques has emerged as a promising methodology for dealing with nonlinear, uncertain, dynamical systems. In this paper, a sliding mode control algorithm combined with a fuzzy control scheme is developed for the trajectory control of a command guidance system. The acceleration command input is mathematically derived. The proposed controller is used to compensate for the influence of unmodeled dynamics and to alleviate chattering. Simulation results show that the proposed controller gives good system performance in the face of system parameters variation and external disturbances. In addition, they show the effectiveness of the proposed missile guidance law against different engagement scenarios where the results demonstrate better performance over the conventional sliding mode control. PMID:15098583

  2. Tensor product model transformation based decoupled terminal sliding mode control

    NASA Astrophysics Data System (ADS)

    Zhao, Guoliang; Li, Hongxing; Song, Zhankui

    2016-06-01

    The main objective of this paper is to propose a tensor product model transformation based decoupled terminal sliding mode controller design methodology. The methodology is divided into two steps. In the first step, tensor product model transformation is applied to the single-input-multi-output system and a parameter-varying weighted linear time-invariant system is obtained. Then, decoupled terminal sliding mode controller is designed based on the linear time-invariant systems. The main novelty of this paper is that the nonsingular terminal sliding mode control design is based on a numerical model rather than an analytical one. Finally, simulations are tested on cart-pole system and translational oscillations with a rotational actuator system.

  3. Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri; Hall, Charles; Jackson, Mark

    2000-01-01

    A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

  4. Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems

    NASA Technical Reports Server (NTRS)

    Wells, Scott R.

    2002-01-01

    Observer-based sliding mode control is investigated for application to aircraft reconfigurable flight control. A comprehensive overview of reconfigurable flight control is given, including, a review of the current state-of-the-art within the subdisciplines of fault detection, parameter identification, adaptive control schemes, and dynamic control allocation. Of the adaptive control methods reviewed, sliding mode control (SMC) appears very promising due its property of invariance to matched uncertainty. An overview of sliding mode control is given and its remarkable properties are demonstrated by example. Sliding mode methods, however, are difficult to implement because unmodeled parasitic dynamics cause immediate and severe instability. This presents a challenge for all practical applications with limited bandwidth actuators. One method to deal with parasitic dynamics is the use of an asymptotic observer in the feedback path. Observer-based SMC is investigated, and a method for selecting observer gains is offered. An additional method for shaping the feedback loop using a filter is also developed. It is shown that this SMC prefilter is equivalent to a form of model reference hedging. A complete design procedure is given which takes advantage of the sliding mode boundary layer to recast the SMC as a linear control law. Frequency domain loop shaping is then used to design the sliding manifold. Finally, three aircraft applications are demonstrated. An F-18/HARV is used to demonstrate a SISO pitch rate tracking controller. It is also used to demonstrate a MIMO lateral-directional roll rate tracking controller. The last application is a full linear six degree-of-freedom advanced tailless fighter model. The observer-based SMC is seen to provide excellent tracking with superior robustness to parameter changes and actuator failures.

  5. Robust Neural Sliding Mode Control of Robot Manipulators

    SciTech Connect

    Nguyen Tran Hiep; Pham Thuong Cat

    2009-03-05

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method.

  6. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    NASA Astrophysics Data System (ADS)

    Kapoor, Neha; Ohri, Jyoti

    2016-06-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  7. A Sliding Mode Controller Using Nonlinear Sliding Surface Improved With Fuzzy Logic: Application to the Coupled Tanks System

    NASA Astrophysics Data System (ADS)

    Boubakir, A.; Boudjema, F.; Boubakir, C.

    2008-06-01

    This paper proposes an approach of hybrid control that is based on the concept of combining fuzzy logic and the methodology of sliding mode control (SMC). In the present works, a first-order nonlinear sliding surface is presented, on which the developed control law is based. Mathematical proof for the stability and convergence of the system is presented. In order to reduce the chattering in sliding mode control, a fixed boundary layer around the switch surface is used. Within the boundary layer, since the fuzzy logic control is applied, the chattering phenomenon, which is inherent in a sliding mode control, is avoided by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to driving the system states into the boundary layer. Experimental studies carried out on a coupled Tanks system indicate that the proposed fuzzy sliding mode control (FSMC) is a good candidate for control applications.

  8. Sliding mode control method having terminal convergence in finite time

    NASA Technical Reports Server (NTRS)

    Venkataraman, Subramanian T. (Inventor); Gulati, Sandeep (Inventor)

    1994-01-01

    An object of this invention is to provide robust nonlinear controllers for robotic operations in unstructured environments based upon a new class of closed loop sliding control methods, sometimes denoted terminal sliders, where the new class will enforce closed-loop control convergence to equilibrium in finite time. Improved performance results from the elimination of high frequency control switching previously employed for robustness to parametric uncertainties. Improved performance also results from the dependence of terminal slider stability upon the rate of change of uncertainties over the sliding surface rather than the magnitude of the uncertainty itself for robust control. Terminal sliding mode control also yields improved convergence where convergence time is finite and is to be controlled. A further object is to apply terminal sliders to robot manipulator control and benchmark performance with the traditional computed torque control method and provide for design of control parameters.

  9. Anomaly Detection in Test Equipment via Sliding Mode Observers

    NASA Technical Reports Server (NTRS)

    Solano, Wanda M.; Drakunov, Sergey V.

    2012-01-01

    Nonlinear observers were originally developed based on the ideas of variable structure control, and for the purpose of detecting disturbances in complex systems. In this anomaly detection application, these observers were designed for estimating the distributed state of fluid flow in a pipe described by a class of advection equations. The observer algorithm uses collected data in a piping system to estimate the distributed system state (pressure and velocity along a pipe containing liquid gas propellant flow) using only boundary measurements. These estimates are then used to further estimate and localize possible anomalies such as leaks or foreign objects, and instrumentation metering problems such as incorrect flow meter orifice plate size. The observer algorithm has the following parts: a mathematical model of the fluid flow, observer control algorithm, and an anomaly identification algorithm. The main functional operation of the algorithm is in creating the sliding mode in the observer system implemented as software. Once the sliding mode starts in the system, the equivalent value of the discontinuous function in sliding mode can be obtained by filtering out the high-frequency chattering component. In control theory, "observers" are dynamic algorithms for the online estimation of the current state of a dynamic system by measurements of an output of the system. Classical linear observers can provide optimal estimates of a system state in case of uncertainty modeled by white noise. For nonlinear cases, the theory of nonlinear observers has been developed and its success is mainly due to the sliding mode approach. Using the mathematical theory of variable structure systems with sliding modes, the observer algorithm is designed in such a way that it steers the output of the model to the output of the system obtained via a variety of sensors, in spite of possible mismatches between the assumed model and actual system. The unique properties of sliding mode control

  10. Chattering-Free Sliding Mode Control with Unmodeled Dynamics

    NASA Technical Reports Server (NTRS)

    Krupp, Don; Shtessel, Yuri B.

    1999-01-01

    Sliding mode control systems are valued for their robust accommodation of uncertainties and their ability to reject disturbances. In this paper, a design methodology is proposed to eliminate the chattering phenomenon affecting sliding mode controlled plants with input unmodeled actuator dynamics of second order or greater. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. The controller utilizes the pass filter characteristics of the physical actuating device to provide a smoothing effect on the discontinuous control signal rather than introducing any artificial dynamics into the controller design thus eliminating chattering in the system's output response.

  11. Neuro-sliding mode multivariable control of a powered wheelchair.

    PubMed

    Nguyen, Nghia; Nguyen, Hung T; Su, Steven

    2008-01-01

    This paper proposes a neuro-sliding mode multivariable control approach for the control of a powered wheelchair system. In the first stage, a systematic decoupling technique is applied to the wheelchair system in order to reduce the multivariable control problem into two independent scalar control problems. Then two Neuro-Sliding Mode Controllers (NSMCs) are designed for these independent subsystems to guarantee system robustness under model uncertainties and unknown external disturbances. Both off-line and on-line trainings are involved in the second stage. Real-time experimental results confirm that robust performance for this multivariable wheelchair control system under model uncertainties and unknown external disturbances can indeed be achieved. PMID:19163456

  12. Sliding Mode Control Applied to Reconfigurable Flight Control Design

    NASA Technical Reports Server (NTRS)

    Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)

    2002-01-01

    Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.

  13. Multi-mode sliding mode control for precision linear stage based on fixed or floating stator

    NASA Astrophysics Data System (ADS)

    Fang, Jiwen; Long, Zhili; Wang, Michael Yu; Zhang, Lufan; Dai, Xufei

    2016-02-01

    This paper presents the control performance of a linear motion stage driven by Voice Coil Motor (VCM). Unlike the conventional VCM, the stator of this VCM is regulated, which means it can be adjusted as a floating-stator or fixed-stator. A Multi-Mode Sliding Mode Control (MMSMC), including a conventional Sliding Mode Control (SMC) and an Integral Sliding Mode Control (ISMC), is designed to control the linear motion stage. The control is switched between SMC and IMSC based on the error threshold. To eliminate the chattering, a smooth function is adopted instead of a signum function. The experimental results with the floating stator show that the positioning accuracy and tracking performance of the linear motion stage are improved with the MMSMC approach.

  14. Real-time misfire detection via sliding mode observer

    NASA Astrophysics Data System (ADS)

    Wang, Yunsong; Chu, Fulei

    2005-07-01

    A new method to detect misfire in internal combustion engines is presented. It is based on the estimation of the cylinder deviation torque by using sliding mode observer. The input estimation problem is transformed into the control tracking problem. The sliding controller is utilised to continuously track the measured varying crank speed by changing the estimated deviation torque. During the process of tracking, the speed estimation errors decrease and the gradual stability of the dynamics is assured. The mean deviation torque during the power stroke derived from the estimated deviation torque can be employed to detect easily engine misfires. Experimental results for a four-cylinder engine indicate that the method is a suitable tool for real-time misfire detection on board vehicle under various working conditions.

  15. Neuro-sliding mode control with its applications to seesaw systems.

    PubMed

    Tsai, Chun-Hsien; Chung, Hung-Yuan; Yu, Fang-Ming

    2004-01-01

    This paper proposes an approach of cooperative control that is based on the concept of combining neural networks and the methodology of sliding mode control (SMC). The main purpose is to eliminate the chattering phenomenon. Next, the system performance can be improved by using the method of SMC. In the present approach, two parallel Neural Networks are utilized to realize a neuro-sliding mode control (NSMC), where the equivalent control and the corrective control are the outputs of neural network 1 and neural network 2, respectively. Based on expressions of the SMC, the weight adaptations of neural network can be determined. Furthermore, the gradient descent method is used to minimize the control force so that the chattering phenomenon can be eliminated. Finally, experimental results are given to show the effectiveness and feasibility of the approach. PMID:15387253

  16. Sliding Mode Control of a Slewing Flexible Beam

    NASA Technical Reports Server (NTRS)

    Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

    1997-01-01

    An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

  17. Control of nonlinear systems using terminal sliding modes

    NASA Technical Reports Server (NTRS)

    Venkataraman, S. T.; Gulati, S.

    1992-01-01

    The development of an approach to control synthesis for robust robot operations in unstructured environments is discussed. To enhance control performance with full model information, the authors introduce the notion of terminal convergence and develop control laws based on a class of sliding modes, denoted as terminal sliders. They demonstrate that terminal sliders provide robustness to parametric uncertainty without having to resort to high-frequency control switching, as in the case of conventional sliders. It is shown that the proposed method leads to greater guaranteed precision in all control cases discussed.

  18. Permanent Magnet DC Motor Sliding Mode Control System

    NASA Astrophysics Data System (ADS)

    Vaez-Zadeh, S.; Zamanian, M.

    2000-09-01

    In this paper a sliding mode controller (SMC) is designed for a permanent magnet, direct current (PMDC) motor to enhance the motor performance in the presence of unwanted uncertainties. Both the electrical and mechanical signals are used as the inputs to the SMC. The complete motor control system is simulated on a personal computer with different design parameters and desirable system performance is obtained. The experimental implementation of the motor control system is also presented. The test results confirm the simulation results and validate the proposed control system.

  19. Controlling chaos based on a novel intelligent integral terminal sliding mode control in a rod-type plasma torch

    NASA Astrophysics Data System (ADS)

    Safa, Khari; Zahra, Rahmani; Behrooz, Rezaie

    2016-05-01

    An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system. In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov’s stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response, and robustness against uncertainties.

  20. Sliding mode control of electromagnetic tethered satellite formation

    NASA Astrophysics Data System (ADS)

    Hallaj, Mohammad Amin Alandi; Assadian, Nima

    2016-08-01

    This paper investigates the control of tethered satellite formation actuated by electromagnetic dipoles and reaction wheels using the robust sliding mode control technique. Generating electromagnetic forces and moments by electric current coils provides an attractive control actuation alternative for tethered satellite system due to the advantages of no propellant consumption and no obligatory rotational motion. Based on a dumbbell model of tethered satellite in which the flexibility and mass of the tether is neglected, the equations of motion in Cartesian coordinate are derived. In this model, the J2 perturbation is taken into account. The far-field and mid-field models of electromagnetic forces and moments of two satellites on each other and the effect of the Earth's magnetic field are presented. A robust sliding mode controller is designed for precise trajectory tracking purposes and to deal with the electromagnetic force and moment uncertainties and external disturbances due to the Earth's gravitational and magnetic fields inaccuracy. Numerical simulation results are presented to validate the effectiveness of the developed controller and its superiority over the linear controller.

  1. Flexible Modes Control Using Sliding Mode Observers: Application to Ares I

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.; Hall, Charles E.; Baev, Simon; Orr, Jeb S.

    2010-01-01

    The launch vehicle dynamics affected by bending and sloshing modes are considered. Attitude measurement data that are corrupted by flexible modes could yield instability of the vehicle dynamics. Flexible body and sloshing modes are reconstructed by sliding mode observers. The resultant estimates are used to remove the undesirable dynamics from the measurements, and the direct effects of sloshing and bending modes on the launch vehicle are compensated by means of a controller that is designed without taking the bending and sloshing modes into account. A linearized mathematical model of Ares I launch vehicle was derived based on FRACTAL, a linear model developed by NASA/MSFC. The compensated vehicle dynamics with a simple PID controller were studied for the launch vehicle model that included two bending modes, two slosh modes and actuator dynamics. A simulation study demonstrated stable and accurate performance of the flight control system with the augmented simple PID controller without the use of traditional linear bending filters.

  2. Robust fuzzy control for stochastic Markovian jumping systems via sliding mode method

    NASA Astrophysics Data System (ADS)

    Chen, Bei; Jia, Tinggang; Niu, Yugang

    2016-07-01

    This paper considers the problem of sliding mode control for stochastic Markovian jumping systems by means of fuzzy method. The Takagi-Sugeno (T-S) fuzzy stochastic model subject to state-dependent noise is presented. A key feature in this work is to remove the restricted condition that each local system model had to share the same input channel, which is usually assumed in some existing results. The integral sliding surface is constructed for every mode and the connections among various sliding surfaces are established via a set of coupled matrices. Moreover, the present sliding mode controller including the transition rates of modes can cope with the effect of Markovian switching. It is shown that both the reachability of sliding surfaces and the stability of sliding mode dynamics can be ensured. Finally, numerical simulation results are given.

  3. Sliding Mode Control of a Thermal Mixing Process

    NASA Technical Reports Server (NTRS)

    Richter, Hanz; Figueroa, Fernando

    2004-01-01

    In this paper we consider the robust control of a thermal mixer using multivariable Sliding Mode Control (SMC). The mixer consists of a mixing chamber, hot and cold fluid valves, and an exit valve. The commanded positions of the three valves are the available control inputs, while the controlled variables are total mass flow rate, chamber pressure and the density of the mixture inside the chamber. Unsteady thermodynamics and linear valve models are used in deriving a 5th order nonlinear system with three inputs and three outputs, An SMC controller is designed to achieve robust output tracking in the presence of unknown energy losses between the chamber and the environment. The usefulness of the technique is illustrated with a simulation.

  4. Functional Based Adaptive and Fuzzy Sliding Controller for Non-Autonomous Active Suspension System

    NASA Astrophysics Data System (ADS)

    Huang, Shiuh-Jer; Chen, Hung-Yi

    In this paper, an adaptive sliding controller is developed for controlling a vehicle active suspension system. The functional approximation technique is employed to substitute the unknown non-autonomous functions of the suspension system and release the model-based requirement of sliding mode control algorithm. In order to improve the control performance and reduce the implementation problem, a fuzzy strategy with online learning ability is added to compensate the functional approximation error. The update laws of the functional approximation coefficients and the fuzzy tuning parameters are derived from the Lyapunov theorem to guarantee the system stability. The proposed controller is implemented on a quarter-car hydraulic actuating active suspension system test-rig. The experimental results show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

  5. Sliding mode observer based incipient sensor fault detection with application to high-speed railway traction device.

    PubMed

    Zhang, Kangkang; Jiang, Bin; Yan, Xing-Gang; Mao, Zehui

    2016-07-01

    This paper considers incipient sensor fault detection issue for a class of nonlinear systems with "observer unmatched" uncertainties. A particular fault detection sliding mode observer is designed for the augmented system formed by the original system and incipient sensor faults. The designed parameters are obtained using LMI and line filter techniques to guarantee that the generated residuals are robust to uncertainties and that sliding motion is not destroyed by faults. Then, three levels of novel adaptive thresholds are proposed based on the reduced order sliding mode dynamics, which effectively improve incipient sensor faults detectability. Case study of on the traction system in China Railway High-speed is presented to demonstrate the effectiveness of the proposed incipient senor faults detection schemes. PMID:27156675

  6. A novel sliding-mode control of induction motor using space vector modulation technique.

    PubMed

    Fu, Tian-Jun; Xie, Wen-Fang

    2005-10-01

    This paper presents a novel sliding-mode control method for torque control of induction motors. The control principle is based on sliding-mode control combined with space vector modulation technique. The sliding-mode control contributes to the robustness of induction motor drives, and the space vector modulation improves the torque, flux, and current steady-state performance by reducing the ripple. The Lyapunov direct method is used to ensure the reaching and sustaining of sliding mode and stability of the control system. The performance of the proposed system is compared with those of conventional sliding-mode controller and classical PI controller. Finally, computer simulation results show that the proposed control scheme provides robust dynamic characteristics with low torque ripple. PMID:16294775

  7. Sliding mode control of magnetic suspensions for precision pointing and tracking applications

    NASA Technical Reports Server (NTRS)

    Misovec, Kathleen M.; Flynn, Frederick J.; Johnson, Bruce G.; Hedrick, J. Karl

    1991-01-01

    A recently developed nonlinear control method, sliding mode control, is examined as a means of advancing the achievable performance of space-based precision pointing and tracking systems that use nonlinear magnetic actuators. Analytic results indicate that sliding mode control improves performance compared to linear control approaches. In order to realize these performance improvements, precise knowledge of the plant is required. Additionally, the interaction of an estimating scheme and the sliding mode controller has not been fully examined in the literature. Estimation schemes were designed for use with this sliding mode controller that do not seriously degrade system performance. The authors designed and built a laboratory testbed to determine the feasibility of utilizing sliding mode control in these types of applications. Using this testbed, experimental verification of the authors' analyses is ongoing.

  8. Projective synchronization of nonidentical fractional-order neural networks based on sliding mode controller.

    PubMed

    Ding, Zhixia; Shen, Yi

    2016-04-01

    This paper investigates global projective synchronization of nonidentical fractional-order neural networks (FNNs) based on sliding mode control technique. We firstly construct a fractional-order integral sliding surface. Then, according to the sliding mode control theory, we design a sliding mode controller to guarantee the occurrence of the sliding motion. Based on fractional Lyapunov direct methods, system trajectories are driven to the proposed sliding surface and remain on it evermore, and some novel criteria are obtained to realize global projective synchronization of nonidentical FNNs. As the special cases, some sufficient conditions are given to ensure projective synchronization of identical FNNs, complete synchronization of nonidentical FNNs and anti-synchronization of nonidentical FNNs. Finally, one numerical example is given to demonstrate the effectiveness of the obtained results. PMID:26874968

  9. Designing for Damage: Robust Flight Control Design using Sliding Mode Techniques

    NASA Technical Reports Server (NTRS)

    Vetter, T. K.; Wells, S. R.; Hess, Ronald A.; Bacon, Barton (Technical Monitor); Davidson, John (Technical Monitor)

    2002-01-01

    A brief review of sliding model control is undertaken, with particular emphasis upon the effects of neglected parasitic dynamics. Sliding model control design is interpreted in the frequency domain. The inclusion of asymptotic observers and control 'hedging' is shown to reduce the effects of neglected parasitic dynamics. An investigation into the application of observer-based sliding mode control to the robust longitudinal control of a highly unstable is described. The sliding mode controller is shown to exhibit stability and performance robustness superior to that of a classical loop-shaped design when significant changes in vehicle and actuator dynamics are employed to model airframe damage.

  10. Cytopathology whole slide images and adaptive tutorials for postgraduate pathology trainees: a randomized crossover trial.

    PubMed

    Van Es, Simone L; Kumar, Rakesh K; Pryor, Wendy M; Salisbury, Elizabeth L; Velan, Gary M

    2015-09-01

    To determine whether cytopathology whole slide images and virtual microscopy adaptive tutorials aid learning by postgraduate trainees, we designed a randomized crossover trial to evaluate the quantitative and qualitative impact of whole slide images and virtual microscopy adaptive tutorials compared with traditional glass slide and textbook methods of learning cytopathology. Forty-three anatomical pathology registrars were recruited from Australia, New Zealand, and Malaysia. Online assessments were used to determine efficacy, whereas user experience and perceptions of efficiency were evaluated using online Likert scales and open-ended questions. Outcomes of online assessments indicated that, with respect to performance, learning with whole slide images and virtual microscopy adaptive tutorials was equivalent to using traditional methods. High-impact learning, efficiency, and equity of learning from virtual microscopy adaptive tutorials were strong themes identified in open-ended responses. Participants raised concern about the lack of z-axis capability in the cytopathology whole slide images, suggesting that delivery of z-stacked whole slide images online may be important for future educational development. In this trial, learning cytopathology with whole slide images and virtual microscopy adaptive tutorials was found to be as effective as and perceived as more efficient than learning from glass slides and textbooks. The use of whole slide images and virtual microscopy adaptive tutorials has the potential to provide equitable access to effective learning from teaching material of consistently high quality. It also has broader implications for continuing professional development and maintenance of competence and quality assurance in specialist practice. PMID:26093936

  11. Motorized CPM/CAM physiotherapy device with sliding-mode Fuzzy Neural Network control loop.

    PubMed

    Ho, Hung-Jung; Chen, Tien-Chi

    2009-11-01

    Continuous passive motion (CPM) and controllable active motion (CAM) physiotherapy devices promote rehabilitation of damaged joints. This paper presents a computerized CPM/CAM system that obviates the need for mechanical resistance devices such as springs. The system is controlled by a computer which performs sliding-mode Fuzzy Neural Network (FNN) calculations online. CAM-type resistance force is generated by the active performance of an electric motor which is controlled so as to oppose the motion of the patient's leg. A force sensor under the patient's foot on the device pedal provides data for feedback in a sliding-mode FNN control loop built around the motor. Via an active impedance control feedback system, the controller drives the motor to behave similarly to a damped spring by generating and controlling the amplitude and direction of the pedal force in relation to the patient's leg. Experiments demonstrate the high sensitivity and speed of the device. The PC-based feedback nature of the control loop means that sophisticated auto-adaptable CPM/CAM custom-designed physiotherapy becomes possible. The computer base also allows extensive data recording, data analysis and network-connected remote patient monitoring. PMID:19439391

  12. Sliding mode pulse-width modulation technique for direct torque controlled induction motor drive

    NASA Astrophysics Data System (ADS)

    Bounadja, M.; Belarbi, A. W.; Belmadani, B.

    2010-05-01

    This paper presents a novel pulse-width modulation technique based sliding mode approach for direct torque control of an induction machine drive. Methodology begins with a sliding mode control of machine's torque and stator flux to generate the reference voltage vector and to reduce parameters sensitivity. Then, the switching control of the three-phase inverter is developed using sliding mode concept to make the system tracking reference voltage inputs. The main features of the proposed methodologies are the high tracking accuracy and the much easier implementation compared to the space vector modulation. Simulations are carried out to confirm the effectiveness of proposed control algorithms.

  13. A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

    NASA Astrophysics Data System (ADS)

    Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

    2015-11-01

    In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

  14. Fully magnetic sliding mode control for acquiring three-axis attitude

    NASA Astrophysics Data System (ADS)

    Ovchinnikov, M. Yu.; Roldugin, D. S.; Penkov, V. I.; Tkachev, S. S.; Mashtakov, Y. V.

    2016-04-01

    Satellite equipped with purely magnetic attitude control system is considered. Sliding mode control is used to achieve three-axis satellite attitude. Underactuation problem is solved for transient motion. Necessary attitude is acquired by proper sliding manifold construction. Satellite motion on the manifold is executed with magnetic control system. One manifold construction approach is proposed and discussed. Numerical examples are provided.

  15. A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

    PubMed

    Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

    2016-03-01

    Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. PMID:26686458

  16. Finite time control for MIMO nonlinear system based on higher-order sliding mode.

    PubMed

    Liu, Xiangjie; Han, Yaozhen

    2014-11-01

    Considering a class of MIMO uncertain nonlinear system, a novel finite time stable control algorithm is proposed based on higher-order sliding mode concept. The higher-order sliding mode control problem of MIMO nonlinear system is firstly transformed into finite time stability problem of multivariable system. Then continuous control law, which can guarantee finite time stabilization of nominal integral chain system, is employed. The second-order sliding mode is used to overcome the system uncertainties. High frequency chattering phenomenon of sliding mode is greatly weakened, and the arbitrarily fast convergence is reached. The finite time stability is proved based on the quadratic form Lyapunov function. Examples concerning the triple integral chain system with uncertainty and the hovercraft trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed algorithm. PMID:25277626

  17. Robust Second Order Sliding mode Observer for the Estimation of the Vehicle States

    NASA Astrophysics Data System (ADS)

    Chaibet, A.; Nouveliere, L.; Hima, S.; Mammar, S.

    2008-06-01

    This paper is dedicated to the observation of non measurable variables for automotive systems. A non linear observer, based on a sliding mode approach, is presented for the estimation of the dynamic states of the vehicle. The considered technique is applied to the estimation problem for an automated vehicle following. Both the simulation and the experimental results are addressed to demonstrate the effectiveness of the sliding mode observer for different maneuvers, in terms of performances and robustness.

  18. Minimum sliding mode error feedback control for fault tolerant reconfigurable satellite formations with J2 perturbations

    NASA Astrophysics Data System (ADS)

    Cao, Lu; Chen, Xiaoqian; Misra, Arun K.

    2014-03-01

    Minimum Sliding Mode Error Feedback Control (MSMEFC) is proposed to improve the control precision of spacecraft formations based on the conventional sliding mode control theory. This paper proposes a new approach to estimate and offset the system model errors, which include various kinds of uncertainties and disturbances, as well as smoothes out the effect of nonlinear switching control terms. To facilitate the analysis, the concept of equivalent control error is introduced, which is the key to the utilization of MSMEFC. A cost function is formulated on the basis of the principle of minimum sliding mode error; then the equivalent control error is estimated and fed back to the conventional sliding mode control. It is shown that the sliding mode after the MSMEFC will approximate to the ideal sliding mode, resulting in improved control performance and quality. The new methodology is applied to spacecraft formation flying. It guarantees global asymptotic convergence of the relative tracking error in the presence of J2 perturbations. In addition, some fault tolerant situations such as thruster failure for a period of time, thruster degradation and so on, are also considered to verify the effectiveness of MSMEFC. Numerical simulations are performed to demonstrate the efficacy of the proposed methodology to maintain and reconfigure the satellite formation with the existence of initial offsets and J2 perturbation effects, even in the fault-tolerant cases.

  19. Universal fuzzy integral sliding-mode controllers for stochastic nonlinear systems.

    PubMed

    Gao, Qing; Liu, Lu; Feng, Gang; Wang, Yong

    2014-12-01

    In this paper, the universal integral sliding-mode controller problem for the general stochastic nonlinear systems modeled by Itô type stochastic differential equations is investigated. One of the main contributions is that a novel dynamic integral sliding mode control (DISMC) scheme is developed for stochastic nonlinear systems based on their stochastic T-S fuzzy approximation models. The key advantage of the proposed DISMC scheme is that two very restrictive assumptions in most existing ISMC approaches to stochastic fuzzy systems have been removed. Based on the stochastic Lyapunov theory, it is shown that the closed-loop control system trajectories are kept on the integral sliding surface almost surely since the initial time, and moreover, the stochastic stability of the sliding motion can be guaranteed in terms of linear matrix inequalities. Another main contribution is that the results of universal fuzzy integral sliding-mode controllers for two classes of stochastic nonlinear systems, along with constructive procedures to obtain the universal fuzzy integral sliding-mode controllers, are provided, respectively. Simulation results from an inverted pendulum example are presented to illustrate the advantages and effectiveness of the proposed approaches. PMID:24718584

  20. Semi-active sliding mode control of vehicle suspension with magneto-rheological damper

    NASA Astrophysics Data System (ADS)

    Zhang, Hailong; Wang, Enrong; Zhang, Ning; Min, Fuhong; Subash, Rakheja; Su, Chunyi

    2015-01-01

    The vehicle semi-active suspension with magneto-rheological damper(MRD) has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control (SMC) strategies is proposed for the quarter-vehicle suspension with the magneto-rheological (MR) damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity ( F- v) model and its inverse model of MR damper, as well as the proposed continuous modulation (CM) filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller (SSMC)-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

  1. Microgravity Isolation Control System Design Via High-Order Sliding Mode Control

    NASA Technical Reports Server (NTRS)

    Shkolnikov, Ilya; Shtessel, Yuri; Whorton, Mark S.; Jackson, Mark

    2000-01-01

    Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closed-loop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances.

  2. Second-order sliding mode control for DFIG-based wind turbines fault ride-through capability enhancement.

    PubMed

    Benbouzid, Mohamed; Beltran, Brice; Amirat, Yassine; Yao, Gang; Han, Jingang; Mangel, Hervé

    2014-05-01

    This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper proposes a second-order sliding mode as an improved solution that handle the classical sliding mode chattering problem. Indeed, the main and attractive features of high-order sliding modes are robustness against external disturbances, the grids faults in particular, and chattering-free behavior (no extra mechanical stress on the wind turbine drive train). Simulations using the NREL FAST code on a 1.5-MW wind turbine are carried out to evaluate ride-through performance of the proposed high-order sliding mode control strategy in case of grid frequency variations and unbalanced voltage sags. PMID:24530194

  3. A fractographic study of the edge-sliding mode in fracture toughness testing

    NASA Technical Reports Server (NTRS)

    Jones, D. L.; Chisholm, D. B.

    1976-01-01

    A fractographic study of Mode II fracture surfaces has been conducted for the purpose of identifying the microstructural mechanisms responsible for fracture in the edge-sliding mode. A compact shear (CS) specimen was employed to generate the fracture surfaces and also to establish Mode II fracture toughness values for Ti-6Al-4V, A533-B steel, and several aluminum alloys. In all tests, one of the two edge cracks sustained complete Mode II fracture while the other exhibited only a limited amount of subcritical crack growth. Mode II fracture surfaces, which were unique in appearance, have been examined by optical and scanning electron microscopy. It was determined that shear (or parabolic) microvoid coalescence was the dominant mechanism for Mode II fracture. It was also established that most of the surface abrasions were created by the relative sliding of the fracture surfaces during unstable fracture rather than the crack initiation process.

  4. Decoupled thermal control for space station furnace facility using sliding mode techniques

    NASA Astrophysics Data System (ADS)

    Jackson, Mark E.; Shtessel, Yuri B.

    1996-03-01

    The Space Station Furnace Facility (SSFF) provides the necessary core systems to operate various material processing furnaces. The Thermal Control System (TCS) is defined as one of the core systems and its function is to collect excess heat from furnaces and to provide precise cold temperature control of components and of certain furnace zones. Physical interconnection of parallel thermal control subsystems through a common pump implies the description of the whole TCS by coupled nonlinear differential equations in flow and pressure. The paper formulates the system equations and develops the sliding mode controllers that cause the interconnected subsystems to operate in the local sliding modes, resulting in control system invariance to interaction disturbances. The desired de-coupled flow rate profile tracking is achieved by optimization of the local linear sliding mode equations. Extensive digital simulation results are presented to show the flow rate tracking robustness and invariance to plant nonlinearities and variations of the pump pressure supplied to the controlled subsystems.

  5. Higher-order sliding mode control of leg power in paraplegic FES-cycling.

    PubMed

    Farhoud, Aidin; Erfanian, Abbas

    2010-01-01

    In this paper, we propose a robust control methodology based on high order sliding mode (HOSM) for control of the leg power in FES-Cycling. A major obstacle to the development of control systems for functional electrical stimulation (FES) has been the highly non-linear, time-varying properties of neuromusculoskeletal systems. A useful and powerful control scheme to deal with the uncertainties, nonlinearities, and bounded external disturbances is the sliding mode control (SMC). The main drawback of the classical sliding mode is mostly related to the so-called chattering which is dangerous for FES applications. To avoid chattering, HOSM approaches were proposed. Keeping the main advantages of the original approach, at the same time they totally remove the chattering effect and provide for even higher accuracy in realization. The results of simulation studies and experiments on two paraplegic subjects show the superior performance of the leg power control during different conditions of operation using HOSM control scheme. PMID:21096932

  6. Sliding mode control for multi-agent systems under a time-varying topology

    NASA Astrophysics Data System (ADS)

    Dong, Lijing; Chai, Senchun; Zhang, Baihai; Kiong Nguang, Sing

    2016-07-01

    This paper addresses the tracking problem of a class of multi-agent systems under uncertain communication environments which has been modelled by a finite number of constant Laplacian matrices together with their corresponding scheduling functions. Sliding mode control method is applied to solve this nonlinear tracking problem under a time-varying topology. The controller of each tracking agent has been designed by using only its own and neighbours' information. Sufficient conditions for the existence of a sliding mode control tracking strategy have been provided by the solvability of linear matrix inequalities. At the end of this work, numerical simulations are employed to demonstrate the effectiveness of the proposed sliding mode control tracking strategy.

  7. Unknown Input and Sensor Fault Estimation Using Sliding-Mode Observers

    SciTech Connect

    Kalsi, Karanjit; Hui, Stefen; Zak, Stanislaw

    2011-06-29

    Sliding-mode observers are used to construct unknown input estimators. Then, these unknown input estimators are combined with sensor fault estimation schemes into one architecture that employs two sliding-mode observers for simultaneously estimating the plant’s actuator faults (part of the unknown input) and detecting sensor faults. Closed form expressions are presented for the estimates of unknown inputs and sensor faults. A benchmark example of a controlled inverted pendulum system from the literature is utilized in the simulation study. The study shows that the observers analyzed in this paper generate good estimates of the unknown input and sensor faults signals in noisy environments for nonlinear plants.

  8. Sliding Mode Control of the X-33 with an Engine Failure

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.; Hall, Charles E.

    2000-01-01

    Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

  9. Vibration suppression in flexible structures via the sliding-mode control approach

    NASA Technical Reports Server (NTRS)

    Drakunov, S.; Oezguener, Uemit

    1994-01-01

    Sliding mode control became very popular recently because it makes the closed loop system highly insensitive to external disturbances and parameter variations. Sliding algorithms for flexible structures have been used previously, but these were based on finite-dimensional models. An extension of this approach for differential-difference systems is obtained. That makes if possible to apply sliding-mode control algorithms to the variety of nondispersive flexible structures which can be described as differential-difference systems. The main idea of using this technique for dispersive structures is to reduce the order of the controlled part of the system by applying an integral transformation. We can say that transformation 'absorbs' the dispersive properties of the flexible structure as the controlled part becomes dispersive.

  10. Smith predictor based-sliding mode controller for integrating processes with elevated deadtime.

    PubMed

    Camacho, Oscar; De la Cruz, Francisco

    2004-04-01

    An approach to control integrating processes with elevated deadtime using a Smith predictor sliding mode controller is presented. A PID sliding surface and an integrating first-order plus deadtime model have been used to synthesize the controller. Since the performance of existing controllers with a Smith predictor decrease in the presence of modeling errors, this paper presents a simple approach to combining the Smith predictor with the sliding mode concept, which is a proven, simple, and robust procedure. The proposed scheme has a set of tuning equations as a function of the characteristic parameters of the model. For implementation of our proposed approach, computer based industrial controllers that execute PID algorithms can be used. The performance and robustness of the proposed controller are compared with the Matausek-Micić scheme for linear systems using simulations. PMID:15098585

  11. Sliding Mode Approaches for Robust Control, State Estimation, Secure Communication, and Fault Diagnosis in Nuclear Systems

    NASA Astrophysics Data System (ADS)

    Ablay, Gunyaz

    Using traditional control methods for controller design, parameter estimation and fault diagnosis may lead to poor results with nuclear systems in practice because of approximations and uncertainties in the system models used, possibly resulting in unexpected plant unavailability. This experience has led to an interest in development of robust control, estimation and fault diagnosis methods. One particularly robust approach is the sliding mode control methodology. Sliding mode approaches have been of great interest and importance in industry and engineering in the recent decades due to their potential for producing economic, safe and reliable designs. In order to utilize these advantages, sliding mode approaches are implemented for robust control, state estimation, secure communication and fault diagnosis in nuclear plant systems. In addition, a sliding mode output observer is developed for fault diagnosis in dynamical systems. To validate the effectiveness of the methodologies, several nuclear plant system models are considered for applications, including point reactor kinetics, xenon concentration dynamics, an uncertain pressurizer model, a U-tube steam generator model and a coupled nonlinear nuclear reactor model.

  12. Fuzzy-neural-network inherited sliding-mode control for robot manipulator including actuator dynamics.

    PubMed

    Wai, Rong-Jong; Muthusamy, Rajkumar

    2013-02-01

    This paper presents the design and analysis of an intelligent control system that inherits the robust properties of sliding-mode control (SMC) for an n-link robot manipulator, including actuator dynamics in order to achieve a high-precision position tracking with a firm robustness. First, the coupled higher order dynamic model of an n-link robot manipulator is briefy introduced. Then, a conventional SMC scheme is developed for the joint position tracking of robot manipulators. Moreover, a fuzzy-neural-network inherited SMC (FNNISMC) scheme is proposed to relax the requirement of detailed system information and deal with chattering control efforts in the SMC system. In the FNNISMC strategy, the FNN framework is designed to mimic the SMC law, and adaptive tuning algorithms for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. Numerical simulations and experimental results of a two-link robot manipulator actuated by DC servo motors are provided to justify the claims of the proposed FNNISMC system, and the superiority of the proposed FNNISMC scheme is also evaluated by quantitative comparison with previous intelligent control schemes. PMID:24808281

  13. Numerical modelling of tsunami generation by deformable submarine slides using mesh adaptivity

    NASA Astrophysics Data System (ADS)

    Smith, Rebecca; Parkinson, Samuel; Hill, Jon; Collins, Gareth; Piggott, Matthew

    2014-05-01

    Tsunamis generated by submarine slides are often under considered in comparison to earthquake generated tsunami, despite several recent examples. Tsunamigenic slides have generated waves that have caused significant damage and loss of life, for example the 1998 Papua New Guinea submarine mass failure resulted in a tsunami that devastated coastal villages and killed over 2,100 people. Numerical simulations of submarine slide generated waves can help us understand the nature of the waves that are generated, and identify the important factors in determining wave characteristics. There have not been many studies of tsunami generation by deformable submarine slides, largely because of the complexities and computational expense involved in modelling these large scale events. At large, real world, scales modelling of tsunami waves by the generation of slides is computationally challenging. Fluidity is an open source finite element code that is ideally suited to tackle this type of problem as it uses unstructured, adaptive meshes, which help to reduce the computational expense without losing accuracy in the results. Adaptive meshes change topology and resolution based on the current simulation state and as such can focus or reduce resolution when and where it is required. The model also allows a number of different numerical approaches to be taken to simulate the same problem within the same numerical framework. In this example we use multi-material approach, with both two materials (slide and water) and three materials (slide, water and air), alongside a density-driven sediment model approach. We will present results of validating Fluidity against benchmarks from experimental and other numerical studies, at different scales, for deformable underwater slides, and consider the utility of mesh adaptivity. We show good agreement to both laboratory results and other numerical models, both with a fixed mesh and a dynamically adaptive mesh, tracking important features of the

  14. Sliding-Mode Control Applied for Robust Control of a Highly Unstable Aircraft

    NASA Technical Reports Server (NTRS)

    Vetter, Travis Kenneth

    2002-01-01

    An investigation into the application of an observer based sliding mode controller for robust control of a highly unstable aircraft and methods of compensating for actuator dynamics is performed. After a brief overview of some reconfigurable controllers, sliding mode control (SMC) is selected because of its invariance properties and lack of need for parameter identification. SMC is reviewed and issues with parasitic dynamics, which cause system instability, are addressed. Utilizing sliding manifold boundary layers, the nonlinear control is converted to a linear control and sliding manifold design is performed in the frequency domain. An additional feedback form of model reference hedging is employed which is similar to a prefilter and has large benefits to system performance. The effects of inclusion of actuator dynamics into the designed plant is heavily investigated. Multiple Simulink models of the full longitudinal dynamics and wing deflection modes of the forward swept aero elastic vehicle (FSAV) are constructed. Additionally a linear state space models to analyze effects from various system parameters. The FSAV has a pole at +7 rad/sec and is non-minimum phase. The use of 'model actuators' in the feedback path, and varying there design, is heavily investigated for the resulting effects on plant robustness and tolerance to actuator failure. The use of redundant actuators is also explored and improved robustness is shown. All models are simulated with severe failure and excellent tracking, and task dependent handling qualities, and low pilot induced oscillation tendency is shown.

  15. X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.

    1998-01-01

    Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.

  16. Classical and higher-order sliding mode attitude control for launch vehicle systems

    NASA Astrophysics Data System (ADS)

    Stott, James Edward, Jr.

    In determining flight controls for launch vehicle systems, several things must be taken into account. Launch vehicle systems can be expendable or reusable, carry crew or cargo, etc. Each of these launch vehicles maneuvers through a wide range of flight conditions and different mission profiles. Crewed vehicles must adhere to human rating requirements which limit the angular rates. Reusable launch vehicle systems must take into account actuator saturation during entry. Wind disturbances and plant uncertainties are major perturbations to the nominal state of any launch vehicle. An ideal controller is one that is robust enough to handle these uncertainties and external disturbances with limited control authority. One major challenge that exists in the design of these vehicles is the updating of old autopilot technology to new robust designs while also taking into account the different type of launch vehicle system employed. Sliding mode control algorithms that are inherently robust to external disturbances and plant uncertainties are very good candidates for improving the robustness and accuracy of the flight control systems. This dissertation focuses on systematically studying and developing a 'toolbox' of classical and higher-order sliding mode attitude control algorithms for different types of launch vehicle systems operating in uncertain conditions, including model uncertainties, actuator malfunctions, and external perturbations such as wind gusts. The developed toolbox comprises of time-varying sliding variables, classical and higher-order sliding mode attitude control algorithms, and observer techniques that yield novel sliding mode attitude control architectures. The proposed control toolbox allows achieving even higher standards of performance, reliability, safety, operability, and cost for launch vehicles over the current state of the art. Case studies include controlling the X-33 and SLV-X Launch Vehicles studied under NASA's Space Launch Initiative (SLI

  17. Time-varying sliding-coefficient-based decoupled terminal sliding-mode control for a class of fourth-order systems.

    PubMed

    Bayramoglu, Husnu; Komurcugil, Hasan

    2014-07-01

    A time-varying sliding-coefficient-based decoupled terminal sliding mode control strategy is presented for a class of fourth-order systems. First, the fourth-order system is decoupled into two second-order subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients. Then, the control target of one subsystem to another subsystem was embedded. Thereafter, a terminal sliding mode control method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system demonstrate that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods. PMID:24913067

  18. An Adaptive Supervisory Sliding Fuzzy Cerebellar Model Articulation Controller for Sensorless Vector-Controlled Induction Motor Drive Systems

    PubMed Central

    Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang

    2015-01-01

    This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes. PMID:25815450

  19. Sliding mode control of continuous time systems with reaching law based on exponential function

    NASA Astrophysics Data System (ADS)

    Gamorski, Piotr

    2015-11-01

    In this paper a pseudo-sliding mode control is proposed by introducing a continuous and smooth input signal in order to guarantee both chattering elimination and boundedness of sliding variable derivative in the presence of non-zero external disturbance. For this purpose, having fixed a suitable sliding manifold, a homogeneous differential equation describing the sliding variable evolution is considered. It is discussed later in this paper that the input signal formed on the basis of this equation provides asymptotic convergence of the sliding variable and its derivative to zero as well as the asymptotic stability of the non-linear system in the absence of external disturbance. The dynamics of the system affected by non-zero external disturbance make the state vector converge to domains in a vicinity of the origin at the exponential rate, as the norm of arbitrary trajectory is limited to decreasing exponential function. In order to expand the variety of controllers based on a reaching law and providing the above-mentioned properties, a certain class of functions is presented.

  20. Observer-based robust finite time H∞ sliding mode control for Markovian switching systems with mode-dependent time-varying delay and incomplete transition rate.

    PubMed

    Gao, Lijun; Jiang, Xiaoxiao; Wang, Dandan

    2016-03-01

    This paper investigates the problem of robust finite time H∞ sliding mode control for a class of Markovian switching systems. The system is subjected to the mode-dependent time-varying delay, partly unknown transition rate and unmeasurable state. The main difficulty is that, a sliding mode surface cannot be designed based on the unknown transition rate and unmeasurable state directly. To overcome this obstacle, the set of modes is firstly divided into two subsets standing for known transition rate subset and unknown one, based on which a state observer is established. A component robust finite-time sliding mode controller is also designed to cope with the effect of partially unknown transition rate. It is illustrated that the reachability, finite-time stability, finite-time boundedness, finite-time H∞ state feedback stabilization of sliding mode dynamics can be ensured despite the unknown transition rate. Finally, the simulation results verify the effectiveness of robust finite time control problem. PMID:26777336

  1. Implementation of fuzzy-sliding mode based control of a grid connected photovoltaic system.

    PubMed

    Menadi, Abdelkrim; Abdeddaim, Sabrina; Ghamri, Ahmed; Betka, Achour

    2015-09-01

    The present work describes an optimal operation of a small scale photovoltaic system connected to a micro-grid, based on both sliding mode and fuzzy logic control. Real time implementation is done through a dSPACE 1104 single board, controlling a boost chopper on the PV array side and a voltage source inverter (VSI) on the grid side. The sliding mode controller tracks permanently the maximum power of the PV array regardless of atmospheric condition variations, while The fuzzy logic controller (FLC) regulates the DC-link voltage, and ensures via current control of the VSI a quasi-total transit of the extracted PV power to the grid under a unity power factor operation. Simulation results, carried out via Matlab-Simulink package were approved through experiment, showing the effectiveness of the proposed control techniques. PMID:26243440

  2. Analysis and design of sliding mode controller gains for boost power factor corrector.

    PubMed

    Kessal, Abdelhalim; Rahmani, Lazhar

    2013-09-01

    This paper presents a systematic procedure to compute the gains of sliding mode controller based on an optimization scheme. This controller is oriented to drive an AC-DC converter operating in continuous mode with power factor near unity, and in order to improve static and dynamic performances with large variations of reference voltage and load. This study shows the great influence of the controller gains on the global performances of the system. Hence, a methodology for choosing the gains is detailed. The sliding surface used in this study contains two state variables, input current and output voltage; the advantage of this surface is getting reactions against various disturbances-at the power source, the reference of the output, or the value of the load. The controller is experimentally confirmed for steady-state performance and transient response. PMID:23735439

  3. Sliding mode control of the space nuclear reactor system TOPAZ II

    SciTech Connect

    Shtessel, Y.B.; Wyant, F.J.

    1996-03-01

    The Automatic Control System (ACS) of the space nuclear reactor power system TOPAZ II that generates electricity from nuclear heat using in-core thermionic converters is considered. Sliding Mode Control Technique was applied to the reactor system controller design in order to provide the robust high accuracy following of a neutron (thermal) power reference profile in a start up regime and a payload electric power (current) reference profile following in an operation regime. Extensive simulations of the TOPAZ II reactor system with the designed sliding mode controllers showed improved accuracy and robustness of the reactor system performances in a start up regime and in an electric power supply regime as well. {copyright} {ital 1996 American Institute of Physics.}

  4. Libration point orbit rendezvous using PWPF modulated terminal sliding mode control

    NASA Astrophysics Data System (ADS)

    Lian, Yijun; Tang, Guojian

    2013-12-01

    The near-range rendezvous problem of two libration point orbit spacecraft in the Earth-Moon system is studied using the terminal sliding mode control which enables a time-fixed process with the flight time prescribed a priori. The underlying dynamics are the full nonlinear equations of motion for a complete Solar System model. For practical purposes, two means of pulse-width pulse-frequency (PWPF) modulation are employed to realize the theoretical continuous control with a series of thrust pulses. Extensive simulations with major errors taken into account show that the sliding mode controller can successfully guide the chaser to a given staging node with the final position and velocity errors, on average, lower than 20 m and 1 mm/s, respectively. Compared with the glideslope guidance previously studied, the proposed approach outperforms the former by saving approximately 50-60% of total delta-v.

  5. Biomolecular implementation of a quasi sliding mode feedback controller based on DNA strand displacement reactions.

    PubMed

    Sawlekar, Rucha; Montefusco, Francesco; Kulkarni, Vishwesh; Bates, Declan G

    2015-08-01

    A fundamental aim of synthetic biology is to achieve the capability to design and implement robust embedded biomolecular feedback control circuits. An approach to realize this objective is to use abstract chemical reaction networks (CRNs) as a programming language for the design of complex circuits and networks. Here, we employ this approach to facilitate the implementation of a class of nonlinear feedback controllers based on sliding mode control theory. We show how a set of two-step irreversible reactions with ultrasensitive response dynamics can provide a biomolecular implementation of a nonlinear quasi sliding mode (QSM) controller. We implement our controller in closed-loop with a prototype of a biological pathway and demonstrate that the nonlinear QSM controller outperforms a traditional linear controller by facilitating faster tracking response dynamics without introducing overshoots in the transient response. PMID:26736420

  6. Output feedback sliding mode control for a linear multi-compartment lung mechanics system

    NASA Astrophysics Data System (ADS)

    Hou, Saing Paul; Meskin, Nader; Haddad, Wassim M.

    2014-10-01

    In this paper, we develop a sliding mode control architecture to control lung volume and minute ventilation in the presence of modelling system uncertainties. Since the applied input pressure to the lungs is, in general, nonnegative and cannot be arbitrarily large, as not to damage the lungs, a sliding mode control with bounded nonnegative control inputs is proposed. The controller only uses output information (i.e., the total volume of the lungs) and automatically adjusts the applied input pressure so that the system is able to track a given reference signal in the presence of parameter uncertainty (i.e., modelling uncertainty of the lung resistances and lung compliances) and system disturbances. Controllers for both matched and unmatched uncertainties are presented. Specifically, a Lyapunov-based approach is presented for the stability analysis of the system and the proposed control framework is applied to a two-compartment lung model to show the efficacy of the proposed control method.

  7. Observation and sliding mode observer for nonlinear fractional-order system with unknown input.

    PubMed

    Djeghali, Nadia; Djennoune, Said; Bettayeb, Maamar; Ghanes, Malek; Barbot, Jean-Pierre

    2016-07-01

    The main purpose of this paper is twofold. First, the observability and the left invertibility properties and the observable canonical form for nonlinear fractional-order systems are introduced. By using a transformation, we show that these properties can be deduced from an equivalent nonlinear integer-order system. Second, a step by step sliding mode observer for fault detection and estimation in nonlinear fractional-order systems is proposed. Starting with a chained fractional-order integrators form, a step by step first-order sliding mode observer is designed. The finite time convergence of the observer is established by using Lyapunov stability theory. A numerical example is given to illustrate the performance of the proposed approach. PMID:26961320

  8. Observer-based higher order sliding mode control for large optical astronomical telescopes

    NASA Astrophysics Data System (ADS)

    Zhou, Wangping; Ye, Xiaoling; Guo, Wei; Wu, Zhonghua

    2009-05-01

    In order to study more remote universe and the detailed structures of near stars, large-scale astronomical telescopes are very needed with the development of astronomy and astrophysics. In this trend, astronomical telescope becomes more and more huge, which leads its driving system to bear heavy nonlinear disturbances. The increased nonlinear disturbances especially caused by friction torque in the control system can easily bring tingle and stick-slip phenomena when the telescope tracks an object with an ultra-low velocity. However, conventional control approaches are difficult to realize high-precision controls and can decrease the quality of a telescope's observations. Therefore, it will be of significance in theory and in practice to develop an advanced new control method to restrain nonlinear disturbance and improve telescope's observation performance. Sliding mode approach has been applied in many other mechanical control systems since it is invariable to various disturbances. However, conventional sliding mode approach may cause dangerous high-frequency vibrations in corresponding control system, which may influence control performance or even lead the system unstable. To counteract the effect of above nuisance, a high-order sliding mode (HOSM) controller of third-order has been suggested in the large telescope's drive system through theoretic deduction and analysis. On account of that the HOSM approach needs all system states available, a sliding mode observer has then been designed in order to get the acceleration state of the drive system. Simulation results show that this approach can obtain high control precision and may satisfy the requirements of a telescope for a nicely ultra-low velocity.

  9. Speed control of switched reluctance motor using sliding mode control strategy

    SciTech Connect

    John, G.; Eastham, A.R.

    1995-12-31

    A robust speed drive system for a switched reluctance motor (SRM) using sliding mode control strategy (SLMC) is presented. After reviewing the operation of an SRM drive, a SLMC based scheme is formulated to control the drive speed. The scheme is implemented using a micro-controller and a high resolution position sensor. The parameter insensitive characteristics are demonstrated through computer simulations and experimental verification.

  10. RTDS implementation of an improved sliding mode based inverter controller for PV system.

    PubMed

    Islam, Gazi; Muyeen, S M; Al-Durra, Ahmed; Hasanien, Hany M

    2016-05-01

    This paper proposes a novel approach for testing dynamics and control aspects of a large scale photovoltaic (PV) system in real time along with resolving design hindrances of controller parameters using Real Time Digital Simulator (RTDS). In general, the harmonic profile of a fast controller has wide distribution due to the large bandwidth of the controller. The major contribution of this paper is that the proposed control strategy gives an improved voltage harmonic profile and distribute it more around the switching frequency along with fast transient response; filter design, thus, becomes easier. The implementation of a control strategy with high bandwidth in small time steps of Real Time Digital Simulator (RTDS) is not straight forward. This paper shows a good methodology for the practitioners to implement such control scheme in RTDS. As a part of the industrial process, the controller parameters are optimized using particle swarm optimization (PSO) technique to improve the low voltage ride through (LVRT) performance under network disturbance. The response surface methodology (RSM) is well adapted to build analytical models for recovery time (Rt), maximum percentage overshoot (MPOS), settling time (Ts), and steady state error (Ess) of the voltage profile immediate after inverter under disturbance. A systematic approach of controller parameter optimization is detailed. The transient performance of the PSO based optimization method applied to the proposed sliding mode controlled PV inverter is compared with the results from genetic algorithm (GA) based optimization technique. The reported real time implementation challenges and controller optimization procedure are applicable to other control applications in the field of renewable and distributed generation systems. PMID:26606852

  11. Flight Control Design for an Autonomous Rotorcraft Using Pseudo-Sliding Mode Control and Waypoint Navigation

    NASA Astrophysics Data System (ADS)

    Mallory, Nicolas Joseph

    The design of robust automated flight control systems for aircraft of varying size and complexity is a topic of continuing interest for both military and civilian industries. By merging the benefits of robustness from sliding mode control (SMC) with the familiarity and transparency of design tradeoff offered by frequency domain approaches, this thesis presents pseudo-sliding mode control as a viable option for designing automated flight control systems for complex six degree-of-freedom aircraft. The infinite frequency control switching of SMC is replaced, by necessity, with control inputs that are continuous in nature. An introduction to SMC theory is presented, followed by a detailed design of a pseudo-sliding mode control and automated flight control system for a six degree-of-freedom model of a Hughes OH6 helicopter. This model is then controlled through three different waypoint missions that demonstrate the stability of the system and the aircraft's ability to follow certain maneuvers despite time delays, large changes in model parameters and vehicle dynamics, actuator dynamics, sensor noise, and atmospheric disturbances.

  12. Current Sensor Fault Diagnosis Based on a Sliding Mode Observer for PMSM Driven Systems

    PubMed Central

    Huang, Gang; Luo, Yi-Ping; Zhang, Chang-Fan; Huang, Yi-Shan; Zhao, Kai-Hui

    2015-01-01

    This paper proposes a current sensor fault detection method based on a sliding mode observer for the torque closed-loop control system of interior permanent magnet synchronous motors. First, a sliding mode observer based on the extended flux linkage is built to simplify the motor model, which effectively eliminates the phenomenon of salient poles and the dependence on the direct axis inductance parameter, and can also be used for real-time calculation of feedback torque. Then a sliding mode current observer is constructed in αβ coordinates to generate the fault residuals of the phase current sensors. The method can accurately identify abrupt gain faults and slow-variation offset faults in real time in faulty sensors, and the generated residuals of the designed fault detection system are not affected by the unknown input, the structure of the observer, and the theoretical derivation and the stability proof process are concise and simple. The RT-LAB real-time simulation is used to build a simulation model of the hardware in the loop. The simulation and experimental results demonstrate the feasibility and effectiveness of the proposed method. PMID:25970258

  13. Current Sensor Fault Diagnosis Based on a Sliding Mode Observer for PMSM Driven Systems.

    PubMed

    Huang, Gang; Luo, Yi-Ping; Zhang, Chang-Fan; Huang, Yi-Shan; Zhao, Kai-Hui

    2015-01-01

    This paper proposes a current sensor fault detection method based on a sliding mode observer for the torque closed-loop control system of interior permanent magnet synchronous motors. First, a sliding mode observer based on the extended flux linkage is built to simplify the motor model, which effectively eliminates the phenomenon of salient poles and the dependence on the direct axis inductance parameter, and can also be used for real-time calculation of feedback torque. Then a sliding mode current observer is constructed in αβ coordinates to generate the fault residuals of the phase current sensors. The method can accurately identify abrupt gain faults and slow-variation offset faults in real time in faulty sensors, and the generated residuals of the designed fault detection system are not affected by the unknown input, the structure of the observer, and the theoretical derivation and the stability proof process are concise and simple. The RT-LAB real-time simulation is used to build a simulation model of the hardware in the loop. The simulation and experimental results demonstrate the feasibility and effectiveness of the proposed method. PMID:25970258

  14. Darkfield adapter for whole slide imaging: adapting a darkfield internal reflection illumination system to extend WSI applications.

    PubMed

    Kawano, Yoshihiro; Higgins, Christopher; Yamamoto, Yasuhito; Nyhus, Julie; Bernard, Amy; Dong, Hong-Wei; Karten, Harvey J; Schilling, Tobias

    2013-01-01

    We present a new method for whole slide darkfield imaging. Whole Slide Imaging (WSI), also sometimes called virtual slide or virtual microscopy technology, produces images that simultaneously provide high resolution and a wide field of observation that can encompass the entire section, extending far beyond any single field of view. For example, a brain slice can be imaged so that both overall morphology and individual neuronal detail can be seen. We extended the capabilities of traditional whole slide systems and developed a prototype system for darkfield internal reflection illumination (DIRI). Our darkfield system uses an ultra-thin light-emitting diode (LED) light source to illuminate slide specimens from the edge of the slide. We used a new type of side illumination, a variation on the internal reflection method, to illuminate the specimen and create a darkfield image. This system has four main advantages over traditional darkfield: (1) no oil condenser is required for high resolution imaging (2) there is less scatter from dust and dirt on the slide specimen (3) there is less halo, providing a more natural darkfield contrast image, and (4) the motorized system produces darkfield, brightfield and fluorescence images. The WSI method sometimes allows us to image using fewer stains. For instance, diaminobenzidine (DAB) and fluorescent staining are helpful tools for observing protein localization and volume in tissues. However, these methods usually require counter-staining in order to visualize tissue structure, limiting the accuracy of localization of labeled cells within the complex multiple regions of typical neurohistological preparations. Darkfield imaging works on the basis of light scattering from refractive index mismatches in the sample. It is a label-free method of producing contrast in a sample. We propose that adapting darkfield imaging to WSI is very useful, particularly when researchers require additional structural information without the use of

  15. An investigation of the edge-sliding mode in fracture mechanics

    NASA Technical Reports Server (NTRS)

    Jones, D. L.; Chisholm, D. B.

    1975-01-01

    A boundary collocation procedure has been applied to the Williams stress function to determine the elastic stress distribution for the crack tip region of a finite, edge-cracked plate subjected to mode II loading at the crack tips. The asymmetric specimen selected was particularly suitable for the determination of plane strain fracture toughness for mode II loading. Numerical solutions for stress intensity factors for the edge-sliding mode obtained by the boundary collocation method were in close agreement with values obtained from photoelastic experiments. Fracture tests of several compact shear specimens of 2024-T4 aluminum were conducted in order to experimentally investigate the behavior of the edge-sliding mode. In each case a brittle shear failure was observed and mode II fracture toughness values were obtained. The average value for K-IIc obtained from two tests was 39.5 ksi radical (in). No K-Ic data for 2024-T4 were available for comparison purposes; however, K-Ic values for a similar alloy, 2024-T351, have been reported as 34 ksi radical (in) which is only about 15 per cent below the corresponding K-IIc value.

  16. Exact differentiator based sliding mode control for large optical astronomical telescopes

    NASA Astrophysics Data System (ADS)

    Zhou, Wangping; Xu, Xinqi; Dong, Zhiming

    2007-12-01

    Large astronomical optical telescopes are badly needed in order to learn more remote universe. There exist some key problems of the control systems of large astronomical optical telescopes. Since they have voluminous bodies that would encounter heavy external disturbance, one of the key problems is focused on how to accurately control them. Additionally, in order to get nicer ultra-low velocity performance and a steady field of view, friction drive is widely applied in contemporary large optical telescopes. One serious disadvantage of friction drive is that it will cause some nonlinear uncertainties to influence telescope controls because of the mechanical characteristics between the principal and subordinate friction wheels. These two aspects of external and internal disturbances will make a telescope very difficult to be controlled. In this paper, we introduce a method of higher order sliding modes (HOSM) to control telescopes, which overcome these two disadvantages of traditional Proportional-Integral-Derivative approach and can achieve excellent control performance. Conventional sliding mode approach has been applied in many other mechanical control systems owing to its high accuracy in anti-jamming. By discontinuous switching, it is invariable to disturbances based on keeping some constraints with a sufficiently energetic effort. However, such conventional sliding mode approach may cause dangerous high-frequency vibrations in the corresponding control system, which may influence systemic control performance or even lead the system unstable. In this work, we use the newly developed HOSM approach in the control systems of the large astronomical optical telescopes. The HOSM approach inherits the dominant merits of conventional sliding mode. Moreover, it acts on the higher order time derivatives of the system deviation from the constraint. And the discontinuous dynamics are restricted to the highest state while the counterpart in standard sliding mode is in first

  17. Sliding-mode control of a six-phase series/parallel connected two induction motors drive.

    PubMed

    Abjadi, Navid R

    2014-11-01

    In this paper, a parallel configuration is proposed for two quasi six-phase induction motors (QIMs) to feed them from a single six-phase voltage source inverter (VSI). A direct torque control (DTC) based on input-output feedback linearization (IOFL) combined with sliding mode (SM) control is used for each QIM in stationary reference frame. In addition, an adaptive scheme is employed to solve the motor resistances mismatching problem. The effectiveness and capability of the proposed method are shown by practical results obtained for two QIMs in series/parallel connections supplied from a single VSI. The decoupling control of QIMs and the feasibility of their torque and flux control are investigated. Moreover, a complete comparison between series and parallel connections of two QIMs is given. PMID:25264286

  18. Cellular modes of adaptation to environmental changes

    NASA Astrophysics Data System (ADS)

    Huckle, William R.

    2001-10-01

    Eukaryotic cells are remarkably adaptable entities. Whether embedded in solid tissues or freely suspended in blood or other fluids, cells principally exist in an aqueous environment but maintain a hydrophobic barrier, the plasma membrane, across which changes in the environment are detected. Utilizing specialized macromolecular components, cells can sense changes in temperature, hydrostatic pressure, oxygen tension, shear, shape, osmolarity, pH, electrical potential, electromagnetic radiation, and the concentrations of specific chemical compounds. Modes of response are equally varied, ranging from rapid secretion of stored substances to irreversible functional differentiation to self-destruction. Recent research has elucidated many of the enzymatic and genetic programs that accomplish these adaptations and suggests novel targets for therapeutic intervention.

  19. Nonsingular decoupled terminal sliding-mode control for a class of fourth-order nonlinear systems

    NASA Astrophysics Data System (ADS)

    Bayramoglu, Husnu; Komurcugil, Hasan

    2013-09-01

    This paper presents a nonsingular decoupled terminal sliding mode control (NDTSMC) method for a class of fourth-order nonlinear systems. First, the nonlinear fourth-order system is decoupled into two second-order subsystems which are referred to as the primary and secondary subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients which are computed by linear functions derived from the input-output mapping of the one-dimensional fuzzy rule base. Then, the control target of the secondary subsystem was embedded to the primary subsystem by the help of an intermediate signal. Thereafter, a nonsingular terminal sliding mode control (NTSMC) method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system are given to show the effectiveness of the proposed method. It is seen that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods.

  20. Sliding mode based fault detection, reconstruction and fault tolerant control scheme for motor systems.

    PubMed

    Mekki, Hemza; Benzineb, Omar; Boukhetala, Djamel; Tadjine, Mohamed; Benbouzid, Mohamed

    2015-07-01

    The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework. PMID:25747198

  1. MIMO Sliding Mode Control for a Tailless Fighter Aircraft, An Alternative to Reconfigurable Architectures

    NASA Technical Reports Server (NTRS)

    Wells, S. R.; Hess, R. A.

    2002-01-01

    A frequency-domain procedure for the design of sliding mode controllers for multi-input, multi-output (MIMO) systems is presented. The methodology accommodates the effects of parasitic dynamics such as those introduced by unmodeled actuators through the introduction of multiple asymptotic observers and model reference hedging. The design procedure includes a frequency domain approach to specify the sliding manifold, the observer eigenvalues, and the hedge model. The procedure is applied to the development of a flight control system for a linear model of the Innovative Control Effector (ICE) fighter aircraft. The stability and performance robustness of the resulting design is demonstrated through the introduction of significant degradation in the control effector actuators and variation in vehicle dynamics.

  2. Variable speed wind turbine control by discrete-time sliding mode approach.

    PubMed

    Torchani, Borhen; Sellami, Anis; Garcia, Germain

    2016-05-01

    The aim of this paper is to propose a new design variable speed wind turbine control by discrete-time sliding mode approach. This methodology is designed for linear saturated system. The saturation constraint is reported on inputs vector. To this end, the back stepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a stabilization control objective. It is well known that the mechanisms are investigated in term of the most proposed assumptions to deal with the damping, shaft stiffness and inertia effect of the gear. The objectives are to synthesize robust controllers that maximize the energy extracted from wind, while reducing mechanical loads and rotor speed tracking combined with an electromagnetic torque. Simulation results of the proposed scheme are presented. PMID:26804750

  3. Adaptive Control of Flexible Structures Using Residual Mode Filters

    NASA Technical Reports Server (NTRS)

    Balas, Mark J.; Frost, Susan

    2010-01-01

    Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter. We have proposed a modified adaptive controller with a residual mode filter. The RMF is used to accommodate troublesome modes in the system that might otherwise inhibit the adaptive controller, in particular the ASPR condition. This new theory accounts for leakage of the disturbance term into the Q modes. A simple three-mode example shows that the RMF can restore stability to an otherwise unstable adaptively controlled system. This is done without modifying the adaptive controller design.

  4. Drag-based composite super-twisting sliding mode control law design for Mars entry guidance

    NASA Astrophysics Data System (ADS)

    Zhao, Zhenhua; Yang, Jun; Li, Shihua; Guo, Lei

    2016-06-01

    In this paper, the drag-based trajectory tracking guidance problem is investigated for Mars entry vehicle subject to uncertainties. A composite super twisting sliding mode control method based on finite-time disturbance observer is proposed for guidance law design. The proposed controller not only eliminates the effects of matched and mismatched disturbances due to uncertainties of atmospheric models and vehicle aerodynamics but also guarantees the continuity of control action. Numerical simulations are carried out on the basis of Mars Science Laboratory mission, where the results show that the proposed methods can improve the Mars entry guidance precision as compared with some existing guidance methods including PID and ADRC.

  5. A modified integral sliding mode control to lateral stabilisation of 4-wheel independent drive electric vehicles

    NASA Astrophysics Data System (ADS)

    Alipour, Hasan; Bagher Bannae Sharifian, Mohammad; Sabahi, Mehran

    2014-12-01

    This paper presents a novel sliding mode controller (SMC) and its application in the lateral stability control of a 4-wheel independent drive electric vehicle. The structure of the SMC is modified and online-tuned to ensure vehicle system stability, and to track the desired vehicle motion references when an in-wheel motor fault happens. The proposed controller is faster, more accurate, more robust, and with smaller chattering than common SMCs chatter. The effectiveness of the introduced approach is investigated through conducted simulations in the CARSIM and MATLAB software environments.

  6. Sliding Mode Control Technique: Application to a Four Rotors Mini-Flying Robot

    NASA Astrophysics Data System (ADS)

    Zemalache, K. M.; Tahar, M.; Omari, A.; Maaref, H.

    2009-03-01

    This paper presents the study of stabilization with motion planning of the four rotors mini-flying robot (helicopter with four rotors). The dynamic model involves four control inputs which are computed to stabilize the engine with predefined trajectories path. The tracking feedback controller is based on receding horizon point to point steering. It is clear that our device belongs to families of under-actuated systems. Our aim is to obtain control algorithms using the cascade sliding mode approach in order to stabilize the engine and to generate its trajectory.

  7. Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

    PubMed Central

    Long, Yi; Du, Zhi-jiang; Wang, Wei-dong; Dong, Wei

    2016-01-01

    A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems. PMID:27069353

  8. Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton.

    PubMed

    Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Dong, Wei

    2016-01-01

    A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems. PMID:27069353

  9. Photonic lantern adaptive spatial mode control in LMA fiber amplifiers.

    PubMed

    Montoya, Juan; Aleshire, Chris; Hwang, Christopher; Fontaine, Nicolas K; Velázquez-Benítez, Amado; Martz, Dale H; Fan, T Y; Ripin, Dan

    2016-02-22

    We demonstrate adaptive-spatial mode control (ASMC) in few-moded double-clad large mode area (LMA) fiber amplifiers by using an all-fiber-based photonic lantern. Three single-mode fiber inputs are used to adaptively inject the appropriate superposition of input modes in a multimode gain fiber to achieve the desired mode at the output. By actively adjusting the relative phase of the single-mode inputs, near-unity coherent combination resulting in a single fundamental mode at the output is achieved. PMID:26906999

  10. Robust fuzzy neural network sliding mode control scheme for IPMSM drives

    NASA Astrophysics Data System (ADS)

    Leu, V. Q.; Mwasilu, F.; Choi, H. H.; Lee, J.; Jung, J. W.

    2014-07-01

    This article proposes a robust fuzzy neural network sliding mode control (FNNSMC) law for interior permanent magnet synchronous motor (IPMSM) drives. The proposed control strategy not only guarantees accurate and fast command speed tracking but also it ensures the robustness to system uncertainties and sudden speed and load changes. The proposed speed controller encompasses three control terms: a decoupling control term which compensates for nonlinear coupling factors using nominal parameters, a fuzzy neural network (FNN) control term which approximates the ideal control components and a sliding mode control (SMC) term which is proposed to compensate for the errors of that approximation. Next, an online FNN training methodology, which is developed using the Lyapunov stability theorem and the gradient descent method, is proposed to enhance the learning capability of the FNN. Moreover, the maximum torque per ampere (MTPA) control is incorporated to maximise the torque generation in the constant torque region and increase the efficiency of the IPMSM drives. To verify the effectiveness of the proposed robust FNNSMC, simulations and experiments are performed by using MATLAB/Simulink platform and a TI TMS320F28335 DSP on a prototype IPMSM drive setup, respectively. Finally, the simulated and experimental results indicate that the proposed design scheme can achieve much better control performances (e.g. more rapid transient response and smaller steady-state error) when compared to the conventional SMC method, especially in the case that there exist system uncertainties.

  11. Two modified discrete PID-based sliding mode controllers for piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Cao, Y.; Chen, X. B.

    2014-01-01

    Hysteresis is a nonlinear effect that can result in the degraded performance of piezoelectric actuators (PEAs). To counteract the effect, several control methods have been developed and reported in the literature. One promising method for compensation is the use of a proportional-integral-derivative (PID)-based sliding mode control (SMC), in which the PEA hysteresis is treated as an unknown disturbance to the PEA input. If the hysteresis can be modelled or partially modelled, the integration of the hysteresis models into the control schemes may lead to further improved performance. On this philosophy, this paper presents the development of two modified discrete PID-based sliding mode controllers (PID-SMCs) for the PEAs, namely an inversion-based PID-SMC and a disturbance-observer (DOB)-based PID-SMC, in which the PEA hysteresis is predicted or partially predicted through the use of existing models for the PEA hysteresis. Experiments were performed to verify the effectiveness of the proposed control schemes. The results were compared to those of the nominal PID-SMC. By employing the inversion hysteresis and the DOB, the PEA performance was greatly improved.

  12. Analytical impact time and angle guidance via time-varying sliding mode technique.

    PubMed

    Zhao, Yao; Sheng, Yongzhi; Liu, Xiangdong

    2016-05-01

    To concretely provide a feasible solution for homing missiles with the precise impact time and angle, this paper develops a novel guidance law, based on the nonlinear engagement dynamics. The guidance law is firstly designed with the prior assumption of a stationary target, followed by the practical extension to a moving target scenario. The time-varying sliding mode (TVSM) technique is applied to fulfill the terminal constraints, in which a specific TVSM surface is constructed with two unknown coefficients. One is tuned to meet the impact time requirement and the other one is targeted with a global sliding mode, so that the impact angle constraint as well as the zero miss distance can be satisfied. Because the proposed law possesses three guidance gain as design parameters, the intercept trajectory can be shaped according to the operational conditions and missile׳s capability. To improve the tolerance of initial heading errors and broaden the application, a new frame of reference is also introduced. Furthermore, the analytical solutions of the flight trajectory, heading angle and acceleration command can be totally expressed for the prediction and offline parameter selection by solving a first-order linear differential equation. Numerical simulation results for various scenarios validate the effectiveness of the proposed guidance law and demonstrate the accuracy of the analytic solutions. PMID:26952314

  13. Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

    PubMed Central

    Chen, Jiawang; Gu, Linyi

    2014-01-01

    For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time. PMID:24983004

  14. Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study

    PubMed Central

    Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

    2015-01-01

    Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin–blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results. PMID:26284169

  15. Adaptive mode control of a few-mode fiber by real-time mode decomposition.

    PubMed

    Huang, Liangjin; Leng, Jinyong; Zhou, Pu; Guo, Shaofeng; Lü, Haibin; Cheng, Xiang'ai

    2015-10-19

    A novel approach to adaptively control the beam profile in a few-mode fiber is experimentally demonstrated. We stress the fiber through an electric-controlled polarization controller, whose driven voltage depends on the current and target modal content difference obtained with the real-time mode decomposition. We have achieved selective excitations of LP01 and LP11 modes, as well as significant improvement of the beam quality factor, which may play crucial roles for high-power fiber lasers, fiber based telecommunication systems and other fundamental researches and applications. PMID:26480466

  16. Sliding mode attitude control with L 2-gain performance and vibration reduction of flexible spacecraft with actuator dynamics

    NASA Astrophysics Data System (ADS)

    Hu, Qinglei

    2010-09-01

    This paper presents a dual-stage control system design method for the rotational maneuver control and vibration stabilization of a flexible spacecraft. In this design approach, the sub-systems of attitude control and vibration suppression are designed separately using the low order model. Based on the sliding mode control (SMC) theory, a discontinuous attitude control law in the form of the input voltage of the reaction wheel is derived to control the orientation of the spacecraft, incorporating the L 2-gain performance criterion constraint. The resulting closed-loop system is proven to be uniformly ultimately bounded stability and the effect of the external disturbance on both attitude quaternion and angular velocity can be attenuated to the prescribed level as well. In addition, an adaptive version of the control law is designed for adapting the unknown upper bounds of the lumped disturbance such that the limitation of knowing the bound of the disturbance in advance is released. For actively suppressing the induced vibration, strain rate feedback control method is also investigated by using piezoelectric materials as additional sensors and actuators bonded on the surface of the flexible appendages. Numerical simulations are performed to show that rotational maneuver and vibration suppression are accomplished in spite of the presence of disturbance and uncertainty.

  17. Reducing False Negative Reads in RFID Data Streams Using an Adaptive Sliding-Window Approach

    PubMed Central

    Massawe, Libe Valentine; Kinyua, Johnson D. M.; Vermaak, Herman

    2012-01-01

    Unreliability of the data streams generated by RFID readers is among the primary factors which limit the widespread adoption of the RFID technology. RFID data cleaning is, therefore, an essential task in the RFID middleware systems in order to reduce reading errors, and to allow these data streams to be used to make a correct interpretation and analysis of the physical world they are representing. In this paper we propose an adaptive sliding-window based approach called WSTD which is capable of efficiently coping with both environmental variation and tag dynamics. Our experimental results demonstrate the efficacy of the proposed approach. PMID:22666027

  18. Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction

    NASA Astrophysics Data System (ADS)

    Sumantri, Bambang; Uchiyama, Naoki; Sano, Shigenori

    2016-01-01

    In this paper, a new control structure for a quad-rotor helicopter that employs the least squares method is introduced. This proposed algorithm solves the overdetermined problem of the control input for the translational motion of a quad-rotor helicopter. The algorithm allows all six degrees of freedom to be considered to calculate the control input. The sliding mode controller is applied to achieve robust tracking and stabilization. A saturation function is designed around a boundary layer to reduce the chattering phenomenon that is a common problem in sliding mode control. In order to improve the tracking performance, an integral sliding surface is designed. An energy saving effect because of chattering reduction is also evaluated. First, the dynamics of the quad-rotor helicopter is derived by the Newton-Euler formulation for a rigid body. Second, a constant plus proportional reaching law is introduced to increase the reaching rate of the sliding mode controller. Global stability of the proposed control strategy is guaranteed based on the Lyapunov's stability theory. Finally, the robustness and effectiveness of the proposed control system are demonstrated experimentally under wind gusts, and are compared with a regular sliding mode controller, a proportional-differential controller, and a proportional-integral-differential controller.

  19. Reusable Launch Vehicle Attitude Control Using a Time-Varying Sliding Mode Control Technique

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.; Zhu, J. Jim; Daniels, Dan; Jackson, Scott (Technical Monitor)

    2002-01-01

    In this paper we present a time-varying sliding mode control (TVSMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC ascent and descent designs are currently being tested with high fidelity, 6-DOF dispersion simulations. The test results will be presented in the final version of this paper.

  20. Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

    PubMed

    Xingling, Shao; Honglun, Wang

    2014-11-01

    This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. PMID:25451817

  1. Station-keeping of real Earth-Moon libration point orbits using discrete-time sliding mode control

    NASA Astrophysics Data System (ADS)

    Lian, Yijun; Gómez, Gerard; Masdemont, Josep J.; Tang, Guojian

    2014-10-01

    In this work, station-keeping of real Earth-Moon libration point orbits is studied using discrete-time sliding mode control (DSMC). For comparison, a discrete linear quadratic regulator (DLQR) controller is also considered. The libration orbits are termed “real” in the sense that they are obtained in a complete Solar System model, taking into account all the gravitational forces of the planets, the Moon, and the Sun. This is a key point for any station-keeping study, that the use of far from real orbits as nominal ones increases unnecessarily the station-keeping cost. The resulting controlled system, linearised with respect to some nominal orbit, takes a discrete-time form suitable for applying impulsive maneuvers. The DSMC controller is designed by the reaching law with the parameters chosen in an adaptive way. A method for designing the sliding surface is proposed. In order to assess and compare the performance of the two controllers, simulations are done for six libration point orbits around the L2 point (three halo orbits and three Lissajous ones) during a time span of 10 years. Several practical constraints are also considered in the simulations. Extensive Monte Carlo results show that the proposed DSMC approach is able to maintain the spacecraft within a close vicinity of the nominal orbits with a maneuver cost less than 2 m/s per year, and it outperforms the DLQR approach in terms of the position controllability. Some comparison with previous results obtained by other authors with different procedures is also given.

  2. Robotic Implementation of Realistic Reaching Motion Using a Sliding Mode/Operational Space Controller

    NASA Astrophysics Data System (ADS)

    Spiers, Adam; Herrmann, Guido; Melhuish, Chris; Pipe, Tony; Lenz, Alexander

    It has been shown that a task-level controller with minimal-effort posture control produces human-like motion in simulation. This control approach is based on the dynamic model of a human skeletal system superimposed with realistic muscle like actuators whose effort is minimised. In practical application, there is often a degree of error between the dynamic model of a system used for controller derivation and the actual dynamics of the system. We present a practical application of the task-level control framework with simplified posture control in order to produce life-like and compliant reaching motions for a redundant task. The addition of a sliding mode controller improves performance of the physical robot by compensating for unknown parametric and dynamic disturbances without compromising the human-like posture.

  3. Sliding mode control of a spherical haptic device featuring electrorheological fluid

    NASA Astrophysics Data System (ADS)

    Han, Young-Min; Nguyen, Hung Quoc; Choi, Seung-Bok

    2006-03-01

    This paper presents force-feedback control performance of a new type of haptic device featuring spherical geometry and smart materials that can be used for minimally invasive surgery (MIS). A spherical electrorheological (ER) joint is designed and optimized based on the mathematical torque modeling. Force response of the manufactured ER joint is then experimentally evaluated. Subsequently, the 2-DOF force-feedback device is manufactured by integrating the spherical ER joint with AC motor. In order to achieve desired force trajectories of the haptic device, a sliding mode controller (SMC), which is robust to uncertainty, is formulated and experimentally realized. Tracking control performances for various force trajectories are presented in time domain, and their tracking errors are evaluated.

  4. Continuous high order sliding mode controller design for a flexible air-breathing hypersonic vehicle.

    PubMed

    Wang, Jie; Zong, Qun; Su, Rui; Tian, Bailing

    2014-05-01

    This paper investigates the problem of tracking control with uncertainties for a flexible air-breathing hypersonic vehicle (FAHV). In order to overcome the analytical intractability of this model, an Input-Output linearization model is constructed for the purpose of feedback control design. Then, the continuous finite time convergence high order sliding mode controller is designed for the Input-Output linearization model without uncertainties. In addition, a nonlinear disturbance observer is applied to estimate the uncertainties in order to compensate the controller and disturbance suppression, where disturbance observer and controller synthesis design is obtained. Finally, the synthesis of controller and disturbance observer is used to achieve the tracking for the velocity and altitude of the FAHV and simulations are presented to illustrate the effectiveness of the control strategies. PMID:24534328

  5. Fault tolerant control based on interval type-2 fuzzy sliding mode controller for coaxial trirotor aircraft.

    PubMed

    Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel

    2015-11-01

    In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial trirotor helicopter control is proposed in presence of defects in the system. A control strategy based on the coupling of the interval type-2 fuzzy logic control and sliding mode control technique are used to design a controller. The main purpose of this work is to eliminate the chattering phenomenon and guaranteeing the stability and the robustness of the system. In order to achieve this goal, interval type-2 fuzzy logic control has been used to generate the discontinuous control signal. The simulation results have shown that the proposed control strategy can greatly alleviate the chattering effect, and perform good reference tracking in presence of defects in the system. PMID:26428878

  6. Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

    As an auxiliary treatment, the 6-DOF parallel robot plays an important role in lower limb rehabilitation. In order to improve the efficiency and flexibility of the lower limb rehabilitation training, this paper studies the impedance controller based on the position control. A nonsingular terminal sliding mode control is developed to ensure the trajectory tracking precision and in contrast to traditional PID control strategy in the inner position loop, the system will be more stable. The stability of the system is proved by Lyapunov function to guarantee the convergence of the control errors. Simulation results validate the effectiveness of the target impedance model and show that the parallel robot can adjust gait trajectory online according to the human-machine interaction force to meet the gait request of patients, and changing the impedance parameters can meet the demands of different stages of rehabilitation training.

  7. A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces

    NASA Astrophysics Data System (ADS)

    Chen, Yuhang; Ji, Yunfeng; Guo, Konghui

    2014-12-01

    In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model 'UniTire'. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.

  8. Sliding mode-based lateral vehicle dynamics control using tyre force measurements

    NASA Astrophysics Data System (ADS)

    Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

    2015-11-01

    In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

  9. The sliding mode control for different shapes and dimensions of IPMC on resisting its creep characteristics

    NASA Astrophysics Data System (ADS)

    Hao, Lina; Chen, Yang; Sun, Zhiyong

    2015-04-01

    Ionic polymer metal composite (IPMC) is a novel smart material which has been widely implemented in MEMS, biomimetic mechanical and electrical integrated system and micro operation system. While the IPMC with different shapes and dimensions has been implemented in many different types of biomechanical integrated systems, one of its inherent properties called creep characteristic is difficult to be handled, which limits the further application of different IPMCs in integrated systems. A promising control method called sliding mode control (SMC) is proposed to resist the creep characteristics in this paper. The SMC controller can regulate IPMC actuators with different shapes and dimensions effectively to resist the creep characteristics without changing parameters of the control system. Experiments of four different types of IPMC actuators were conducted on the semi-physical SMC experimental platform. All the experimental results confirm the feasibility of the SMC control approach on regulating the multi-IPMCs with different shapes and dimensions based integrated system.

  10. Decentralized sliding-mode control for spacecraft attitude synchronization under actuator failures

    NASA Astrophysics Data System (ADS)

    Wu, Baolin; Wang, Danwei; Poh, Eng Kee

    2014-12-01

    This paper examines attitude synchronization and tracking problems with model uncertainties, external disturbances, actuator failures and control torque saturation. Two decentralized sliding mode control laws are proposed and analyzed based on algebraic graph theory. Using Barbalat's Lemma, it is shown that the control laws guarantee each spacecraft approaches the desired time-varying attitude and angular velocity while maintaining attitude synchronization among the other spacecraft in the formation. The first controller is designed in the presence of model uncertainties, external disturbances, and actuator failures. The results are extended to the case with control input saturation in the second controller. Both control laws do not require online identification of failures. Numerical simulations are presented to show the effectiveness of the proposed attitude synchronization and tracking approaches.

  11. Robust neuro-sliding mode multivariable control strategy for powered wheelchairs.

    PubMed

    Nguyen, Tuan Nghia; Su, Steven W; Nguyen, Hung T

    2011-02-01

    This paper proposes an advanced robust multivariable control strategy for a powered wheelchair system. The new control strategy is based on a combination of the systematic triangularization technique and the robust neuro-sliding mode control approach. This strategy effectively copes with parameter uncertainties and external disturbances in real-time in order to achieve robustness and optimal performance of a multivariable system. This novel strategy reduces coupling effects on a multivariable system, eliminates chattering phenomena, and avoids the plant Jacobian calculation problem. Furthermore, the strategy can also achieve fast and global convergence using less computation. The effectiveness of the new multivariable control strategy is verified in real-time implementation on a powered wheelchair system. The obtained results confirm that robustness and desired performance of the overall system are guaranteed, even under parameter uncertainty and external disturbance effects. PMID:20805057

  12. Experimental Study of Flexible Plate Vibration Control by Using Two-Loop Sliding Mode Control Strategy

    NASA Astrophysics Data System (ADS)

    Yang, Jingyu; Lin, Jiahui; Liu, Yuejun; Yang, Kang; Zhou, Lanwei; Chen, Guoping

    2016-06-01

    It is well known that intelligent control theory has been used in many research fields, novel modeling method (DROMM) is used for flexible rectangular active vibration control, and then the validity of new model is confirmed by comparing finite element model with new model. In this paper, taking advantage of the dynamics of flexible rectangular plate, a two-loop sliding mode (TSM) MIMO approach is introduced for designing multiple-input multiple-output continuous vibration control system, which can overcome uncertainties, disturbances or unstable dynamics. An illustrative example is given in order to show the feasibility of the method. Numerical simulations and experiment confirm the effectiveness of the proposed TSM MIMO controller.

  13. Cytopathology whole slide images and virtual microscopy adaptive tutorials: A software pilot

    PubMed Central

    Van Es, Simone L.; Pryor, Wendy M.; Belinson, Zack; Salisbury, Elizabeth L.; Velan, Gary M.

    2015-01-01

    Background: The constant growth in the body of knowledge in medicine requires pathologists and pathology trainees to engage in continuing education. Providing them with equitable access to efficient and effective forms of education in pathology (especially in remote and rural settings) is important, but challenging. Methods: We developed three pilot cytopathology virtual microscopy adaptive tutorials (VMATs) to explore a novel adaptive E-learning platform (AeLP) which can incorporate whole slide images for pathology education. We collected user feedback to further develop this educational material and to subsequently deploy randomized trials in both pathology specialist trainee and also medical student cohorts. Cytopathology whole slide images were first acquired then novel VMATs teaching cytopathology were created using the AeLP, an intelligent tutoring system developed by Smart Sparrow. The pilot was run for Australian pathologists and trainees through the education section of Royal College of Pathologists of Australasia website over a period of 9 months. Feedback on the usability, impact on learning and any technical issues was obtained using 5-point Likert scale items and open-ended feedback in online questionnaires. Results: A total of 181 pathologists and pathology trainees anonymously attempted the three adaptive tutorials, a smaller proportion of whom went on to provide feedback at the end of each tutorial. VMATs were perceived as effective and efficient E-learning tools for pathology education. User feedback was positive. There were no significant technical issues. Conclusion: During this pilot, the user feedback on the educational content and interface and the lack of technical issues were helpful. Large scale trials of similar online cytopathology adaptive tutorials were planned for the future. PMID:26605119

  14. Neuro-sliding mode control with modular models for control of knee-joint angle using quadriceps electrical stimulation.

    PubMed

    Ajoudani, Arash; Erfanian, Abbas

    2007-01-01

    In this paper, we propose a control methodology which is based on synergistic combination of a single-neuron controller with sliding mode control (SMC) for control of knee-joint position in paraplegic subjects with quadriceps stimulation. The control law will be switched from the sliding mode control to neural control, when the state trajectory of system enters in some boundary layer around the sliding surface. The main drawback of the standard sliding modes is mostly related to the so-called chattering caused by the high-frequency control switching. The value of switching gain depends on the bounds of system uncertainties. The system with large uncertainties needs to use a higher switching gain. This will, however, result in the high-frequency control switching and chattering across the sliding surface. To avoid such a condition, it is necessary to decrease the system uncertainty. To decrease the uncertainty, an accurate model of the system is required. For this purpose, we present a modular approach to modeling the knee-joint dynamics. Extensive experiments on healthy and paraplegic subjects are provided to demonstrate the robustness, stability and tracking accuracy of the neuro-SMC. The experimental results show that the neuro-SMC provides excellent tracking control for different reference trajectories and could generate control signals to compensate the muscle fatigue. PMID:18002483

  15. Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

    NASA Technical Reports Server (NTRS)

    Frost, Susan A.; Balas, Mark J.

    2011-01-01

    Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

  16. Sliding mode control based impact angle control guidance considering the seeker׳s field-of-view constraint.

    PubMed

    Wang, Xingliang; Zhang, Youan; Wu, Huali

    2016-03-01

    The problem of impact angle control guidance for a field-of-view constrained missile against non-maneuvering or maneuvering targets is solved by using the sliding mode control theory. The existing impact angle control guidance laws with field-of-view constraint are only applicable against stationary targets and most of them suffer abrupt-jumping of guidance command due to the application of additional guidance mode switching logic. In this paper, the field-of-view constraint is handled without using any additional switching logic. In particular, a novel time-varying sliding surface is first designed to achieve zero miss distance and zero impact angle error without violating the field-of-view constraint during the sliding mode phase. Then a control integral barrier Lyapunov function is used to design the reaching law so that the sliding mode can be reached within finite time and the field-of-view constraint is not violated during the reaching phase as well. A nonlinear extended state observer is constructed to estimate the disturbance caused by unknown target maneuver, and the undesirable chattering is alleviated effectively by using the estimation as a compensation item in the guidance law. The performance of the proposed guidance law is illustrated with simulations. PMID:26782929

  17. Efficiency and adaptability of the benthic methane filter at Quepos Slide cold seeps, offshore Costa Rica

    NASA Astrophysics Data System (ADS)

    Steeb, P.; Krause, S.; Linke, P.; Hensen, C.; Dale, A. W.; Nuzzo, M.; Treude, T.

    2014-11-01

    Large amounts of methane are delivered by fluids through the erosive forearc of the convergent margin offshore Costa Rica and lead to the formation of cold seeps at the sediment surface. Besides mud extrusion, numerous cold seeps are created by landslides induced by seamount subduction or fluid migration along major faults. Most of the dissolved methane reaching the seafloor at cold seeps is oxidized within the benthic microbial methane filter by anaerobic oxidation of methane (AOM). Measurements of AOM and sulfate reduction as well as numerical modeling of porewater profiles revealed a highly active and efficient benthic methane filter at Quepos Slide site; a landslide on the continental slope between the Nicoya and Osa Peninsula. Integrated areal rates of AOM ranged from 12.9 ± 6.0 to 45.2 ± 11.5 mmol m-2 d-1, with only 1 to 2.5% of the upward methane flux being released into the water column. Additionally, two parallel sediment cores from Quepos Slide were used for in vitro experiments in a recently developed Sediment-F low-Through (SLOT) system to simulate an increased fluid and methane flux from the bottom of the sediment core. The benthic methane filter revealed a high adaptability whereby the methane oxidation efficiency responded to the increased fluid flow within 150-170 days. To our knowledge, this study provides the first estimation of the natural biogeochemical response of seep sediments to changes in fluid flow.

  18. Placing all closed loop poles of missile attitude control systems in the sliding mode via the root locus technique.

    PubMed

    Huang, Y J; Way, H K

    2001-01-01

    This paper presents a robust control method for uncertain nonminimum phase systems with external disturbances. A systematic design algorithm is developed which links the sliding mode control and the root locus technique. Complete closed-loop pole placement is achieved in addition to the placement of the reduced order equivalent system poles. An integration function is employed in the sliding variable formulation. The output tracking error is guaranteed to vanish. The proposed method was successfully applied to control the angle of attack of a missile attitude control system. PMID:11577821

  19. Adaptive sliding control of non-autonomous active suspension systems with time-varying loadings

    NASA Astrophysics Data System (ADS)

    Chen, Po-Chang; Huang, An-Chyau

    2005-04-01

    An adaptive sliding controller is proposed in this paper for controlling a non-autonomous quarter-car suspension system with time-varying loadings. The bound of the car-body loading is assumed to be available. Then, the reference coordinate is placed at the static position under the nominal loading so that the system dynamic equation is derived. Due to spring nonlinearities, the system property becomes asymmetric after coordinate transformation. Besides, in practical cases, system parameters are not easy to be obtained precisely for controller design. Therefore, in this paper, system uncertainties are lumped into two unknown time-varying functions. Since the variation bound of one of the unknown functions is not available, conventional adaptive schemes and robust designs are not applicable. To deal with this problem, the function approximation technique is employed to represent the unknown function as a finite combination of basis functions. The Lyapunov direct method can thus be used to find adaptive laws for updating coefficients in the approximating series and to prove stability of the closed-loop system. Since the position and velocity measurements of the unsprung mass are lumped into the unknown function, there is no need to install sensors on the axle and wheel assembly in the actual implementation. Simulation results are presented to show the performance of the proposed strategy.

  20. Design and implementation of a new modified sliding mode controller for grid-connected inverter to controlling the voltage and frequency.

    PubMed

    Ghanbarian, Mohammad Mehdi; Nayeripour, Majid; Rajaei, Amirhossein; Mansouri, Mohammad Mahdi

    2016-03-01

    As the output power of a microgrid with renewable energy sources should be regulated based on the grid conditions, using robust controllers to share and balance the power in order to regulate the voltage and frequency of microgrid is critical. Therefore a proper control system is necessary for updating the reference signals and determining the proportion of each inverter in the microgrid control. This paper proposes a new adaptive method which is robust while the conditions are changing. This controller is based on a modified sliding mode controller which provides adapting conditions in linear and nonlinear loads. The performance of the proposed method is validated by representing the simulation results and experimental lab results. PMID:26704720

  1. Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

    NASA Astrophysics Data System (ADS)

    Keum, Jung-Hoon; Ra, Sung-Woong

    2009-12-01

    Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

  2. A new fractional-order sliding mode controller via a nonlinear disturbance observer for a class of dynamical systems with mismatched disturbances.

    PubMed

    Pashaei, Shabnam; Badamchizadeh, Mohammadali

    2016-07-01

    This paper investigates the stabilization and disturbance rejection for a class of fractional-order nonlinear dynamical systems with mismatched disturbances. To fulfill this purpose a new fractional-order sliding mode control (FOSMC) based on a nonlinear disturbance observer is proposed. In order to design the suitable fractional-order sliding mode controller, a proper switching surface is introduced. Afterward, by using the sliding mode theory and Lyapunov stability theory, a robust fractional-order control law via a nonlinear disturbance observer is proposed to assure the existence of the sliding motion in finite time. The proposed fractional-order sliding mode controller exposes better control performance, ensures fast and robust stability of the closed-loop system, eliminates the disturbances and diminishes the chattering problem. Finally, the effectiveness of the proposed fractional-order controller is depicted via numerical simulation results of practical example and is compared with some other controllers. PMID:27108564

  3. State observer-based sliding mode control for semi-active hydro-pneumatic suspension

    NASA Astrophysics Data System (ADS)

    Ren, Hongbin; Chen, Sizhong; Zhao, Yuzhuang; Liu, Gang; Yang, Lin

    2016-02-01

    This paper proposes an improved virtual reference model for semi-active suspension to coordinate the vehicle ride comfort and handling stability. The reference model combines the virtues of sky-hook with ground-hook control logic, and the hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high-speed condition. Suspension state observer based on unscented Kalman filter is designed. A sliding mode controller (SMC) is developed to track the states of the reference model. The stability of the SMC strategy is proven by means of Lyapunov function taking into account the nonlinear damper characteristics and sprung mass variation of the vehicle. Finally, the performance of the controller is demonstrated under three typical working conditions: the random road excitation, speed bump road and sharp acceleration and braking. The simulation results indicated that, compared with the traditional passive suspension, the proposed control algorithm can offer a better coordination between vehicle ride comfort and handling stability. This approach provides a viable alternative to costlier active suspension control systems for commercial vehicles.

  4. A sliding-mode-based observer to identify faults in FBG sensors embedded in composite structures

    NASA Astrophysics Data System (ADS)

    Cazzulani, Gabriele; Cinquemani, Simone; Ronchi, Marco

    2016-04-01

    Optical strain gauges, such as Fiber Bragg Gratings (FBG), have a great potential for smart structures, thanks to their small transversal size and the possibility to make an array of many sensors. They can be embedded in composite structures and their effect on the structure is nearly negligible. These advantages make them very interesting in the field of active vibration suppression. Unfortunately their low reliability is an obstacle to their use in such applications. For this reason, this paper introduces a fault identification algorithm to identify online those sensors which are not working correctly. The algorithm is based on the use of a sliding mode observer to estimate the coherence of measurements, and then to highlight possible faults. Once identified, the corresponding sensors can be excluded from the feedback loop of the control algorithm to avoid unwanted behaviors or instabilities. Numerical and experimental tests have been carried out on a carbon fiber structure considering different fault conditions. Results show it is possible to identify the faulty sensors and thus improve the signals used in the feedback loop.

  5. Sliding Mode Control of ER Seat Suspension Considering Human Vibration Model

    NASA Astrophysics Data System (ADS)

    Han, Y. M.; Jung, J. Y.; Choi, S. B.; Wereley, N. M.

    This paper presents robust control performances of a semi-active electro-rheological (ER) seat suspension incorporating vibration model of human-body. A cylindrical type of ER seat damper is manufactured for a commercial vehicle seat suspension system and its field-dependent damping force is experimentally evaluated. A human-body model is then derived and integrated with the governing equations of the ER seat suspension system. The integrated seat-driver model featured by a high order degree-of-freedom (DOF) is reduced through a balanced model reduction to design robust controller. By imposing semi-active actuating conditions, a sliding mode controller which is very robust to external disturbances and parameter uncertainties is synthesized and experimentally realized with the state observer. In the experimental configuration, a driver directly sits on the controlled seat. Control results for ride quality considering response of each human body segment are evaluated in both time and frequency domains. In addition, a comparison of the proposed semi-active ER seat suspension to a conventional passive seat suspension system is undertaken.

  6. Development of a sliding mode control model for quiet upright stance.

    PubMed

    Zhang, Hongbo; Nussbaum, Maury A; Agnew, Michael J

    2016-02-01

    Human upright stance appears maintained or controlled intermittently, through some combination of passive and active ankle torques, respectively representing intrinsic and contractile contributions of the ankle musculature. Several intermittent postural control models have been proposed, though it has been challenging to accurately represent actual kinematics and kinetics and to separately estimate passive and active ankle torque components. Here, a simplified single-segment, 2D (sagittal plane) sliding mode control model was developed for application to track kinematics and kinetics during upright stance. The model was implemented and evaluated using previous experimental data consisting of whole body angular kinematics and ankle torques. Tracking errors for the whole-body center-of-mass (COM) angle and angular velocity, as well as ankle torque, were all within ∼10% of experimental values, though tracking performance for COM angular acceleration was substantially poorer. The model also enabled separate estimates of the contributions of passive and active ankle torques, with overall contributions estimated here to be 96% and 4% of the total ankle torque, respectively. Such a model may have future utility in understanding human postural control, though additional work is needed, such as expanding the model to multiple segments and to three dimensions. PMID:26810735

  7. Active following fuzzy output feedback sliding mode control of real-vehicle semi-active suspensions

    NASA Astrophysics Data System (ADS)

    Liu, H.; Nonami, K.; Hagiwara, T.

    2008-07-01

    Many semi-active suspension systems have been investigated in various literatures in order to achieve lower energy consumption and as good performance as full-active suspension systems. Full-active suspension systems can achieve a good ride quality by actuators; however, their implementation equipments are expensive. The full-active suspensions are perfect from the point of view of control; hence, semi-active control laws with performance similar to full-active controls have attracted the engineering community for their ease and lower cost of implementation. This paper presents a new active following fuzzy output feedback sliding mode control for a real-vehicle semi-active suspension system. The performance of the proposed controller has been verified by comparing it with passive control and also with the full-active target semi-active approximation control method. In the experiment, it was shown that the proposed method has the effectiveness in stabilizing heave, roll and pitch movement of the car body.

  8. A coordinated MIMO control design for a power plant using improved sliding mode controller.

    PubMed

    Ataei, Mohammad; Hooshmand, Rahmat-Allah; Samani, Siavash Golmohammadi

    2014-03-01

    For the participation of the steam power plants in regulating the network frequency, boilers and turbines should be co-ordinately controlled in addition to the base load productions. Lack of coordinated control over boiler-turbine may lead to instability; oscillation in producing power and boiler parameters; reduction in the reliability of the unit; and inflicting thermodynamic tension on devices. This paper proposes a boiler-turbine coordinated multivariable control system based on improved sliding mode controller (ISMC). The system controls two main boiler-turbine parameters i.e., the turbine revolution and superheated steam pressure of the boiler output. For this purpose, a comprehensive model of the system including complete and exact description of the subsystems is extracted. The parameters of this model are determined according to our case study that is the 320MW unit of Islam-Abad power plant in Isfahan/Iran. The ISMC method is simulated on the power plant and its performance is compared with the related real PI (proportional-integral) controllers which have been used in this unit. The simulation results show the capability of the proposed controller system in controlling local network frequency and superheated steam pressure in the presence of load variations and disturbances of boiler. PMID:24112644

  9. LQ optimal and reaching law-based sliding modes for inventory management systems

    NASA Astrophysics Data System (ADS)

    Ignaciuk, Przemysław; Bartoszewicz, Andrzej

    2012-01-01

    In this article, the theory of discrete sliding-mode control is used to design new supply strategies for periodic-review inventory systems. In the considered systems, the stock used to fulfil an unknown, time-varying demand can be replenished from a single supply source or from multiple suppliers procuring orders with different delays. The proposed strategies guarantee that demand is always entirely satisfied from the on-hand stock (yielding the maximum service level), and the warehouse capacity is not exceeded (which eliminates the cost of emergency storage). In contrast to the classical, stochastic approaches, in this article, we focus on optimising the inventory system dynamics. The parameters of the first control strategy are selected by minimising a quadratic cost functional. Next, it is shown how the system dynamical performance can be improved by applying the concept of a reaching law with the appropriately adjusted reaching phase. The stable, nonoscillatory behaviour of the closed-loop system is demonstrated and the properties of the designed controllers are discussed and strictly proved.

  10. A Double-Wing Chaotic System Based on Ion Migration Memristor and Its Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Min, Guoqi; Duan, Shukai; Wang, Lidan

    The ion migration memristor is a nonlinear element with memory function and nanoscale size, it is considered as a potential candidate to reduce system power consumption and circuit size. When it works as the nonlinear part of the chaotic system, rich nonlinear curves will be produced, and at the same time, the complexity of chaotic systems and the randomness of signals will be enhanced. So in this paper, by Matlab numerical simulation, a new double-wing chaotic system based on an ion migration memristor is designed. In reality, there are many systems interfered inevitably by random noise, so in this paper the random bounded noises are also considered. The power spectrum, Lyapunov exponent spectrum, Poincaré map and bifurcation diagram are used to investigate its complex dynamic characteristics. Then, a SPICE-based analog circuit is presented to verify the feasibility of the system, for which the simulation results are consistent with the numerical simulation. Finally, the sliding mode variable structure control is applied to overcome the shortcomings of traditional control method, so that the chaotic orbits can be controlled to any fixed points or periodic orbits, and this provides an insight into chaos control in power electronics systems.

  11. Sliding Mode Pulsed Averaging IC Drivers for High Brightness Light Emitting Diodes

    SciTech Connect

    Dr. Anatoly Shteynberg, PhD

    2006-08-17

    This project developed new Light Emitting Diode (LED) driver ICs associated with specific (uniquely operated) switching power supplies that optimize performance for High Brightness LEDs (HB-LEDs). The drivers utilize a digital control core with a newly developed nonlinear, hysteretic/sliding mode controller with mixed-signal processing. The drivers are flexible enough to allow both traditional microprocessor interface as well as other options such as “on the fly” adjustment of color and brightness. Some other unique features of the newly developed drivers include • AC Power Factor Correction; • High power efficiency; • Substantially fewer external components should be required, leading to substantial reduction of Bill of Materials (BOM). Thus, the LED drivers developed in this research : optimize LED performance by increasing power efficiency and power factor. Perhaps more remarkably, the LED drivers provide this improved performance at substantially reduced costs compared to the present LED power electronic driver circuits. Since one of the barriers to market penetration for HB-LEDs (in particular “white” light LEDs) is cost/lumen, this research makes important contributions in helping the advancement of SSL consumer acceptance and usage.

  12. Backstepping sliding mode tracking control of a vane-type air motor X-Y table motion system.

    PubMed

    Lu, Chia-Hua; Hwang, Yean-Ren; Shen, Yu-Ta

    2011-04-01

    Air motors are increasingly being used in pneumatic related industries because of their advantages of low operating cost and low maintenance. The DSP controller and the backstepping sliding mode control method were utilized in this study to control an X-Y pneumatic table for tracking trajectory. Due to the effects of the compressibility of air, friction between the motor and ball screw table and the dead-zone effect caused by the proportional valve, the system will yield different responses even with the same inlet pressure and will chatter at low speed. Hence under certain conditions, this method of backstepping sliding mode control can be applied to achieve better results than with the PID controller, such as for tracking circle error and tracking error of the two axes. According to the results, a steady-state error of 0.5 μm can be achieved. The proposed method of backstepping sliding mode control can accomplish accurate tracking circle trajectory performance, offering an improvement in the tracking error of more than 50% over that of the PID controller. PMID:21272879

  13. Sliding mode fault detection and fault-tolerant control of smart dampers in semi-active control of building structures

    NASA Astrophysics Data System (ADS)

    Yeganeh Fallah, Arash; Taghikhany, Touraj

    2015-12-01

    Recent decades have witnessed much interest in the application of active and semi-active control strategies for seismic protection of civil infrastructures. However, the reliability of these systems is still in doubt as there remains the possibility of malfunctioning of their critical components (i.e. actuators and sensors) during an earthquake. This paper focuses on the application of the sliding mode method due to the inherent robustness of its fault detection observer and fault-tolerant control. The robust sliding mode observer estimates the state of the system and reconstructs the actuators’ faults which are used for calculating a fault distribution matrix. Then the fault-tolerant sliding mode controller reconfigures itself by the fault distribution matrix and accommodates the fault effect on the system. Numerical simulation of a three-story structure with magneto-rheological dampers demonstrates the effectiveness of the proposed fault-tolerant control system. It was shown that the fault-tolerant control system maintains the performance of the structure at an acceptable level in the post-fault case.

  14. Sliding mode control for Lorentz-augmented spacecraft hovering around elliptic orbits

    NASA Astrophysics Data System (ADS)

    Huang, Xu; Yan, Ye; Zhou, Yang; Zhang, Hua

    2014-10-01

    A Lorentz spacecraft is an electrostatically charged space vehicle that could actively modulate its surface charge to generate Lorentz force as it moves through the planetary magnetic field. The induced Lorentz force provides propellantless electromagnetic propulsion for orbital maneuvering, such as spacecraft hovering that the chaser thrusts continuously to create an equilibrium state at the desired position relative to the target. Due to the fact that the direction of Lorentz force is determined by the local magnetic field and the velocity of the spacecraft with respect to the local magnetic field, which does not necessarily coincide with that of the required control acceleration for hovering, thus, in most cases, the Lorentz force works as a means of auxiliary propulsion to reduce the expenditure of fuel onboard. And that is why it is called Lorentz-augmented hovering. A dynamical model for Lorentz-augmented hovering around elliptic orbits is developed based upon the assumption that the Earth's magnetic field could be modeled as a tilted dipole that corotates with Earth. Fuel-optimal open-loop control laws are then derived based on the proposed dynamical model, presenting the optimal trajectories of the required specific charge of Lorentz spacecraft and the thruster-generated control acceleration. Considering the external disturbances that may drift the desired hovering position, a closed-loop integral sliding mode controller is also designed to guarantee the tracking of optimal control trajectories, ensuring the robustness of the system against perturbations. Numerical simulations are presented to analyze the characteristics of Lorentz-augmented hovering around eccentric orbits and the results substantiate the validity of the proposed open-loop and closed-loop control methods.

  15. An LMI approach for the Integral Sliding Mode and H∞ State Feedback Control Problem

    NASA Astrophysics Data System (ADS)

    Bezzaoucha, Souad; Henry, David

    2015-11-01

    This paper deals with the state feedback control problem for linear uncertain systems subject to both matched and unmatched perturbations. The proposed control law is based on an the Integral Sliding Mode Control (ISMC) approach to tackle matched perturbations as well as the H∞ paradigm for robustness against unmatched perturbations. The proposed method also parallels the work presented in [1] which addressed the same problem and proposed a solution involving an Algebraic Riccati Equation (ARE)-based formulation. The contribution of this paper is concerned by the establishment of a Linear Matrix Inequality (LMI)-based solution which offers the possibility to consider other types of constraints such as 𝓓-stability constraints (pole assignment-like constraints). The proposed methodology is applied to a pilot three-tank system and experiment results illustrate the feasibility. Note that only a few real experiments have been rarely considered using SMC in the past. This is due to the high energetic behaviour of the control signal. It is important to outline that the paper does not aim at proposing a LMI formulation of an ARE. This is done since 1971 [2] and further discussed in [3] where the link between AREs and ARIs (algebraic Riccati inequality) is established for the H∞ control problem. The main contribution of this paper is to establish the adequate LMI-based methodology (changes of matrix variables) so that the ARE that corresponds to the particular structure of the mixed ISMC/H∞ structure proposed by [1] can be re-formulated within the LMI paradigm.

  16. Polymeric electrochemical element for adaptive networks: Pulse mode

    SciTech Connect

    Smerieri, Anteo; Berzina, Tatiana; Erokhin, Victor; Fontana, M. P.

    2008-12-01

    An electrochemically controlled polymeric heterojunction working as a memristor, i.e., having memory properties, was investigated in pulse mode, mimicking synaptic behavior of signal transmission in biological systems. Influence of parameters such as pulse duration, interval between pulses, and value of potential base level was analyzed. Learning capabilities were shown to be reversible and repeatable for both potentiation and inhibition of signal transmission. The adaptive behavior of the element was investigated and was shown to be more efficient than the dc mode.

  17. Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances

    NASA Astrophysics Data System (ADS)

    Kim, Minsung; Joe, Hangil; Kim, Jinwhan; Yu, Son-cheol

    2015-10-01

    We propose an integral sliding mode controller (ISMC) to stabilse an autonomous underwater vehicle (AUV) which is subject to modelling errors and often suffers from unknown environmental disturbances. The ISMC is effective in compensating for the uncertainties in the hydrodynamic and hydrostatic parameters of the vehicle and rejecting the unpredictable disturbance effects due to ocean waves, tides and currents. The ISMC is comprised of an equivalent controller and a switching controller to suppress the parameter uncertainties and external disturbances, and its closed-loop system is exponentially stable. Numerical simulations were performed to validate the proposed control approach, and experimental tests using Cyclops AUV were carried out to demonstrate its practical feasibility.

  18. Application of discrete time sliding mode control to a spacecraft in 6DoF with parameter identification

    NASA Astrophysics Data System (ADS)

    Lincoln, N. K.; Veres, S. M.

    2010-11-01

    This article presents the application of two discrete-time sliding mode controllers, developed in conjunction with a potential function guidance method, to provide control in both position and attitude for a rigid, holonomic spacecraft body using thrusters only. Identification of mass and inertial matrix parameters is also included. Both controllers are demonstrated for their effectiveness under realistic actuator constraints. One of the controllers is also implemented on hardware in a representative 5 degrees of freedom (5DoF) testbed environment to show the practical performance of the methods.

  19. High-order sliding mode control of a DC motor drive via a switched controlled multi-cellular converter

    NASA Astrophysics Data System (ADS)

    Djemaï, M.; Busawon, K.; Benmansour, K.; Marouf, A.

    2011-11-01

    In this article, we present a high-order sliding mode controller of a DC motor drive connected to a multi-cellular converter. More specifically, we design a second-order (super-twisting) control algorithm for the speed regulation of a DC motor. For this, a switching control for the multi-cellular converter is derived in order to supply the correct reference value for the speed regulation. A practical implementation of the controller is realised using a laboratory set-up. The performance and the validity of the controller are shown experimentally.

  20. INDIRECT INTELLIGENT SLIDING MODE CONTROL OF A SHAPE MEMORY ALLOY ACTUATED FLEXIBLE BEAM USING HYSTERETIC RECURRENT NEURAL NETWORKS

    PubMed Central

    Hannen, Jennifer C.; Crews, John H.; Buckner, Gregory D.

    2012-01-01

    This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller. PMID:22962538

  1. Robust tracking control of a unicycle-type wheeled mobile manipulator using a hybrid sliding mode fuzzy neural network

    NASA Astrophysics Data System (ADS)

    Cheng, Meng-Bi; Su, Wu-Chung; Tsai, Ching-Chih

    2012-03-01

    This article presents a robust tracking controller for an uncertain mobile manipulator system. A rigid robotic arm is mounted on a wheeled mobile platform whose motion is subject to nonholonomic constraints. The sliding mode control (SMC) method is associated with the fuzzy neural network (FNN) to constitute a robust control scheme to cope with three types of system uncertainties; namely, external disturbances, modelling errors, and strong couplings in between the mobile platform and the onboard arm subsystems. All parameter adjustment rules for the proposed controller are derived from the Lyapunov theory such that the tracking error dynamics and the FNN weighting updates are ensured to be stable with uniform ultimate boundedness (UUB).

  2. Residual mode filters and adaptive control in large space structures

    NASA Technical Reports Server (NTRS)

    Davidson, Roger A.; Balas, Mark J.

    1989-01-01

    One of the most difficult problems in controlling large systems and structures is compensating for the destructive interaction which can occur between the reduced-order model (ROM) of the plant, which is used by the controller, and the unmodeled dynamics of the plant, often called the residual modes. The problem is more significant in the case of large space structures because their naturally light damping and high performance requirements lead to more frequent, destructive residual mode interaction (RMI). Using the design/compensation technique of residual mode filters (RMF's), effective compensation of RMI can be accomplished in a straightforward manner when using linear controllers. The use of RMF's has been shown to be effective for a variety of large structures, including a space-based laser and infinite dimensional systems. However, the dynamics of space structures is often uncertain and may even change over time due to on-orbit erosion from space debris and corrosive chemicals in the upper atmosphere. In this case, adaptive control can be extremely beneficial in meeting the performance requirements of the structure. Adaptive control for large structures is also based on ROM's and so destructive RMI may occur. Unfortunately, adaptive control is inherently nonlinear, and therefore the known results of RMF's cannot be applied. The purpose is to present the results of new research showing the effects of RMI when using adaptive control and the work which will hopefully lead to RMF compensation of this problem.

  3. Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

    PubMed

    Ebrahimkhani, Sadegh

    2016-07-01

    Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme. PMID:27018145

  4. Intelligent complementary sliding-mode control for LUSMS-based X-Y-theta motion control stage.

    PubMed

    Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai; Liu, Yen-Hung

    2010-07-01

    An intelligent complementary sliding-mode control (ICSMC) system using a recurrent wavelet-based Elman neural network (RWENN) estimator is proposed in this study to control the mover position of a linear ultrasonic motors (LUSMs)-based X-Y-theta motion control stage for the tracking of various contours. By the addition of a complementary generalized error transformation, the complementary sliding-mode control (CSMC) can efficiently reduce the guaranteed ultimate bound of the tracking error by half compared with the slidingmode control (SMC) while using the saturation function. To estimate a lumped uncertainty on-line and replace the hitting control of the CSMC directly, the RWENN estimator is adopted in the proposed ICSMC system. In the RWENN, each hidden neuron employs a different wavelet function as an activation function to improve both the convergent precision and the convergent time compared with the conventional Elman neural network (ENN). The estimation laws of the RWENN are derived using the Lyapunov stability theorem to train the network parameters on-line. A robust compensator is also proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher-order terms in Taylor series. Finally, some experimental results of various contours tracking show that the tracking performance of the ICSMC system is significantly improved compared with the SMC and CSMC systems. PMID:20639156

  5. Application of Nonstationary Sliding Mode Control to Suppression of Transverse Vibration of Elevator Rope Using Input Device with Gaps

    NASA Astrophysics Data System (ADS)

    Otsuki, Masatsugu; Ushijima, Yumiko; Yoshida, Kazuo; Kimura, Hiroyuki; Nakagawa, Toshiaki

    Transverse vibrations of ropes spanning a high-speed elevator are induced by resonance when a building sways because of an earthquake or wind force. Hence, an effective solution is demanded. In this study, we undertake to suppress the vibration of an elevator rope by using an input device placed in the vicinity of the upper boundary of the rope. This input device has gaps between an actuator and the rope to prevent the progression of their abrasion. A nonstationary control method is effective for the control of a time-varying system with which an elevator rope and a crane wire are categorized. In addition, a sliding mode controller is robust toward nonlinearity at the position where input is introduced. Thus, in this paper, we present a method of vibration control for the elevator rope, which is based on the nonstationary sliding mode control method using the input device with gaps. The effectiveness and robustness of the proposed controller are examined by numerical calculation that simulates input saturation, stroke limitation, gap-width expansion, and varying parameters, in the presence of model errors of the elevator rope. The results indicate effective vibration suppression and high robustness in the above cases except for the case of varying parameters.

  6. Nonlinear torque and air-to-fuel ratio control of spark ignition engines using neuro-sliding mode techniques.

    PubMed

    Huang, Ting; Javaherian, Hossein; Liu, Derong

    2011-06-01

    This paper presents a new approach for the calibration and control of spark ignition engines using a combination of neural networks and sliding mode control technique. Two parallel neural networks are utilized to realize a neuro-sliding mode control (NSLMC) for self-learning control of automotive engines. The equivalent control and the corrective control terms are the outputs of the neural networks. Instead of using error backpropagation algorithm, the network weights of equivalent control are updated using the Levenberg-Marquardt algorithm. Moreover, a new approach is utilized to update the gain of corrective control. Both modifications of the NSLMC are aimed at improving the transient performance and speed of convergence. Using the data from a test vehicle with a V8 engine, we built neural network models for the engine torque (TRQ) and the air-to-fuel ratio (AFR) dynamics and developed NSLMC controllers to achieve tracking control. The goal of TRQ control and AFR control is to track the commanded values under various operating conditions. From simulation studies, the feasibility and efficiency of the approach are illustrated. For both control problems, excellent tracking performance has been achieved. PMID:21656924

  7. Integrated flight/propulsion control - Adaptive engine control system mode

    NASA Technical Reports Server (NTRS)

    Yonke, W. A.; Terrell, L. A.; Meyers, L. P.

    1985-01-01

    The adaptive engine control system mode (ADECS) which is developed and tested on an F-15 aircraft with PW1128 engines, using the NASA sponsored highly integrated digital electronic control program, is examined. The operation of the ADECS mode, as well as the basic control logic, the avionic architecture, and the airframe/engine interface are described. By increasing engine pressure ratio (EPR) additional thrust is obtained at intermediate power and above. To modulate the amount of EPR uptrim and to prevent engine stall, information from the flight control system is used. The performance benefits, anticipated from control integration are shown for a range of flight conditions and power settings. It is found that at higher altitudes, the ADECS mode can increase thrust as much as 12 percent, which is used for improved acceleration, improved turn rate, or sustained turn angle.

  8. Controller-structure interaction compensation using adaptive residual mode filters

    NASA Technical Reports Server (NTRS)

    Davidson, Roger A.; Balas, Mark J.

    1990-01-01

    It is not feasible to construct controllers for large space structures or large scale systems (LSS's) which are of the same order as the structures. The complexity of the dynamics of these systems is such that full knowledge of its behavior cannot by processed by today's controller design methods. The controller for system performance of such a system is therefore based on a much smaller reduced-order model (ROM). Unfortunately, the interaction between the LSS and the ROM-based controller can produce instabilities in the closed-loop system due to the unmodeled dynamics of the LSS. Residual mode filters (RMF's) allow the systematic removal of these instabilities in a matter which does not require a redesign of the controller. In addition RMF's have a strong theoretical basis. As simple first- or second-order filters, the RMF CSI compensation technique is at once modular, simple and highly effective. RMF compensation requires knowledge of the dynamics of the system modes which resulted in the previous closed-loop instabilities (the residual modes), but this information is sometimes known imperfectly. An adaptive, self-tuning RMF design, which compensates for uncertainty in the frequency of the residual mode, has been simulated using continuous-time and discrete-time models of a flexible robot manipulator. Work has also been completed on the discrete-time experimental implementation on the Martin Marietta flexible robot manipulator experiment. This paper will present the results of that work on adaptive, self-tuning RMF's, and will clearly show the advantage of this adaptive compensation technique for controller-structure interaction (CSI) instabilities in actively-controlled LSS's.

  9. Discrete-Time Integral Sliding Mode Control with Disturbances Compensation and Reduced Chattering for Pv Grid-Connected Inverter

    NASA Astrophysics Data System (ADS)

    Meo, Santolo; Sorrentino, Vincenzo

    2015-03-01

    In the paper a new discrete-time integral sliding mode control (DISMC) with disturbances compensation and reduced chattering for grid-connected inverter is proposed for active and reactive power regulation. Differently by many SMC proposed in literature that have a time-continuous formulation in spite have been implemented with digital processor, the proposed DISMC is fully formulated in discrete-time, taking into account the effects introduced by a microprocessor-based implementation. As will be demonstrated such approach consents to reduce the chattering about the sliding manifold within a boundary layer of O(T2) thickness instead of O(T) (being T the sampling period of the control algorithm). Moreover it introduces a correction of the control vector which eliminates the influence of modeling error and external disturbances improving stability and robustness of the controlled system. Constant converter switching frequency is achieved by using space vector modulation, which eases the design of the ac harmonic filter. In the paper, after a detailed formalization of the proposed control algorithm, several numerical and experimental results on a three-phase grid-connected inverter prototype are shown, proving the effectiveness of the control strategy.

  10. Continuous higher-order sliding mode control with time-varying gain for a class of uncertain nonlinear systems.

    PubMed

    Han, Yaozhen; Liu, Xiangjie

    2016-05-01

    This paper presents a continuous higher-order sliding mode (HOSM) control scheme with time-varying gain for a class of uncertain nonlinear systems. The proposed controller is derived from the concept of geometric homogeneity and super-twisting algorithm, and includes two parts, the first part of which achieves smooth finite time stabilization of pure integrator chains. The second part conquers the twice differentiable uncertainty and realizes system robustness by employing super-twisting algorithm. Particularly, time-varying switching control gain is constructed to reduce the switching control action magnitude to the minimum possible value while keeping the property of finite time convergence. Examples concerning the perturbed triple integrator chains and excitation control for single-machine infinite bus power system are simulated respectively to demonstrate the effectiveness and applicability of the proposed approach. PMID:26920085

  11. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

    PubMed Central

    Zhao, Bo; Li, Yuanchun

    2015-01-01

    This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

  12. Sliding mode control of dissolved oxygen in an integrated nitrogen removal process in a sequencing batch reactor (SBR).

    PubMed

    Muñoz, C; Young, H; Antileo, C; Bornhardt, C

    2009-01-01

    This paper presents a sliding mode controller (SMC) for dissolved oxygen (DO) in an integrated nitrogen removal process carried out in a suspended biomass sequencing batch reactor (SBR). The SMC performance was compared against an auto-tuning PI controller with parameters adjusted at the beginning of the batch cycle. A method for cancelling the slow DO sensor dynamics was implemented by using a first order model of the sensor. Tests in a lab-scale reactor showed that the SMC offers a better disturbance rejection capability than the auto-tuning PI controller, furthermore providing reasonable performance in a wide range of operation. Thus, SMC becomes an effective robust nonlinear tool to the DO control in this process, being also simple from a computational point of view, allowing its implementation in devices such as industrial programmable logic controllers (PLCs). PMID:19923760

  13. Robust Sensor Faults Reconstruction for a Class of Uncertain Linear Systems Using a Sliding Mode Observer: An LMI Approach

    NASA Astrophysics Data System (ADS)

    Iskander, Boulaabi; Anis, Sellami; Fayçal, Ben Hmida; Moncef, Gossa

    2009-03-01

    This paper presents a design method of a Sliding Mode Observer (SMO) for robust sensor faults reconstruction of systems with matched uncertainty. This class of uncertainty requires a known upper bound. The basic idea is to use the H∞ concept to design the observer, which minimizes the effect of the uncertainty on the reconstruction of the sensor faults. Specifically, we applied the equivalent output error injection concept from previous work in Fault Detection and Isolation (FDI) scheme. Then, these two problems of design and reconstruction can be expressed and numerically formulate via Linear Matrix Inequalities (LMIs) optimization. Finally, a numerical example is given to illustrate the validity and the applicability of the proposed approach.

  14. Online Fault Detection of Permanent Magnet Demagnetization for IPMSMs by Nonsingular Fast Terminal-Sliding-Mode Observer

    PubMed Central

    Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

    2014-01-01

    To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance. PMID:25490582

  15. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control.

    PubMed

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-01-01

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved. PMID:27571081

  16. Robust Sensor Faults Reconstruction for a Class of Uncertain Linear Systems Using a Sliding Mode Observer: An LMI Approach

    SciTech Connect

    Iskander, Boulaabi; Faycal, Ben Hmida; Moncef, Gossa; Anis, Sellami

    2009-03-05

    This paper presents a design method of a Sliding Mode Observer (SMO) for robust sensor faults reconstruction of systems with matched uncertainty. This class of uncertainty requires a known upper bound. The basic idea is to use the H{sub {infinity}} concept to design the observer, which minimizes the effect of the uncertainty on the reconstruction of the sensor faults. Specifically, we applied the equivalent output error injection concept from previous work in Fault Detection and Isolation (FDI) scheme. Then, these two problems of design and reconstruction can be expressed and numerically formulate via Linear Matrix Inequalities (LMIs) optimization. Finally, a numerical example is given to illustrate the validity and the applicability of the proposed approach.

  17. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

    PubMed

    Zhao, Bo; Li, Chenghao; Liu, Derong; Li, Yuanchun

    2015-01-01

    This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

  18. Nonlinear mode decomposition: A noise-robust, adaptive decomposition method

    NASA Astrophysics Data System (ADS)

    Iatsenko, Dmytro; McClintock, Peter V. E.; Stefanovska, Aneta

    2015-09-01

    The signals emanating from complex systems are usually composed of a mixture of different oscillations which, for a reliable analysis, should be separated from each other and from the inevitable background of noise. Here we introduce an adaptive decomposition tool—nonlinear mode decomposition (NMD)—which decomposes a given signal into a set of physically meaningful oscillations for any wave form, simultaneously removing the noise. NMD is based on the powerful combination of time-frequency analysis techniques—which, together with the adaptive choice of their parameters, make it extremely noise robust—and surrogate data tests used to identify interdependent oscillations and to distinguish deterministic from random activity. We illustrate the application of NMD to both simulated and real signals and demonstrate its qualitative and quantitative superiority over other approaches, such as (ensemble) empirical mode decomposition, Karhunen-Loève expansion, and independent component analysis. We point out that NMD is likely to be applicable and useful in many different areas of research, such as geophysics, finance, and the life sciences. The necessary matlab codes for running NMD are freely available for download.

  19. Nonlinear mode decomposition: a noise-robust, adaptive decomposition method.

    PubMed

    Iatsenko, Dmytro; McClintock, Peter V E; Stefanovska, Aneta

    2015-09-01

    The signals emanating from complex systems are usually composed of a mixture of different oscillations which, for a reliable analysis, should be separated from each other and from the inevitable background of noise. Here we introduce an adaptive decomposition tool-nonlinear mode decomposition (NMD)-which decomposes a given signal into a set of physically meaningful oscillations for any wave form, simultaneously removing the noise. NMD is based on the powerful combination of time-frequency analysis techniques-which, together with the adaptive choice of their parameters, make it extremely noise robust-and surrogate data tests used to identify interdependent oscillations and to distinguish deterministic from random activity. We illustrate the application of NMD to both simulated and real signals and demonstrate its qualitative and quantitative superiority over other approaches, such as (ensemble) empirical mode decomposition, Karhunen-Loève expansion, and independent component analysis. We point out that NMD is likely to be applicable and useful in many different areas of research, such as geophysics, finance, and the life sciences. The necessary matlab codes for running NMD are freely available for download. PMID:26465549

  20. Adapted G-mode Clustering Method applied to Asteroid Taxonomy

    NASA Astrophysics Data System (ADS)

    Hasselmann, Pedro H.; Carvano, Jorge M.; Lazzaro, D.

    2013-11-01

    The original G-mode was a clustering method developed by A. I. Gavrishin in the late 60's for geochemical classification of rocks, but was also applied to asteroid photometry, cosmic rays, lunar sample and planetary science spectroscopy data. In this work, we used an adapted version to classify the asteroid photometry from SDSS Moving Objects Catalog. The method works by identifying normal distributions in a multidimensional space of variables. The identification starts by locating a set of points with smallest mutual distance in the sample, which is a problem when data is not planar. Here we present a modified version of the G-mode algorithm, which was previously written in FORTRAN 77, in Python 2.7 and using NumPy, SciPy and Matplotlib packages. The NumPy was used for array and matrix manipulation and Matplotlib for plot control. The Scipy had a import role in speeding up G-mode, Scipy.spatial.distance.mahalanobis was chosen as distance estimator and Numpy.histogramdd was applied to find the initial seeds from which clusters are going to evolve. Scipy was also used to quickly produce dendrograms showing the distances among clusters. Finally, results for Asteroids Taxonomy and tests for different sample sizes and implementations are presented.

  1. Comments on "Fuzzy fractional order sliding mode controller for nonlinear systems" [Commun Nonlinear Sci Numer Simulat 15 (2010) 963-978

    NASA Astrophysics Data System (ADS)

    Aghababa, Mohammad Pourmahmood

    2012-03-01

    The aim of this note is to point out some comments to the article [Delavari H, Ghaderi R, Ranjbar A, Momani S. Fuzzy fractional order sliding mode controller for nonlinear systems, Commun Nonlinear Sci Numer Simulat 15 (2010) 963-978].

  2. Type-1 and Type-2 Fuzzy Logic and Sliding-Mode Based Speed Control of Direct Torque and Flux Control Induction Motor Drives - A Comparative Study

    NASA Astrophysics Data System (ADS)

    Ramesh, Tejavathu; Panda, A. K.; Kumar, S. Shiva

    2013-08-01

    In this research study, the performance of direct torque and flux control induction motor drive (IMD) is presented using five different speed control techniques. The performance of IMD mainly depends on the design of speed controller. The PI speed controller requires precise mathematical model, continuous and appropriate gain values. Therefore, adaptive control based speed controller is desirable to achieve high-performance drive. The sliding-mode speed controller (SMSC) is developed to achieve continuous control of motor speed and torque. Furthermore, the type-1 fuzzy logic speed controller (T1FLSC), type-1 fuzzy SMSC and a new type-2 fuzzy logic speed controller are designed to obtain high performance, dynamic tracking behaviour, speed accuracy and also robustness to parameter variations. The performance of each control technique has been tested for its robustness to parameter uncertainties and load disturbances. The detailed comparison of different control schemes are carried out in a MATALB/Simulink environment at different speed operating conditions, such as, forward and reversal motoring under no-load, load and sudden change in speed.

  3. Efficiency and adaptability of the benthic methane filter at Quepos Slide cold seeps, offshore of Costa Rica

    NASA Astrophysics Data System (ADS)

    Steeb, P.; Krause, S.; Linke, P.; Hensen, C.; Dale, A. W.; Nuzzo, M.; Treude, T.

    2015-11-01

    Large amounts of methane are delivered by fluids through the erosive forearc of the convergent margin offshore of Costa Rica and lead to the formation of cold seeps at the sediment surface. Besides mud extrusion, numerous cold seeps are created by landslides induced by seamount subduction or fluid migration along major faults. Most of the dissolved methane migrating through the sediments of cold seeps is oxidized within the benthic microbial methane filter by anaerobic oxidation of methane (AOM). Measurements of AOM and sulfate reduction as well as numerical modeling of porewater profiles revealed a highly active and efficient benthic methane filter at the Quepos Slide site, a landslide on the continental slope between the Nicoya and Osa Peninsula. Integrated areal rates of AOM ranged from 12.9 ± 6.0 to 45.2 ± 11.5 mmol m-2 d-1, with only 1 to 2.5 % of the upward methane flux being released into the water column. Additionally, two parallel sediment cores from Quepos Slide were used for in vitro experiments in a recently developed sediment-flow-through (SLOT) system to simulate an increased fluid and methane flux from the bottom of the sediment core. The benthic methane filter revealed a high adaptability whereby the methane oxidation efficiency responded to the increased fluid flow within ca. 170 d. To our knowledge, this study provides the first estimation of the natural biogeochemical response of seep sediments to changes in fluid flow.

  4. Adaptive Transthoracic Refocusing of Dual-Mode Ultrasound Arrays

    PubMed Central

    Casper, Andrew J.; Wan, Yayun; Ebbini, Emad S.

    2010-01-01

    We present experimental validation results of an adaptive, image-based refocusing algorithm of dual-mode ultrasound arrays (DMUAs) in the presence of strongly scattering objects. This study is motivated by the need to develop noninvasive techniques for therapeutic targeting of tumors seated in organs where the therapeutic beam is partially obstructed by the ribcage, e.g., liver and kidney. We have developed an algorithm that takes advantage of the imaging capabilities of DMUAs to identify the ribs and the intercostals within the path of the therapeutic beam to produce a specified power deposition at the target while minimizing the exposure at the rib locations. This image-based refocusing algorithm takes advantage of the inherent registration between the imaging and therapeutic coordinate systems of DMUAs in the estimation of array directivity vectors at the target and rib locations. These directivity vectors are then used in solving a constrained optimization problem allowing for adaptive refocusing, directing the acoustical energy through the intercostals, and avoiding the rib locations. The experimental validation study utilized a 1-MHz, 64-element DMUA in focusing through a block of tissue-mimicking phantom [0.5 dB/(cm·MHz)] with embedded Plexiglas ribs. Single transmit focus (STF) images obtained with the DMUA were used for image-guided selection of the critical and target points to be used for adaptive refocusing. Experimental results show that the echogenicity of the ribs in STF images provide feedback on the reduction of power deposition at rib locations. This was confirmed by direct comparison of measured temperature rise and integrated backscatter at the rib locations. Direct temperature measurements also confirm the improved power deposition at the target and the reduction in power deposition at the rib locations. Finally, we have compared the quality of the image-based adaptive refocusing algorithm with a phase-conjugation solution obtained by direct

  5. Adaptive Localization of Focus Point Regions via Random Patch Probabilistic Density from Whole-Slide, Ki-67-Stained Brain Tumor Tissue

    PubMed Central

    Alomari, Yazan M.; MdZin, Reena Rahayu

    2015-01-01

    Analysis of whole-slide tissue for digital pathology images has been clinically approved to provide a second opinion to pathologists. Localization of focus points from Ki-67-stained histopathology whole-slide tissue microscopic images is considered the first step in the process of proliferation rate estimation. Pathologists use eye pooling or eagle-view techniques to localize the highly stained cell-concentrated regions from the whole slide under microscope, which is called focus-point regions. This procedure leads to a high variety of interpersonal observations and time consuming, tedious work and causes inaccurate findings. The localization of focus-point regions can be addressed as a clustering problem. This paper aims to automate the localization of focus-point regions from whole-slide images using the random patch probabilistic density method. Unlike other clustering methods, random patch probabilistic density method can adaptively localize focus-point regions without predetermining the number of clusters. The proposed method was compared with the k-means and fuzzy c-means clustering methods. Our proposed method achieves a good performance, when the results were evaluated by three expert pathologists. The proposed method achieves an average false-positive rate of 0.84% for the focus-point region localization error. Moreover, regarding RPPD used to localize tissue from whole-slide images, 228 whole-slide images have been tested; 97.3% localization accuracy was achieved. PMID:25793010

  6. Adaptive localization of focus point regions via random patch probabilistic density from whole-slide, Ki-67-stained brain tumor tissue.

    PubMed

    Alomari, Yazan M; Sheikh Abdullah, Siti Norul Huda; MdZin, Reena Rahayu; Omar, Khairuddin

    2015-01-01

    Analysis of whole-slide tissue for digital pathology images has been clinically approved to provide a second opinion to pathologists. Localization of focus points from Ki-67-stained histopathology whole-slide tissue microscopic images is considered the first step in the process of proliferation rate estimation. Pathologists use eye pooling or eagle-view techniques to localize the highly stained cell-concentrated regions from the whole slide under microscope, which is called focus-point regions. This procedure leads to a high variety of interpersonal observations and time consuming, tedious work and causes inaccurate findings. The localization of focus-point regions can be addressed as a clustering problem. This paper aims to automate the localization of focus-point regions from whole-slide images using the random patch probabilistic density method. Unlike other clustering methods, random patch probabilistic density method can adaptively localize focus-point regions without predetermining the number of clusters. The proposed method was compared with the k-means and fuzzy c-means clustering methods. Our proposed method achieves a good performance, when the results were evaluated by three expert pathologists. The proposed method achieves an average false-positive rate of 0.84% for the focus-point region localization error. Moreover, regarding RPPD used to localize tissue from whole-slide images, 228 whole-slide images have been tested; 97.3% localization accuracy was achieved. PMID:25793010

  7. Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control.

    PubMed

    Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

    2016-01-01

    In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A⁎ algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles. PMID:26704719

  8. Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

    NASA Astrophysics Data System (ADS)

    Li, Boyuan; Du, Haiping; Li, Weihua

    2016-05-01

    Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

  9. Loop tuning with specification on gain and phase margins via modified second-order sliding mode control algorithm

    NASA Astrophysics Data System (ADS)

    Boiko, I. M.

    2012-01-01

    The modified second-order sliding mode algorithm is used for controller tuning. Namely, the modified suboptimal algorithm-based test (modified SOT) and non-parametric tuning rules for proportional-integral-derivative (PID) controllers are presented in this article. In the developed method of test and tuning, the idea of coordinated selection of the test parameters and the controller tuning parameters is introduced. The proposed approach allows for the formulation of simple non-parametric tuning rules for PID controllers that provide desired amplitude or phase margins exactly. In the modified SOT, the frequency of the self-excited oscillations can be generated equal to either the phase crossover frequency or the magnitude crossover frequency of the open-loop system frequency response (including a future PID controller) - depending on the tuning method choice. The first option will provide tuning with specification on gain margin, and the second option will ensure tuning with specification on phase margin. Tuning rules for a PID controller and simulation examples are provided.

  10. Design of Linear DC Motor Two-degree-of-freedom Positioning System using Model Reference type Sliding Mode Controller

    NASA Astrophysics Data System (ADS)

    Urushihara, Shiro; Kamano, Takuya; Yura, Satoshi; Yasuno, Takashi; Suzuki, Takayuki

    One of fundamental problems in the factory automation is how to obtain linear motion. Linear motors produce directly the linear motion force without a motion-transform mechanism. Linear d.c. motors (LDMs) have excellent performance and controllability. However, the dynamics of small-sized LDMs is adversely affected by the dead-band due to the friction between brushes and commutators. In this paper, it is described that the design of the two-degree-of-freedom positioning system with a LDM using model reference type sliding mode controller (SMC). The proposed positioning system consists of a fixed gain feedforward controller and a SMC used as a feedback controller. The objective of the SMC is to repress the influence of nonlinear characteristics (the dead-band and parameter variations etc.). The tracking performance can be improved as the fixed gain feedforward controller makes a dynamic inverse system in the feedforward path. The effectiveness of the proposed system for improvement of the tracking performance is demonstrated by experimental results.

  11. Observer-based higher order sliding mode control of power factor in three-phase AC/DC converter for hybrid electric vehicle applications

    NASA Astrophysics Data System (ADS)

    Liu, Jianxing; Laghrouche, Salah; Wack, Maxime

    2014-06-01

    In this paper, a full-bridge boost power converter topology is studied for power factor control, using output higher order sliding mode control. The AC/DC converters are used for charging the battery and super-capacitor in hybrid electric vehicles from the utility. The proposed control forces the input currents to track the desired values, which can control the output voltage while keeping the power factor close to one. Super-twisting sliding mode observer is employed to estimate the input currents and load resistance only from the measurement of output voltage. Lyapunov analysis shows the asymptotic convergence of the closed-loop system to zero. Multi-rate simulation illustrates the effectiveness and robustness of the proposed controller in the presence of measurement noise.

  12. Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles

    NASA Astrophysics Data System (ADS)

    Pamosoaji, Anugrah K.; Thuong Cat, Pham; Hong, Keum-Shik

    2014-12-01

    An obstacle avoidance problem of rear-steered wheeled vehicles in consideration of the presence of uncertainties is addressed. Modelling errors and additional uncertainties are taken into consideration. Controller designs for driving and steering motors are designed. A proportional-derivative-type driving motor controller and a sliding-mode steering controller combined with radial basis function neural network (RBFNN) based estimators are proposed. The convergence properties of the RBFNN-based estimators are proven by the Stone-Weierstrass theorem. The stability of the proposed control law is proven using Lyapunov stability analysis. The obstacle avoidance strategy utilising the sliding surface adjustment to an existing navigation method is presented. It is concluded that the driving velocity and steering-angle performances of the proposed control system are satisfactory.

  13. Testing and analysis of dual-mode adaptive landing gear, taxi mode test system for YF-12A

    NASA Technical Reports Server (NTRS)

    Gamon, M. A.

    1979-01-01

    The effectiveness of a dual mode adaptive landing gear system in reducing the dynamic response of an airplane during ground taxiing was studied. The dynamic taxi tests of the YF-12A research airplane are presented. A digital computer program which simulated the test conditions is discussed. The dual mode system as tested provides dynamic taxi response reductions of 25 percent at the cg and 30 to 45 percent at the cockpit.

  14. Adaptive mode transition control architecture with an application to unmanned aerial vehicles

    NASA Astrophysics Data System (ADS)

    Gutierrez Zea, Luis Benigno

    In this thesis, an architecture for the adaptive mode transition control of unmanned aerial vehicles (UAV) is presented. The proposed architecture consists of three levels: the highest level is occupied by mission planning routines where information about way points the vehicle must follow is processed. The middle level uses a trajectory generation component to coordinate the task execution and provides set points for low-level stabilizing controllers. The adaptive mode transitioning control algorithm resides at the lowest level of the hierarchy consisting of a mode transitioning controller and the accompanying adaptation mechanism. The mode transition controller is composed of a mode transition manager, a set of local controllers, a set of active control models, a set point filter, a state filter, an automatic trimming mechanism and a dynamic compensation filter. Local controllers operate in local modes and active control models operate in transitions between two local modes. The mode transition manager determines the actual mode of operation of the vehicle based on a set of mode membership functions and activates a local controller or an active control model accordingly. The adaptation mechanism uses an indirect adaptive control methodology to adapt the active control models. For this purpose, a set of plant models based on fuzzy neural networks is trained based on input/output information from the vehicle and used to compute sensitivity matrices providing the linearized models required by the adaptation algorithms. The effectiveness of the approach is verified through software-in-the-loop simulations, hardware-in-the-loop simulations and flight testing.

  15. Adaptive Control of Linear Modal Systems Using Residual Mode Filters and a Simple Disturbance Estimator

    NASA Technical Reports Server (NTRS)

    Balas, Mark; Frost, Susan

    2012-01-01

    Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter.

  16. Vibration control of a ship engine system using high-load magnetorheological mounts associated with a new indirect fuzzy sliding mode controller

    NASA Astrophysics Data System (ADS)

    Phu, Do Xuan; Choi, Seung-Bok

    2015-02-01

    In this work, a new high-load magnetorheological (MR) fluid mount system is devised and applied to control vibration in a ship engine. In the investigation of vibration-control performance, a new modified indirect fuzzy sliding mode controller is formulated and realized. The design of the proposed MR mount is based on the flow mode of MR fluid, and it includes two separated coils for generating a magnetic field. An optimization process is carried out to achieve maximal damping force under certain design constraints, such as the allowable height of the mount. As an actuating smart fluid, a new plate-like iron-particle-based MR fluid is used, instead of the conventional spherical iron-particle-based MR fluid. After evaluating the field-dependent yield stress of the MR fluid, the field-dependent damping force required to control unwanted vibration in the ship engine is determined. Subsequently, an appropriate-sized MR mount is manufactured and its damping characteristics are evaluated. After confirming the sufficient damping force level of the manufactured MR mount, a medium-sized ship engine mount system consisting of eight MR mounts is established, and its dynamic governing equations are derived. A new modified indirect fuzzy sliding mode controller is then formulated and applied to the engine mount system. The displacement and velocity responses show that the unwanted vibrations of the ship engine system can be effectively controlled in both the axial and radial directions by applying the proposed control methodology.

  17. Improved Re-Configurable Sliding Mode Controller for Reusable Launch Vehicle of Second Generation Addressing Aerodynamic Surface Failures and Thrust Deficiencies

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.

    2002-01-01

    In this report we present a time-varying sliding mode control (TV-SMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC is developed and tuned up for the X-33 sub-orbital technology demonstration vehicle in launch and re-entry modes. A variety of nominal, dispersion and failure scenarios have tested via high fidelity 6DOF simulations using MAVERIC/SLIM simulation software.

  18. Full-order sliding mode control of uncertain chaos in a permanent magnet synchronous motor based on a fuzzy extended state observer

    NASA Astrophysics Data System (ADS)

    Chen, Qiang; Nan, Yu-Rong; Zheng, Heng-Huo; Ren, Xue-Mei

    2015-11-01

    A full-order sliding mode control based on a fuzzy extended state observer is proposed to control the uncertain chaos in the permanent magnet synchronous motor. Through a simple coordinate transformation, the chaotic PMSM model is transformed into the Brunovsky canonical form, which is more suitable for the controller design. Based on the fuzzy control theory, a fuzzy extended state observer is developed to estimate the unknown states and uncertainties, and the restriction that all the system states should be completely measurable is avoided. Thereafter, a full-order sliding mode controller is designed to ensure the convergence of all system states without any chattering problem. Comparative simulations show the effectiveness and superior performance of the proposed control method. Project supported by the National Natural Science Foundation of China (Grant Nos. 61403343 and 61433003), the Scientific Research Foundation of Education Department of Zhejiang Province, China (Grant No. Y201329260), and the Natural Science Foundation of Zhejiang University of Technology, China (Grant No. 1301103053408).

  19. Handbuilt Slides.

    ERIC Educational Resources Information Center

    Gatto, Joseph

    1979-01-01

    The author suggests handbuilt slides as an art project for elementary or secondary students. Instructions are given for making slides with found objects, smoke, and magazine lifts. The article is illustrated with several examples of this technique. (SJL)

  20. A shape-adaptive thin-film-based approach for 50% high-efficiency energy generation through micro-grating sliding electrification.

    PubMed

    Zhu, Guang; Zhou, Yu Sheng; Bai, Peng; Meng, Xian Song; Jing, Qingshen; Chen, Jun; Wang, Zhong Lin

    2014-06-18

    Effectively harvesting ambient mechanical energy is the key for realizing self-powered and autonomous electronics, which addresses limitations of batteries and thus has tremendous applications in sensor networks, wireless devices, and wearable/implantable electronics, etc. Here, a thin-film-based micro-grating triboelectric nanogenerator (MG-TENG) is developed for high-efficiency power generation through conversion of mechanical energy. The shape-adaptive MG-TENG relies on sliding electrification between complementary micro-sized arrays of linear grating, which offers a unique and straightforward solution in harnessing energy from relative sliding motion between surfaces. Operating at a sliding velocity of 10 m/s, a MG-TENG of 60 cm(2) in overall area, 0.2 cm(3) in volume and 0.6 g in weight can deliver an average output power of 3 W (power density of 50 mW cm(-2) and 15 W cm(-3)) at an overall conversion efficiency of ∼ 50%, making it a sufficient power supply to regular electronics, such as light bulbs. The scalable and cost-effective MG-TENG is practically applicable in not only harvesting various mechanical motions but also possibly power generation at a large scale. PMID:24692147

  1. Augmented Adaptive Control of a Wind Turbine in the Presence of Structural Modes

    NASA Technical Reports Server (NTRS)

    Frost, Susan A.; Balas, Mark J.; Wright, Alan D.

    2010-01-01

    Wind turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, potentially causing component fatigue and failure. Two key technology drivers for turbine manufacturers are increasing turbine up time and reducing maintenance costs. Since the trend in wind turbine design is towards larger, more flexible turbines with lower frequency structural modes, manufacturers will want to develop methods to operate in the presence of these modes. Accurate models of the dynamic characteristics of new wind turbines are often not available due to the complexity and expense of the modeling task, making wind turbines ideally suited to adaptive control. In this paper, we develop theory for adaptive control with rejection of disturbances in the presence of modes that inhibit the controller. We use this method to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the interference of certain structural modes in feedback. The control objective is accomplished by collectively pitching the turbine blades. The adaptive pitch controller for Region 3 is compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller.

  2. Theory and experimental study on low-light-level images by adaptive mode filter

    NASA Astrophysics Data System (ADS)

    Bai, Lianfa; Zhang, Baomin; Liu, Yunfen; Chen, Qian

    1996-09-01

    Real-time low light level (LLL) image processing technology is the important developmental subject in the area of LLL night vision. But there is an essential distinction between the LLL TV image and ordinary TV image, so the conventional digital image processing technique aren't suitable for LLL image. In this paper, the noise theoretical model of LLL imaging system is described and the LLL image processing system is set up. With regard to the characteristics of LLL image and its noise, a novel noise suppression method, adaptive mode filter, is presented. The experimental results show that the adaptive mode filter can suppress the sharp noise of LLL image effectively, and as for the protection of the image edge, the property of adaptive mode filter is better that of median filter. Finally, the processing results and the conclusions are given.

  3. Mode-field adapter for tapered-fiber-bundle signal and pump combiners.

    PubMed

    Koška, Pavel; Baravets, Yauhen; Peterka, Pavel; Bohata, Jan; Písařík, Michael

    2015-02-01

    We report on a novel mode-field adapter that is proposed to be incorporated inside tapered fused-fiber-bundle pump and signal combiners for high-power double-clad fiber lasers. Such an adapter allows optimization of signal-mode-field matching on the input and output fibers. Correspondingly, losses of the combiner signal branch are significantly reduced. The mode-field adapter optimization procedure is demonstrated on a combiner based on commercially available fibers. Signal wavelengths of 1.55 and 2 μm are considered. The losses can be further improved by using specially designed intermediate fiber and by dopant diffusion during splicing as confirmed by preliminary experimental results. PMID:25967784

  4. Mode estimation and adaptive feedforward control for stabilization of a flexible gun tube

    NASA Astrophysics Data System (ADS)

    Vandegrift, Mark W.; DiRenzo, Michael T.

    1998-07-01

    In this paper we describe an approach for designing a pointing and stabilization system for an unbalanced, flexible gun. Our approach is based upon classical control techniques as well as system identification and adaptive feedforward techniques. Adaptive algorithms identify the flexible modes of the system and estimate the dynamics unbalance. This information is used to update the control law in order to improve the stabilization accuracy of the system.

  5. How to adapt broad-band gravitational-wave searches for r-modes

    SciTech Connect

    Owen, Benjamin J.

    2010-11-15

    Up to now there has been no search for gravitational waves from the r-modes of neutron stars in spite of the theoretical interest in the subject. Several oddities of r-modes must be addressed to obtain an observational result: The gravitational radiation field is dominated by the mass current (gravitomagnetic) quadrupole rather than the usual mass quadrupole, and the consequent difference in polarization affects detection statistics and parameter estimation. To astrophysically interpret a detection or upper limit it is necessary to convert the gravitational-wave amplitude to an r-mode amplitude. Also, it is helpful to know indirect limits on gravitational-wave emission to gauge the interest of various searches. Here I address these issues, thereby providing the ingredients to adapt broad-band searches for continuous gravitational waves to obtain r-mode results. I also show that searches of existing data can already have interesting sensitivities to r-modes.

  6. Passive position-adaptive radar modes for non-LOS interrogation of embedded targets

    NASA Astrophysics Data System (ADS)

    Mitra, Atindra K.

    2004-08-01

    A position-adaptive radar system concept is presented for purposes of interrogating difficult and obscured targets via the application of low-altitude smart or robotic-type UAV platforms. Under this concept, a high-altitude radiating platform is denoted as a HUAV and a low-altitude "position-adaptive" platform is denoted as a LUAV. The system concept is described by two modes. In Mode-1, real-time onboard LUAV computation of a phase parameter denoted as "signal differential path length" allows the LUAV to position-adaptively isolate a "signal leakage point", for example, between two buildings. After the LUAV position-adaptively converges to an optimum location, the system enters Mode-2. Under this Mode-2 concept, a technique denoted as "exploitation of leakage signals via path trajectory diversity" (E-LS-PTD) is developed. This technique is based on modulating scattering centers on embedded objects by implementing a fast trajectory on the HUAV while the LUAV is hovering in front of an "obscuration channel." Analytical results include sample outputs from an initial set numerical electromagnetic simulations.

  7. Modified Adaptive Control for Region 3 Operation in the Presence of Wind Turbine Structural Modes

    NASA Technical Reports Server (NTRS)

    Frost, Susan Alane; Balas, Mark J.; Wright, Alan D.

    2010-01-01

    Many challenges exist for the operation of wind turbines in an efficient manner that is reliable and avoids component fatigue and failure. Turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, possibly causing component fatigue and failure. Wind turbine manufacturers are highly motivated to reduce component fatigue and failure that can lead to loss of revenue due to turbine down time and maintenance costs. The trend in wind turbine design is toward larger, more flexible turbines that are ideally suited to adaptive control methods due to the complexity and expense required to create accurate models of their dynamic characteristics. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed horizontal axis wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the excitation of structural modes in the wind turbine. The control objective is accomplished by collectively pitching the turbine blades. The adaptive collective pitch controller for Region 3 was compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller. The adaptive controller will demonstrate the ability to regulate generator speed in Region 3, while accommodating gusts, and reducing the excitation of certain structural modes in the wind turbine.

  8. Mode excision adaptive beamforming for source detection in an uncertain shallow-water waveguide

    NASA Astrophysics Data System (ADS)

    Premus, Vincent E.

    2003-04-01

    Passive sonar detection is uniquely characterized by the fact that the acoustic clutter distribution is generally confined to the ocean's surface. There is considerable evidence to support the hypothesis that surfaced and submerged sources are well separated in acoustic mode space, and that shallow-water waveguide normal modes are relatively robust to imperfect environmental knowledge. In this work, the use of mode physics is explored for the purpose of identifying an improved adaptive subspace for submerged source detection in the presence of surface interference. The basic premise is to perform adaptive weight computation in a mode subspace that is weakly excited by the submerged source of interest, yet well coupled to the surface interference. The rationale is to excise as much of the target signature as possible from the sample covariance without excessively compromising the measurement of the interference spatial spectrum. This enables more aggressive nulling of the surface clutter spectrum for a given level of signal gain degradation on the submerged source of interest. In this paper, the algorithm for adaptive mode subspace identification will be discussed, and the theoretical performance as a function of imprecise environmental knowledge and array calibration will be examined for a number of different apertures, including vertical line arrays, horizontal line arrays, and volumetric arrays. [Work sponsored in part by DARPA, under Air Force Contract No. F19628-00-C-0002. Opinions, interpretations, conclusions, and recommendations are those of the author and are not necessarily endorsed by the U.S. Air Force.

  9. Biological systems drug infusion controller using FREN with sliding bounds.

    PubMed

    Chidentree, Treesatayapun; Sermsak, Uatrongjit

    2006-11-01

    In this paper, a direct adaptive control for drug infusion of biological systems is presented. The proposed controller is accomplished using our adaptive network called Fuzzy Rules Emulated Network (FREN). The structure of FREN resembles the human knowledge in the form of fuzzy IF-THEN rules. After selecting the initial value of network's parameters, an on-line adaptive process based on Lyapunov's criteria is performed to improve the controller performance. The control signal from FREN is designed to keep in the region which is calculated by the modified Sliding Mode Control (SMC). The simulation results indicate that the proposed algorithm can satisfy the setting point and the robust performance. PMID:17073348

  10. An analysis toolbox to explore mesenchymal migration heterogeneity reveals adaptive switching between distinct modes

    PubMed Central

    Shafqat-Abbasi, Hamdah; Kowalewski, Jacob M; Kiss, Alexa; Gong, Xiaowei; Hernandez-Varas, Pablo; Berge, Ulrich; Jafari-Mamaghani, Mehrdad; Lock, John G; Strömblad, Staffan

    2016-01-01

    Mesenchymal (lamellipodial) migration is heterogeneous, although whether this reflects progressive variability or discrete, 'switchable' migration modalities, remains unclear. We present an analytical toolbox, based on quantitative single-cell imaging data, to interrogate this heterogeneity. Integrating supervised behavioral classification with multivariate analyses of cell motion, membrane dynamics, cell-matrix adhesion status and F-actin organization, this toolbox here enables the detection and characterization of two quantitatively distinct mesenchymal migration modes, termed 'Continuous' and 'Discontinuous'. Quantitative mode comparisons reveal differences in cell motion, spatiotemporal coordination of membrane protrusion/retraction, and how cells within each mode reorganize with changed cell speed. These modes thus represent distinctive migratory strategies. Additional analyses illuminate the macromolecular- and cellular-scale effects of molecular targeting (fibronectin, talin, ROCK), including 'adaptive switching' between Continuous (favored at high adhesion/full contraction) and Discontinuous (low adhesion/inhibited contraction) modes. Overall, this analytical toolbox now facilitates the exploration of both spontaneous and adaptive heterogeneity in mesenchymal migration. DOI: http://dx.doi.org/10.7554/eLife.11384.001 PMID:26821527

  11. Alternative transmission mode and long stacking fault formation during a dissociated screw dislocation across a coherent sliding interface

    NASA Astrophysics Data System (ADS)

    Zheng, S. L.; Ni, Y.; He, L. H.

    2015-10-01

    The effects of interface strength and stacking fault energy on the slip transmission of a dissociated dislocation across a coherent interface are investigated using phase field microelasticity modeling. Our results show that stress concentration by the glide dislocation leads to interface shear, which constricts and impedes the dissociated dislocation across the interface. There is a partial transmission mode where the trailing partial dislocation remains after the leading partial crosses the interface. A long stacking fault forms behind the leading partial dislocation and thus increases twinnability. A deformation map for the glide dislocation, from partial to full transmission with respect to the interface strength and the stacking fault energy for the glide plane, is constructed in good agreement with a scaling analysis.

  12. Parallel Control of Velocity Control and Energy-Saving Control for a Hydraulic Valve-Controlled Cylinder System Using Self-Organizing Fuzzy Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Chiang, Mao-Hsiung; Chien, Yu-Wei

    Conventional hydraulic valve-controlled systems that incorporate positive displacement pumps and relief valves have a problem of low energy efficiency. The objective of the research is to implement parallel control of energy-saving control in an electro-hydraulic load-sensing system and velocity control in a hydraulic valve-controlled cylinder system to achieve both high velocity control accuracy and low input power simultaneously. The overall control system is a two-input two-output system. For that, the control strategy of self-organizing fuzzy sliding mode control (SOFSMC) is developed in this study to reduce the fuzzy rule number and to self-organize on-line the fuzzy rules. To compare the energy-saving performance, the velocity control is implemented under three different energy-saving control systems, such as load-sensing control system, constant supply pressure control system and conventional hydraulic system. The parallel control of the velocity control and energy-saving control by the SOFSMC is implemented experimentally.

  13. A dual mode charge pump with adaptive output used in a class G audio power amplifier

    NASA Astrophysics Data System (ADS)

    Yong, Feng; Zhenfei, Peng; Shanshan, Yang; Zhiliang, Hong; Yang, Liu

    2011-04-01

    A dual mode charge pump to produce an adaptive power supply for a class G audio power amplifier is presented. According to the amplitude of the input signals, the charge pump has two level output voltage rails available to save power. It operates both in current mode at high output load and in pulse frequency modulation (PFM) at light load to reduce the power dissipation. Also, dynamic adjustment of the power stage transistor size based on load current at the PFM mode is introduced to reduce the output voltage ripple and prevent the switching frequency from audio range. The prototype is implemented in 0.18 μm 3.3 V CMOS technology. Experimental results show that the maximum power efficiency of the charge pump is 79.5% @ 0.5x mode and 83.6% @ 1x mode. The output voltage ripple is less than 15 mV while providing 120 mA of the load current at PFM control and less than 18 mV while providing 300 mA of the load current at current mode control. An analytical model for ripple voltage and efficiency calculation of the proposed PFM control demonstrates reasonable agreement with measured results.

  14. A current-mode DC—DC buck converter with adaptive zero compensation

    NASA Astrophysics Data System (ADS)

    Ling, Yang; Guoding, Dai; Chongwei, Xu; Yuezhi, Liu

    2013-08-01

    To achieve fast transient response for a DC—DC buck converter, an adaptive zero compensation circuit is presented. The compensation resistance is dynamically adjusted according to the different output load conditions, and achieves an adequate system phase margin under the different conditions. An improved capacitor multiplier circuit is adopted to realize the minimized compensation capacitance size. In addition, analysis of the small-signal model shows the correctness of the mechanism of the proposed adaptive zero compensation technique. A current-mode DC—DC buck converter with the proposed structure has been implemented in a 0.35 μm CMOS process, and the die size is only 800 × 1040 μm2. The experimental results show that the transient undershoot/overshoot voltage and the recovery times do not exceed 40 mV and 30 μs for a load current variation from 100 mA to 1 A.

  15. Adaptive stochastic output feedback control of resistive wall modes in tokamaks

    SciTech Connect

    Sun, Z.; Sen, A. K.; Longman, R. W.

    2006-09-15

    An adaptive optimal stochastic output feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The system dynamics is experimentally determined via the extended least square method with an exponential forgetting factor and covariance resetting. The optimal output feedback controller is redesigned online periodically based on the system identification. The output measurements and past control inputs are used to construct new control inputs. The adaptive output controller can stabilize the time dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly three times the inverse of the growth rate. The design procedure is simpler and the computation time is shorter than the state feedback method reported earlier in Sun, Sen, and Longman [Phys. Plasmas13, 012512 (2006)].

  16. Femtosecond infrared intrastromal ablation and backscattering-mode adaptive-optics multiphoton microscopy in chicken corneas

    PubMed Central

    Gualda, Emilio J.; Vázquez de Aldana, Javier R.; Martínez-García, M. Carmen; Moreno, Pablo; Hernández-Toro, Juan; Roso, Luis; Artal, Pablo; Bueno, Juan M.

    2011-01-01

    The performance of femtosecond (fs) laser intrastromal ablation was evaluated with backscattering-mode adaptive-optics multiphoton microscopy in ex vivo chicken corneas. The pulse energy of the fs source used for ablation was set to generate two different ablation patterns within the corneal stroma at a certain depth. Intrastromal patterns were imaged with a custom adaptive-optics multiphoton microscope to determine the accuracy of the procedure and verify the outcomes. This study demonstrates the potential of using fs pulses as surgical and monitoring techniques to systematically investigate intratissue ablation. Further refinement of the experimental system by combining both functions into a single fs laser system would be the basis to establish new techniques capable of monitoring corneal surgery without labeling in real-time. Since the backscattering configuration has also been optimized, future in vivo implementations would also be of interest in clinical environments involving corneal ablation procedures. PMID:22076258

  17. Adaptive optimal stochastic state feedback control of resistive wall modes in tokamaks

    SciTech Connect

    Sun, Z.; Sen, A.K.; Longman, R.W.

    2006-01-15

    An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least-square method with exponential forgetting factor and covariance resetting is used to identify (experimentally determine) the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time-dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used.

  18. Adaptable Poly(ethylene glycol) Microspheres Capable of Mixed-mode Degradation

    PubMed Central

    Parlato, Matthew; Johnson, Alexander; Hudalla, Gregory A.; Murphy, William L.

    2013-01-01

    Here we present a simple, degradable PEG microsphere system formed from a water-in-water emulsion process. Microsphere network degradation and erosion were controlled by adjusting the number of hydrolytically labile sites, by varying the PEG molecular weight, and by adjusting the emulsion conditions. Microsphere size was also controllable by adjusting the polymer formulation. Furthermore, we demonstrate that alternative degradation and erosion mechanisms, such as proteolytic degradation, can be incorporated into PEG microspheres, resulting in mixed-mode degradation. Due to the adaptability of this approach, it may serve as an attractive option for emerging tissue engineering, drug delivery, and gene delivery applications. PMID:23958780

  19. Toward Design of an Environment-Aware Adaptive Locomotion-Mode-Recognition System

    PubMed Central

    Du, Lin; Zhang, Fan; Liu, Ming

    2013-01-01

    In this study, we aimed to improve the performance of a locomotion-mode-recognition system based on neuromuscular-mechanical fusion by introducing additional information about the walking environment. Linear-discriminant-analysis-based classifiers were first designed to identify a lower limb prosthesis user’s locomotion mode based on electromyographic signals recorded from residual leg muscles and ground reaction forces measured from the prosthetic pylon. Nine transfemoral amputees who wore a passive hydraulic knee or powered prosthetic knee participated in this study. Information about the walking terrain was simulated and modeled as prior probability based on the principle of maximum entropy and integrated into the discriminant functions of the classifier. When the correct prior knowledge of walking terrain was simulated, the classification accuracy for each locomotion mode significantly increased and no task transitions were missed. In addition, simulated incorrect prior knowledge did not significantly reduce system performance, indicating that our design is robust against noisy and imperfect prior information. Furthermore, these observations were independent of the type of prosthesis applied. The promising results in this study may assist the further development of an environment-aware adaptive system for locomotion-mode recognition for powered lower limb prostheses or orthoses. PMID:22996721

  20. Toward design of an environment-aware adaptive locomotion-mode-recognition system.

    PubMed

    Du, Lin; Zhang, Fan; Liu, Ming; Huang, He

    2012-10-01

    In this study, we aimed to improve the performance of a locomotion-mode-recognition system based on neuromuscular-mechanical fusion by introducing additional information about the walking environment. Linear-discriminant-analysis-based classifiers were first designed to identify a lower limb prosthesis user's locomotion mode based on electromyographic signals recorded from residual leg muscles and ground reaction forces measured from the prosthetic pylon. Nine transfemoral amputees who wore a passive hydraulic knee or powered prosthetic knee participated in this study. Information about the walking terrain was simulated and modeled as prior probability based on the principle of maximum entropy and integrated into the discriminant functions of the classifier. When the correct prior knowledge of walking terrain was simulated, the classification accuracy for each locomotion mode significantly increased and no task transitions were missed. In addition, simulated incorrect prior knowledge did not significantly reduce system performance, indicating that our design is robust against noisy and imperfect prior information. Furthermore, these observations were independent of the type of prosthesis applied. The promising results in this study may assist the further development of an environment-aware adaptive system for locomotion-mode recognition for powered lower limb prostheses or orthoses. PMID:22996721

  1. Dip-separated structural filtering using seislet transform and adaptive empirical mode decomposition based dip filter

    NASA Astrophysics Data System (ADS)

    Chen, Yangkang

    2016-07-01

    The seislet transform has been demonstrated to have a better compression performance for seismic data compared with other well-known sparsity promoting transforms, thus it can be used to remove random noise by simply applying a thresholding operator in the seislet domain. Since the seislet transform compresses the seismic data along the local structures, the seislet thresholding can be viewed as a simple structural filtering approach. Because of the dependence on a precise local slope estimation, the seislet transform usually suffers from low compression ratio and high reconstruction error for seismic profiles that have dip conflicts. In order to remove the limitation of seislet thresholding in dealing with conflicting-dip data, I propose a dip-separated filtering strategy. In this method, I first use an adaptive empirical mode decomposition based dip filter to separate the seismic data into several dip bands (5 or 6). Next, I apply seislet thresholding to each separated dip component to remove random noise. Then I combine all the denoised components to form the final denoised data. Compared with other dip filters, the empirical mode decomposition based dip filter is data-adaptive. One only needs to specify the number of dip components to be separated. Both complicated synthetic and field data examples show superior performance of my proposed approach than the traditional alternatives. The dip-separated structural filtering is not limited to seislet thresholding, and can also be extended to all those methods that require slope information.

  2. Dip-separated structural filtering using seislet transform and adaptive empirical mode decomposition based dip filter

    NASA Astrophysics Data System (ADS)

    Chen, Yangkang

    2016-04-01

    The seislet transform has been demonstrated to have a better compression performance for seismic data compared with other well-known sparsity promoting transforms, thus it can be used to remove random noise by simply applying a thresholding operator in the seislet domain. Since the seislet transform compresses the seismic data along the local structures, the seislet thresholding can be viewed as a simple structural filtering approach. Because of the dependence on a precise local slope estimation, the seislet transform usually suffers from low compression ratio and high reconstruction error for seismic profiles that have dip conflicts. In order to remove the limitation of seislet thresholding in dealing with conflicting-dip data, I propose a dip-separated filtering strategy. In this method, I first use an adaptive empirical mode decomposition based dip filter to separate the seismic data into several dip bands (5 or 6). Next, I apply seislet thresholding to each separated dip component to remove random noise. Then I combine all the denoised components to form the final denoised data. Compared with other dip filters, the empirical mode decomposition based dip filter is data-adaptive. One only need to specify the number of dip components to be separated. Both complicated synthetic and field data examples show superior performance of my proposed approach than the traditional alternatives. The dip-separated structural filtering is not limited to seislet thresholding, and can also be extended to all those methods that require slope information.

  3. Adaptive Control of Non-Minimum Phase Modal Systems Using Residual Mode Filters2. Parts 1 and 2

    NASA Technical Reports Server (NTRS)

    Balas, Mark J.; Frost, Susan

    2011-01-01

    Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. This paper will be divided into two parts. Here in Part I we will review the basic adaptive control approach and introduce the primary ideas. In Part II, we will present the RMF methodology and complete the proofs of all our results. Also, we will apply the above theoretical results to a simple flexible structure example to illustrate the behavior with and without the residual mode filter.

  4. High-speed adaptive contact-mode atomic force microscopy imaging with near-minimum-force

    SciTech Connect

    Ren, Juan; Zou, Qingze

    2014-07-15

    In this paper, an adaptive contact-mode imaging approach is proposed to replace the traditional contact-mode imaging by addressing the major concerns in both the speed and the force exerted to the sample. The speed of the traditional contact-mode imaging is largely limited by the need to maintain precision tracking of the sample topography over the entire imaged sample surface, while large image distortion and excessive probe-sample interaction force occur during high-speed imaging. In this work, first, the image distortion caused by the topography tracking error is accounted for in the topography quantification. Second, the quantified sample topography is utilized in a gradient-based optimization method to adjust the cantilever deflection set-point for each scanline closely around the minimal level needed for maintaining stable probe-sample contact, and a data-driven iterative feedforward control that utilizes a prediction of the next-line topography is integrated to the topography feeedback loop to enhance the sample topography tracking. The proposed approach is demonstrated and evaluated through imaging a calibration sample of square pitches at both high speeds (e.g., scan rate of 75 Hz and 130 Hz) and large sizes (e.g., scan size of 30 μm and 80 μm). The experimental results show that compared to the traditional constant-force contact-mode imaging, the imaging speed can be increased by over 30 folds (with the scanning speed at 13 mm/s), and the probe-sample interaction force can be reduced by more than 15% while maintaining the same image quality.

  5. Adaptive-projection intrinsically transformed multivariate empirical mode decomposition in cooperative brain-computer interface applications.

    PubMed

    Hemakom, Apit; Goverdovsky, Valentin; Looney, David; Mandic, Danilo P

    2016-04-13

    An extension to multivariate empirical mode decomposition (MEMD), termed adaptive-projection intrinsically transformed MEMD (APIT-MEMD), is proposed to cater for power imbalances and inter-channel correlations in real-world multichannel data. It is shown that the APIT-MEMD exhibits similar or better performance than MEMD for a large number of projection vectors, whereas it outperforms MEMD for the critical case of a small number of projection vectors within the sifting algorithm. We also employ the noise-assisted APIT-MEMD within our proposed intrinsic multiscale analysis framework and illustrate the advantages of such an approach in notoriously noise-dominated cooperative brain-computer interface (BCI) based on the steady-state visual evoked potentials and the P300 responses. Finally, we show that for a joint cognitive BCI task, the proposed intrinsic multiscale analysis framework improves system performance in terms of the information transfer rate. PMID:26953174

  6. Adapting 3D Equilibrium Reconstruction to Reconstruct Weakly 3D H-mode Tokamaks

    NASA Astrophysics Data System (ADS)

    Cianciosa, M. R.; Hirshman, S. P.; Seal, S. K.; Unterberg, E. A.; Wilcox, R. S.; Wingen, A.; Hanson, J. D.

    2015-11-01

    The application of resonant magnetic perturbations for edge localized mode (ELM) mitigation breaks the toroidal symmetry of tokamaks. In these scenarios, the axisymmetric assumptions of the Grad-Shafranov equation no longer apply. By extension, equilibrium reconstruction tools, built around these axisymmetric assumptions, are insufficient to fully reconstruct a 3D perturbed equilibrium. 3D reconstruction tools typically work on systems where the 3D components of signals are a significant component of the input signals. In nominally axisymmetric systems, applied field perturbations can be on the order of 1% of the main field or less. To reconstruct these equilibria, the 3D component of signals must be isolated from the axisymmetric portions to provide the necessary information for reconstruction. This presentation will report on the adaptation to V3FIT for application on DIII-D H-mode discharges with applied resonant magnetic perturbations (RMPs). Newly implemented motional stark effect signals and modeling of electric field effects will also be discussed. Work supported under U.S. DOE Cooperative Agreement DE-AC05-00OR22725.

  7. Empirical mode decomposition, an adaptive approach for interpreting shaft vibratory signals of large rotating machinery

    NASA Astrophysics Data System (ADS)

    Yang, Wenxian; Tavner, P. J.

    2009-04-01

    The Fourier transform (FT) has been the most popular method for analyzing large rotating machine shaft vibration problems, but it assumes that these vibration signals are linear and stationary. However, in reality this is not always true. Nonlinear and non-stationary shaft vibration signals are often encountered during the start-up and shut-down processes of the machines. Additionally, mechanical faults, for example rotor-to-stator rubbing, fluid excitation, part-loosening, and shaft cracking, are nonlinear. Owing to these reasons, an accurate analysis of shaft vibration cannot always be achieved by using the FT. An alternative tool, the wavelet transform (WT), is now being used to improve the situation. But the efficiency is a problem especially when applying the WT to the accurate analysis of a large-scale, lengthy data. In view of the powerful capability of empirical mode decomposition (EMD) to process nonlinear/non-stationary signals, its algorithm efficiency and its satisfactory performance in minimizing energy leakage, the EMD is used in this paper to analyze the problem, the signals investigated are adaptively decomposed into a finite number of intrinsic mode functions (IMFs). The principal IMFs, identified using an energy-distribution threshold, dominate the signals' oscillation. So, 'purified' shaft vibration signals can be reconstructed from these principal IMFs. To remove interference present in principal IMFs, an adaptive band-pass filter is designed, whose central frequency is automatically set to the frequency dominating the IMF being investigated. To facilitate the observation of transient shaft vibration, a transient shaft orbit (TSO) is constructed by introducing timescale into the orbit drawing process. Nine mathematical criteria are also proposed to evaluate the shaft vibrations exhibited in the IMFs and TSOs. The novelty of this approach is that the EMD provides an adaptive, effective, and efficient way to obtain 'purified' shaft vibration

  8. Analysis of modes and behavior of a multiconjugate adaptive optics system.

    PubMed

    Le Louarn, Miska; Tallon, Michel

    2002-05-01

    We study the so-called three-dimensional mapping of turbulence, a method solving the cone effect (or focus anisoplanatism) by using multiple laser guide stars (LGSs). This method also permits a widening of the corrected field of view much beyond the isoplanatic field. Multiple deformable mirrors, conjugated to planes at chosen altitudes among the turbulent layers, are used to correct in real time the wave fronts measured from the LGSs. We construct an interaction matrix describing the multiconjugate adaptive optics system and analyze the eigenmodes of the system. We show that the global tilt mode is singular because it cannot be localized in altitude, so that it must be corrected only once at any altitude. Furthermore, when the tilt from the LGS cannot be measured, the singularity of the global tilt yields the delocalization of particular forms of defocus and astigmatism. This imposes the use of a single natural guide star located anywhere in the corrected field to measure these modes. We show as an example that the cone effect can be corrected with a Strehl of 0.8 with four LGSs (tilt ignored) on an 8-m telescope in the visible when a single laser star provides a Strehl of 0.1. The maximum field of view of 100 arc sec in diameter can be reconstructed with an on-axis Strehl ratio of 30%. We also show that the measurement of the height of the layers can be done with current techniques and that additional layers, not accounted for, do not significantly degrade the performance in the configuration that we model. PMID:11999967

  9. Dust Slides

    NASA Technical Reports Server (NTRS)

    2006-01-01

    [figure removed for brevity, see original site] Context image for PIA03677 Linear Clouds

    Dust slides are common in the dust covered region called Lycus Sulci. A large fracture is also visible in this image.

    Image information: VIS instrument. Latitude 28.1N, Longitude 226.3E. 18 meter/pixel resolution.

    Note: this THEMIS visual image has not been radiometrically nor geometrically calibrated for this preliminary release. An empirical correction has been performed to remove instrumental effects. A linear shift has been applied in the cross-track and down-track direction to approximate spacecraft and planetary motion. Fully calibrated and geometrically projected images will be released through the Planetary Data System in accordance with Project policies at a later time.

    NASA's Jet Propulsion Laboratory manages the 2001 Mars Odyssey mission for NASA's Office of Space Science, Washington, D.C. The Thermal Emission Imaging System (THEMIS) was developed by Arizona State University, Tempe, in collaboration with Raytheon Santa Barbara Remote Sensing. The THEMIS investigation is led by Dr. Philip Christensen at Arizona State University. Lockheed Martin Astronautics, Denver, is the prime contractor for the Odyssey project, and developed and built the orbiter. Mission operations are conducted jointly from Lockheed Martin and from JPL, a division of the California Institute of Technology in Pasadena.

  10. A unique mode of tissue oxygenation and the adaptive radiation of teleost fishes.

    PubMed

    Randall, D J; Rummer, J L; Wilson, J M; Wang, S; Brauner, C J

    2014-04-15

    for CO2 hydration/dehydration. Finally, RBC organophosphates (e.g. NTP) could be reduced during hypoxia to further increase Hb-O2 affinity without compromising tissue O2 delivery because high-affinity Hbs could still adequately deliver O2 to the tissues via Bohr/Root shifts. We suggest that the evolution of this unique mode of tissue O2 transfer evolved in the Triassic/Jurassic Period, when O2 levels were low, ultimately giving rise to the most extensive adaptive radiation of extant vertebrates, the teleost fishes. PMID:24744420

  11. A wide load range, multi-mode synchronous buck DC—DC converter with a dynamic mode controller and adaptive slope compensation

    NASA Astrophysics Data System (ADS)

    Chunhong, Zhang; Haigang, Yang; Shi, Richard

    2013-06-01

    A synchronous buck DC—DC converter with an adaptive multi-mode controller is proposed. In order to achieve high efficiency over its entire load range, pulse-width modulation (PWM), pulse-skip modulation (PSM) and pulse-frequency modulation (PFM) modes were integrated in the proposed DC—DC converter. With a highly accurate current sensor and a dynamic mode controller on chip, the converter can dynamically change among PWM, PSM and PFM control according to the load requirements. In addition, to avoid power device damage caused by inrush current at the start up state, a soft-start circuit is presented to suppress the inrush current. Furthermore, an adaptive slope compensation (SC) technique is proposed to stabilize the current programmed PWM controller for duty cycle passes over 50%, and improve the degraded load capability due to traditional slope compensation. The buck converter chip was simulated and manufactured under a 0.35 μm standard CMOS process. Experimental results show that the chip can achieve 79% to 91% efficiency over the load range of 0.1 to 1000 mA

  12. Optical spectroscopy with a near-single-mode fiber-feed and adaptive optics

    NASA Astrophysics Data System (ADS)

    Ge, Jian; Angel, J. Roger P.; Shelton, J. Christopher

    1998-07-01

    We report on first astronomical results with a cross-dispersed optical echelle spectrograph fed by a near single-mode fiber. We also present on a novel design of a new adaptive optics (AO) optimized fiber-fed cross-dispersed echelle spectrograph. The spectrograph is designed to match with AO corrected images in the optical bands provided by such as the Mt. Wilson 100 inch, Starfire Optical Range 3.5 m AO telescopes. Ultimately, it will be installed at the 6.5 m MMT, when this has high resolution AO correcting the optical spectrum. The spectrograph, fed by a 10 micron fused silica fiber, is unique in that the entire spectrum from 0.4 micron to 1.0 micron will be almost completely covered at resolution 200,000 in one exposure. The detector is a 2k X 4k AR coated back illuminated CCD with 15 micron pixel size. The close order spacing allowed by the sharp AO image makes the full cover possible. A 250 X 125 mm(superscript 2) Milton Roy R2 echelle grating with 23.2 grooves mm(superscript -1) and a blaze angle of 63.5 deg provides main dispersion. A double pass BK7 prism with 21 deg wedge angle provides cross dispersion, covering the spectrum from order 193 to 77. The spectrograph is used in the quasi- Littrow configuration with an off-axis Maksutov collimator/camera. The fiber feeds the AO corrected beams from the telescope Cassegrain focus to the spectrograph, which is set up on an optical bench. The spectrograph will be used mainly to study line profiles of solar type stars, to explore problems of indirect detection of planets and also study interstellar medium, circumstellar medium and metal abundance and isotopic ratios of extremely metal-poor stars.

  13. The use of the chatter mode in self-adaptive systems

    NASA Technical Reports Server (NTRS)

    Yasui, S.

    1970-01-01

    Chatter mode is used advantageously if the ideal model dynamics is described by a switching function, the chatter mode is reached quickly and then sustained, the chatter frequency is reduced, and any zero in the plant transfer function is cancelled.

  14. Adaptative Variable Structure Control for an Online Tuning Direct Vector Controlled Induction Motor Drives

    NASA Astrophysics Data System (ADS)

    Lasaad, Sbita; Dalila, Zaltni; Naceurq, Abdelkrim Mohamed

    This study demonstrates that high performance speed control can be obtained by using an adaptative sliding mode control method for a direct vector controlled Squirrel Cage Induction Motor (SCIM). In this study a new method of designing a simple and effective adaptative sliding mode rotational speed control law is developed. The design includes an accurate sliding mode flux observation from the measured stator terminals and rotor speed. The performance of the Direct Field-Orientation Control (DFOC) is ensured by online tuning based on a Model Reference Adaptative System (MRAS) rotor time constant estimator. The control strategy is derived in the sense of Lyapunov stability theory so that the stable tracking performance can be guaranteed under the occurrence of system uncertainties and external disturbances. The proposed scheme is a solution for a robust and high performance induction motor servo drives. Simulation results are provided to validate the effectiveness and robustness of the developed methodology.

  15. Consideration of 120-Mbit/s burst-mode adaptive threshold detection with estimated sequence processor development

    NASA Astrophysics Data System (ADS)

    Chakraborty, D.; Kato, K.; Lei, R.

    The adaptive threshold detection with estimated sequence (ATDES) processor is a practical version of maximum-likelihood-sequence detection (MLSD). A 60-Mbit/s continuous-mode ATDES processor has been developed and tested via an Intelsat IV F-4 and Paumalu earth station link. Experimental data obtained to date from Intelsat V 120-Mbit/s QPSK channel transmission tests and 60-Mbit/s ATDES testing indicate that an improvement of about 2 dB in Eb/No at a BER of 10 to the -6th could be achieved by a 120-Mbit/s burst-mode ATDES processor.

  16. Evaluation on two-port configuration of a Lamé-mode octagonal microelectromechanical systems resonator driven by sliding driving electrodes

    NASA Astrophysics Data System (ADS)

    Tsujishita, Katsuhiro; Tanigawa, Hiroshi; Furutsuka, Takashi; Suzuki, Kenichiro

    2015-06-01

    In this paper we report significant improvements for microelectromechanical system (MEMS) resonators. In our previous work, the reduction in gap between a driving electrode (DE) and a resonant plate was achieved by sliding DEs, showing a clear resonance at 12 MHz. However, it needed a large pull-in voltage and an elaborate measurement technique. In this study, we design soft springs for DEs and evaluate a two-port configuration to cancel feedthrough current. Measurement results show that the pull-in voltage is successfully decreased by one-third that for the previous resonator and a resonance is observed in a fabricated two-port circuit. Such a pull-in voltage can be sufficiently generated from a 2.5 V source in combination with a charge pump circuit. These results are useful for adopting the MEMS resonators to real applications.

  17. Rock Slide Risk Assessment: A Semi-Quantitative Approach

    NASA Astrophysics Data System (ADS)

    Duzgun, H. S. B.

    2009-04-01

    Rock slides can be better managed by systematic risk assessments. Any risk assessment methodology for rock slides involves identification of rock slide risk components, which are hazard, elements at risk and vulnerability. For a quantitative/semi-quantitative risk assessment for rock slides, a mathematical value the risk has to be computed and evaluated. The quantitative evaluation of risk for rock slides enables comparison of the computed risk with the risk of other natural and/or human-made hazards and providing better decision support and easier communication for the decision makers. A quantitative/semi-quantitative risk assessment procedure involves: Danger Identification, Hazard Assessment, Elements at Risk Identification, Vulnerability Assessment, Risk computation, Risk Evaluation. On the other hand, the steps of this procedure require adaptation of existing or development of new implementation methods depending on the type of landslide, data availability, investigation scale and nature of consequences. In study, a generic semi-quantitative risk assessment (SQRA) procedure for rock slides is proposed. The procedure has five consecutive stages: Data collection and analyses, hazard assessment, analyses of elements at risk and vulnerability and risk assessment. The implementation of the procedure for a single rock slide case is illustrated for a rock slope in Norway. Rock slides from mountain Ramnefjell to lake Loen are considered to be one of the major geohazards in Norway. Lake Loen is located in the inner part of Nordfjord in Western Norway. Ramnefjell Mountain is heavily jointed leading to formation of vertical rock slices with height between 400-450 m and width between 7-10 m. These slices threaten the settlements around Loen Valley and tourists visiting the fjord during summer season, as the released slides have potential of creating tsunami. In the past, several rock slides had been recorded from the Mountain Ramnefjell between 1905 and 1950. Among them

  18. Apparatus Would Stain Microscope Slides

    NASA Technical Reports Server (NTRS)

    Breeding, James D.

    1993-01-01

    Proposed apparatus meters specific amounts of fluid out of containers at specific times to stain microscope slides. Intended specifically for semiautomated staining of microbiological and hematological samples in microgravity, leakproof apparatus used in other environments in which technicians have little time to allocate to staining procedures and/or exposure to toxic staining agents or to micro-organisms to be stained hazardous. Apparatus adapted to perform almost any staining procedure and accommodates multiple staining reagents, useful for small or remote clinical laboratories.

  19. Mycobacterium tuberculosis class II apurinic/apyrimidinic-endonuclease/3'-5' exonuclease III exhibits DNA regulated modes of interaction with the sliding DNA β-clamp.

    PubMed

    Khanam, Taran; Rai, Niyati; Ramachandran, Ravishankar

    2015-10-01

    The class-II AP-endonuclease (XthA) acts on abasic sites of damaged DNA in bacterial base excision repair. We identified that the sliding DNA β-clamp forms in vivo and in vitro complexes with XthA in Mycobacterium tuberculosis. A novel 239 QLRFPKK245 motif in the DNA-binding domain of XthA was found to be important for the interactions. Likewise, the peptide binding-groove (PBG) and the C-terminal of β-clamp located on different domains interact with XthA. The β-clamp-XthA complex can be disrupted by clamp binding peptides and also by a specific bacterial clamp inhibitor that binds at the PBG. We also identified that β-clamp stimulates the activities of XthA primarily by increasing its affinity for the substrate and its processivity. Additionally, loading of the β-clamp onto DNA is required for activity stimulation. A reduction in XthA activity stimulation was observed in the presence of β-clamp binding peptides supporting that direct interactions between the proteins are necessary to cause stimulation. Finally, we found that in the absence of DNA, the PBG located on the second domain of the β-clamp is important for interactions with XthA, while the C-terminal domain predominantly mediates functional interactions in the substrate's presence. PMID:26103519

  20. An adaptive two-stage energy-efficiency mechanism for the doze mode in EPON

    NASA Astrophysics Data System (ADS)

    Nikoukar, AliAkbar; Hwang, I.-Shyan; Su, Yu-Min; Liem, Andrew Tanny

    2016-07-01

    Sleep and doze power-saving modes are the common ways to reduce power consumption of optical network units (ONUs) in Ethernet passive optical network (EPON). The doze mode turns off the ONU transmitter when there is no traffic in the upstream direction while the sleep mode turns off the ONU transmitter and receiver. As the result, the sleep mode is more efficient compared to the doze mode, but it introduces additional complexity of scheduling and signaling, losses the clock synchronization and requires long clock recovery time; furthermore, it requires the cooperation of the optical line terminal (OLT) in the downstream direction to queue frames. To improve the energy-saving in the doze mode, a new two-stage mechanism is introduced that the doze sleep duration is extended for longer time with acceptable quality-of-services (QoS) metrics when ONU is idle in the current cycle. By this way the ONU enters the doze mode even in the high load traffic; moreover, the green dynamic bandwidth allocation (GBA) is proposed to calculate the doze sleep duration based on the ONU queue state and incoming traffic ratio. Simulation results show that the proposed mechanism significantly improves the energy-saving 74% and 54% when traffic load is from the light load to the high load in different traffic situations, and also promises the QoS performance.

  1. Sliding vane geometry turbines

    DOEpatents

    Sun, Harold Huimin; Zhang, Jizhong; Hu, Liangjun; Hanna, Dave R

    2014-12-30

    Various systems and methods are described for a variable geometry turbine. In one example, a turbine nozzle comprises a central axis and a nozzle vane. The nozzle vane includes a stationary vane and a sliding vane. The sliding vane is positioned to slide in a direction substantially tangent to an inner circumference of the turbine nozzle and in contact with the stationary vane.

  2. Complexity reduction in the H.264/AVC using highly adaptive fast mode decision based on macroblock motion activity

    NASA Astrophysics Data System (ADS)

    Abdellah, Skoudarli; Mokhtar, Nibouche; Amina, Serir

    2015-11-01

    The H.264/AVC video coding standard is used in a wide range of applications from video conferencing to high-definition television according to its high compression efficiency. This efficiency is mainly acquired from the newly allowed prediction schemes including variable block modes. However, these schemes require a high complexity to select the optimal mode. Consequently, complexity reduction in the H.264/AVC encoder has recently become a very challenging task in the video compression domain, especially when implementing the encoder in real-time applications. Fast mode decision algorithms play an important role in reducing the overall complexity of the encoder. In this paper, we propose an adaptive fast intermode algorithm based on motion activity, temporal stationarity, and spatial homogeneity. This algorithm predicts the motion activity of the current macroblock from its neighboring blocks and identifies temporal stationary regions and spatially homogeneous regions using adaptive threshold values based on content video features. Extensive experimental work has been done in high profile, and results show that the proposed source-coding algorithm effectively reduces the computational complexity by 53.18% on average compared with the reference software encoder, while maintaining the high-coding efficiency of H.264/AVC by incurring only 0.097 dB in total peak signal-to-noise ratio and 0.228% increment on the total bit rate.

  3. An adaptively fast ensemble empirical mode decomposition method and its applications to rolling element bearing fault diagnosis

    NASA Astrophysics Data System (ADS)

    Xue, Xiaoming; Zhou, Jianzhong; Xu, Yanhe; Zhu, Wenlong; Li, Chaoshun

    2015-10-01

    Ensemble empirical mode decomposition (EEMD) represents a significant improvement over the original empirical mode decomposition (EMD) method for eliminating the mode mixing problem. However, the added white noises generate some tough problems including the high computational cost, the determination of the two critical parameters (the amplitude of the added white noise and the number of ensemble trials), and the contamination of the residue noise in the signal reconstruction. To solve these problems, an adaptively fast EEMD (AFEEMD) method combined with complementary EEMD (CEEMD) is proposed in this paper. In the proposed method, the two critical parameters are respectively fixed as 0.01 times standard deviation of the original signal and two ensemble trials. Instead, the upper frequency limit of the added white noise is the key parameter which needs to be prescribed beforehand. Unlike the original EEMD method, only two high-frequency white noises are added to the signal to be investigated with anti-phase in AFEEMD. Furthermore, an index termed relative root-mean-square error is employed for the adaptive selection of the proper upper frequency limit of the added white noises. Simulation test and vibration signals based fault diagnosis of rolling element bearing under different fault types are utilized to demonstrate the feasibility and effectiveness of the proposed method. The analysis results indicate that the AFEEMD method represents a sound improvement over the original EEMD method, and has strong practicability.

  4. Cryptic genetic variation can make "irreducible complexity" a common mode of adaptation in sexual populations.

    PubMed

    Trotter, Meredith V; Weissman, Daniel B; Peterson, Grant I; Peck, Kayla M; Masel, Joanna

    2014-12-01

    The existence of complex (multiple-step) genetic adaptations that are "irreducible" (i.e., all partial combinations are less fit than the original genotype) is one of the longest standing problems in evolutionary biology. In standard genetics parlance, these adaptations require the crossing of a wide adaptive valley of deleterious intermediate stages. Here, we demonstrate, using a simple model, that evolution can cross wide valleys to produce "irreducibly complex" adaptations by making use of previously cryptic mutations. When revealed by an evolutionary capacitor, previously cryptic mutants have higher initial frequencies than do new mutations, bringing them closer to a valley-crossing saddle in allele frequency space. Moreover, simple combinatorics implies an enormous number of candidate combinations exist within available cryptic genetic variation. We model the dynamics of crossing of a wide adaptive valley after a capacitance event using both numerical simulations and analytical approximations. Although individual valley crossing events become less likely as valleys widen, by taking the combinatorics of genotype space into account, we see that revealing cryptic variation can cause the frequent evolution of complex adaptations. PMID:25178652

  5. Integrated Flight/Structural Mode Control for Very Flexible Aircraft Using L1 Adaptive Output Feedback Controller

    NASA Technical Reports Server (NTRS)

    Che, Jiaxing; Cao, Chengyu; Gregory, Irene M.

    2012-01-01

    This paper explores application of adaptive control architecture to a light, high-aspect ratio, flexible aircraft configuration that exhibits strong rigid body/flexible mode coupling. Specifically, an L(sub 1) adaptive output feedback controller is developed for a semi-span wind tunnel model capable of motion. The wind tunnel mount allows the semi-span model to translate vertically and pitch at the wing root, resulting in better simulation of an aircraft s rigid body motion. The control objective is to design a pitch control with altitude hold while suppressing body freedom flutter. The controller is an output feedback nominal controller (LQG) augmented by an L(sub 1) adaptive loop. A modification to the L(sub 1) output feedback is proposed to make it more suitable for flexible structures. The new control law relaxes the required bounds on the unmatched uncertainty and allows dependence on the state as well as time, i.e. a more general unmatched nonlinearity. The paper presents controller development and simulated performance responses. Simulation is conducted by using full state flexible wing models derived from test data at 10 different dynamic pressure conditions. An L(sub 1) adaptive output feedback controller is designed for a single test point and is then applied to all the test cases. The simulation results show that the L(sub 1) augmented controller can stabilize and meet the performance requirements for all 10 test conditions ranging from 30 psf to 130 psf dynamic pressure.

  6. Modular titanium alloy neck adapter failures in hip replacement - failure mode analysis and influence of implant material

    PubMed Central

    2010-01-01

    Background Modular neck adapters for hip arthroplasty stems allow the surgeon to modify CCD angle, offset and femoral anteversion intraoperatively. Fretting or crevice corrosion may lead to failure of such a modular device due to high loads or surface contamination inside the modular coupling. Unfortunately we have experienced such a failure of implants and now report our clinical experience with the failures in order to advance orthopaedic material research and joint replacement surgery. The failed neck adapters were implanted between August 2004 and November 2006 a total of about 5000 devices. After this period, the titanium neck adapters were replaced by adapters out of cobalt-chromium. Until the end of 2008 in total 1.4% (n = 68) of the implanted titanium alloy neck adapters failed with an average time of 2.0 years (0.7 to 4.0 years) postoperatively. All, but one, patients were male, their average age being 57.4 years (36 to 75 years) and the average weight 102.3 kg (75 to 130 kg). The failures of neck adapters were divided into 66% with small CCD of 130° and 60% with head lengths of L or larger. Assuming an average time to failure of 2.8 years, the cumulative failure rate was calculated with 2.4%. Methods A series of adapter failures of titanium alloy modular neck adapters in combination with a titanium alloy modular short hip stem was investigated. For patients having received this particular implant combination risk factors were identified which were associated with the occurence of implant failure. A Kaplan-Meier survival-failure-analysis was conducted. The retrieved implants were analysed using microscopic and chemical methods. Modes of failure were simulated in biomechanical tests. Comparative tests included modular neck adapters made of titanium alloy and cobalt chrome alloy material. Results Retrieval examinations and biomechanical simulation revealed that primary micromotions initiated fretting within the modular tapered neck connection. A continuous

  7. Adaptation.

    PubMed

    Broom, Donald M

    2006-01-01

    The term adaptation is used in biology in three different ways. It may refer to changes which occur at the cell and organ level, or at the individual level, or at the level of gene action and evolutionary processes. Adaptation by cells, especially nerve cells helps in: communication within the body, the distinguishing of stimuli, the avoidance of overload and the conservation of energy. The time course and complexity of these mechanisms varies. Adaptive characters of organisms, including adaptive behaviours, increase fitness so this adaptation is evolutionary. The major part of this paper concerns adaptation by individuals and its relationships to welfare. In complex animals, feed forward control is widely used. Individuals predict problems and adapt by acting before the environmental effect is substantial. Much of adaptation involves brain control and animals have a set of needs, located in the brain and acting largely via motivational mechanisms, to regulate life. Needs may be for resources but are also for actions and stimuli which are part of the mechanism which has evolved to obtain the resources. Hence pigs do not just need food but need to be able to carry out actions like rooting in earth or manipulating materials which are part of foraging behaviour. The welfare of an individual is its state as regards its attempts to cope with its environment. This state includes various adaptive mechanisms including feelings and those which cope with disease. The part of welfare which is concerned with coping with pathology is health. Disease, which implies some significant effect of pathology, always results in poor welfare. Welfare varies over a range from very good, when adaptation is effective and there are feelings of pleasure or contentment, to very poor. A key point concerning the concept of individual adaptation in relation to welfare is that welfare may be good or poor while adaptation is occurring. Some adaptation is very easy and energetically cheap and

  8. An Adaptive Particle Filtering Approach to Tracking Modes in a Varying Shallow Ocean Environment

    SciTech Connect

    Candy, J V

    2011-03-22

    The shallow ocean environment is ever changing mostly due to temperature variations in its upper layers (< 100m) directly affecting sound propagation throughout. The need to develop processors that are capable of tracking these changes implies a stochastic as well as an 'adaptive' design. The stochastic requirement follows directly from the multitude of variations created by uncertain parameters and noise. Some work has been accomplished in this area, but the stochastic nature was constrained to Gaussian uncertainties. It has been clear for a long time that this constraint was not particularly realistic leading a Bayesian approach that enables the representation of any uncertainty distribution. Sequential Bayesian techniques enable a class of processors capable of performing in an uncertain, nonstationary (varying statistics), non-Gaussian, variable shallow ocean. In this paper adaptive processors providing enhanced signals for acoustic hydrophonemeasurements on a vertical array as well as enhanced modal function estimates are developed. Synthetic data is provided to demonstrate that this approach is viable.

  9. Flexible sliding seal

    NASA Technical Reports Server (NTRS)

    Wallenhorst, E. L.

    1980-01-01

    Circular seal both slides and flexes to accomodate relative motion between two sealed members. Originally developed for Space Shuttle orbiter, it contains sliding seal to accommodate engine gimbaling and flexible seal that absorbs forward motion at high thrust of engine heat shield relative to airframe. Other possible applications are in support structures of heavy machinery and vehicle engines. Flexible sliding seal is ring about 7 feet in diameter and can withstand temperatures up to 1,600 F.

  10. Physics in water slides

    NASA Astrophysics Data System (ADS)

    Thomazo, Jean-Baptiste; Reyssat, Etienne; Fermigier, Marc

    2015-11-01

    Water slides are body-size inclined pipes fed with water to improve sliding. Water is allowed to freely flow down the slide. It forms a lubrication film that reduces friction between the slide and the body, allowing sliders to travel down at high speeds. We present the results of an experimental study on a model water slide at the scale of the laboratory. We analyze the sliding velocities of cylindrical objects of various masses and sizes sliding down an inclined gutter fed with a controlled flux of water. In the range of parameters that we have studied, we show that the speed of the model sliders is faster than the flow of the environing water. We propose a minimal model to account for the observed sliding velocities measured in our experiments. The sliding velocity is set by a balance of the apparent weight with inertial drag or viscous friction in the lubrication film under the slider. Other resisting mechanisms will also be discussed.

  11. Herbaceous Ornamental Plants. Slide Script.

    ERIC Educational Resources Information Center

    Still, Steven

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with commercially important herbaceous ornamental plants. Included in the script are narrations for use with a total of 338 slides illustrating 150 different plants. Generally, two slides are used to illustrate each plant: one slide shows…

  12. Mailing microscope slides

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Many insects feed agriculturally important crops, trees, and ornamental plants and cause millions of dollars of damage annually. Identification for some of these require the preparation of a microscope slide for examination. There are times when a microscope slide may need to be sent away to a speci...

  13. Slide Classification and Cataloging.

    ERIC Educational Resources Information Center

    Clawson, Catherine R.; Ronkowski, Charles A.

    1981-01-01

    Follows up an August 1978 article on the cataloging of slides using color photocopying, and presents unsolicited reactions to that article from librarians who were interested in the slide system developed for use in the C-E Refractories Research and Development Library. Twelve references are listed. (FM)

  14. UNDERSTANDING THE SLIDE RULE.

    ERIC Educational Resources Information Center

    JOHNSON, RONALD E.; AND OTHERS

    A BOOKLET DESIGNED FOR ELEMENTARY SCHOOL STUDENTS TO BE USED INDEPENDENTLY FROM AND IN ADDITION TO THE REGULAR CLASSROOM CURRICULUM IN MATHEMATICS IS GIVEN. THE FIFTH- OR SIXTH-GRADE STUDENT IS PRESENTED WITH A DISCUSSION OF THE APPLICATIONS OF THE SLIDE RULE AND WITH A BACKGROUND REVIEW OF NECESSARY CONCEPTS. THE CONCEPTS OF THE SLIDE RULE ARE…

  15. Adapt

    NASA Astrophysics Data System (ADS)

    Bargatze, L. F.

    2015-12-01

    Active Data Archive Product Tracking (ADAPT) is a collection of software routines that permits one to generate XML metadata files to describe and register data products in support of the NASA Heliophysics Virtual Observatory VxO effort. ADAPT is also a philosophy. The ADAPT concept is to use any and all available metadata associated with scientific data to produce XML metadata descriptions in a consistent, uniform, and organized fashion to provide blanket access to the full complement of data stored on a targeted data server. In this poster, we present an application of ADAPT to describe all of the data products that are stored by using the Common Data File (CDF) format served out by the CDAWEB and SPDF data servers hosted at the NASA Goddard Space Flight Center. These data servers are the primary repositories for NASA Heliophysics data. For this purpose, the ADAPT routines have been used to generate data resource descriptions by using an XML schema named Space Physics Archive, Search, and Extract (SPASE). SPASE is the designated standard for documenting Heliophysics data products, as adopted by the Heliophysics Data and Model Consortium. The set of SPASE XML resource descriptions produced by ADAPT includes high-level descriptions of numerical data products, display data products, or catalogs and also includes low-level "Granule" descriptions. A SPASE Granule is effectively a universal access metadata resource; a Granule associates an individual data file (e.g. a CDF file) with a "parent" high-level data resource description, assigns a resource identifier to the file, and lists the corresponding assess URL(s). The CDAWEB and SPDF file systems were queried to provide the input required by the ADAPT software to create an initial set of SPASE metadata resource descriptions. Then, the CDAWEB and SPDF data repositories were queried subsequently on a nightly basis and the CDF file lists were checked for any changes such as the occurrence of new, modified, or deleted

  16. Behavioural variation in 172 small-scale societies indicates that social learning is the main mode of human adaptation

    PubMed Central

    Mathew, Sarah; Perreault, Charles

    2015-01-01

    The behavioural variation among human societies is vast and unmatched in the animal world. It is unclear whether this variation is due to variation in the ecological environment or to differences in cultural traditions. Underlying this debate is a more fundamental question: is the richness of humans’ behavioural repertoire due to non-cultural mechanisms, such as causal reasoning, inventiveness, reaction norms, trial-and-error learning and evoked culture, or is it due to the population-level dynamics of cultural transmission? Here, we measure the relative contribution of environment and cultural history in explaining the behavioural variation of 172 Native American tribes at the time of European contact. We find that the effect of cultural history is typically larger than that of environment. Behaviours also persist over millennia within cultural lineages. This indicates that human behaviour is not predominantly determined by single-generation adaptive responses, contra theories that emphasize non-cultural mechanisms as determinants of human behaviour. Rather, the main mode of human adaptation is social learning mechanisms that operate over multiple generations. PMID:26085589

  17. Behavioural variation in 172 small-scale societies indicates that social learning is the main mode of human adaptation.

    PubMed

    Mathew, Sarah; Perreault, Charles

    2015-07-01

    The behavioural variation among human societies is vast and unmatched in the animal world. It is unclear whether this variation is due to variation in the ecological environment or to differences in cultural traditions. Underlying this debate is a more fundamental question: is the richness of humans' behavioural repertoire due to non-cultural mechanisms, such as causal reasoning, inventiveness, reaction norms, trial-and-error learning and evoked culture, or is it due to the population-level dynamics of cultural transmission? Here, we measure the relative contribution of environment and cultural history in explaining the behavioural variation of 172 Native American tribes at the time of European contact. We find that the effect of cultural history is typically larger than that of environment. Behaviours also persist over millennia within cultural lineages. This indicates that human behaviour is not predominantly determined by single-generation adaptive responses, contra theories that emphasize non-cultural mechanisms as determinants of human behaviour. Rather, the main mode of human adaptation is social learning mechanisms that operate over multiple generations. PMID:26085589

  18. Adaptive neuro-fuzzy inference system for acoustic analysis of 4-channel phonocardiograms using empirical mode decomposition.

    PubMed

    Becerra, Miguel A; Orrego, Diana A; Delgado-Trejos, Edilson

    2013-01-01

    The heart's mechanical activity can be appraised by auscultation recordings, taken from the 4-Standard Auscultation Areas (4-SAA), one for each cardiac valve, as there are invisible murmurs when a single area is examined. This paper presents an effective approach for cardiac murmur detection based on adaptive neuro-fuzzy inference systems (ANFIS) over acoustic representations derived from Empirical Mode Decomposition (EMD) and Hilbert-Huang Transform (HHT) of 4-channel phonocardiograms (4-PCG). The 4-PCG database belongs to the National University of Colombia. Mel-Frequency Cepstral Coefficients (MFCC) and statistical moments of HHT were estimated on the combination of different intrinsic mode functions (IMFs). A fuzzy-rough feature selection (FRFS) was applied in order to reduce complexity. An ANFIS network was implemented on the feature space, randomly initialized, adjusted using heuristic rules and trained using a hybrid learning algorithm made up by least squares and gradient descent. Global classification for 4-SAA was around 98.9% with satisfactory sensitivity and specificity, using a 50-fold cross-validation procedure (70/30 split). The representation capability of the EMD technique applied to 4-PCG and the neuro-fuzzy inference of acoustic features offered a high performance to detect cardiac murmurs. PMID:24109851

  19. Design for slides.

    PubMed

    Johns, M

    1995-09-01

    The basic principles of design for projection slides are discussed, with particular reference to the impact of the personal computer and commercial presentation software on the material that is destined to end up on the screen at meetings and in seminar rooms. While modern software can be a boon to the presenter, allowing simple creation of slides, it can also encourage some of the worst excesses. The keynote of the design of slides for educational purposes should be simplicity, and ways of achieving simple but effective results are described. PMID:8550965

  20. Slides, Swings and Science.

    ERIC Educational Resources Information Center

    Dreyer, Kay Jardon; Bryte, Janelle

    1990-01-01

    Described are eight science activities that may take place on a school playground using a parachute, balls, swings, slides, and a balance beam. Procedures and questions for each activity are included. (CW)

  1. Prototype Slide Stainer

    NASA Technical Reports Server (NTRS)

    1971-01-01

    The prototype slide staining system capable of performing both one-component Wright's staining of blood smears and eight-step Gram staining of heat fixed slides of microorganisms is described. Attention was given to liquid containment, waste handling, absence of contamination from previous staining, and stability of the staining reagents. The unit is self-contained, capable of independent operation under one- or zero-g conditions, and compatible with Skylab A.

  2. Water-slide alopecia.

    PubMed

    Adams, B B

    2001-05-01

    A 29-year-old male presented with large, symmetric, alopecic patches on the posterolateral aspects of both calves. A detailed history revealed that the individual had recently attended a water-slide amusement park. Repeated frictional trauma between the legs and the slide resulted in these alopecic patches. Friction, especially when encountered during sports-related and recreational activities, should be included in the differential diagnosis of well-defined alopecic patches. PMID:11381856

  3. Fundamentals of the Slide Library.

    ERIC Educational Resources Information Center

    Boerner, Susan Zee

    This paper is an introduction to the fundamentals of the art (including architecture) slide library, with some emphasis on basic procedures of the science slide library. Information in this paper is particularly relevant to the college, university, and museum slide library. Topics addressed include: (1) history of the slide library; (2) duties of…

  4. Ornamental Landscape Grasses. Slide Script.

    ERIC Educational Resources Information Center

    Still, Steven M.; Adams, Denise W.

    This slide script to accompany the slide series, Ornamental Landscape Grasses, contains photographs of the 167 slides and accompanying narrative text intended for use in the study and identification of commercially important ornamental grasses and grasslike plants. Narrative text is provided for slides of 62 different perennial and annual species…

  5. Selected Landscape Plants. Slide Script.

    ERIC Educational Resources Information Center

    McCann, Kevin

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with commercially important woody ornamental landscape plants. Included in the script are narrations for use with a total of 253 slides illustrating 92 different plants. Several slides are used to illustrate each plant: besides a view of…

  6. Adaptive controller for a needle free jet-injector system.

    PubMed

    Modak, Ashin; Hogan, N Catherine; Hunter, Ian W

    2015-08-01

    A nonlinear, sliding mode adaptive controller was created for a needle-free jet injection system. The controller was based on a simplified lumped-sum parameter model of the jet-injection mechanics. The adaptive control scheme was compared to a currently-used Feed-forward+PID controller in both ejection of water into air, and injection of dye into ex-vivo porcine tissue. The adaptive controller was more successful in trajectory tracking and was more robust to the biological variations caused by a tissue load. PMID:26737988

  7. Numerical Modelling of Tsunami Generated by Deformable Submarine Slides: Parameterisation of Slide Dynamics for Coupling to Tsunami Propagation Model

    NASA Astrophysics Data System (ADS)

    Smith, R. C.; Collins, G. S.; Hill, J.; Piggott, M. D.; Mouradian, S. L.

    2015-12-01

    Numerical modelling informs risk assessment of tsunami generated by submarine slides; however, for large-scale slides modelling can be complex and computationally challenging. Many previous numerical studies have approximated slides as rigid blocks that moved according to prescribed motion. However, wave characteristics are strongly dependent on the motion of the slide and previous work has recommended that more accurate representation of slide dynamics is needed. We have used the finite-element, adaptive-mesh CFD model Fluidity, to perform multi-material simulations of deformable submarine slide-generated waves at real world scales for a 2D scenario in the Gulf of Mexico. Our high-resolution approach represents slide dynamics with good accuracy, compared to other numerical simulations of this scenario, but precludes tracking of wave propagation over large distances. To enable efficient modelling of further propagation of the waves, we investigate an approach to extract information about the slide evolution from our multi-material simulations in order to drive a single-layer wave propagation model, also using Fluidity, which is much less computationally expensive. The extracted submarine slide geometry and position as a function of time are parameterised using simple polynomial functions. The polynomial functions are used to inform a prescribed velocity boundary condition in a single-layer simulation, mimicking the effect the submarine slide motion has on the water column. The approach is verified by successful comparison of wave generation in the single-layer model with that recorded in the multi-material, multi-layer simulations. We then extend this approach to 3D for further validation of this methodology (using the Gulf of Mexico scenario proposed by Horrillo et al., 2013) and to consider the effect of lateral spreading. This methodology is then used to simulate a series of hypothetical submarine slide events in the Arctic Ocean (based on evidence of historic

  8. In-Flight Suppression of a De-Stabilized F/A-18 Structural Mode Using the Space Launch System Adaptive Augmenting Control System

    NASA Technical Reports Server (NTRS)

    Wall, John; VanZwieten, Tannen; Giiligan Eric; Miller, Chris; Hanson, Curtis; Orr, Jeb

    2015-01-01

    Adaptive Augmenting Control (AAC) has been developed for NASA's Space Launch System (SLS) family of launch vehicles and implemented as a baseline part of its flight control system (FCS). To raise the technical readiness level of the SLS AAC algorithm, the Launch Vehicle Adaptive Control (LVAC) flight test program was conducted in which the SLS FCS prototype software was employed to control the pitch axis of Dryden's specially outfitted F/A-18, the Full Scale Advanced Systems Test Bed (FAST). This presentation focuses on a set of special test cases which demonstrate the successful mitigation of the unstable coupling of an F/A-18 airframe structural mode with the SLS FCS.

  9. Slowing the Summer Slide

    ERIC Educational Resources Information Center

    Smith, Lorna

    2012-01-01

    Research shows that summer slide--the loss of learning over the summer break--is a huge contributor to the achievement gap between low-income students and their higher-income peers. In fact, some researchers have concluded that two-thirds of the 9th-grade reading achievement gap can be explained by unequal access to summer learning opportunities…

  10. Reversing the Slide

    ERIC Educational Resources Information Center

    Gallagher, Michael

    2005-01-01

    The Government is embarking on a grand market-based vision for the sector just at the moment when university enrolments will begin a long and perhaps inexorable slide. And according to Michael Gallagher, higher education is becoming a less attractive investment for the private sector even as the Government is pushing the sector towards ever higher…

  11. Adaptive optics correction into single mode fiber for a low Earth orbiting space to ground optical communication link using the OPALS downlink.

    PubMed

    Wright, Malcolm W; Morris, Jeffery F; Kovalik, Joseph M; Andrews, Kenneth S; Abrahamson, Matthew J; Biswas, Abhijit

    2015-12-28

    An adaptive optics (AO) testbed was integrated to the Optical PAyload for Lasercomm Science (OPALS) ground station telescope at the Optical Communications Telescope Laboratory (OCTL) as part of the free space laser communications experiment with the flight system on board the International Space Station (ISS). Atmospheric turbulence induced aberrations on the optical downlink were adaptively corrected during an overflight of the ISS so that the transmitted laser signal could be efficiently coupled into a single mode fiber continuously. A stable output Strehl ratio of around 0.6 was demonstrated along with the recovery of a 50 Mbps encoded high definition (HD) video transmission from the ISS at the output of the single mode fiber. This proof of concept demonstration validates multi-Gbps optical downlinks from fast slewing low-Earth orbiting (LEO) spacecraft to ground assets in a manner that potentially allows seamless space to ground connectivity for future high data-rates network. PMID:26832033

  12. Sequence-dependent sliding kinetics of p53

    NASA Astrophysics Data System (ADS)

    Leith, Jason; Tafvizi, Anahita; Huang, Fang; Uspal, William; Doyle, Patrick; Fersht, Alan; Mirny, Leonid; van Oijen, Antoine

    2012-02-01

    Theoretical work has long proposed that one-dimensional sliding along DNA while simultaneously reading its sequence can accelerate transcription factors' (TFs) search for their target sites. More recently, functional sliding has been shown to require TFs to possess at least two DNA-binding modes. The tumor suppressor p53 has been directly observed to slide on DNA, and structural and single-molecule studies have provided evidence for a two-mode model for the protein. If the model is in fact applicable to p53, then the requirement that TFs read while they slide implies that p53's mobility on DNA should be affected by non-cognate sites and thus that its diffusivity should be generally sequence-dependent. Here we confirm this prediction with single-molecule microscopy measurements of p53's local diffusivity on non-cognate DNA. We show how a two-mode model accurately predicts the variation in local diffusivity while a single-mode model does not. Our work provides evidence that p53's sliding is indeed functional and suggests that the timing and efficiency of its activating and repressing transcription can depend on its non-cognate binding properties and its ability to change between multiple modes of binding, in addition to the much better-studied effects of cognate-site binding.

  13. An Easy Method for Preparing Presentation Slides.

    ERIC Educational Resources Information Center

    Wright, Norman A.; Blevins, Dennis D.

    1984-01-01

    Describes a simplified method of preparing 35mm projection slides with a minimum of equipment and expertise. The quality of these slides compares favorably to professionally produced diazo slides. Twenty-five slides can easily be prepared in less than three hours. Material cost per slide is comparable to professional color slide processing. (JN)

  14. Slide system for machine tools

    DOEpatents

    Douglass, Spivey S.; Green, Walter L.

    1982-01-01

    The present invention relates to a machine tool which permits the machining of nonaxisymmetric surfaces on a workpiece while rotating the workpiece about a central axis of rotation. The machine tool comprises a conventional two-slide system (X-Y) with one of these slides being provided with a relatively short travel high-speed auxiliary slide which carries the material-removing tool. The auxiliary slide is synchronized with the spindle speed and the position of the other two slides and provides a high-speed reciprocating motion required for the displacement of the cutting tool for generating a nonaxisymmetric surface at a selected location on the workpiece.

  15. Slide system for machine tools

    DOEpatents

    Douglass, S.S.; Green, W.L.

    1980-06-12

    The present invention relates to a machine tool which permits the machining of nonaxisymmetric surfaces on a workpiece while rotating the workpiece about a central axis of rotation. The machine tool comprises a conventional two-slide system (X-Y) with one of these slides being provided with a relatively short travel high-speed auxiliary slide which carries the material-removing tool. The auxiliary slide is synchronized with the spindle speed and the position of the other two slides and provides a high-speed reciprocating motion required for the displacement of the cutting tool for generating a nonaxisymmetric surface at a selected location on the workpiece.

  16. Reconstitution of flagellar sliding.

    PubMed

    Alper, Joshua; Geyer, Veikko; Mukundan, Vikram; Howard, Jonathon

    2013-01-01

    The motile structure within eukaryotic cilia and flagella is the axoneme. This structure typically consists of nine doublet microtubules arranged around a pair of singlet microtubules. The axoneme contains more than 650 different proteins that have structural, force-generating, and regulatory functions. Early studies on sea urchin sperm identified the force-generating components, the dynein motors. It was shown that dynein can slide adjacent doublet microtubules in the presence of ATP. How this sliding gives rise to the beating of the axoneme is still unknown. Reconstitution assays provide a clean system, free from cellular effects, to elucidate the underlying beating mechanisms. These assays can be used to identify the components that are both necessary and sufficient for the generation of flagellar beating. PMID:23498749

  17. Efficient sliding spotlight SAR raw signal simulation of extended scenes

    NASA Astrophysics Data System (ADS)

    Xu, Wei; Huang, Pingping; Deng, Yunkai

    2011-12-01

    Sliding spotlight mode is a novel synthetic aperture radar (SAR) imaging scheme with an achieved azimuth resolution better than stripmap mode and ground coverage larger than spotlight configuration. However, its raw signal simulation of extended scenes may not be efficiently implemented in the two-dimensional (2D) Fourier transformed domain. This article presents a novel sliding spotlight raw signal simulation approach from the wide-beam SAR imaging modes. This approach can generate sliding spotlight raw signal not only from raw data evaluated by the simulators, but also from real data in the stripmap/spotlight mode. In order to obtain the desired raw data from conventional stripmap/spotlight mode, the azimuth time-varying filtering, which is implemented by de-rotation and low-pass filtering, is adopted. As raw signal of extended scenes in the stripmap/spotlight mode can efficiently be evaluated in the 2D Fourier domain, the proposed approach provides an efficient sliding spotlight SAR simulator of extended scenes. Simulation results validate this efficient simulator.

  18. Comparing approaches for numerical modelling of tsunami generation by deformable submarine slides

    NASA Astrophysics Data System (ADS)

    Smith, Rebecca C.; Hill, Jon; Collins, Gareth S.; Piggott, Matthew D.; Kramer, Stephan C.; Parkinson, Samuel D.; Wilson, Cian

    2016-04-01

    Tsunami generated by submarine slides are arguably an under-considered risk in comparison to earthquake-generated tsunami. Numerical simulations of submarine slide-generated waves can be used to identify the important factors in determining wave characteristics. Here we use Fluidity, an open source finite element code, to simulate waves generated by deformable submarine slides. Fluidity uses flexible unstructured meshes combined with adaptivity which alters the mesh topology and resolution based on the simulation state, focussing or reducing resolution, when and where it is required. Fluidity also allows a number of different numerical approaches to be taken to simulate submarine slide deformation, free-surface representation, and wave generation within the same numerical framework. In this work we use a multi-material approach, considering either two materials (slide and water with a free surface) or three materials (slide, water and air), as well as a sediment model (sediment, water and free surface) approach. In all cases the slide is treated as a viscous fluid. Our results are shown to be consistent with laboratory experiments using a deformable submarine slide, and demonstrate good agreement when compared with other numerical models. The three different approaches for simulating submarine slide dynamics and tsunami wave generation produce similar waveforms and slide deformation geometries. However, each has its own merits depending on the application. Mesh adaptivity is shown to be able to reduce the computational cost without compromising the accuracy of results.

  19. In-Flight Suppression of an Unstable F/A-18 Structural Mode Using the Space Launch System Adaptive Augmenting Control System

    NASA Technical Reports Server (NTRS)

    VanZwieten, Tannen S.; Gilligan, Eric T.; Wall, John H.; Miller, Christopher J.; Hanson, Curtis E.; Orr, Jeb S.

    2015-01-01

    NASA's Space Launch System (SLS) Flight Control System (FCS) includes an Adaptive Augmenting Control (AAC) component which employs a multiplicative gain update law to enhance the performance and robustness of the baseline control system for extreme off-nominal scenarios. The SLS FCS algorithm including AAC has been flight tested utilizing a specially outfitted F/A-18 fighter jet in which the pitch axis control of the aircraft was performed by a Non-linear Dynamic Inversion (NDI) controller, SLS reference models, and the SLS flight software prototype. This paper describes test cases from the research flight campaign in which the fundamental F/A-18 airframe structural mode was identified using post-flight frequency-domain reconstruction, amplified to result in closed loop instability, and suppressed in-flight by the SLS adaptive control system.

  20. In-Flight Suppression of a Destabilized F/A-18 Structural Mode Using the Space Launch System Adaptive Augmenting Control System

    NASA Technical Reports Server (NTRS)

    Wall, John H.; VanZwieten, Tannen S.; Gilligan, Eric T.; Miller, Christopher J.; Hanson, Curtis E.; Orr, Jeb S.

    2015-01-01

    NASA's Space Launch System (SLS) Flight Control System (FCS) includes an Adaptive Augmenting Control (AAC) component which employs a multiplicative gain update law to enhance the performance and robustness of the baseline control system for extreme off nominal scenarios. The SLS FCS algorithm including AAC has been flight tested utilizing a specially outfitted F/A-18 fighter jet in which the pitch axis control of the aircraft was performed by a Non-linear Dynamic Inversion (NDI) controller, SLS reference models, and the SLS flight software prototype. This paper describes test cases from the research flight campaign in which the fundamental F/A-18 airframe structural mode was identified using frequency-domain reconstruction of flight data, amplified to result in closed loop instability, and suppressed in-flight by the SLS adaptive control system.

  1. Bulk filling of Class II cavities with a dual-cure composite: Effect of curing mode and enamel etching on marginal adaptation

    PubMed Central

    Bortolotto, Tissiana; Roig, Miguel; Krejci, Ivo

    2014-01-01

    Objectives: This study attempted to find a simple adhesive restorative technique for class I and II cavities on posterior teeth. Study Design: The tested materials were a self-etching adhesive (Parabond, Coltène/Whaledent) and a dual-cure composite (Paracore, Coltène/Whaledent) used in bulk to restore the cavities. Class II MO cavities were performed and assigned to 4 groups depending on the orthophosphoric acid (H3PO4) conditioning of enamel and polymerization method used (chemical or dual). Specimens were subjected to quantitative marginal analysis before and after thermo-mechanical loading. Results: Higher percentages of marginal adaptation at the total margin length, both before and after thermo-mechanical loading, were found in groups in which enamel was etched with phosphoric acid, without significant differences between the chemically and dual-cured modes. The restorations performance was similar on enamel and dentin, obtaining low results of adaptation on occlusal enamel in the groups without enamel etching, the lowest scores were on cervical dentin in the group with no ortophosphoric acid and self-cured. Conclusions: A dual-cure composite applied in bulk on acid etched enamel obtained acceptable marginal adaptation results, and may be an alternative technique for the restoration of class II cavities. Key words:Dual-cure composite, bulk technique, class II restoration, selective enamel etching, marginal adaptation. PMID:25674316

  2. Energy-efficient orthogonal frequency division multiplexing-based passive optical network based on adaptive sleep-mode control and dynamic bandwidth allocation

    NASA Astrophysics Data System (ADS)

    Zhang, Chongfu; Xiao, Nengwu; Chen, Chen; Yuan, Weicheng; Qiu, Kun

    2016-02-01

    We propose an energy-efficient orthogonal frequency division multiplexing-based passive optical network (OFDM-PON) using adaptive sleep-mode control and dynamic bandwidth allocation. In this scheme, a bidirectional-centralized algorithm named the receiver and transmitter accurate sleep control and dynamic bandwidth allocation (RTASC-DBA), which has an overall bandwidth scheduling policy, is employed to enhance the energy efficiency of the OFDM-PON. The RTASC-DBA algorithm is used in an optical line terminal (OLT) to control the sleep mode of an optical network unit (ONU) sleep and guarantee the quality of service of different services of the OFDM-PON. The obtained results show that, by using the proposed scheme, the average power consumption of the ONU is reduced by ˜40% when the normalized ONU load is less than 80%, compared with the average power consumption without using the proposed scheme.

  3. Appearance Normalization of Histology Slides

    PubMed Central

    Niethammer, Marc; Borland, David; Marron, J. S.; Woosley, John; Thomas, Nancy E.

    2011-01-01

    This paper presents a method for automatic color and intensity normalization of digitized histology slides stained with two different agents. In comparison to previous approaches, prior information on the stain vectors is used in the estimation process, resulting in improved stability of the estimates. Due to the prevalence of hematoxylin and eosin staining for histology slides, the proposed method has significant practical utility. In particular, it can be used as a first step to standardize appearances across slides, that is very effective at countering effects due to differing stain amounts and protocols, and to slide fading. The approach is validated using synthetic experiments and 13 real datasets. PMID:25360444

  4. Slide Library of the History of Art Department, Cornell University: Classification and Retrieval System.

    ERIC Educational Resources Information Center

    Nemethy, Judith

    A study was conducted to develop a retrieval system for slides in the History of Art Collection at Cornell University to make it more consistent and easier for patrons from other academic disciplines to use than the system currently in use. To determine whether slide library systems at other institutions could be adapted to the History of Art…

  5. Rough viscoelastic sliding contact: Theory and experiments

    NASA Astrophysics Data System (ADS)

    Carbone, G.; Putignano, C.

    2014-03-01

    In this paper, we show how the numerical theory introduced by the authors [Carbone and Putignano, J. Mech. Phys. Solids 61, 1822 (2013), 10.1016/j.jmps.2013.03.005] can be effectively employed to study the contact between viscoelastic rough solids. The huge numerical complexity is successfully faced up by employing the adaptive nonuniform mesh developed by the authors in Putignano et al. [J. Mech. Phys. Solids 60, 973 (2012), 10.1016/j.jmps.2012.01.006]. Results mark the importance of accounting for viscoelastic effects to correctly simulate the sliding rough contact. In detail, attention is, first, paid to evaluate the viscoelastic dissipation, i.e., the viscoelastic friction. Fixed the sliding speed and the normal load, friction is completely determined. Furthermore, since the methodology employed in the work allows to study contact between real materials, a comparison between experimental outcomes and numerical prediction in terms of viscoelastic friction is shown. The good agreement seems to validate—at least partially—the presented methodology. Finally, it is shown that viscoelasticity entails not only the dissipative effects previously outlined, but is also strictly related to the anisotropy of the contact solution. Indeed, a marked anisotropy is present in the contact region, which results stretched in the direction perpendicular to the sliding speed. In the paper, the anisotropy of the deformed surface and of the contact area is investigated and quantified.

  6. Programmed Instruction with Microfiche: Intoduction to the Slide Rule.

    ERIC Educational Resources Information Center

    Wachtel, L. W.

    The use of microfiche as a means of programed self-instruction was examined in this study. Lessons adapted from a one-hour lecture on the slide rule were typed in large print in order to allow easy reading at distances normally used with microfiche readers. The 58 pages of the course were reproduced on microfilm, strips of which were then inserted…

  7. Solar-Cell Slide Rule

    NASA Technical Reports Server (NTRS)

    Yamakawa, K. A.

    1983-01-01

    Slide rule relates efficiency, impurity types, impurity concentrations, and process types. Solar cell slide rule calculations are determination of allowable impurity concentration for nonredistributive process, determination of impurity buildup factor for redistributive process and determination of allowable impurity concentration for redistributive process.

  8. Appearance normalization of histology slides.

    PubMed

    Vicory, Jared; Couture, Heather D; Thomas, Nancy E; Borland, David; Marron, J S; Woosley, John; Niethammer, Marc

    2015-07-01

    This paper presents a method for automatic color and intensity normalization of digitized histology slides stained with two different agents. In comparison to previous approaches, prior information on the stain vectors is used in the plane estimation process, resulting in improved stability of the estimates. Due to the prevalence of hematoxylin and eosin staining for histology slides, the proposed method has significant practical utility. In particular, it can be used as a first step to standardize appearance across slides and is effective at countering effects due to differing stain amounts and protocols and counteracting slide fading. The approach is validated against non-prior plane-fitting using synthetic experiments and 13 real datasets. Results of application of the method to adjustment of faded slides are given, and the effectiveness of the method in aiding statistical classification is shown. PMID:25863518

  9. Sliding-Ring Catenanes.

    PubMed

    Fernando, Isurika R; Frasconi, Marco; Wu, Yilei; Liu, Wei-Guang; Wasielewski, Michael R; Goddard, William A; Stoddart, J Fraser

    2016-08-17

    Template-directed protocols provide a routine approach to the synthesis of mechanically interlocked molecules (MIMs), in which the mechanical bonds are stabilized by a wide variety of weak interactions. In this Article, we describe a strategy for the preparation of neutral [2]catenanes with sliding interlocked electron-rich rings, starting from two degenerate donor-acceptor [2]catenanes, consisting of a tetracationic cyclobis(paraquat-p-phenylene) cyclophane (CBPQT(4+)) and crown ethers containing either (i) hydroquinone (HQ) or (ii) 1,5-dioxynaphthalene (DNP) recognition units and carrying out four-electron reductions of the cyclophane components to their neutral forms. The donor-acceptor interactions between the CBPQT(4+) ring and both HQ and DNP units present in the crown ethers that stabilize the [2]catenanes are weakened upon reduction of the cyclophane components to their radical cationic states and are all but absent in their fully reduced states. Characterization in solution performed by UV-vis, EPR, and NMR spectroscopic probes reveals that changes in the redox properties of the [2]catenanes result in a substantial decrease of the energy barriers for the circumrotation and pirouetting motions of the interlocked rings, which glide freely through one another in the neutral states. The solid-state structures of the fully reduced catenanes reveal profound changes in the relative dispositions of the interlocked rings, with the glycol chains of the crown ethers residing in the cavities of the neutral CBPQT(0) rings. Quantum mechanical investigations of the energy levels associated with the four different oxidation states of the catenanes support this interpretation. Catenanes and rotaxanes with sliding rings are expected to display unique properties. PMID:27398609

  10. Building of a composite virtual slide from contiguous tissue samples

    PubMed Central

    2014-01-01

    Background Currently available microscope slide scanners produce whole slide images at various resolutions from histological sections. Nevertheless, acquisition area and so visualization of large tissue samples are limited by the standardized size of glass slides, used daily in pathology departments. The proposed solution has been developed to build composite virtual slides from images of large tumor fragments. Materials and methods Images of HES or immunostained histological sections of carefully labeled fragments from a representative slice of breast carcinoma were acquired with a digital slide scanner at a magnification of 20×. The tiling program involves three steps: the straightening of tissue fragment images using polynomial interpolation method, and the building and assembling of strips of contiguous tissue sample whole slide images in × and y directions. The final image is saved in a pyramidal BigTiff file format. The program has been tested on several tumor slices. A correlation quality control has been done on five images artificially cut. Results Sixty tumor slices from twenty surgical specimens, cut into two to twenty six pieces, were reconstructed. A median of 98.71% is obtained by computing the correlation coefficients between native and reconstructed images for quality control. Conclusions The proposed method is efficient and able to adapt itself to daily work conditions of classical pathology laboratories. PMID:25565295

  11. CI Slide: calibration slide for quantitative microscopy imaging in absorbance

    NASA Astrophysics Data System (ADS)

    Sheikhzadeh, Fahime; Ye, Qian; Zulkafly, Nasir; Carraro, Anita; Korbelic, Jagoda; Chen, Zhaoyang; Harrison, Alan; Follen, Michele; MacAulay, Calum; Ward, Rabab K.; Guillaud, Martial

    2014-03-01

    New imaging technologies are changing the field of digital pathology. This field faces numerous challenges and there is a pressing need for standardization, calibration protocols, quality control and quantitative assessment. We have designed a new calibration imaging slide (Cancer Imaging Slide), specifically to measure the characteristics of old or new imaging systems or scanners. The layout of the slide consists of 138 boxes with the side length of 1.6 mm, containing objects of known morphologic and photometric characteristics. Among them, 112 boxes contain different permutations of circles, ovals, and squares. The circles have different radii, radius/pitch ratios and step transmissions. The ovals have different sizes and orientations. The squares are consistent in size and orientation but have different step transmission values. Also, 16 boxes contain three resolution test targets: crosses, USAF target and Siemens star. The last 10 boxes are blank boxes with different transmission values. Four slides were scanned and imaged on one commercial whole-slide scanner and one high resolution imaging system. After segmenting the images, about 200 features (photometric, morphologic and architectural) were measured with our in-house image processing software. The objective of the project is to develop a statistical process control using this new slide. In this paper, we describe the characteristics of the slide and present our preliminary results.

  12. Optimal sliding guidance algorithm for Mars powered descent phase

    NASA Astrophysics Data System (ADS)

    Wibben, Daniel R.; Furfaro, Roberto

    2016-02-01

    Landing on large planetary bodies (e.g. Mars) with pinpoint accuracy presents a set of new challenges that must be addressed. One such challenge is the development of new guidance algorithms that exhibit a higher degree of robustness and flexibility. In this paper, the Zero-Effort-Miss/Zero-Effort-Velocity (ZEM/ZEV) optimal sliding guidance (OSG) scheme is applied to the Mars powered descent phase. This guidance algorithm has been specifically designed to combine techniques from both optimal and sliding control theories to generate an acceleration command based purely on the current estimated spacecraft state and desired final target state. Consequently, OSG yields closed-loop trajectories that do not need a reference trajectory. The guidance algorithm has its roots in the generalized ZEM/ZEV feedback guidance and its mathematical equations are naturally derived by defining a non-linear sliding surface as a function of the terms Zero-Effort-Miss and Zero-Effort-Velocity. With the addition of the sliding mode and using Lyapunov theory for non-autonomous systems, one can formally prove that the developed OSG law is globally finite-time stable to unknown but bounded perturbations. Here, the focus is on comparing the generalized ZEM/ZEV feedback guidance with the OSG law to explicitly demonstrate the benefits of the sliding mode augmentation. Results show that the sliding guidance provides a more robust solution in off-nominal scenarios while providing similar fuel consumption when compared to the non-sliding guidance command. Further, a Monte Carlo analysis is performed to examine the performance of the OSG law under perturbed conditions.

  13. T-Slide Linear Actuators

    NASA Technical Reports Server (NTRS)

    Vranish, John

    2009-01-01

    T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off

  14. An Airship Slide Rule

    NASA Technical Reports Server (NTRS)

    Weaver, E R; Pickering, S F

    1924-01-01

    This report prepared for the National Advisory Committee for Aeronautics, describes an airship slide rule developed by the Gas-Chemistry Section of the Bureau of Standards, at the request of the Bureau of Engineering of the Navy Department. It is intended primarily to give rapid solutions of a few problems of frequent occurrence in airship navigation, but it can be used to advantage in solving a great variety of problems, involving volumes, lifting powers, temperatures, pressures, altitudes and the purity of the balloon gas. The rule is graduated to read directly in the units actually used in making observations, constants and conversion factors being taken care of by the length and location of the scales. It is thought that with this rule practically any problem likely to arise in this class of work can be readily solved after the user has become familiar with the operation of the rule; and that the solution will, in most cases, be as accurate as the data warrant.

  15. Sensor-fault tolerant control of a powered lower limb prosthesis by mixing mode-specific adaptive Kalman filters.

    PubMed

    Dutta, Anirban; Koerding, Konrad; Perreault, Eric; Hargrove, Levi

    2011-01-01

    Machine learning methods for interfacing humans with machines is an emerging area. Here we propose a novel algorithm for interfacing humans with powered lower limb prostheses for restoring control of naturalistic gait following amputation. Unlike most previous neural machine interfaces, our approach fuses control information from the user with sensor information from the prosthesis to approximate the closed loop behavior of the unimpaired sensorimotor system. We present a Bayesian framework to control an artificial knee by probabilistically mixing of process state estimates from different Kalman filters, each addressing separate regimes of locomotion such as level ground walking, walking up a ramp, and walking down a ramp. We show its utility as a mode classifier that is tolerant to temporary sensor faults which are frequently experienced in practical applications. PMID:22255142

  16. Three dimensional hydrodynamic calculations with adaptive mesh refinement of the evolution of Rayleigh Taylor and Richtmyer Meshkov instabilities in converging geometry: Multi-mode perturbations

    SciTech Connect

    Klein, R.I. |; Bell, J.; Pember, R.; Kelleher, T.

    1993-04-01

    The authors present results for high resolution hydrodynamic calculations of the growth and development of instabilities in shock driven imploding spherical geometries in both 2D and 3D. They solve the Eulerian equations of hydrodynamics with a high order Godunov approach using local adaptive mesh refinement to study the temporal and spatial development of the turbulent mixing layer resulting from both Richtmyer Meshkov and Rayleigh Taylor instabilities. The use of a high resolution Eulerian discretization with adaptive mesh refinement permits them to study the detailed three-dimensional growth of multi-mode perturbations far into the non-linear regime for converging geometries. They discuss convergence properties of the simulations by calculating global properties of the flow. They discuss the time evolution of the turbulent mixing layer and compare its development to a simple theory for a turbulent mix model in spherical geometry based on Plesset`s equation. Their 3D calculations show that the constant found in the planar incompressible experiments of Read and Young`s may not be universal for converging compressible flow. They show the 3D time trace of transitional onset to a mixing state using the temporal evolution of volume rendered imaging. Their preliminary results suggest that the turbulent mixing layer loses memory of its initial perturbations for classical Richtmyer Meshkov and Rayleigh Taylor instabilities in spherically imploding shells. They discuss the time evolution of mixed volume fraction and the role of vorticity in converging 3D flows in enhancing the growth of a turbulent mixing layer.

  17. Semianalytic theory of self-similar optical propagation and mode locking using a shape-adaptive model pulse

    SciTech Connect

    Jirauschek, Christian; Ilday, F. Oemer

    2011-06-15

    A semianalytic theory for the pulse dynamics in similariton amplifiers and lasers is presented, based on a model pulse with adaptive shape. By changing a single parameter, this test function can be continuously tweaked between a pure Gaussian and a pure parabolic profile and can even represent sech-like pulses, the shape of a soliton. This approach allows us to describe the pulse evolution in the self-similar and other regimes of optical propagation. Employing the method of moments, the evolution equations for the characteristic pulse parameters are derived from the governing nonlinear Schroedinger or Ginzburg-Landau equation. Due to its greatly reduced complexity, this description allows for extensive parameter optimization, and can aid intuitive understanding of the dynamics. As an application of this approach, we model a soliton-similariton laser and validate the results against numerical simulations. This constitutes a semianalytic model of the soliton-similariton laser. Due to the versatility of the model pulse, it can also prove useful in other application areas.

  18. A novel adaptive controller for two-degree of freedom polar robot with unknown perturbations

    NASA Astrophysics Data System (ADS)

    Faieghi, Mohammad Reza; Delavari, Hadi; Baleanu, Dumitru

    2012-02-01

    In industrial applications, the performance of robot manipulators is always affected due to the presence of uncertainties and disturbances. This paper proposes a novel adaptive control scheme for robust control of robotic manipulators perturbed by unknown uncertainties and disturbances. First, an active sliding mode controller is designed and a sufficient condition is obtained guarantying reachability of the states to hit the sliding surface in finite time. Then, based on a Lyapunov function candidate an adaptive switching gain is derived which make the controller capable to bring the tracking error to zero without any disturbance exerted upon the stability. By virtue of this controller it can be shown that the controller can track the desired trajectories even in the presence of unknown perturbations. For the problem of determining the control parameters Particle Swarm Optimization (PSO) algorithm has been employed. Our theoretic achievements are verified by numerical simulations.

  19. Design and analysis of a new AUV's sliding control system based on dynamic boundary layer

    NASA Astrophysics Data System (ADS)

    Gao, Fudong; Pan, Cunyun; Han, Yanyan

    2013-01-01

    The new AUV driven by multi-vectored thrusters not only has unique kinematic characteristics during the actual cruise but also exists uncertain factors such as hydrodynamic coefficients perturbation and unknown interference of tail fluid, which bring difficult to the stability of the AUV's control system. In order to solve the nonlinear term and unmodeled dynamics existing in the new AUV's attitude control and the disturbances caused by the external marine environment, a second-order sliding mode controller with double-loop structure that considering the dynamic characteristics of the rudder actuators is designed, which improves the robustness of the system and avoids the control failure caused by the problem that the design theory of the sliding mode controller does not match with the actual application conditions. In order to avoid the loss of the sliding mode caused by the amplitude and rate constraints of the rudder actuator in the new AUV's attitude control, the dynamic boundary layer method is used to adjust the sliding boundary layer thickness so as to obtain the best anti-chattering effects. Then the impacts of system parameters, rudder actuator's constraints and boundary layer on the sliding mode controller are computed and analyzed to verify the effectiveness and robustness of the sliding mode controller based on dynamic boundary layer. The computational results show that the original divergent second-order sliding mode controller can still effectively implement the AUV's attitude control through dynamically adjusting the sliding boundary layer thickness. The dynamic boundary layer method ensures the stability of the system and does not exceed the amplitude constraint of the rudder actuator, which provides a theoretical guidance and technical support for the control system design of the new AUV in real complex sea conditions.

  20. Reading virtual slide using web viewers: results of subjective experience with three different solutions

    PubMed Central

    Rojo, Marcial García; Gallardo, Antonio J; González, Lucía; Peces, Carlos; Murillo, Cristina; González, Jesús; Sacristán, Jose

    2008-01-01

    Background Virtual slides are viewed using interactive software that enables the user to simulate the behaviour of a conventional optical microscope, like adjusting magnifications and navigating to any portion of the image. Nowadays, information about the performance and features of web-based solutions for reading slides in real environments is still scarce. The objective of this study is analyzing the subjective experience of pathologists with virtual slides, comparing the time needed to read slides using different web viewers and different network connections. Methods Eight slides were randomly selected (4 biopsies and 2 cytologies) from Hospital General de Ciudad Real (HGCR) archives. Three different virtual slide web-viewing solutions were analyzed: Aperio web server, Olympus NetImage Server, and Aurora mScope. Five pathologists studied to time needed to access images of each virtual slide, selecting a panoramic view, 10 low magnification fields, and 20 high magnification fields. Results Aperio viewer is very efficient in overview images. Aurora viewer is especially efficient in lower magnifications (10×). For larger magnifications (20× and 40×) no significant differences were found between different vendors. Olympus was found to be the most user-friendly interface. When comparing Internet with intranet connections, despite being slower, users also felt comfortable using virtual slides through Internet connection. Conclusion Available web solutions for virtual slides have different advantages, mainly in functionalities and optimization for different magnifications. Pathologist should select the solutions adapted to their needs. PMID:18673512

  1. Survey of the Use of Slide/Tape Presentations for Orientation and Instruction Purposes in Academic Libraries.

    ERIC Educational Resources Information Center

    Hardesty, Larry

    Eighty-eight academic libraries were surveyed to determine what kinds of slide/tape library instruction materials are available for purchase or loan. The conclusions reached were: (1) there are less than a dozen libraries that have produced presentations of sufficient quality and adaptability to be widely used; and (2) the slide/tape format…

  2. Comparative characterization of two marine alginate lyases from Zobellia galactanivorans reveals distinct modes of action and exquisite adaptation to their natural substrate.

    PubMed

    Thomas, François; Lundqvist, Lena C E; Jam, Murielle; Jeudy, Alexandra; Barbeyron, Tristan; Sandström, Corine; Michel, Gurvan; Czjzek, Mirjam

    2013-08-01

    Cell walls of brown algae are complex supramolecular assemblies containing various original, sulfated, and carboxylated polysaccharides. Among these, the major marine polysaccharide component, alginate, represents an important biomass that is successfully turned over by the heterotrophic marine bacteria. In the marine flavobacterium Zobellia galactanivorans, the catabolism and uptake of alginate are encoded by operon structures that resemble the typical Bacteroidetes polysaccharide utilization locus. The genome of Z. galactanivorans contains seven putative alginate lyase genes, five of which are localized within two clusters comprising additional carbohydrate-related genes. This study reports on the detailed biochemical and structural characterization of two of these. We demonstrate here that AlyA1PL7 is an endolytic guluronate lyase, and AlyA5 cleaves unsaturated units, α-L-guluronate or β-D-manuronate residues, at the nonreducing end of oligo-alginates in an exolytic fashion. Despite a common jelly roll-fold, these striking differences of the mode of action are explained by a distinct active site topology, an open cleft in AlyA1(PL7), whereas AlyA5 displays a pocket topology due to the presence of additional loops partially obstructing the catalytic groove. Finally, in contrast to PL7 alginate lyases from terrestrial bacteria, both enzymes proceed according to a calcium-dependent mechanism suggesting an exquisite adaptation to their natural substrate in the context of brown algal cell walls. PMID:23782694

  3. Increased sky coverage with optimal correction of tilt and tilt-anisoplanatism modes in laser-guide-star multiconjugate adaptive optics.

    PubMed

    Correia, Carlos; Véran, Jean-Pierre; Herriot, Glen; Ellerbroek, Brent; Wang, Lianqi; Gilles, Luc

    2013-04-01

    Laser-guide-star multiconjugate adaptive optics (MCAO) systems require natural guide stars (NGS) to measure tilt and tilt-anisoplanatism modes. Making optimal use of the limited number of photons coming from such, generally dim, sources is mandatory to obtain reasonable sky coverage, i.e., the probability of finding asterisms amenable to NGS wavefront (WF) sensing for a predefined WF error budget. This paper presents a Strehl-optimal (minimum residual variance) spatiotemporal reconstructor merging principles of modal atmospheric tomography and optimal stochastic control theory. Simulations of NFIRAOS, the first light MCAO system for the thirty-meter telescope, using ~500 typical NGS asterisms, show that the minimum-variance (MV) controller delivers outstanding results, in particular for cases with relatively dim stars (down to magnitude 22 in the H-band), for which low-temporal frame rates (as low as 16 Hz) are required to integrate enough flux. Over all the cases tested ~21 nm rms median improvement in WF error can be achieved with the MV compared to the current baseline, a type-II controller based on a double integrator. This means that for a given level of tolerable residual WF error, the sky coverage is increased by roughly 10%, a quite significant figure. The improvement goes up to more than 20% when compared with a traditional single-integrator controller. PMID:23595319

  4. Transparent acrylic enamel slide holograms

    NASA Astrophysics Data System (ADS)

    Ponce-Lee, E. L.; Olivares Pérez, A.; Ruiz-Limón, B.; Hernández-Garay, M. P.; Toxqui-López, S.

    2006-02-01

    We present holograms generated in a computer to an acrylic enamel slide (Comex (R)), getting phase holograms. The information in the mask is transferred to the material by temperature gradients generated by rubbing. The refraction index is transformed at each material point by the temperature changes, thus the film is recorded and developed by itself. this material can be used for soft lithography.

  5. Creating Slide Show Book Reports.

    ERIC Educational Resources Information Center

    Taylor, Harriet G.; Stuhlmann, Janice M.

    1995-01-01

    Describes the use of "Kid Pix 2" software by fourth grade students to develop slide-show book reports. Highlights include collaboration with education majors from Louisiana State University, changes in attitudes of the education major students and elementary students, and problems with navigation and disk space. (LRW)

  6. Automatic 35 mm slide duplicator

    NASA Technical Reports Server (NTRS)

    Seidel, H. F.; Texler, R. E.

    1980-01-01

    Automatic duplicator is readily assembled from conventional, inexpensive equipment and parts. Series of slides can be exposed without operator attention, eliminating considerable manual handling and processing ordinarily required. At end of programmed exposure sequence, unit shuts off and audible alarm signals completion of process.

  7. Herbaceous Ornamental Plants. Slide Script.

    ERIC Educational Resources Information Center

    Still, Steven

    This document, which is one in a series of curriculum materials that has been developed for use in Ohio agricultural education programs, contains 338 black-and-white photographs of a set of color slides and an accompanying script that, together, are intended as an aid in the study and identification of 150 different commercially important…

  8. Linear Classification of Dairy Cattle. Slide Script.

    ERIC Educational Resources Information Center

    Sipiorski, James; Spike, Peter

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with principles of the linear classification of dairy cattle. Included in the guide are narrations for use with 63 slides, which illustrate the following areas that are considered in the linear classification system: stature, strength,…

  9. On-Line Retrieval of Clinical Slides.

    ERIC Educational Resources Information Center

    Milgrom, Linda

    The Physical Diagnosis Slide Bank, a collaborative project of the Universities of Washington, California at San Diego, and Arizona, utilizes an online interactive computer program to access a collection of over 2000 teaching clinical slides. Searchable data elements for each slide in the bank include subject descriptors (MeSH); accession number;…

  10. Approved Practices in Dairy Reproduction. Slide Script.

    ERIC Educational Resources Information Center

    Roediger, Roger D.; Barr, Harry L.

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with approved practices in dairy reproduction. Included in the guide are narrations for use with 200 slides dealing with the following topics: the importance of good reproduction, the male and female roles in reproduction, selection of…

  11. Diseases of Landscape Ornamentals. Slide Script.

    ERIC Educational Resources Information Center

    Powell, Charles C.; Sydnor, T. Davis

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with recognizing and controlling diseases found on ornamental landscape plants. Included in the script are narrations for use with a total of 80 slides illustrating various foliar diseases (anthracnose, black spot, hawthorn leaf blight,…

  12. Sliding Contact Fatigue of Graded Zirconia with External Esthetic Glass

    PubMed Central

    Ren, L.; Janal, M.N.; Zhang, Y.

    2011-01-01

    Veneer chipping and fracture are common failure modes for porcelain-veneered zirconia dental restorations. We hypothesized that the graded glass/zirconia/glass with external esthetic glass (e-GZG) can increase the lifetime and improve resistance to veneer chipping and fracture relative to porcelain-veneered zirconia, while providing necessary esthetics. Previously, we have demonstrated that a graded glass-zirconia surface possesses excellent resistance to occlusal-like sliding contact fatigue. Here, we investigated the sliding contact fatigue response of this graded glass-zirconia surface with external esthetic glass. This external glass is essential for shade options, for preventing excessive wear of opposing dentition, and for protecting Y-TZP from hydrothermal degradation. e-GZG plates were bonded to composite blocks and subjected to prolonged sliding contact up to 10 million cycles at 200 N in water. The resistance to sliding contact fatigue of e-GZG matches that of monolithic Y-TZP, and both of these materials demonstrated lifetimes that were orders of magnitude longer than that of porcelain-veneered zirconia. Graded e-GZG is a promising restorative material. PMID:21666105

  13. Sliding contact fatigue of graded zirconia with external esthetic glass.

    PubMed

    Ren, L; Janal, M N; Zhang, Y

    2011-09-01

    Veneer chipping and fracture are common failure modes for porcelain-veneered zirconia dental restorations. We hypothesized that the graded glass/zirconia/glass with external esthetic glass (e-GZG) can increase the lifetime and improve resistance to veneer chipping and fracture relative to porcelain-veneered zirconia, while providing necessary esthetics. Previously, we have demonstrated that a graded glass-zirconia surface possesses excellent resistance to occlusal-like sliding contact fatigue. Here, we investigated the sliding contact fatigue response of this graded glass-zirconia surface with external esthetic glass. This external glass is essential for shade options, for preventing excessive wear of opposing dentition, and for protecting Y-TZP from hydrothermal degradation. e-GZG plates were bonded to composite blocks and subjected to prolonged sliding contact up to 10 million cycles at 200 N in water. The resistance to sliding contact fatigue of e-GZG matches that of monolithic Y-TZP, and both of these materials demonstrated lifetimes that were orders of magnitude longer than that of porcelain-veneered zirconia. Graded e-GZG is a promising restorative material. PMID:21666105

  14. Dynamic instabilities of frictional sliding at a bimaterial interface

    NASA Astrophysics Data System (ADS)

    Brener, Efim A.; Weikamp, Marc; Spatschek, Robert; Bar-Sinai, Yohai; Bouchbinder, Eran

    2016-04-01

    Understanding the dynamic stability of bodies in frictional contact steadily sliding one over the other is of basic interest in various disciplines such as physics, solid mechanics, materials science and geophysics. Here we report on a two-dimensional linear stability analysis of a deformable solid of a finite height H, steadily sliding on top of a rigid solid within a generic rate-and-state friction type constitutive framework, fully accounting for elastodynamic effects. We derive the linear stability spectrum, quantifying the interplay between stabilization related to the frictional constitutive law and destabilization related both to the elastodynamic bi-material coupling between normal stress variations and interfacial slip, and to finite size effects. The stabilizing effects related to the frictional constitutive law include velocity-strengthening friction (i.e. an increase in frictional resistance with increasing slip velocity, both instantaneous and under steady-state conditions) and a regularized response to normal stress variations. We first consider the small wave-number k limit and demonstrate that homogeneous sliding in this case is universally unstable, independent of the details of the friction law. This universal instability is mediated by propagating waveguide-like modes, whose fastest growing mode is characterized by a wave-number satisfying kH ∼ O(1) and by a growth rate that scales with H-1. We then consider the limit kH → ∞ and derive the stability phase diagram in this case. We show that the dominant instability mode travels at nearly the dilatational wave-speed in the opposite direction to the sliding direction. In a certain parameter range this instability is manifested through unstable modes at all wave-numbers, yet the frictional response is shown to be mathematically well-posed. Instability modes which travel at nearly the shear wave-speed in the sliding direction also exist in some range of physical parameters. Previous results

  15. Pressure vessel sliding support unit and system using the sliding support unit

    SciTech Connect

    Breach, Michael R.; Keck, David J.; Deaver, Gerald A.

    2013-01-15

    Provided is a sliding support and a system using the sliding support unit. The sliding support unit may include a fulcrum capture configured to attach to a support flange, a fulcrum support configured to attach to the fulcrum capture, and a baseplate block configured to support the fulcrum support. The system using the sliding support unit may include a pressure vessel, a pedestal bracket, and a plurality of sliding support units.

  16. Automated single-slide staining device

    NASA Technical Reports Server (NTRS)

    Wilkins, J. R.; Mills, S. M. (Inventor)

    1977-01-01

    A simple apparatus and method is disclosed for making individual single Gram stains on bacteria inoculated slides to assist in classifying bacteria in the laboratory as Gram-positive or Gram-negative. The apparatus involves positioning a single inoculated slide in a stationary position and thereafter automatically and sequentially flooding the slide with increments of a primary stain, a mordant, a decolorizer, a counterstain and a wash solution in a sequential manner without the individual lab technician touching the slide and with minimum danger of contamination thereof from other slides.

  17. Multistage Adaptive Testing for a Large-Scale Classification Test: Design, Heuristic Assembly, and Comparison with Other Testing Modes. ACT Research Report Series, 2012 (6)

    ERIC Educational Resources Information Center

    Zheng, Yi; Nozawa, Yuki; Gao, Xiaohong; Chang, Hua-Hua

    2012-01-01

    Multistage adaptive tests (MSTs) have gained increasing popularity in recent years. MST is a balanced compromise between linear test forms (i.e., paper-and-pencil testing and computer-based testing) and traditional item-level computer-adaptive testing (CAT). It combines the advantages of both. On one hand, MST is adaptive (and therefore more…

  18. Feature-Rich Magnetic Quantization in Sliding Bilayer Graphenes

    NASA Astrophysics Data System (ADS)

    Huang, Yao-Kung; Chen, Szu-Chao; Ho, Yen-Hung; Lin, Chiun-Yan; Lin, Ming-Fa

    2014-12-01

    The generalized tight-binding model, based on the subenvelope functions of distinct sublattices, is developed to investigate the magnetic quantization in sliding bilayer graphenes. The relative shift of two graphene layers induces a dramatic transformation between the Dirac-cone structure and the parabolic band structure, and thus leads to drastic changes of Landau levels (LLs) in the spatial symmetry, initial formation energy, intergroup anti-crossing, state degeneracy and semiconductor-metal transition. There exist three kinds of LLs, i.e., well-behaved, perturbed and undefined LLs, which are characterized by a specific mode, a main mode plus side modes, and a disordered mode, respectively. Such LLs are clearly revealed in diverse magneto-optical selection rules. Specially, the undefined LLs frequently exhibit intergroup anti-crossings in the field-dependent energy spectra, and show a large number of absorption peaks without optical selection rules.

  19. An array microscope for ultrarapid virtual slide processing and telepathology. Design, fabrication, and validation study.

    PubMed

    Weinstein, Ronald S; Descour, Michael R; Liang, Chen; Barker, Gail; Scott, Katherine M; Richter, Lynne; Krupinski, Elizabeth A; Bhattacharyya, Achyut K; Davis, John R; Graham, Anna R; Rennels, Margaret; Russum, William C; Goodall, James F; Zhou, Pixuan; Olszak, Artur G; Williams, Bruce H; Wyant, James C; Bartels, Peter H

    2004-11-01

    This paper describes the design and fabrication of a novel array microscope for the first ultrarapid virtual slide processor (DMetrix DX-40 digital slide scanner). The array microscope optics consists of a stack of three 80-element 10 x 8-lenslet arrays, constituting a "lenslet array ensemble." The lenslet array ensemble is positioned over a glass slide. Uniquely shaped lenses in each of the lenslet arrays, arranged perpendicular to the glass slide constitute a single "miniaturized microscope." A high-pixel-density image sensor is attached to the top of the lenslet array ensemble. In operation, the lenslet array ensemble is transported by a motorized mechanism relative to the long axis of a glass slide. Each of the 80 miniaturized microscopes has a lateral field of view of 250 microns. The microscopes of each row of the array are offset from the microscopes in other rows. Scanning a glass slide with the array microscope produces seamless two-dimensional image data of the entire slide, that is, a virtual slide. The optical system has a numerical aperture of N.A.= 0.65, scans slides at a rate of 3 mm per second, and accrues up to 3,000 images per second from each of the 80 miniaturized microscopes. In the ultrarapid virtual slide processing cycle, the time for image acquisition takes 58 seconds for a 2.25 cm2 tissue section. An automatic slide loader enables the scanner to process up to 40 slides per hour without operator intervention. Slide scanning and image processing are done concurrently so that post-scan processing is eliminated. A virtual slide can be viewed over the Internet immediately after the scanning is complete. A validation study compared the diagnostic accuracy of pathologist case readers using array microscopy (with images viewed as virtual slides) and conventional light microscopy. Four senior pathologists diagnosed 30 breast surgical pathology cases each using both imaging modes, but on separate occasions. Of 120 case reads by array microscopy

  20. Sliding behavior and deformation textures of heated illite gouge

    USGS Publications Warehouse

    Moore, Diane E.; Summers, R.; Byerlee, J.D.

    1989-01-01

    The run products of a series of triaxial friction experiments on an illite-rich gouge have been examined petrographically to study the relationship between textural development and sliding mode. The samples show a complete range of textures, from ones in which the entire gouge layer is deformed to ones in which the deformation is concentrated along narrow subsidiary shears and the rest of the gouge layer is massive. The samples with a pervasively developed deformation fabric slide stably, whereas the samples containing shear bands show stick-slip motion if the intersection angles between boundary-parallel and cross-cutting (Riedel) shears are also relatively high. These textural differences suggest that localization of shear combined with higher-angle Riedel shears are somehow involved in stick-slip motion. The orientation of Riedel-type shears in natural fault zones may also have potential as a paleoseismological tool. ?? 1989.

  1. Pleistocene Suvero slide, Paola basin, southern Italy

    USGS Publications Warehouse

    Trincardi, F.; Normark, W.R.

    1989-01-01

    The Suvero slide covers an area of about 225 km2 in the Paola slope basin on the Eastern Tyrrhenian margin. The shape and lateral extent of the deposit reflect topographic confinement of the slide between the continental slope and a morphologic barrier formed by a margin-parallel slope ridge. No headwall or slide plane comparable in scale with the slide deposit were found, suggesting that quasi in situ deformation of semi-consolidated sediments took place when the failed materials reached the floor of the slope basin. The failure occurred downslope from a basement high originating from local uplift. Continued uplift, after the Suvero slide occurred, is documented by the presence of steep upper-slope gradients within the study area and by the presence of small-scale creep and failure events that postdate the Suvero slide. ?? 1989.

  2. Secondary Reverse Slide Tracheoplasty for Airway Rescue.

    PubMed

    Kopelovich, Jonathan C; Wine, Todd M; Rutter, Michael J; Mitchell, Max B; Prager, Jeremy D

    2016-03-01

    Slide tracheoplasty is used in cases of tracheal stenosis or injury. With expanding indications for its use at tertiary centers, salvage techniques for dehiscence or restenosis after slide tracheoplasty are increasingly relevant. We present a case in which slide tracheoplasty was augmented with an anterior costochondral graft that stenosed again and ultimately failed. We salvaged this airway emergency by performing a secondary reverse slide tracheoplasty. Using this technique, we were able to establish a safe and durable airway using only native airway tissue. PMID:26897214

  3. Tape-recorded Lectures With Slide Synchronization

    ERIC Educational Resources Information Center

    Goodhue, D.

    1969-01-01

    Describes "Taped Explanation Slide Synchronization" programs used for individual study or group showing in college zoology. Discusses preparation of programs, class organization, equipment, and costs. (EB)

  4. "Slide less pathology": Fairy tale or reality?

    PubMed

    Indu, M; Rathy, R; Binu, M P

    2016-01-01

    Pathology practice is significantly advanced in various frontiers. Therefore, "slide less digital" pathology will not be a mere imagination in near future. Digitalization of histopathological slides (whole slide imaging [WSI]) is possible with the help of whole slide scanner. The WSI has a positive impact not only in routine practice but also in research field, medical education and bioindustry. Even if digital pathology has definitive advantages, its widespread use is not yet possible. As it is an upcoming technology in our field, this article is aimed to discussessential aspects of WSI. PMID:27601824

  5. Percolation, sliding, localization and relaxation in topologically closed circuits

    PubMed Central

    Hurowitz, Daniel; Cohen, Doron

    2016-01-01

    Considering a random walk in a random environment in a topologically closed circuit, we explore the implications of the percolation and sliding transitions for its relaxation modes. A complementary question regarding the “delocalization” of eigenstates of non-hermitian Hamiltonians has been addressed by Hatano, Nelson, and followers. But we show that for a conservative stochastic process the implied spectral properties are dramatically different. In particular we determine the threshold for under-damped relaxation, and observe “complexity saturation” as the bias is increased. PMID:26961586

  6. Plastic strain arrangement in copper single crystals in sliding

    SciTech Connect

    Chumaevskii, Andrey V. Lychagin, Dmitry V.; Tarasov, Sergei Yu.

    2014-11-14

    Deformation of tribologically loaded contact zone is one of the wear mechanisms in spite of the fact that no mass loss may occur during this process. Generation of optimal crystallographic orientations of the grains in a polycrystalline materials (texturing) may cause hardening and reducing the deformation wear. To reveal the orientation dependence of an individual gain and simplify the task we use copper single crystals with the orientations of the compression axis along [111] and [110]. The plastic deformation was investigated by means of optical, scanning electron microscopy and EBSD techniques. It was established that at least four different zones were generated in the course of sliding test, such as non-deformed base metal, plastic deformation layer sliding, crystalline lattice reorientation layer and subsurface grain structure layer. The maximum plastic strain penetration depth was observed on [110]-single crystals. The minimum stability of [111]-crystals with respect to rotation deformation mode as well as activation of shear in the sliding contact plane provide for rotation deformation localization below the worn surface. The high-rate accumulation of misorientations and less strain penetration depth was observed on [111]-crystals as compared to those of [110]-oriented ones.

  7. The Cancer Digital Slide Archive - TCGA

    Cancer.gov

    Dr. David Gutman and Dr. Lee Cooper developed The Cancer Digital Slide Archive (CDSA), a web platform for accessing pathology slide images of TCGA samples. Find out how they did it and how to use the CDSA website in this Case Study.

  8. Getting Clever with the Sliding Ladder

    ERIC Educational Resources Information Center

    De, Subhranil

    2014-01-01

    The familiar system involving a uniform ladder sliding against a vertical wall and a horizontal floor is considered again. The floor is taken to be smooth and the wall to be possibly rough--a situation where no matter how large the static friction coefficient between the ladder and the wall, the ladder cannot lean at rest and must slide down.…

  9. Sliding induced crystallization of metallic glass

    NASA Technical Reports Server (NTRS)

    Miyoshi, K.; Buckley, D. H.

    1983-01-01

    Sliding friction and wear experiments, electron microscopy, and diffraction studies were conducted with an Fe67Co18B14Si1 ferrous-base metallic glass in sliding contact with aluminum oxide at room temperature in air. The results indicate that the amorphous alloy can be crystallized during the sliding process. Crystallization of the wear surface causes high friction. Plastic flow occurred on the amorphous alloy with sliding, and the flow film of the alloy transferred to the aluminum oxide surface. Two distinct types of wear debris were observed as a result of sliding: an alloy wear debris, and powdery and whiskery oxide debris. Generation of oxide wear debris particles on an alloy can cause transitions in friction behavior.

  10. Peeling, sliding, pulling and bending

    NASA Astrophysics Data System (ADS)

    Lister, John; Peng, Gunnar

    2015-11-01

    The peeling of an elastic sheet away from thin layer of viscous fluid is a simply-stated and generic problem, that involves complex interactions between the flow and elastic deformation on a range of length scales. Consider an analogue of capillary spreading, where a blister of injected viscous fluid spreads due to tension in the overlying elastic sheet. Here the tension is coupled to the deformation of the sheet, and thus varies in time and space. A key question is whether or not viscous shear stresses ahead of the blister are sufficient to prevent the sheet sliding inwards and relieving the tension. Our asymptotic analysis reveals a dichotomy between fast and slow spreading, and between two-dimensional and axisymmetric spreading. In combination with bending stresses and gravity, which may dominate parts of the flow but not others, there is a plethora of dynamical regimes.

  11. Codimension-1 Sliding Bifurcations of a Filippov Pest Growth Model with Threshold Policy

    NASA Astrophysics Data System (ADS)

    Tang, Sanyi; Tang, Guangyao; Qin, Wenjie

    A Filippov system is proposed to describe the stage structured nonsmooth pest growth with threshold policy control (TPC). The TPC measure is represented by the total density of both juveniles and adults being chosen as an index for decisions on when to implement chemical control strategies. The proposed Filippov system can have three pieces of sliding segments and three pseudo-equilibria, which result in rich sliding mode bifurcations and local sliding bifurcations including boundary node (boundary focus, or boundary saddle) and tangency bifurcations. As the threshold density varies the model exhibits the interesting global sliding bifurcations sequentially: touching → buckling → crossing → sliding homoclinic orbit to a pseudo-saddle → crossing → touching bifurcations. In particular, bifurcation of a homoclinic orbit to a pseudo-saddle with a figure of eight shape, to a pseudo-saddle-node or to a standard saddle-node have been observed for some parameter sets. This implies that control outcomes are sensitive to the threshold level, and hence it is crucial to choose the threshold level to initiate control strategy. One more sliding segment (or pseudo-equilibrium) is induced by the total density of a population guided switching policy, compared to only the juvenile density guided policy, implying that this control policy is more effective in terms of preventing multiple pest outbreaks or causing the density of pests to stabilize at a desired level such as an economic threshold.

  12. Exit from sliding in piecewise-smooth flows: Deterministic vs. determinacy-breaking.

    PubMed

    Jeffrey, Mike R

    2016-03-01

    The collapse of flows onto hypersurfaces where their vector fields are discontinuous creates highly robust states called sliding modes. The way flows exit from such sliding modes can lead to complex and interesting behaviour about which little is currently known. Here, we examine the basic mechanisms by which a flow exits from sliding, either along a switching surface or along the intersection of two switching surfaces, with a view to understanding sliding and exit when many switches are involved. On a single switching surface, exit occurs via tangency of the flow to the switching surface. Along an intersection of switches, exit can occur at a tangency with a lower codimension sliding flow, or by a spiralling of the flow that exhibits geometric divergence (infinite steps in finite time). Determinacy-breaking can occur where a singularity creates a set-valued flow in an otherwise deterministic system, and we resolve such dynamics as far as possible by blowing up the switching surface into a switching layer. We show preliminary simulations exploring the role of determinacy-breaking events as organizing centres of local and global dynamics. PMID:27036186

  13. Exit from sliding in piecewise-smooth flows: Deterministic vs. determinacy-breaking

    NASA Astrophysics Data System (ADS)

    Jeffrey, Mike R.

    2016-03-01

    The collapse of flows onto hypersurfaces where their vector fields are discontinuous creates highly robust states called sliding modes. The way flows exit from such sliding modes can lead to complex and interesting behaviour about which little is currently known. Here, we examine the basic mechanisms by which a flow exits from sliding, either along a switching surface or along the intersection of two switching surfaces, with a view to understanding sliding and exit when many switches are involved. On a single switching surface, exit occurs via tangency of the flow to the switching surface. Along an intersection of switches, exit can occur at a tangency with a lower codimension sliding flow, or by a spiralling of the flow that exhibits geometric divergence (infinite steps in finite time). Determinacy-breaking can occur where a singularity creates a set-valued flow in an otherwise deterministic system, and we resolve such dynamics as far as possible by blowing up the switching surface into a switching layer. We show preliminary simulations exploring the role of determinacy-breaking events as organizing centres of local and global dynamics.

  14. Whole slide imaging for educational purposes

    PubMed Central

    Pantanowitz, Liron; Szymas, Janusz; Yagi, Yukako; Wilbur, David

    2012-01-01

    Digitized slides produced by whole slide image scanners can be easily shared over a network or by transferring image files to optical or other data storage devices. Navigation of digitized slides is interactive and intended to simulate viewing glass slides with a microscope (virtual microscopy). Image viewing software permits users to edit, annotate, analyze, and easily share whole slide images (WSI). As a result, WSI have begun to replace the traditional light microscope, offering a myriad of opportunities for education. This article focuses on current applications of WSI in education and proficiency testing. WSI has been successfully explored for graduate education (medical, dental, and veterinary schools), training of pathology residents, as an educational tool in allied pathology schools (e.g., cytotechnology), for virtual tracking and tutoring, tele-education (tele-conferencing), e-learning, virtual workshops, at tumor boards, with interactive publications, and on examinations. WSI supports flexible and cost-effective distant learning and augments problem-oriented teaching, competency evaluation, and proficiency testing. WSI viewed on touchscreen displays and with tablet technology are especially beneficial for education. Further investigation is necessary to develop superior WSI applications that better support education and to design viewing stations with ergonomic tools that improve the WSI-human interface and navigation of virtual slides. Studies to determine the impact of training pathologists without exposure to actual glass slides are also needed. PMID:23372987

  15. An updated nuclear criticality slide rule

    SciTech Connect

    Hopper, C.M.; Broadhead, B.L.

    1998-04-01

    This Volume 2 contains the functional version of the updated nuclear criticality slide rule (more accurately, sliding graphs) that is referenced in An Updated Nuclear Criticality Slide Rule: Technical Basis, NUREG/CR-6504, Vol. 1 (ORNL/TM-13322/V1). This functional slide rule provides a readily usable {open_quotes}in-hand{close_quotes} method for estimating pertinent nuclear criticality accident information from sliding graphs, thereby permitting (1) the rapid estimation of pertinent criticality accident information without laborious or sophisticated calculations in a nuclear criticality emergency situation, (2) the appraisal of potential fission yields and external personnel radiation exposures for facility safety analyses, and (3) a technical basis for emergency preparedness and training programs at nonreactor nuclear facilities. The slide rule permits the estimation of neutron and gamma dose rates and integrated doses based upon estimated fission yields, distance from the fission source, and time-after criticality accidents for five different critical systems. Another sliding graph permits the estimation of critical solution fission yields based upon fissile material concentration, critical vessel geometry, and solution addition rate. Another graph provides neutron and gamma dose-reduction factors for water, steel, and concrete. Graphs from historic documents are provided as references for estimating critical parameters of various fissile material systems. Conversion factors for various English and metric units are provided for quick reference.

  16. SlideToolkit: An Assistive Toolset for the Histological Quantification of Whole Slide Images

    PubMed Central

    Nelissen, Bastiaan G. L.; van Herwaarden, Joost A.; Moll, Frans L.; van Diest, Paul J.; Pasterkamp, Gerard

    2014-01-01

    The demand for accurate and reproducible phenotyping of a disease trait increases with the rising number of biobanks and genome wide association studies. Detailed analysis of histology is a powerful way of phenotyping human tissues. Nonetheless, purely visual assessment of histological slides is time-consuming and liable to sampling variation and optical illusions and thereby observer variation, and external validation may be cumbersome. Therefore, within our own biobank, computerized quantification of digitized histological slides is often preferred as a more precise and reproducible, and sometimes more sensitive approach. Relatively few free toolkits are, however, available for fully digitized microscopic slides, usually known as whole slides images. In order to comply with this need, we developed the slideToolkit as a fast method to handle large quantities of low contrast whole slides images using advanced cell detecting algorithms. The slideToolkit has been developed for modern personal computers and high-performance clusters (HPCs) and is available as an open-source project on github.com. We here illustrate the power of slideToolkit by a repeated measurement of 303 digital slides containing CD3 stained (DAB) abdominal aortic aneurysm tissue from a tissue biobank. Our workflow consists of four consecutive steps. In the first step (acquisition), whole slide images are collected and converted to TIFF files. In the second step (preparation), files are organized. The third step (tiles), creates multiple manageable tiles to count. In the fourth step (analysis), tissue is analyzed and results are stored in a data set. Using this method, two consecutive measurements of 303 slides showed an intraclass correlation of 0.99. In conclusion, slideToolkit provides a free, powerful and versatile collection of tools for automated feature analysis of whole slide images to create reproducible and meaningful phenotypic data sets. PMID:25372389

  17. Buckling of a Flexible Strip Sliding on a Frictional Base

    NASA Astrophysics Data System (ADS)

    Huynen, Alexandre; Marck, Julien; Denoel, Vincent; Detournay, Emmanuel

    2013-03-01

    The main motivation for this contribution is the buckling of a drillstring sliding on the bottom of the horizontal section of borehole. The open questions that remain today are related to the determination of the onset of instability, and to the conditions under which different modes of constrained buckling occur. In this presentation, we are concerned by a two-dimensional version of this problem; namely, the sliding of a flexible strip being fed inside a conduit. The ribbon, which has a flexural rigidity EI and a weight per unit length w, is treated as an inextensible elastica of negligible thickness. The contact between the ribbon and the wall of the conduit is characterized by a friction coefficient μ. First, we report the result of a stability analysis that aims at determining the critical inserted length of the ribbon l* (μ) (scaled by the characteristic length λ =(EI / w) 1 / 3) at which there is separation between the strip and the conduit bottom, as well as the buckling mode. Next, the relationship between the feeding force F and the inserted length l after bifurcation is computed. Finally, the results of a ``kitchen table'' experiment involving a strip of silicon rubber being pushed on a plank are reported and compared with predictions.

  18. Rheological behavior of Slide Ring Gels.

    NASA Astrophysics Data System (ADS)

    Sharma, Vivek; Park, Jong Seung; Park, Jung O.; Srinivasarao, Mohan

    2006-03-01

    Slide ring gels were synthesized by chemically crosslinking, sparsely populated α-cyclodextrin (α-CD) present on the polyrotaxanes consisting of α-CD and polyethylene glycol (PEG). [1] Unlike physically or chemically crosslinked gels, slide ring gels are topological gels where crosslinks can slide along the chain. [2] We investigate the rheological behavior of these gels swollen in water and compare their viscoelastic properties to those of physical and chemical gels. We also study the equilibrium swelling behavior of these gels. [1] Okumura and Ito, Adv. Mater. 2001, 13, 485 [2] C. Zhao et al, J. Phys. Cond. Mat. 2005, 17, S2841

  19. Increase in friction force with sliding speed

    NASA Astrophysics Data System (ADS)

    Cross, Rod

    2005-09-01

    A block sliding down an inclined plane normally accelerates. However, if the friction force increases with speed, then the block can slide at a constant terminal speed in a manner similar to the fall of an object through a fluid. Measurements of the increase in the coefficient of friction for tennis ball cloth sliding on a smooth surface are described over speeds varying by a factor of 9000. For the low speed measurements, the ball cloth was attached to the bottom of a weighted box and pulled along a horizontal surface by a constant horizontal force. Results at higher speeds were obtained by bouncing a tennis ball off the surface.

  20. Standardization of Keyword Search Mode

    ERIC Educational Resources Information Center

    Su, Di

    2010-01-01

    In spite of its popularity, keyword search mode has not been standardized. Though information professionals are quick to adapt to various presentations of keyword search mode, novice end-users may find keyword search confusing. This article compares keyword search mode in some major reference databases and calls for standardization. (Contains 3…

  1. Color standardization in whole slide imaging using a color calibration slide

    PubMed Central

    Bautista, Pinky A.; Hashimoto, Noriaki; Yagi, Yukako

    2014-01-01

    Background: Color consistency in histology images is still an issue in digital pathology. Different imaging systems reproduced the colors of a histological slide differently. Materials and Methods: Color correction was implemented using the color information of the nine color patches of a color calibration slide. The inherent spectral colors of these patches along with their scanned colors were used to derive a color correction matrix whose coefficients were used to convert the pixels’ colors to their target colors. Results: There was a significant reduction in the CIELAB color difference, between images of the same H & E histological slide produced by two different whole slide scanners by 3.42 units, P < 0.001 at 95% confidence level. Conclusion: Color variations in histological images brought about by whole slide scanning can be effectively normalized with the use of the color calibration slide. PMID:24672739

  2. Slide Rule For Calculating Curing Schedules

    NASA Technical Reports Server (NTRS)

    Heater, Don

    1995-01-01

    Special-purpose slide rule devised for calculating schedules for storing and curing adhesives, sealants, and other materials characterized by known curing times and shelf lives. Prevents mistakes commonly made in determining storage and curing schedules.

  3. Water Slides: Look Before You Leap.

    ERIC Educational Resources Information Center

    Barks, Dan

    1986-01-01

    The Campbell County Parks and Recreation Department discovered that higher costs, more details, insurance difficulties, and longer construction periods were the rule when a water slide was planned and constructed. The project is described. (MT)

  4. Automated single-slide staining system

    NASA Technical Reports Server (NTRS)

    Mills, S. M.; Wilkins, J. R.

    1974-01-01

    Apparatus developed to Gram-stain single slides automatically is flexible enough to accommodate other types of staining procedures. Method frees operator and eliminates necessity for subjective evaluations as to length of staining or decolorizing time.

  5. Foam-filled cushions for sliding trays

    NASA Technical Reports Server (NTRS)

    Nahin, S. B.; Robb, P. H.

    1980-01-01

    Polytetrafluoroethylene tube filled with polyurethane foam forms low friction sliding surface that cushions vibrations and absorbs manufacturing tolerances and misalignment. Possible uses include packaging of components for shipping and seals for doors in lockers, cars, and refrigerators.

  6. Stereoscopic Projection of 35mm Slides.

    ERIC Educational Resources Information Center

    Carey, Edward F.

    1978-01-01

    Describes ways of projecting stereoscopic images of geologic environments for students with difficulty reasoning in three-dimensions. The photographic procedures needed to produce stereo slides are included. (MA)

  7. WTP Pretreatment Facility Potential Design Deficiencies--Sliding Bed and Sliding Bed Erosion Assessment

    SciTech Connect

    Hansen, E. K.

    2015-05-06

    This assessment is based on readily available literature and discusses both Newtonian and non-Newtonian slurries with respect to sliding beds and erosion due to sliding beds. This report does not quantify the size of the sliding beds or erosion rates due to sliding beds, but only assesses if they could be present. This assessment addresses process pipelines in the Pretreatment (PT) facility and the high level waste (HLW) transfer lines leaving the PT facility to the HLW vitrification facility concentrate receipt vessel.

  8. Ornamental Annual Plants and Their Uses. Slide Script.

    ERIC Educational Resources Information Center

    Still, Steven

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with ornamental annual plants and their uses. Included in the script are narrations for use with a total of 254 slides illustrating 97 different plants. At least two slides are provided for each plant: one shows the growth habits of the…

  9. The Louisiana Slide Library; A Humanities Program. Bulletin 1755.

    ERIC Educational Resources Information Center

    Louisiana Council for Music and Performing Arts, New Orleans.

    The Louisiana Slide Library is an extensive collection of slides, lectures, and tapes designed for use in the arts, the humanities, social and ethnic studies, languages, home economics, careers, crafts, and special education. This bibliography lists these slide sets and indicates the grade level intended for each set and the number of slides in…

  10. Preparing Scientific Papers, Posters, and Slides.

    PubMed

    Lefor, Alan Kawarai; Maeno, Misato

    2016-01-01

    Publications and presentations are important in academic medicine. The ability to present information in a standard fashion is critically important. Papers, posters, and slides must be prepared appropriately to maximize their chance of being accepted. The first step is to use word processing software correctly. English language usage must conform to standard scientific English usage. Abbreviations should be avoided as much as possible. Numerical data must be presented with the appropriate number of significant figures. The first step in preparing a paper is to decide the target journal. Papers should always be written in 12 point Times New Roman font, while slides and posters should be in Arial or Helvetica. The Results section must contain actual data with appropriate statistical analysis. Take great care to prepare figures and tables according to the journal's instructions. Posters must be prepared to allow easy reading at a distance of 2m. Use a white background and dark letters. The majority of the area of your poster should be Results, and there is no need to include the abstract or references on a poster. Slide presentations should be limited to about one slide for each minute of the talk. Avoid the use of animations and excessive use of color. Do not use abbreviations on slides. Following these simple guidelines will meet the requirements of most journals and allow your audience to appreciate the data on your posters and slides. PMID:26572095

  11. Speckle tracking technology for quantifying lung sliding.

    PubMed

    Dori, Guy; Jakobson, Daniel J

    2016-06-01

    Ultrasound (US) is gaining recognition as a useful tool for assessing lung physiology and pathology. Yet, currently the skill of performing lung US is taught by experienced operators to novice ones, mainly by recognizing expected patterns. Recognizing the latter may be difficult and subjective. In this hypothesis we propose to apply a well-known and used image processing technology in echocardiography, speckle tracking (ST), to lung sliding - the marker of normal lung function. If implementing ST to lung sliding is technically feasible, several outcomes are expected: (1) Lung sliding will become an objective, operator-independent marker of normal lung function. (2) Subsequently, ST will provide normal values for lung sliding. (3) Lastly, the effects of pulmonary pathologies on lung sliding may be assessed. It is stressed, however, that the preliminary idea suggested here is limited to a single physiological phenomenon (lung sliding). Only when technical feasibility is demonstrated then ST technology may potentially be applied and investigated in other clinical settings of lung diseases. PMID:27142150

  12. Compact, Automated Centrifugal Slide-Staining System

    NASA Technical Reports Server (NTRS)

    Feeback, Daniel L.; Clarke, Mark S. F.

    2004-01-01

    The Directional Acceleration Vector-Driven Displacement of Fluids (DAVD-DOF) system, under development at the time of reporting the information for this article, would be a relatively compact, automated, centrifugally actuated system for staining blood smears and other microbiological samples on glass microscope slides in either a microgravitational or a normal Earth gravitational environment. The DAVD-DOF concept is a successor to the centrifuge-operated slide stainer (COSS) concept, which was reported in Slide-Staining System for Microgravity or Gravity (MSC-22949), NASA Tech Briefs, Vol. 25, No. 1 (January, 2001), page 64. The COSS includes reservoirs and a staining chamber that contains a microscope slide to which a biological sample is affixed. The staining chamber is sequentially filled with and drained of staining and related liquids from the reservoirs by use of a weighted plunger to force liquid from one reservoir to another at a constant level of hypergravity maintained in a standard swing-bucket centrifuge. In the DAVD-DOF system, a staining chamber containing a sample would also be sequentially filled and emptied, but with important differences. Instead of a simple microscope slide, one would use a special microscope slide on which would be fabricated a network of very small reservoirs and narrow channels connected to a staining chamber (see figure). Unlike in the COSS, displacement of liquid would be effected by use of the weight of the liquid itself, rather than the weight of a plunger.

  13. Dynamic Sliding Analysis of a Gravity Dam with Fluid-Structure-Foundation Interaction Using Finite Elements and Newmark's Sliding Block Analysis

    NASA Astrophysics Data System (ADS)

    Goldgruber, Markus; Shahriari, Shervin; Zenz, Gerald

    2015-11-01

    To reduce the natural hazard risks—due to, e.g., earthquake excitation—seismic safety assessments are carried out. Especially under severe loading, due to maximum credible or the so-called safety evaluation earthquake, critical infrastructure, as these are high dams, must not fail. However, under high loading local failure might be allowed as long as the entire structure does not collapse. Hence, for a dam, the loss of sliding stability during a short time period might be acceptable if the cumulative displacements after an event are below an acceptable value. This performance is not only valid for gravity dams but also for rock blocks as sliding is even more imminent in zones with higher seismic activity. Sliding modes cannot only occur in the dam-foundation contact, but also in sliding planes formed due to geological conditions. This work compares the qualitative possible and critical displacements for two methods, the well-known Newmark's sliding block analysis and a Fluid-Foundation-Structure Interaction simulation with the finite elements method. The results comparison of the maximum displacements at the end of the seismic event of the two methods depicts that for high friction angles, they are fairly close. For low friction angles, the results are differing more. The conclusion is that the commonly used Newmark's sliding block analysis and the finite elements simulation are only comparable for high friction angles, where this factor dominates the behaviour of the structure. Worth to mention is that the proposed simulation methods are also applicable to dynamic rock wedge problems and not only to dams.

  14. An Ultrasonic-Adaptive Beamforming Method and Its Application for Trans-skull Imaging of Certain Types of Head Injuries; Part I: Transmission Mode.

    PubMed

    Shapoori, Kiyanoosh; Sadler, Jeff; Wydra, Adrian; Malyarenko, Eugene V; Sinclair, Anthony N; Maev, Roman Gr

    2015-05-01

    A new adaptive beamforming algorithm for imaging via small-aperture 1-D ultrasonic-phased arrays through composite layered structures is reported. Such structures cause acoustic phase aberration and wave refraction at undulating interfaces and can lead to significant distortion of an ultrasonic field pattern produced by conventional beamforming techniques. This distortion takes the form of defocusing the ultrasonic field transmitted through the barrier and causes loss of resolution and overall degradation of image quality. To compensate for the phase aberration and the refractional effects, we developed and examined an adaptive beamforming algorithm for small-aperture linear-phased arrays. After accurately assessing the barrier's local geometry and sound speed, the method calculates a new timing scheme to refocus the distorted beam at its original location. As a tentative application, implementation of this method for trans-skull imaging of certain types of head injuries through human skull is discussed. Simulation and laboratory results of applying the method on skull-mimicking phantoms are presented. Correction of up to 2.5 cm focal point displacement at up to 10 cm depth under our skull phantom is demonstrated. Quantitative assessment of the method in a variety of temporal focusing scenarios is also reported. Overall temporal deviation on the order of a few nanoseconds was observed between the simulated and experimental results. The single-point adaptive focusing results demonstrate strong potential of our approach for diagnostic imaging through intact human skull. The algorithms were implemented on an ultrasound advanced open-platform controlling 64 active elements on a 128-element phased array. PMID:25423646

  15. Adaptive fuzzy-neural-network control for maglev transportation system.

    PubMed

    Wai, Rong-Jong; Lee, Jeng-Dao

    2008-01-01

    A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies. PMID:18269938

  16. Semantic Focusing Allows Fully Automated Single-Layer Slide Scanning of Cervical Cytology Slides

    PubMed Central

    Lahrmann, Bernd; Valous, Nektarios A.; Eisenmann, Urs; Wentzensen, Nicolas; Grabe, Niels

    2013-01-01

    Liquid-based cytology (LBC) in conjunction with Whole-Slide Imaging (WSI) enables the objective and sensitive and quantitative evaluation of biomarkers in cytology. However, the complex three-dimensional distribution of cells on LBC slides requires manual focusing, long scanning-times, and multi-layer scanning. Here, we present a solution that overcomes these limitations in two steps: first, we make sure that focus points are only set on cells. Secondly, we check the total slide focus quality. From a first analysis we detected that superficial dust can be separated from the cell layer (thin layer of cells on the glass slide) itself. Then we analyzed 2,295 individual focus points from 51 LBC slides stained for p16 and Ki67. Using the number of edges in a focus point image, specific color values and size-inclusion filters, focus points detecting cells could be distinguished from focus points on artifacts (accuracy 98.6%). Sharpness as total focus quality of a virtual LBC slide is computed from 5 sharpness features. We trained a multi-parameter SVM classifier on 1,600 images. On an independent validation set of 3,232 cell images we achieved an accuracy of 94.8% for classifying images as focused. Our results show that single-layer scanning of LBC slides is possible and how it can be achieved. We assembled focus point analysis and sharpness classification into a fully automatic, iterative workflow, free of user intervention, which performs repetitive slide scanning as necessary. On 400 LBC slides we achieved a scanning-time of 13.9±10.1 min with 29.1±15.5 focus points. In summary, the integration of semantic focus information into whole-slide imaging allows automatic high-quality imaging of LBC slides and subsequent biomarker analysis. PMID:23585899

  17. Sahara Slide: Age, initiation, and processes of a giant submarine slide

    NASA Astrophysics Data System (ADS)

    Georgiopoulou, Aggeliki; Masson, Douglas G.; Wynn, Russell B.; Krastel, Sebastian

    2010-07-01

    The Sahara Slide is a giant submarine landslide on the northwest African continental margin. The landslide is located on the open continental slope offshore arid Western Sahara, with a headwall at a water depth of ˜2000 m. High primary productivity in surface waters drives accumulation of thick fine-grained pelagic/hemipelagic sediment sequences in the slide source area. Rare but large-scale slope failures, such as the Sahara Slide that remobilized approximately 600 km3 of sediment, are characteristic of this sedimentological setting. Seismic profiles collected from the slide scar reveal a stepped profile with two 100 m high headwalls, suggesting that the slide occurred retrogressively as a slab-type failure. Sediment cores recovered from the slide deposit provide new insights into the process by which the slide eroded and entrained a volcaniclastic sand layer. When this layer was entrained at the base of the slide it became fluidized and resulted in low apparent friction, facilitating the exceptionally long runout of ˜900 km. The slide location appears to be controlled by the buried headwall of an older slope failure, and we suggest that the cause of the slide relates to differential sedimentation rates and compaction across these scarps, leading to local increases of pore pressure. Sediment cores yield a date of 50-60 ka for the main slide event, a period of global sea level rise which may have contributed to pore pressure buildup. The link with sea level rising is consistent with other submarine landslides on this margin, drawing attention to this potential hazard during global warming.

  18. Strapping rowers to their sliding seat improves performance during the start of single-scull rowing.

    PubMed

    van Soest, A J Knoek; de Koning, H; Hofmijster, M J

    2016-09-01

    In this study, the effect of strapping rowers to their sliding seat on performance during 75 m on-water starting trials was investigated. Well-trained rowers performed 75 m maximum-effort starts using an instrumented single scull equipped with a redesigned sliding seat system, both under normal conditions and while strapped to the sliding seat. Strapping rowers to their sliding seat resulted in a 0.45 s lead after 75 m, corresponding to an increase in average boat velocity of about 2.5%. Corresponding effect sizes were large. No significant changes were observed in general stroke cycle characteristics. No indications of additional boat heaving and pitching under strapped conditions were found. The increase in boat velocity is estimated to correspond to an increase in average mechanical power output during the start of on-water rowing between 5% and 10%, which is substantial but smaller than the 12% increase found in a previous study on ergometer starting. We conclude that, after a very short period of adaptation to the strapped condition, single-scull starting performance is substantially improved when the rower is strapped to the sliding seat. PMID:26758804

  19. Fluid pressure responses for a Devil's Slide-like system: problem formulation and simulation

    USGS Publications Warehouse

    Thomas, Matthew A.; Loague, Keith; Voss, Clifford I.

    2015-01-01

    This study employs a hydrogeologic simulation approach to investigate subsurface fluid pressures for a landslide-prone section of the central California, USA, coast known as Devil's Slide. Understanding the relative changes in subsurface fluid pressures is important for systems, such as Devil's Slide, where slope creep can be interrupted by episodic slip events. Surface mapping, exploratory core, tunnel excavation records, and dip meter data were leveraged to conceptualize the parameter space for three-dimensional (3D) Devil's Slide-like simulations. Field observations (i.e. seepage meter, water retention, and infiltration experiments; well records; and piezometric data) and groundwater flow simulation (i.e. one-dimensional vertical, transient, and variably saturated) were used to design the boundary conditions for 3D Devil's Slide-like problems. Twenty-four simulations of steady-state saturated subsurface flow were conducted in a concept-development mode. Recharge, heterogeneity, and anisotropy are shown to increase fluid pressures for failure-prone locations by up to 18.1, 4.5, and 1.8% respectively. Previous estimates of slope stability, driven by simple water balances, are significantly improved upon with the fluid pressures reported here. The results, for a Devil's Slide-like system, provide a foundation for future investigations

  20. Secondary osteon size and collagen/lamellar organization ("osteon morphotypes") are not coupled, but potentially adapt independently for local strain mode or magnitude.

    PubMed

    Skedros, John G; Keenan, Kendra E; Williams, Tyler J; Kiser, Casey J

    2013-02-01

    In bone, matrix slippage that occurs at cement lines of secondary osteons during loading is an important toughening mechanism. Toughness can also be enhanced by modifications in osteon cross-sectional size (diameter) for specific load environments; for example, smaller osteons in more highly strained "compression" regions vs. larger osteons in less strained "tension" regions. Additional osteon characteristics that enhance toughness are distinctive variations in collagen/lamellar organization (i.e., "osteon morphotypes"). Interactions might exist between osteon diameter and morphotype that represent adaptations for resisting deleterious shear stresses that occur at the cement line. This may be why osteons often have a peripheral ring (or "hoop") of highly oblique/transverse collagen. We hypothesized that well developed/distinct "hoops" are compensatory adaptations in cases where increased osteon diameter is mechanically advantageous (e.g., larger osteons in "tension" regions would have well developed/distinct "hoops" in order to resist deleterious consequences of co-existing localized shear stresses). We tested this hypothesis by determining if there are correlations between osteon diameters and strongly hooped morphotypes in "tension", "compression", and "neutral axis" regions of femora (chimpanzees, humans), radii (horse, sheep) and calcanei (horse, deer). The results reject the hypothesis-larger osteons are not associated with well developed/distinct "hoops", even in "tension regions" where the effect was expected to be obvious. Although osteon diameter and morphotype are not coupled, osteon diameters seem to be associated with increased strain magnitudes in some cases, but this is inconsistent. By contrast, osteon morphotypes are more strongly correlated with the distribution of tension and compression. PMID:23123271

  1. Analysis of slide exploration strategy of cytologists when reading digital slides

    NASA Astrophysics Data System (ADS)

    Pantanowitz, Liron; Parwani, Anil; Tseytlin, Eugene; Mello-Thoms, Claudia

    2012-02-01

    Cytology is the sub-domain of Pathology that deals mainly with the diagnosis of cellular changes caused by disease. Current clinical practice involves a cytotechnologist that manually screens glass slides containing fixed cytology material using a light microscope. Screened slides are then forwarded to a specialized pathologist, a cytopathologist, for microscopic review and final diagnostic interpretation. If no abnormalities are detected, the specimen is interpreted as "normal", otherwise the abnormalities are marked with a pen on the glass slide by the cytotechnologist and then are used to render a diagnosis. As Pathology is migrating towards a digital environment it is important to determine whether these crucial screening and diagnostic tasks can be performed as well using digital slides as the current practice with glass slides. The purpose of this work is to make this assessment, by using a set of digital slides depicting cytological materials of different disease processes in several organs, and then to analyze how different cytologists including cytotechnologists, cytopathologists and cytotechnology-trainees explored the digital slides. We will (1) collect visual search data from the cytologists as they navigate the digital slides, as well as record any electronic marks (annotations) made by the cytologists; (2) convert the dynamic visual search data into a static representation of the observers' exploration strategy using 'search maps'; and (3) determine slide coverage, per viewing magnification range, for each group. We have developed a virtual microscope to collect this data, and this interface allows for interactive navigation of the virtual slide (including panning and zooming), as well as annotation of reportable findings. Furthermore, all interactions with the interface are time stamped, which allows us to recreate the cytologists' search strategy.

  2. Resistance to Sliding on Atomic Scales

    NASA Technical Reports Server (NTRS)

    Dominik, C.; Tielens, A.; Cuzzi, Jeffrey (Technical Monitor)

    1995-01-01

    The structure and stability of agglomerates of micron-sized particles is determined by the mechanical properties of the individual contacts between the constituent particles. In this paper we study the possibility of aggregate rearrangements by sliding. Since the contacts between (sub)micron particles are only a few hundred atoms in diameter, processes on atomic levels will play the dominating roll. We study a theoretical model of sliding friction for surfaces that are either flat or contain steps in their grids. The results show that sliding over flat surfaces may produce a large range of friction coefficients, including zero if the adhesive forces are small compared to the binding forces inside a body. However, both grid alignment and steps in the surface will lead to high values for friction. These processes combined virtually eliminate the possibility of sliding in a collision of two (sub)micron sized particles at velocities low enough for sticking to occur. On the other hand we show that in collisions between aggregates sliding may be an important factor for energy dissipation and compaction.

  3. On a model of frictional sliding

    NASA Astrophysics Data System (ADS)

    Estrin, Y.; Bréchet, Y.

    1996-10-01

    A model of frictional sliding with an N-shaped curve for the sliding velocity dependence of the coefficient of friction is considered. This type of friction law is shown to be related to dynamic i.e., velocity dependent ‘ageing’ of asperity junctions. Mechanisms of ‘ageing’ for ductile (Bowden-Tabor) and brittle (Byerlee) materials, though different in nature, lead to qualitatively similar N-shaped velocity dependencies of the coefficient of friction. Estimates for the velocities limiting the range of negative velocity sensitivity of the coefficient of friction are obtained for the ductile case and—albeit with a lesser degree of reliability—for the brittle one. It is shown by linear stability analysis that discontinuous sliding (stick-slip) is associated with the descending portion of the N-shaped curve. An instability criterion is obtained. An expression for the period of the attendant relaxation oscillations of the sliding velocity is given in terms of the calculated velocity dependence of the coefficient of friction. It is suggested that the micromechanically motivated friction law proposed should be used in models of earthquakes due to discontinuous frictional sliding on a crustal fault.

  4. Do grain boundaries in nanophase metals slide?

    SciTech Connect

    Bringa, E M; Leveugle, E; Caro, A

    2006-10-27

    Nanophase metallic materials show a maximum in strength as grain size decreases to the nano scale, indicating a break down of the Hall-Petch relation. Grain boundary sliding, as a possible accommodation mechanisms, is often the picture that explain computer simulations results and real experiments. In a recent paper, Bringa et al. Science 309, 1838 (2005), we report on the observation of an ultra-hard behavior in nanophase Cu under shock loading, explained in terms of a reduction of grain boundary sliding under the influence of the shock pressure. In this work we perform a detailed study of the effects of hydrostatic pressure on nanophase Cu plasticity and find that it can be understood in terms of pressure dependent grain boundary sliding controlled by a Mohr-Coulomb law.

  5. NEMD simulations for ductile metal sliding

    SciTech Connect

    Hammerberg, James E; Germann, Timothy C; Ravelo, Ramon J; Holian, Brad L

    2011-01-31

    We have studied the sliding behavior for a 19 M Al(110)/Al(110) defective crystal at 15 GPa as a function of relative sliding velocity. The general features are qualitatively similar to smaller scale (1.4 M) atom simulations for Al(111)/Al(110) nondefective single crystal sliding. The critical velocity, v{sub c}, is approximately the same for the defective crystal as the size scaled v{sub c}. The lower velocity tangential force is depressed relative to the perfect crystal. The critical temperature, T*, is depressed relative to the perfect crystal. These conclusions are consistent with a lower value for f{sub c} for the defective crystal. The detailed features of structural transformation and the high velocity regime remain to be mapped.

  6. Experimental Testing of Glacier Sliding Laws

    NASA Astrophysics Data System (ADS)

    Zoet, L.; Iverson, N. R.

    2013-12-01

    Glacier sliding laws exist in various forms and are applied in modeling of glacier dynamics. Sliding laws have been, in most cases, theoretically derived but not experimentally tested. Under certain conditions ice sliding over a rigid bed will generate cavities in the lees of bedrock bumps. These cavities will redistribute shear stress to regions of the bed that are in contact with ice. Sliding laws that incorporate cavity formation relate drag to the maximum adverse slope of the region of ice-bed contact. Sinusoidal and stepped-bed geometries are, therefore, predicted to affect basal drag differently. A sinusoidal bed is predicted to have a double-valued drag response as a function of sliding velocity, whereas the steady-state drag on a stepped bed with linear adverse slopes is expected to be independent of sliding velocity. We have conducted an experimental study of sliding laws using a ring shear apparatus that slides ice over a rigid bed. The device rotates a ring of ice that is 20 cm wide, 20 cm tall, with outer diameter of 90 cm. The sliding speed at the ice ring's centerline was incrementally stepped between 7.25--324 m/yr, and a vertical stress of 500 kPa was applied to the ice ring. The ice consisted initially of randomly oriented crystals that with sliding quickly developed a fabric like those observed in ice near glacier beds. The temperature of the ice is held at the pressure melting point and is regulated to ~0.01oC by a bath of circulating fluid that surrounds the sample chamber. Experiments have been conducted on a stepped bed with a constant slope of 8.3 and a sinusoidal bed with a wavelength of 183.3 mm and an amplitude of 15.3 mm. Water was allowed to drain from cavities, so effective stress at the bed was equal to the total vertical stress. Our experimental results differ from theoretical predictions. For the stepped bed, a decrease in shear stress of ~50% over a 12-fold increase in velocity is observed, in contrast to theoretical predictions of

  7. Develop and Manufacture an airlock sliding tray

    SciTech Connect

    Lawton, Cindy M.

    2014-02-26

    Objective: The goal of this project is to continue to develop an airlock sliding tray and then partner with an industrial manufacturing company for production. The sliding tray will be easily installed into and removed from most glovebox airlocks in a few minutes. Technical Approach: A prototype of a sliding tray has been developed and tested in the LANL cold lab and 35 trays are presently being built for the plutonium facility (PF-4). The current, recently approved design works for a 14-inch diameter round airlock and has a tray length of approximately 20 inches. The grant will take the already tested and approved round technology and design for the square airlock. These two designs will be suitable for the majority of the existing airlocks in the multitude of DOE facilities. Partnering with an external manufacturer will allow for production of the airlock trays at a much lower cost and increase the availability of the product for all DOE sites. Project duration is estimated to be 12-13 months. Benefits: The purpose of the airlock sliding trays is fourfold: 1) Mitigate risk of rotator cuff injuries, 2) Improve ALARA, 3) Reduce risk of glovebox glove breaches and glove punctures, and 4) Improve worker comfort. I have had the opportunity to visit many other DOE facilities including Savannah, Y-12, ORNL, Sandia, and Livermore for assistance with ergonomic problems and/or injuries. All of these sites would benefit from the airlock sliding tray and I can assume all other DOE facilities with gloveboxes built prior to 1985 could also use the sliding trays.

  8. Sliding Contact Bearings for Service to 700 C

    NASA Technical Reports Server (NTRS)

    Sliney, Harold E.

    1996-01-01

    Cylindrical, sliding contact bearings made entirely of a self-lubricating powder metallurgy composite (PM212) or of super alloy shells lined with clad PM212 were tested in an oscillating mode at temperatures from 25 to 700 C. Tests of 100 hr duration or longer were conducted at a bearing unit load of 3.45 Mpa (500 psi). Shorter duration tests at various unit loads up to 24.1 Mpa (3500 psi) were also conducted. In comparison tests, bearings lubricated with PM212 had superior anti-wear characteristics compared to the baseline, unlubricated, super alloy bearings: no galling of PM212-lubricated bearings occurred, while severe surface damage including galling occurred, especially at high loads, during the baseline tests. A heat treatment procedure, which dimensionally stabilizes PM212 and thereby minimizes clearance changes during high temperature bearing operation, is described.

  9. Sliding Window Generalized Kernel Affine Projection Algorithm Using Projection Mappings

    NASA Astrophysics Data System (ADS)

    Slavakis, Konstantinos; Theodoridis, Sergios

    2008-12-01

    Very recently, a solution to the kernel-based online classification problem has been given by the adaptive projected subgradient method (APSM). The developed algorithm can be considered as a generalization of a kernel affine projection algorithm (APA) and the kernel normalized least mean squares (NLMS). Furthermore, sparsification of the resulting kernel series expansion was achieved by imposing a closed ball (convex set) constraint on the norm of the classifiers. This paper presents another sparsification method for the APSM approach to the online classification task by generating a sequence of linear subspaces in a reproducing kernel Hilbert space (RKHS). To cope with the inherent memory limitations of online systems and to embed tracking capabilities to the design, an upper bound on the dimension of the linear subspaces is imposed. The underlying principle of the design is the notion of projection mappings. Classification is performed by metric projection mappings, sparsification is achieved by orthogonal projections, while the online system's memory requirements and tracking are attained by oblique projections. The resulting sparsification scheme shows strong similarities with the classical sliding window adaptive schemes. The proposed design is validated by the adaptive equalization problem of a nonlinear communication channel, and is compared with classical and recent stochastic gradient descent techniques, as well as with the APSM's solution where sparsification is performed by a closed ball constraint on the norm of the classifiers.

  10. Newly recognized submarine slide complexes in the southern California Bight

    NASA Astrophysics Data System (ADS)

    Conrad, J. E.; Lee, H. J.; Edwards, B. D.; McGann, M.; Sliter, R. W.

    2012-12-01

    New high-resolution bathymetric and seismic-reflection surveys have imaged large (<0.5 km3) submarine landslides offshore southern California that have not been previously recognized in the Borderland. The new data show several large slides or slide complexes that include: 1) a slide complex consisting of numerous (>7) individual overlapping slides along the western margin of Santa Cruz Basin (SCB slide); 2) a series of slumps and slide scars on the slope south of San Pedro shelf (SPS slide); and 3) a slope failure along the shelf edge in northern San Diego County, termed the Del Mar slide. The SCB slide complex extends for 30 km along the western slope of Santa Cruz Basin, with debris lobes extending 5-8 km into the basin. Head scarps of some of these slides are 50-75 m high. The SPS slide complex also appears to consist of multiple slides, which roughly parallel the Palos Verdes Fault and the San Gabriel Canyon submarine channel on the shelf edge and slope south of San Pedro shelf. Slide deposits associated with this complex are only partially mapped due to limited high-resolution bathymetric coverage, but extend to the south in the area SW of Lasuen Knoll. Seismic-reflection profiles show that some of these deposits are up to 20 m thick. The Del Mar slide is located about 10 km north of La Jolla Canyon and extends about 6 km along the shelf edge. The head scarp lies along the trend of a branch of the Rose Canyon Fault Zone. Radiocarbon ages of sediment overlying this slide indicate the Del Mar slide is approximately 12-16 ka. These large slide complexes have several characteristics in common. Nearly all occur in areas of tectonic uplift. All of the complexes show evidence of recurrent slide activity, exhibiting multiple headwall scarps and debris lobes, and where available, high-resolution seismic-reflection profiles of these slide areas provide evidence of older, buried mass transport deposits. Assuming typical sedimentation rates, the recurrence interval of

  11. Railgun rail gouging by hypervelocity sliding contact

    SciTech Connect

    Barker, L.M.; Trucano, T.G. ); Susoeff, A.R. )

    1989-01-01

    A description is given of a recently resolved mechanisms of gouging which occurs during hypervelocity sliding contact between two materials. A parameter study based on computer modeling of the gouging mechanism is presented in which gouging velocity thresholds are determined for several combinations of sliding materials. Materials which can gouge each other are found to do so only within a certain range of velocities. Related calculations of gaseous material ahead of railgun projectiles are also presented. Gun bore gouging experience with the Lawrence Livermore National Laboratory railgun project is reviewed.

  12. Railgun rail gouging by hypervelocity sliding contact

    SciTech Connect

    Barker, L.M.; Trucano, T.G.; Susoeff, A.R.

    1988-01-01

    A description is given of a recently resolved mechanism of gouging which occurs during hypervelocity sliding contact between two materials. A parameter study based on computer modelling of the gouging mechanism is presented in which gouging velocity thresholds are determined for several combinations of sliding materials. Materials which can gouge each other are found to do so only within a certain range of velocities. Related calculations of gaseous material ahead of railgun projectiles are also presented. Gun bore gouging experience with the Lawrence Livermore National Laboratory railgun project is reviewed.

  13. Sliding GAIT Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

    NASA Technical Reports Server (NTRS)

    Townsend, Julie; Biesiadecki, Jeffrey

    2012-01-01

    The design of a surface robotic system typically involves a trade between the traverse speed of a wheeled rover and the terrain-negotiating capabilities of a multi-legged walker. The ATHLETE mobility system, with both articulated limbs and wheels, is uniquely capable of both driving and walking, and has the flexibility to employ additional hybrid mobility modes. This paper introduces the Sliding Gait, an intermediate mobility algorithm faster than walking with better terrain-handling capabilities than wheeled mobility.

  14. Grain boundary sliding measurements during tensile creep of a single-phase alumina

    SciTech Connect

    Blanchard, C.R.; Lin, H.T.; Becher, P.F.

    1998-06-01

    The grain boundary sliding (GBS) behavior of a single-phase (relatively coarse-grained) alumina material was studied after tensile creep experiments were performed at 1,500 C at stress levels of 20 and 35 MPa. Specimens tested at 35 MPa exhibited a number of modes of GBS, including Mode II (shear) displacements, Mode I (opening) displacements, out-of-plane sliding displacements, and in-plane grain rotation. Strains in the grain boundaries due to Mode II GBS displacements ranged from 940% to 4,400%. Average Mode II GBS displacements ranged from 0.08 to 0.28 {micro}m in samples tested for 120 and 480 min, respectively, at 35 MPa. The GBS displacements were shown to fit a Weibull distribution. Tensile creep under a 35 MPa stress yielded a GBS rate of 9.5 {times} 10{sup {minus}6} {micro}m/s, while the 20 MPa stress resulted in a GBS rate of 2.2 {times} 10{sup {minus}6} {micro}m/s. The average Mode II GBS displacements increased linearly with specimen strain, suggesting that GBS may play an important role in creep cavitation during tensile creep. The data also revealed that compatibility and constraint rules appear to govern GBS behavior during tensile creep. GBS behavior during compressive creep will be compared to the tensile creep GBS measurements presented.

  15. Ceramic wear in indentation and sliding

    NASA Technical Reports Server (NTRS)

    Miyoshi, K.; Buckley, D. H.

    1984-01-01

    The various wear mechanisms involved with single-crystal ceramic materials in indentation and in sliding contacts. Experiments simulating interfacial events have been conducted with hemispherical, conical and pyramidal indenters (riders). With spherical riders, under either abrasive or adhesive conditions, two types of fracture pits have been observed. First, spherical-shaped fracture pits and wear particles are found as a result of either indenting or sliding. These are shown to be due to a spherical-shaped fracture along the circular or spherical stress trajectories. Second, polyhedral fracture pits and debris, produced by anisotropic fracture, and also found both during indenting and sliding. These are primarily controlled by surface and subsurface cracking along cleavage planes. Several quantitative results have also been obtained from this work. For example, using a pyramidal diamond, crack length of Mn-Zn ferrite in the indentation process grows linearly with increasing normal load. Moreover, the critical load to fracture both in indentation and sliding is essentially isotropic and is found to be directly proportional to the indenter radius.

  16. Color Microfiche as a Replacement for Slides.

    ERIC Educational Resources Information Center

    Schwarz, Philip

    This is the summary of a larger paper describing the evolution of a mediated elementary accounting course at the University of Wisconsin-Stout. The course was initially developed as a 25 slide-tape lesson course which included 950 visuals and approximately 25 hours of instruction. One hundred students per semester took the course in the following…

  17. Particle Sliding on a Rough Incline

    ERIC Educational Resources Information Center

    Zurcher, Ulrich

    2007-01-01

    We study a particle sliding on a rough inclined plane as an example of a mechanical problem with nonholonomic constraint. The particle is launched in an arbitrary direction so that its motion has both a horizontal and a "vertical" (i.e., up- and downhill) direction. The friction force acts along the instantaneous velocity, so that the horizontal…

  18. [Development of an obstetrical pocket slide rule].

    PubMed

    Krüger, G

    1986-01-01

    We present a slide rule to value old obstetric and ultrasound findings in prenatal care day by day. We have developed the scale. Manufacturer is VEB Mantissa Dresden, sales department is Staatliches Versorgungskontor für Pharmazie und Medizintechnik. PMID:3727852

  19. Transistor h parameter conversion slide rule

    NASA Technical Reports Server (NTRS)

    Brantner, R. E.

    1967-01-01

    Slide rule enables the ready conversion of transistor h parameters from one form to another and reduces calculation time by a factor of 5 to 10. The scales are selected to cover all ranges of each parameter that will normally exist for any transistor, and answers are given in the correct order of magnitude, making powers-of-ten calculations unnecessary.

  20. Sliding, Insulating Window Panel Reduces Heat Loss.

    ERIC Educational Resources Information Center

    School Business Affairs, 1984

    1984-01-01

    A new sliding insulated panel reduces window heat loss up to 86 percent, and infiltration 60-90 percent, paying for itself in 3-9 years. This article discusses the panel's use and testing in the upper Midwest, reporting both technical characteristics and users' reactions. (MCG)

  1. Simulation of sliding of liquid droplets

    NASA Astrophysics Data System (ADS)

    Alen, Saif Khan; Farhat, Nazia; Rahman, Md. Ashiqur

    2016-07-01

    Numerical simulations of sliding behavior of liquid droplets on flat and periodic microgrooved surfaces with a range of groove geometry are conducted. A numerical model is developed which is capable of predicting the critical sliding angle of the drop by comparing the advancing and the receding angles obtained from numerical and experimental findings. The effect of microgroove topography, droplet size and inclination angle on the droplet sliding characteristics is analysed. Using an open-source platform (Surface Evolver), a 3D drop-shape model is developed to numerically determine the drop stability and contact angle hysteresis on tilted surfaces. In this numerical model, the three phase contact line of the drop is obtained by numerically calculating the vertex force and local contact angle at each vertex of the base contour. Several numerical models are developed based on various assumptions of base contour shape (circular or elliptical) and implementation of gravitational force to the droplet. Droplet shapes and critical sliding angles, obtained from these numerical models, are compared with those of experimental results and are found to be in very good agreement.

  2. Enhancing Creative Thinking through Designing Electronic Slides

    ERIC Educational Resources Information Center

    Mokaram, Al-Ali Khaled; Al-Shabatat, Ahmad Mohammad; Fong, Fook Soon; Abdallah, Andaleeb Ahmad

    2011-01-01

    During the shifting of teaching and learning methods using computer technologies, much emphasis was paid on the knowledge content more than the thinking skills. Thus, this study investigated the effects of a computer application, namely, designing electronic slides on the development of creative thinking skills of a sample of undergraduate…

  3. Solenoid valve design minimizes vibration and sliding wear problem

    NASA Technical Reports Server (NTRS)

    Gillon, W. A., Jr.

    1968-01-01

    Two-way cryogenic solenoid valve resists damage from vibration and metallic interfacial sliding. The new system features a flat-faced armature guided by a flexure disk which eliminates sliding surfaces and is less subject to contamination and wear.

  4. How to Prepare Clay-Lift and Sandwich Slides.

    ERIC Educational Resources Information Center

    Barman, Charles R.

    1984-01-01

    Describes two techniques for making 35 millimeter slides without using photographic film. One method uses clear adhesive contact paper and the other uses transparency film. Both techniques are inexpensive and require only a few minutes of preparation per slide. (JM)

  5. From Peru to Pamplona: Integrating Slides into the Lesson Plan.

    ERIC Educational Resources Information Center

    Kiss, Marilyn

    1989-01-01

    For a visual generation of students, slides are an effective learning and teaching tool and a constant stimulus for writing, reading, and speaking activities. Ways in which slides have been effectively incorporated into foreign language instruction lessons are described. (CB)

  6. 45 CFR 98.42 - Sliding fee scales.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 45 Public Welfare 1 2013-10-01 2013-10-01 false Sliding fee scales. 98.42 Section 98.42 Public... Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales. (a) Lead Agencies shall establish, and periodically revise, by rule, a sliding fee scale(s)...

  7. 45 CFR 98.42 - Sliding fee scales.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 45 Public Welfare 1 2011-10-01 2011-10-01 false Sliding fee scales. 98.42 Section 98.42 Public... Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales. (a) Lead Agencies shall establish, and periodically revise, by rule, a sliding fee scale(s)...

  8. 45 CFR 98.42 - Sliding fee scales.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 45 Public Welfare 1 2012-10-01 2012-10-01 false Sliding fee scales. 98.42 Section 98.42 Public... Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales. (a) Lead Agencies shall establish, and periodically revise, by rule, a sliding fee scale(s)...

  9. 45 CFR 98.42 - Sliding fee scales.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 45 Public Welfare 1 2014-10-01 2014-10-01 false Sliding fee scales. 98.42 Section 98.42 Public... Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales. (a) Lead Agencies shall establish, and periodically revise, by rule, a sliding fee scale(s)...

  10. 45 CFR 98.42 - Sliding fee scales.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 45 Public Welfare 1 2010-10-01 2010-10-01 false Sliding fee scales. 98.42 Section 98.42 Public... Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales. (a) Lead Agencies shall establish, and periodically revise, by rule, a sliding fee scale(s)...

  11. Classification and Cataloging of Slides Using Color Photocopying

    ERIC Educational Resources Information Center

    Clawson, Catherine R.; Rankowski, Charles A.

    1978-01-01

    The classification and cataloging of slides pose unique and critical problems in every field where they are used. A brief overview of the literature is presented, along with observations on local area slide systems and a description of a slide system developed for use in C-E Refractories' Research and Development Library utilizing color…

  12. 21 CFR 864.3800 - Automated slide stainer.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Automated slide stainer. 864.3800 Section 864.3800 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED... Automated slide stainer. (a) Identification. An automated slide stainer is a device used to stain...

  13. 21 CFR 864.3800 - Automated slide stainer.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Automated slide stainer. 864.3800 Section 864.3800 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED... Automated slide stainer. (a) Identification. An automated slide stainer is a device used to stain...

  14. 21 CFR 864.3800 - Automated slide stainer.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Automated slide stainer. 864.3800 Section 864.3800 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED... Automated slide stainer. (a) Identification. An automated slide stainer is a device used to stain...

  15. 21 CFR 864.3800 - Automated slide stainer.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Automated slide stainer. 864.3800 Section 864.3800 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED... Automated slide stainer. (a) Identification. An automated slide stainer is a device used to stain...

  16. 21 CFR 864.3800 - Automated slide stainer.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Automated slide stainer. 864.3800 Section 864.3800 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED... Automated slide stainer. (a) Identification. An automated slide stainer is a device used to stain...

  17. Slides and the Foreign Language Teacher: A Bibliography.

    ERIC Educational Resources Information Center

    Galt, Alan

    This bibliography lists 275 items relating to the use of visual and audiovisual aids in the foreign language classroom. The items are entered under the following major headings: (1) Audiovisual Aids; (2) Photography; (3) Picture Composition; (4) Slides and Photographs for Teaching; and (5) Slides and Slide Shows: Production and Presentation.…

  18. A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Kreutz, Kenneth; Bayard, David S.

    1988-01-01

    A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.

  19. A measure for characterizing sliding on lung boundaries.

    PubMed

    Amelon, Ryan E; Cao, Kunlin; Reinhardt, Joseph M; Christensen, Gary E; Raghavan, Madhavan L

    2014-03-01

    The lobes of the lung slide relative to each other during breathing. Quantifying lobar sliding can aid in better understanding lung function, better modeling of lung dynamics, and for studying phenomenon such as pleural adhesion. We propose a novel measure to characterize lobe sliding in the lung based on the displacement field obtained from image registration of CT scans. When two sliding lobes are modeled as a continuum, the discontinuity in the displacement field at the fissure will manifest as elevated maximum shear--the proposed measure--which is capable of capturing both the level and orientation of sliding. Six human lungs were analyzed using scans spanning functional residual capacity to total lung capacity. The lung lobes were segmented and registered on a lobe-by-lobe basis to obtain the displacement field from which the proposed sliding measure was calculated. The sliding measure was found to be insignificant in the parenchyma, as relatively little tissue shear occurs here. On the other hand, it was elevated along the fissures. Thus, a map of the proposed sliding measure of the entire lung clearly delineates and quantifies sliding between lung lobes. Sliding is a key aspect of lung deformation during breathing. The proposed measure may help resolve artifacts introduced by sliding in deformation analysis techniques used for radiotherapy. PMID:24114112

  20. Sliding friction on wet and dry sand.

    PubMed

    Fall, A; Weber, B; Pakpour, M; Lenoir, N; Shahidzadeh, N; Fiscina, J; Wagner, C; Bonn, D

    2014-05-01

    We show experimentally that the sliding friction on sand is greatly reduced by the addition of some-but not too much-water. The formation of capillary water bridges increases the shear modulus of the sand, which facilitates the sliding. Too much water, on the other hand, makes the capillary bridges coalesce, resulting in a decrease of the modulus; in this case, we observe that the friction coefficient increases again. Our results, therefore, show that the friction coefficient is directly related to the shear modulus; this has important repercussions for the transport of granular materials. In addition, the polydispersity of the sand is shown to also have a large effect on the friction coefficient. PMID:24836256

  1. Plastic deformation at surface during unlubricated sliding

    NASA Technical Reports Server (NTRS)

    Yamamoto, T.; Buckley, D. H.

    1982-01-01

    The plastic deformation and wear of 304 stainless-steel surface slid against an aluminum oxide rider were observed by using a scanning electron microscope and an optical microscope. Experiments were conducted in a vacuum of 0.000001 Pa and in an environment of 0.0005 Pa chlorine gas at 25 C. The load was 500 grams and the sliding velocity was 0.5 centimeter per second. The deformed surface layer which accumulates and develops successively is left behind the rider, and step-shaped protuberances are developed even after single pass sliding under both environmental conditions. A fully developed surface layer is gradually torn off leaving a characteristic pattern. These observations result from both adhesion and an adhesive wear mechanism.

  2. Vesicocutaneous fistula after sliding hernia repair

    PubMed Central

    Mittal, Varun; Kapoor, Rakesh; Sureka, Sanjoy

    2016-01-01

    Sliding inguinal hernias are usually direct inguinal hernias containing various abdominal viscera. The incidence of bladder forming a part of an inguinal hernia, called as “scrotal cystocele,” is 1–4%. The risk of bladder injury is as high as 12% when repairing this type of hernia. This case report emphasizes this aspect in a 65-year-old man who presented with urinary leak through the scrotal wound following right inguinal hernia repair. PMID:26941501

  3. Fast Convolution Using Generalized Sliding Fermat Number Transform with Application to Digital Filtering

    NASA Astrophysics Data System (ADS)

    Alaeddine, Hamzé Haidar; Bazzi, Oussama; Alaeddine, Ali Haidar; Mohanna, Yasser; Burel, Gilles

    This paper is about a new efficient method for the implementation of a Block Proportionate Normalized Least Mean Square (BPNLMS++) adaptive filter using the Fermat Number Transform (FNT) and its inverse (IFNT). These transforms present advantages compared to Fast Fourier Transform (FFT) and the inverse (IFFT). An efficient state space method for implementing the FNT over rectangular windows is used in the cases where there is a large overlap between the consecutive input signals. This is called Generalized Sliding Fermat Number Transform (GSFNT) and is useful for reducing the computational complexity of finite ring convolvers and correlators. In this contribution, we propose, as a first objective, an efficient state algorithm with the purpose of reducing the complexity of IFNT. This algorithm, called Inverse Generalized Sliding Fermat Number Transform (IGSFNT), uses the technique of Generalized Sliding associated to matricial calculation in the Galois Field. The second objective is to realize an implementation of the BPNLMS++ adaptive filter using GSFNT and IGSFNT, which can significantly reduce the computation complexity of the filter implantation on digital signal processors.

  4. Virtual slides: application in pulmonary pathology consultations.

    PubMed

    Słodkowska, Janina; Chyczewski, Lech; Wojciechowski, Michał

    2008-01-01

    The Virtual Slide (VS) is an interactive microscope emulator that presents a complete digitized tissue section via the Internet. A successful implementation of VS has been observed for educational, research venues and quality control. VS acquisition for consultative pathology is not so common. The purpose of this study was to explore the efficacy and usability of VS in the consultative pulmonary telepathology. 20 lung tumors entered the study. The performance was programmed for 2 medical centers specialized in pulmonary pathology (beginner and advancer in telepathology). A high-quality VSs were prepared by Coolscope (Nikon, Eclipsnet VSL, Japan), and were evaluated via the Internet. The cases were reviewed for the second time with conventional light microscope. VS diagnostic accuracy and the interobserver variability were evaluated. Also the time taken by examiners to render the diagnoses and time needed to scan the microscopic slide were analyzed. Percentage concordance between original glass-slides diagnosis and diagnosis for VSs was very high. Pathologists found the download speed of VSs adequate; experience in telepathology reduced the time of VS diagnosis. VS implementation suggests advantages for teleconsulation and education but also indicate some technical limitations. This is the first Polish trial of VS implementation in telepathology consultative service. PMID:18296275

  5. Validation of diagnostic accuracy using digital slides in routine histopathology

    PubMed Central

    2012-01-01

    Background Robust hardware and software tools have been developed in digital microscopy during the past years for pathologists. Reports have been advocated the reliability of digital slides in routine diagnostics. We have designed a retrospective, comparative study to evaluate the scanning properties and digital slide based diagnostic accuracy. Methods 8 pathologists reevaluated 306 randomly selected cases from our archives. The slides were scanned with a 20× Plan-Apochromat objective, using a 3-chip Hitachi camera, resulting 0.465 μm/pixel resolution. Slide management was supported with dedicated Data Base and Viewer software tools. Pathologists used their office PCs for evaluation and reached the digital slides via intranet connection. The diagnostic coherency and uncertainty related to digital slides and scanning quality were analyzed. Results Good to excellent image quality of slides was recorded in 96%. In half of the critical 61 digital slides, poor image quality was related to section folds or floatings. In 88.2% of the studied cases the digital diagnoses were in full agreement with the consensus. Out of the overall 36 incoherent cases, 7 (2.3%) were graded relevant without any recorded uncertainty by the pathologist. Excluding the non-field specific cases from each pathologist's record this ratio was 1.76% of all cases. Conclusions Our results revealed that: 1) digital slide based histopathological diagnoses can be highly coherent with those using optical microscopy; 2) the competency of pathologists is a factor more important than the quality of digital slide; 3) poor digital slide quality do not endanger patient safety as these errors are recognizable by the pathologist and further actions for correction could be taken. Virtual slides The virtual slide(s) for this article can be found here: http://www.diagnosticpathology.diagnomx.eu/vs/1913324336747310. PMID:22463804

  6. Slide-specific models for segmentation of differently stained digital histopathology whole slide images

    NASA Astrophysics Data System (ADS)

    Brieu, Nicolas; Pauly, Olivier; Zimmermann, Johannes; Binnig, Gerd; Schmidt, Günter

    2016-03-01

    The automatic analysis of whole slide images (WSIs) of stained histopathology tissue sections plays a crucial role in the discovery of predictive biomarkers in the field on immuno-oncology by enabling the quantification of the phenotypic information contained in the tissue sections. The automatic detection of cells and nuclei, while being one of the major steps of such analysis, remains a difficult problem because of the low visual differentiation of high pleomorphic and densely cluttered objects and of the diversity of tissue appearance between slides. The key idea of this work is to take advantage of well-differentiated objects in each slide to learn about the appearance of the tissue and in particular about the appearance of low-differentiated objects. We detect well-differentiated objects on a automatically selected set of representative regions, learn slide-specific visual context models, and finally use the resulting posterior maps to perform the final detection steps on the whole slide. The accuracy of the method is demonstrated against manual annotations on a set of differently stained images.

  7. Design of a new adaptive fuzzy controller and its application to vibration control of a vehicle seat installed with an MR damper

    NASA Astrophysics Data System (ADS)

    Phu, Do Xuan; Shin, Do Kyun; Choi, Seung-Bok

    2015-08-01

    This paper presents a new adaptive fuzzy controller featuring a combination of two different control methodologies: H infinity control technique and sliding mode control. It is known that both controllers are powerful in terms of high performance and robust stability. However, both control methods require an accurate dynamic model to design a state variable based controller in order to maintain their advantages. Thus, in this work a fuzzy control method which does not require an accurate dynamic model is adopted and two control methodologies are integrated to maintain the advantages even in an uncertain environment of the dynamic system. After a brief explanation of the interval type 2 fuzzy logic, a new adaptive fuzzy controller associated with the H infinity control and sliding mode control is formulated on the basis of Lyapunov stability theory. Subsequently, the formulated controller is applied to vibration control of a vehicle seat equipped with magnetorheological fluid damper (MR damper in short). An experimental setup for realization of the proposed controller is established and vibration control performances such as acceleration at the driver’s seat are evaluated. In addition, in order to demonstrate the effectiveness of the proposed controller, a comparative work with two existing controllers is undertaken. It is shown through simulation and experiment that the proposed controller can provide much better vibration control performance than the two existing controllers.

  8. UCSB FEL user mode adaption project

    NASA Astrophysics Data System (ADS)

    Jaccarino, Vincent

    1992-04-01

    This research sponsored by the SDIO Biomedical and Materials Sciences FEL Program held the following objectives: Provide a facility in which in-house and outside user research in the materials and biological sciences can be carried out in the Far Infrared using-the unique properties of the UCSB electrostatic accelerator-driven FEL; Develop and implement new FEL concepts and FIR technology and encourage the transfer and application of this research; Train graduate students, post doctoral researchers and technical personnel in varied aspects of scientific user disciplines, FEL science and FIR technology in a cooperative, interdisciplinary environment. In summary, a free electron laser facility has been developed which is operational from 200 GHz, (6.6 cm exp -1), to 4.8 THz, (160 cm exp -1) tunable under computer control and able to deliver kilowatts of millimeter wave and far-infrared power. This facility has a well equipped user lab that has been used to perform ground breaking experiments in scientific areas as diverse as bio-physics. Nine graduate students and post doctoral researchers have been trained in the operation, use and application of these free-electron lasers.

  9. "The living picture": on the circulation of microscope-slide knowledge in 1903.

    PubMed

    Gaycken, Oliver

    2013-01-01

    Microscope slides allowed preparations to circulate among scientific and educational contexts. An extension of the circulation of microscope slides was how they became part of lantern exhibition culture. This article considers an early example of the adoption of microscope lantern show conventions by another medium, the cinema. E Martin Duncan, who was employed by Charles Urban to produce a series of popular-science films beginning in 1903, brought his experience with microphotography to bear on the challenge of adapting cinema to the purpose of public instruction. Duncan's first series of films, entitled "The Unseen World," demonstrated both profound links to the display tradition of the lantern lecture as well as the transformation of that tradition by the cinema's representational possibilities. PMID:24779105

  10. Slide Conveying of Granular Materials-Thinking Out of the Glovebox

    NASA Technical Reports Server (NTRS)

    Goddard, J. D.; Didwania, A. K.; Nott, P. R.

    2000-01-01

    The vibratory conveyor, routinely employed for normal-gravity transport of granular materials, usually consists of a continuous open trough vibrated sinusoidally to induce axial movement of a granular material. Motivated in part by a hypothetical application in zero gravity, we propose a novel modification of the vibratory conveyor based on a closed 2d trough operating in a "slide-conveying" mode, with the granular mass remaining permanently in contact with the trough walls. We present a detailed analysis of the mechanics of transport, based on a rigid-slab model for the granular mass with frictional (Coulomb) slip at the upper and lower walls. The form of the vibration cycle plays a crucial role, and the optimal conveying cycle is not the commonly assumed rectilinear sinusoidal motion. The conveying efficiency for the novel slide conveyor will be presented for several simple vibration cycles, including one believed to represent the theoretical optimum.

  11. Two dimensional nanoscale reciprocating sliding contacts of textured surfaces

    NASA Astrophysics Data System (ADS)

    Tong, Ruiting; Liu, Geng; Liu, Tianxiang

    2016-05-01

    Detailed behaviors of nanoscale textured surfaces during the reciprocating sliding contacts are still unknown although they are widely used in mechanical components to improve tribological characteristics. The current research of sliding contacts of textured surfaces mainly focuses on the experimental studies, while the cost is too high. Molecular dynamics(MD) simulation is widely used in the studies of nanoscale single-pass sliding contacts, but the CPU cost of MD simulation is also too high to simulate the reciprocating sliding contacts. In this paper, employing multiscale method which couples molecular dynamics simulation and finite element method, two dimensional nanoscale reciprocating sliding contacts of textured surfaces are investigated. Four textured surfaces with different texture shapes are designed, and a rigid cylindrical tip is used to slide on these textured surfaces. For different textured surfaces, average potential energies and average friction forces of the corresponding sliding processes are analyzed. The analyzing results show that "running-in" stages are different for each texture, and steady friction processes are discovered for textured surfaces II, III and IV. Texture shape and sliding direction play important roles in reciprocating sliding contacts, which influence average friction forces greatly. This research can help to design textured surfaces to improve tribological behaviors in nanoscale reciprocating sliding contacts.

  12. Two dimensional nanoscale reciprocating sliding contacts of textured surfaces

    NASA Astrophysics Data System (ADS)

    Tong, Ruiting; Liu, Geng; Liu, Tianxiang

    2016-04-01

    Detailed behaviors of nanoscale textured surfaces during the reciprocating sliding contacts are still unknown although they are widely used in mechanical components to improve tribological characteristics. The current research of sliding contacts of textured surfaces mainly focuses on the experimental studies, while the cost is too high. Molecular dynamics(MD) simulation is widely used in the studies of nanoscale single-pass sliding contacts, but the CPU cost of MD simulation is also too high to simulate the reciprocating sliding contacts. In this paper, employing multiscale method which couples molecular dynamics simulation and finite element method, two dimensional nanoscale reciprocating sliding contacts of textured surfaces are investigated. Four textured surfaces with different texture shapes are designed, and a rigid cylindrical tip is used to slide on these textured surfaces. For different textured surfaces, average potential energies and average friction forces of the corresponding sliding processes are analyzed. The analyzing results show that "running-in" stages are different for each texture, and steady friction processes are discovered for textured surfaces II, III and IV. Texture shape and sliding direction play important roles in reciprocating sliding contacts, which influence average friction forces greatly. This research can help to design textured surfaces to improve tribological behaviors in nanoscale reciprocating sliding contacts.

  13. Adaptive Computerized Instruction.

    ERIC Educational Resources Information Center

    Ray, Roger D.; And Others

    1995-01-01

    Describes an artificially intelligent multimedia computerized instruction system capable of developing a conceptual image of what a student is learning while the student is learning it. It focuses on principles of learning and adaptive behavioral control systems theory upon which the system is designed and demonstrates multiple user modes.…

  14. Friction and wear behaviors of MoS2/Zr coated HSS in sliding wear and in drilling processes

    NASA Astrophysics Data System (ADS)

    Deng, Jianxin; Yan, Pei; Wu, Ze

    2012-11-01

    MoS2 metal composite coatings have been successful used in dry turning, but its suitability for dry drilling has not been yet established. Therefore, it is necessary to study the friction and wear behaviors of MoS2/Zr coated HSS in sliding wear and in drilling processes. In the present study, MoS2/Zr composite coatings are deposited on the surface of W6Mo5Cr4V2 high speed steel(HSS). Microstructural and fundamental properties of these coatings are examined. Ball-on-disc sliding wear tests on the coated discs are carried out, and the drilling performance of the coated drills is tested. Test results show that the MoS2/Zr composite coatings exhibit decreases friction coefficient to that of the uncoated HSS in sliding wear tests. Energy dispersive X-ray(EDX) analysis on the wear surface indicates that there is a transfer layer formed on the counterpart ball during sliding wear processes, which contributes to the decreasing of the friction coefficient between the sliding couple. Drilling tests indicate that the MoS2/Zr coated drills show better cutting performance compared to the uncoated HSS drills, coating delamination and abrasive are found to be the main flank and rake wear mode of the coated drills. The proposed research founds the base of the application of MoS2 metal composite coatings on dry drilling.

  15. Slide identification for lecture movies by matching characters and images

    NASA Astrophysics Data System (ADS)

    Ozawa, Noriaki; Takebe, Hiroaki; Katsuyama, Yutaka; Naoi, Satoshi; Yokota, Haruo

    2003-12-01

    Slide identification is very important when creating e-Learning materials as it detects slides being changed during lecture movies. Simply detecting the change would not be enough for e-Learning purposes. Because, which slide is now displayed in the frame is also important for creating e-Learning materials. A matching technique combined with a presentation file containing answer information is very useful in identifying slides in a movie frame. We propose two methods for slide identification in this paper. The first is character-based, which uses the relationship between the character code and its coordinates. The other is image-based, which uses normalized correlation and dynamic programming. We used actual movies to evaluate the performance of these methods, both independently and in combination, and the experimental results revealed that they are very effective in identifying slides in lecture movies.

  16. Sliding wear and friction behaviour of zircaloy-4 in water

    NASA Astrophysics Data System (ADS)

    Sharma, Garima; Limaye, P. K.; Jadhav, D. T.

    2009-11-01

    In water cooled nuclear reactors, the sliding of fuel bundles in fuel channel handling system can lead to severe wear and it is an important topic to study. In the present study, sliding wear behaviour of zircaloy-4 was investigated in water (pH ˜ 10.5) using ball-on-plate sliding wear tester. Sliding wear resistance zircaloy-4 against SS 316 was examined at room temperature. Sliding wear tests were carried out at different load and sliding frequencies. The coefficient of friction of zircaloy-4 was also measured during each tests and it was found to decrease slightly with the increase in applied load. The micro-mechanisms responsible for wear in zircaloy-4 were identified to be microcutting, micropitting and microcracking of deformed subsurface zones in water.

  17. Presentation video retrieval using automatically recovered slide and spoken text

    NASA Astrophysics Data System (ADS)

    Cooper, Matthew

    2013-03-01

    Video is becoming a prevalent medium for e-learning. Lecture videos contain text information in both the presentation slides and lecturer's speech. This paper examines the relative utility of automatically recovered text from these sources for lecture video retrieval. To extract the visual information, we automatically detect slides within the videos and apply optical character recognition to obtain their text. Automatic speech recognition is used similarly to extract spoken text from the recorded audio. We perform controlled experiments with manually created ground truth for both the slide and spoken text from more than 60 hours of lecture video. We compare the automatically extracted slide and spoken text in terms of accuracy relative to ground truth, overlap with one another, and utility for video retrieval. Results reveal that automatically recovered slide text and spoken text contain different content with varying error profiles. Experiments demonstrate that automatically extracted slide text enables higher precision video retrieval than automatically recovered spoken text.

  18. Slide rule for gamma-ray flaw detection

    SciTech Connect

    Borovin, I.V.

    1984-03-01

    This article describes a slide rule which makes it possible to determine the exposure time quickly and with sufficient accuracy when inspecting steel parts using Cs-137 and Ir-192 as radioactive sources and x-ray films of types RT-1, RM-1, RT-5, etc. The slide rule scales were designed on the basis of experimental data regarding absorption of gamma rays in steel. The slide rule is similar in construction to a normal doublesided slide rule with one slide and a cursor. Gamma-ray flow detection is one of the most common methods of identifying defects using radiation. The films of different components shot by different operators using the slide rule for determining exposure time can be simultaneously developed without visually controlling the photographic density.

  19. Electrically assisted drop sliding on inclined planes

    NASA Astrophysics Data System (ADS)

    't Mannetje, D. J. C. M.; Murade, C. U.; van den Ende, D.; Mugele, F.

    2011-01-01

    We demonstrate that electrowetting using alternating current (ac) voltage can be used to overcome pinning of small drops due to omnipresent heterogeneities on solid surfaces. By balancing contact angle hysteresis with gravity on inclined planes, we find that the critical electrowetting number for mobilizing drops is consistent with the voltage-dependent reduction in contact angle hysteresis in ac electrowetting. Moreover, the terminal velocity of sliding drops under ac electrowetting is found to increase linearly with the electrowetting number. Based on this effect, we present a prototype of a wiper-free windscreen.

  20. Bi-directional planar slide mechanism

    DOEpatents

    Bieg, Lothar F.

    2003-11-04

    A bi-directional slide mechanism. A pair of master and slave disks engages opposite sides of the platform. Rotational drivers are connected to master disks so the disks rotate eccentrically about their respective axes of rotation. Opposing slave disks are connected to master disks on opposite sides of the platform by a circuitous mechanical linkage, or are electronically synchronized together using stepper motors, to effect coordinated motion. The synchronized eccentric motion of the pairs of master/slave disks compels smooth linear motion of the platform forwards and backwards without backlash. The apparatus can be incorporated in a MEMS device.

  1. Collective sliding states for colloidal molecular crystals

    SciTech Connect

    Reichhardt, Charles; Reichhardt, Cynthia

    2008-01-01

    We study the driving of colloidal molecular crystals over periodic substrates such as those created with optical traps. The n-merization that occurs in the colloidal molecular crystal states produces a remarkably rich variety of distinct dynamical behaviors, including polarization effects within the pinned phase and the formation of both ordered and disordered sliding phases. Using computer simulations, we map the dynamic phase diagrams as a function of substrate strength for dimers and trimers on a triangular substrate, and correlate features on the phase diagram with transport signatures.

  2. Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

    NASA Astrophysics Data System (ADS)

    Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

    2014-07-01

    Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This

  3. On the Effect of Counterface Materials on Tribo-Behavior of Steel Wire Sliding Under Dry Contact Condition

    NASA Astrophysics Data System (ADS)

    Chee, Su Be; Al Shalabi, Ammar; Yousif, B. F.

    Steel wires are implemented in numerous systems and undergo frequent faults due to tribological loading conditions. Therefore, this paper presents a study on the tribological performance of steel wire sliding against different counterfaces, namely, aluminum alloy, stainless steel, and mild steel using a block-on-ring tribo-tester. According to common mechanisms, the tests were performed under 5 N applied load and 0.15 m/s sliding velocity under dry contact condition. Additionally, scanning electron microscopy was used to examine the damaged features on the worn surfaces of the steel wire. Weight loss and friction coefficient results were presented versus sliding distances (0-1.6 km). In general, the results showed that friction coefficient did not reach the steady state due to the transformation of the wear mechanism from adhesive to abrasive mode. Nevertheless, the average of friction coefficient was found to be about 0.7 ± 0.1 for stainless steel and 0.2 ± 0.1 for mild steel. Weight loss gradually increased with the increase of sliding distance. The micrographs of worn surfaces revealed that the contact mechanism was transformed from adhesive to abrasive wear mode as implied by the scars and grooves on the wire surface.

  4. Detachment of compliant films adhered to stiff substrates via van der Waals interactions: role of frictional sliding during peeling.

    PubMed

    Collino, Rachel R; Philips, Noah R; Rossol, Michael N; McMeeking, Robert M; Begley, Matthew R

    2014-08-01

    The remarkable ability of some plants and animals to cling strongly to substrates despite relatively weak interfacial bonds has important implications for the development of synthetic adhesives. Here, we examine the origins of large detachment forces using a thin elastomer tape adhered to a glass slide via van der Waals interactions, which serves as a model system for geckos, mussels and ivy. The forces required for peeling of the tape are shown to be a strong function of the angle of peeling, which is a consequence of frictional sliding at the edge of attachment that serves to dissipate energy that would otherwise drive detachment. Experiments and theory demonstrate that proper accounting for frictional sliding leads to an inferred work of adhesion of only approximately 0.5 J m(-2) (defined for purely normal separations) for all load orientations. This starkly contrasts with the interface energies inferred using conventional interface fracture models that assume pure sticking behaviour, which are considerably larger and shown to depend not only on the mode-mixity, but also on the magnitude of the mode-I stress intensity factor. The implications for developing frameworks to predict detachment forces in the presence of interface sliding are briefly discussed. PMID:24920120

  5. Detachment of compliant films adhered to stiff substrates via van der Waals interactions: role of frictional sliding during peeling

    PubMed Central

    Collino, Rachel R.; Philips, Noah R.; Rossol, Michael N.; McMeeking, Robert M.; Begley, Matthew R.

    2014-01-01

    The remarkable ability of some plants and animals to cling strongly to substrates despite relatively weak interfacial bonds has important implications for the development of synthetic adhesives. Here, we examine the origins of large detachment forces using a thin elastomer tape adhered to a glass slide via van der Waals interactions, which serves as a model system for geckos, mussels and ivy. The forces required for peeling of the tape are shown to be a strong function of the angle of peeling, which is a consequence of frictional sliding at the edge of attachment that serves to dissipate energy that would otherwise drive detachment. Experiments and theory demonstrate that proper accounting for frictional sliding leads to an inferred work of adhesion of only approximately 0.5 J m−2 (defined for purely normal separations) for all load orientations. This starkly contrasts with the interface energies inferred using conventional interface fracture models that assume pure sticking behaviour, which are considerably larger and shown to depend not only on the mode-mixity, but also on the magnitude of the mode-I stress intensity factor. The implications for developing frameworks to predict detachment forces in the presence of interface sliding are briefly discussed. PMID:24920120

  6. Effect of sliding friction on the dynamics of spur gear pair with realistic time-varying stiffness

    NASA Astrophysics Data System (ADS)

    He, Song; Gunda, Rajendra; Singh, Rajendra

    2007-04-01

    The chief objective of this article is to propose a new method of incorporating the sliding friction and realistic time-varying stiffness into an analytical (multi-degree-of-freedom) spur gear model and to evaluate their effects. An accurate finite element/contact mechanics analysis code is employed, in the "static" mode, to compute the mesh stiffness at every time instant under a range of loading conditions. Here, the time-varying stiffness is calculated as an effective function which may also include the effect of profile modifications. The realistic mesh stiffness is then incorporated into the linear time-varying spur gear model with the contributions of sliding friction. Proposed methods are illustrated via two spur gear examples and validated by using the finite element in the "dynamic" mode as experimental results. A key question whether the sliding friction is indeed the source of the off-line-of-action forces and motions is then answered by our analytical model. Finally, the effect of the profile modification on the dynamic transmission error has been analytically examined under the influence of sliding friction. For instance, the linear tip relief introduces an amplification in the off-line-of-action forces and motions due to an out of phase relationship between the normal load and friction forces.

  7. Slide less pathology”: Fairy tale or reality?

    PubMed Central

    Indu, M; Rathy, R; Binu, MP

    2016-01-01

    Pathology practice is significantly advanced in various frontiers. Therefore, “slide less digital” pathology will not be a mere imagination in near future. Digitalization of histopathological slides (whole slide imaging [WSI]) is possible with the help of whole slide scanner. The WSI has a positive impact not only in routine practice but also in research field, medical education and bioindustry. Even if digital pathology has definitive advantages, its widespread use is not yet possible. As it is an upcoming technology in our field, this article is aimed to discussessential aspects of WSI. PMID:27601824

  8. Smartphone adapters for digital photomicrography

    PubMed Central

    Roy, Somak; Pantanowitz, Liron; Amin, Milon; Seethala, Raja R.; Ishtiaque, Ahmed; Yousem, Samuel A.; Parwani, Anil V.; Cucoranu, Ioan; Hartman, Douglas J.

    2014-01-01

    Background: Photomicrographs in Anatomic Pathology provide a means of quickly sharing information from a glass slide for consultation, education, documentation and publication. While static image acquisition historically involved the use of a permanently mounted camera unit on a microscope, such cameras may be expensive, need to be connected to a computer, and often require proprietary software to acquire and process images. Another novel approach for capturing digital microscopic images is to use smartphones coupled with the eyepiece of a microscope. Recently, several smartphone adapters have emerged that allow users to attach mobile phones to the microscope. The aim of this study was to test the utility of these various smartphone adapters. Materials and Methods: We surveyed the market for adapters to attach smartphones to the ocular lens of a conventional light microscope. Three adapters (Magnifi, Skylight and Snapzoom) were tested. We assessed the designs of these adapters and their effectiveness at acquiring static microscopic digital images. Results: All adapters facilitated the acquisition of digital microscopic images with a smartphone. The optimal adapter was dependent on the type of phone used. The Magnifi adapters for iPhone were incompatible when using a protective case. The Snapzoom adapter was easiest to use with iPhones and other smartphones even with protective cases. Conclusions: Smartphone adapters are inexpensive and easy to use for acquiring digital microscopic images. However, they require some adjustment by the user in order to optimize focus and obtain good quality images. Smartphone microscope adapters provide an economically feasible method of acquiring and sharing digital pathology photomicrographs. PMID:25191623

  9. Adaptive Instability Suppression Controls in a Liquid-fueled Combustor

    NASA Technical Reports Server (NTRS)

    Kopasakis, George; DeLaat, John C.

    2002-01-01

    An adaptive control algorithm has been developed for the suppression of combustion thermo-acoustic instabilities. This technique involves modulating the fuel flow in the combustor with a control phase that continuously slides within the stable phase region, in a back and forth motion. The control method is referred to as Adaptive Sliding Phasor Averaged Control (ASPAC). The control method is evaluated against a simplified simulation of the combustion instability. Plans are to validate the control approach against a more physics-based model and an actual experimental combustor rig.

  10. Sliding viscoelastic drops on slippery surfaces

    NASA Astrophysics Data System (ADS)

    Xu, H.; Clarke, A.; Rothstein, J. P.; Poole, R. J.

    2016-06-01

    We study the sliding of drops of constant-viscosity dilute elastic liquids (Boger fluids) on various surfaces caused by sudden surface inclination. For smooth or roughened hydrophilic surfaces, such as glass or acrylic, there is essentially no difference between these elastic liquids and a Newtonian comparator fluid (with identical shear viscosity, surface tension, and static contact angle). In contrast for embossed polytetrafluoroethylene superhydrophobic surfaces, profound differences are observed: the elastic drops slide at a significantly reduced rate and complex branch-like patterns are left on the surface by the drop's wake including, on various scales, beads-on-a-string like phenomena. Microscopy images indicate that the strong viscoelastic effect is caused by stretching filaments of fluid from isolated islands, residing at pinning sites on the surface pillars, of the order ˜30 μm in size. On this scale, the local strain rates are sufficient to extend the polymer chains, locally increasing the extensional viscosity of the solution, retarding the drop and leaving behind striking branch-like structures on much larger scales.

  11. Sliding screw implants for extracapsular hip fractures.

    PubMed

    Mavrogenis, Andreas F; Kouvidis, George; Stavropoulos, Nikolaos A; Stavrakakis, Loannis; Katonis, Pavlos; Papagelopoulos, Panayiotis J

    2012-01-01

    Hip fractures are associated with significant mortality and morbidity for the patients, more dependent residual status, and increased socio-economic cost. Many hip-fracture patients experience severe functional impairment, and most never recover their pre-fracture level of function. Current research has sought to identify the most effective treatments to reduce the incidence of hip fractures, improve survival and quality of life, and minimize complications and disability. The treatment of these fractures in the elderly aims to return these people to their pre-fracture mobility and functional level. This article reviews the surgical treatment options for extracapsular hip fractures and discusses their associated advantages, disadvantages, and complications. Two types of implants are currently available: the dynamic hip screw (DHS), and the intramedullary hip nail with one or two sliding screws. In this review, no clear advantage of one implant over another for the treatment of extracapsular hip fractures was evident. Both the DHS and hip nails can be used successfully for the treatment of stable hip fractures; for unstable fractures and low subtrochanteric fractures, hip nails are preferred. Although hip nails are associated with limited exposure, lower blood loss and transfusion requirements, and shorter operative time, complications are more common with hip nails. Long-term survival and function are similar in the two approaches. Hip nails with two sliding screws do not seem to make the difference in clinical practice that is reported in biomechanical studies. PMID:23016784

  12. Exhumation by gravitational sliding up an inclined plane

    NASA Astrophysics Data System (ADS)

    Podladchikov, Yury; Schmalholz, Stefan; Burg, Jean-Pierre

    2015-04-01

    Gravity causes sliding down an inclined plane if pressure is near lithostatic. If metamorphic pressures are lithostatic pressures, the approximation is inconsistent with pressure-temperature exhumation histories of thrust nappes stacked during compression to form the thickened crust of mountain belts. Overthickened mountain roots and foreland basin-type sedimentation accompanying the downward movement component of the Moho require significant non-lithostatic pressure perturbations within the mountain belts. Relaxation of the subsequent pressure gradients can be achieved by nappe-like thrusting up an inclined plane recording near isothermal decompression and carrying young sediments to high altitudes. We present results of fully dynamic numerical modelling documenting feasibility of this process. Neither thrusting, nor large weakness zones nor S-point-type boundary conditions are kinematically prescribed in our models. Thrusting emerges spontaneously as an instability, strain localization process that may follow preexisting lithological layering or thermal gradients and able to form new zones of weakness by shear heating mechanism. The non-prescribed nature of our modeled deformation modes makes them feasible, even probable as a leading response to continental shortening. In that case, non lithostatic pressure 'cycle' is an alternative or a complement to the classical Wilson cycle invoked alone to explain elevated occurrences of deep-water sediments.

  13. Subharmonic Shapiro steps of sliding colloidal monolayers in optical lattices.

    PubMed

    Paronuzzi Ticco, Stella V; Fornasier, Gabriele; Manini, Nicola; Santoro, Giuseppe E; Tosatti, Erio; Vanossi, Andrea

    2016-04-01

    We investigate theoretically the possibility to observe dynamical mode locking, in the form of Shapiro steps, when a time-periodic potential or force modulation is applied to a two-dimensional (2D) lattice of colloidal particles that are dragged by an external force over an optically generated periodic potential. Here we present realistic molecular dynamics simulations of a 2D experimental setup, where the colloid sliding is realized through the motion of soliton lines between locally commensurate patches or domains, and where the Shapiro steps are predicted and analyzed. Interestingly, the jump between one step and the next is seen to correspond to a fixed number of colloids jumping from one patch to the next, across the soliton line boundary, during each ac cycle. In addition to ordinary 'integer' steps, coinciding here with the synchronous rigid advancement of the whole colloid monolayer, our main prediction is the existence of additional smaller 'subharmonic' steps due to localized solitonic regions of incommensurate layers executing synchronized slips, while the majority of the colloids remains pinned to a potential minimum. The current availability and wide parameter tunability of colloid monolayers makes these predictions potentially easy to access in an experimentally rich 2D geometrical configuration. PMID:26933976

  14. Subharmonic Shapiro steps of sliding colloidal monolayers in optical lattices

    NASA Astrophysics Data System (ADS)

    Paronuzzi Ticco, Stella V.; Fornasier, Gabriele; Manini, Nicola; Santoro, Giuseppe E.; Tosatti, Erio; Vanossi, Andrea

    2016-04-01

    We investigate theoretically the possibility to observe dynamical mode locking, in the form of Shapiro steps, when a time-periodic potential or force modulation is applied to a two-dimensional (2D) lattice of colloidal particles that are dragged by an external force over an optically generated periodic potential. Here we present realistic molecular dynamics simulations of a 2D experimental setup, where the colloid sliding is realized through the motion of soliton lines between locally commensurate patches or domains, and where the Shapiro steps are predicted and analyzed. Interestingly, the jump between one step and the next is seen to correspond to a fixed number of colloids jumping from one patch to the next, across the soliton line boundary, during each ac cycle. In addition to ordinary ‘integer’ steps, coinciding here with the synchronous rigid advancement of the whole colloid monolayer, our main prediction is the existence of additional smaller ‘subharmonic’ steps due to localized solitonic regions of incommensurate layers executing synchronized slips, while the majority of the colloids remains pinned to a potential minimum. The current availability and wide parameter tunability of colloid monolayers makes these predictions potentially easy to access in an experimentally rich 2D geometrical configuration.

  15. Monitoring studies of slide system under the action of seismic impacts

    NASA Astrophysics Data System (ADS)

    Frolov, Anton

    2013-04-01

    The immediate detection of landslide activity that is provided by real-time systems can be crucial in saving human lives and protecting property. Traditional field observations, even if taken regularly, cannot detect changes at the moment they occur. Moreover, active landslides can be hazardous to work on, and large movements often occur during storms when visibility is poor. The continuous data provided by remote real-time monitoring permits a better understanding of dynamic landslide behavior that, in turn, enables engineers to create more effective designs to prevent or halt landslides. Monitoring of the coastal zone involves the following block diagram: input - processing -output - feed-back. We feed the input with data on a studied technogenous loading on the coastal zone, and the input presents the analysis of motion of a geological medium and the subsequent forecast of evolution of its lithodynamic characteristics. The submitted report describes a practical system of monitoring for the Central Livadiya Slide System (CLSSC) of the Crimea, which is intended for the diagnostics of a lithodynamic situation in the real-time mode, conducting the data base on heliogenous and lithogenous parameters, and predicting a future state of the slide-containing system. In the system of monitoring of a state of CLSSC, which is realized on a computer, the registered heliogenous parameters include the level of solar activity, changes in temperature and moisture regimes, changes in the character and intensity of precipitations, the wind velocity, etc. In this case, data are introduced into the computer in the manual mode. Lithogenous parameters are presented by a collection of conditions and factors characterizing the mechanism and dynamics of changes in the equilibrium state of slopes of CLSSC. The control over the evolution of lithogenous parameters is realized in the following way: 1. The control over movement of the control points on the surface of active slides is carried

  16. Assessing agreement between malaria slide density readings

    PubMed Central

    2010-01-01

    Background Several criteria have been used to assess agreement between replicate slide readings of malaria parasite density. Such criteria may be based on percent difference, or absolute difference, or a combination. Neither the rationale for choosing between these types of criteria, nor that for choosing the magnitude of difference which defines acceptable agreement, are clear. The current paper seeks a procedure which avoids the disadvantages of these current options and whose parameter values are more clearly justified. Methods and Results Variation of parasite density within a slide is expected, even when it has been prepared from a homogeneous sample. This places lower limits on sensitivity and observer agreement, quantified by the Poisson distribution. This means that, if a criterion of fixed percent difference criterion is used for satisfactory agreement, the number of discrepant readings is over-estimated at low parasite densities. With a criterion of fixed absolute difference, the same happens at high parasite densities. For an ideal slide, following the Poisson distribution, a criterion based on a constant difference in square root counts would apply for all densities. This can be back-transformed to a difference in absolute counts, which, as expected, gives a wider range of acceptable agreement at higher average densities. In an example dataset from Tanzania, observed differences in square root counts correspond to a 95% limits of agreement of -2,800 and +2,500 parasites/μl at average density of 2,000 parasites/μl, and -6,200 and +5,700 parasites/μl at 10,000 parasites/μl. However, there were more outliers beyond those ranges at higher densities, meaning that actual coverage of these ranges was not a constant 95%, but decreased with density. In a second study, a trial of microscopist training, the corresponding ranges of agreement are wider and asymmetrical: -8,600 to +5,200/μl, and -19,200 to +11,700/μl, respectively. By comparison, the optimal

  17. Influence of normal loads and sliding velocities on friction properties of engineering plastics sliding against rough counterfaces

    NASA Astrophysics Data System (ADS)

    Nuruzzaman, D. M.; Chowdhury, M. A.; Rahaman, M. L.; Oumer, A. N.

    2016-02-01

    Friction properties of plastic materials are very important under dry sliding contact conditions for bearing applications. In the present research, friction properties of engineering plastics such as polytetrafluoroethylene (PTFE) and nylon are investigated under dry sliding contact conditions. In the experiments, PTFE and nylon slide against different rough counterfaces such as mild steel and stainless steel 316 (SS 316). Frictional tests are carried out at low loads 5, 7.5 and 10 N, low sliding velocities 0.5, 0.75 and 1 m/s and relative humidity 70%. The obtained results reveal that friction coefficient of PTFE increases with the increase in normal loads and sliding velocities within the observed range. On the other hand, frictional values of nylon decrease with the increase in normal loads and sliding velocities. It is observed that in general, these polymers show higher frictional values when sliding against SS 316 rather than mild steel. During running-in process, friction coefficient of PTFE and nylon steadily increases with the increase in rubbing time and after certain duration of rubbing, it remains at steady level. At identical operating conditions, the frictional values are significantly different depending on normal load, sliding velocity and material pair. It is also observed that in general, the influence of normal load on the friction properties of PTFE and nylon is greater than that of sliding velocity.

  18. An industry perspective: An update on the adoption of whole slide imaging

    PubMed Central

    Montalto, Michael C.

    2016-01-01

    This manuscript is an adaptation of the closing keynote presentation of the Digital Pathology Association Pathology Visions Conference 2015 in Boston, MA, USA. In this presentation, analogies are drawn between the adoption of whole slide imaging (WSI) and other mainstream digital technologies, including digital music and books. In doing so, it is revealed that the adoption of seemingly similar digital technologies does not follow the same adoption profiles and that understanding the unique aspects of value for each customer segment is critical. Finally, a call to action is given to academia and industry to study the value that WSI brings to the global healthcare community. PMID:27141323

  19. An industry perspective: An update on the adoption of whole slide imaging.

    PubMed

    Montalto, Michael C

    2016-01-01

    This manuscript is an adaptation of the closing keynote presentation of the Digital Pathology Association Pathology Visions Conference 2015 in Boston, MA, USA. In this presentation, analogies are drawn between the adoption of whole slide imaging (WSI) and other mainstream digital technologies, including digital music and books. In doing so, it is revealed that the adoption of seemingly similar digital technologies does not follow the same adoption profiles and that understanding the unique aspects of value for each customer segment is critical. Finally, a call to action is given to academia and industry to study the value that WSI brings to the global healthcare community. PMID:27141323

  20. Screening and dotting virtual slides: A new challenge for cytotechnologists.

    PubMed

    Khalbuss, Walid E; Cuda, Jackie; Cucoranu, Ioan C

    2013-01-01

    Digital images are increasingly being used in cytopathology. Whole-slide imaging (WSI) is a digital imaging modality that uses computerized technology to scan and convert entire cytology glass slides into digital images that can be viewed on a digital display using the image viewer software. Digital image acquisition of cytology glass slides has improved significantly over the years due to the use of liquid-based preparations and advances in WSI scanning technology such as automatic multipoint pre-scan focus technology or z-stack scanning technology. Screening cytotechnologists are responsible for every cell that is present on an imaged slide. One of the challenges users have to overcome is to establish a technique to review systematically the entire imaged slide and to dot selected abnormal or significant findings. The scope of this article is to review the current user interface technology available for virtual slide navigation when screening digital slides in cytology. WSI scanner vendors provide tools, built into the image viewer software that allow for a more systematic navigation of the virtual slides, such as auto-panning, keyboard-controlled slide navigation and track map. Annotation tools can improve communication between the screener and the final reviewer or can be used for education. The tracking functionality allows recording of the WSI navigation process and provides a mechanism for confirmation of slide coverage by the screening cytotechnologist as well as a useful tool for quality assurance. As the WSI technology matures, additional features and tools to support navigation of a cytology virtual slide are anticipated. PMID:24379891

  1. Screening and dotting virtual slides: A new challenge for cytotechnologists

    PubMed Central

    Khalbuss, Walid E.; Cuda, Jackie; Cucoranu, Ioan C.

    2013-01-01

    Digital images are increasingly being used in cytopathology. Whole-slide imaging (WSI) is a digital imaging modality that uses computerized technology to scan and convert entire cytology glass slides into digital images that can be viewed on a digital display using the image viewer software. Digital image acquisition of cytology glass slides has improved significantly over the years due to the use of liquid-based preparations and advances in WSI scanning technology such as automatic multipoint pre-scan focus technology or z-stack scanning technology. Screening cytotechnologists are responsible for every cell that is present on an imaged slide. One of the challenges users have to overcome is to establish a technique to review systematically the entire imaged slide and to dot selected abnormal or significant findings. The scope of this article is to review the current user interface technology available for virtual slide navigation when screening digital slides in cytology. WSI scanner vendors provide tools, built into the image viewer software that allow for a more systematic navigation of the virtual slides, such as auto-panning, keyboard-controlled slide navigation and track map. Annotation tools can improve communication between the screener and the final reviewer or can be used for education. The tracking functionality allows recording of the WSI navigation process and provides a mechanism for confirmation of slide coverage by the screening cytotechnologist as well as a useful tool for quality assurance. As the WSI technology matures, additional features and tools to support navigation of a cytology virtual slide are anticipated. PMID:24379891

  2. Alternative Films for Making Presentation Slides for the Occasional User.

    ERIC Educational Resources Information Center

    Hunt, Harold R., Jr.

    1985-01-01

    As alternatives to the well-known Kodak Kodalith film for making presentation slides, suggests using Kodak Technical Pan Film, 2415 and Kodak Precision Fine Film LPD4. Although less known, both films are capable of making excellent quality slides with minimum effort and, for the occasional user, offer advantages over the Kodalith-Diazochrome…

  3. The Easy Way to Create Computer Slide Shows.

    ERIC Educational Resources Information Center

    Anderson, Mary Alice

    1995-01-01

    Discusses techniques for creating computer slide shows. Topics include memory; format; color use; HyperCard and CD-ROM; font styles and sizes; graphs and graphics; the slide show option; special effects; and tips for effective presentation. (Author/AEF)

  4. Detection of felt tip markers on microscope slides

    NASA Astrophysics Data System (ADS)

    Friedrich, David; Meyer-Ebrecht, Dietrich; Böcking, Alfred; Merhof, Dorit

    2014-03-01

    Sensitivity and specificity of conventional cytological methods for cancer diagnosis can be raised significantly by applying further adjuvant cytological methods. To this end, the pathologist marks regions of interest (ROI) with a felt tip pen on the microscope slide for further analysis. This paper presents algorithms for the automated detection of these ROIs, which enables further automated processing of these regions by digital pathology solutions and image analysis. For this purpose, an overview scan is obtained at low magnification. Slides from different manufacturers need to be treated, as they might contain certain regions which need to be excluded from the analysis. Therefore the slide type is identified first. Subsequently, the felt tip marks are detected automatically, and gaps appearing in the case of ROIs which have been drawn incompletely are closed. Based on the marker detection, the ROIs are obtained. The algorithms have been optimized on a training set of 82 manually annotated images. On the test set, the slide types of all but one out of 81 slides were identified correctly. A sensitivity of 98.31% and a positive predictive value of 97.48% were reached for the detection of ROIs. In combination with a slide loader or a whole slide imaging scanner as well as automated image analysis, this enables fully automated batch processing of slides.

  5. The big problem of the missing cytology slides

    PubMed Central

    Gatter, Ken M

    2004-01-01

    Cytology slides are often unique and irreplaceable. Unlike surgical pathology cases, where additional paraffin sections can be cut, cytology slides often cannot be duplicated because there are only a few direct smears or the diagnostic material is present on a single slide. Cytology slides are often "sent out" to other physicians, laboratories or hospitals, typically so that the pathologist at the institution where the patient will receive treatment can review the slides. Less often, a cytology lab sends out the slides for a second opinion or as part of the discovery process in a lawsuit, where they may or may not be defendants. Rarely, unique and irreplaceable cytology slides are lost. This article presents a hypothetical scenario that is based on reported state appellate court decisions. The article discusses some of the legal issues that will affect the defendant cytologist/cytology lab and the "expert cytologist," and suggests some steps a cytologist/cytology lab can take to minimize the risk of repercussions from a lost unique and irreplaceable cytology slide. PMID:15500703

  6. Optimizing Student Learning: Examining the Use of Presentation Slides

    ERIC Educational Resources Information Center

    Strauss, Judy; Corrigan, Hope; Hofacker, Charles F.

    2011-01-01

    Sensory overload and split attention result in reduced learning when instructors read slides with bullet points and complex graphs during a lecture. Conversely, slides containing relevant visual elements, when accompanied by instructor narration, use both the visual and verbal channels of a student's working memory, thus improving the chances of…

  7. A Simple Measurement of the Sliding Friction Coefficient

    ERIC Educational Resources Information Center

    Gratton, Luigi M.; Defrancesco, Silvia

    2006-01-01

    We present a simple computer-aided experiment for investigating Coulomb's law of sliding friction in a classroom. It provides a way of testing the possible dependence of the friction coefficient on various parameters, such as types of materials, normal force, apparent area of contact and sliding velocity.

  8. AFRD WAREHOUSE, WEST SIDE DETAIL OF ALTERED SLIDING DOORS, FACING ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    AFRD WAREHOUSE, WEST SIDE DETAIL OF ALTERED SLIDING DOORS, FACING EAST. WEATHER COVER OVER RAIL IS ORIGINAL. SHEET METAL SIDING HAS BEEN INSERTED BETWEEN TWO HALVES OF SLIDING DOORS. - Minidoka Relocation Center Warehouse, 111 South Fir Street, Shoshone, Lincoln County, ID

  9. Presentable Slides: A Practical Approach for Amateur Draftsmen.

    ERIC Educational Resources Information Center

    Seel, D. C.

    1984-01-01

    To contribute usefully to a lecture, slides containing tabulated or diagrammatic textual information need to be simple and legible. Such slides can be made by following a few straightforward rules and techniques. Several of these rules and techniques are provided. (JN)

  10. 30 CFR 816.99 - Slides and other damage.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 30 Mineral Resources 3 2011-07-01 2011-07-01 false Slides and other damage. 816.99 Section 816.99... § 816.99 Slides and other damage. (a) An undisturbed natural barrier shall be provided beginning at the... determined by the regulatory authority as is needed to assure stability. The barrier shall be retained...

  11. Computer Slide Shows: A Trap for Bad Teaching

    ERIC Educational Resources Information Center

    Klemm, W. R.

    2007-01-01

    Slide shows presented with software such as PowerPoint or WordPerfect Presentations can trap instructors into bad teaching practices. Research on memory suggests that slide-show instruction can actually be less effective than traditional lecturing when the teacher uses a blackboard or overhead projector. The author proposes a model of classroom…

  12. 8. Photocopy of original USRS glass plate slide (from original ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    8. Photocopy of original USRS glass plate slide (from original slide on file at National Archives, Rocky Mountain Region, Denver, Colorado) Photographer unknown, ca. 1908 The diversion weir of the Okanogan National Irrigation Project - Salmon Creek Diversion Dam, Salmon Creek, Okanogan, Okanogan County, WA

  13. Determining the Ecosystem Services Important for Urban Landscapes-Slides

    EPA Science Inventory

    This presentation consists of introductory slides on ecosystem services in urban landscapes and then a discussion of two case studies concerning the provision of water quality in urban landscapes. The introductory slides will explore the range of ecosystem services provided by u...

  14. Lecture Handouts of Projected Slides in a Medical Course.

    ERIC Educational Resources Information Center

    Amato, Dominick; Quirt, Ian

    1991-01-01

    In a third-year medical school hematology course, handouts reproducing all or most of the 35mm slides used during the lecture are given at the beginning of class. The slides are reproduced on the left, with room for note-taking on the right. Despite some disadvantages, the method is seen as helpful. (Author/MSE)

  15. Qualification test unit slide stainer (Beckman P/N 673753)

    NASA Technical Reports Server (NTRS)

    Bernier, P. S.

    1972-01-01

    Specifications for a slide stainer unit for the Skylab program are presented. The qualification test slide stainer was designed to be a self-contained system capable of performing an eight-step Gram stain of microorganisms and a Wright's stain of blood smears.

  16. A Transformational Approach to Slip-Slide Factoring

    ERIC Educational Resources Information Center

    Steckroth, Jeffrey

    2015-01-01

    In this "Delving Deeper" article, the author introduces the slip-slide method for solving Algebra 1 mathematics problems. This article compares the traditional method approach of trial and error to the slip-slide method of factoring. Tools that used to be taken for granted now make it possible to investigate relationships visually,…

  17. [Whole slide imaging technology: from digitization to online applications].

    PubMed

    Ameisen, David; Le Naour, Gilles; Daniel, Christel

    2012-11-01

    As e-health becomes essential to modern care, whole slide images (virtual slides) are now an important clinical, teaching and research tool in pathology. Virtual microscopy consists of digitizing a glass slide by acquiring hundreds of tiles of regions of interest at different zoom levels and assembling them into a structured file. This gigapixel image can then be remotely viewed over a terminal, exactly the way pathologists use a microscope. In this article, we will first describe the key elements of this technology, from the acquisition, using a scanner or a motorized microscope, to the broadcasting of virtual slides through a local or distant viewer over an intranet or Internet connection. As virtual slides are now commonly used in virtual classrooms, clinical data and research databases, we will highlight the main issues regarding its uses in modern pathology. Emphasis will be made on quality assurance policies, standardization and scaling. PMID:23171902

  18. Teaching Veterinary Histopathology: A Comparison of Microscopy and Digital Slides.

    PubMed

    Brown, Peter J; Fews, Debra; Bell, Nick J

    2016-01-01

    Virtual microscopy using digitized slides has become more widespread in teaching in recent years. There have been no direct comparisons of the use of virtual microscopy and the use of microscopes and glass slides. Third-year veterinary students from two different schools completed a simple objective test, covering aspects of histology and histopathology, before and after a practical class covering relevant material presented as either glass slides viewed with a microscope or as digital slides. There was an overall improvement in performance by students at both veterinary schools using both practical formats. Neither format was consistently better than the other, and neither school consistently outperformed the other. In a comparison of student appraisal of use of digital slides and microscopes, the digital technology was identified as having many advantages. PMID:26752020

  19. Sliding seal materials for adiabatic engines

    NASA Technical Reports Server (NTRS)

    Lankford, J.

    1985-01-01

    The sliding friction coefficients and wear rates of promising carbide, oxide, and nitride materials were measured under temperature, environmental, velocity, loading conditions that are representative of the adiabatic engine environment. In order to provide guidance needed to improve materials for this application, the program stressed fundamental understanding of the mechanisms involved in friction and wear. Microhardness tests were performed on the candidate materials at elevated temperatures, and in atmospheres relevant to the piston seal application, and optical and electron microscopy were used to elucidate the micromechanisms of wear following wear testing. X-ray spectroscopy was used to evaluate interface/environment interactions which seemed to be important in the friction and wear process. Electrical effects in the friction and wear processes were explored in order to evaluate the potential usefulness of such effects in modifying the friction and wear rates in service. However, this factor was found to be of negligible significance in controlling friction and wear.

  20. Process-Based Characterizations of Subsurface Fluid Pressures for a Devil's Slide-like System

    NASA Astrophysics Data System (ADS)

    Thomas, M.; Loague, K.

    2014-12-01

    Coastal margins commonly host slope stability hazards that are influenced by hydrologic, geologic, and / or anthropogenic perturbations. A firm foundation for rigorously understanding the component contributions and process-based linkages among hydrologic and geomorphic response is comprehensive physics-based simulation. This study is motivated by the hydrologically-driven, creeping and episodic deep-seated bedrock slides that intersect a former section of the Pacific Coast Highway in the active landslide zone at Devil's Slide near Pacifica, California. For this study, deterministic-conceptual hydrogeologic simulation was employed to estimate fluid pressures for saturated three-dimensional (3D) subsurface systems. One-dimensional (1D) vertical, transient, variably-saturated simulations were conducted to establish the position of the water table (i.e., the upper boundary condition) for the 3D steady-state saturated problems which encode the geologic information for heterogeneous and anisotropic systems. The concept-development effort undertaken here demonstrates that, for a Devil's Slide-like system: (i) specific climatic conditions facilitate variable lag times associated with water-table dynamics, (ii) recharge is the most sensitive parameter to establish risk-averse estimates of fluid pressure, (iii) nuances in the 3D flow field related to fault zone characteristics markedly influence fluid pressures, and (iv) it is unlikely that seasonal fluctuations in the regional water table account for severe failure modes. The simulated fluid pressures encourage new interdisciplinary data discovery to investigate the spatial and temporal persistence of perched water in the study area. To capture event-driven failures for the Devil's Slide site, future efforts should develop characterizations of the unsaturated near surface with a rigor similar to the treatment of the saturated zone demonstrated by this study.