On decentralized adaptive full-order sliding mode control of multiple UAVs.

PubMed

Xiang, Xianbo; Liu, Chao; Su, Housheng; Zhang, Qin

2017-11-01

In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Robust passive control for a class of uncertain neutral systems based on sliding mode observer.

PubMed

Liu, Zhen; Zhao, Lin; Kao, Yonggui; Gao, Cunchen

2017-01-01

The passivity-based sliding mode control (SMC) problem for a class of uncertain neutral systems with unmeasured states is investigated. Firstly, a particular non-fragile state observer is designed to generate the estimations of the system states, based upon which a novel integral-type sliding surface function is established for the control process. Secondly, a new sufficient condition for robust asymptotic stability and passivity of the resultant sliding mode dynamics (SMDs) is obtained in terms of linear matrix inequalities (LMIs). Thirdly, the finite-time reachability of the predesigned sliding surface is ensured by resorting to a novel adaptive SMC law. Finally, the validity and superiority of the scheme are justified via several examples. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding Mode Control of Dynamic Voltage Restorer by Using a New Adaptive Reaching Law

NASA Astrophysics Data System (ADS)

Pandey, Achala; Agrawal, Rekha; Mandloi, Ravindra S.; Sarkar, Biswaroop

2017-12-01

This paper presents a new kind of adaptive reaching law for sliding mode control of Dynamic Voltage Restorer (DVR). Such an adaptive reaching law follows under-damped sinusoidal nature that causes the initial state to reach the sliding regime in extremely less time with negligible chattering. Moreover, it is robust in the sense the trajectory does not deviate from the sliding surface. This new approach is developed and successfully applied to DVR. The simulation results are presented that show its robustness.

Adaptive terminal sliding mode control for hypersonic flight vehicles with strictly lower convex function based nonlinear disturbance observer.

PubMed

Wu, Yun-Jie; Zuo, Jing-Xing; Sun, Liang-Hua

2017-11-01

In this paper, the altitude and velocity tracking control of a generic hypersonic flight vehicle (HFV) is considered. A novel adaptive terminal sliding mode controller (ATSMC) with strictly lower convex function based nonlinear disturbance observer (SDOB) is proposed for the longitudinal dynamics of HFV in presence of both parametric uncertainties and external disturbances. First, for the sake of enhancing the anti-interference capability, SDOB is presented to estimate and compensate the equivalent disturbances by introducing a strictly lower convex function. Next, the SDOB based ATSMC (SDOB-ATSMC) is proposed to guarantee the system outputs track the reference trajectory. Then, stability of the proposed control scheme is analyzed by the Lyapunov function method. Compared with other HFV control approaches, key novelties of SDOB-ATSMC are that a novel SDOB is proposed and drawn into the (virtual) control laws to compensate the disturbances and that several adaptive laws are used to deal with the differential explosion problem. Finally, it is illustrated by the simulation results that the new method exhibits an excellent robustness and a better disturbance rejection performance than the convention approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Nonlinear adaptive control based on fuzzy sliding mode technique and fuzzy-based compensator.

PubMed

Nguyen, Sy Dzung; Vo, Hoang Duy; Seo, Tae-Il

2017-09-01

It is difficult to efficiently control nonlinear systems in the presence of uncertainty and disturbance (UAD). One of the main reasons derives from the negative impact of the unknown features of UAD as well as the response delay of the control system on the accuracy rate in the real time of the control signal. In order to deal with this, we propose a new controller named CO-FSMC for a class of nonlinear control systems subjected to UAD, which is constituted of a fuzzy sliding mode controller (FSMC) and a fuzzy-based compensator (CO). Firstly, the FSMC and CO are designed independently, and then an adaptive fuzzy structure is discovered to combine them. Solutions for avoiding the singular cases of the fuzzy-based function approximation and reducing the calculating cost are proposed. Based on the solutions, fuzzy sliding mode technique, lumped disturbance observer and Lyapunov stability analysis, a closed-loop adaptive control law is formulated. Simulations along with a real application based on a semi-active train-car suspension are performed to fully evaluate the method. The obtained results reflected that vibration of the chassis mass is insensitive to UAD. Compared with the other fuzzy sliding mode control strategies, the CO-FSMC can provide the best control ability to reduce unwanted vibrations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Active fault tolerant control based on interval type-2 fuzzy sliding mode controller and non linear adaptive observer for 3-DOF laboratory helicopter.

PubMed

Zeghlache, Samir; Benslimane, Tarak; Bouguerra, Abderrahmen

2017-11-01

In this paper, a robust controller for a three degree of freedom (3 DOF) helicopter control is proposed in presence of actuator and sensor faults. For this purpose, Interval type-2 fuzzy logic control approach (IT2FLC) and sliding mode control (SMC) technique are used to design a controller, named active fault tolerant interval type-2 Fuzzy Sliding mode controller (AFTIT2FSMC) based on non-linear adaptive observer to estimate and detect the system faults for each subsystem of the 3-DOF helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller. Exponential stability of the closed loop is guaranteed by using the Lyapunov method. The simulation results show that the AFTIT2FSMC can greatly alleviate the chattering effect, providing good tracking performance, even in presence of actuator and sensor faults. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Robust adaptive sliding mode control for uncertain systems with unknown time-varying delay input.

PubMed

Benamor, Anouar; Messaoud, Hassani

2018-05-02

This article focuses on robust adaptive sliding mode control law for uncertain discrete systems with unknown time-varying delay input, where the uncertainty is assumed unknown. The main results of this paper are divided into three phases. In the first phase, we propose a new sliding surface is derived within the Linear Matrix Inequalities (LMIs). In the second phase, using the new sliding surface, the novel Robust Sliding Mode Control (RSMC) is proposed where the upper bound of uncertainty is supposed known. Finally, the novel approach of Robust Adaptive Sliding ModeControl (RASMC) has been defined for this type of systems, where the upper limit of uncertainty which is assumed unknown. In this new approach, we have estimate the upper limit of uncertainties and we have determined the control law based on a sliding surface that will converge to zero. This novel control laws are been validated in simulation on an uncertain numerical system with good results and comparative study. This efficiency is emphasized through the application of the new controls on the two physical systems which are the process trainer PT326 and hydraulic system two tanks. Published by Elsevier Ltd.

Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

NASA Astrophysics Data System (ADS)

Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

2017-12-01

In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

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

Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system.

PubMed

Song, Zhankui; Sun, Kaibiao

2014-01-01

A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov's method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive extended-state observer-based fault tolerant attitude control for spacecraft with reaction wheels

NASA Astrophysics Data System (ADS)

Ran, Dechao; Chen, Xiaoqian; de Ruiter, Anton; Xiao, Bing

2018-04-01

This study presents an adaptive second-order sliding control scheme to solve the attitude fault tolerant control problem of spacecraft subject to system uncertainties, external disturbances and reaction wheel faults. A novel fast terminal sliding mode is preliminarily designed to guarantee that finite-time convergence of the attitude errors can be achieved globally. Based on this novel sliding mode, an adaptive second-order observer is then designed to reconstruct the system uncertainties and the actuator faults. One feature of the proposed observer is that the design of the observer does not necessitate any priori information of the upper bounds of the system uncertainties and the actuator faults. In view of the reconstructed information supplied by the designed observer, a second-order sliding mode controller is developed to accomplish attitude maneuvers with great robustness and precise tracking accuracy. Theoretical stability analysis proves that the designed fault tolerant control scheme can achieve finite-time stability of the closed-loop system, even in the presence of reaction wheel faults and system uncertainties. Numerical simulations are also presented to demonstrate the effectiveness and superiority of the proposed control scheme over existing methodologies.

A new fuzzy-disturbance observer-enhanced sliding controller for vibration control of a train-car suspension with magneto-rheological dampers

NASA Astrophysics Data System (ADS)

Nguyen, Sy Dzung; Choi, Seung-Bok; Nguyen, Quoc Hung

2018-05-01

Semi-active train-car suspensions are always impacted negatively by uncertainty and disturbance (UAD). In order to deal with this, we propose a novel optimal fuzzy disturbance observer-enhanced sliding mode controller (FDO-SMC) for magneto-rheological damper (MRD)-based semi-active train-car suspensions subjected to UAD whose variability rate may be high but bounded. The two main parts of the FDO-SMC are an adaptive sliding mode controller (ad-SMC) and an optimal fuzzy disturbance observer (op-FDO). As the first step, the initial structures of the sliding mode controller (SMC) and disturbance observer (DO) are built. Adaptive update laws for the SMC and DO are then set up synchronously via Lyapunov stability analysis. Subsequently, an optimal fuzzy system (op-FS) is designed to fully implement a parameter constraint mechanism so as to guarantee the system stability converging to the desired state even if the UAD variability rate increases in a given range. As a result, both the ad-SMC and op-FDO are formulated. It is shown from the comparative work with existing controllers that the proposed method provides the best vibration control capability with relatively low consumed power.

Model reference, sliding mode adaptive control for flexible structures

NASA Technical Reports Server (NTRS)

Yurkovich, S.; Ozguner, U.; Al-Abbass, F.

1988-01-01

A decentralized model reference adaptive approach using a variable-structure sliding model control has been developed for the vibration suppression of large flexible structures. Local models are derived based upon the desired damping and response time in a model-following scheme, and variable structure controllers are then designed which employ colocated angular rate and position feedback. Numerical simulations have been performed using NASA's flexible grid experimental apparatus.

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. Copyright © 2012 Elsevier Ltd. All rights reserved.

Adaptive suboptimal second-order sliding mode control for microgrids

NASA Astrophysics Data System (ADS)

Incremona, Gian Paolo; Cucuzzella, Michele; Ferrara, Antonella

2016-09-01

This paper deals with the design of adaptive suboptimal second-order sliding mode (ASSOSM) control laws for grid-connected microgrids. Due to the presence of the inverter, of unpredicted load changes, of switching among different renewable energy sources, and of electrical parameters variations, the microgrid model is usually affected by uncertain terms which are bounded, but with unknown upper bounds. To theoretically frame the control problem, the class of second-order systems in Brunovsky canonical form, characterised by the presence of matched uncertain terms with unknown bounds, is first considered. Four adaptive strategies are designed, analysed and compared to select the most effective ones to be applied to the microgrid case study. In the first two strategies, the control amplitude is continuously adjusted, so as to arrive at dominating the effect of the uncertainty on the controlled system. When a suitable control amplitude is attained, the origin of the state space of the auxiliary system becomes attractive. In the other two strategies, a suitable blend between two components, one mainly working during the reaching phase, the other being the predominant one in a vicinity of the sliding manifold, is generated, so as to reduce the control amplitude in steady state. The microgrid system in a grid-connected operation mode, controlled via the selected ASSOSM control strategies, exhibits appreciable stability properties, as proved theoretically and shown in simulation.

Second-order sliding mode controller with model reference adaptation for automatic train operation

NASA Astrophysics Data System (ADS)

Ganesan, M.; Ezhilarasi, D.; Benni, Jijo

2017-11-01

In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control.

Sliding-mode control combined with improved adaptive feedforward for wafer scanner

NASA Astrophysics Data System (ADS)

Li, Xiaojie; Wang, Yiguang

2018-03-01

In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

A Locally Adaptive Regularization Based on Anisotropic Diffusion for Deformable Image Registration of Sliding Organs

PubMed Central

Pace, Danielle F.; Aylward, Stephen R.; Niethammer, Marc

2014-01-01

We propose a deformable image registration algorithm that uses anisotropic smoothing for regularization to find correspondences between images of sliding organs. In particular, we apply the method for respiratory motion estimation in longitudinal thoracic and abdominal computed tomography scans. The algorithm uses locally adaptive diffusion tensors to determine the direction and magnitude with which to smooth the components of the displacement field that are normal and tangential to an expected sliding boundary. Validation was performed using synthetic, phantom, and 14 clinical datasets, including the publicly available DIR-Lab dataset. We show that motion discontinuities caused by sliding can be effectively recovered, unlike conventional regularizations that enforce globally smooth motion. In the clinical datasets, target registration error showed improved accuracy for lung landmarks compared to the diffusive regularization. We also present a generalization of our algorithm to other sliding geometries, including sliding tubes (e.g., needles sliding through tissue, or contrast agent flowing through a vessel). Potential clinical applications of this method include longitudinal change detection and radiotherapy for lung or abdominal tumours, especially those near the chest or abdominal wall. PMID:23899632

A locally adaptive regularization based on anisotropic diffusion for deformable image registration of sliding organs.

PubMed

Pace, Danielle F; Aylward, Stephen R; Niethammer, Marc

2013-11-01

We propose a deformable image registration algorithm that uses anisotropic smoothing for regularization to find correspondences between images of sliding organs. In particular, we apply the method for respiratory motion estimation in longitudinal thoracic and abdominal computed tomography scans. The algorithm uses locally adaptive diffusion tensors to determine the direction and magnitude with which to smooth the components of the displacement field that are normal and tangential to an expected sliding boundary. Validation was performed using synthetic, phantom, and 14 clinical datasets, including the publicly available DIR-Lab dataset. We show that motion discontinuities caused by sliding can be effectively recovered, unlike conventional regularizations that enforce globally smooth motion. In the clinical datasets, target registration error showed improved accuracy for lung landmarks compared to the diffusive regularization. We also present a generalization of our algorithm to other sliding geometries, including sliding tubes (e.g., needles sliding through tissue, or contrast agent flowing through a vessel). Potential clinical applications of this method include longitudinal change detection and radiotherapy for lung or abdominal tumours, especially those near the chest or abdominal wall.

Sliding mode output feedback control based on tracking error observer with disturbance estimator.

PubMed

Xiao, Lingfei; Zhu, Yue

2014-07-01

For a class of systems who suffers from disturbances, an original output feedback sliding mode control method is presented based on a novel tracking error observer with disturbance estimator. The mathematical models of the systems are not required to be with high accuracy, and the disturbances can be vanishing or nonvanishing, while the bounds of disturbances are unknown. By constructing a differential sliding surface and employing reaching law approach, a sliding mode controller is obtained. On the basis of an extended disturbance estimator, a creative tracking error observer is produced. By using the observation of tracking error and the estimation of disturbance, the sliding mode controller is implementable. It is proved that the disturbance estimation error and tracking observation error are bounded, the sliding surface is reachable and the closed-loop system is robustly stable. The simulations on a servomotor positioning system and a five-degree-of-freedom active magnetic bearings system verify the effect of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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

Dynamic Analysis and Adaptive Sliding Mode Controller for a Chaotic Fractional Incommensurate Order Financial System

NASA Astrophysics Data System (ADS)

Hajipour, Ahmad; Tavakoli, Hamidreza

2017-12-01

In this study, the dynamic behavior and chaos control of a chaotic fractional incommensurate-order financial system are investigated. Using well-known tools of nonlinear theory, i.e. Lyapunov exponents, phase diagrams and bifurcation diagrams, we observe some interesting phenomena, e.g. antimonotonicity, crisis phenomena and route to chaos through a period doubling sequence. Adopting largest Lyapunov exponent criteria, we find that the system yields chaos at the lowest order of 2.15. Next, in order to globally stabilize the chaotic fractional incommensurate order financial system with uncertain dynamics, an adaptive fractional sliding mode controller is designed. Numerical simulations are used to demonstrate the effectiveness of the proposed control method.

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

Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems.

PubMed

Boukattaya, Mohamed; Mezghani, Neila; Damak, Tarak

2018-06-01

In this paper, robust and adaptive nonsingular fast terminal sliding-mode (NFTSM) control schemes for the trajectory tracking problem are proposed with known or unknown upper bound of the system uncertainty and external disturbances. The developed controllers take the advantage of the NFTSM theory to ensure fast convergence rate, singularity avoidance, and robustness against uncertainties and external disturbances. First, a robust NFTSM controller is proposed which guarantees that sliding surface and equilibrium point can be reached in a short finite-time from any initial state. Then, in order to cope with the unknown upper bound of the system uncertainty which may be occurring in practical applications, a new adaptive NFTSM algorithm is developed. One feature of the proposed control law is their adaptation techniques where the prior knowledge of parameters uncertainty and disturbances is not needed. However, the adaptive tuning law can estimate the upper bound of these uncertainties using only position and velocity measurements. Moreover, the proposed controller eliminates the chattering effect without losing the robustness property and the precision. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed control schemes. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Adaptive-gain fast super-twisting sliding mode fault tolerant control for a reusable launch vehicle in reentry phase.

PubMed

Zhang, Yao; Tang, Shengjing; Guo, Jie

2017-11-01

In this paper, a novel adaptive-gain fast super-twisting (AGFST) sliding mode attitude control synthesis is carried out for a reusable launch vehicle subject to actuator faults and unknown disturbances. According to the fast nonsingular terminal sliding mode surface (FNTSMS) and adaptive-gain fast super-twisting algorithm, an adaptive fault tolerant control law for the attitude stabilization is derived to protect against the actuator faults and unknown uncertainties. Firstly, a second-order nonlinear control-oriented model for the RLV is established by feedback linearization method. And on the basis a fast nonsingular terminal sliding mode (FNTSM) manifold is designed, which provides fast finite-time global convergence and avoids singularity problem as well as chattering phenomenon. Based on the merits of the standard super-twisting (ST) algorithm and fast reaching law with adaption, a novel adaptive-gain fast super-twisting (AGFST) algorithm is proposed for the finite-time fault tolerant attitude control problem of the RLV without any knowledge of the bounds of uncertainties and actuator faults. The important feature of the AGFST algorithm includes non-overestimating the values of the control gains and faster convergence speed than the standard ST algorithm. A formal proof of the finite-time stability of the closed-loop system is derived using the Lyapunov function technique. An estimation of the convergence time and accurate expression of convergence region are also provided. Finally, simulations are presented to illustrate the effectiveness and superiority of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A new composite adaptive controller featuring the neural network and prescribed sliding surface with application to vibration control

NASA Astrophysics Data System (ADS)

Phu, Do Xuan; Huy, Ta Duc; Mien, Van; Choi, Seung-Bok

2018-07-01

This work proposes a novel composite adaptive controller based on the prescribed performance of the sliding surface and applies it to vibration control of a semi-active vehicle seat suspension system subjected to severe external disturbances. As a first step, the online fast interval type 2 fuzzy neural network system is adopted to establish a model and two sliding surfaces are used; conventional surface and prescribed surface. Then, an equivalent control is determined by assuming the derivative of the prescribed surface is zero, followed by the design of a controller which can guarantee both stability and robustness. Then, two controllers are combined and integrated with adaptation laws using the projection algorithm. The effectiveness of the proposed composite controller is validated through both simulation and experiment by undertaking vibration control of a semi-active seat suspension system equipped with a magneto-rheological (MR) damper. It is shown from both simulation and experimental realization that excellent vibration control performances are achieved with a small tracking error between the proposed and prescribed objectives. In addition, the control superiority of the proposed controller to conventional sliding mode controller featuring one sliding surface and proportional-integral-derivative (PID) controllers are demonstrated through a comparative work.

Bearing Fault Diagnosis by a Robust Higher-Order Super-Twisting Sliding Mode Observer

PubMed Central

Kim, Jong-Myon

2018-01-01

An effective bearing fault detection and diagnosis (FDD) model is important for ensuring the normal and safe operation of machines. This paper presents a reliable model-reference observer technique for FDD based on modeling of a bearing’s vibration data by analyzing the dynamic properties of the bearing and a higher-order super-twisting sliding mode observation (HOSTSMO) technique for making diagnostic decisions using these data models. The HOSTSMO technique can adaptively improve the performance of estimating nonlinear failures in rolling element bearings (REBs) over a linear approach by modeling 5 degrees of freedom under normal and faulty conditions. The effectiveness of the proposed technique is evaluated using a vibration dataset provided by Case Western Reserve University, which consists of vibration acceleration signals recorded for REBs with inner, outer, ball, and no faults, i.e., normal. Experimental results indicate that the proposed technique outperforms the ARX-Laguerre proportional integral observation (ALPIO) technique, yielding 18.82%, 16.825%, and 17.44% performance improvements for three levels of crack severity of 0.007, 0.014, and 0.021 inches, respectively. PMID:29642459

Bearing Fault Diagnosis by a Robust Higher-Order Super-Twisting Sliding Mode Observer.

PubMed

Piltan, Farzin; Kim, Jong-Myon

2018-04-07

An effective bearing fault detection and diagnosis (FDD) model is important for ensuring the normal and safe operation of machines. This paper presents a reliable model-reference observer technique for FDD based on modeling of a bearing's vibration data by analyzing the dynamic properties of the bearing and a higher-order super-twisting sliding mode observation (HOSTSMO) technique for making diagnostic decisions using these data models. The HOSTSMO technique can adaptively improve the performance of estimating nonlinear failures in rolling element bearings (REBs) over a linear approach by modeling 5 degrees of freedom under normal and faulty conditions. The effectiveness of the proposed technique is evaluated using a vibration dataset provided by Case Western Reserve University, which consists of vibration acceleration signals recorded for REBs with inner, outer, ball, and no faults, i.e., normal. Experimental results indicate that the proposed technique outperforms the ARX-Laguerre proportional integral observation (ALPIO) technique, yielding 18.82%, 16.825%, and 17.44% performance improvements for three levels of crack severity of 0.007, 0.014, and 0.021 inches, respectively.

Sliding mode controller with modified sliding function for DC-DC Buck Converter.

PubMed

Naik, B B; Mehta, A J

2017-09-01

This article presents design of Sliding Mode Controller with proportional integral type sliding function for DC-DC Buck Converter for the controlled power supply. The converter with conventional sliding mode controller results in a steady state error in load voltage. The proposed modified sliding function improves the steady state and dynamic performance of the Convertor and facilitates better choices of controller tuning parameters. The conditions for existence of sliding modes for proposed control scheme are derived. The stability of the closed loop system with proposed sliding mode control is proved and improvement in steady state performance is exemplified. The idea of adaptive tuning for the proposed controller to compensate load variations is outlined. The comparative study of conventional and proposed control strategy is presented. The efficacy of the proposed strategy is endowed by the simulation and experimental results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Cytopathology whole slide images and adaptive tutorials for senior medical students: a randomized crossover trial.

PubMed

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

2016-01-08

Diagnostic cytopathology is an essential part of clinical decision-making. However, due to a combination of factors including curriculum reform and shortage of pathologists to teach introductory cytopathology, this area of pathology receives little or no formal attention in most medical school curricula. We have previously described the successful use of efficient and effective digital learning resources, including whole slide images (WSI) and virtual microscopy adaptive tutorials (VMATs), to teach cytopathology to pathology specialist trainees - a group that had prior exposure to cytopathology in their day to day practice. Consequently, in the current study we attempted to demonstrate the efficiency and efficacy of this eLearning resource in a cohort of senior medical students that was completely naïve to the subject matter (cytopathology). We evaluated both the quantitative and qualitative impact of these digital educational materials for learning cytopathology compared with existing resources (e-textbooks and online atlases). The senior medical students were recruited from The University of New South Wales Australia for a randomized cross-over trial. Online assessments, administered after each arm of the trial, contained questions which related directly to a whole slide image. Two categories of questions in the assessments (focusing on either diagnosis or identification of cellular features) were utilized to determine efficacy. User experience and perceptions of efficiency were evaluated using online questionnaires containing Likert scale items and open-ended questions. For this cohort of senior medical students, virtual microscopy adaptive tutorials (VMATs) proved to be at least as effective as existing digital resources for learning cytopathology. Importantly, virtual microscopy adaptive tutorials had superior efficacy in facilitating accurate diagnosis on whole slide images. Student perceptions of VMATs were positive, particularly regarding the immediate

Sliding mode disturbance observer-based control of a twin rotor MIMO system.

PubMed

Rashad, Ramy; El-Badawy, Ayman; Aboudonia, Ahmed

2017-07-01

This work proposes a robust tracking controller for a helicopter laboratory setup known as the twin rotor MIMO system (TRMS) using an integral sliding mode controller. To eliminate the discontinuity in the control signal, the controller is augmented by a sliding mode disturbance observer. The actuator dynamics is handled using a backstepping approach which is applicable due to the continuous chattering-free nature of the command signals generated using the disturbance observer based controller. To avoid the complexity of analytically differentiating the command signals, a first order sliding mode differentiator is used. Stability analysis of the closed loop system and the ultimate boundedness of the tracking error is proved using Lyapunov stability arguments. The proposed controller is validated by several simulation studies and is compared to other schemes in the literature. Experimental results using a hardware-in-the-loop system validate the robustness and effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Adaptive Sliding Mode Control of Dynamic Systems Using Double Loop Recurrent Neural Network Structure.

PubMed

Fei, Juntao; Lu, Cheng

2018-04-01

In this paper, an adaptive sliding mode control system using a double loop recurrent neural network (DLRNN) structure is proposed for a class of nonlinear dynamic systems. A new three-layer RNN is proposed to approximate unknown dynamics with two different kinds of feedback loops where the firing weights and output signal calculated in the last step are stored and used as the feedback signals in each feedback loop. Since the new structure has combined the advantages of internal feedback NN and external feedback NN, it can acquire the internal state information while the output signal is also captured, thus the new designed DLRNN can achieve better approximation performance compared with the regular NNs without feedback loops or the regular RNNs with a single feedback loop. The new proposed DLRNN structure is employed in an equivalent controller to approximate the unknown nonlinear system dynamics, and the parameters of the DLRNN are updated online by adaptive laws to get favorable approximation performance. To investigate the effectiveness of the proposed controller, the designed adaptive sliding mode controller with the DLRNN is applied to a -axis microelectromechanical system gyroscope to control the vibrating dynamics of the proof mass. Simulation results demonstrate that the proposed methodology can achieve good tracking property, and the comparisons of the approximation performance between radial basis function NN, RNN, and DLRNN show that the DLRNN can accurately estimate the unknown dynamics with a fast speed while the internal states of DLRNN are more stable.

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.

Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.

PubMed

Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

2017-07-01

This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.

An Automated Slide Classification System at Georgia Tech

ERIC Educational Resources Information Center

LoPresti, Maryellen

1973-01-01

The Georgia Tech Architecture Library slide collection is being revolutionized by adapting the Santa Cruz Slide Classification System. The slide catalog record is being transferred inexpensively to tapes and updated by the computer. Computer programs print out indexes in any of fifteen different sort fields. (Author)

Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.

PubMed

Mofid, Omid; Mobayen, Saleh

2018-01-01

Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay.

PubMed

Khazaee, Mostafa; Markazi, Amir H D; Omidi, Ehsan

2015-11-01

In this paper, a new Adaptive Fuzzy Predictive Sliding Mode Control (AFP-SMC) is presented for nonlinear systems with uncertain dynamics and unknown input delay. The control unit consists of a fuzzy inference system to approximate the ideal linearization control, together with a switching strategy to compensate for the estimation errors. Also, an adaptive fuzzy predictor is used to estimate the future values of the system states to compensate for the time delay. The adaptation laws are used to tune the controller and predictor parameters, which guarantee the stability based on a Lyapunov-Krasovskii functional. To evaluate the method effectiveness, the simulation and experiment on an overhead crane system are presented. According to the obtained results, AFP-SMC can effectively control the uncertain nonlinear systems, subject to input delays of known bound. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

Design of an adaptive super-twisting decoupled terminal sliding mode control scheme for a class of fourth-order systems.

PubMed

Ashtiani Haghighi, Donya; Mobayen, Saleh

2018-04-01

This paper proposes an adaptive super-twisting decoupled terminal sliding mode control technique for a class of fourth-order systems. The adaptive-tuning law eliminates the requirement of the knowledge about the upper bounds of external perturbations. Using the proposed control procedure, the state variables of cart-pole system are converged to decoupled terminal sliding surfaces and their equilibrium points in the finite time. Moreover, via the super-twisting algorithm, the chattering phenomenon is avoided without affecting the control performance. The numerical results demonstrate the high stabilization accuracy and lower performance indices values of the suggested method over the other ones. The simulation results on the cart-pole system as well as experimental validations demonstrate that the proposed control technique exhibits a reasonable performance in comparison with the other methods. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Min, Fuhong, E-mail: minfuhong@njnu.edu.cn; Wang, Yaoda; Peng, Guangya

2016-08-15

The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally,more » a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.« less

Sliding mode control for a two-joint coupling nonlinear system based on extended state observer.

PubMed

Zhao, Ling; Cheng, Haiyan; Wang, Tao

2018-02-01

A two-joint coupling nonlinear system driven by pneumatic artificial muscles is introduced in this paper. A sliding mode controller with extended state observer is proposed to cope with nonlinearities and disturbances for the two-joint coupling nonlinear system. In addition, convergence of the extended state observer is presented and stability analysis of the closed-loop system is also demonstrated with the sliding mode controller. Lastly, some experiments are carried out to show the reality effectiveness of the proposed method. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

NASA Astrophysics Data System (ADS)

Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

2018-03-01

This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer.

PubMed

Ren, Jun-Jie; Liu, Yan-Cheng; Wang, Ning; Liu, Si-Yuan

2015-01-01

This paper proposes a sensorless speed control strategy for ship propulsion interior permanent magnet synchronous motor (IPMSM) based on a new sliding-mode observer (SMO). In the SMO the low-pass filter and the method of arc-tangent calculation of extended electromotive force (EMF) or phase-locked loop (PLL) technique are not used. The calculation of the rotor speed is deduced from the Lyapunov function stability analysis. In order to reduce system chattering, sigmoid functions with switching gains being adaptively updated by fuzzy logic systems are innovatively incorporated into the SMO. Finally, simulation results for a 4.088 MW ship propulsion IPMSM and experimental results from a 7.5 kW IPMSM drive are provided to verify the effectiveness of the proposed SMO method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Observer-based sliding mode control of Markov jump systems with random sensor delays and partly unknown transition rates

NASA Astrophysics Data System (ADS)

Yao, Deyin; Lu, Renquan; Xu, Yong; Ren, Hongru

2017-10-01

In this paper, the sliding mode control problem of Markov jump systems (MJSs) with unmeasured state, partly unknown transition rates and random sensor delays is probed. In the practical engineering control, the exact information of transition rates is hard to obtain and the measurement channel is supposed to subject to random sensor delay. Design a Luenberger observer to estimate the unmeasured system state, and an integral sliding mode surface is constructed to ensure the exponential stability of MJSs. A sliding mode controller based on estimator is proposed to drive the system state onto the sliding mode surface and render the sliding mode dynamics exponentially mean-square stable with H∞ performance index. Finally, simulation results are provided to illustrate the effectiveness of the proposed results.

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

Suppression of the noise-induced effects in an electrostatic micro-plate using an adaptive back-stepping sliding mode control.

PubMed

Nwagoum Tuwa, Peguy Roussel; Woafo, P

2018-01-01

In this work, an adaptive backstepping sliding mode control approach is applied through the piezoelectric layer in order to control and to stabilize an electrostatic micro-plate. The mathematical model of the system by taking into account the small fluctuations in the gap considered as bounded noise is carried out. The accuracy of the proposed modal equation is proven using the method of lines. By using both approaches, the effects of noise are presented. It is found that they lead to pull-in instability as well as to random chaos. A suitable backstepping approach to improve the tracking performance is integrated to the adaptive sliding mode control in order to eliminate chattering phenomena and reinforce the robustness of the system in presence of uncertainties and external random disturbances. It is proved that all the variables of the closed-loop system are bounded and the system can follow the given reference signals as close as possible. Numerical simulations are provided to show the effectiveness of proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

On the adaptive sliding mode controller for a hyperchaotic fractional-order financial system

NASA Astrophysics Data System (ADS)

Hajipour, Ahamad; Hajipour, Mojtaba; Baleanu, Dumitru

2018-05-01

This manuscript mainly focuses on the construction, dynamic analysis and control of a new fractional-order financial system. The basic dynamical behaviors of the proposed system are studied such as the equilibrium points and their stability, Lyapunov exponents, bifurcation diagrams, phase portraits of state variables and the intervals of system parameters. It is shown that the system exhibits hyperchaotic behavior for a number of system parameters and fractional-order values. To stabilize the proposed hyperchaotic fractional system with uncertain dynamics and disturbances, an efficient adaptive sliding mode controller technique is developed. Using the proposed technique, two hyperchaotic fractional-order financial systems are also synchronized. Numerical simulations are presented to verify the successful performance of the designed controllers.

Robust control of electrostatic torsional micromirrors using adaptive sliding-mode control

NASA Astrophysics Data System (ADS)

Sane, Harshad S.; Yazdi, Navid; Mastrangelo, Carlos H.

2005-01-01

This paper presents high-resolution control of torsional electrostatic micromirrors beyond their inherent pull-in instability using robust sliding-mode control (SMC). The objectives of this paper are two-fold - firstly, to demonstrate the applicability of SMC for MEMS devices; secondly - to present a modified SMC algorithm that yields improved control accuracy. SMC enables compact realization of a robust controller tolerant of device characteristic variations and nonlinearities. Robustness of the control loop is demonstrated through extensive simulations and measurements on MEMS with a wide range in their characteristics. Control of two-axis gimbaled micromirrors beyond their pull-in instability with overall 10-bit pointing accuracy is confirmed experimentally. In addition, this paper presents an analysis of the sources of errors in discrete-time implementation of the control algorithm. To minimize these errors, we present an adaptive version of the SMC algorithm that yields substantial performance improvement without considerably increasing implementation complexity.

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.

Speed tracking and synchronization of multiple motors using ring coupling control and adaptive sliding mode control.

PubMed

Li, Le-Bao; Sun, Ling-Ling; Zhang, Sheng-Zhou; Yang, Qing-Quan

2015-09-01

A new control approach for speed tracking and synchronization of multiple motors is developed, by incorporating an adaptive sliding mode control (ASMC) technique into a ring coupling synchronization control structure. This control approach can stabilize speed tracking of each motor and synchronize its motion with other motors' motion so that speed tracking errors and synchronization errors converge to zero. Moreover, an adaptive law is exploited to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort and attenuate chattering. Performance comparisons with parallel control, relative coupling control and conventional PI control are investigated on a four-motor synchronization control system. Extensive simulation results show the effectiveness of the proposed control scheme. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Stabilization and synchronization for a mechanical system via adaptive sliding mode control.

PubMed

Song, Zhankui; Sun, Kaibiao; Ling, Shuai

2017-05-01

In this paper, we investigate the synchronization problem of chaotic centrifugal flywheel governor with parameters uncertainty and lumped disturbances. A slave centrifugal flywheel governor system is considered as an underactuated following-system which a control input is designed to follow a master centrifugal flywheel governor system. To tackle lumped disturbances and uncertainty parameters, a novel synchronization control law is developed by employing sliding mode control strategy and Nussbaum gain technique. Adaptation updating algorithms are derived in the sense of Lyapunov stability analysis such that the lumped disturbances can be suppressed and the adverse effect caused by uncertainty parameters can be compensated. In addition, the synchronization tracking-errors are proven to converge to a small neighborhood of the origin. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

NASA Astrophysics Data System (ADS)

Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

2018-06-01

Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

Smooth adaptive sliding mode vibration control of a flexible parallel manipulator with multiple smart linkages in modal space

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Jianhui

2017-12-01

This paper addresses the dynamic model and active vibration control of a rigid-flexible parallel manipulator with three smart links actuated by three linear ultrasonic motors. To suppress the vibration of three flexible intermediate links under high speed and acceleration, multiple Lead Zirconium Titanate (PZT) sensors and actuators are collocated mounted on each link, forming a smart structure which can achieve self-sensing and self-actuating. The dynamic characteristics and equations of the flexible link incorporated with the PZT sensors and actuator are analyzed and formulated. The smooth adaptive sliding mode based active vibration control is proposed to suppress the vibration of the smart links, and the first and second modes of the three links are targeted to be suppressed in modal space to avoid the spillover phenomenon. Simulations and experiments are implemented to validate the effectiveness of the smart structures and the proposed control laws. Experimental results show that the vibration of the first mode around 92 Hz and the second mode around 240 Hz of the three smart links are reduced respectively by 64.98%, 59.47%, 62.28%, and 45.80%, 36.79%, 33.33%, which further verify the multi-mode vibration control ability of the smooth adaptive sliding mode control law.

High-performance fractional order terminal sliding mode control strategy for DC-DC Buck converter

PubMed Central

Xu, Dan; Zhou, Huan; Bai, Anning; Lu, Wei

2017-01-01

This paper presents an adaption of the fractional order terminal sliding mode control (AFTSMC) strategy for DC-DC Buck converter. The following strategy aims to design a novel nonlinear sliding surface function, with a double closed-loop structure of voltage and current. This strategy is a fusion of two characteristics: terminal sliding mode control (TSMC) and fractional order calculation (FOC). In addition, the influence of “the controller parameters” on the “performance of double closed-loop system” is investigated. It is observed that the value of terminal power has to be chosen to make a compromise between start-up and transient response of the converter. Therefore the AFTSMC strategy chooses the value of the terminal power adaptively, and this strategy can lead to the appropriate number of fractional order as well. Furthermore, through the fractional order analysis, the system can reach the sliding mode surface in a finite time. And the theoretical considerations are verified by numerical simulation. The performance of the AFTSMC and TSMC strategies is tested by computer simulations. And the comparison simulation results show that the AFTSMC exhibits a considerable improvement in terms of a faster output voltage response during load changes. Moreover, AFTSMC obtains a faster dynamical response, smaller steady-state error rate and lower overshoot. PMID:29084255

High-performance fractional order terminal sliding mode control strategy for DC-DC Buck converter.

PubMed

Wang, Jianlin; Xu, Dan; Zhou, Huan; Bai, Anning; Lu, Wei

2017-01-01

This paper presents an adaption of the fractional order terminal sliding mode control (AFTSMC) strategy for DC-DC Buck converter. The following strategy aims to design a novel nonlinear sliding surface function, with a double closed-loop structure of voltage and current. This strategy is a fusion of two characteristics: terminal sliding mode control (TSMC) and fractional order calculation (FOC). In addition, the influence of "the controller parameters" on the "performance of double closed-loop system" is investigated. It is observed that the value of terminal power has to be chosen to make a compromise between start-up and transient response of the converter. Therefore the AFTSMC strategy chooses the value of the terminal power adaptively, and this strategy can lead to the appropriate number of fractional order as well. Furthermore, through the fractional order analysis, the system can reach the sliding mode surface in a finite time. And the theoretical considerations are verified by numerical simulation. The performance of the AFTSMC and TSMC strategies is tested by computer simulations. And the comparison simulation results show that the AFTSMC exhibits a considerable improvement in terms of a faster output voltage response during load changes. Moreover, AFTSMC obtains a faster dynamical response, smaller steady-state error rate and lower overshoot.

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.

Sliding mode observers for automotive alternator

NASA Astrophysics Data System (ADS)

Chen, De-Shiou

Estimator development for synchronous rectification of the automotive alternator is a desirable approach for estimating alternator's back electromotive forces (EMFs) without a direct mechanical sensor of the rotor position. Recent theoretical studies show that estimation of the back EMF may be observed based on system's phase current model by sensing electrical variables (AC phase currents and DC bus voltage) of the synchronous rectifier. Observer design of the back EMF estimation has been developed for constant engine speed. In this work, we are interested in nonlinear observer design of the back EMF estimation for the real case of variable engine speed. Initial back EMF estimate can be obtained from a first-order sliding mode observer (SMO) based on the phase current model. A fourth-order nonlinear asymptotic observer (NAO), complemented by the dynamics of the back EMF with time-varying frequency and amplitude, is then incorporated into the observer design for chattering reduction. Since the cost of required phase current sensors may be prohibitive, the most applicable approach in real implementation by measuring DC current of the synchronous rectifier is carried out in the dissertation. It is shown that the DC link current consists of sequential "windows" with partial information of the phase currents, hence, the cascaded NAO is responsible not only for the purpose of chattering reduction but also for necessarily accomplishing the process of estimation. Stability analyses of the proposed estimators are considered for most linear and time-varying cases. The stability of the NAO without speed information is substantiated by both numerical and experimental results. Prospective estimation algorithms for the case of battery current measurements are investigated. Theoretical study indicates that the convergence of the proposed LAO may be provided by high gain inputs. Since the order of the LAO/NAO for the battery current case is one order higher than that of the link

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.

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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive super-twisting sliding mode control for a three-phase single-stage grid-connected differential boost inverter based photovoltaic system.

PubMed

Pati, Akshaya K; Sahoo, N C

2017-07-01

This paper presents an adaptive super-twisting sliding mode control (STC) along with double-loop control for voltage tracking performance of three-phase differential boost inverter and DC-link capacitor voltage regulation in grid-connected PV system. The effectiveness of the proposed control strategies are demonstrated under realistic scenarios such as variations in solar insolation, load power demand, grid voltage, and transition from grid-connected to standalone mode etc. Additional supplementary power quality control functions such as harmonic compensation, and reactive power management are also investigated with the proposed control strategy. The results are compared with conventional proportional-integral controller, and PWM sliding mode controller. The system performance is evaluated in simulation and in real-time. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Model-free adaptive sliding mode controller design for generalized projective synchronization of the fractional-order chaotic system via radial basis function neural networks

NASA Astrophysics Data System (ADS)

Wang, L. M.

2017-09-01

A novel model-free adaptive sliding mode strategy is proposed for a generalized projective synchronization (GPS) between two entirely unknown fractional-order chaotic systems subject to the external disturbances. To solve the difficulties from the little knowledge about the master-slave system and to overcome the bad effects of the external disturbances on the generalized projective synchronization, the radial basis function neural networks are used to approach the packaged unknown master system and the packaged unknown slave system (including the external disturbances). Consequently, based on the slide mode technology and the neural network theory, a model-free adaptive sliding mode controller is designed to guarantee asymptotic stability of the generalized projective synchronization error. The main contribution of this paper is that a control strategy is provided for the generalized projective synchronization between two entirely unknown fractional-order chaotic systems subject to the unknown external disturbances, and the proposed control strategy only requires that the master system has the same fractional orders as the slave system. Moreover, the proposed method allows us to achieve all kinds of generalized projective chaos synchronizations by turning the user-defined parameters onto the desired values. Simulation results show the effectiveness of the proposed method and the robustness of the controlled system.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

PubMed Central

Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Liu, Quan; Xie, Sheng Q.; Yang, Ming

2017-01-01

A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions. PMID:29283406

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

PubMed

Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

2017-12-28

A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

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. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Analysis and Synthesis of Memory-Based Fuzzy Sliding Mode Controllers.

PubMed

Zhang, Jinhui; Lin, Yujuan; Feng, Gang

2015-12-01

This paper addresses the sliding mode control problem for a class of Takagi-Sugeno fuzzy systems with matched uncertainties. Different from the conventional memoryless sliding surface, a memory-based sliding surface is proposed which consists of not only the current state but also the delayed state. Both robust and adaptive fuzzy sliding mode controllers are designed based on the proposed memory-based sliding surface. It is shown that the sliding surface can be reached and the closed-loop control system is asymptotically stable. Furthermore, to reduce the chattering, some continuous sliding mode controllers are also presented. Finally, the ball and beam system is used to illustrate the advantages and effectiveness of the proposed approaches. It can be seen that, with the proposed control approaches, not only can the stability be guaranteed, but also its transient performance can be improved significantly.

Sliding mode control-based linear functional observers for discrete-time stochastic systems

NASA Astrophysics Data System (ADS)

Singh, Satnesh; Janardhanan, Sivaramakrishnan

2017-11-01

Sliding mode control (SMC) is one of the most popular techniques to stabilise linear discrete-time stochastic systems. However, application of SMC becomes difficult when the system states are not available for feedback. This paper presents a new approach to design a SMC-based functional observer for discrete-time stochastic systems. The functional observer is based on the Kronecker product approach. Existence conditions and stability analysis of the proposed observer are given. The control input is estimated by a novel linear functional observer. This approach leads to a non-switching type of control, thereby eliminating the fundamental cause of chatter. Furthermore, the functional observer is designed in such a way that the effect of process and measurement noise is minimised. Simulation example is given to illustrate and validate the proposed design method.

Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

NASA Astrophysics Data System (ADS)

Zhang, Jianqiao; Ye, Dong; Sun, Zhaowei; Liu, Chuang

2018-02-01

This paper presents a robust adaptive controller integrated with an extended state observer (ESO) to solve coupled spacecraft tracking maneuver in the presence of model uncertainties, external disturbances, actuator uncertainties including magnitude deviation and misalignment, and even actuator saturation. More specifically, employing the exponential coordinates on the Lie group SE(3) to describe configuration tracking errors, the coupled six-degrees-of-freedom (6-DOF) dynamics are developed for spacecraft relative motion, in which a generic fully actuated thruster distribution is considered and the lumped disturbances are reconstructed by using anti-windup technique. Then, a novel ESO, developed via second order sliding mode (SOSM) technique and adding linear correction terms to improve the performance, is designed firstly to estimate the disturbances in finite time. Based on the estimated information, an adaptive fast terminal sliding mode (AFTSM) controller is developed to guarantee the almost global asymptotic stability of the resulting closed-loop system such that the trajectory can be tracked with all the aforementioned drawbacks addressed simultaneously. Finally, the effectiveness of the controller is illustrated through numerical examples.

Sensorless sliding mode observer for a five-phase permanent magnet synchronous motor drive.

PubMed

Hosseyni, Anissa; Trabelsi, Ramzi; Mimouni, Med Faouzi; Iqbal, Atif; Alammari, Rashid

2015-09-01

This paper deals with the sensorless vector controlled five-phase permanent magnet synchronous motor (PMSM) drive based on a sliding mode observer (SMO). The observer is designed considering the back electromotive force (EMF) of five-phase permanent magnet synchronous motor. The SMO structure and design are illustrated. Stability of the proposed observer is demonstrated using Lyapunov stability criteria. The proposed strategy is asymptotically stable in the context of Lyapunov theory. Simulated results on a five-phase PMSM drive are displayed to validate the feasibility and the effectiveness of the proposed control strategy. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers

PubMed Central

Chang, Xiaodong; Huang, Jinquan; Lu, Feng

2017-01-01

For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios. PMID:28398255

Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers.

PubMed

Chang, Xiaodong; Huang, Jinquan; Lu, Feng

2017-04-11

For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios.

Prediction Study on Anti-Slide Control of Railway Vehicle Based on RBF Neural Networks

NASA Astrophysics Data System (ADS)

Yang, Lijun; Zhang, Jimin

While railway vehicle braking, Anti-slide control system will detect operating status of each wheel-sets e.g. speed difference and deceleration etc. Once the detected value on some wheel-set is over pre-defined threshold, brake effort on such wheel-set will be adjusted automatically to avoid blocking. Such method takes effect on guarantee safety operation of vehicle and avoid wheel-set flatness, however it cannot adapt itself to the rail adhesion variation. While wheel-sets slide, the operating status is chaotic time series with certain law, and can be predicted with the law and experiment data in certain time. The predicted values can be used as the input reference signals of vehicle anti-slide control system, to judge and control the slide status of wheel-sets. In this article, the RBF neural networks is taken to predict wheel-set slide status in multi-step with weight vector adjusted based on online self-adaptive algorithm, and the center & normalizing parameters of active function of the hidden unit of RBF neural networks' hidden layer computed with K-means clustering algorithm. With multi-step prediction simulation, the predicted signal with appropriate precision can be used by anti-slide system to trace actively and adjust wheel-set slide tendency, so as to adapt to wheel-rail adhesion variation and reduce the risk of wheel-set blocking.

Sliding mode control for Mars entry based on extended state observer

NASA Astrophysics Data System (ADS)

Lu, Kunfeng; Xia, Yuanqing; Shen, Ganghui; Yu, Chunmei; Zhou, Liuyu; Zhang, Lijun

2017-11-01

This paper addresses high-precision Mars entry guidance and control approach via sliding mode control (SMC) and Extended State Observer (ESO). First, differential flatness (DF) approach is applied to the dynamic equations of the entry vehicle to represent the state variables more conveniently. Then, the presented SMC law can guarantee the property of finite-time convergence of tracking error, which requires no information on high uncertainties that are estimated by ESO, and the rigorous proof of tracking error convergence is given. Finally, Monte Carlo simulation results are presented to demonstrate the effectiveness of the suggested approach.

Histopathology slide projector: a simple improvisation.

PubMed

Agarwal, Akhilesh K R; Bhattacharya, Nirjhar

2008-07-01

The ability to examine histopathology and other hematological slides under microscope is a necessary and important service which should be available in every health facility. The slides need to be projected on to a screen. We describe an inexpensive and easily constructed technique for projecting magnified images of slides using a simple microscope. It is effective both for making observations and for use as a teaching aid.

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

The adaptive observer. [liapunov synthesis, single-input single-output, and reduced observers

NASA Technical Reports Server (NTRS)

Carroll, R. L.

1973-01-01

The simple generation of state from available measurements, for use in systems for which the criteria defining the acceptable state behavior mandates a control that is dependent upon unavailable measurement is described as an adaptive means for determining the state of a linear time invariant differential system having unknown parameters. A single input output adaptive observer and the reduced adaptive observer is developed. The basic ideas for both the adaptive observer and the nonadaptive observer are examined. A survey of the Liapunov synthesis technique is taken, and the technique is applied to adaptive algorithm for the adaptive observer.

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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Neural network-based sliding mode control for atmospheric-actuated spacecraft formation using switching strategy

NASA Astrophysics Data System (ADS)

Sun, Ran; Wang, Jihe; Zhang, Dexin; Shao, Xiaowei

2018-02-01

This paper presents an adaptive neural networks-based control method for spacecraft formation with coupled translational and rotational dynamics using only aerodynamic forces. It is assumed that each spacecraft is equipped with several large flat plates. A coupled orbit-attitude dynamic model is considered based on the specific configuration of atmospheric-based actuators. For this model, a neural network-based adaptive sliding mode controller is implemented, accounting for system uncertainties and external perturbations. To avoid invalidation of the neural networks destroying stability of the system, a switching control strategy is proposed which combines an adaptive neural networks controller dominating in its active region and an adaptive sliding mode controller outside the neural active region. An optimal process is developed to determine the control commands for the plates system. The stability of the closed-loop system is proved by a Lyapunov-based method. Comparative results through numerical simulations illustrate the effectiveness of executing attitude control while maintaining the relative motion, and higher control accuracy can be achieved by using the proposed neural-based switching control scheme than using only adaptive sliding mode controller.

Monolithic quasi-sliding-mode controller for SIDO buck converter with a self-adaptive free-wheeling current level

NASA Astrophysics Data System (ADS)

Xiaobo, Wu; Qing, Liu; Menglian, Zhao; Mingyang, Chen

2013-01-01

An analog implementation of a novel fixed-frequency quasi-sliding-mode controller for single-inductor dual-output (SIDO) buck converter in pseudo-continuous conduction mode (PCCM) with a self-adaptive freewheeling current level (SFCL) is presented. Both small and large signal variations around the operation point are considered to achieve better transient response so as to reduce the cross-regulation of this SIDO buck converter. Moreover, an internal integral loop is added to suppress the steady-state regulation error introduced by conventional PWM-based sliding mode controllers. Instead of keeping it as a constant value, the free-wheeling current level varies according to the load condition to maintain high power efficiency and less cross-regulation at the same time. To verify the feasibility of the proposed controller, an SIDO buck converter with two regulated output voltages, 1.8 V and 3.3 V, is designed and fabricated in HEJIAN 0.35 μm CMOS process. Simulation and experiment results show that the transient time of this SIDO buck converter drops to 10 μs while the cross-regulation is reduced to 0.057 mV/mA, when its first load changes from 50 to 100 mA.

Using slides to test for changes in crown defoliation assessment methods. Part I: Visual assessment of slides.

PubMed

Dobbertin, Matthias; Hug, Christian; Mizoue, Nobuya

2004-11-01

In this study we used photographs of tree crowns to test whether the assessment methods for tree defoliation in Switzerland have changed over time. We randomly selected 24 series of slides of Norway spruce with field assessments made between 1986 and 1995. The slides were randomly arranged and assessed by three experts without prior knowledge of the year when the slide was taken or the tree number. Defoliation was assessed using the Swiss reference photo guide. Although the correlations between the field assessments and slide assessments were high (Spearman's rank correlation coefficient ranged between 0.79 and 0.83), we found significant differences between field and slide assessments (4.3 to 9% underprediction by the slide assessors) and between the slide assessments. However, no significant trends in field assessment methods could be detected. When the mean differences between field and slide assessments were subtracted, in some years, field assessors consistently underpredicted (1990, 1992) or overpredicted defoliation (1987, 1991). Defoliation tended to be overpredicted in slides taken against the light, and underpredicted for trees with more than 25% crown overlap. We conclude that slide series can be used to detect changes in assessment methods. However, potential observer bias calls for more objective methods of assessment.

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.

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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

An Adaptive B-Spline Neural Network and Its Application in Terminal Sliding Mode Control for a Mobile Satcom Antenna Inertially Stabilized Platform.

PubMed

Zhang, Xiaolei; Zhao, Yan; Guo, Kai; Li, Gaoliang; Deng, Nianmao

2017-04-28

The mobile satcom antenna (MSA) enables a moving vehicle to communicate with a geostationary Earth orbit satellite. To realize continuous communication, the MSA should be aligned with the satellite in both sight and polarization all the time. Because of coupling effects, unknown disturbances, sensor noises and unmodeled dynamics existing in the system, the control system should have a strong adaptability. The significant features of terminal sliding mode control method are robustness and finite time convergence, but the robustness is related to the large switching control gain which is determined by uncertain issues and can lead to chattering phenomena. Neural networks can reduce the chattering and approximate nonlinear issues. In this work, a novel B-spline curve-based B-spline neural network (BSNN) is developed. The improved BSNN has the capability of shape changing and self-adaption. In addition, the output of the proposed BSNN is applied to approximate the nonlinear function in the system. The results of simulations and experiments are also compared with those of PID method, non-singularity fast terminal sliding mode (NFTSM) control and radial basis function (RBF) neural network-based NFTSM. It is shown that the proposed method has the best performance, with reliable control precision.

Monitoring environmental change with color slides

Treesearch

Arthur W. Magill

1989-01-01

Monitoring human impact on outdoor recreation sites and view landscapes is necessary to evaluate influences which may require corrective action and to determine if management is achieving desired goals. An inexpensive method to monitor environmental change is to establish camera points and use repeat color slides. Successful monitoring from slides requires the observer...

Model-based adaptive sliding mode control of the subcritical boiler-turbine system with uncertainties.

PubMed

Tian, Zhen; Yuan, Jingqi; Xu, Liang; Zhang, Xiang; Wang, Jingcheng

2018-05-25

As higher requirements are proposed for the load regulation and efficiency enhancement, the control performance of boiler-turbine systems has become much more important. In this paper, a novel robust control approach is proposed to improve the coordinated control performance for subcritical boiler-turbine units. To capture the key features of the boiler-turbine system, a nonlinear control-oriented model is established and validated with the history operation data of a 300 MW unit. To achieve system linearization and decoupling, an adaptive feedback linearization strategy is proposed, which could asymptotically eliminate the linearization error caused by the model uncertainties. Based on the linearized boiler-turbine system, a second-order sliding mode controller is designed with the super-twisting algorithm. Moreover, the closed-loop system is proved robustly stable with respect to uncertainties and disturbances. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves excellent tracking performance, strong robustness and chattering reduction. Copyright © 2018. Published by Elsevier Ltd.

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

High-throughput adaptive sampling for whole-slide histopathology image analysis (HASHI) via convolutional neural networks: Application to invasive breast cancer detection.

PubMed

Cruz-Roa, Angel; Gilmore, Hannah; Basavanhally, Ajay; Feldman, Michael; Ganesan, Shridar; Shih, Natalie; Tomaszewski, John; Madabhushi, Anant; González, Fabio

2018-01-01

Precise detection of invasive cancer on whole-slide images (WSI) is a critical first step in digital pathology tasks of diagnosis and grading. Convolutional neural network (CNN) is the most popular representation learning method for computer vision tasks, which have been successfully applied in digital pathology, including tumor and mitosis detection. However, CNNs are typically only tenable with relatively small image sizes (200 × 200 pixels). Only recently, Fully convolutional networks (FCN) are able to deal with larger image sizes (500 × 500 pixels) for semantic segmentation. Hence, the direct application of CNNs to WSI is not computationally feasible because for a WSI, a CNN would require billions or trillions of parameters. To alleviate this issue, this paper presents a novel method, High-throughput Adaptive Sampling for whole-slide Histopathology Image analysis (HASHI), which involves: i) a new efficient adaptive sampling method based on probability gradient and quasi-Monte Carlo sampling, and, ii) a powerful representation learning classifier based on CNNs. We applied HASHI to automated detection of invasive breast cancer on WSI. HASHI was trained and validated using three different data cohorts involving near 500 cases and then independently tested on 195 studies from The Cancer Genome Atlas. The results show that (1) the adaptive sampling method is an effective strategy to deal with WSI without compromising prediction accuracy by obtaining comparative results of a dense sampling (∼6 million of samples in 24 hours) with far fewer samples (∼2,000 samples in 1 minute), and (2) on an independent test dataset, HASHI is effective and robust to data from multiple sites, scanners, and platforms, achieving an average Dice coefficient of 76%.

High-throughput adaptive sampling for whole-slide histopathology image analysis (HASHI) via convolutional neural networks: Application to invasive breast cancer detection

PubMed Central

Gilmore, Hannah; Basavanhally, Ajay; Feldman, Michael; Ganesan, Shridar; Shih, Natalie; Tomaszewski, John; Madabhushi, Anant; González, Fabio

2018-01-01

Precise detection of invasive cancer on whole-slide images (WSI) is a critical first step in digital pathology tasks of diagnosis and grading. Convolutional neural network (CNN) is the most popular representation learning method for computer vision tasks, which have been successfully applied in digital pathology, including tumor and mitosis detection. However, CNNs are typically only tenable with relatively small image sizes (200 × 200 pixels). Only recently, Fully convolutional networks (FCN) are able to deal with larger image sizes (500 × 500 pixels) for semantic segmentation. Hence, the direct application of CNNs to WSI is not computationally feasible because for a WSI, a CNN would require billions or trillions of parameters. To alleviate this issue, this paper presents a novel method, High-throughput Adaptive Sampling for whole-slide Histopathology Image analysis (HASHI), which involves: i) a new efficient adaptive sampling method based on probability gradient and quasi-Monte Carlo sampling, and, ii) a powerful representation learning classifier based on CNNs. We applied HASHI to automated detection of invasive breast cancer on WSI. HASHI was trained and validated using three different data cohorts involving near 500 cases and then independently tested on 195 studies from The Cancer Genome Atlas. The results show that (1) the adaptive sampling method is an effective strategy to deal with WSI without compromising prediction accuracy by obtaining comparative results of a dense sampling (∼6 million of samples in 24 hours) with far fewer samples (∼2,000 samples in 1 minute), and (2) on an independent test dataset, HASHI is effective and robust to data from multiple sites, scanners, and platforms, achieving an average Dice coefficient of 76%. PMID:29795581

An adaptive tracking observer for failure-detection systems

NASA Technical Reports Server (NTRS)

Sidar, M.

1982-01-01

The design problem of adaptive observers applied to linear, constant and variable parameters, multi-input, multi-output systems, is considered. It is shown that, in order to keep the observer's (or Kalman filter) false-alarm rate (FAR) under a certain specified value, it is necessary to have an acceptable proper matching between the observer (or KF) model and the system parameters. An adaptive observer algorithm is introduced in order to maintain desired system-observer model matching, despite initial mismatching and/or system parameter variations. Only a properly designed adaptive observer is able to detect abrupt changes in the system (actuator, sensor failures, etc.) with adequate reliability and FAR. Conditions for convergence for the adaptive process were obtained, leading to a simple adaptive law (algorithm) with the possibility of an a priori choice of fixed adaptive gains. Simulation results show good tracking performance with small observer output errors and accurate and fast parameter identification, in both deterministic and stochastic cases.

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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

All-in-one 3D printed microscopy chamber for multidimensional imaging, the UniverSlide.

PubMed

Alessandri, Kevin; Andrique, Laetitia; Feyeux, Maxime; Bikfalvi, Andreas; Nassoy, Pierre; Recher, Gaëlle

2017-02-10

While live 3D high resolution microscopy techniques are developing rapidly, their use for biological applications is partially hampered by practical difficulties such as the lack of a versatile sample chamber. Here, we propose the design of a multi-usage observation chamber adapted for live 3D bio-imaging. We show the usefulness and practicality of this chamber, which we named the UniverSlide, for live imaging of two case examples, namely multicellular systems encapsulated in sub-millimeter hydrogel shells and zebrafish larvae. We also demonstrate its versatility and compatibility with all microscopy devices by using upright or inverted microscope configurations after loading the UniverSlide with fixed or living samples. Further, the device is applicable for medium/high throughput screening and automatized multi-position image acquisition, providing a constraint-free but stable and parallelized immobilization of the samples. The frame of the UniverSlide is fabricated using a stereolithography 3D printer, has the size of a microscopy slide, is autoclavable and sealed with a removable lid, which makes it suitable for use in a controlled culture environment. We describe in details how to build this chamber and we provide all the files necessary to print the different pieces in the lab.

All-in-one 3D printed microscopy chamber for multidimensional imaging, the UniverSlide

PubMed Central

Alessandri, Kevin; Andrique, Laetitia; Feyeux, Maxime; Bikfalvi, Andreas; Nassoy, Pierre; Recher, Gaëlle

2017-01-01

While live 3D high resolution microscopy techniques are developing rapidly, their use for biological applications is partially hampered by practical difficulties such as the lack of a versatile sample chamber. Here, we propose the design of a multi-usage observation chamber adapted for live 3D bio-imaging. We show the usefulness and practicality of this chamber, which we named the UniverSlide, for live imaging of two case examples, namely multicellular systems encapsulated in sub-millimeter hydrogel shells and zebrafish larvae. We also demonstrate its versatility and compatibility with all microscopy devices by using upright or inverted microscope configurations after loading the UniverSlide with fixed or living samples. Further, the device is applicable for medium/high throughput screening and automatized multi-position image acquisition, providing a constraint-free but stable and parallelized immobilization of the samples. The frame of the UniverSlide is fabricated using a stereolithography 3D printer, has the size of a microscopy slide, is autoclavable and sealed with a removable lid, which makes it suitable for use in a controlled culture environment. We describe in details how to build this chamber and we provide all the files necessary to print the different pieces in the lab. PMID:28186188

All-in-one 3D printed microscopy chamber for multidimensional imaging, the UniverSlide

NASA Astrophysics Data System (ADS)

Alessandri, Kevin; Andrique, Laetitia; Feyeux, Maxime; Bikfalvi, Andreas; Nassoy, Pierre; Recher, Gaëlle

2017-02-01

While live 3D high resolution microscopy techniques are developing rapidly, their use for biological applications is partially hampered by practical difficulties such as the lack of a versatile sample chamber. Here, we propose the design of a multi-usage observation chamber adapted for live 3D bio-imaging. We show the usefulness and practicality of this chamber, which we named the UniverSlide, for live imaging of two case examples, namely multicellular systems encapsulated in sub-millimeter hydrogel shells and zebrafish larvae. We also demonstrate its versatility and compatibility with all microscopy devices by using upright or inverted microscope configurations after loading the UniverSlide with fixed or living samples. Further, the device is applicable for medium/high throughput screening and automatized multi-position image acquisition, providing a constraint-free but stable and parallelized immobilization of the samples. The frame of the UniverSlide is fabricated using a stereolithography 3D printer, has the size of a microscopy slide, is autoclavable and sealed with a removable lid, which makes it suitable for use in a controlled culture environment. We describe in details how to build this chamber and we provide all the files necessary to print the different pieces in the lab.

Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer.

PubMed

Niu, Jie; Yang, Qianqian; Wang, Xiaoyun; Song, Rong

2017-01-01

Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC) scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

Atomistic Simulation of Frictional Sliding Between Cellulose Iß Nanocrystals

Treesearch

Xiawa Wu; Robert J. Moon; Ashlie Martini

2013-01-01

Sliding friction between cellulose Iß nanocrystals is studied using molecular dynamics simulation. The effects of sliding velocity, normal load, and relative angle between sliding surface are predicted, and the results analyzed in terms of the number of hydrogen bonds within and between the cellulose chains. We find that although the observed friction trends can be...

Analysis and design of second-order sliding-mode algorithms for quadrotor roll and pitch estimation.

PubMed

Chang, Jing; Cieslak, Jérôme; Dávila, Jorge; Zolghadri, Ali; Zhou, Jun

2017-11-01

The problem addressed in this paper is that of quadrotor roll and pitch estimation without any assumption about the knowledge of perturbation bounds when Inertial Measurement Units (IMU) data or position measurements are available. A Smooth Sliding Mode (SSM) algorithm is first designed to provide reliable estimation under a smooth disturbance assumption. This assumption is next relaxed with the second proposed Adaptive Sliding Mode (ASM) algorithm that deals with disturbances of unknown bounds. In addition, the analysis of the observers are extended to the case where measurements are corrupted by bias and noise. The gains of the proposed algorithms were deduced from the Lyapunov function. Furthermore, some useful guidelines are provided for the selection of the observer turning parameters. The performance of these two approaches is evaluated using a nonlinear simulation model and considering either accelerometer or position measurements. The simulation results demonstrate the benefits of the proposed solutions. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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…

Sliding Mode Control of Real-Time PNU Vehicle Driving Simulator and Its Performance Evaluation

NASA Astrophysics Data System (ADS)

Lee, Min Cheol; Park, Min Kyu; Yoo, Wan Suk; Son, Kwon; Han, Myung Chul

This paper introduces an economical and effective full-scale driving simulator for study of human sensibility and development of new vehicle parts and its control. Real-time robust control to accurately reappear a various vehicle motion may be a difficult task because the motion platform is the nonlinear complex system. This study proposes the sliding mode controller with a perturbation compensator using observer-based fuzzy adaptive network (FAN). This control algorithm is designed to solve the chattering problem of a sliding mode control and to select the adequate fuzzy parameters of the perturbation compensator. For evaluating the trajectory control performance of the proposed approach, a tracking control of the developed simulator named PNUVDS is experimentally carried out. And then, the driving performance of the simulator is evaluated by using human perception and sensibility of some drivers in various driving conditions.

Adaptive nonlinear control for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Black, William S.

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.

Frictional sliding inclusions

NASA Astrophysics Data System (ADS)

Huang, Jin H.; Furuhashi, R.; Mura, T.

1993-02-01

S OLUTIONS ARE presented in closed form by using an averaging method for inclusions sliding along an interface due to uniform eigenstrains precribed in the inclusions. The associated stress fields are also analytically determined. A parameter s is introduced to indicate the relative magnitude of sliding compared with the extreme cases of perfect bonding and perfect sliding. When the parameter s becomes zero, the present solution coincides with Eshelby's solution which is the perfectly bonded case. In contrast, when the parameter s is unity, the solution agrees with Volterra's solution (M URA and F URUHASHI, 1984, J. appl. Mech.51, 308] for the perfect sliding case. Because of non-uniform elastic fields caused by sliding along the interface, the well-known Eshelby tensor is modified for the sliding inclusions. Moreover, based on the Mori-Tanaka theory (M ORI and T ANAKA, 1973, Acta Metall.21, 571), an overall stress-strain relation is established to characterize the sliding effect on the overall elastic moduli.

Uncertainty Quantification for Robust Control of Wind Turbines using Sliding Mode Observer

NASA Astrophysics Data System (ADS)

Schulte, Horst

2016-09-01

A new quantification method of uncertain models for robust wind turbine control using sliding-mode techniques is presented with the objective to improve active load mitigation. This approach is based on the so-called equivalent output injection signal, which corresponds to the average behavior of the discontinuous switching term, establishing and maintaining a motion on a so-called sliding surface. The injection signal is directly evaluated to obtain estimates of the uncertainty bounds of external disturbances and parameter uncertainties. The applicability of the proposed method is illustrated by the quantification of a four degree-of-freedom model of the NREL 5MW reference turbine containing uncertainties.

Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.

PubMed

Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin

2013-03-01

In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding window adaptive histogram equalization of intraoral radiographs: effect on image quality.

PubMed

Sund, T; Møystad, A

2006-05-01

To investigate whether contrast enhancement by non-interactive, sliding window adaptive histogram equalization (SWAHE) can enhance the image quality of intraoral radiographs in the dental clinic. Three dentists read 22 periapical and 12 bitewing storage phosphor (SP) radiographs. For the periapical readings they graded the quality of the examination with regard to visually locating the root apex. For the bitewing readings they registered all occurrences of approximal caries on a confidence scale. Each reading was first done on an unprocessed radiograph ("single-view"), and then re-done with the image processed with SWAHE displayed beside the unprocessed version ("twin-view"). The processing parameters for SWAHE were the same for all the images. For the periapical examinations, twin-view was judged to raise the image quality for 52% of those cases where the single-view quality was below the maximum. For the bitewing radiographs, there was a change of caries classification (both positive and negative) with twin-view in 19% of the cases, but with only a 3% net increase in the total number of caries registrations. For both examinations interobserver variance was unaffected. Non-interactive SWAHE applied to dental SP radiographs produces a supplemental contrast enhanced image which in twin-view reading improves the image quality of periapical examinations. SWAHE also affects caries diagnosis of bitewing images, and further study using a gold standard is warranted.

Pressure vessel sliding support unit and system using the sliding support unit

DOEpatents

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.

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…

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.

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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

Standardization of whole slide image morphologic assessment with definition of a new application: Digital slide dynamic morphometry.

PubMed

Puppa, Giacomo; Risio, Mauro; Sheahan, Kieran; Vieth, Michael; Zlobec, Inti; Lugli, Alessandro; Pecori, Sara; Wang, Lai Mun; Langner, Cord; Mitomi, Hiroyuki; Nakamura, Takatoshi; Watanabe, Masahiko; Ueno, Hideki; Chasle, Jacques; Senore, Carlo; Conley, Stephen A; Herlin, Paulette; Lauwers, Gregory Y

2011-01-01

In histopathology, the quantitative assessment of various morphologic features is based on methods originally conceived on specific areas observed through the microscope used. Failure to reproduce the same reference field of view using a different microscope will change the score assessed. Visualization of a digital slide on a screen through a dedicated viewer allows selection of the magnification. However, the field of view is rectangular, unlike the circular field of optical microscopy. In addition, the size of the selected area is not evident, and must be calculated. A digital slide morphometric system was conceived to reproduce the various methods published for assessing tumor budding in colorectal cancer. Eighteen international experts in colorectal cancer were invited to participate in a web-based study by assessing tumor budding with five different methods in 100 digital slides. The specific areas to be tested by each method were marked by colored circles. The areas were grouped in a target-like pattern and then saved as an .xml file. When a digital slide was opened, the .xml file was imported in order to perform the measurements. Since the morphometric tool is composed of layers that can be freely moved on top of the digital slide, the technique was named digital slide dynamic morphometry. Twelve investigators completed the task, the majority of them performing the multiple evaluations of each of the cases in less than 12 minutes. Digital slide dynamic morphometry has various potential applications and might be a useful tool for the assessment of histologic parameters originally conceived for optical microscopy that need to be quantified.

Rapid preparation of lecture slides.

PubMed

Persson, A V; Frusha, J D; Chevalier, R J

1985-02-01

When lecture slides must be prepared at a moment's notice, these methods of rapid preparation will allow you to create good quality slides. Although rush jobs are usually associated with higher costs, using these methods will keep the price per slide to a minimum. An investment must be made for the initial equipment, but the cost per slide is much less than that of slides produced by the standard methods. Type produced by typewriters or computer printers is adequate for most slides, but better slides can be produced with KroyType or Letraset letters. The KL film is preferred for reverse slides of text or line drawings, and the RPC film for production of radiographic slides. If an X-omat developer is not available, Polaroid film is a good alternative for rapid production of slides. The KL reverse slide projects best and can be colored, but RPC film produces a good positive slide of typed material. We have also photographed from a computer terminal screen using the KL film to make positive slides, the Polaroid continuous tone film for reverse slides, and Polaroid color film for color slides of material composed on a computer terminal with multicolor and graphics capabilities.

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.

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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

A novel cluster-tube self-adaptive robot hand.

PubMed

Fu, Hong; Yang, Haokun; Song, Weishu; Zhang, Wenzeng

2017-01-01

This paper proposes a novel cluster-tube self-adaptive robot hand (CTSA Hand). The CTSA Hand consists of a base, a motor, a transmission mechanism, multiple elastic tendons, and a group of sliding-tube assemblies. Each sliding-tube assembly is composed of a sliding tube, a guide rod, two springs and a hinge. When the hand grasping an object, the object pushes some sliding tubes to different positions according to the surface shape of the object, the motor pulls the tendons tight to cluster tubes. The CTSA Hand can realize self-adaptive grasping of objects of different sizes and shapes. The CTSA Hand can grasp multiple objects simultaneously because the grasping of the hand acts as many grippers in different directions and heights. The grasping forces of the hand are adjusted by a closed-loop control system with potentiometer. Experimental results show that the CTSA Hand has the features of highly self-adaption and large grasping forces when grasping various objects.

The Munson-Nygren slide: A major lower-slope slide off Georges Bank

USGS Publications Warehouse

O'Leary, Dennis W.

1986-01-01

The Munson-Nygren slide is a large compound slide located between Munson and Nygren Canyons below 1900 m depth on the Continental Slope off Georges Bank. Its structural and morphological features are recognized in high-resolution seismic-reflection profiles. The slide comprises an axial trough which has a relief as great as 325 m and a width of 6-10 km. The trough is flanked by displaced and disrupted strata for a total lateral extent of approximately 20 km and a downslope extent of at least 35 km. The slide is unrelated genetically to the adjacent canyons and may postdate Munson Canyon. There is evidence of plastic deformation at the base of the section subjected to sliding. Certain features of the slide complex resemble those seen in landforms on the Laurentian Rise and attributed by Emery et al.* * Emery et al. (1970). to the 1929 Grand Banks earthquake. The Munson-Nygren slide may have been triggered by a large earthquake in late Pleistocene time or later. Destructional landforms associated with the slide are similar to those widely present along the lower slope off Georges Bank. ?? 1986.

Electronic p-Chip-Based System for Identification of Glass Slides and Tissue Cassettes in Histopathology Laboratories.

PubMed

Mandecki, Wlodek; Qian, Jay; Gedzberg, Katie; Gruda, Maryanne; Rodriguez, Efrain Frank; Nesbitt, Leslie; Riben, Michael

2018-01-01

The tagging system is based on a small, electronic, wireless, laser-light-activated microtransponder named "p-Chip." The p-Chip is a silicon integrated circuit, the size of which is 600 μm × 600 μm × 100 μm. Each p-Chip contains a unique identification code stored within its electronic memory that can be retrieved with a custom reader. These features allow the p-Chip to be used as an unobtrusive and scarcely noticeable ID tag on glass slides and tissue cassettes. The system is comprised of p-Chip-tagged sample carriers, a dedicated benchtop p-Chip ID reader that can accommodate both objects, and an additional reader (the Wand), with an adapter for reading IDs of glass slides stored vertically in drawers. On slides, p-Chips are attached with adhesive to the center of the short edge, and on cassettes - embedded directly into the plastic. ID readout is performed by bringing the reader to the proximity of the chip. Standard histopathology laboratory protocols were used for testing. Very good ID reading efficiency was observed for both glass slides and cassettes. When processed slides are stored in vertical filing drawers, p-Chips remain readable without the need to remove them from the storage location, thereby improving the speed of searches in collections. On the cassettes, the ID continues to be readable through a thin layer of paraffin. Both slides and tissue cassettes can be read with the same reader, reducing the need for redundant equipment. The p-Chip is stable to all chemical challenges commonly used in the histopathology laboratory, tolerates temperature extremes, and remains durable in long-term storage. The technology is compatible with laboratory information management systems software systems. The p-Chip system is very well suited for identification of glass slides and cassettes in the histopathology laboratory.

Static and dynamic friction in sliding colloidal monolayers

PubMed Central

Vanossi, Andrea; Manini, Nicola; Tosatti, Erio

2012-01-01

In a pioneer experiment, Bohlein et al. realized the controlled sliding of two-dimensional colloidal crystals over laser-generated periodic or quasi-periodic potentials. Here we present realistic simulations and arguments that besides reproducing the main experimentally observed features give a first theoretical demonstration of the potential impact of colloid sliding in nanotribology. The free motion of solitons and antisolitons in the sliding of hard incommensurate crystals is contrasted with the soliton–antisoliton pair nucleation at the large static friction threshold Fs when the two lattices are commensurate and pinned. The frictional work directly extracted from particles’ velocities can be analyzed as a function of classic tribological parameters, including speed, spacing, and amplitude of the periodic potential (representing, respectively, the mismatch of the sliding interface and the corrugation, or “load”). These and other features suggestive of further experiments and insights promote colloid sliding to a unique friction study instrument. PMID:23019582

Adaptive nonsingular terminal sliding mode controller for micro/nanopositioning systems driven by linear piezoelectric ceramic motors.

PubMed

Safa, Alireza; Abdolmalaki, Reza Yazdanpanah; Shafiee, Saeed; Sadeghi, Behzad

2018-06-01

In the field of nanotechnology, there is a growing demand to provide precision control and manipulation of devices with the ability to interact with complex and unstructured environments at micro/nano-scale. As a result, ultrahigh-precision positioning stages have been turned into a key requirement of nanotechnology. In this paper, linear piezoelectric ceramic motors (LPCMs) are adopted to drive micro/nanopositioning stages since they have the ability to achieve high precision in addition to being versatile to be implemented over a wide range of applications. In the establishment of a control scheme for such manipulation systems, the presence of friction, parameter uncertainties, and external disturbances prevent the systems from providing the desired positioning accuracy. The work in this paper focuses on the development of a control framework that addresses these issues as it uses the nonsingular terminal sliding mode technique for the precise position tracking problem of an LPCM-driven positioning stage with friction, uncertain parameters, and external disturbances. The developed control algorithm exhibits the following two attractive features. First, upper bounds of system uncertainties/perturbations are adaptively estimated in the proposed controller; thus, prior knowledge about uncertainty/disturbance bounds is not necessary. Second, the discontinuous signum function is transferred to the time derivative of the control input and the continuous control signal is obtained after integration; consequently, the chattering phenomenon, which presents a major handicap to the implementation of conventional sliding mode control in real applications, is alleviated without deteriorating the robustness of the system. The stability of the controlled system is analyzed, and the convergence of the position tracking error to zero is analytically proven. The proposed control strategy is experimentally validated and compared to the existing control approaches. Copyright © 2018

Superlubric sliding of graphene nanoflakes on graphene.

PubMed

Feng, Xiaofeng; Kwon, Sangku; Park, Jeong Young; Salmeron, Miquel

2013-02-26

The lubricating properties of graphite and graphene have been intensely studied by sliding a frictional force microscope tip against them to understand the origin of the observed low friction. In contrast, the relative motion of free graphene layers remains poorly understood. Here we report a study of the sliding behavior of graphene nanoflakes (GNFs) on a graphene surface. Using scanning tunneling microscopy, we found that the GNFs show facile translational and rotational motions between commensurate initial and final states at temperatures as low as 5 K. The motion is initiated by a tip-induced transition of the flakes from a commensurate to an incommensurate registry with the underlying graphene layer (the superlubric state), followed by rapid sliding until another commensurate position is reached. Counterintuitively, the average sliding distance of the flakes is larger at 5 K than at 77 K, indicating that thermal fluctuations are likely to trigger their transitions from superlubric back to commensurate ground states.

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…

An investigation on dry sliding wear behaviour of AA6061-AlNp composite

NASA Astrophysics Data System (ADS)

Mahesh Naidu, K.; Mohan Reddy, Chandra

2018-03-01

This paper studies the effect of load, sliding distance, reinforcement percentage and temperature on dry sliding wear behaviour of Al-AlNp composites by using pin on disc machine. The wear test was conducted at different loads (1,2,3 & 4 Kg), temperatures (30°C, 100°C, 170°C & 240°C) and sliding distances (500m,1000m,1500m and 2000m). Increase in wear rate has been observed by increasing the load and sliding distance, at the same time it has been decreased by increasing the reinforcement percentage and temperature. At the higher loads, temperatures and sliding distances adhesive wear, abrasive wear and oxidation wear are observed to be dominant modes of wear mechanisms in the composite.

Wall Area of Influence and Growing Wall Heat Transfer due to Sliding Bubbles in Subcooled Boiling Flow

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yoo, Junsoo; Estrada-Perez, Carlos E.; Hassan, Yassin A.

A variety of dynamical features of sliding bubbles and their impact on wall heat transfer were observed at subcooled flow boiling conditions in a vertical square test channel. Among the wide range of parameters observed, we particularly focus in this paper on (i) the sliding bubbles’ effect on wall heat transfer (supplemantry discussion to the authors’ previous work in Yoo et al. (2016a,b)) and (ii) the wall area influenced by sliding bubbles in subcooled boiling flow. At first, this study reveals that the degree of wall heat transfer improvement due to sliding bubbles depended less on the wall superheat conditionmore » as the mass flux increased. Also, the sliding bubble trajectory was found to be one of the critical factors in order to properly describe the wall heat transfer associated with sliding bubbles. In particular, the wall area influenced by sliding bubbles depended strongly on both sliding bubble trajectory and sliding bubble size; the sliding bubble trajectory was also observed to be closely related to the sliding bubble size. Importantly, these results indicate the limitation of current approach in CFD analyses especially for the wall area of bubble influence. In addition, the analyses on the temporal fraction of bubbles’ residence (FR) along the heated wall show that the sliding bubbles typically travel through narrow path with high frequency while the opposite was observed downstream. That is, both FR and sliding bubble trajectory depended substantially on the distance from nucleation site, which is expected to be similar for the quenching heat transfer mode induced by sliding bubbles.« less

Semantic focusing allows fully automated single-layer slide scanning of cervical cytology slides.

PubMed

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.

Interfacial Microstructure Evolution due to Strain Path Changes in Sliding Contacts.

PubMed

Eder, Stefan J; Cihak-Bayr, Ulrike; Gachot, Carsten; Rodriguez Ripoll, Manel

2018-06-22

We performed large-scale molecular dynamics (MD) simulations to study the transient softening stage that has been observed experimentally in sliding interfaces subject to strain path changes. The occurrence of this effect can be of crucial importance for the energy efficiency and wear resistance of systems that experience changes in sliding direction, such as bearings or gears in wind parks, piston rings in combustion engines, or wheel--rail contacts for portal cranes. We therefore modeled the sliding of a rough counterbody against two polycrystalline substrates of fcc copper and bcc iron with initial near-surface grain sizes of 40 nm. The microstructural development of these substrates was monitored and quantified as a function of time, depth, and applied pressure during unidirectional sliding for 7 ns. The results were then compared to the case of sliding in one direction for 5 ns and reversing the sliding direction for an additional 2 ns. We observed the generation of partial dislocations, grain refinement and rotation, as well as twinning (for fcc) in the near-surface region. All microstructures were increasingly affected by these processes when maintaining the sliding direction, but recovered to a great extent upon sliding reversal up to applied pressures of 0.4 GPa in the case of fcc Cu and 1.5 GPa for bcc Fe. We discuss the applicability and limits of our polycrystalline MD model for reproducing well-known bulk phenomena such as the Bauschinger effect in interfacial processes.

An Adaptive Buddy Check for Observational Quality Control

NASA Technical Reports Server (NTRS)

Dee, Dick P.; Rukhovets, Leonid; Todling, Ricardo; DaSilva, Arlindo M.; Larson, Jay W.; Einaudi, Franco (Technical Monitor)

2000-01-01

An adaptive buddy check algorithm is presented that adjusts tolerances for outlier observations based on the variability of surrounding data. The algorithm derives from a statistical hypothesis test combined with maximum-likelihood covariance estimation. Its stability is shown to depend on the initial identification of outliers by a simple background check. The adaptive feature ensures that the final quality control decisions are not very sensitive to prescribed statistics of first-guess and observation errors, nor on other approximations introduced into the algorithm. The implementation of the algorithm in a global atmospheric data assimilation is described. Its performance is contrasted with that of a non-adaptive buddy check, for the surface analysis of an extreme storm that took place in Europe on 27 December 1999. The adaptive algorithm allowed the inclusion of many important observations that differed greatly from the first guess and that would have been excluded on the basis of prescribed statistics. The analysis of the storm development was much improved as a result of these additional observations.

Cold start dynamics and temperature sliding observer design of an automotive SOFC APU

NASA Astrophysics Data System (ADS)

Lin, Po-Hsu; Hong, Che-Wun

This paper presents a dynamic model for studying the cold start dynamics and observer design of an auxiliary power unit (APU) for automotive applications. The APU is embedded with a solid oxide fuel cell (SOFC) stack which is a quiet and pollutant-free electric generator; however, it suffers from slow start problem from ambient conditions. The SOFC APU system equips with an after-burner to accelerate the start-up transient in this research. The combustion chamber burns the residual fuel (and air) left from the SOFC to raise the exhaust temperature to preheat the SOFC stack through an energy recovery unit. Since thermal effect is the dominant factor that influences the SOFC transient and steady performance, a nonlinear real-time sliding observer for stack temperature was implemented into the system dynamics to monitor the temperature variation for future controller design. The simulation results show that a 100 W APU system in this research takes about 2 min (in theory) for start-up without considering the thermal limitation of the cell fracture.

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

Robust partial integrated guidance and control for missiles via extended state observer.

PubMed

Wang, Qing; Ran, Maopeng; Dong, Chaoyang

2016-11-01

A novel extended state observer (ESO) based control is proposed for a class of nonlinear systems subject to multiple uncertainties, and then applied to partial integrated guidance and control (PIGC) design for a missile. The proposed control strategy incorporates both an ESO and an adaptive sliding mode control law. The multiple uncertainties are treated as an extended state of the plant, and then estimate them using the ESO and compensate for them in the control action, in real time. Based on the output of the ESO, the resulting adaptive sliding mode control law is inherently continuous and differentiable. Strict proof is given to show that the estimation error of the ESO can be arbitrarily small in a finite time. In addition, the adaptive sliding mode control law can achieve finite time convergence to a neighborhood of the origin, and the accurate expression of the convergent region is given. Finally, simulations are conducted on the planar missile-target engagement geometry. The effectiveness of the proposed control strategy in enhanced interception performance and improved robustness against multiple uncertainties are demonstrated. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Rate-weakening friction characterizes both slow sliding and catastrophic failure of landslides

PubMed Central

Handwerger, Alexander L.; Rempel, Alan W.; Skarbek, Rob M.; Roering, Joshua J.; Hilley, George E.

2016-01-01

Catastrophic landslides cause billions of dollars in damages and claim thousands of lives annually, whereas slow-moving landslides with negligible inertia dominate sediment transport on many weathered hillslopes. Surprisingly, both failure modes are displayed by nearby landslides (and individual landslides in different years) subjected to almost identical environmental conditions. Such observations have motivated the search for mechanisms that can cause slow-moving landslides to transition via runaway acceleration to catastrophic failure. A similarly diverse range of sliding behavior, including earthquakes and slow-slip events, occurs along tectonic faults. Our understanding of these phenomena has benefitted from mechanical treatments that rely upon key ingredients that are notably absent from previous landslide descriptions. Here, we describe landslide motion using a rate- and state-dependent frictional model that incorporates a nonlocal stress balance to account for the elastic response to gradients in slip. Our idealized, one-dimensional model reproduces both the displacement patterns observed in slow-moving landslides and the acceleration toward failure exhibited by catastrophic events. Catastrophic failure occurs only when the slip surface is characterized by rate-weakening friction and its lateral dimensions exceed a critical nucleation length h* that is shorter for higher effective stresses. However, landslides that are extensive enough to fall within this regime can nevertheless slide slowly for months or years before catastrophic failure. Our results suggest that the diversity of slip behavior observed during landslides can be described with a single model adapted from standard fault mechanics treatments. PMID:27573836

Rate-weakening friction characterizes both slow sliding and catastrophic failure of landslides.

PubMed

Handwerger, Alexander L; Rempel, Alan W; Skarbek, Rob M; Roering, Joshua J; Hilley, George E

2016-09-13

Catastrophic landslides cause billions of dollars in damages and claim thousands of lives annually, whereas slow-moving landslides with negligible inertia dominate sediment transport on many weathered hillslopes. Surprisingly, both failure modes are displayed by nearby landslides (and individual landslides in different years) subjected to almost identical environmental conditions. Such observations have motivated the search for mechanisms that can cause slow-moving landslides to transition via runaway acceleration to catastrophic failure. A similarly diverse range of sliding behavior, including earthquakes and slow-slip events, occurs along tectonic faults. Our understanding of these phenomena has benefitted from mechanical treatments that rely upon key ingredients that are notably absent from previous landslide descriptions. Here, we describe landslide motion using a rate- and state-dependent frictional model that incorporates a nonlocal stress balance to account for the elastic response to gradients in slip. Our idealized, one-dimensional model reproduces both the displacement patterns observed in slow-moving landslides and the acceleration toward failure exhibited by catastrophic events. Catastrophic failure occurs only when the slip surface is characterized by rate-weakening friction and its lateral dimensions exceed a critical nucleation length [Formula: see text] that is shorter for higher effective stresses. However, landslides that are extensive enough to fall within this regime can nevertheless slide slowly for months or years before catastrophic failure. Our results suggest that the diversity of slip behavior observed during landslides can be described with a single model adapted from standard fault mechanics treatments.

A reduced adaptive observer for multivariable systems. [using reduced dynamic ordering

NASA Technical Reports Server (NTRS)

Carroll, R. L.; Lindorff, D. P.

1973-01-01

An adaptive observer for multivariable systems is presented for which the dynamic order of the observer is reduced, subject to mild restrictions. The observer structure depends directly upon the multivariable structure of the system rather than a transformation to a single-output system. The number of adaptive gains is at most the sum of the order of the system and the number of input parameters being adapted. Moreover, for the relatively frequent specific cases for which the number of required adaptive gains is less than the sum of system order and input parameters, the number of these gains is easily determined by inspection of the system structure. This adaptive observer possesses all the properties ascribed to the single-input single-output adpative observer. Like the other adaptive observers some restriction is required of the allowable system command input to guarantee convergence of the adaptive algorithm, but the restriction is more lenient than that required by the full-order multivariable observer. This reduced observer is not restricted to cycle systems.

Horizontal sliding of kilometre-scale hot spring area during the 2016 Kumamoto earthquake

PubMed Central

Tsuji, Takeshi; Ishibashi, Jun’ichiro; Ishitsuka, Kazuya; Kamata, Ryuichi

2017-01-01

We report horizontal sliding of the kilometre-scale geologic block under the Aso hot springs (Uchinomaki area) caused by vibrations from the 2016 Kumamoto earthquake (Mw 7.0). Direct borehole observations demonstrate the sliding along the horizontal geological formation at ~50 m depth, which is where the shallowest hydrothermal reservoir developed. Owing to >1 m northwest movement of the geologic block, as shown by differential interferometric synthetic aperture radar (DInSAR), extensional open fissures were generated at the southeastern edge of the horizontal sliding block, and compressional deformation and spontaneous fluid emission from wells were observed at the northwestern edge of the block. The temporal and spatial variation of the hot spring supply during the earthquake can be explained by the horizontal sliding and borehole failures. Because there was no strain accumulation around the hot spring area prior to the earthquake and gravitational instability could be ignored, the horizontal sliding along the low-frictional formation was likely caused by seismic forces from the remote earthquake. The insights derived from our field-scale observations may assist further research into geologic block sliding in horizontal geological formations. PMID:28218298

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

Online fault detection of permanent magnet demagnetization for IPMSMs by nonsingular fast terminal-sliding-mode observer.

PubMed

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

2014-12-05

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.

SlideJ: An ImageJ plugin for automated processing of whole slide images.

PubMed

Della Mea, Vincenzo; Baroni, Giulia L; Pilutti, David; Di Loreto, Carla

2017-01-01

The digital slide, or Whole Slide Image, is a digital image, acquired with specific scanners, that represents a complete tissue sample or cytological specimen at microscopic level. While Whole Slide image analysis is recognized among the most interesting opportunities, the typical size of such images-up to Gpixels- can be very demanding in terms of memory requirements. Thus, while algorithms and tools for processing and analysis of single microscopic field images are available, Whole Slide images size makes the direct use of such tools prohibitive or impossible. In this work a plugin for ImageJ, named SlideJ, is proposed with the objective to seamlessly extend the application of image analysis algorithms implemented in ImageJ for single microscopic field images to a whole digital slide analysis. The plugin has been complemented by examples of macro in the ImageJ scripting language to demonstrate its use in concrete situations.

SlideJ: An ImageJ plugin for automated processing of whole slide images

PubMed Central

Baroni, Giulia L.; Pilutti, David; Di Loreto, Carla

2017-01-01

The digital slide, or Whole Slide Image, is a digital image, acquired with specific scanners, that represents a complete tissue sample or cytological specimen at microscopic level. While Whole Slide image analysis is recognized among the most interesting opportunities, the typical size of such images—up to Gpixels- can be very demanding in terms of memory requirements. Thus, while algorithms and tools for processing and analysis of single microscopic field images are available, Whole Slide images size makes the direct use of such tools prohibitive or impossible. In this work a plugin for ImageJ, named SlideJ, is proposed with the objective to seamlessly extend the application of image analysis algorithms implemented in ImageJ for single microscopic field images to a whole digital slide analysis. The plugin has been complemented by examples of macro in the ImageJ scripting language to demonstrate its use in concrete situations. PMID:28683129

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.

WTP Pretreatment Facility Potential Design Deficiencies--Sliding Bed and Sliding Bed Erosion Assessment

DOE Office of Scientific and Technical Information (OSTI.GOV)

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.

Electronic p-Chip-Based System for Identification of Glass Slides and Tissue Cassettes in Histopathology Laboratories

PubMed Central

Mandecki, Wlodek; Qian, Jay; Gedzberg, Katie; Gruda, Maryanne; Rodriguez, Efrain “Frank”; Nesbitt, Leslie; Riben, Michael

2018-01-01

Background: The tagging system is based on a small, electronic, wireless, laser-light-activated microtransponder named “p-Chip.” The p-Chip is a silicon integrated circuit, the size of which is 600 μm × 600 μm × 100 μm. Each p-Chip contains a unique identification code stored within its electronic memory that can be retrieved with a custom reader. These features allow the p-Chip to be used as an unobtrusive and scarcely noticeable ID tag on glass slides and tissue cassettes. Methods: The system is comprised of p-Chip-tagged sample carriers, a dedicated benchtop p-Chip ID reader that can accommodate both objects, and an additional reader (the Wand), with an adapter for reading IDs of glass slides stored vertically in drawers. On slides, p-Chips are attached with adhesive to the center of the short edge, and on cassettes – embedded directly into the plastic. ID readout is performed by bringing the reader to the proximity of the chip. Standard histopathology laboratory protocols were used for testing. Results: Very good ID reading efficiency was observed for both glass slides and cassettes. When processed slides are stored in vertical filing drawers, p-Chips remain readable without the need to remove them from the storage location, thereby improving the speed of searches in collections. On the cassettes, the ID continues to be readable through a thin layer of paraffin. Both slides and tissue cassettes can be read with the same reader, reducing the need for redundant equipment. Conclusions: The p-Chip is stable to all chemical challenges commonly used in the histopathology laboratory, tolerates temperature extremes, and remains durable in long-term storage. The technology is compatible with laboratory information management systems software systems. The p-Chip system is very well suited for identification of glass slides and cassettes in the histopathology laboratory. PMID:29692946

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.

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…

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…

Locomotor adaptation is modulated by observing the actions of others

PubMed Central

Patel, Mitesh; Roberts, R. Edward; Riyaz, Mohammed U.; Ahmed, Maroof; Buckwell, David; Bunday, Karen; Ahmad, Hena; Kaski, Diego; Arshad, Qadeer

2015-01-01

Observing the motor actions of another person could facilitate compensatory motor behavior in the passive observer. Here we explored whether action observation alone can induce automatic locomotor adaptation in humans. To explore this possibility, we used the “broken escalator” paradigm. Conventionally this involves stepping upon a stationary sled after having previously experienced it actually moving (Moving trials). This history of motion produces a locomotor aftereffect when subsequently stepping onto a stationary sled. We found that viewing an actor perform the Moving trials was sufficient to generate a locomotor aftereffect in the observer, the size of which was significantly correlated with the size of the movement (postural sway) observed. Crucially, the effect is specific to watching the task being performed, as no motor adaptation occurs after simply viewing the sled move in isolation. These findings demonstrate that locomotor adaptation in humans can be driven purely by action observation, with the brain adapting motor plans in response to the size of the observed individual's motion. This mechanism may be mediated by a mirror neuron system that automatically adapts behavior to minimize movement errors and improve motor skills through social cues, although further neurophysiological studies are required to support this theory. These data suggest that merely observing the gait of another person in a challenging environment is sufficient to generate appropriate postural countermeasures, implying the existence of an automatic mechanism for adapting locomotor behavior. PMID:26156386

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.

Automated detection of diagnostically relevant regions in H&E stained digital pathology slides

NASA Astrophysics Data System (ADS)

Bahlmann, Claus; Patel, Amar; Johnson, Jeffrey; Ni, Jie; Chekkoury, Andrei; Khurd, Parmeshwar; Kamen, Ali; Grady, Leo; Krupinski, Elizabeth; Graham, Anna; Weinstein, Ronald

2012-03-01

We present a computationally efficient method for analyzing H&E stained digital pathology slides with the objective of discriminating diagnostically relevant vs. irrelevant regions. Such technology is useful for several applications: (1) It can speed up computer aided diagnosis (CAD) for histopathology based cancer detection and grading by an order of magnitude through a triage-like preprocessing and pruning. (2) It can improve the response time for an interactive digital pathology workstation (which is usually dealing with several GByte digital pathology slides), e.g., through controlling adaptive compression or prioritization algorithms. (3) It can support the detection and grading workflow for expert pathologists in a semi-automated diagnosis, hereby increasing throughput and accuracy. At the core of the presented method is the statistical characterization of tissue components that are indicative for the pathologist's decision about malignancy vs. benignity, such as, nuclei, tubules, cytoplasm, etc. In order to allow for effective yet computationally efficient processing, we propose visual descriptors that capture the distribution of color intensities observed for nuclei and cytoplasm. Discrimination between statistics of relevant vs. irrelevant regions is learned from annotated data, and inference is performed via linear classification. We validate the proposed method both qualitatively and quantitatively. Experiments show a cross validation error rate of 1.4%. We further show that the proposed method can prune ~90% of the area of pathological slides while maintaining 100% of all relevant information, which allows for a speedup of a factor of 10 for CAD systems.

Integral Sliding Mode Fault-Tolerant Control for Uncertain Linear Systems Over Networks With Signals Quantization.

PubMed

Hao, Li-Ying; Park, Ju H; Ye, Dan

2017-09-01

In this paper, a new robust fault-tolerant compensation control method for uncertain linear systems over networks is proposed, where only quantized signals are assumed to be available. This approach is based on the integral sliding mode (ISM) method where two kinds of integral sliding surfaces are constructed. One is the continuous-state-dependent surface with the aim of sliding mode stability analysis and the other is the quantization-state-dependent surface, which is used for ISM controller design. A scheme that combines the adaptive ISM controller and quantization parameter adjustment strategy is then proposed. Through utilizing H ∞ control analytical technique, once the system is in the sliding mode, the nature of performing disturbance attenuation and fault tolerance from the initial time can be found without requiring any fault information. Finally, the effectiveness of our proposed ISM control fault-tolerant schemes against quantization errors is demonstrated in the simulation.

Comparison of glass slides and various digital-slide modalities for cytopathology screening and interpretation.

PubMed

Hanna, Matthew G; Monaco, Sara E; Cuda, Jacqueline; Xing, Juan; Ahmed, Ishtiaque; Pantanowitz, Liron

2017-09-01

Whole-slide imaging in cytology is limited when glass slides are digitized without z-stacks for focusing. Different vendors have started to provide z-stacking solutions to overcome this limitation. The Panoptiq imaging system allows users to create digital files combining low-magnification panoramic images with regions of interest (ROIs) that are imaged with high-magnification z-stacks. The aim of this study was to compare such panoramic images with conventional whole-slide images and glass slides for the tasks of screening and interpretation in cytopathology. Thirty glass slides, including 10 ThinPrep Papanicolaou tests and 20 nongynecologic cytology cases, were digitized with an Olympus BX45 integrated microscope with an attached Prosilica GT camera. ViewsIQ software was used for image acquisition and viewing. These glass slides were also scanned on an Aperio ScanScope XT at ×40 (0.25 μm/pixel) with 1 z-plane and were viewed with ImageScope software. Digital and glass sides were screened and dotted/annotated by a cytotechnologist and were subsequently reviewed by 3 cytopathologists. For panoramic images, the cytotechnologist manually created digital maps and selected representative ROIs to generate z-stacks at a higher magnification. After 3-week washout periods, panoramic images were compared with Aperio digital slides and glass slides. The Panoptiq system permitted fine focusing of thick smears and cell clusters. In comparison with glass slides, the average screening times were 5.5 and 1.8 times longer with Panoptiq and Aperio images, respectively, but this improved with user experience. There was no statistical difference in diagnostic concordance between all 3 modalities. Users' diagnostic confidence was also similar for all modalities. The Aperio whole-slide scanner with 1 z-plane scanning and the Panoptiq imaging system with z-stacking are both suitable for cytopathology screening and interpretation. However, ROI z-stacks do offer a superior mechanism

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.

Identification of mycobacterium tuberculosis in sputum smear slide using automatic scanning microscope

NASA Astrophysics Data System (ADS)

Rulaningtyas, Riries; Suksmono, Andriyan B.; Mengko, Tati L. R.; Saptawati, Putri

2015-04-01

Sputum smear observation has an important role in tuberculosis (TB) disease diagnosis, because it needs accurate identification to avoid high errors diagnosis. In development countries, sputum smear slide observation is commonly done with conventional light microscope from Ziehl-Neelsen stained tissue and it doesn't need high cost to maintain the microscope. The clinicians do manual screening process for sputum smear slide which is time consuming and needs highly training to detect the presence of TB bacilli (mycobacterium tuberculosis) accurately, especially for negative slide and slide with less number of TB bacilli. For helping the clinicians, we propose automatic scanning microscope with automatic identification of TB bacilli. The designed system modified the field movement of light microscope with stepper motor which was controlled by microcontroller. Every sputum smear field was captured by camera. After that some image processing techniques were done for the sputum smear images. The color threshold was used for background subtraction with hue canal in HSV color space. Sobel edge detection algorithm was used for TB bacilli image segmentation. We used feature extraction based on shape for bacilli analyzing and then neural network classified TB bacilli or not. The results indicated identification of TB bacilli that we have done worked well and detected TB bacilli accurately in sputum smear slide with normal staining, but not worked well in over staining and less staining tissue slide. However, overall the designed system can help the clinicians in sputum smear observation becomes more easily.

The Microseismicity of Glacier Sliding

NASA Astrophysics Data System (ADS)

Walter, Fabian; Röösli, Claudia; Kissling, Edi

2017-04-01

Our understanding of glacier and ice sheet basal motion remains incomplete. The past decades have witnessed a shift away from initially proposed hard bed theories towards soft, till-laden beds, which deform and thus participate in basal motion. The theoretical treatment of deformable beds is subject to debate, yet our capability to predict ice sheet flow and ultimately sea level rise is contingent upon correct parameterization of basal motion (Ritz et al., 2015). Both hard and soft bed theories neglect frictional sliding across distinct basal fault planes and elastic deformation in response to sudden dislocation. Over recent years, this view has been repeatedly challenged as more and more studies report seismogenic faulting associated with basal sliding. For instance, large parts of the Whillans Ice Stream at Antarctica's Siple Coast move nearly exclusively during sudden sliding episodes (Wiens et al., 2008). This "stick-slip motion" is difficult to explain with traditional glacier sliding theories but more analogous to earthquake dislocation on tectonic faults. Although the Whillans Ice Stream motion may be an extreme example, there exists evidence for much smaller microseismic stick-slip events beneath the Greenland Ice Sheet and non-polar glaciers (Podolskiy and Walter, 2016). This raises the question how relevant and widespread the stick-slip phenomenon is and if it is necessary to include it into ice sheet models. Here we discuss recent seismic deployments, which focused on detection of stick-slip events beneath the Greenland Ice Sheet and European Alpine Glaciers. For all deployments, a considerable challenge lies in detection of stick-slip seismograms in the presence of a dominant background seismicity associated with surface crevassing. Nevertheless, automatic search algorithms and waveform characteristics provide important insights into temporal variation of stick-slip activity as well as information about fault plane geometry and co-seismic sliding

Emplacement mechanisms of the South Kona slide complex, Hawaii Island: Sampling and observations by remotely operated vehicle Kaiko

USGS Publications Warehouse

Yokose, H.; Lipman, P.W.

2004-01-01

Emplacement of a giant submarine slide complex, offshore of South Kona, Hawaii Island, was investigated in 2001 by visual observation and in-situ sampling on the bench scarp and a megablock, during two dives utilizing the Remotely Operated Vehicle (ROV) Kaiko and its mother ship R/V Kairei. Topography of the bench scarp and megablocks were defined in 3-D perspective, using high-resolution digital bathymetric data acquired during the cruise. Compositions of 34 rock samples provide constraints on the landslide source regions and emplacement mechanisms. The bench scarp consists mainly of highly fractured, vesiculated, and oxidized a-a lavas that slumped from the subaerial flank of ancestral Mauna Loa. The megablock contains three units: block facies, matrix facies, and draped sediment. The block facies contains hyaloclastite interbedded with massive lava, which slid from the shallow submarine flank of ancestral Mauna Loa, as indicated by glassy groundmass of the hyaloclastite, low oxidation state, and low sulfur content. The matrix facies, which directly overlies the block facies and is similar to a lahar deposit, is thought to have been deposited from the water column immediately after the South Kona slide event. The draped sediment is a thin high-density turbidite layer that may be a distal facies of the Alika-2 debris-avalanche deposit; its composition overlaps with rocks from subaerial Mauna Loa. The deposits generated by the South Kona slide vary from debris avalanche deposit to turbidite. Spatial distribution of the deposits is consistent with deposits related to large landslides adjacent to other Hawaiian volcanoes and the Canary Islands. ?? Springer-Verlag 2004.

Rate-weakening friction characterizes both slow sliding and catastrophic failure of landslides

NASA Astrophysics Data System (ADS)

Handwerger, Alexander L.; Rempel, Alan W.; Skarbek, Rob M.; Roering, Joshua J.; Hilley, George E.

2016-09-01

Catastrophic landslides cause billions of dollars in damages and claim thousands of lives annually, whereas slow-moving landslides with negligible inertia dominate sediment transport on many weathered hillslopes. Surprisingly, both failure modes are displayed by nearby landslides (and individual landslides in different years) subjected to almost identical environmental conditions. Such observations have motivated the search for mechanisms that can cause slow-moving landslides to transition via runaway acceleration to catastrophic failure. A similarly diverse range of sliding behavior, including earthquakes and slow-slip events, occurs along tectonic faults. Our understanding of these phenomena has benefitted from mechanical treatments that rely upon key ingredients that are notably absent from previous landslide descriptions. Here, we describe landslide motion using a rate- and state-dependent frictional model that incorporates a nonlocal stress balance to account for the elastic response to gradients in slip. Our idealized, one-dimensional model reproduces both the displacement patterns observed in slow-moving landslides and the acceleration toward failure exhibited by catastrophic events. Catastrophic failure occurs only when the slip surface is characterized by rate-weakening friction and its lateral dimensions exceed a critical nucleation length h*h* that is shorter for higher effective stresses. However, landslides that are extensive enough to fall within this regime can nevertheless slide slowly for months or years before catastrophic failure. Our results suggest that the diversity of slip behavior observed during landslides can be described with a single model adapted from standard fault mechanics treatments.

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.

Nonlinear observation of internal states of fuel cell cathode utilizing a high-order sliding-mode algorithm

NASA Astrophysics Data System (ADS)

Xu, Liangfei; Hu, Junming; Cheng, Siliang; Fang, Chuan; Li, Jianqiu; Ouyang, Minggao; Lehnert, Werner

2017-07-01

A scheme for designing a second-order sliding-mode (SOSM) observer that estimates critical internal states on the cathode side of a polymer electrolyte membrane (PEM) fuel cell system is presented. A nonlinear, isothermal dynamic model for the cathode side and a membrane electrolyte assembly are first described. A nonlinear observer topology based on an SOSM algorithm is then introduced, and equations for the SOSM observer deduced. Online calculation of the inverse matrix produces numerical errors, so a modified matrix is introduced to eliminate the negative effects of these on the observer. The simulation results indicate that the SOSM observer performs well for the gas partial pressures and air stoichiometry. The estimation results follow the simulated values in the model with relative errors within ± 2% at stable status. Large errors occur during the fast dynamic processes (<1 s). Moreover, the nonlinear observer shows good robustness against variations in the initial values of the internal states, but less robustness against variations in system parameters. The partial pressures are more sensitive than the air stoichiometry to system parameters. Finally, the order of effects of parameter uncertainties on the estimation results is outlined and analyzed.

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.

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.

Gravitational sliding of the Mt. Etna massif along a sloping basement

NASA Astrophysics Data System (ADS)

Murray, John B.; van Wyk de Vries, Benjamin; Pitty, Andy; Sargent, Phil; Wooller, Luke

2018-04-01

Geological field evidence and laboratory modelling indicate that volcanoes constructed on slopes slide downhill. If this happens on an active volcano, then the movement will distort deformation data and thus potentially compromise interpretation. Our recent GPS measurements demonstrate that the entire edifice of Mt. Etna is sliding to the ESE, the overall direction of slope of its complex, rough sedimentary basement. We report methods of discriminating the sliding vector from other deformation processes and of measuring its velocity, which averaged 14 mm year-1 during four intervals between 2001 and 2012. Though sliding of one sector of a volcano due to flank instability is widespread and well-known, this is the first time basement sliding of an entire active volcano has been directly observed. This is important because the geological record shows that such sliding volcanoes are prone to devastating sector collapse on the downslope side, and whole volcano migration should be taken into account when assessing future collapse hazard. It is also important in eruption forecasting, as the sliding vector needs to be allowed for when interpreting deformation events that take place above the sliding basement within the superstructure of the active volcano, as might occur with dyke intrusion or inflation/deflation episodes.

Mailing microscope slides

USDA-ARS?s Scientific Manuscript database

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...

Sliding Speed-Dependent Tribochemical Wear of Oxide-Free Silicon

NASA Astrophysics Data System (ADS)

Chen, Lei; Qi, Yaqiong; Yu, Bingjun; Qian, Linmao

2017-06-01

Fundamental understanding of tribochemical wear mechanism of oxide-free single crystalline silicon (without native oxide layer) is essential to optimize the process of ultra-precision surface manufacturing. Here, we report sliding speed-dependent nanowear of oxide-free silicon against SiO2 microspheres in air and in deionized water. When contact pressure is too low to induce Si yield, tribochemical wear occurs with the existence of water molecules and wear volume decreases logarithmically to constant as sliding speed increased. TEM and Raman observations indicate that the dynamics of rupture and reformation of interfacial bonding bridges result in the variation of tribochemical wear of the oxide-free Si with the increase of sliding speed.

Modelling the initiation of basal sliding

NASA Astrophysics Data System (ADS)

Mantelli, E.; Schoof, C.

2017-12-01

The initiation of basal sliding is a thermally-controlled process that affects ice speed, englacial heat transport, and melt water production at the bed, and ultimately influences the large-scale dynamics of ice sheets. From a modelling perspective, describing the onset of sliding in thin-film models suitable for ice sheet scale simulations is problematic. In particular, previous work concluded that, under shallow-ice mechanics, the scenario of a hard switch from frozen to molten bed leads to an infinite vertical velocity at the onset, and higher-order mechanical formulations are needed to describe sliding initiation. An alternative view considers the occurrence of subtemperate sliding, which allows for a smooth sliding velocity across the onset. However, the sliding velocity decreases rapidly as temperature drops below the melting point, thus raising the issue of whether a mechanical model that does not resolve the ice sheet thickness scale is ever appropriate to model the onset of sliding. In this study we first present a boundary layer model for the hard switch scenario. Our analysis, which considers a thermo-mechanically coupled Stokes flow near the onset, shows that the abrupt onset of sliding is never possible. In fact, the acceleration of ice flow deflects the flowlines towards the bed, which freezes again immediately downstream to the onset. This leads to the conclusion that the sliding velocity must change smoothly across the onset, thus the temperature dependence of sliding needs to be taken into account. In this context, we examine a limiting case of standard temperature-dependent sliding laws, where sliding onset takes the form of an extended transition region interposed between fully frozen and temperate bed. In the transition region basal temperature is at the melting point, and the sliding velocity varies smoothly as dictated by the energy budget of the bed. As the extent of this region is not small compared to the ice sheet length scale, we couple

Development and evaluation of an off-the-slide genotyping technique for identifying Giardia cysts and Cryptosporidium oocysts directly from US EPA Method 1623 slides.

PubMed

Ware, M W; Keely, S P; Villegas, E N

2013-07-01

This study developed and systematically evaluated performance and limit of detection of an off-the-slide genotyping procedure for both Cryptosporidium oocysts and Giardia cysts. Slide standards containing flow-sorted (oo)cysts were used to evaluate the off-the-slide genotyping procedure by microscopy and PCR. Results show approximately 20% of cysts and oocysts are lost during staining. Although transfer efficiency from the slide to the PCR tube could not be determined by microscopy, it was observed that the transfer process aided in the physical lysis of the (oo)cysts likely releasing DNA. PCR detection rates for a single event on a slide were 44% for Giardia and 27% for Cryptosporidium, and a minimum of five cysts and 20 oocysts are required to achieve a 90% PCR detection rate. A Poisson distribution analysis estimated the relative PCR target densities and limits of detection, it showed that 18 Cryptosporidium and five Giardia replicates are required for a 95% probability of detecting a single (oo)cyst on a slide. This study successfully developed and evaluated recovery rates and limits of detection of an off-the-slide genotyping procedure for both Cryptosporidium and Giardia (oo)cysts from the same slide. This off-the-slide genotyping technique is a simple and low cost tool that expands the applications of US EPA Method 1623 results by identifying the genotypes and assemblages of the enumerated Cryptosporidium and Giardia. This additional information will be useful for microbial risk assessment models and watershed management decisions. Journal of Applied Microbiology Published [2013]. This article is a U.S. Government work and is in the public domain in the USA.

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)

An Ultra-High Speed Whole Slide Image Viewing System

PubMed Central

Yagi, Yukako; Yoshioka, Shigeatsu; Kyusojin, Hiroshi; Onozato, Maristela; Mizutani, Yoichi; Osato, Kiyoshi; Yada, Hiroaki; Mark, Eugene J.; Frosch, Matthew P.; Louis, David N.

2012-01-01

Background: One of the goals for a Whole Slide Imaging (WSI) system is implementation in the clinical practice of pathology. One of the unresolved problems in accomplishing this goal is the speed of the entire process, i.e., from viewing the slides through making the final diagnosis. Most users are not satisfied with the correct viewing speeds of available systems. We have evaluated a new WSI viewing station and tool that focuses on speed. Method: A prototype WSI viewer based on PlayStation®3 with wireless controllers was evaluated at the Department of Pathology at MGH for the following reasons: 1. For the simulation of signing-out cases; 2. Enabling discussion at a consensus conference; and 3. Use at slide seminars during a Continuing Medical Education course. Results: Pathologists were being able to use the system comfortably after 0–15 min training. There were no complaints regarding speed. Most pathologists were satisfied with the functionality, usability and speed of the system. The most difficult situation was simulating diagnostic sign-out. Conclusion: The preliminary results of adapting the Sony PlayStation®3 (PS3®) as an ultra-high speed WSI viewing system were promising. The achieved speed is consistent with what would be needed to use WSI in daily practice. PMID:22063731

An ultra-high speed Whole Slide Image viewing system.

PubMed

Yagi, Yukako; Yoshioka, Shigeatsu; Kyusojin, Hiroshi; Onozato, Maristela; Mizutani, Yoichi; Osato, Kiyoshi; Yada, Hiroaki; Mark, Eugene J; Frosch, Matthew P; Louis, David N

2012-01-01

One of the goals for a Whole Slide Imaging (WSI) system is implementation in the clinical practice of pathology. One of the unresolved problems in accomplishing this goal is the speed of the entire process, i.e., from viewing the slides through making the final diagnosis. Most users are not satisfied with the correct viewing speeds of available systems. We have evaluated a new WSI viewing station and tool that focuses on speed. A prototype WSI viewer based on PlayStation®3 with wireless controllers was evaluated at the Department of Pathology at MGH for the following reasons: 1. For the simulation of signing-out cases; 2. Enabling discussion at a consensus conference; and 3. Use at slide seminars during a Continuing Medical Education course. Pathologists were being able to use the system comfortably after 0-15 min training. There were no complaints regarding speed. Most pathologists were satisfied with the functionality, usability and speed of the system. The most difficult situation was simulating diagnostic sign-out. The preliminary results of adapting the Sony PlayStation®3 (PS3®) as an ultra-high speed WSI viewing system were promising. The achieved speed is consistent with what would be needed to use WSI in daily practice.

An ultra-high speed whole slide image viewing system.

PubMed

Yagi, Yukako; Yoshioka, Shigeatsu; Kyusojin, Hiroshi; Onozato, Maristela; Mizutani, Yoichi; Osato, Kiyoshi; Yada, Hiroaki; Mark, Eugene J; Frosch, Matthew P; Louis, David N

2012-01-01

One of the goals for a Whole Slide Imaging (WSI) system is implementation in the clinical practice of pathology. One of the unresolved problems in accomplishing this goal is the speed of the entire process, i.e., from viewing the slides through making the final diagnosis. Most users are not satisfied with the correct viewing speeds of available systems. We have evaluated a new WSI viewing station and tool that focuses on speed. A prototype WSI viewer based on PlayStation®3 with wireless controllers was evaluated at the Department of Pathology at MGH for the following reasons: 1. For the simulation of signing-out cases; 2. Enabling discussion at a consensus conference; and 3. Use at slide seminars during a Continuing Medical Education course. Pathologists were being able to use the system comfortably after 0-15 min training. There were no complaints regarding speed. Most pathologists were satisfied with the functionality, usability and speed of the system. The most difficult situation was simulating diagnostic sign-out. The preliminary results of adapting the Sony PlayStation®3 (PS3®) as an ultra-high speed WSI viewing system were promising. The achieved speed is consistent with what would be needed to use WSI in daily practice.

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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Decentralized finite-time attitude synchronization for multiple rigid spacecraft via a novel disturbance observer.

PubMed

Zong, Qun; Shao, Shikai

2016-11-01

This paper investigates decentralized finite-time attitude synchronization for a group of rigid spacecraft by using quaternion with the consideration of environmental disturbances, inertia uncertainties and actuator saturation. Nonsingular terminal sliding mode (TSM) is used for controller design. Firstly, a theorem is proven that there always exists a kind of TSM that converges faster than fast terminal sliding mode (FTSM) for quaternion-descripted attitude control system. Controller with this kind of TSM has faster convergence and reduced computation than FTSM controller. Then, combining with an adaptive parameter estimation strategy, a novel terminal sliding mode disturbance observer is proposed. The proposed disturbance observer needs no upper bound information of the lumped uncertainties or their derivatives. On the basis of undirected topology and the disturbance observer, decentralized attitude synchronization control laws are designed and all attitude errors are ensured to converge to small regions in finite time. As for actuator saturation problem, an auxiliary variable is introduced and accommodated by the disturbance observer. Finally, simulation results are given and the effectiveness of the proposed control scheme is testified. Copyright © 2016. Published by Elsevier Ltd.

A comparative study of kalman filtering based observer and sliding mode observer for state of charge estimation

NASA Astrophysics Data System (ADS)

Ben Sassi, Hicham; Errahimi, Fatima; Es-Sbai, Najia; Alaoui, Chakib

2018-05-01

Nowadays, electric mobility is starting to define society and is becoming more and more irreplaceable and essential to daily activities. Safe and durable battery is of a great significance for this type of mobility, hence the increasing interest of research activity oriented to battery studies, in order to assure safe operating mode and to control the battery in case of any abnormal functioning conditions that could damage the battery if not properly managed. Lithium-ion technology is considered the most suitable existing technology for electrical storage, because of their interesting features such as their relatively long cycle life, lighter weight, their high energy density, However, there is a lot of work that is still needed to be done in order to assure safe operating lithium-ion batteries, starting with their internal status monitoring, cell balancing within a battery pack, and thermal management. Tasks that are accomplished by the battery management system (BMS) which uses the state of charge (SOC) as an indicator of the internal charge level of the battery, in order to avoid unpredicted system interruption. Since the state of charge is an inner state of a the battery which cannot be directly measured, a powerful estimation technique is inevitable, in this paper we investigate the performances of tow estimation strategies; kalman filtering based observers and sliding mode observers, both strategies are compared in terms of accuracy, design requirement, and overall performances.

Deformation and stabilisation mechanisms of slow rock slides in crystalline bedrock

NASA Astrophysics Data System (ADS)

Zangerl, C.; Prager, C.

2009-04-01

. On a regional scale several valleys located in amphibolites, ortho- and paragneisses of the Ötztal-Stubai crystalline basement (i.e. Kaunertal, Pitztal, Ötztal, Lüsenstal, all located in North Tyrol, Austria) were investigated. Therefore geological and morphological basis data were compiled and re-evaluated, remote sensing methods (i.e. airborne laser scanning terrain models and orthofotos) applied and field mapping campaigns performed. On a local scale several rock slides were investigated and analysed in high detail with regard to their lithological and structural inventory, geometry of sliding masses and -zones, failure mechanisms, kinematics and temporal deformation characteristics. Field data clearly show that competent rock masses, e.g. orthogneisses and amphibolites, are affected by rapid failure events and therefore are characterised by "brittle" rock mass behaviour. In contrast, the majority of the slowly moving and "self-stabilising" rock slides are located totally or partly in mica-rich incompetent crystalline rock masses, e.g. paragneisses and micaschists, and are characterised by moderately dipping sliding zones. Apart from a causal lithological influence, numerous field observations demonstrate a major influence of pre-existing geological structures on the formation and deformation behaviour of these rock slides. The nature of rock slides implies that the temporal deformation behaviour is primarily dominated by two key-features of the sliding zone i.e. the mechanical properties (shear strain strengthening or weakening) and the effective in-situ stresses. The in-situ stresses along a sliding zone are influenced by the geometry of both the sliding mass and sliding zone, the internal deformation of the sliding mass and the pore pressures. All these properties can vary during progressive shear displacements. Especially large shear displacements in the range of tens to hundreds of metres along a distinct sliding zone can cause significant in-situ stress

Effect of sliding velocity on the tribological behavior of copper and associated nanostructure development

NASA Astrophysics Data System (ADS)

Emge, Andrew

the friction was found to increase with sliding velocity and was strongly influenced by material transfer from the copper to the steel pin. An increase in the coefficient of friction with sliding velocity was observed for the sliding of OFHC copper against Nitronic 40 steel in RBGG tests. The increase in the coefficient of friction was correlated to an increase in subsurface plastic deformation and grain refinement. The growth of the nanocrystalline tribolayer in copper after sliding against 440C stainless steel at varying times was studied at sliding velocities of 0.05 and 1.0 m/s. A sliding velocity of 0.05 m/s produced a consistent nanocrystalline layer in as little as 10 s. The thickness of the nanocrystalline layer grew to an average thickness of 3 microm after 10 ks of sliding, but large variations in thickness were observed. A sliding velocity of 1.0 m/s produced a continuous nanocrystalline layer after 10 s of sliding. Ledges developed on the wear tracks at longer sliding times which greatly influenced the tribolayer thickness making it difficult to quantify. Dynamic recrystallization of the tribolayer also led to difficulties in measuring its thickness.

Are slide-hold-slide tests a good analogue for the seismic cycle?

NASA Astrophysics Data System (ADS)

van den Ende, Martijn; Niemeijer, André; Marketos, George; Spiers, Christopher

2017-04-01

Earthquakes are among the most disruptive of natural hazards known to man. Owing to their destructive potential and poor predictability, earthquakes and unstable frictional sliding in general receive considerable attention, both in experimental and in modelling studies. For reliable seismic hazard assessments, accurate predictions of the failure strength of seismogenic faults is paramount. To study the time-dependent restrengthening (or "healing") of faults in a laboratory setting, the slide-hold-slide (SHS) method is commonly employed as an analogue for the seismic cycle. Using this method, it is assumed that the rate of restrengthening as observed in SHS tests is similar to the rate of restrengthening of natural faults during the interseismic phase. However, the dynamic and kinematic boundary conditions of SHS tests are inherently different to those of a fault that is being tectonically loaded. As such, it can be questioned whether SHS tests (in which the interseismic period is characterised by stress relaxation) yield the same rate of restrengthening as would be expected from laboratory stick-slip or natural seismic cycles (characterised by a more complex stress history). This question could in principle be addressed experimentally by comparing the results from SHS tests with the stress drop and recurrence time of regular stick-slips. However, due to technical limitations, direct comparison between SHS and stick-slips is non-trivial, and uncertainties in extrapolating the laboratory results remain. To assess the validity of SHS tests as an analogue for the seismic cycle, we simulate laboratory SHS tests as well as stick-slips using the Discrete Element Method (DEM). DEM is a particle-based numerical technique that is suitable for modelling granular media, such as fault gouges. Its constitutive relations are linked to grain-scale micro-processes, and, in the work presented here, we incorporate pressure solution creep and frictional sliding. The simultaneous

Multifaceted re-analysis of the enigmatic Kitimat slide complex, Canada

NASA Astrophysics Data System (ADS)

Stacey, Cooper D.; Lintern, D. Gwyn; Enkin, Randolph J.

2018-07-01

Repeat submarine landslides are challenging to study due to the tendency of subsequent slides to destroy previous deposits. Repeat slides are common in fjord head deltas where high amounts of sediment are focused in narrow valleys. This study examines a well-known slide deposit associated with the Kitimat Delta on Canada's west coast that has been linked to tsunamigenic landslides in 1974 and 1975. For the first time we incorporate multibeam bathymetry to a multifaceted dataset including new high resolution acoustic data and sediment cores to examine the history of submarine slides at the Kitimat Delta. Based on morphological analysis and age modelling using 210Pb and 14C data, we determine that the complex surface morphology of the slide lobe consists of at least two large slide deposits that reach 5 km from the delta: the known event that occurred in 1975 and an older event that occurred at 623 ± 83 cal BP (95% confidence interval). We demonstrate that slide deposits can be differentiated based on surface morphology and acoustic character. This is confirmed by age modelling. The 1975 slide resulted in a flow that ploughed through the seabed creating compression and translation along a basal shear plane, resulting in deep deformation and a surface characterized by pressure ridges. The 623 ± 83 cal BP event resulted in a large amount of blocky slide material that overran the former seafloor and was transported >5 km from the delta front. Several buried events are observed at depth, one of which occurred at 2592 ± 84 cal BP and appears to be on the same order of magnitude as the 1975 event and showing very similar acoustic characteristics. As for hazard implications, we show submarine landslides of varying sizes have naturally occurred on this delta throughout the past several thousand years.

"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.

The sliding-helix voltage sensor

PubMed Central

Peyser, Alexander; Nonner, Wolfgang

2012-01-01

The voltage sensor (VS) domain of voltage-gated ion channels underlies electrical excitability of living cells. We simulate a mesoscale model of the VS domain to determine the functional consequences of some of its physical elements. Our mesoscale model is based on VS charges, linear dielectrics and whole-body motion, applied to an S4 ‘sliding helix’. The electrostatics under voltage-clamped boundary conditions are solved consistently using a boundary element method. Based on electrostatic configurational energy, statistical-mechanical expectations of the experimentally observable relation between displaced charge and membrane voltage are predicted. Consequences of the model are investigated for variations of: S4 configuration (α- and 310-helical), countercharge alignment with S4 charges, protein polarizability, geometry of the gating canal, screening of S4 charges by the baths, and fixed charges located at the bath interfaces. The sliding helix VS domain has an inherent electrostatic stability in the explored parameter space: countercharges present in the region of weak dielectric always retain an equivalent S4 charge in that region but allow sliding movements displacing 3 to 4 e0. That movement is sensitive to small energy variations (< 2kT) along the path dependent on a number of electrostatic parameters tested in our simulations. These simulations show how the slope of the relation between displaced charge and voltage could be tuned in a channel. PMID:22907204

Evaluating the visibility of presentation slides

NASA Astrophysics Data System (ADS)

Sugawara, Genki; Umezu, Nobuyuki

2017-03-01

Presentations using slide software such as PowerPoint are widely performed in offices and schools. The improvement of presentation skills among ordinary people is required because these days such an opportunity of giving presentation is becoming so common. One of the key factors for making successful presentation is the visibility of the slides, as well as the contents themselves. We propose an algorithm to numerically evaluate the visibility of presentation slides. Our method receives a presentation as a set of images and eliminates the background from the slides to extract characters and figures. This algorithm then evaluates the visibility according to the number and size of characters, their colors, and figure layouts. The slide evaluation criteria are based on the series of experiments with 20 participants to parameterize typical values for visual elements in slides. The algorithm is implemented on an iMac and takes 0.5 sec. to evaluate a slide image. The evaluation score is given as a value between 0 and 100 and the users can improve their slide pages with lower scores. Our future work includes a series of experiments with various presentations and extending our method to publish as a web-based rating service for learning presentation skills.

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.

Slide-Ring Materials Using Cyclodextrin.

PubMed

Ito, Kohzo

2017-01-01

We have recently synthesized slide-ring materials using cyclodextrin by cross-linking polyrotaxanes, a typical supramolecule. The slide-ring materials have polymer chains with bulky end groups topologically interlocked by figure-of-eight shaped junctions. This indicates that the cross-links can pass through the polymer chains similar to pulleys to relax the tension of the backbone polymer chains. The slide-ring materials also differ from conventional polymers in that the entropy of rings affects the elasticity. As a result, the slide-ring materials show quite small Young's modulus not proportional to the cross-linking density. This concept can be applied to a wide variety of polymeric materials as well as gels. In particular, the slide-ring materials show remarkable scratch-proof properties for coating materials for automobiles, cell phones, mobile computers, and so on. Further current applications include vibration-proof insulation materials for sound speakers, highly abrasive polishing media, dielectric actuators, and so on.

Sliding mode controller for a photovoltaic pumping system

NASA Astrophysics Data System (ADS)

ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

2017-03-01

In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

Neptune and Titan Observed with Keck Telescope Adaptive Optics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Max, C.E.; Macintosh, B.A.; Gibbard, S.

2000-05-05

The authors report on observations taken during engineering science validation time using the new adaptive optics system at the 10-m Keck II Telescope. They observe Neptune and Titan at near-infrared wavelengths. These objects are ideal for adaptive optics imaging because they are bright and small, yet have many diffraction-limited resolution elements across their disks. In addition Neptune and Titan have prominent physical features, some of which change markedly with time. They have observed infrared-bright storms on Neptune, and very low-albedo surface regions on Titan, Saturn's largest moon, Spatial resolution on Neptune and Titan was 0.05-0.06 and 0.04-0.05 arc sec, respectively.

Finite-Time Attitude Tracking Control for Spacecraft Using Terminal Sliding Mode and Chebyshev Neural Network.

PubMed

An-Min Zou; Kumar, K D; Zeng-Guang Hou; Xi Liu

2011-08-01

A finite-time attitude tracking control scheme is proposed for spacecraft using terminal sliding mode and Chebyshev neural network (NN) (CNN). The four-parameter representations (quaternion) are used to describe the spacecraft attitude for global representation without singularities. The attitude state (i.e., attitude and velocity) error dynamics is transformed to a double integrator dynamics with a constraint on the spacecraft attitude. With consideration of this constraint, a novel terminal sliding manifold is proposed for the spacecraft. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated unknown function, a switch function is applied to generate a switching between the adaptive NN control and the robust controller. Meanwhile, a CNN, whose basis functions are implemented using only desired signals, is introduced to approximate the desired nonlinear function and bounded external disturbances online, and the robust term based on the hyperbolic tangent function is applied to counteract NN approximation errors in the adaptive neural control scheme. Most importantly, the finite-time stability in both the reaching phase and the sliding phase can be guaranteed by a Lyapunov-based approach. Finally, numerical simulations on the attitude tracking control of spacecraft in the presence of an unknown mass moment of inertia matrix, bounded external disturbances, and control input constraints are presented to demonstrate the performance of the proposed controller.

The Use of a Computer-Controlled Random Access Slide Projector for Rapid Information Display.

ERIC Educational Resources Information Center

Muller, Mark T.

A 35mm random access slide projector operated in conjunction with a computer terminal was adapted to meet the need for a more rapid and complex graphic display mechanism than is currently available with teletypewriter terminals. The model projector can be operated manually to provide for a maintenance checkout of the electromechanical system.…

Surface profiles and modulation of ultra-thin perfluoropolyether lubricant in contact sliding

NASA Astrophysics Data System (ADS)

Sinha, S. K.; Kawaguchi, M.; Kato, T.

2004-08-01

Deformation in shear and associated tribological behaviours of ultra-thin lubricants are of significant importance for the lubrication of magnetic hard disks and for other applications such as micro-electromechanical systems, nano-fluidics and nanotechnology. This paper presents the characteristics of the perfluoropolyether ultra-thin lubricant, in terms of its surface profiles when subjected to a contact sliding test. The results indicate that for a several-monolayers thick (~4.0-4.5 nm) lubricant film, sliding produces a considerable amount of surface roughness due to peaks of lubricant that persist during sliding; however, it can flow back or return to a smooth profile after a lapse of time when the sliding is stopped. For a monolayer-thin (~1.4-1.57 nm) film, the lubricant flow is restricted, and the rough profile created due to sliding persists and almost becomes permanent on the wear track. During sliding, due to high shear stress, a characteristic feature of lubricant profile modulation is observed. This modulation, or waviness, is due to the accumulation of lubricant in piles or islands, giving certain amplitudes and frequencies, which themselves depend upon the percentage of lubricant molecules that are chemically bonded to the substrate and the lubricant thickness. The results indicate that ultra-thin lubricants (monolayer and thicker) behave more like a semi-solid (having some sliding characteristics similar to those of rubbers) than a liquid when subjected to a high shear rate during contact sliding.

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,…

Comparing whole slide digital images versus traditional glass slides in the detection of common microscopic features seen in dermatitis

PubMed Central

Vyas, Nikki S.; Markow, Michael; Prieto-Granada, Carlos; Gaudi, Sudeep; Turner, Leslie; Rodriguez-Waitkus, Paul; Messina, Jane L.; Jukic, Drazen M.

2016-01-01

Background: The quality and limitations of digital slides are not fully known. We aimed to estimate intrapathologist discrepancy in detecting specific microscopic features on glass slides and digital slides created by scanning at ×20. Methods: Hematoxylin and eosin and periodic acid–Schiff glass slides were digitized using the Mirax Scan (Carl Zeiss Inc., Germany). Six pathologists assessed 50–71 digital slides. We recorded objective magnification, total time, and detection of the following: Mast cells; eosinophils; plasma cells; pigmented macrophages; melanin in the epidermis; fungal bodies; neutrophils; civatte bodies; parakeratosis; and sebocytes. This process was repeated using the corresponding glass slides after 3 weeks. The diagnosis was not required. Results: The mean time to assess digital slides was 176.77 s and 137.61 s for glass slides (P < 0.001, 99% confidence interval [CI]). The mean objective magnification used to detect features using digital slides was 18.28 and 14.07 for glass slides (P < 0.001, 99.99% CI). Parakeratosis, civatte bodies, pigmented macrophages, melanin in the epidermis, mast cells, eosinophils, plasma cells, and neutrophils, were identified at lower objectives on glass slides (P = 0.023–0.001, 95% CI). Average intraobserver concordance ranged from κ = 0.30 to κ = 0.78. Features with poor to fair average concordance were: Melanin in the epidermis (κ = 0.15–0.58); plasma cells (κ = 0.15–0.49); and neutrophils (κ = 0.12–0.48). Features with moderate average intrapathologist concordance were: parakeratosis (κ = 0.21–0.61); civatte bodies (κ = 0.21–0.71); pigment-laden macrophages (κ = 0.34–0.66); mast cells (κ = 0.29–0.78); and eosinophils (κ = 0.31–0.79). The average intrapathologist concordance was good for sebocytes (κ = 0.51–1.00) and fungal bodies (κ = 0.47–0.76). Conclusions: Telepathology using digital slides scanned at ×20 is sufficient for detection of histopathologic features routinely

An analytical model of dynamic sliding friction during impact

NASA Astrophysics Data System (ADS)

Arakawa, Kazuo

2017-01-01

Dynamic sliding friction was studied based on the angular velocity of a golf ball during an oblique impact. This study used the analytical model proposed for the dynamic sliding friction on lubricated and non-lubricated inclines. The contact area A and sliding velocity u of the ball during impact were used to describe the dynamic friction force Fd = λAu, where λ is a parameter related to the wear of the contact area. A comparison with experimental results revealed that the model agreed well with the observed changes in the angular velocity during impact, and λAu is qualitatively equivalent to the empirical relationship, μN + μη‧dA/dt, given by the product between the frictional coefficient μ and the contact force N, and the additional term related to factor η‧ for the surface condition and the time derivative of A.

Modeling the Physics of Sliding Objects on Rotating Space Elevators and Other Non-relativistic Strings

NASA Astrophysics Data System (ADS)

Golubovic, Leonardo; Knudsen, Steven

2017-01-01

We consider general problem of modeling the dynamics of objects sliding on moving strings. We introduce a powerful computational algorithm that can be used to investigate the dynamics of objects sliding along non-relativistic strings. We use the algorithm to numerically explore fundamental physics of sliding climbers on a unique class of dynamical systems, Rotating Space Elevators (RSE). Objects sliding along RSE strings do not require internal engines or propulsion to be transported from the Earth's surface into outer space. By extensive numerical simulations, we find that sliding climbers may display interesting non-linear dynamics exhibiting both quasi-periodic and chaotic states of motion. While our main interest in this study is in the climber dynamics on RSEs, our results for the dynamics of sliding object are of more general interest. In particular, we designed tools capable of dealing with strongly nonlinear phenomena involving moving strings of any kind, such as the chaotic dynamics of sliding climbers observed in our simulations.

Development of adaptive observation strategy using retrospective optimal interpolation

NASA Astrophysics Data System (ADS)

Noh, N.; Kim, S.; Song, H.; Lim, G.

2011-12-01

Retrospective optimal interpolation (ROI) is a method that is used to minimize cost functions with multiple minima without using adjoint models. Song and Lim (2011) perform the experiments to reduce the computational costs for implementing ROI by transforming the control variables into eigenvectors of background error covariance. We adapt the ROI algorithm to compute sensitivity estimates of severe weather events over the Korean peninsula. The eigenvectors of the ROI algorithm is modified every time the observations are assimilated. This implies that the modified eigenvectors shows the error distribution of control variables which are updated by assimilating observations. So, We can estimate the effects of the specific observations. In order to verify the adaptive observation strategy, High-impact weather over the Korean peninsula is simulated and interpreted using WRF modeling system and sensitive regions for each high-impact weather is calculated. The effects of assimilation for each observation type is discussed.

Sliding mode control of direct coupled interleaved boost converter for fuel cell

NASA Astrophysics Data System (ADS)

Wang, W. Y.; Ding, Y. H.; Ke, X.; Ma, X.

2017-12-01

A three phase direct coupled interleaved boost converter (TP-DIBC) was recommended in this paper. This converter has a small unbalance current sharing among the branches of TP-DIBC. An adaptive control law sliding mode control (SMC) is designed for the TP-DIBC. The aim is to 1) reduce ripple output voltage, inductor current and regulate output voltage tightly 2) The total current carried by direct coupled interleaved boost converter (DIBC) must be equally shared between different parallel branches. The efficacy and robustness of the proposed TP-DIBC and adaptive SMC is confirmed via computer simulations using Matlab SimPower System Tools. The simulation result is in line with the expectation.

Plastic deformation and wear process at a surface during unlubricated sliding

NASA Technical Reports Server (NTRS)

Yamamoto, T.; Buckley, D. H.

1983-01-01

The plastic deformation and wear of a 304 stainless steel surface sliding against an aluminum oxide rider with a spherical surface (the radius of curvature: 1.3 cm) were observed by using scanning electron and optical microscopes. Experiments were conducted in a vacuum of one million Pa and in an environment of fifty thousandth Pa of 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 proturbances are developed even after single pass sliding under both environmental conditions. A fully developed surface layer is gradually torn off leaving a characteristic pattern. The mechanism for tearing away of the surface layer from the contact area and sliding track contour is explained assuming the simplified process of material removal based on the adhesion theory for the wear of materials. Previously announced in STAR as N82-32735

Plastic deformation and wear process at a surface during unlubricated sliding

NASA Technical Reports Server (NTRS)

Yamamoto, T.; Buckley, D. H.

1982-01-01

The plastic deformation and wear of a 304 stainless steel surface sliding against an aluminum oxide rider with a spherical surface (the radius of curvature: 1.3 cm) were observed by using scanning electron and optical microscopes. Experiments were conducted in a vacuum of one million Pa and in an environment of fifty thousandth Pa of 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 proturbances are developed even after single pass sliding under both environmental conditions. A fully developed surface layer is gradually torn off leaving a characteristic pattern. The mechanism for tearing away of the surface layer from the contact area and sliding track contour is explained assuming the simplified process of material removal based on the adhesion theory for the wear of materials.

An adaptive observer for on-line tool wear estimation in turning, Part I: Theory

NASA Astrophysics Data System (ADS)

Danai, Kourosh; Ulsoy, A. Galip

1987-04-01

On-line sensing of tool wear has been a long-standing goal of the manufacturing engineering community. In the absence of any reliable on-line tool wear sensors, a new model-based approach for tool wear estimation has been proposed. This approach is an adaptive observer, based on force measurement, which uses both parameter and state estimation techniques. The design of the adaptive observer is based upon a dynamic state model of tool wear in turning. This paper (Part I) presents the model, and explains its use as the basis for the adaptive observer design. This model uses flank wear and crater wear as state variables, feed as the input, and the cutting force as the output. The suitability of the model as the basis for adaptive observation is also verified. The implementation of the adaptive observer requires the design of a state observer and a parameter estimator. To obtain the model parameters for tuning the adaptive observer procedures for linearisation of the non-linear model are specified. The implementation of the adaptive observer in turning and experimental results are presented in a companion paper (Part II).

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.

Observations to support adaptation: Principles, scales and decision-making

NASA Astrophysics Data System (ADS)

Pulwarty, R. S.

2012-12-01

As has been long noted, a comprehensive, coordinated observing system is the backbone of any Earth information system. Demands are increasingly placed on earth observation and prediction systems and attendant services to address the needs of economically and environmentally vulnerable sectors and investments, including energy, water, human health, transportation, agriculture, fisheries, tourism, biodiversity, and national security. Climate services include building capacity to interpret information and recognize standards and limitations of data in the promotion of social and economic development in a changing climate. This includes improving the understanding of climate in the context of a variety of temporal and spatial scales (including the influence of decadal scale forcings and land surface feedbacks on seasonal forecast reliability). Climate data and information are central for developing decision options that are sensitive to climate-related uncertainties and the design of flexible adaptation pathways. Ideally monitoring should be action oriented to support climate risk assessment and adaptation including informing robust decision making to multiple risks over the long term. Based on the experience of global observations programs and empirical research we outline- Challenges in developing effective monitoring and climate information systems to support adaptation. The types of observations of critical importance needed for sector planning to enhance food, water and energy security, and to improve early warning for disaster risk reduction Observations needed for ecosystem-based adaptation including the identification of thresholds, maintenance of biological diversity and land degradation The benefits and limits of linking regional model output to local observations including analogs and verification for adaptation planning To support these goals a robust systems of integrated observations are needed to characterize the uncertainty surrounding emergent risks

Plastic strain arrangement in copper single crystals in sliding

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chumaevskii, Andrey V., E-mail: tch7av@gmail.com; Lychagin, Dmitry V., E-mail: dvl-tomsk@mail.ru; Tarasov, Sergei Yu., E-mail: tsy@ispms.tsc.ru

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 zonesmore » 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.« less

SurfaceSlide: a multitouch digital pathology platform.

PubMed

Wang, Yinhai; Williamson, Kate E; Kelly, Paul J; James, Jacqueline A; Hamilton, Peter W

2012-01-01

Digital pathology provides a digital environment for the management and interpretation of pathological images and associated data. It is becoming increasing popular to use modern computer based tools and applications in pathological education, tissue based research and clinical diagnosis. Uptake of this new technology is stymied by its single user orientation and its prerequisite and cumbersome combination of mouse and keyboard for navigation and annotation. In this study we developed SurfaceSlide, a dedicated viewing platform which enables the navigation and annotation of gigapixel digitised pathological images using fingertip touch. SurfaceSlide was developed using the Microsoft Surface, a 30 inch multitouch tabletop computing platform. SurfaceSlide users can perform direct panning and zooming operations on digitised slide images. These images are downloaded onto the Microsoft Surface platform from a remote server on-demand. Users can also draw annotations and key in texts using an on-screen virtual keyboard. We also developed a smart caching protocol which caches the surrounding regions of a field of view in multi-resolutions thus providing a smooth and vivid user experience and reducing the delay for image downloading from the internet. We compared the usability of SurfaceSlide against Aperio ImageScope and PathXL online viewer. SurfaceSlide is intuitive, fast and easy to use. SurfaceSlide represents the most direct, effective and intimate human-digital slide interaction experience. It is expected that SurfaceSlide will significantly enhance digital pathology tools and applications in education and clinical practice.

Occurrence of spherical ceramic debris in indentation and sliding contact

NASA Technical Reports Server (NTRS)

Miyoshi, K.; Buckley, D. H.

1982-01-01

Indenting experiments were conducted with the silicon carbide (0001) surface in contact with a spherical diamond indenter in air. Sliding friction experiments were also conducted with silicon carbide in contact with iron and iron-based binary alloys at room temperature and 800 C. Fracture pits with a spherical particle and spherical wear debris were observed as a result of indenting and sliding. Spherical debris may be produced by a mechanism that involves a spherical-shaped fracture along the circular or spherical stress trajectories under the inelastic deformation zone.

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.

SIMULATING THE 'SLIDING DOORS' EFFECT THROUGH MAGNETIC FLUX EMERGENCE

DOE Office of Scientific and Technical Information (OSTI.GOV)

MacTaggart, David; Hood, Alan W., E-mail: dm428@st-andrews.ac.u

2010-06-20

Recent Hinode photospheric vector magnetogram observations have shown that the opposite polarities of a long arcade structure move apart and then come together. In addition to this 'sliding doors' effect, orientations of horizontal magnetic fields along the polarity inversion line on the photosphere evolve from a normal-polarity configuration to an inverse one. To explain this behavior, a simple model by Okamoto et al. suggested that it is the result of the emergence of a twisted flux rope. Here, we model this scenario using a three-dimensional megnatohydrodynamic simulation of a twisted flux rope emerging into a pre-existing overlying arcade. We constructmore » magnetograms from the simulation and compare them with the observations. The model produces the two signatures mentioned above. However, the cause of the 'sliding doors' effect differs from the previous model.« less

Rapid detection of food pathogens using RNA aptamers-immobilized slide.

PubMed

Maeng, Jin-Soo; Kim, Namsoo; Kim, Chong-Tai; Han, Seung Ryul; Lee, Young Ju; Lee, Seong-Wook; Lee, Myung-Hyun; Cho, Yong-Jin

2012-07-01

The purpose of this study was to develop a simple and rapid detection system for foodborne bacteria, which consisted of an optical microscope and its slide chip with artificial antibodies, or RNA aptamers. From an RNA pool, three each RNA aptamers were built by the method of SELEX (systematic evolution of ligands by exponential enrichment) for components of cell wall, LPS (lipopolysaccharide) from E. coli O157:H7, teichoic acid from Staphylococcus aureus and a cell membrane protein of OmpC from Salmonella typhimurium, respectively. These aptamers were hybridized with thiol-conjugated 16 dT-linker molecules in order to be immobilized on silver surface which was, in advance, fabricated on glass slide, using a spin-coating method. To confirm that each aptamers retained its specific binding activities to their antigenic live bacteria, microscopic view of bound cells immobilized on silver film were observed. Furthermore, we observed the fluorescence-emitting bacteria-aptamer complex immobilized on silver film after adding RNA aptamers hybridized with fluorophore, FAM-conjugated 16 dT-linker molecules. As a result, the RNA aptamers-immobilized slide system developed in this study was a useful new tool to rapidly monitor individual food pathogens.

Finite-time output feedback control of uncertain switched systems via sliding mode design

NASA Astrophysics Data System (ADS)

Zhao, Haijuan; Niu, Yugang; Song, Jun

2018-04-01

The problem of sliding mode control (SMC) is investigated for a class of uncertain switched systems subject to unmeasurable state and assigned finite (possible short) time constraint. A key issue is how to ensure the finite-time boundedness (FTB) of system state during reaching phase and sliding motion phase. To this end, a state observer is constructed to estimate the unmeasured states. And then, a state estimate-based SMC law is designed such that the state trajectories can be driven onto the specified integral sliding surface during the assigned finite time interval. By means of partitioning strategy, the corresponding FTB over reaching phase and sliding motion phase are guaranteed and the sufficient conditions are derived via average dwell time technique. Finally, an illustrative example is given to illustrate the proposed method.

SurfaceSlide: A Multitouch Digital Pathology Platform

PubMed Central

Wang, Yinhai; Williamson, Kate E.; Kelly, Paul J.; James, Jacqueline A.; Hamilton, Peter W.

2012-01-01

Background Digital pathology provides a digital environment for the management and interpretation of pathological images and associated data. It is becoming increasing popular to use modern computer based tools and applications in pathological education, tissue based research and clinical diagnosis. Uptake of this new technology is stymied by its single user orientation and its prerequisite and cumbersome combination of mouse and keyboard for navigation and annotation. Methodology In this study we developed SurfaceSlide, a dedicated viewing platform which enables the navigation and annotation of gigapixel digitised pathological images using fingertip touch. SurfaceSlide was developed using the Microsoft Surface, a 30 inch multitouch tabletop computing platform. SurfaceSlide users can perform direct panning and zooming operations on digitised slide images. These images are downloaded onto the Microsoft Surface platform from a remote server on-demand. Users can also draw annotations and key in texts using an on-screen virtual keyboard. We also developed a smart caching protocol which caches the surrounding regions of a field of view in multi-resolutions thus providing a smooth and vivid user experience and reducing the delay for image downloading from the internet. We compared the usability of SurfaceSlide against Aperio ImageScope and PathXL online viewer. Conclusion SurfaceSlide is intuitive, fast and easy to use. SurfaceSlide represents the most direct, effective and intimate human–digital slide interaction experience. It is expected that SurfaceSlide will significantly enhance digital pathology tools and applications in education and clinical practice. PMID:22292040

Stress relaxation at a gelatin hydrogel-glass interface in direct shear sliding

NASA Astrophysics Data System (ADS)

Gupta, Vinit; Singh, Arun K.

2018-01-01

In this paper, we study experimentally the stress relaxation behavior of soft solids such as gelatin hydrogels on a smooth glass surface in direct shear sliding. It is observed experimentally that irrespective of pulling velocity, the sliding block relaxes to the same level of nonzero residual stress. However, residual stress increases with increasing gelatin concentration in the hydrogels. We have also validated a friction model for strong bond formation during steady relaxation in light of the experimental observations. Our theoretical analysis establishes that population of dangling chains at the sliding interface significantly affects the relaxation process. As a result, residual stress increases with increasing gelatin concentration or decreasing mesh size of the three-dimensional structures in the hydrogels. It is also found that the transition time, at which a weak bond converts to strong bond, increases with increasing mesh size of the hydrogels. Moreover, relaxation time constant of a strong bond decreases with increasing mesh size. However, activation length of a strong bond increases with mesh size. Finally, this study signifies the role of residual strength in frictional shear sliding and it is believed that these results should be useful to understand the role of residual stress in stick-slip instability.

Influence of LCD color reproduction accuracy on observer performance using virtual pathology slides

NASA Astrophysics Data System (ADS)

Krupinski, Elizabeth A.; Silverstein, Louis D.; Hashmi, Syed F.; Graham, Anna R.; Weinstein, Ronald S.; Roehrig, Hans

2012-02-01

The use of color LCDs in medical imaging is growing as more clinical specialties use digital images as a resource in diagnosis and treatment decisions. Telemedicine applications such as telepathology, teledermatology and teleophthalmology rely heavily on color images. However, standard methods for calibrating, characterizing and profiling color displays do not exist, resulting in inconsistent presentation. To address this, we developed a calibration, characterization and profiling protocol for color-critical medical imaging applications. Physical characterization of displays calibrated with and without the protocol revealed high color reproduction accuracy with the protocol. The present study assessed the impact of this protocol on observer performance. A set of 250 breast biopsy virtual slide regions of interest (half malignant, half benign) were shown to 6 pathologists, once using the calibration protocol and once using the same display in its "native" off-the-shelf uncalibrated state. Diagnostic accuracy and time to render a decision were measured. In terms of ROC performance, Az (area under the curve) calibrated = 0.8640; uncalibrated = 0.8558. No statistically significant difference (p = 0.2719) was observed. In terms of interpretation speed, mean calibrated = 4.895 sec, mean uncalibrated = 6.304 sec which is statistically significant (p = 0.0460). Early results suggest a slight advantage diagnostically for a properly calibrated and color-managed display and a significant potential advantage in terms of improved workflow. Future work should be conducted using different types of color images that may be more dependent on accurate color rendering and a wider range of LCDs with varying characteristics.

Historical roots of centrosome research: discovery of Boveri's microscope slides in Würzburg

PubMed Central

Scheer, Ulrich

2014-01-01

Boveri's visionary monograph ‘Ueber die Natur der Centrosomen’ (On the nature of centrosomes) in 1900 was founded primarily on microscopic observations of cleaving eggs of sea urchins and the roundworm parasite Ascaris. As Boveri wrote in the introductory paragraph, his interests were less about morphological aspects of centrosomes, but rather aimed at an understanding of their physiological role during cell division. The remarkable transition from observations of tiny dot-like structures in fixed and sectioned material to a unified theory of centrosome function (which in essence still holds true today) cannot be fully appreciated without examining Boveri's starting material, the histological specimens. It was generally assumed that the microscope slides were lost during the bombing of the Zoological Institute in Würzburg at the end of WWII. Here, I describe the discovery of a number of Boveri's original microscope slides with serial sections of early sea urchin and Ascaris embryos, stained by Heidenhain's iron haematoxylin method. Some slides bear handwritten notes and sketches by Boveri. Evidence is presented that the newly discovered slides are part of the original material used by Boveri for his seminal centrosome monograph. PMID:25047623

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.

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

Adaptive early detection ML/PDA estimator for LO targets with EO sensors

NASA Astrophysics Data System (ADS)

Chummun, Muhammad R.; Kirubarajan, Thiagalingam; Bar-Shalom, Yaakov

2000-07-01

The batch Maximum Likelihood Estimator, combined with Probabilistic Data (ML-PDA), has been shown to be effective in acquiring low observable (LO) - low SNR - non-maneuvering targets in the presence of heavy clutter. The use of signal strength or amplitude information (AI) in the ML-PDA estimator with AI in a sliding-window fashion, to detect high- speed targets in heavy clutter using electro-optical (EO) sensors. The initial time and the length of the sliding-window are adjusted adaptively according to the information content of the received measurements. A track validation scheme via hypothesis testing is developed to confirm the estimated track, that is, the presence of a target, in each window. The sliding-window ML-PDA approach, together with track validation, enables early detection by rejecting noninformative scans, target reacquisition in case of temporary target disappearance and the handling of targets with speeds evolving over time. The proposed algorithm is shown to detect the target, which is hidden in as many as 600 false alarms per scan, 10 frames earlier than the Multiple Hypothesis Tracking (MHT) algorithm.

Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

NASA Astrophysics Data System (ADS)

Zhao, Yakun; Huang, Panfeng; Zhang, Fan

2018-02-01

Recent years, tethered space capturing systems have been considered as one of the most promising solutions for active space debris removal due to the increasing threat of space debris to spacecraft and astronauts. In this paper, one of the tethered space capturing systems, Tethered Space Robot (TSR), is investigated. TSR includes a space platform, a space tether, and a gripper as the terminal device. Based on the assumptions that the platform and the gripper are point masses and the tether is rigid, inextensible and remaining straight, the dynamic model of TSR is presented, in which the disturbances from space environment is considered. According to the previous study, the in-plane and out-of-plane angles of the tether oscillate periodically although the tether is released to the desired length. A super-twisting adaptive sliding mode control scheme is designed for TSR to eliminate the vibration of the tether to assure a successful capture in station-keeping phase. Both uncontrolled and controlled situations are simulated. The simulation results show that the proposed controller is effective. Additionally, after comparing with normal sliding mode control algorithm, it is verified that the proposed control scheme can avoid the chattering of normal sliding mode control and is robust for unknown boundary perturbations.

Techniques for Generating Instructional Slides. Final Report.

ERIC Educational Resources Information Center

Smith, Edgar A.; And Others

Common in briefing presentations and in individualized instruction is the use of slides that present materials prepared on a typewriter (questions, instructions, outlines). To increase the efficiency and effectiveness of producing these kind of slides a procedure was developed to facilitate: (1) formatting copy to be used for slides; (2) using…

Sliding temperatures of ice skates

NASA Astrophysics Data System (ADS)

Colbeck, S. C.; Najarian, L.; Smith, H. B.

1997-06-01

The two theories developed to explain the low friction of ice, pressure melting and frictional heating, require opposite temperature shifts at the ice-skate interface. The arguments against pressure melting are strong, but only theoretical. A set of direct temperature measurements shows that frictional heating is the dominant mechanism because temperature behaves in the manner predicted by the theory of frictional heating. Like snow skis, ice skates are warmed by sliding and then cool when the sliding stops. The temperature increases with speed and with thermal insulation. The sliding leaves a warm track on the ice surface behind the skate and the skate sprays warm ejecta.

Probing superlubricity stability of hydrogenated diamond-like carbon film by varying sliding velocity

NASA Astrophysics Data System (ADS)

Liu, Yunhai; Yu, Bingjun; Cao, Zhongyue; Shi, Pengfei; Zhou, Ningning; Zhang, Bin; Zhang, Junyan; Qian, Linmao

2018-05-01

In this study, the superlubricity stability of hydrogenated diamond-like carbon (H-DLC) film in vacuum was investigated by varying the sliding velocity (30-700 mm/s). The relatively stable superlubricity state can be maintained for a long distance at low sliding velocity, whereas the superlubricity state quickly disappears and never recovers at high sliding velocity. Under superlubricity state, the transfer layer of H-DLC film was observed on the Al2O3 ball, which played a key role in obtaining ultra-low friction coefficient. Although the transfer layer can be generated at the beginning of the test, high-velocity sliding tends to accelerate the superlubricity failure and leads to the severe wear of H-DLC film. Analysis indicated that the main reason for superlubricity failure at high sliding velocity is not attributed to friction heat or the break of hydrogen passivation but to the absence of transfer layer on Al2O3 ball. The present study can enrich the understanding of superlubricity mechanism of H-DLC film.

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…

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,…

Robust current control-based generalized predictive control with sliding mode disturbance compensation for PMSM drives.

PubMed

Liu, Xudong; Zhang, Chenghui; Li, Ke; Zhang, Qi

2017-11-01

This paper addresses the current control of permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and disturbances. A generalized predictive current control method combined with sliding mode disturbance compensation is proposed to satisfy the requirement of fast response and strong robustness. Firstly, according to the generalized predictive control (GPC) theory based on the continuous time model, a predictive current control method is presented without considering the disturbance, which is convenient to be realized in the digital controller. In fact, it's difficult to derive the exact motor model and parameters in the practical system. Thus, a sliding mode disturbance compensation controller is studied to improve the adaptiveness and robustness of the control system. The designed controller attempts to combine the merits of both predictive control and sliding mode control, meanwhile, the controller parameters are easy to be adjusted. Lastly, the proposed controller is tested on an interior PMSM by simulation and experiment, and the results indicate that it has good performance in both current tracking and disturbance rejection. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Failure mechanism of coated biomaterials under high impact-sliding contact stresses

NASA Astrophysics Data System (ADS)

Chen, Ying

This study uses a newly developed testing method--- inclined cyclic impact-sliding test to investigate the failure behaviors of different types of biomaterials, (SS316L, Ti6Al4V and CoCr) coated by different coatings (TiN, DLC and PEO), under extremely high dynamic contact stress conditions. This test method can simulate the combined impact and sliding/rolling loading conditions, which is very practical in many aspects of commercial usages. During the tests, fatigue cracking, chipping, peeling and material transferring were observed in damaged area. This research is mainly focused on the failure behaviors of load-bearing materials which cyclic impacting and sliding are always involved. This purpose was accomplished in the three stages: First, impact-sliding test was carried out on TiN coated unhardened M2. It was found that soft substrate can cause early failure of coating due to the considerable plastic deformation in the substrate. In this case, stronger substrate is required to support coating better when tested under high contact stresses. Second, PEO coated Ti-6Al-4V was tested under pure sliding and impact-sliding wear conditions. PEO coating was found not strong enough to afford the high contact pressure under cyclic impact-sliding wear test due to its porous surface structure. However, the wear performance of PEO coating was enhanced due to the sub-stoichiometric oxide. To sum up, for load-bearing biomedical implants involved in high impacting movement, PEO coating may not be a promising surface protection. Third, the dense, smooth PVD/CVD bio-inert coatings were reconsidered. DLC and TiN coatings, combined by different substrates together with different interface materials were tested under the cyclic impact-sliding test using a set of proper loading. The results show that to choose a proper combination of coating, interface and substrate based on their mechanical properties is of great importance under the test condition. Hard substrates provide support

An Evaluation of a Biological Slide-Tutorial Program.

ERIC Educational Resources Information Center

Chan, Gordon L.

Described is an auto-tutorial slide program for zoology students. A self-paced system was devised for observing the subject matter covered in the twelve study units of a zoology course. The post-testing evaluation revealed that students with lower grade point averages achieved scores comparable with students of higher grade point averages.…

Sliding movement of single actin filaments on one-headed myosin filaments

NASA Astrophysics Data System (ADS)

Harada, Yoshie; Noguchi, Akira; Kishino, Akiyoshi; Yanagida, Toshio

1987-04-01

The myosin molecule consists of two heads, each of which contains an enzymatic active site and an actin-binding site. The fundamental problem of whether the two heads function independently or cooperatively during muscle contraction has been studied by methods using an actomyosin thread1, superprecipitation2-4 and chemical modification of muscle fibres5. No clear conclusion has yet been reached. We have approached this question using an assay system in which sliding movements of fluorescently labelled single actin filaments along myosin filaments can be observed directly6,7. Here, we report direct measurement of the sliding of single actin filaments along one-headed myosin filaments in which the density of heads was varied over a wide range. Our results show that cooperative interaction between the two heads of myosin is not essential for inducing the sliding movement of actin filaments.

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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Tribology of the lubricant quantized sliding state.

PubMed

Castelli, Ivano Eligio; Capozza, Rosario; Vanossi, Andrea; Santoro, Giuseppe E; Manini, Nicola; Tosatti, Erio

2009-11-07

In the framework of Langevin dynamics, we demonstrate clear evidence of the peculiar quantized sliding state, previously found in a simple one-dimensional boundary lubricated model [A. Vanossi et al., Phys. Rev. Lett. 97, 056101 (2006)], for a substantially less idealized two-dimensional description of a confined multilayer solid lubricant under shear. This dynamical state, marked by a nontrivial "quantized" ratio of the averaged lubricant center-of-mass velocity to the externally imposed sliding speed, is recovered, and shown to be robust against the effects of thermal fluctuations, quenched disorder in the confining substrates, and over a wide range of loading forces. The lubricant softness, setting the width of the propagating solitonic structures, is found to play a major role in promoting in-registry commensurate regions beneficial to this quantized sliding. By evaluating the force instantaneously exerted on the top plate, we find that this quantized sliding represents a dynamical "pinned" state, characterized by significantly low values of the kinetic friction. While the quantized sliding occurs due to solitons being driven gently, the transition to ordinary unpinned sliding regimes can involve lubricant melting due to large shear-induced Joule heating, for example at large speed.

Adaptive Observatories for Observing Moving Marine Organisms (Invited)

NASA Astrophysics Data System (ADS)

Bellingham, J. G.; Scholin, C.; Zhang, Y.; Godin, M. A.; Hobson, B.; Frolov, S.

2010-12-01

The ability to characterize the response of small marine organisms to each other, and to their environment, is a demanding observational challenge. Small organisms live in a water reference frame, while existing cable or mooring-based observatories operate in an Earth reference frame. Thus repeated observations from a fixed system observe different populations as currents sweep organisms by the sensors. In contrast, mobile systems are typically optimized for spatial coverage rather than repeated observations of the same water volume. Lagrangian drifters track water mass, but are unable to find or reposition themselves relative to ocean features. We are developing a system capable of finding, following and observing discrete populations of marine organisms over time, leveraging a decade and a half investment in the Autonomous Ocean Sampling Network (AOSN) program. AOSN undertook the development of platforms to enable multi-platform coordinated measurement of ocean properties in the late 1990s, leading to the development of a variety of autonomous underwater vehicles (AUVs) and associated technologies, notably several glider systems, now in common use. Efforts by a number of research groups have focused on methods to employ these networked systems to observe and predict dynamic physical ocean phenomena. For example, periodic large scale field programs in Monterey Bay have progressively integrated these systems with data systems, predictive models, and web-based collaborative portals. We are adapting these approaches to follow and observe the dynamics of marine organisms. Compared to physical processes, the temporal and spatial variability of small marine organisms, particularly micro-organisms, is typical greater. Consequently, while multi-platform observations of physical processes can be coordinated via intermittent communications links from shore, biological observations require a higher degree of adaptability of the observation system in situ. This talk will

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

World petroleum assessment 2000; compiled PowerPoint slides

USGS Publications Warehouse

Ahlbrandt, Thomas S.

2001-01-01

The slides in this compilation have been produced for a number of presentations on the World Petroleum Assessment 20000. Many of the figures are taken directly form the publication "U.S. Geological Survey World Petroleum Assessment 2000" - Description and Results: USGS Digital Data Series DDS-60, 2000. Some of the slides are modifications of figures from DDS-60, some are new descriptive slides, and a few are new slides. Several of the slides appear to be duplicates, but in fact are slight modifications for format or content from the same image. Forty-one people participated in this effort as part of the World Energy Assessment Team. The full list of contributors is given ion DDS-60. 

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.

Visualization of the wake behind a sliding bubble

NASA Astrophysics Data System (ADS)

O'Reilly Meehan, R.; Grennan, K.; Davis, I.; Nolan, K.; Murray, D. B.

2017-10-01

In this work, Schlieren measurements are presented for the wake of an air bubble sliding under a heated, inclined surface in quiescent water to provide new insights into the intricate sliding bubble wake structure and the associated convective cooling process. This is a two-phase flow configuration that is pertinent to thermal management solutions, where the fundamental flow physics have yet to be fully described. In this work, we present an experimental apparatus that enables high-quality Schlieren images for different bubble sizes and measurement planes. By combining these visualizations with an advanced bubble tracking technique, we can simultaneously quantify the symbiotic relationship that exists between the sliding bubble dynamics and its associated wake. An unstable, dynamic wake structure is revealed, consisting of multiple hairpin-shaped vortex structures interacting within the macroscopic area affected by the bubble. As vorticity is generated in the near wake, the bubble shape is observed to recoil and rebound. This also occurs normal to the surface and is particularly noticeable for larger bubble sizes, with a periodic ejection of material from the near wake corresponding to significant shape changes. These findings, along with their implications from a thermal management perspective, provide information on the rich dynamics of this natural flow that cannot be obtained using alternate experimental techniques.

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. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Towards a numerical run-out model for quick-clay slides

NASA Astrophysics Data System (ADS)

Issler, Dieter; L'Heureux, Jean-Sébastien; Cepeda, José M.; Luna, Byron Quan; Gebreslassie, Tesfahunegn A.

2015-04-01

Highly sensitive glacio-marine clays occur in many relatively low-lying areas near the coasts of eastern Canada, Scandinavia and northern Russia. If the load exceeds the yield stress of these clays, they quickly liquefy, with a reduction of the yield strength and the viscosity by several orders of magnitude. Leaching, fluvial erosion, earthquakes and man-made overloads, by themselves or combined, are the most frequent triggers of quick-clay slides, which are hard to predict and can attain catastrophic dimensions. The present contribution reports on two preparatory studies that were conducted with a view to creating a run-out model tailored to the characteristics of quick-clay slides. One study analyzed the connections between the morphological and geotechnical properties of more than 30 well-documented Norwegian quick-clay slides and their run-out behavior. The laboratory experiments by Locat and Demers (1988) suggest that the behavior of quick clays can be reasonably described by universal relations involving the liquidity index, plastic index, remolding energy, salinity and sensitivity. However, these tests should be repeated with Norwegian clays and analyzed in terms of a (shear-thinning) Herschel-Bulkley fluid rather than a Bingham fluid because the shear stress appears to grow in a sub-linear fashion with the shear rate. Further study is required to understand the discrepancy between the material parameters obtained in laboratory tests of material from observed slides and in back-calculations of the same slides with the simple model by Edgers & Karlsrud (1982). The second study assessed the capability of existing numerical flow models to capture the most important aspects of quick-clay slides by back-calculating three different, well documented events in Norway: Rissa (1978), Finneidfjord (1996) and Byneset (2012). The numerical codes were (i) BING, a quasi-two-dimensional visco-plastic model, (ii) DAN3D (2009 version), and (iii) MassMov2D. The latter two are

Repair of Large Sliding Inguinal Hernias.

PubMed

Samra, Navdeep S; Ballard, David H; Doumite, Darin F; Griffen, F Dean

2015-12-01

Sliding inguinal hernias are often unexpected intra-operative findings, and repair of which can be technically challenging. A number of repair techniques have been described. The author modified a technique based on an approach described by Bevan. The purpose of our study is to describe this modified Bevan technique for repair of sliding inguinal hernias and report its efficacy in a series of patients. We retrospectively reviewed all patients with open inguinal hernia repairs performed by a single surgeon from August 2007 to April 2013 for sliding indirect hernias using the modified Bevan technique. Patient records were reviewed for demographics, hernia characteristics, complications, admission status, length of stay, and complications. There were 25 patients eligible for our review (male = 25, mean age = 49 years). All sliding hernias were indirect, none were bilateral, and two were incarcerated. The sliding component involved the bladder and perivesical fat (n = 12), sigmoid colon (n = 10), and the cecum and appendix (n = 3). Eighteen patients were treated as outpatients; seven patients were admitted with a mean stay of 2.2 days. Complications included intra-operative bleeding (n = 1), subcutaneous wound hematoma (n = 1), scrotal seroma (n = 1), transient orchialgia (n = 1), and ileus (n = 1). All patients were seen postoperatively for short-term follow-up with no hernia recurrences. Thirteen patients were available for long-term follow-up (mean = 13.6 months); all had no hernia recurrences. The modification of Bevan's technique for repair of large sliding hernias worked well in our series.

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. Copyright © 2015 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

Assessing agreement between malaria slide density readings.

PubMed

Alexander, Neal; Schellenberg, David; Ngasala, Billy; Petzold, Max; Drakeley, Chris; Sutherland, Colin

2010-01-04

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. 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/microl at average density of 2,000 parasites/microl, and -6,200 and +5,700 parasites/microl at 10,000 parasites/microl. 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/microl, and -19,200 to +11,700/microl, respectively. By comparison, the optimal limits of

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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Color standardization and optimization in whole slide imaging.

PubMed

Yagi, Yukako

2011-03-30

Standardization and validation of the color displayed by digital slides is an important aspect of digital pathology implementation. While the most common reason for color variation is the variance in the protocols and practices in the histology lab, the color displayed can also be affected by variation in capture parameters (for example, illumination and filters), image processing and display factors in the digital systems themselves. We have been developing techniques for color validation and optimization along two paths. The first was based on two standard slides that are scanned and displayed by the imaging system in question. In this approach, one slide is embedded with nine filters with colors selected especially for H&E stained slides (looking like tiny Macbeth color chart); the specific color of the nine filters were determined in our previous study and modified for whole slide imaging (WSI). The other slide is an H&E stained mouse embryo. Both of these slides were scanned and the displayed images were compared to a standard. The second approach was based on our previous multispectral imaging research. As a first step, the two slide method (above) was used to identify inaccurate display of color and its cause, and to understand the importance of accurate color in digital pathology. We have also improved the multispectral-based algorithm for more consistent results in stain standardization. In near future, the results of the two slide and multispectral techniques can be combined and will be widely available. We have been conducting a series of researches and developing projects to improve image quality to establish Image Quality Standardization. This paper discusses one of most important aspects of image quality - color.

The combined effects of action observation and passive proprioceptive training on adaptive motor learning.

PubMed

Lei, Yuming; Bao, Shancheng; Wang, Jinsung

2016-09-07

Sensorimotor adaptation can be induced by action observation, and also by passive training. Here, we investigated the effect of a protocol that combined action observation and passive training on visuomotor adaptation, by comparing it with the effect of action observation or passive training alone. Subjects were divided into five conditions during the training session: (1) action observation, in which the subjects watched a video of a model who adapted to a novel visuomotor rotation; (2) proprioceptive training, in which the subject's arm was moved passively to target locations that were associated with desired trajectories; (3) combined training, in which the subjects watched the video of a model during a half of the session and experienced passive movements during the other half; (4) active training, in which the subjects adapted actively to the rotation; and (5) a control condition, in which the subjects did not perform any task. Following that session, all subjects adapted to the same visuomotor rotation. Results showed that the subjects in the combined training condition adapted to the rotation significantly better than those in the observation or proprioceptive training condition, although their performance was not as good as that of those who adapted actively. These findings suggest that although a protocol that combines action observation and passive training consists of all the processes involved in active training (error detection and correction, effector-specific and proprioceptively based reaching movements), these processes in that protocol may work differently as compared to a protocol in which the same processes are engaged actively. Copyright © 2016 IBRO. Published by Elsevier Ltd. All rights reserved.

“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

Cancer Digital Slide Archive: an informatics resource to support integrated in silico analysis of TCGA pathology data

PubMed Central

Gutman, David A; Cobb, Jake; Somanna, Dhananjaya; Park, Yuna; Wang, Fusheng; Kurc, Tahsin; Saltz, Joel H; Brat, Daniel J; Cooper, Lee A D

2013-01-01

Background The integration and visualization of multimodal datasets is a common challenge in biomedical informatics. Several recent studies of The Cancer Genome Atlas (TCGA) data have illustrated important relationships between morphology observed in whole-slide images, outcome, and genetic events. The pairing of genomics and rich clinical descriptions with whole-slide imaging provided by TCGA presents a unique opportunity to perform these correlative studies. However, better tools are needed to integrate the vast and disparate data types. Objective To build an integrated web-based platform supporting whole-slide pathology image visualization and data integration. Materials and methods All images and genomic data were directly obtained from the TCGA and National Cancer Institute (NCI) websites. Results The Cancer Digital Slide Archive (CDSA) produced is accessible to the public (http://cancer.digitalslidearchive.net) and currently hosts more than 20 000 whole-slide images from 22 cancer types. Discussion The capabilities of CDSA are demonstrated using TCGA datasets to integrate pathology imaging with associated clinical, genomic and MRI measurements in glioblastomas and can be extended to other tumor types. CDSA also allows URL-based sharing of whole-slide images, and has preliminary support for directly sharing regions of interest and other annotations. Images can also be selected on the basis of other metadata, such as mutational profile, patient age, and other relevant characteristics. Conclusions With the increasing availability of whole-slide scanners, analysis of digitized pathology images will become increasingly important in linking morphologic observations with genomic and clinical endpoints. PMID:23893318

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.

"Discoveries in Planetary Sciences": Slide Sets Highlighting New Advances for Astronomy Educators

NASA Astrophysics Data System (ADS)

Brain, D. A.; Schneider, N. M.; Beyer, R. A.

2010-12-01

Planetary science is a field that evolves rapidly, motivated by spacecraft mission results. Exciting new mission results are generally communicated rather quickly to the public in the form of press releases and news stories, but it can take several years for new advances to work their way into college textbooks. Yet it is important for students to have exposure to these new advances for a number of reasons. In some cases, new work renders older textbook knowledge incorrect or incomplete. In some cases, new discoveries make it possible to emphasize older textbook knowledge in a new way. In all cases, new advances provide exciting and accessible examples of the scientific process in action. To bridge the gap between textbooks and new advances in planetary sciences we have developed content on new discoveries for use by undergraduate instructors. Called 'Discoveries in Planetary Sciences', each new discovery is summarized in a 3-slide PowerPoint presentation. The first slide describes the discovery, the second slide discusses the underlying planetary science concepts, and the third presents the big picture implications of the discovery. A fourth slide includes links to associated press releases, images, and primary sources. This effort is generously sponsored by the Division for Planetary Sciences of the American Astronomical Society, and the slide sets are available at http://dps.aas.org/education/dpsdisc/. Sixteen slide sets have been released so far covering topics spanning all sub-disciplines of planetary science. Results from the following spacecraft missions have been highlighted: MESSENGER, the Spirit and Opportunity rovers, Cassini, LCROSS, EPOXI, Chandrayan, Mars Reconnaissance Orbiter, Mars Express, and Venus Express. Additionally, new results from Earth-orbiting and ground-based observing platforms and programs such as Hubble, Keck, IRTF, the Catalina Sky Survey, HARPS, MEarth, Spitzer, and amateur astronomers have been highlighted. 4-5 new slide sets are

Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization.

PubMed

Hao, Li-Ying; Yang, Guang-Hong

2013-09-01

This paper is concerned with the problem of robust fault-tolerant compensation control problem for uncertain linear systems subject to both state and input signal quantization. By incorporating novel matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under a special actuator redundancy assumption. In order to compensate for quantization errors, an adjustment range of quantization sensitivity for a dynamic uniform quantizer is given through the flexible choices of design parameters. Comparing with the existing results, the derived inequality condition leads to the fault tolerance ability stronger and much wider scope of applicability. With a static adjustment policy of quantization sensitivity, an adaptive sliding mode controller is then designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate for the effects of actuator faults, quantization errors, exogenous disturbances and parameter uncertainties without the need for a fault detection and isolation (FDI) mechanism. Finally, the effectiveness of the proposed design method is illustrated via a model of a rocket fairing structural-acoustic. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

A novel glass slide filing system for pathology slides.

PubMed

Tsai, Steve; Kartono, Francisca; Shitabata, Paul K

2007-07-01

The availability of a collection of microscope glass slides for review is essential in the study and practice of pathology. A common problem facing many pathologists is the lack of a well-organized filing system. We present a novel system that would be easily accessible, informative, protective, and portable.

An adaptable navigation strategy for Virtual Microscopy from mobile platforms.

PubMed

Corredor, Germán; Romero, Eduardo; Iregui, Marcela

2015-04-01

Real integration of Virtual Microscopy with the pathologist service workflow requires the design of adaptable strategies for any hospital service to interact with a set of Whole Slide Images. Nowadays, mobile devices have the actual potential of supporting an online pervasive network of specialists working together. However, such devices are still very limited. This article introduces a novel highly adaptable strategy for streaming and visualizing WSI from mobile devices. The presented approach effectively exploits and extends the granularity of the JPEG2000 standard and integrates it with different strategies to achieve a lossless, loosely-coupled, decoder and platform independent implementation, adaptable to any interaction model. The performance was evaluated by two expert pathologists interacting with a set of 20 virtual slides. The method efficiently uses the available device resources: the memory usage did not exceed a 7% of the device capacity while the decoding times were smaller than the 200 ms per Region of Interest, i.e., a window of 256×256 pixels. This model is easily adaptable to other medical imaging scenarios. Copyright © 2015 Elsevier Inc. All rights reserved.

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.

Innovative slide repair techniques guidebook for Missouri.

DOT National Transportation Integrated Search

2011-09-01

Soil slides often require immediate action to keep traffic moving safely. This study will : focus on developing newer (innovative) approaches to evaluate slope failures and : provide cost-effective repair and mitigation techniques. Typically slides a...

The Influence of Interfacial Roughness on Fiber Sliding in Oxide Composites with La-Monazite Interphases

NASA Technical Reports Server (NTRS)

Davis, J. B.; Hay, R. S.; Marshall, D. B.; Morgan, P. E. D.; Sayir, A.; Gray, Hugh R. (Technical Monitor); Farmer, Serene C. (Technical Monitor)

2002-01-01

Room temperature debonding and sliding of La-Monazite coated fibers is assessed using a composite with a polycrystalline alumina matrix and fibers of several different single crystal (mullite, sapphire) and directionally solidified eutectic (Al2O3/Y3Al5O12 and Al2O3/Y-ZrO2) compositions. These fibers provide a range of residual stresses and interfacial roughnesses. Sliding occurred over a debond crack at the fiber-coating interface when the sliding displacement and surface roughness were relatively small. At large sliding displacements with relatively rough interfaces, the monazite coatings were deformed extensively by fracture, dislocations and occasional twinning, whereas the fibers were undamaged. Dense, fine-grained (10 nm) microstructures suggestive of dynamic recrystallization were also observed in the coatings. Frictional heating during sliding is assessed. The possibility of low temperature recrystallization is discussed in the light of the known resistance of monazite to radiation damage. The ability of La-Monazite to undergo plastic deformation relatively easily at low temperatures may be enabling for its use as a composite interface.

Onset of frictional sliding of rubber–glass contact under dry and lubricated conditions

PubMed Central

Tuononen, Ari J.

2016-01-01

Rubber friction is critical in many applications ranging from automotive tyres to cylinder seals. The process where a static rubber sample transitions to frictional sliding is particularly poorly understood. The experimental and simulation results in this paper show a completely different detachment process from the static situation to sliding motion under dry and lubricated conditions. The results underline the contribution of the rubber bulk properties to the static friction force. In fact, simple Amontons’ law is sufficient as a local friction law to produce the correct detachment pattern when the rubber material and loading conditions are modelled properly. Simulations show that micro-sliding due to vertical loading can release initial shear stresses and lead to a high static/dynamic friction coefficient ratio, as observed in the measurements. PMID:27291939

Modeling the Sliding/Falling Ladder Paradox

ERIC Educational Resources Information Center

Fox, William P.; Fox, James B.

2003-01-01

Recently we were presented with an interesting twist to the sliding ladder problem viewed in the related rates section of most calculus textbooks. Our problem concerning a sliding ladder that eventually hits the ground. At first, those attempting this problem fell into the calculus trap using only related rates. Previous work for this problem…

Comparison of four DNA extraction methods for the detection of Mycobacterium leprae from Ziehl-Neelsen-stained microscopic slides.

PubMed

Ruiz-Fuentes, Jenny Laura; Díaz, Alexis; Entenza, Anayma Elena; Frión, Yahima; Suárez, Odelaisy; Torres, Pedro; de Armas, Yaxsier; Acosta, Lucrecia

2015-12-01

The diagnosis of leprosy has been a challenge due to the low sensibility of the conventional methods and the impossibility of culturing the causative organism. In this study, four methods for Mycobacterium leprae nucleic-acid extraction from Ziehl-Neelsen-stained slides (ZNS slides) were compared: Phenol/chloroform, Chelex 100 resin, and two commercial kits (Wizard Genomic DNA Purification Kit and QIAamp DNA Mini Kit). DNA was extracted from four groups of slides: a high-codification-slide group (bacteriological index [BI]⩾4), a low-codification-slide group (BI=1), a negative-slide group (BI=0), and a negative-control-slide group (BI=0). Quality DNA was evidenced by the amplification of specific repetitive element present in M. leprae genomic DNA (RLEP) using a nested polymerase chain reaction. This is the first report comparing four different extraction methods for obtaining M. leprae DNA from ZNS slides in Cuban patients, and applied in molecular diagnosis. Good-quality DNA and positive amplification were detected in the high-codification-slide group with the four methods, while from the low-codification-slide group only the QIAGEN and phenol-chloroform methods obtained amplification of M. leprae. In the negative-slide group, only the QIAGEN method was able to obtain DNA with sufficient quality for positive amplification of the RLEP region. No amplification was observed in the negative-control-slide group by any method. Patients with ZNS negative slides can still transmit the infection, and molecular methods can help identify and treat them, interrupting the chain of transmission and preventing the onset of disabilities. The ZNS slides can be sent easily to reference laboratories for later molecular analysis that can be useful not only to improve the diagnosis, but also for the application of other molecular techniques. Copyright © 2015 Asian-African Society for Mycobacteriology. Published by Elsevier Ltd. All rights reserved.

Filter accuracy for the Lorenz 96 model: Fixed versus adaptive observation operators

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stuart, Andrew M.; Shukla, Abhishek; Sanz-Alonso, Daniel

In the context of filtering chaotic dynamical systems it is well-known that partial observations, if sufficiently informative, can be used to control the inherent uncertainty due to chaos. The purpose of this paper is to investigate, both theoretically and numerically, conditions on the observations of chaotic systems under which they can be accurately filtered. In particular, we highlight the advantage of adaptive observation operators over fixed ones. The Lorenz ’96 model is used to exemplify our findings. Here, we consider discrete-time and continuous-time observations in our theoretical developments. We prove that, for fixed observation operator, the 3DVAR filter can recovermore » the system state within a neighbourhood determined by the size of the observational noise. It is required that a sufficiently large proportion of the state vector is observed, and an explicit form for such sufficient fixed observation operator is given. Numerical experiments, where the data is incorporated by use of the 3DVAR and extended Kalman filters, suggest that less informative fixed operators than given by our theory can still lead to accurate signal reconstruction. Adaptive observation operators are then studied numerically; we show that, for carefully chosen adaptive observation operators, the proportion of the state vector that needs to be observed is drastically smaller than with a fixed observation operator. Indeed, we show that the number of state coordinates that need to be observed may even be significantly smaller than the total number of positive Lyapunov exponents of the underlying system.« less

Filter accuracy for the Lorenz 96 model: Fixed versus adaptive observation operators

DOE PAGES

Stuart, Andrew M.; Shukla, Abhishek; Sanz-Alonso, Daniel; ...

2016-02-23

In the context of filtering chaotic dynamical systems it is well-known that partial observations, if sufficiently informative, can be used to control the inherent uncertainty due to chaos. The purpose of this paper is to investigate, both theoretically and numerically, conditions on the observations of chaotic systems under which they can be accurately filtered. In particular, we highlight the advantage of adaptive observation operators over fixed ones. The Lorenz ’96 model is used to exemplify our findings. Here, we consider discrete-time and continuous-time observations in our theoretical developments. We prove that, for fixed observation operator, the 3DVAR filter can recovermore » the system state within a neighbourhood determined by the size of the observational noise. It is required that a sufficiently large proportion of the state vector is observed, and an explicit form for such sufficient fixed observation operator is given. Numerical experiments, where the data is incorporated by use of the 3DVAR and extended Kalman filters, suggest that less informative fixed operators than given by our theory can still lead to accurate signal reconstruction. Adaptive observation operators are then studied numerically; we show that, for carefully chosen adaptive observation operators, the proportion of the state vector that needs to be observed is drastically smaller than with a fixed observation operator. Indeed, we show that the number of state coordinates that need to be observed may even be significantly smaller than the total number of positive Lyapunov exponents of the underlying system.« less

Georadar and geoelectricity method to identify the determine zone of sliding landslide

NASA Astrophysics Data System (ADS)

Dalimunthe, Y. K.; Hamid, A.

2018-01-01

The aim of this research is to determine the contrast between the sliding plane by observing the parameters of rock types, fractures, and faults that could potentially land slides in Bandar Baru, Lampung Barat, Indonesia by both methods of georadar and geoelectricity. This research uses radar reflection profiling configuration for georadar and dipole-dipole configuration for geoelectricity. For georadar data processing has been done with Reflexwave software and for geoelectricity, data processing has been done with Earthimager 2DINV software to interpret subsurface section. Results of research by both methods of georadar and geoelectricity shows the area of contact between the sand stone with resistivity value of 200-1449 Ωm and clay stone with a resistivity value of 32-100 Ωm at the limit depth of 9 m as a potential zone of sliding landslides where the physical properties of clay stone easily derail massive material on it.

DeepScope: Nonintrusive Whole Slide Saliency Annotation and Prediction from Pathologists at the Microscope

PubMed Central

Schaumberg, Andrew J.; Sirintrapun, S. Joseph; Al-Ahmadie, Hikmat A.; Schüffler, Peter J.; Fuchs, Thomas J.

2018-01-01

Modern digital pathology departments have grown to produce whole-slide image data at petabyte scale, an unprecedented treasure chest for medical machine learning tasks. Unfortunately, most digital slides are not annotated at the image level, hindering large-scale application of supervised learning. Manual labeling is prohibitive, requiring pathologists with decades of training and outstanding clinical service responsibilities. This problem is further aggravated by the United States Food and Drug Administration’s ruling that primary diagnosis must come from a glass slide rather than a digital image. We present the first end-to-end framework to overcome this problem, gathering annotations in a nonintrusive manner during a pathologist’s routine clinical work: (i) microscope-specific 3D-printed commodity camera mounts are used to video record the glass-slide-based clinical diagnosis process; (ii) after routine scanning of the whole slide, the video frames are registered to the digital slide; (iii) motion and observation time are estimated to generate a spatial and temporal saliency map of the whole slide. Demonstrating the utility of these annotations, we train a convolutional neural network that detects diagnosis-relevant salient regions, then report accuracy of 85.15% in bladder and 91.40% in prostate, with 75.00% accuracy when training on prostate but predicting in bladder, despite different pathologists examining the different tissues. When training on one patient but testing on another, AUROC in bladder is 0.79±0.11 and in prostate is 0.96±0.04. Our tool is available at https://bitbucket.org/aschaumberg/deepscope PMID:29601065

Seismic isolation of nuclear power plants using sliding isolation bearings

NASA Astrophysics Data System (ADS)

Kumar, Manish

Nuclear power plants (NPP) are designed for earthquake shaking with very long return periods. Seismic isolation is a viable strategy to protect NPPs from extreme earthquake shaking because it filters a significant fraction of earthquake input energy. This study addresses the seismic isolation of NPPs using sliding bearings, with a focus on the single concave Friction Pendulum(TM) (FP) bearing. Friction at the sliding surface of an FP bearing changes continuously during an earthquake as a function of sliding velocity, axial pressure and temperature at the sliding surface. The temperature at the sliding surface, in turn, is a function of the histories of coefficient of friction, sliding velocity and axial pressure, and the travel path of the slider. A simple model to describe the complex interdependence of the coefficient of friction, axial pressure, sliding velocity and temperature at the sliding surface is proposed, and then verified and validated. Seismic hazard for a seismically isolated nuclear power plant is defined in the United States using a uniform hazard response spectrum (UHRS) at mean annual frequencies of exceedance (MAFE) of 10-4 and 10 -5. A key design parameter is the clearance to the hard stop (CHS), which is influenced substantially by the definition of the seismic hazard. Four alternate representations of seismic hazard are studied, which incorporate different variabilities and uncertainties. Response-history analyses performed on single FP-bearing isolation systems using ground motions consistent with the four representations at the two shaking levels indicate that the CHS is influenced primarily by whether the observed difference between the two horizontal components of ground motions in a given set is accounted for. The UHRS at the MAFE of 10-4 is increased by a design factor (≥ 1) for conventional (fixed base) nuclear structure to achieve a target annual frequency of unacceptable performance. Risk oriented calculations are performed for

Dynamical phenomena in fast sliding nanotube models

NASA Astrophysics Data System (ADS)

Zhang, X. H.; Santoro, G. E.; Tartaglino, U.; Tosatti, E.

2013-03-01

The experimentally known fact that coaxial carbon nanotubes can be forced to slide one inside the other stimulated in the past much detailed modelling of the dynamical sliding process. Molecular dynamics simulations of sliding coaxial nanotubes showed the existence of strong frictional peaks when, at large speed, one tube excites the other with a 'washboard' frequency that happens to resonate with some intrinsic vibration frequency. At some of these special speeds we discover a striking example of dynamical symmetry breaking taking place at the nanoscale. Even when both nanotubes are perfectly left-right symmetric and nonchiral, precisely in correspondence with the large peaks of sliding friction occurring at a series of critical sliding velocities, a nonzero angular momentum spontaneously appears. A detailed analysis shows that this internal angular momentum is of phonon origin, in particular arising from preferential excitation of a right polarized (or, with equal probability, of a left polarized) outer-tube 'pseudorotation' mode, thus spontaneously breaking their exact twofold right-left degeneracy. We present and discuss a detailed analysis of nonlinear continuum equations governing this phenomenon, showing the close similarity of this phenomenon with the well-known rotational instability of a forced string, which takes place under sufficiently strong periodic forcing of the string. We also point out new elements appearing in the present problem which are 'nano', in particular the involvement of Umklapp processes and the role of sliding nanofriction.

DPS Discovery Slide Sets for the Introductory Astronomy Instructor

NASA Astrophysics Data System (ADS)

Meinke, Bonnie K.; Jackson, Brian; Buxner, Sanlyn; Horst, Sarah; Brain, David; Schneider, Nicholas M.

2016-10-01

The DPS actively supports the E/PO needs of the society's membership, including those at the front of the college classroom. The DPS Discovery Slide Sets are an opportunity for instructors to put the latest planetary science into their lectures and for scientists to get their exciting results to college students.In an effort to keep the astronomy classroom apprised of the fast moving field of planetary science, the Division for Planetary Sciences (DPS) has developed "DPS Discoveries", which are 3-slide presentations that can be incorporated into college lectures. The slide sets are targeted at the Introductory Astronomy undergraduate level. Each slide set consists of three slides which cover a description of the discovery, a discussion of the underlying science, and a presentation of the big picture implications of the discovery, with a fourth slide that includes links to associated press releases, images, and primary sources. Topics span all subdisciplines of planetary science, and 26 sets are available in Farsi and Spanish. We intend for these slide sets to help Astronomy 101 instructors include new developments (not yet in their textbooks) into the broader context of the course. If you need supplemental material for your classroom, please checkout the archived collection: http://dps.aas.org/education/dpsdiscMore slide sets are now in development and will be available soon! In the meantime, we seek input, feedback, and help from the DPS membership to add fresh slide sets to the series and to connect the college classroom to YOUR science. It's easy to get involved - we'll provide a content template, tips and tricks for a great slide set, and pedagogy reviews. Talk to a coauthor to find out how you can disseminate your science or get involved in E/PO with your contributions.

Student perceptions of digital versus traditional slide use in undergraduate education.

PubMed

Solberg, Brooke L

2012-01-01

Digitized slides provide a number of intriguing benefits for educators. Before their implementation, however, educators should consider student opinion related to their use. This mixed-methods study directly compared Medical Laboratory Science (MLS) student perceptions of learning experiences in both digital and traditional slide laboratory settings. Results suggested that the majority of students preferred learning with digital slides, and numerous reasons for this preference were identified. Survey responses indicated that students using digital slides tended to view their performances, instructor feedback, and their learning environment more positively than students using traditional slides. Apprehensions about digital slide use were also detected from students preferring traditional slides. These findings provide a guide on how best to exploit both digital and traditional slides in an educational setting.

Geomorphology, stability and mobility of the Currituck slide

USGS Publications Warehouse

Locat, J.; Lee, H.; ten Brink, Uri S.; Twichell, D.; Geist, E.; Sansoucy, M.

2009-01-01

Over the last 100,000??years, the U.S. Atlantic continental margin has experienced various types of mass movements some of which are believed to have taken place at times of low sea level. At one of these times of low sea level a significant trigger caused a major submarine mass movement off the coast of Virginia: the Currituck slide which is believed to have taken place between 24 and 50??ka ago. This slide removed a total volume of about 165??km3 from this section of the continental slope. The departure zone still shows a very clean surface that dips at 4?? and is only covered by a thin veneer of postglacial sediment. Multibeam bathymetric and seismic survey data suggest that this slide took place along three failures surfaces. The morphology of the source area suggests that the sediments were already at least normally consolidated at the time of failure. The slide debris covers an area as much as 55??km wide that extends 180??km from the estimated toe of the original slope. The back analysis of slide initiation indicates that very high pore pressure, a strong earthquake, or both had to be generated to trigger slides on such a low failure plane angle. The shape of the failure plane, the fact that the surface is almost clear of any debris, and the mobility analysis, all support the argument that the slides took place nearly simultaneously. Potential causes for the generation of high pore pressures could be seepage forces from coastal aquifers, delta construction and related pore pressure generation due to the local sediment loading, gas hydrates, and earthquakes. This slide, and its origin, is a spectacular example of the potential threat that submarine mass movements can pose to the US Atlantic coast and underline the need to further assess the potential for the generation of such large slides, like the Grand Banks 1927 landslide of similar volume. ?? 2008 Elsevier B.V.

[Development of an incubation system for an inverted microscopy for long-term observation of cell cultures using chamber slides].

PubMed

Feicht, W; Buchner, A; Riesenberg, R

2001-05-01

Trifunctional bispecific antibodies open up new immunological possibilities in tumour treatment. Prior to clinical application, comprehensive investigations using animal models and in vitro examinations need to be done. To investigate long-term interactions between various immunologically active blood cells and individual tumour cells in the presence of antibodies, we developed an incubation system for experimental cell cultures on an inverted microscope. The system consists of a perspex box with a central moisture chamber with integrated water reservoir, external air circulation heating, and a CO2 supply. The sterile cell cultures are located in the wells of a slide positioned within a depression in the water reservoir. The newly developed incubation system enables continuous observation over the long term of experiments under optimal cell cultures conditions in combination with modern video techniques.

Humboldt slide - A large shear-dominated retrogressive slope failure

USGS Publications Warehouse

Gardner, J.V.; Prior, D.B.; Field, M.E.

1999-01-01

Humboldt Slide is a large, complex slide zone located on the northern California continental margin. Its three-dimensional architecture has been imaged by a combination of multibeam bathymetry, Huntec Deep-Tow seismic profiling, and sidescan sonar. The slide is interpreted to be Late Pleistocene to early Holocene in age and was caused by a combination of factors. The area of the slide is a local depocenter with high accumulation rates of organic-rich sediment; there has been local steepening of slopes by tectonic uplifts; and the entire area is one of high seismicity. Overall, the failure occurred by retrogressive, shear-dominated, minimum movement apparently as a sequence of events. Failure initially occurred by subsidence extension at the middle of the feature, followed by upslope retrogressive failure and downslope compression, and finally by translational sliding at the top of the slide. Degassing, as evidenced by abundant pockmarks, may have inhibited downslope translation. The slide may still be active, as suggested by offsets in Holocene hemipelagic sediment draped over some of the shear surfaces. Crown cracks occur above the present head of the failure and may represent the next generation of failure.

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.…

Chiral cell sliding drives left-right asymmetric organ twisting

PubMed Central

Inaki, Mikiko; Hatori, Ryo; Nakazawa, Naotaka; Okumura, Takashi; Ishibashi, Tomoki; Kikuta, Junichi; Ishii, Masaru

2018-01-01

Polarized epithelial morphogenesis is an essential process in animal development. While this process is mostly attributed to directional cell intercalation, it can also be induced by other mechanisms. Using live-imaging analysis and a three-dimensional vertex model, we identified ‘cell sliding,’ a novel mechanism driving epithelial morphogenesis, in which cells directionally change their position relative to their subjacent (posterior) neighbors by sliding in one direction. In Drosophila embryonic hindgut, an initial left-right (LR) asymmetry of the cell shape (cell chirality in three dimensions), which occurs intrinsically before tissue deformation, is converted through LR asymmetric cell sliding into a directional axial twisting of the epithelial tube. In a Drosophila inversion mutant showing inverted cell chirality and hindgut rotation, cell sliding occurs in the opposite direction to that in wild-type. Unlike directional cell intercalation, cell sliding does not require junctional remodeling. Cell sliding may also be involved in other cases of LR-polarized epithelial morphogenesis. PMID:29891026

Chiral cell sliding drives left-right asymmetric organ twisting.

PubMed

Inaki, Mikiko; Hatori, Ryo; Nakazawa, Naotaka; Okumura, Takashi; Ishibashi, Tomoki; Kikuta, Junichi; Ishii, Masaru; Matsuno, Kenji; Honda, Hisao

2018-06-12

Polarized epithelial morphogenesis is an essential process in animal development. While this process is mostly attributed to directional cell intercalation, it can also be induced by other mechanisms. Using live-imaging analysis and a three-dimensional vertex model, we identified 'cell sliding,' a novel mechanism driving epithelial morphogenesis, in which cells directionally change their position relative to their subjacent (posterior) neighbors by sliding in one direction. In Drosophila embryonic hindgut, an initial left-right (LR) asymmetry of the cell shape (cell chirality in three dimensions), which occurs intrinsically before tissue deformation, is converted through LR asymmetric cell sliding into a directional axial twisting of the epithelial tube. In a Drosophila inversion mutant showing inverted cell chirality and hindgut rotation, cell sliding occurs in the opposite direction to that in wild-type. Unlike directional cell intercalation, cell sliding does not require junctional remodeling. Cell sliding may also be involved in other cases of LR-polarized epithelial morphogenesis. © 2018, Inaki et al.

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.

Optimal second order sliding mode control for nonlinear uncertain systems.

PubMed

Das, Madhulika; Mahanta, Chitralekha

2014-07-01

In this paper, a chattering free optimal second order sliding mode control (OSOSMC) method is proposed to stabilize nonlinear systems affected by uncertainties. The nonlinear optimal control strategy is based on the control Lyapunov function (CLF). For ensuring robustness of the optimal controller in the presence of parametric uncertainty and external disturbances, a sliding mode control scheme is realized by combining an integral and a terminal sliding surface. The resulting second order sliding mode can effectively reduce chattering in the control input. Simulation results confirm the supremacy of the proposed optimal second order sliding mode control over some existing sliding mode controllers in controlling nonlinear systems affected by uncertainty. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Dry sliding wear system response of ferritic and tempered martensitic ductile iron

NASA Astrophysics Data System (ADS)

Jha, V. K.; Mozumder, Y. H.; Shama, S.; Behera, R. K.; Pattaniak, A.; P, Sindhoora L.; Mishra, S. C.; Sen, S.

2015-02-01

Spheroidal graphite cast iron (SG iron) is the most preferable member of cast iron family due to its strength and toughness along with good tribological properties. SG iron specimens with annealed and martensitic matrix were subjected to dry sliding wear condition and the system response was correlated to matrix microstructure. Respective microstructure was obtained by annealing and quench and tempering heat treatment process for an austenitizing temperature of 1000°C. Specimens were subjected to Ball on plate wear tester under 40N, 50N, 60N load for a sliding distance of 7.54m. Except for quench and tempered specimen at 50N, weight loss was observed in every condition. The wear surface under optical microscope reveals adhesive mechanism for as-cast and annealed specimen whereas delaminated wear track feature was observed for quench and tempered specimen.

Lap-Dissolve Slides

ERIC Educational Resources Information Center

Fine, Leonard W.; And Others

1977-01-01

Discusses the use of lap-dissolve projection to give students pre-laboratory instruction on an upcoming experiment. In this technique, two slide projectors are operated alternately so that one visual image fades away while the next appears on the same screen area. (MLH)

The Classification of Art Slides: A Survey and Recommendations.

ERIC Educational Resources Information Center

Watt, Richard S.

The nature and variety of classification systems for museum and university art department slide collections are surveyed through a review of the literature on slide classification in the United States, Great Britain, and Australia, and through case studies of major slide collections at Duke University, the University of North Carolina at Chapel…

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.

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.

PubMed

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.

49 CFR 229.115 - Slip/slide alarms.

Code of Federal Regulations, 2010 CFR

2010-10-01

..., DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS Safety Requirements Cabs and Cab Equipment § 229.115 Slip/slide alarms. (a) Except for MU locomotives, each locomotive used in road service shall... road service, or continue in road service following a daily inspection, unless the wheel slip/slide...

49 CFR 229.115 - Slip/slide alarms.

Code of Federal Regulations, 2011 CFR

2011-10-01

..., DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS Safety Requirements Cabs and Cab Equipment § 229.115 Slip/slide alarms. (a) Except for MU locomotives, each locomotive used in road service shall... road service, or continue in road service following a daily inspection, unless the wheel slip/slide...

Invariant polygons in systems with grazing-sliding.

PubMed

Szalai, R; Osinga, H M

2008-06-01

The paper investigates generic three-dimensional nonsmooth systems with a periodic orbit near grazing-sliding. We assume that the periodic orbit is unstable with complex multipliers so that two dominant frequencies are present in the system. Because grazing-sliding induces a dimension loss and the instability drives every trajectory into sliding, the system has an attractor that consists of forward sliding orbits. We analyze this attractor in a suitably chosen Poincare section using a three-parameter generalized map that can be viewed as a normal form. We show that in this normal form the attractor must be contained in a finite number of lines that intersect in the vertices of a polygon. However the attractor is typically larger than the associated polygon. We classify the number of lines involved in forming the attractor as a function of the parameters. Furthermore, for fixed values of parameters we investigate the one-dimensional dynamics on the attractor.

Understanding Learning Style by Eye Tracking in Slide Video Learning

ERIC Educational Resources Information Center

Cao, Jianxia; Nishihara, Akinori

2012-01-01

More and more videos are now being used in e-learning context. For improving learning effect, to understand how students view the online video is important. In this research, we investigate how students deploy their attention when they learn through interactive slide video in the aim of better understanding observers' learning style. Felder and…

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.

Optimal second order sliding mode control for linear uncertain systems.

PubMed

Das, Madhulika; Mahanta, Chitralekha

2014-11-01

In this paper an optimal second order sliding mode controller (OSOSMC) is proposed to track a linear uncertain system. The optimal controller based on the linear quadratic regulator method is designed for the nominal system. An integral sliding mode controller is combined with the optimal controller to ensure robustness of the linear system which is affected by parametric uncertainties and external disturbances. To achieve finite time convergence of the sliding mode, a nonsingular terminal sliding surface is added with the integral sliding surface giving rise to a second order sliding mode controller. The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free. Simulation results confirm superiority of the proposed OSOSMC over some existing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Robust Sliding Mode Control of PMSM Based on Rapid Nonlinear Tracking Differentiator and Disturbance Observer

PubMed Central

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-01-01

Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized platforms. Sliding mode control (SMC), in parallel with the classical proportional integral (PI) controller, has a high advantage to suppress the torque ripples as its invariance to disturbances. However, since the high switching gain tends to cause chattering and it requires derivative of signals which is not readily obtainable without an acceleration signal sensor. Therefore, this paper proposes a robust SMC scheme based on a rapid nonlinear tracking differentiator (NTD) and a disturbance observer (DOB) to further improve the performance of the SMC. The NTD is employed to providing the derivative of the signal, and the DOB is utilized to estimate the system lumped disturbances, including parameter variations and external disturbances. On the one hand, DOB can compensate the robust SMC speed controller, it can reduce the chattering of SMC on the other hand. Experiments were carried out on an ARM and DSP-based platform. The obtained experimental results demonstrate that the robust SMC scheme has an improved performance with inertia stability and it exhibits a satisfactory anti-disturbance performance compared to the traditional methods. PMID:29596387

Three-dimensional simulation of a rock slide impact into water

NASA Astrophysics Data System (ADS)

Weaver, R.; Gisler, G.; Gittings, M.; Ranta, D.

2007-12-01

The steep-sided fjords of western Norway have experienced numerous rock slide events that sometimes produced devastating tsunamis. The 1934 slide in the Tafjord region, when some 3 million cubic meters of rock plunged into the water, resulted in waves tens of meters high that destroyed two villages and killed about 40 people. A similarly dangerous situation exists now in Sunnylvsfjord, where a major expanding crack in the fjord wall at Aknes threatens to release from 5 to 40 million cubic meters of rock into the water. Such an event would devastate a large region, including the Geiranger Fjord, a UN World Heritage Site that is extremely popular with tourists. The Norwegian Government's Aknes-Tafjord project is responsible for studying and monitoring the potential slide area and for providing adequate warning to protect lives and property. In order to better understand tsunami generation from such events, we have performed 3-dimensional fully compressible hydrodynamical simulations of the impact of a large number of boulders from a steep slope into a deep body of water. We use the Los Alamos/SAIC adaptive-mesh-refined SAGE code, previously used to model tsunamis from underwater explosions, asteroid impacts, and both subaqueous and subaerial landslide sources. We find the interaction of boulders and water to be extremely turbulent and dissipative. It differs markedly from simulations of large-block impacts in similar geometry. No more than about 15% of the potential energy of the boulders ends up in the water wave. The rest of the energy goes into heating the boulders (and presumably fragmenting them, though that physics is not included) into generating winds, heating air and water, and generating turbulence. In the near field, the waves produced by the impact can be quite high -- tens of meters -- and have the potential to devastate coastlines at substantial distances from the site along a narrow fjord system.

45 CFR 98.42 - Sliding fee scales.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Welfare DEPARTMENT OF HEALTH AND HUMAN SERVICES GENERAL ADMINISTRATION CHILD CARE AND DEVELOPMENT FUND Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales... provides for cost sharing by families that receive CCDF child care services. (b) A sliding fee scale(s...

45 CFR 98.42 - Sliding fee scales.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Welfare DEPARTMENT OF HEALTH AND HUMAN SERVICES GENERAL ADMINISTRATION CHILD CARE AND DEVELOPMENT FUND Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales... provides for cost sharing by families that receive CCDF child care services. (b) A sliding fee scale(s...

45 CFR 98.42 - Sliding fee scales.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Welfare Department of Health and Human Services GENERAL ADMINISTRATION CHILD CARE AND DEVELOPMENT FUND Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales... provides for cost sharing by families that receive CCDF child care services. (b) A sliding fee scale(s...

45 CFR 98.42 - Sliding fee scales.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Welfare DEPARTMENT OF HEALTH AND HUMAN SERVICES GENERAL ADMINISTRATION CHILD CARE AND DEVELOPMENT FUND Program Operations (Child Care Services)-Lead Agency and Provider Requirements § 98.42 Sliding fee scales... provides for cost sharing by families that receive CCDF child care services. (b) A sliding fee scale(s...

Develop and Manufacture an airlock sliding tray

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lawton, Cindy M.

2014-02-26

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 testedmore » 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.« less

The experiment research of the friction sliding isolation structure

NASA Astrophysics Data System (ADS)

Zhang, Shirong; Li, Jiangle; Wang, Sheliang

2018-04-01

This paper investigated the theory of the friction sliding isolation structure, The M0S2 solid lubricant was adopted as isolation bearing friction materials, and a new sliding isolation bearing was designed and made. The formula of the friction factor and the compression stress was proposed. The feasibility of the material MoS2 used as the coating material in a friction sliding isolation system was tested on the 5 layers concrete frame model. Two application experiment conditions were presented. The results of the experiment research indicated that the friction sliding isolation technology have a good damping effect.

Predicting Debris-Slide Locations in Northwestern California

Treesearch

Mark E. Reid; Stephen D. Ellen; Dianne L. Brien; Juan de la Fuente; James N. Falls; Billie G. Hicks; Eric C. Johnson

2007-01-01

We tested four topographic models for predicting locations of debris-slide sources: 1) slope; 2) proximity to stream; 3) SHALSTAB with "standard" parameters; and 4) debris-slide-prone landforms, which delineates areas similar to "inner gorge" and "headwall swale" using experience-based rules. These approaches were compared in three diverse...

V̇O2 and Muscle Deoxygenation Kinetics During Skating: Comparison Between Slide Board and Treadmill Skating.

PubMed

Piucco, Tatiane; Soares, Rogério; Diefenthaeler, Fernando; Millet, Guillaume; Murias, Juan

2017-11-15

this study aimed to compare the oxygen uptake (V̇O 2 ) kinetics during skating on a treadmill and skating on a slide board and discuss potential mechanisms that might control the V̇O 2 kinetics responses during skating. breath-by-breath pulmonary V̇O 2 and near-infrared spectroscopy-derived muscle deoxygenation ([HHbMb]) were monitored continuously in 12 well-trained young long track speed skaters. On-transient V̇O 2 and [HHbMb] responses to skating on a treadmill and skating on a slide board at 80% of the estimated gas exchange threshold were fitted as mono-exponential function. The signals were time aligned, and the individual [HHbMb]-to-V̇O 2 ratio was calculated as the average value from 20-120 s after exercise starts. the time constants for the adjustment of phase II V̇O 2 (τ V̇O 2 ) and [HHbMb] (τ[HHbMb]) were low and similar between slide board vs. treadmill skating (18.1 ± 3.4 vs. 18.9 ± 3.6 for τ V̇O 2 and 12.6 ± 4.0 vs. 12.4 ± 4.0 s for τ[HHbMb]). The [HHbMb]/V̇O 2 ratio was not different from 1.0 (p > 0.05) in both conditions. the fast V̇O 2 kinetics during skating suggest that chronical adaptation to skating might overcome any possible restriction in leg blood flow during low intensity exercise. The [HHbMb]/V̇O 2 ratio values also suggest a good matching of O 2 delivery to O 2 utilization in trained speed skaters. The similar τ V̇O 2 and τ [HHbMb] values between slide board and treadmill further reinforce the validity of using a slide board for skating testing and training purposes.

Sliding Mode Observer-Based Current Sensor Fault Reconstruction and Unknown Load Disturbance Estimation for PMSM Driven System.

PubMed

Zhao, Kaihui; Li, Peng; Zhang, Changfan; Li, Xiangfei; He, Jing; Lin, Yuliang

2017-12-06

This paper proposes a new scheme of reconstructing current sensor faults and estimating unknown load disturbance for a permanent magnet synchronous motor (PMSM)-driven system. First, the original PMSM system is transformed into two subsystems; the first subsystem has unknown system load disturbances, which are unrelated to sensor faults, and the second subsystem has sensor faults, but is free from unknown load disturbances. Introducing a new state variable, the augmented subsystem that has sensor faults can be transformed into having actuator faults. Second, two sliding mode observers (SMOs) are designed: the unknown load disturbance is estimated by the first SMO in the subsystem, which has unknown load disturbance, and the sensor faults can be reconstructed using the second SMO in the augmented subsystem, which has sensor faults. The gains of the proposed SMOs and their stability analysis are developed via the solution of linear matrix inequality (LMI). Finally, the effectiveness of the proposed scheme was verified by simulations and experiments. The results demonstrate that the proposed scheme can reconstruct current sensor faults and estimate unknown load disturbance for the PMSM-driven system.

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,…

Image Montaging for Creating a Virtual Pathology Slide: An Innovative and Economical Tool to Obtain a Whole Slide Image

PubMed Central

Pandurangappa, Rohit; Annavajjula, Saileela; Rajashekaraiah, Premalatha Bidadi

2016-01-01

Background. Microscopes are omnipresent throughout the field of biological research. With microscopes one can see in detail what is going on at the cellular level in tissues. Though it is a ubiquitous tool, the limitation is that with high magnification there is a small field of view. It is often advantageous to see an entire sample at high magnification. Over the years technological advancements in optics have helped to provide solutions to this limitation of microscopes by creating the so-called dedicated “slide scanners” which can provide a “whole slide digital image.” These scanners can provide seamless, large-field-of-view, high resolution image of entire tissue section. The only disadvantage of such complete slide imaging system is its outrageous cost, thereby hindering their practical use by most laboratories, especially in developing and low resource countries. Methods. In a quest for their substitute, we tried commonly used image editing software Adobe Photoshop along with a basic image capturing device attached to a trinocular microscope to create a digital pathology slide. Results. The seamless image created using Adobe Photoshop maintained its diagnostic quality. Conclusion. With time and effort photomicrographs obtained from a basic camera-microscope set up can be combined and merged in Adobe Photoshop to create a whole slide digital image of practically usable quality at a negligible cost. PMID:27747147

Image Montaging for Creating a Virtual Pathology Slide: An Innovative and Economical Tool to Obtain a Whole Slide Image.

PubMed

Banavar, Spoorthi Ravi; Chippagiri, Prashanthi; Pandurangappa, Rohit; Annavajjula, Saileela; Rajashekaraiah, Premalatha Bidadi

2016-01-01

Background . Microscopes are omnipresent throughout the field of biological research. With microscopes one can see in detail what is going on at the cellular level in tissues. Though it is a ubiquitous tool, the limitation is that with high magnification there is a small field of view. It is often advantageous to see an entire sample at high magnification. Over the years technological advancements in optics have helped to provide solutions to this limitation of microscopes by creating the so-called dedicated "slide scanners" which can provide a "whole slide digital image." These scanners can provide seamless, large-field-of-view, high resolution image of entire tissue section. The only disadvantage of such complete slide imaging system is its outrageous cost, thereby hindering their practical use by most laboratories, especially in developing and low resource countries. Methods . In a quest for their substitute, we tried commonly used image editing software Adobe Photoshop along with a basic image capturing device attached to a trinocular microscope to create a digital pathology slide. Results . The seamless image created using Adobe Photoshop maintained its diagnostic quality. Conclusion . With time and effort photomicrographs obtained from a basic camera-microscope set up can be combined and merged in Adobe Photoshop to create a whole slide digital image of practically usable quality at a negligible cost.

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.

An Automated Blur Detection Method for Histological Whole Slide Imaging

PubMed Central

Moles Lopez, Xavier; D'Andrea, Etienne; Barbot, Paul; Bridoux, Anne-Sophie; Rorive, Sandrine; Salmon, Isabelle; Debeir, Olivier; Decaestecker, Christine

2013-01-01

Whole slide scanners are novel devices that enable high-resolution imaging of an entire histological slide. Furthermore, the imaging is achieved in only a few minutes, which enables image rendering of large-scale studies involving multiple immunohistochemistry biomarkers. Although whole slide imaging has improved considerably, locally poor focusing causes blurred regions of the image. These artifacts may strongly affect the quality of subsequent analyses, making a slide review process mandatory. This tedious and time-consuming task requires the scanner operator to carefully assess the virtual slide and to manually select new focus points. We propose a statistical learning method that provides early image quality feedback and automatically identifies regions of the image that require additional focus points. PMID:24349343

Whole-slide imaging in pathology: the potential impact on PACS

NASA Astrophysics Data System (ADS)

Horii, Steven C.

2007-03-01

Pathology, the medical specialty charged with the evaluation of macroscopic and microscopic aspects of disease, is increasingly turning to digital imaging. While the conventional tissue blocks and glass slides form an "archive" that pathology departments must maintain, digital images acquired from microscopes or digital slide scanners are increasingly used for telepathology, consultation, and intra-facility communication. Since many healthcare facilities are moving to "enterprise PACS" with departments in addition to radiology using the infrastructure of such systems, some understanding of the potential of whole-slide digital images is important. Network and storage designers, in particular, are very likely to be impacted if a significant number of such images are to be moved on, or stored (even temporarily) in, enterprise PACS. As an example, a typical commercial whole-slide imaging system typically generates 15 gigabytes per slide scanned (per focal plane). Many of these whole-slide scanners have a throughput of 1000 slides per day. If that full capacity is used and all the resulting digital data is moved to the enterprise PACS, it amounts to 15 terabytes per day; the amount of data a large radiology department might generate in a year or two. This paper will review both the clinical scenarios of whole-slide imaging as well as the resulting data volumes. The author will emphasize the potential PACS infrastructure impact of such huge data volumes.

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)

SWCD: a sliding window and self-regulated learning-based background updating method for change detection in videos

NASA Astrophysics Data System (ADS)

Işık, Şahin; Özkan, Kemal; Günal, Serkan; Gerek, Ömer Nezih

2018-03-01

Change detection with background subtraction process remains to be an unresolved issue and attracts research interest due to challenges encountered on static and dynamic scenes. The key challenge is about how to update dynamically changing backgrounds from frames with an adaptive and self-regulated feedback mechanism. In order to achieve this, we present an effective change detection algorithm for pixelwise changes. A sliding window approach combined with dynamic control of update parameters is introduced for updating background frames, which we called sliding window-based change detection. Comprehensive experiments on related test videos show that the integrated algorithm yields good objective and subjective performance by overcoming illumination variations, camera jitters, and intermittent object motions. It is argued that the obtained method makes a fair alternative in most types of foreground extraction scenarios; unlike case-specific methods, which normally fail for their nonconsidered scenarios.

Microarray slide hybridization using fluorescently labeled cDNA.

PubMed

Ares, Manuel

2014-01-01

Microarray hybridization is used to determine the amount and genomic origins of RNA molecules in an experimental sample. Unlabeled probe sequences for each gene or gene region are printed in an array on the surface of a slide, and fluorescently labeled cDNA derived from the RNA target is hybridized to it. This protocol describes a blocking and hybridization protocol for microarray slides. The blocking step is particular to the chemistry of "CodeLink" slides, but it serves to remind us that almost every kind of microarray has a treatment step that occurs after printing but before hybridization. We recommend making sure of the precise treatment necessary for the particular chemistry used in the slides to be hybridized because the attachment chemistries differ significantly. Hybridization is similar to northern or Southern blots, but on a much smaller scale.

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.

Geometric flow control of shear bands by suppression of viscous sliding

PubMed Central

Viswanathan, Koushik; Mahato, Anirban; Sundaram, Narayan K.; M'Saoubi, Rachid; Trumble, Kevin P.; Chandrasekar, Srinivasan

2016-01-01

Shear banding is a plastic flow instability with highly undesirable consequences for metals processing. While band characteristics have been well studied, general methods to control shear bands are presently lacking. Here, we use high-speed imaging and micro-marker analysis of flow in cutting to reveal the common fundamental mechanism underlying shear banding in metals. The flow unfolds in two distinct phases: an initiation phase followed by a viscous sliding phase in which most of the straining occurs. We show that the second sliding phase is well described by a simple model of two identical fluids being sheared across their interface. The equivalent shear band viscosity computed by fitting the model to experimental displacement profiles is very close in value to typical liquid metal viscosities. The observation of similar displacement profiles across different metals shows that specific microstructure details do not affect the second phase. This also suggests that the principal role of the initiation phase is to generate a weak interface that is susceptible to localized deformation. Importantly, by constraining the sliding phase, we demonstrate a material-agnostic method—passive geometric flow control—that effects complete band suppression in systems which otherwise fail via shear banding. PMID:27616920

Geometric flow control of shear bands by suppression of viscous sliding

NASA Astrophysics Data System (ADS)

Sagapuram, Dinakar; Viswanathan, Koushik; Mahato, Anirban; Sundaram, Narayan K.; M'Saoubi, Rachid; Trumble, Kevin P.; Chandrasekar, Srinivasan

2016-08-01

Shear banding is a plastic flow instability with highly undesirable consequences for metals processing. While band characteristics have been well studied, general methods to control shear bands are presently lacking. Here, we use high-speed imaging and micro-marker analysis of flow in cutting to reveal the common fundamental mechanism underlying shear banding in metals. The flow unfolds in two distinct phases: an initiation phase followed by a viscous sliding phase in which most of the straining occurs. We show that the second sliding phase is well described by a simple model of two identical fluids being sheared across their interface. The equivalent shear band viscosity computed by fitting the model to experimental displacement profiles is very close in value to typical liquid metal viscosities. The observation of similar displacement profiles across different metals shows that specific microstructure details do not affect the second phase. This also suggests that the principal role of the initiation phase is to generate a weak interface that is susceptible to localized deformation. Importantly, by constraining the sliding phase, we demonstrate a material-agnostic method-passive geometric flow control-that effects complete band suppression in systems which otherwise fail via shear banding.

Axial rotation of sliding actin filaments revealed by single-fluorophore imaging.

PubMed

Sase, I; Miyata, H; Ishiwata, S; Kinosita, K

1997-05-27

In the actomyosin motor, myosin slides along an actin filament that has a helical structure with a pitch of approximately 72 nm. Whether myosin precisely follows this helical track is an unanswered question bearing directly on the motor mechanism. Here, axial rotation of actin filaments sliding over myosin molecules fixed on a glass surface was visualized through fluorescence polarization imaging of individual tetramethylrhodamine fluorophores sparsely bound to the filaments. The filaments underwent one revolution per sliding distance of approximately 1 microm, which is much greater than the 72 nm pitch. Thus, myosin does not "walk" on the helical array of actin protomers; rather it "runs," skipping many protomers. Possible mechanisms involving sequential interaction of myosin with successive actin protomers are ruled out at least for the preparation described here in which the actin filaments ran rather slowly compared with other in vitro systems. The result also indicates that each "kick" of myosin is primarily along the axis of the actin filament. The successful, real-time observation of the changes in the orientation of a single fluorophore opens the possibility of detecting a conformational change(s) of a single protein molecule at the moment it functions.

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)

Fatigue resistant carbon coatings for rolling/sliding contacts

DOE Office of Scientific and Technical Information (OSTI.GOV)

Singh, Harpal; Ramirez, Giovanni; Eryilmaz, Osman

2016-06-01

The growing demands for renewable energy production have recently resulted in a significant increase in wind plant installation. Field data from these plants show that wind turbines suffer from costly repair, maintenance and high failure rates. Often times the reliability issues are linked with tribological components used in wind turbine drivetrains. The primary failure modes in bearings and gears are associated with micropitting, wear, brinelling, scuffing, smearing and macropitting all of which occur at or near the surface. Accordingly, a variety of surface engineering approaches are currently being considered to alter the near surface properties of such bearings and gearsmore » to prevent these tribological failures. In the present work, we have evaluated the tribological performance of compliant highly hydrogenated diamond like carbon coating developed at Argonne National Laboratory, under mixed rolling/sliding contact conditions for wind turbine drivetrain components. The coating was deposited on AISI 52100 steel specimens using a magnetron sputter deposition system. The experiments were performed on a PCS Micro-Pitting-Rig (MPR) with four material pairs at 1.79 GPa contact stress, 40% slide to roll ratio and in polyalphaolefin (PAO4) basestock oil (to ensure extreme boundary conditions). The post-test analysis was performed using optical microscopy, surface profilometry, and Raman spectroscopy. The results obtained show a potential for these coatings in sliding/rolling contact applications as no failures were observed with coated specimens even after 100 million cycles compared to uncoated pair in which they failed after 32 million cycles, under the given test conditions.« less

[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. © 2012 médecine/sciences – Inserm / SRMS.

Geometrical and hydrogeological impact on the behaviour of deep-seated rock slides during reservoir impoundment

NASA Astrophysics Data System (ADS)

Lechner, Heidrun; Zangerl, Christian

2015-04-01

Given that there are still uncertainties regarding the deformation and failure mechanisms of deep-seated rock slides this study concentrates on key factors that influence the behaviour of rock slides in the surrounding of reservoirs. The focus is placed on the slope geometry, hydrogeology and kinematics. Based on numerous generic rock slide models the impacts of the (i) rock slide geometry, (ii) reservoir impoundment and level fluctuations, (iii) seepage and buoyancy forces and (iv) hydraulic conductivity of the rock slide mass and the basal shear zone are examined using limit equilibrium approaches. The geometry of many deep-seated rock slides in metamorphic rocks is often influenced by geological structures, e.g. fault zones, joints, foliation, bedding planes and others. With downslope displacement the rock slide undergoes a change in shape. Several observed rock slides in an advanced stage show a convex, bulge-like topography at the foot of the slope and a concave topography in the middle to upper part. Especially, the situation of the slope toe plays an important role for stability. A potentially critical situation can result from a partially submerged flat slope toe because the uplift due to water pressure destabilizes the rock slide. Furthermore, it is essential if the basal shear zone daylights at the foot of the slope or encounters alluvial or glacial deposits at the bottom of the valley, the latter having a buttressing effect. In this study generic rock slide models with a shear zone outcropping at the slope toe are established and systematically analysed using limit equilibrium calculations. Two different kinematic types are modelled: (i) a translational or planar and (ii) a rotational movement behaviour. Questions concerning the impact of buoyancy and pore pressure forces that develop during first time impoundment are of key interest. Given that an adverse effect on the rock slide stability is expected due to reservoir impoundment the extent of

Partial Adaptation of Obtained and Observed Value Signals Preserves Information about Gains and Losses

PubMed Central

Baddeley, Michelle; Tobler, Philippe N.; Schultz, Wolfram

2016-01-01

Given that the range of rewarding and punishing outcomes of actions is large but neural coding capacity is limited, efficient processing of outcomes by the brain is necessary. One mechanism to increase efficiency is to rescale neural output to the range of outcomes expected in the current context, and process only experienced deviations from this expectation. However, this mechanism comes at the cost of not being able to discriminate between unexpectedly low losses when times are bad versus unexpectedly high gains when times are good. Thus, too much adaptation would result in disregarding information about the nature and absolute magnitude of outcomes, preventing learning about the longer-term value structure of the environment. Here we investigate the degree of adaptation in outcome coding brain regions in humans, for directly experienced outcomes and observed outcomes. We scanned participants while they performed a social learning task in gain and loss blocks. Multivariate pattern analysis showed two distinct networks of brain regions adapt to the most likely outcomes within a block. Frontostriatal areas adapted to directly experienced outcomes, whereas lateral frontal and temporoparietal regions adapted to observed social outcomes. Critically, in both cases, adaptation was incomplete and information about whether the outcomes arose in a gain block or a loss block was retained. Univariate analysis confirmed incomplete adaptive coding in these regions but also detected nonadapting outcome signals. Thus, although neural areas rescale their responses to outcomes for efficient coding, they adapt incompletely and keep track of the longer-term incentives available in the environment. SIGNIFICANCE STATEMENT Optimal value-based choice requires that the brain precisely and efficiently represents positive and negative outcomes. One way to increase efficiency is to adapt responding to the most likely outcomes in a given context. However, too strong adaptation would result

Antiwear Additive Mechanisms in Sliding Contacts

NASA Technical Reports Server (NTRS)

Baldwin, B. A.

1984-01-01

The possible mechanisms associated with wear in a sliding contact and how an oil and antiwear additive can mitigate wear or prevent catastropic seizure of the contacting parts was examined. The various load and temperature regimes are examined and the mechanisms which are predominant under these conditions are determined. The critical mechanism(s) depend on the test parameters, particularly load and temperature, although sliding speed is also a factor. Different ways to improve the efficiency of antiwear additives are suggested.

[Heritage Education Lesson Plans and Slide Presentations].

ERIC Educational Resources Information Center

Van Buren, Maurie

Field tested in 27 schools and in grades four through twelve, this teaching unit stresses heritage education through the study of southern U.S. architectural styles for homes from the pioneer log structures to the 1950s ranch home. Each of the four lessons in this unit focuses around a slide presentation of 20 slides designed to fit into one…

Alaska research natural areas: 3. Serpentine slide.

Treesearch

G.P. Juday

1992-01-01

The 1730-ha Serpentine Slide Research Natural Area (RNA) is located in central Alaska in the White Mountains National Recreation Area. It is managed by the U.S. Department of the Interior, Bureau of Land Management, Steese-White Mountains District. Serpentine Slide was selected as a Research Natural Area (RNA) because it contains an alpine exposure of serpentinite; a 9...

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.

A new drag spool for measuring basal sliding and till deformation

NASA Astrophysics Data System (ADS)

Truffer, M.; Pomraning, D.; Dushime, B.; Amundson, J. M.; Motyka, R. J.; Larsen, C.

2017-12-01

Direct observation of subglacial processes are challenging due to significant problems of access. A primary method of access are boreholes drilled through the ice with hot water. A variety of instruments have been developed to monitor ice deformation, till deformation, sliding of ice over subglacial till, water pressure in boreholes, and pore water pressure in subglacial till. It is not common to measure all of these parameters in one single borehole. However, ignorance about one of these parameters can hamper the interpretation of others. For example, it is desirable to monitor all components of basal motion (ice deformation near the base, till deformation, and sliding) simultaneously. Here we present a newly developed drag spool that attempts this. The spool consists of an anchor that is hammered into subglacial till. The anchor is instrumented with tilt sensors and a pore water pressure sensor. It is connected to a probe in the bottom part of the ice via a signal wire. This main probe measures the payout of the signal wire as well as tilt in the basal ice and water pressure in the borehole. A prototype of this instrument was tested on Taku Glacier, Alaska, under about 200 m of ice and operated successfully for several months. Data show deformation of ice and the upper till layer. Sliding at the interface is intermittent and accounts for less than 10% of the observed surface motion. Deformation of ice and till occurs more continuously but is interrupted by specific events. These events are sometimes - but not always - related to speed-up events at the surface. This indicates that occasionally the basal system evolves on spatial scales that are not sufficiently large to be observed at the surface.

Zooming in: high resolution 3D reconstruction of differently stained histological whole slide images

NASA Astrophysics Data System (ADS)

Lotz, Johannes; Berger, Judith; Müller, Benedikt; Breuhahn, Kai; Grabe, Niels; Heldmann, Stefan; Homeyer, André; Lahrmann, Bernd; Laue, Hendrik; Olesch, Janine; Schwier, Michael; Sedlaczek, Oliver; Warth, Arne

2014-03-01

Much insight into metabolic interactions, tissue growth, and tissue organization can be gained by analyzing differently stained histological serial sections. One opportunity unavailable to classic histology is three-dimensional (3D) examination and computer aided analysis of tissue samples. In this case, registration is needed to reestablish spatial correspondence between adjacent slides that is lost during the sectioning process. Furthermore, the sectioning introduces various distortions like cuts, folding, tearing, and local deformations to the tissue, which need to be corrected in order to exploit the additional information arising from the analysis of neighboring slide images. In this paper we present a novel image registration based method for reconstructing a 3D tissue block implementing a zooming strategy around a user-defined point of interest. We efficiently align consecutive slides at increasingly fine resolution up to cell level. We use a two-step approach, where after a macroscopic, coarse alignment of the slides as preprocessing, a nonlinear, elastic registration is performed to correct local, non-uniform deformations. Being driven by the optimization of the normalized gradient field (NGF) distance measure, our method is suitable for differently stained and thus multi-modal slides. We applied our method to ultra thin serial sections (2 μm) of a human lung tumor. In total 170 slides, stained alternately with four different stains, have been registered. Thorough visual inspection of virtual cuts through the reconstructed block perpendicular to the cutting plane shows accurate alignment of vessels and other tissue structures. This observation is confirmed by a quantitative analysis. Using nonlinear image registration, our method is able to correct locally varying deformations in tissue structures and exceeds the limitations of globally linear transformations.

Terrain analysis of the racetrack basin and the sliding rocks of Death Valley

USGS Publications Warehouse

Messina, P.; Stoffer, P.

2000-01-01

The Racetrack Playa's unusual surface features known as sliding rocks have been the subject of an ongoing debate and several mapping projects for half a century, although the causative mechanism remains unresolved. Clasts ranging in volume from large pebbles to medium boulders have, unwitnessed, maneuvered around the nearly flat dry lake over considerable distances. The controversy has persisted partly because eyewitness accounts of the phenomenon continue to be lacking, and the earlier mapping missions were limited in method and geographic range. In July 1996, we generated the first complete map of all observed sliding rock trails by submeter differential Global Positioning System (DGPS) mapping technology. The resulting map shows 162 sliding rocks and associated trails to an accuracy of approximately 30 cm. Although anemometer data are not available in the Racetrack wilderness, wind is clearly a catalyst for sliding rock activity; an inferred wind rose was constructed from DGPS trail segment data. When the entire trail network is examined in plan, some patterns emerge, although other (perhaps expected relations) remain elusive: terrain analysis of the surrounding topography demonstrates that the length and morphology of trails are more closely related to where rocks rested at the onset of motion than to any physical attribute of the rocks themselves. Follow-up surveys in May 1998, May 1999, August 1999, and November 1999 revealed little modification of the July, 1996 sliding rock configuration. Only four rocks were repositioned during the El Nino winter of 1997-1998, suggesting that activity may not be restricted to winter storms. (C) 2000 Elsevier Science B.V. All rights reserved.

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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Continuous stacking computational approach based automated microscope slide scanner

NASA Astrophysics Data System (ADS)

Murali, Swetha; Adhikari, Jayesh Vasudeva; Jagannadh, Veerendra Kalyan; Gorthi, Sai Siva

2018-02-01

Cost-effective and automated acquisition of whole slide images is a bottleneck for wide-scale deployment of digital pathology. In this article, a computation augmented approach for the development of an automated microscope slide scanner is presented. The realization of a prototype device built using inexpensive off-the-shelf optical components and motors is detailed. The applicability of the developed prototype to clinical diagnostic testing is demonstrated by generating good quality digital images of malaria-infected blood smears. Further, the acquired slide images have been processed to identify and count the number of malaria-infected red blood cells and thereby perform quantitative parasitemia level estimation. The presented prototype would enable cost-effective deployment of slide-based cyto-diagnostic testing in endemic areas.

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.

Quantitative analysis of the text and graphic content in ophthalmic slide presentations.

PubMed

Ing, Edsel; Celo, Erdit; Ing, Royce; Weisbrod, Lawrence; Ing, Mercedes

2017-04-01

To determine the characteristics of ophthalmic digital slide presentations. Retrospective quantitative analysis. Slide presentations from a 2015 Canadian primary eye care conference were analyzed for their duration, character and word count, font size, words per minute (wpm), lines per slide, words per slide, slides per minute (spm), text density product (wpm × spm), proportion of graphic content, and Flesch Reading Ease (FRE) score using Microsoft PowerPoint and Word. The median audience evaluation score for the lectures was used to dichotomize the higher scoring lectures (HSL) from the lower scoring lectures (LSL). A priori we hypothesized that there would be a difference in the wpm, spm, text density product, and FRE score between HSL and LSL. Wilcoxon rank-sum tests with Bonferroni correction were utilized. The 17 lectures had medians of 2.5 spm, 20.3 words per slide, 5.0 lines per slide, 28-point sans serif font, 36% graphic content, and text density product of 136.4 words × slides/minute 2 . Although not statistically significant, the HSL had more wpm, fewer words per slide, more graphics per slide, greater text density, and higher FRE score than LSL. There was a statistically significant difference in the spm of the HSL (3.1 ± 1.0) versus the LSL (2.2 ± 1.0) at p = 0.0124. All presenters showed more than 1 slide per minute. The HSL showed more spm than the LSL. The descriptive statistics from this study may aid in the preparation of slides used for teaching and conferences. Copyright © 2017 Canadian Ophthalmological Society. Published by Elsevier Inc. All rights reserved.

Ferguson rock slide buries California State Highway near Yosemite National Park

USGS Publications Warehouse

Harp, E.L.; Reid, M.E.; Godt, J.W.; DeGraff, J.V.; Gallegos, A.J.

2008-01-01

During spring 2006, talus from the toe area of a rock-block slide of about 800,000 m3 buried California State Highway 140, one of the main routes into heavily-visited Yosemite National Park, USA. Closure of the highway for 92 days caused business losses of about 4.8 million USD. The rock slide, composed of slate and phyllite, moved slowly downslope from April to June 2006, creating a fresh head scarp with 9-12 m of displacement. Movement of the main rock slide, a re-activation of an older slide, was triggered by an exceptionally wet spring 2006, following a very wet spring 2005. As of autumn 2006, most of the main slide appeared to be at rest, although rocks occasionally continued to fall from steep, fractured rock masses at the toe area of the slide. Future behavior of the slide is difficult to predict, but possible scenarios range from continued scattered rock fall to complete rapid failure of the entire mass. Although unlikely except under very destabilizing circumstances, a worst-case, rapid failure of the entire rock slide could extend across the Merced River, damming the river and creating a reservoir. As a temporary measure, traffic has been rerouted to the opposite side of the Merced River at about the same elevation as the buried section of Highway 140. A state-of-the-art monitoring system has been installed to detect movement in the steep talus slope, movement of the main slide mass, local strong ground motion from regional earthquakes, and sudden changes in stream levels, possibly indicating damming of the river by slide material. ?? 2008 Springer-Verlag.

Ferguson rock slide buries California State Highway near Yosemite National Park

USGS Publications Warehouse

Harp, Edwin L.; Reid, Mark E.; Godt, Jonathan W.; DeGraff, Jerome V.; Gallegos, Alan J.

2008-01-01

During spring 2006, talus from the toe area of a rock-block slide of about 800,000 m3 buried California State Highway 140, one of the main routes into heavily-visited Yosemite National Park, USA. Closure of the highway for 92 days caused business losses of about 4.8 million USD. The rock slide, composed of slate and phyllite, moved slowly downslope from April to June 2006, creating a fresh head scarp with 9-12 m of displacement. Movement of the main rock slide, a re-activation of an older slide, was triggered by an exceptionally wet spring 2006, following a very wet spring 2005. As of autumn 2006, most of the main slide appeared to be at rest, although rocks occasionally continued to fall from steep, fractured rock masses at the toe area of the slide. Future behavior of the slide is difficult to predict, but possible scenarios range from continued scattered rock fall to complete rapid failure of the entire mass. Although unlikely except under very destabilizing circumstances, a worst-case, rapid failure of the entire rock slide could extend across the Merced River, damming the river and creating a reservoir. As a temporary measure, traffic has been rerouted to the opposite side of the Merced River at about the same elevation as the buried section of Highway 140. A state-of-the-art monitoring system has been installed to detect movement in the steep talus slope, movement of the main slide mass, local strong ground motion from regional earthquakes, and sudden changes in stream levels, possibly indicating damming of the river by slide material.

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

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

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.

Second-Order Consensus in Multiagent Systems via Distributed Sliding Mode Control.

PubMed

Yu, Wenwu; Wang, He; Cheng, Fei; Yu, Xinghuo; Wen, Guanghui

2016-11-22

In this paper, the new decoupled distributed sliding-mode control (DSMC) is first proposed for second-order consensus in multiagent systems, which finally solves the fundamental unknown problem for sliding-mode control (SMC) design of coupled networked systems. A distributed full-order sliding-mode surface is designed based on the homogeneity with dilation for reaching second-order consensus in multiagent systems, under which the sliding-mode states are decoupled. Then, the SMC is applied to the decoupled sliding-mode states to reach their origin in finite time, which is the sliding-mode surface. The states of agents can first reach the designed sliding-mode surface in finite time and then move to the second-order consensus state along the surface in finite time as well. The DSMC designed in this paper can eliminate the influence of singularity problems and weaken the influence of chattering, which is still very difficult in the SMC systems. In addition, DSMC proposes a general decoupling framework for designing SMC in networked multiagent systems. Simulations are presented to verify the theoretical results in this paper.

Robust Sliding Mode Control of PMSM Based on a Rapid Nonlinear Tracking Differentiator and Disturbance Observer.

PubMed

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-03-29

Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized platforms. Sliding mode control (SMC), in parallel with the classical proportional integral (PI) controller, has a high advantage to suppress the torque ripples as its invariance to disturbances. However, since the high switching gain tends to cause chattering and it requires derivative of signals which is not readily obtainable without an acceleration signal sensor. Therefore, this paper proposes a robust SMC scheme based on a rapid nonlinear tracking differentiator (NTD) and a disturbance observer (DOB) to further improve the performance of the SMC. The NTD is employed to providing the derivative of the signal, and the DOB is utilized to estimate the system lumped disturbances, including parameter variations and external disturbances. On the one hand, DOB can compensate the robust SMC speed controller, it can reduce the chattering of SMC on the other hand. Experiments were carried out on an ARM and DSP-based platform. The obtained experimental results demonstrate that the robust SMC scheme has an improved performance with inertia stability and it exhibits a satisfactory anti-disturbance performance compared to the traditional methods.

Teacher Observation of Classroom Adaptation--Checklist: Development and Factor Structure

ERIC Educational Resources Information Center

Koth, Christine W.; Bradshaw, Catherine P.; Leaf, Philip J.

2009-01-01

Two studies examined the validity and factor structure of the Teacher Observation of Classroom Adaptation-Checklist, an instrument used to evaluate school-based programs. The checklist is a cost-effective alternative to the original interview format, and the factor structure is consistent across gender, race, age, and time of administration.…

On the numerical modeling of sliding beams: A comparison of different approaches

NASA Astrophysics Data System (ADS)

Steinbrecher, Ivo; Humer, Alexander; Vu-Quoc, Loc

2017-11-01

The transient analysis of sliding beams represents a challenging problem of structural mechanics. Typically, the sliding motion superimposed by large flexible deformation requires numerical methods as, e.g., finite elements, to obtain approximate solutions. By means of the classical sliding spaghetti problem, the present paper provides a guideline to the numerical modeling with conventional finite element codes. For this purpose, two approaches, one using solid elements and one using beam elements, respectively, are employed in the analysis, and the characteristics of each approach are addressed. The contact formulation realizing the interaction of the beam with its support demands particular attention in the context of sliding structures. Additionally, the paper employs the sliding-beam formulation as a third approach, which avoids the numerical difficulties caused by the large sliding motion through a suitable coordinate transformation. The present paper briefly outlines the theoretical fundamentals of the respective approaches for the modeling of sliding structures and gives a detailed comparison by means of the sliding spaghetti serving as a representative example. The specific advantages and limitations of the different approaches with regard to accuracy and computational efficiency are discussed in detail. Through the comparison, the sliding-beam formulation, which proves as an effective approach for the modeling, can be validated for the general problem of a sliding structure subjected to large deformation.

Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

NASA Astrophysics Data System (ADS)

Chen, Hongbin

2018-03-01

Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

Ice-like water supports hydration forces and eases sliding friction

PubMed Central

Dhopatkar, Nishad; Defante, Adrian P.; Dhinojwala, Ali

2016-01-01

The nature of interfacial water is critical in several natural processes, including the aggregation of lipids into the bilayer, protein folding, lubrication of synovial joints, and underwater gecko adhesion. The nanometer-thin water layer trapped between two surfaces has been identified to have properties that are very different from those of bulk water, but the molecular cause of such discrepancy is often undetermined. Using surface-sensitive sum frequency generation (SFG) spectroscopy, we discover a strongly coordinated water layer confined between two charged surfaces, formed by the adsorption of a cationic surfactant on the hydrophobic surfaces. By varying the adsorbed surfactant coverage and hence the surface charge density, we observe a progressively evolving water structure that minimizes the sliding friction only beyond the surfactant concentration needed for monolayer formation. At complete surfactant coverage, the strongly coordinated confined water results in hydration forces, sustains confinement and sliding pressures, and reduces dynamic friction. Observing SFG signals requires breakdown in centrosymmetry, and the SFG signal from two oppositely oriented surfactant monolayers cancels out due to symmetry. Surprisingly, we observe the SFG signal for the water confined between the two charged surfactant monolayers, suggesting that this interfacial water layer is noncentrosymmetric. The structure of molecules under confinement and its macroscopic manifestation on adhesion and friction have significance in many complicated interfacial processes prevalent in biology, chemistry, and engineering. PMID:27574706

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.

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.

Sliding Mode Observer-Based Current Sensor Fault Reconstruction and Unknown Load Disturbance Estimation for PMSM Driven System

PubMed Central

Li, Xiangfei; Lin, Yuliang

2017-01-01

This paper proposes a new scheme of reconstructing current sensor faults and estimating unknown load disturbance for a permanent magnet synchronous motor (PMSM)-driven system. First, the original PMSM system is transformed into two subsystems; the first subsystem has unknown system load disturbances, which are unrelated to sensor faults, and the second subsystem has sensor faults, but is free from unknown load disturbances. Introducing a new state variable, the augmented subsystem that has sensor faults can be transformed into having actuator faults. Second, two sliding mode observers (SMOs) are designed: the unknown load disturbance is estimated by the first SMO in the subsystem, which has unknown load disturbance, and the sensor faults can be reconstructed using the second SMO in the augmented subsystem, which has sensor faults. The gains of the proposed SMOs and their stability analysis are developed via the solution of linear matrix inequality (LMI). Finally, the effectiveness of the proposed scheme was verified by simulations and experiments. The results demonstrate that the proposed scheme can reconstruct current sensor faults and estimate unknown load disturbance for the PMSM-driven system. PMID:29211017

Rheological considerations for the modelling of submarine sliding at Rockall Bank, NE Atlantic Ocean

NASA Astrophysics Data System (ADS)

Salmanidou, D. M.; Georgiopoulou, A.; Guillas, S.; Dias, F.

2018-03-01

Recent scientific research indicates that the Rockall Bank Slide Complex in the NE Atlantic Ocean has formed as the result of repetitive slope failures that can be distinguished in at least three major phases. These sliding episodes took place during and before the Last Glacial Maximum. This work attempts the modelling of each sliding episode with the incorporation of the landslide's rheological properties. The objective is to study the landslide kinematics and final deposition of each episode under a rheological framework that comes in agreement with the field observations. To do so in the present work, we use different types of rheological models to compute the total retarding stress and simulate submarine failure. The Bingham rheology and the frictional rheology are used to model the flow behavior. The scope of this approach is to understand the effect of the two classical laws in landslide kinematics. A rheological model that combines the two regimes is also used. To account for the hydrodynamic drag, the Voellmy model is employed. The results are validated against the field observations on the seabed of the Rockall Trough. The simulations show that for this particular case the Bingham rheology with a small or negligible basal friction produces the best results. The tsunamigenic potential of the episodes is also briefly examined.

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.

A new optimal sliding mode controller design using scalar sign function.

PubMed

Singla, Mithun; Shieh, Leang-San; Song, Gangbing; Xie, Linbo; Zhang, Yongpeng

2014-03-01

This paper presents a new optimal sliding mode controller using the scalar sign function method. A smooth, continuous-time scalar sign function is used to replace the discontinuous switching function in the design of a sliding mode controller. The proposed sliding mode controller is designed using an optimal Linear Quadratic Regulator (LQR) approach. The sliding surface of the system is designed using stable eigenvectors and the scalar sign function. Controller simulations are compared with another existing optimal sliding mode controller. To test the effectiveness of the proposed controller, the controller is implemented on an aluminum beam with piezoceramic sensor and actuator for vibration control. This paper includes the control design and stability analysis of the new optimal sliding mode controller, followed by simulation and experimental results. The simulation and experimental results show that the proposed approach is very effective. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

The crystal structure of Haloferax volcanii proliferating cell nuclear antigen reveals unique surface charge characteristics due to halophilic adaptation

PubMed Central

Winter, Jody A; Christofi, Panayiotis; Morroll, Shaun; Bunting, Karen A

2009-01-01

Background The high intracellular salt concentration required to maintain a halophilic lifestyle poses challenges to haloarchaeal proteins that must stay soluble, stable and functional in this extreme environment. Proliferating cell nuclear antigen (PCNA) is a fundamental protein involved in maintaining genome integrity, with roles in both DNA replication and repair. To investigate the halophilic adaptation of such a key protein we have crystallised and solved the structure of Haloferax volcanii PCNA (HvPCNA) to a resolution of 2.0 Å. Results The overall architecture of HvPCNA is very similar to other known PCNAs, which are highly structurally conserved. Three commonly observed adaptations in halophilic proteins are higher surface acidity, bound ions and increased numbers of intermolecular ion pairs (in oligomeric proteins). HvPCNA possesses the former two adaptations but not the latter, despite functioning as a homotrimer. Strikingly, the positive surface charge considered key to PCNA's role as a sliding clamp is dramatically reduced in the halophilic protein. Instead, bound cations within the solvation shell of HvPCNA may permit sliding along negatively charged DNA by reducing electrostatic repulsion effects. Conclusion The extent to which individual proteins adapt to halophilic conditions varies, presumably due to their diverse characteristics and roles within the cell. The number of ion pairs observed in the HvPCNA monomer-monomer interface was unexpectedly low. This may reflect the fact that the trimer is intrinsically stable over a wide range of salt concentrations and therefore additional modifications for trimer maintenance in high salt conditions are not required. Halophilic proteins frequently bind anions and cations and in HvPCNA cation binding may compensate for the remarkable reduction in positive charge in the pore region, to facilitate functional interactions with DNA. In this way, HvPCNA may harness its environment as opposed to simply surviving in

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.

Vehicle Hybrid Braking Control Using Sliding Mode Control

NASA Astrophysics Data System (ADS)

Kasahara, Misawa; Kanai, Yuki; Shiraki, Ryoko; Mori, Yasuchika

Anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics and a hybrid control of the brake using model reference adaptive control are done so far. However, in the former case, speed following that becomes a target exists physically impossible situation by saturation of tire frictional force because only speed following is done. In the latter, the model error is caused because the simulation model and the controller design model are different. Therefore, there is a problem that an accurate follow cannot be done. In this paper, the braking control is performed using the sliding mode control which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims at the achievement of optimal braking control to switch wheel speed following to slip ratio following.

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.

Section 608 Rule Presentation Slides

EPA Pesticide Factsheets

This document presents slides informing the public about updates to the Section 608 concerning appliance disposal, refrigerant reclamation, technician certification, refrigerant sales restriction, recordkeeping, and repairing refrigerant leaks.

Axial rotation of sliding actin filaments revealed by single-fluorophore imaging

PubMed Central

Sase, Ichiro; Miyata, Hidetake; Ishiwata, Shin’ichi; Kinosita, Kazuhiko

1997-01-01

In the actomyosin motor, myosin slides along an actin filament that has a helical structure with a pitch of ≈72 nm. Whether myosin precisely follows this helical track is an unanswered question bearing directly on the motor mechanism. Here, axial rotation of actin filaments sliding over myosin molecules fixed on a glass surface was visualized through fluorescence polarization imaging of individual tetramethylrhodamine fluorophores sparsely bound to the filaments. The filaments underwent one revolution per sliding distance of ≈1 μm, which is much greater than the 72 nm pitch. Thus, myosin does not “walk” on the helical array of actin protomers; rather it “runs,” skipping many protomers. Possible mechanisms involving sequential interaction of myosin with successive actin protomers are ruled out at least for the preparation described here in which the actin filaments ran rather slowly compared with other in vitro systems. The result also indicates that each “kick” of myosin is primarily along the axis of the actin filament. The successful, real-time observation of the changes in the orientation of a single fluorophore opens the possibility of detecting a conformational change(s) of a single protein molecule at the moment it functions. PMID:9159126

High resolution observations using adaptive optics: Achievements and future needs

NASA Astrophysics Data System (ADS)

Sankarasubramanian, K.; Rimmele, T.

2008-06-01

Over the last few years, several interesting observations were obtained with the help of solar Adaptive Optics (AO). In this paper, few observations made using the solar AO are enlightened and briefly discussed. A list of disadvantages with the current AO system are presented. With telescopes larger than 1.5 m expected during the next decade, there is a need to develop the existing AO technologies for large aperture telescopes. Some aspects of this development are highlighted. Finally, the recent AO developments in India are also presented.

The Validation of a Classroom Observation Instrument Based on the Construct of Teacher Adaptive Practice

ERIC Educational Resources Information Center

Loughland, Tony; Vlies, Penny

2016-01-01

Teacher adaptability is a key disposition for teachers that has been linked to outcomes of interests to schools. The aim of this study was to examine how the broader disposition of teacher adaptability might be observable as classroom-based adaptive practices using an argument-based approach to validation. The findings from the initial phase of…

An Evaluation of the Effectiveness of Stereo Slides in Teaching Geomorphology.

ERIC Educational Resources Information Center

Giardino, John R.; Thornhill, Ashton G.

1984-01-01

Provides information about producing stereo slides and their use in the classroom. Describes an evaluation of the teaching effectiveness of stereo slides using two groups of 30 randomly selected students from introductory geomorphology. Results from a pretest/postttest measure show that stereo slides significantly improved understanding. (JM)

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.

Through the Sliding Glass Door: #EmpowerTheReader

ERIC Educational Resources Information Center

Johnson, Nancy J.; Koss, Melanie D.; Martinez, Miriam

2018-01-01

This article seeks to complicate the understanding of Bishop's (1990) metaphor of mirrors, windows, and sliding glass doors, with particular emphasis on sliding glass doors and the emotional connections needed for readers to move through them. The authors begin by examining the importance of the reader and the characters he or she meets. Next, the…

Improved robustness and performance of discrete time sliding mode control systems.

PubMed

Chakrabarty, Sohom; Bartoszewicz, Andrzej

2016-11-01

This paper presents a theoretical analysis along with simulations to show that increased robustness can be achieved for discrete time sliding mode control systems by choosing the sliding variable, or the output, to be of relative degree two instead of relative degree one. In other words it successfully reduces the ultimate bound of the sliding variable compared to the ultimate bound for standard discrete time sliding mode control systems. It is also found out that for such a selection of relative degree two output of the discrete time system, the reduced order system during sliding becomes finite time stable in absence of disturbance. With disturbance, it becomes finite time ultimately bounded. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

Coating for hot sliding seals

NASA Technical Reports Server (NTRS)

Stock, J.

1979-01-01

Heat resistant paint is effective surface coating for sliding seals that must operate at elevated temperatures. Economical paint is easy to apply, offers minimal friction, and improves reliability of seals.

"Discoveries in Planetary Sciences": Slide Sets Highlighting New Advances for Astronomy Educators

NASA Astrophysics Data System (ADS)

Brain, David; Schneider, N.; Molaverdikhani, K.; Afsharahmadi, F.

2012-10-01

We present two new features of an ongoing effort to bring recent newsworthy advances in planetary science to undergraduate lecture halls. The effort, called 'Discoveries in Planetary Sciences', summarizes selected recently announced discoveries that are 'too new for textbooks' in the form of 3-slide PowerPoint presentations. The first slide describes the discovery, the second slide discusses the underlying planetary science concepts at a level appropriate for students of 'Astronomy 101', and the third presents the big picture implications of the discovery. A fourth slide includes links to associated press releases, images, and primary sources. This effort is generously sponsored by the Division for Planetary Sciences of the American Astronomical Society, and the slide sets are available at http://dps.aas.org/education/dpsdisc/ for download by undergraduate instructors or any interested party. Several new slide sets have just been released, and we summarize the topics covered. The slide sets are also being translated into languages other than English (including Spanish and Farsi), and we will provide an overview of the translation strategy and process. Finally, we will present web statistics on how many people are using the slide sets, as well as individual feedback from educators.

Observer-based adaptive backstepping control for fractional order systems with input saturation.

PubMed

Sheng, Dian; Wei, Yiheng; Cheng, Songsong; Wang, Yong

2017-07-03

An observer-based fractional order anti-saturation adaptive backstepping control scheme is proposed for incommensurate fractional order systems with input saturation and partial measurable state in this paper. On the basis of stability analysis, a novel state observer is established first since the only information we could acquire is the system output. In order to compensate the saturation, a series of virtual signals are generated via the construction of fractional order auxiliary system. Afterwards, the controller design is carried out in accordance with the adaptive backstepping control method by introduction of the indirect Lyapunov method. To highlight the effectiveness of the proposed control scheme, simulation examples are demonstrated at last. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults.

PubMed

Wang, Tao; Xie, Wenfang; Zhang, Youmin

2012-05-01

In this paper, two sliding mode control algorithms are developed for nonlinear systems with both modeling uncertainties and actuator faults. The first algorithm is developed under an assumption that the uncertainty bounds are known. Different design parameters are utilized to deal with modeling uncertainties and actuator faults, respectively. The second algorithm is an adaptive version of the first one, which is developed to accommodate uncertainties and faults without utilizing exact bounds information. The stability of the overall control systems is proved by using a Lyapunov function. The effectiveness of the developed algorithms have been verified on a nonlinear longitudinal model of Boeing 747-100/200. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Applications and challenges of digital pathology and whole slide imaging.

PubMed

Higgins, C

2015-07-01

Virtual microscopy is a method for digitizing images of tissue on glass slides and using a computer to view, navigate, change magnification, focus and mark areas of interest. Virtual microscope systems (also called digital pathology or whole slide imaging systems) offer several advantages for biological scientists who use slides as part of their general, pharmaceutical, biotechnology or clinical research. The systems usually are based on one of two methodologies: area scanning or line scanning. Virtual microscope systems enable automatic sample detection, virtual-Z acquisition and creation of focal maps. Virtual slides are layered with multiple resolutions at each location, including the highest resolution needed to allow more detailed review of specific regions of interest. Scans may be acquired at 2, 10, 20, 40, 60 and 100 × or a combination of magnifications to highlight important detail. Digital microscopy starts when a slide collection is put into an automated or manual scanning system. The original slides are archived, then a server allows users to review multilayer digital images of the captured slides either by a closed network or by the internet. One challenge for adopting the technology is the lack of a universally accepted file format for virtual slides. Additional challenges include maintaining focus in an uneven sample, detecting specimens accurately, maximizing color fidelity with optimal brightness and contrast, optimizing resolution and keeping the images artifact-free. There are several manufacturers in the field and each has not only its own approach to these issues, but also its own image analysis software, which provides many options for users to enhance the speed, quality and accuracy of their process through virtual microscopy. Virtual microscope systems are widely used and are trusted to provide high quality solutions for teleconsultation, education, quality control, archiving, veterinary medicine, research and other fields.

Cryptanalysis of a chaotic communication scheme using adaptive observer.

PubMed

Liu, Ying; Tang, Wallace K S

2008-12-01

This paper addresses the cryptanalysis of a secure communication scheme recently proposed by Wu [Chaos 16, 043118 (2006)], where the information signal is modulated into a system parameter of a unified chaotic system. With the Kerckhoff principle, assuming that the structure of the cryptosystem is known, an adaptive observer can be designed to synchronize the targeted system, so that the transmitted information and the user-specific parameters are obtained. The success of adaptive synchronization is mathematically proved with the use of Lyapunov stability theory, based on the original assumption, i.e., the dynamical evolution of the information signal is available. A more practical case, but yet much more difficult, is also considered. As demonstrated with simulations, generalized synchronization is still possible, even if the derivative of the information signal is kept secret. Hence, the message can be coarsely estimated, making the security of the considered system questionable.

Development of a teledermatopathology consultation system using virtual slides

PubMed Central

2012-01-01

Background An online consultation system using virtual slides (whole slide images; WSI) has been developed for pathological diagnosis, and could help compensate for the shortage of pathologists, especially in the field of dermatopathology and in other fields dealing with difficult cases. This study focused on the performance and future potential of the system. Method In our system, histological specimens on slide glasses are digitalized by a virtual slide instrument, converted into web data, and up-loaded to an open server. Using our own purpose-built online system, we then input patient details such as age, gender, affected region, clinical data, past history and other related items. We next select up to ten consultants. Finally we send an e-mail to all consultants simultaneously through a single command. The consultant receives an e-mail containing an ID and password which is used to access the open server and inspect the images and other data associated with the case. The consultant makes a diagnosis, which is sent to us along with comments. Because this was a pilot study, we also conducted several questionnaires with consultants concerning the quality of images, operability, usability, and other issues. Results We solicited consultations for 36 cases, including cases of tumor, and involving one to eight consultants in the field of dermatopathology. No problems were noted concerning the images or the functioning of the system on the sender or receiver sides. The quickest diagnosis was received only 18 minutes after sending our data. This is much faster than in conventional consultation using glass slides. There were no major problems relating to the diagnosis, although there were some minor differences of opinion between consultants. The results of questionnaires answered by many consultants confirmed the usability of this system for pathological consultation. (16 out of 23 consultants.) Conclusion We have developed a novel teledermatopathological consultation

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.

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...

Rotation of an immersed cylinder sliding near a thin elastic coating

NASA Astrophysics Data System (ADS)

Rallabandi, Bhargav; Saintyves, Baudouin; Jules, Theo; Salez, Thomas; Schönecker, Clarissa; Mahadevan, L.; Stone, Howard A.

2017-07-01

It is known that an object translating parallel to a soft wall in a viscous fluid produces hydrodynamic stresses that deform the wall, which in turn results in a lift force on the object. Recent experiments with cylinders sliding under gravity near a soft incline, which confirmed theoretical arguments for the lift force, also reported an unexplained steady-state rotation of the cylinders [B. Saintyves et al., Proc. Natl. Acad. Sci. USA 113, 5847 (2016), 10.1073/pnas.1525462113]. Motivated by these observations, we show, in the lubrication limit, that an infinite cylinder that translates in a viscous fluid parallel to a soft wall at constant speed and separation distance must also rotate in order to remain free of torque. Using the Lorentz reciprocal theorem, we show analytically that for small deformations of the elastic layer, the angular velocity of the cylinder scales with the cube of the sliding speed. These predictions are confirmed numerically. We then apply the theory to the gravity-driven motion of a cylinder near a soft incline and find qualitative agreement with the experimental observations, namely, that a softer elastic layer results in a greater angular speed of the cylinder.

A robust adaptive observer for a class of singular nonlinear uncertain systems

NASA Astrophysics Data System (ADS)

Arefinia, Elaheh; Talebi, Heidar Ali; Doustmohammadi, Ali

2017-05-01

This paper proposes a robust adaptive observer for a class of singular nonlinear non-autonomous uncertain systems with unstructured unknown system and derivative matrices, and unknown bounded nonlinearities. Unlike many existing observers, no strong assumption such as Lipschitz condition is imposed on the recommended system. An augmented system is constructed, and the unknown bounds are calculated online using adaptive bounding technique. Considering the continuous nonlinear gain removes the chattering which may appear in practical applications such as analysis of electrical circuits and estimation of interaction force in beating heart robotic-assisted surgery. Moreover, a simple yet precise structure is attained which is easy to implement in many systems with significant uncertainties. The existence conditions of the standard form observer are obtained in terms of linear matrix inequality and the constrained generalised Sylvester's equations, and global stability is ensured. Finally, simulation results are obtained to evaluate the performance of the proposed estimator and demonstrate the effectiveness of the developed scheme.

Climate change : observations on federal efforts to adapt to a changing climate

DOT National Transportation Integrated Search

2009-03-25

Based on preliminary observations from GAOs ongoing adaptation work for the Select Committee on Energy Independence and Global Warming, certain federal, state, local, and international government authorities are beginning to consider and implement...

Registration of organs with sliding interfaces and changing topologies

NASA Astrophysics Data System (ADS)

Berendsen, Floris F.; Kotte, Alexis N. T. J.; Viergever, Max A.; Pluim, Josien P. W.

2014-03-01

Smoothness and continuity assumptions on the deformation field in deformable image registration do not hold for applications where the imaged objects have sliding interfaces. Recent extensions to deformable image registration that accommodate for sliding motion of organs are limited to sliding motion along approximately planar surfaces or cannot model sliding that changes the topological configuration in case of multiple organs. We propose a new extension to free-form image registration that is not limited in this way. Our method uses a transformation model that consists of uniform B-spline transformations for each organ region separately, which is based on segmentation of one image. Since this model can create overlapping regions or gaps between regions, we introduce a penalty term that minimizes this undesired effect. The penalty term acts on the surfaces of the organ regions and is optimized simultaneously with the image similarity. To evaluate our method registrations were performed on publicly available inhale-exhale CT scans for which performances of other methods are known. Target registration errors are computed on dense landmark sets that are available with these datasets. On these data our method outperforms the other methods in terms of target registration error and, where applicable, also in terms of overlap and gap volumes. The approximation of the other methods of sliding motion along planar surfaces is reasonably well suited for the motion present in the lung data. The ability of our method to handle sliding along curved boundaries and for changing region topology configurations was demonstrated on synthetic images.

A history of slide rules for blackbody radiation computations

NASA Astrophysics Data System (ADS)

Johnson, R. Barry; Stewart, Sean M.

2012-10-01

During the Second World War the importance of utilizing detection devices capable of operating in the infrared portion of the electromagnetic spectrum was firmly established. Up until that time, laboriously constructed tables for blackbody radiation needed to be used in calculations involving the amount of radiation radiated within a given spectral region or for other related radiometric quantities. To rapidly achieve reasonably accurate calculations of such radiometric quantities, a blackbody radiation calculator was devised in slide rule form first in Germany in 1944 and soon after in England and the United States. In the immediate decades after its introduction, the radiation slide rule was widely adopted and recognized as a useful and important tool for engineers and scientists working in the infrared field. It reached its pinnacle in the United States in 1970 in a rule introduced by Electro Optical Industries, Inc. With the onset in the latter half of the 1970s of affordable, hand-held electronic calculators, the impending demise of the radiation slide rule was evident. No longer the calculational device of choice, the radiation slide rule all but disappeared within a few short years. Although today blackbody radiation calculations can be readily accomplished using anything from a programmable pocket calculator upwards, with each device making use of a wide variety of numerical approximations to the integral of Planck's function, radiation slide rules were in the early decades of infrared technology the definitive "workhorse" for those involved in infrared systems design and engineering. This paper presents a historical development of radiation slide rules with many versions being discussed.

Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming.

PubMed

Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo

2017-03-01

In this paper, we propose a data-driven supplementary control approach with adaptive learning capability for air-breathing hypersonic vehicle tracking control based on action-dependent heuristic dynamic programming (ADHDP). The control action is generated by the combination of sliding mode control (SMC) and the ADHDP controller to track the desired velocity and the desired altitude. In particular, the ADHDP controller observes the differences between the actual velocity/altitude and the desired velocity/altitude, and then provides a supplementary control action accordingly. The ADHDP controller does not rely on the accurate mathematical model function and is data driven. Meanwhile, it is capable to adjust its parameters online over time under various working conditions, which is very suitable for hypersonic vehicle system with parameter uncertainties and disturbances. We verify the adaptive supplementary control approach versus the traditional SMC in the cruising flight, and provide three simulation studies to illustrate the improved performance with the proposed approach.

A novel guidance law using fast terminal sliding mode control with impact angle constraints.

PubMed

Sun, Lianghua; Wang, Weihong; Yi, Ran; Xiong, Shaofeng

2016-09-01

This paper is concerned with the question of, for a missile interception with impact angle constraints, how to design a guidance law. Firstly, missile interception with impact angle constraints is modeled; secondly, a novel guidance law using fast terminal sliding mode control based on extended state observer is proposed to optimize the trajectory and time of interception; finally, for stationary targets, constant velocity targets and maneuvering targets, the guidance law and the stability of the closed loop system is analyzed and the stability of the closed loop system is analyzed, respectively. Simulation results show that when missile and target are on a collision course, the novel guidance law using fast terminal sliding mode control with extended state observer has more optimized trajectory and effectively reduces the time of interception which has a great significance in modern warfare. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A re-evaluation of the 1964 "L" street slide

DOT National Transportation Integrated Search

1985-04-01

This report basically looks at a new theory (undrained failure through the clay which was recently studied for the 4th Avenue slide) for the cause and failure mechanism of the "L" Street slide. The predominant theory is that the landslides at both "L...

Baseball and softball sliding injuries: incidence and correlates during one high school league varsity season.

PubMed

Stovak, Mark; Parikh, Amit; Harvey, Anne T

2012-11-01

To estimate injury rates associated with sliding in high school baseball and softball. Prospective cohort study. Community high school athletic events. Ten high school varsity baseball and softball teams over 1 season. All sliding attempts were recorded during each game and recorded as headfirst, feetfirst, or diveback. Base type, playing surface, and field conditions were also noted. Injury exposure rates by game exposures and sliding/diveback exposures. Data were collected from 153 baseball games and 166 softball games. A greater proportion of slides were associated with injury in softball than in baseball (42.0 and 4.9 per 1000 slides; P < 0.05). Headfirst slides led to more injuries than feetfirst slides in baseball (16.8 vs 0 per 1000 slides; P < 0.05) but not in softball (55 vs 35 per 1000 slides; P = 0.74). More powerful studies are required to determine whether efforts to prevent baseball sliding injuries at the high school level should focus on better education in sliding technique or changes in equipment. Softball players are vulnerable to injury when wearing inadequate protective sliding apparel.

Sliding enhances fluid and solute transport into buried articular cartilage contacts.

PubMed

Graham, B T; Moore, A C; Burris, D L; Price, C

2017-12-01

Solutes and interstitial water are naturally transported from cartilage by load-induced interstitial fluid pressures. Fluid and solute recovery during joint articulation have been primarily attributed to passive diffusion and mechanical 'pumping' from dynamic loading. This paper tests if the sliding action of articulation is a significant and independent driver of fluid and solute transport in cartilage. The large osteochondral samples utilized in the present study preserve the convergent wedges necessary for physiological hydrodynamics. Following static load-induced fluid exudation and prior to sliding, a fluorescent solute (AlexaFluor 633) was added to the lubricant bath. In situ confocal microscopy was used to quantify the transport of solute from the bath into the buried stationary contact area (SCA) during sliding. Following static exudation, significant reductions in friction and strain during sliding at 60 mm/s were accompanied by significant solute transport into the inaccessible center of the buried contact; no such transport was detected for the 0- or 1 mm/s sliding conditions. The results suggest that external hydrodynamic pressures from sliding induced advective flows that carried solutes from the bath toward the center of contact. These results provide the first direct evidence that the action of sliding is a significant contributor to fluid and solute recovery by cartilage. Furthermore, they indicate that the sliding-induced transport of solutes into the buried interface was orders of magnitude greater than that attributable to diffusion alone, a result with critical implications for disease prevention and tissue engineering. Copyright © 2017 Osteoarthritis Research Society International. Published by Elsevier Ltd. All rights reserved.

Effect of Physicochemical Anomalies of Soda-Lime Silicate Slides on Biomolecule Immobilization

DTIC Science & Technology

2009-01-01

roughness. EXPERIMENTAL SECTION Materials. Standard soda - lime glass microscope slides were obtained from several sources (Table 1). Rabbit anti-lipid A...had changed, confir- mation was obtained from the manufacturers that slides in set A1 were the same soda - lime glass slides as those in set A2 and...manufacture of soda - lime glass slides. X-ray Photoelectron Spectroscopy (XPS). To identify el- emental disparities in the glass surface, relative atomic

Performance of a malaria microscopy image analysis slide reading device.

PubMed

Prescott, William R; Jordan, Robert G; Grobusch, Martin P; Chinchilli, Vernon M; Kleinschmidt, Immo; Borovsky, Joseph; Plaskow, Mark; Torrez, Miguel; Mico, Maximo; Schwabe, Christopher

2012-05-06

Viewing Plasmodium in Romanovsky-stained blood has long been considered the gold standard for diagnosis and a cornerstone in management of the disease. This method however, requires a subjective evaluation by trained, experienced diagnosticians and establishing proficiency of diagnosis is fraught with many challenges. Reported here is an evaluation of a diagnostic system (a "device" consisting of a microscope, a scanner, and a computer algorithm) that evaluates scanned images of standard Giemsa-stained slides and reports species and parasitaemia. The device was challenged with two independent tests: a 55 slide, expert slide reading test the composition of which has been published by the World Health Organization ("WHO55" test), and a second test in which slides were made from a sample of consenting subjects participating in a malaria incidence survey conducted in Equatorial Guinea (EGMIS test). These subjects' blood was tested by malaria RDT as well as having the blood smear diagnosis unequivocally determined by a worldwide panel of a minimum of six reference microscopists. Only slides with unequivocal microscopic diagnoses were used for the device challenge, n = 119. On the WHO55 test, the device scored a "Level 4" using the WHO published grading scheme. Broken down by more traditional analysis parameters this result was translated to 89% and 70% sensitivity and specificity, respectively. Species were correctly identified in 61% of the slides and the quantification of parasites fell within acceptable range of the validated parasitaemia in 10% of the cases. On the EGMIS test it scored 100% and 94% sensitivity/specificity, with 64% of the species correct and 45% of the parasitaemia within an acceptable range. A pooled analysis of the 174 slides used for both tests resulted in an overall 92% sensitivity and 90% specificity with 61% species and 19% quantifications correct. In its current manifestation, the device performs at a level comparable to that of many human

Performance of a malaria microscopy image analysis slide reading device

PubMed Central

2012-01-01

Background Viewing Plasmodium in Romanovsky-stained blood has long been considered the gold standard for diagnosis and a cornerstone in management of the disease. This method however, requires a subjective evaluation by trained, experienced diagnosticians and establishing proficiency of diagnosis is fraught with many challenges. Reported here is an evaluation of a diagnostic system (a “device” consisting of a microscope, a scanner, and a computer algorithm) that evaluates scanned images of standard Giemsa-stained slides and reports species and parasitaemia. Methods The device was challenged with two independent tests: a 55 slide, expert slide reading test the composition of which has been published by the World Health Organization (“WHO55” test), and a second test in which slides were made from a sample of consenting subjects participating in a malaria incidence survey conducted in Equatorial Guinea (EGMIS test). These subjects’ blood was tested by malaria RDT as well as having the blood smear diagnosis unequivocally determined by a worldwide panel of a minimum of six reference microscopists. Only slides with unequivocal microscopic diagnoses were used for the device challenge, n = 119. Results On the WHO55 test, the device scored a “Level 4” using the WHO published grading scheme. Broken down by more traditional analysis parameters this result was translated to 89% and 70% sensitivity and specificity, respectively. Species were correctly identified in 61% of the slides and the quantification of parasites fell within acceptable range of the validated parasitaemia in 10% of the cases. On the EGMIS test it scored 100% and 94% sensitivity/specificity, with 64% of the species correct and 45% of the parasitaemia within an acceptable range. A pooled analysis of the 174 slides used for both tests resulted in an overall 92% sensitivity and 90% specificity with 61% species and 19% quantifications correct. Conclusions In its current manifestation, the

Jupiter System Observer

NASA Technical Reports Server (NTRS)

Senske, Dave; Kwok, Johnny

2008-01-01

This slide presentation reviews the proposed mission for the Jupiter System Observer. The presentation also includes overviews of the mission timeline, science goals, and spacecraftspecifications for the satellite.

Survey: interpolation methods for whole slide image processing.

PubMed

Roszkowiak, L; Korzynska, A; Zak, J; Pijanowska, D; Swiderska-Chadaj, Z; Markiewicz, T

2017-02-01

Evaluating whole slide images of histological and cytological samples is used in pathology for diagnostics, grading and prognosis . It is often necessary to rescale whole slide images of a very large size. Image resizing is one of the most common applications of interpolation. We collect the advantages and drawbacks of nine interpolation methods, and as a result of our analysis, we try to select one interpolation method as the preferred solution. To compare the performance of interpolation methods, test images were scaled and then rescaled to the original size using the same algorithm. The modified image was compared to the original image in various aspects. The time needed for calculations and results of quantification performance on modified images were also compared. For evaluation purposes, we used four general test images and 12 specialized biological immunohistochemically stained tissue sample images. The purpose of this survey is to determine which method of interpolation is the best to resize whole slide images, so they can be further processed using quantification methods. As a result, the interpolation method has to be selected depending on the task involving whole slide images. © 2016 The Authors Journal of Microscopy © 2016 Royal Microscopical Society.

Observer-Based Adaptive Fault-Tolerant Tracking Control of Nonlinear Nonstrict-Feedback Systems.

PubMed

Wu, Chengwei; Liu, Jianxing; Xiong, Yongyang; Wu, Ligang

2017-06-28

This paper studies an output-based adaptive fault-tolerant control problem for nonlinear systems with nonstrict-feedback form. Neural networks are utilized to identify the unknown nonlinear characteristics in the system. An observer and a general fault model are constructed to estimate the unavailable states and describe the fault, respectively. Adaptive parameters are constructed to overcome the difficulties in the design process for nonstrict-feedback systems. Meanwhile, dynamic surface control technique is introduced to avoid the problem of ''explosion of complexity''. Furthermore, based on adaptive backstepping control method, an output-based adaptive neural tracking control strategy is developed for the considered system against actuator fault, which can ensure that all the signals in the resulting closed-loop system are bounded, and the system output signal can be regulated to follow the response of the given reference signal with a small error. Finally, the simulation results are provided to validate the effectiveness of the control strategy proposed in this paper.

High-strain slide-ring shape-memory polycaprolactone-based polyurethane.

PubMed

Wu, Ruiqing; Lai, Jingjuan; Pan, Yi; Zheng, Zhaohui; Ding, Xiaobin

2018-06-06

To enable shape-memory polymer networks to achieve recoverable high deformability with a simultaneous high shape-fixity ratio and shape-recovery ratio, novel semi-crystalline slide-ring shape-memory polycaprolactone-based polyurethane (SR-SMPCLU) with movable net-points constructed by a topologically interlocked slide-ring structure was designed and fabricated. The SR-SMPCLU not only exhibited good shape fixity, almost complete shape recovery, and a fast shape-recovery speed, it also showed an outstanding recoverable high-strain capacity with 95.83% Rr under a deformation strain of 1410% due to the pulley effect of the topological slide-ring structure. Furthermore, the SR-SMPCLU system maintained excellent shape-memory performance with increasing the training cycle numbers at 45% and even 280% deformation strain. The effects of the slide-ring cross-linker content, deformation strain, and successive shape-memory cycles on the shape-memory performance were investigated. A possible mechanism for the shape-memory effect of the SR-SMPCLU system is proposed.

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.

The triggering factors of the Móafellshyrna debris slide in northern Iceland: Intense precipitation, earthquake activity and thawing of mountain permafrost.

PubMed

Sæmundsson, Þorsteinn; Morino, Costanza; Helgason, Jón Kristinn; Conway, Susan J; Pétursson, Halldór G

2018-04-15

On the 20th September 2012, a large debris slide occurred in the Móafellshyrna Mountain in the Tröllaskagi peninsula, central north Iceland. Our work describes and discusses the relative importance of the three factors that may have contributed to the failure of the slope: intense precipitation, earthquake activity and thawing of ground ice. We use data from weather stations, seismometers, witness reports and field observations to examine these factors. The slide initiated after an unusually warm and dry summer followed by a month of heavy precipitation. Furthermore, the slide occurred after three seismic episodes, whose epicentres were located ~60km NNE of Móafellshyrna Mountain. The main source of material for the slide was ice-rich colluvium perched on a topographic bench. Blocks of ice-cemented colluvium slid and then broke off the frontal part of the talus slope, and the landslide also involved a component of debris slide, which mobilized around 312,000-480,000m 3 (as estimated from field data and aerial images of erosional morphologies). From our analysis we infer that intense precipitation and seismic activity prior to the slide are the main preparatory factors for the slide. The presence of ice-cemented blocks in the slide's deposits leads us to infer that deep thawing of ground ice was likely the final triggering factor. Ice-cemented blocks of debris have been observed in the deposits of two other recent landslides in northern Iceland, in the Torfufell Mountain and the Árnesfjall Mountain. This suggests that discontinuous mountain permafrost is degrading in Iceland, consistent with the decadal trend of increasing atmospheric temperature in Iceland. This study highlights a newly identified hazard in Iceland: landslides as a result of ground ice thaw. Knowledge of the detailed distribution of mountain permafrost in colluvium on the island is poorly constrained and should be a priority for future research in order to identify zones at risk from this

Percolation, sliding, localization and relaxation in topologically closed circuits

NASA Astrophysics Data System (ADS)

Hurowitz, Daniel; Cohen, Doron

2016-03-01

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.

Observer-Based Adaptive Neural Network Control for Nonlinear Systems in Nonstrict-Feedback Form.

PubMed

Chen, Bing; Zhang, Huaguang; Lin, Chong

2016-01-01

This paper focuses on the problem of adaptive neural network (NN) control for a class of nonlinear nonstrict-feedback systems via output feedback. A novel adaptive NN backstepping output-feedback control approach is first proposed for nonlinear nonstrict-feedback systems. The monotonicity of system bounding functions and the structure character of radial basis function (RBF) NNs are used to overcome the difficulties that arise from nonstrict-feedback structure. A state observer is constructed to estimate the immeasurable state variables. By combining adaptive backstepping technique with approximation capability of radial basis function NNs, an output-feedback adaptive NN controller is designed through backstepping approach. It is shown that the proposed controller guarantees semiglobal boundedness of all the signals in the closed-loop systems. Two examples are used to illustrate the effectiveness of the proposed approach.

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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Mechanism of sand slide - cold lahar induced by extreme rainfall

NASA Astrophysics Data System (ADS)

Fukuoka, Hiroshi; Yamada, Masumi; Dok, Atitkagna

2014-05-01

Along with the increasing frequencies of extreme rainfall events in almost every where on the earth, shallow slide - debris flow, i.e. cold lahars running long distance often occurs and claims downslope residents lives. In the midnight of 15 October 2013, Typhoon Wilpha attacked the Izu-Oshima, a active volcanic Island and the extreme rainfall of more than 800 mm / 24 hours was recorded. This downpour of more than 80 mm/hr lasted 4 hours at its peak and caused a number of cold lahars. The initial stage of those lahars was shallow slides of surface black volcanic ash deposits, containing mostly fine sands. The thickness was only 50 cm - 1 m. In the reconnaissance investigation, author found that the sliding surface was the boundary of two separate volcanic ash layers between the black and yellow colored and apparently showing contrast of permeability and hardness. Permeability contrast may have contributed to generation of excess pore pressure on the border and trigger the slide. Then, the unconsolidated, unpacked mass was easily fluidized and transformed into mud flows, that which volcanologists call cold lahars. Seismometers installed for monitoring the active volcano's activities, succeeded to detect many tremors events. Many are spikes but 5 larger and longer events were extracted. They lasted 2 -3 minutes and if we assume that this tremors reflects the runout movement, then we can calculate the mean velocity of the lahars. Estimated velocity was 45 - 60 km/h, which is much higher than the average speed 30 - 40 km/h of debris flows observed in Japan. Flume tests of volcanic ash flows by the Forestry and Forest Products Research Institute showed the wet volcanic ash can run at higher speed than other materials. The two tremor records were compare d with the local residents witnessed and confirmed by newspaper reported that the reach of the lahar was observed at the exact time when tremor ends. We took the black volcanic ash and conducted ring shear tests to

Application of whole slide image markup and annotation for pathologist knowledge capture.

PubMed

Campbell, Walter S; Foster, Kirk W; Hinrichs, Steven H

2013-01-01

The ability to transfer image markup and annotation data from one scanned image of a slide to a newly acquired image of the same slide within a single vendor platform was investigated. The goal was to study the ability to use image markup and annotation data files as a mechanism to capture and retain pathologist knowledge without retaining the entire whole slide image (WSI) file. Accepted mathematical principles were investigated as a method to overcome variations in scans of the same glass slide and to accurately associate image markup and annotation data across different WSI of the same glass slide. Trilateration was used to link fixed points within the image and slide to the placement of markups and annotations of the image in a metadata file. Variation in markup and annotation placement between WSI of the same glass slide was reduced from over 80 μ to less than 4 μ in the x-axis and from 17 μ to 6 μ in the y-axis (P < 0.025). This methodology allows for the creation of a highly reproducible image library of histopathology images and interpretations for educational and research use.

Application of whole slide image markup and annotation for pathologist knowledge capture

PubMed Central

Campbell, Walter S.; Foster, Kirk W.; Hinrichs, Steven H.

2013-01-01

Objective: The ability to transfer image markup and annotation data from one scanned image of a slide to a newly acquired image of the same slide within a single vendor platform was investigated. The goal was to study the ability to use image markup and annotation data files as a mechanism to capture and retain pathologist knowledge without retaining the entire whole slide image (WSI) file. Methods: Accepted mathematical principles were investigated as a method to overcome variations in scans of the same glass slide and to accurately associate image markup and annotation data across different WSI of the same glass slide. Trilateration was used to link fixed points within the image and slide to the placement of markups and annotations of the image in a metadata file. Results: Variation in markup and annotation placement between WSI of the same glass slide was reduced from over 80 μ to less than 4 μ in the x-axis and from 17 μ to 6 μ in the y-axis (P < 0.025). Conclusion: This methodology allows for the creation of a highly reproducible image library of histopathology images and interpretations for educational and research use. PMID:23599902

Development and evaluation of an off-the-slide genotyping technique for identifying Giardia cysts and Cryptosporidium oocysts directly from US EPA Method 1623 slides

EPA Science Inventory

ABSTRACT Aims This study developed and systematically evaluated performance and limit of detection of an off-the-slide genotyping procedure for both Cryptosporidium oocysts and Giardia cysts. Methods and Results Slide standards containing flow sorted (oo)cysts were used to e...

Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou, Xu; Liu, Rui; Zhang, Jiucai

2016-08-21

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the quadrotor's stability in this situation, we investigate the impacts of the uncertain load mass on the quadrotor. By comparing the simulation results of two controllers -- the proportional-derivative (PD) controller and the sliding mode controller (SMC) driven by amore » sliding mode disturbance of observer (SMDO), the quadrotor's performance is verified to be worse as the uncertainty increases. The simulation results also show a controller with stronger robustness against disturbances is better for practical applications.« less

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…

Digital and traditional slides for teaching cellular morphology: a comparative analysis of learning outcomes.

PubMed

Solberg, Brooke L

2012-01-01

Recent advances in technology have brought forth an intriguing new tool for teaching hematopoietic cellular identification skills: the digital slide. Although digitized slides offer a number of appealing options for educators, little research has been done to examine how their utilization would impact learning outcomes. To fill that void, this study was designed to examine student performance, skill retention and transferability, and self-efficacy beliefs amongst undergraduate MLS students learning cellular morphology with digital versus traditional slides. Results showed that students learning with digital slides performed better on assessments containing only traditional slide specimens than students learning with traditional slides, both immediately following the learning activity and after a considerable duration of time. Students learning with digital slides also reported slightly higher levels of self-efficacy related to cellular identification. The findings of this study suggest that students learning cellular identification skills with digital slides are able to transfer that skill directly to traditional slides, and that their ability to identify cells is not negatively affected in present or future settings.

Fresh and aged human lymphocyte metaphase slides are equally usable for GTG banding.

PubMed

Sajjad, Naheed; Haque, Sayedul; SBurney, Syed Intesar; Shahid, Syed Muhammad; Zehra, Sitwat; Azhar, Abid

2014-09-01

The identification of chromosomes for routine cytogenetic analysis is based on quality of metaphases and good banding pattern. Fresh slides of human lymphocytes have been shown to produce good bands for the identification of chromosomes morphology. G-bands by Trypsin using Giemsa (GTG) banding of aged slides is generally considered hard to get desired band pattern of chromosomes persistently. The current study is focused on GTG banding of aged slides. A total of 340 subjects including 290 primary infertile and 50 fertile were selected. The blood samples were drawn aseptically for cytogenetic analysis. Lymphocytes were cultured and GTG banding was done on 1440 glass slides. Giemsa trypsin banding of aged slides were done by adjusting average trypsin time for each month according to the slide age and metaphase concentration. Correlation analyses showed a significant and positive correlation between slide ageing and trypsin pre-treatment time. The results of this study suggest that, the fresh and aged human lymphocyte metaphases are equally usable for GTG banding.

Robust sliding mode control applied to double Inverted pendulum system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mahjoub, Sonia; Derbel, Nabil; Mnif, Faical

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.

Experimental study on bubble dynamics and wall heat transfer arising from a single nucleation site at subcooled flow boiling conditions – Part 2: Data analysis on sliding bubble characteristics and associated wall heat transfer

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yooa, Junsoo; Estrada-Perez, Carlos E.; Hassan, Yassin A.

In this second of two companion papers presents an analysis of sliding bubble and wall heat transfer parameters measured during subcooled boiling in a square, vertical, upward flow channel. Bubbles were generated only from a single nucleation site for better observation of both the sliding bubbles’ characteristics and their impact on wall heat transfer through optical measurement techniques. Specific interests include: (i) bubbles departure and subsequent growth while sliding, (ii) bubbles release frequency, (iii) coalescence of sliding bubbles, (iv) sliding bubbles velocity, (v) bubbles size distribution and (vi) wall heat transfer influenced by sliding bubbles. Our results showed that slidingmore » bubbles involve two distinct growth behaviors: (i) at low mass fluxes, sliding bubbles grew fast near the nucleation site, subsequently shrank, and then grew again, (ii) as mass flux increased, however, sliding bubbles grew more steadily. The bubbles originating from the single nucleation site coalesced frequently while sliding, which showed close relation with bubbles release frequency. The sliding bubble velocity near the nucleation site consistently decreased by increasing mass flux, while the observation often became reversed as the bubbles slid downstream due to the effect of interfacial drag. The sliding bubbles moved faster than the local liquid (i.e., ur<0) at low mass flux conditions, but it became reversed as the mass flux increased. The size distribution of sliding bubbles followed Gaussian distribution well both near and far from the nucleation site. The standard deviation of bubble size varied insignificantly through sliding compared to the changes in mean bubble size. Lastly, the sliding bubbles enhanced the wall heat transfer and the effect became more noticeable as inlet subcooling/mass flux decreased or wall heat flux increased. Particularly, the sliding bubble characteristics such as bubble growth behavior observed near the nucleation site played

Experimental study on bubble dynamics and wall heat transfer arising from a single nucleation site at subcooled flow boiling conditions – Part 2: Data analysis on sliding bubble characteristics and associated wall heat transfer

DOE PAGES

Yooa, Junsoo; Estrada-Perez, Carlos E.; Hassan, Yassin A.

2016-04-28

In this second of two companion papers presents an analysis of sliding bubble and wall heat transfer parameters measured during subcooled boiling in a square, vertical, upward flow channel. Bubbles were generated only from a single nucleation site for better observation of both the sliding bubbles’ characteristics and their impact on wall heat transfer through optical measurement techniques. Specific interests include: (i) bubbles departure and subsequent growth while sliding, (ii) bubbles release frequency, (iii) coalescence of sliding bubbles, (iv) sliding bubbles velocity, (v) bubbles size distribution and (vi) wall heat transfer influenced by sliding bubbles. Our results showed that slidingmore » bubbles involve two distinct growth behaviors: (i) at low mass fluxes, sliding bubbles grew fast near the nucleation site, subsequently shrank, and then grew again, (ii) as mass flux increased, however, sliding bubbles grew more steadily. The bubbles originating from the single nucleation site coalesced frequently while sliding, which showed close relation with bubbles release frequency. The sliding bubble velocity near the nucleation site consistently decreased by increasing mass flux, while the observation often became reversed as the bubbles slid downstream due to the effect of interfacial drag. The sliding bubbles moved faster than the local liquid (i.e., ur<0) at low mass flux conditions, but it became reversed as the mass flux increased. The size distribution of sliding bubbles followed Gaussian distribution well both near and far from the nucleation site. The standard deviation of bubble size varied insignificantly through sliding compared to the changes in mean bubble size. Lastly, the sliding bubbles enhanced the wall heat transfer and the effect became more noticeable as inlet subcooling/mass flux decreased or wall heat flux increased. Particularly, the sliding bubble characteristics such as bubble growth behavior observed near the nucleation site played

Adaptive quaternion tracking with nonlinear extended state observer

NASA Astrophysics Data System (ADS)

Bai, Yu-liang; Wang, Xiao-gang; Xu, Jiang-tao; Cui, Nai-gang

2017-10-01

This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia and environmental disturbances. An adaptive quaternion tracking control is combined with a nonlinear extended state observer and the disturbances compensated for in each sampling period. The tracking controller is proved to asymptotically track a prescribed motion in the presence of these uncertainties. Simulations of a nano-spacecraft demonstrate a significant improvement in pointing accuracy and tracking error when compared to a conventional attitude controller. The proposed tracking control is completely deterministic, simple to implement, does not require knowledge of the uncertainties and does not suffer from chattering.

Integral sliding mode-based attitude coordinated tracking for spacecraft formation with communication delays

NASA Astrophysics Data System (ADS)

Zhang, Jian; Hu, Qinglei; Xie, Wenbo

2017-11-01

This paper investigates the attitude coordinated tracking control for a group of rigid spacecraft under directed communication topology, in which inertia uncertainties, external disturbances, input saturation and constant time-delays between the formation members are handled. Initially, the nominal system with communication delays is studied. A delay-dependent controller is proposed by using Lyapunov-Krasovskii function and sufficient condition for system stability is derived. Then, an integral sliding manifold is designed and adaptive control approach is employed to deal with the total perturbation. Meanwhile, the boundary layer method is introduced to alleviate the unexpected chattering as system trajectories cross the switching surface. Finally, numerical simulation results are presented to validate the effectiveness and robustness of the proposed control strategy.

REVIEW: Internal models in sensorimotor integration: perspectives from adaptive control theory

NASA Astrophysics Data System (ADS)

Tin, Chung; Poon, Chi-Sang

2005-09-01

Internal models and adaptive controls are empirical and mathematical paradigms that have evolved separately to describe learning control processes in brain systems and engineering systems, respectively. This paper presents a comprehensive appraisal of the correlation between these paradigms with a view to forging a unified theoretical framework that may benefit both disciplines. It is suggested that the classic equilibrium-point theory of impedance control of arm movement is analogous to continuous gain-scheduling or high-gain adaptive control within or across movement trials, respectively, and that the recently proposed inverse internal model is akin to adaptive sliding control originally for robotic manipulator applications. Modular internal models' architecture for multiple motor tasks is a form of multi-model adaptive control. Stochastic methods, such as generalized predictive control, reinforcement learning, Bayesian learning and Hebbian feedback covariance learning, are reviewed and their possible relevance to motor control is discussed. Possible applicability of a Luenberger observer and an extended Kalman filter to state estimation problems—such as sensorimotor prediction or the resolution of vestibular sensory ambiguity—is also discussed. The important role played by vestibular system identification in postural control suggests an indirect adaptive control scheme whereby system states or parameters are explicitly estimated prior to the implementation of control. This interdisciplinary framework should facilitate the experimental elucidation of the mechanisms of internal models in sensorimotor systems and the reverse engineering of such neural mechanisms into novel brain-inspired adaptive control paradigms in future.

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)

Relative sliding durability of candidate high temperature fiber seal materials

NASA Technical Reports Server (NTRS)

Dellacorte, Christopher; Steinetz, Bruce M.

1992-01-01

The relative sliding durability behavior of six candidate ceramic fibers for high temperature sliding seal applications is reviewed and compared. Pin on disk tests were used to evaluate potential seal materials by sliding a tow or bundle of the candidate ceramic fiber against a superalloy test disk. Tests were conducted in air under a 2.65 N load, at a sliding velocity of 0.025 m/sec and at temperatures from 25 to 900 C. Friction was measured during the tests and fiber wear, indicated by the extent of fibers broken in the tow or bundle, was measured at the end of each test. For most of the fibers, friction and wear increase with test temperature. The relative fiber durability ranking correlates with tensile strength, indicating that tensile data, which is more readily available than sliding durability data, may be useful in predicting fiber wear behavior under various conditions. A dimensional analysis of the wear data shows that the fiber durability is related to a dimensionless durability ratio which represents the ratio of the fiber strength to the fiber stresses imposed by sliding. The analysis is applicable to fibers with similar diameters and elastic moduli. Based upon the results of the research program, three fiber candidates are recommended for further study as potential seal materials. They are a silicon based complex carbide-oxide fiber, an alumina-boria-silica and an aluminosilicate fiber.

Sensor Web Dynamic Measurement Techniques and Adaptive Observing Strategies

NASA Technical Reports Server (NTRS)

Talabac, Stephen J.

2004-01-01

Sensor Web observing systems may have the potential to significantly improve our ability to monitor, understand, and predict the evolution of rapidly evolving, transient, or variable environmental features and events. This improvement will come about by integrating novel data collection techniques, new or improved instruments, emerging communications technologies and protocols, sensor mark-up languages, and interoperable planning and scheduling systems. In contrast to today's observing systems, "event-driven" sensor webs will synthesize real- or near-real time measurements and information from other platforms and then react by reconfiguring the platforms and instruments to invoke new measurement modes and adaptive observation strategies. Similarly, "model-driven" sensor webs will utilize environmental prediction models to initiate targeted sensor measurements or to use a new observing strategy. The sensor web concept contrasts with today's data collection techniques and observing system operations concepts where independent measurements are made by remote sensing and in situ platforms that do not share, and therefore cannot act upon, potentially useful complementary sensor measurement data and platform state information. This presentation describes NASA's view of event-driven and model-driven Sensor Webs and highlights several research and development activities at the Goddard Space Flight Center.

Sliding Mode Control for Discrete-Time Systems With Markovian Packet Dropouts.

PubMed

Song, Heran; Chen, Shih-Chi; Yam, Yeung

2017-11-01

This paper presents the design of a sliding mode controller for networked control systems subject to successive Markovian packet dropouts. This paper adopts the Gilbert-Elliott channel model to describe the temporal correlation among packet losses, and proposes an update scheme to select the assumed available states for use in a sliding mode control law. A technique used in the theory of discrete-time Markov jump linear systems is applied to tackle the effect of the packet losses. This involves introducing a couple of Lyapunov functions dependent on the indicator functions of the instantaneous packet loss, and proving that the sliding mode controller is able to drive the system state trajectories into the neighborhood of the designed integral sliding surface in mean-square sense given that the corresponding Lyapunov inequalities are satisfied. The system is guaranteed thereafter to remain inside the neighborhood of the sliding surface. Simulated case studies are presented to illustrate the effectiveness of the control law.

Sliding history and energy budget recorded in a frozen mantle earthquake

NASA Astrophysics Data System (ADS)

Ferrand, Thomas P.; Labrousse, Loïc; Hilairet, Nadège; Schubnel, Alexandre

2017-04-01

In the Balmuccia massif (NW Italy), pseudotachylytes (PST) are found within a spinel lherzolite. Coming from the solidification of the melt generated during seismic rupture, these rocks constitute a geological record of fossilized earthquakes. Here, combining field observations, Raman spectrometry and Electron Back-Scattered Diffraction (EBSD), we decipher the sliding history of an ancient Mw >6 earthquake. The earthquake fault displays a 1-1.2 m strike-slip component. The average width of the principal fault plane is about 5 mm. A dense network of thin (20-200 µm) faults and injection veins decorates this principal slip surface. Ultramylonitic faults, filled with olivine (0.2-2 µm), pyroxenes and Al-spinel exhibit strong olivine fabric, with (010) planes parallel to the sliding of the fault and [100] direction parallel to the slip direction. The EBSD pole figure for the [100] direction shows an angle of about 40° with respect to Z-axis, indicating a non-negligible dip-slip component of 1.2-1.5 m, i.e. a probable total relative displacement of 1.6-1.9 m. The olivine fabric is consistent with partial melting and/or high temperature (> 1250 °C) diffusion-accommodated grain boundary sliding, which proves: 1) that the ultramylonite originates from a recrystallized melt; 2) that the earthquake occurred at a depth greater than 35 km (stable Al-spinel, no plagioclase). Raman spectrometry in micrometric injectites reveals amorphous material, with water content of 1-2 wt%, structurally bounded. Assuming a peak temperature of 1600-1800°C during sliding, the melt viscosity was < 1 Pa s. Fracture surface energy and thermally dissipated energy are estimated from fracture density and melt volume (including injected volume) around 50 kJ/m2 and 50 MJ/m2 respectively. Considering a metric displacement, an average melting width of 1 cm and high normal stress, > 1 GPa, this yields a dynamic friction coefficient << 0.1, which demonstrates that complete fault lubrication occurred

A rolling-sliding bench test for investigating rear axle lubrication

DOE PAGES

Stump, Benjamin C.; Zhou, Yan; Viola, Michael B.; ...

2018-02-07

An automotive rear axle is composed of a set of hypoid gears, whose contact surfaces experience a complex combination of rolling contact fatigue damage and sliding wear. Full-scale rear axle dynamometer tests are used in the industry for efficiency and durability assessment. Here, this study developed a bench-scale rolling-sliding test protocol by simulating the contact pressure, oil temperature, and lubrication regime experienced in a dynamometer duty cycle test. Initial bench results have demonstrated the ability of generating both rolling contact-induced micropitting and sliding wear and the feasibility of investigating the impact of slide-to-roll ratio, surface roughness, test duration, and oilmore » temperature on the friction behavior, vibration noise, and surface damage. Finally, this bench test will allow studying candidate rear axle lubricants and materials under relevant conditions.« less

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.

A rolling-sliding bench test for investigating rear axle lubrication

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stump, Benjamin C.; Zhou, Yan; Viola, Michael B.

An automotive rear axle is composed of a set of hypoid gears, whose contact surfaces experience a complex combination of rolling contact fatigue damage and sliding wear. Full-scale rear axle dynamometer tests are used in the industry for efficiency and durability assessment. Here, this study developed a bench-scale rolling-sliding test protocol by simulating the contact pressure, oil temperature, and lubrication regime experienced in a dynamometer duty cycle test. Initial bench results have demonstrated the ability of generating both rolling contact-induced micropitting and sliding wear and the feasibility of investigating the impact of slide-to-roll ratio, surface roughness, test duration, and oilmore » temperature on the friction behavior, vibration noise, and surface damage. Finally, this bench test will allow studying candidate rear axle lubricants and materials under relevant conditions.« less

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. Copyright © 2016 Elsevier Ltd. All rights reserved.

Instability of the sliding Luttinger liquid

NASA Astrophysics Data System (ADS)

Fleurov, V.; Kagalovsky, V.; Lerner, I. V.; Yurkevich, I. V.

2018-05-01

We revise a phase diagram for the sliding Luttinger liquid (SLL) of coupled one-dimensional quantum wires packed in two- or three-dimensional arrays in the absence of a magnetic field. We analyse whether physically justifiable (reasonable) inter-wire interactions, i.e. either the screened Coulomb or ‘Coulomb-blockade’ type interactions, stabilise the SLL phase. Calculating the scaling dimensions of the most relevant perturbations (the inter-wire single-particle hybridisation, charge-density wave, and superconducting inter-wire couplings), we find that their combination always destroys the SLL phase for the repulsive intra-wire interaction. However, suppressing the inter-wire tunnelling of repulsive fermions (when the charge-density wave is the only remaining perturbation), one can observe a stability region emerging due to the inter-wire forward scattering interaction.

Numerical Modeling of Sliding Stability of RCC dam

NASA Astrophysics Data System (ADS)

Mughieda, O.; Hazirbaba, K.; Bani-Hani, K.; Daoud, W.

2017-06-01

Stability and stress analyses are the most important elements that require rigorous consideration in design of a dam structure. Stability of dams against sliding is crucial due to the substantial horizontal load that requires sufficient and safe resistance to develop by mobilization of adequate shearing forces along the base of the dam foundation. In the current research, the static sliding stability of a roller-compacted-concrete (RCC) dam was modelled using finite element method to investigate the stability against sliding. A commercially available finite element software (SAP 2000) was used to analyze stresses in the body of the dam and foundation. A linear finite element static analysis was performed in which a linear plane strain isoperimetric four node elements was used for modelling the dam-foundation system. The analysis was carried out assuming that no slip will occur at the interface between the dam and the foundation. Usual static loading condition was applied for the static analysis. The greatest tension was found to develop in the rock adjacent to the toe of the upstream slope. The factor of safety against sliding along the entire base of the dam was found to be greater than 1 (FS>1), for static loading conditions.

Current Status of Whole-Slide Imaging in Education.

PubMed

Saco, Adela; Bombi, Jose Antoni; Garcia, Adriana; Ramírez, Jose; Ordi, Jaume

2016-01-01

Conventional light microscopy (CLM) has classically been the basic tool to teach histology and pathology. In recent years, whole-slide imaging (WSI), which consists of generating a high-magnification digital image of an entire histological glass slide, has emerged as a useful alternative to CLM offering a myriad of opportunities for education. Navigation through the digitized slides closely simulates viewing glass slides with a microscope and is also referred to as virtual microscopy. WSI has many advantages for education. Students feel more comfortable with its use, and it can be used in any classroom as it only requires a computer with Internet access and it allows remote access from anywhere and from any device. WSI can be used simultaneously by a large number of people, stimulating cooperation between students and improving the interaction with the teachers. It allows making marks and annotations on specific fields, which enable specific directed questions to the teacher. Finally, WSI supports are cost-effective compared with CLM. Consequently, WSI has begun to replace CLM in many institutions. WSI has shown to be an extremely useful tool for undergraduate education (medical, dental and veterinary schools), for the training of residents of pathology, tele-education and in tumor boards. © 2016 S. Karger AG, Basel.

Evaluation of the head-helmet sliding properties in an impact test.

PubMed

Trotta, Antonia; Ní Annaidh, Aisling; Burek, Roy Owen; Pelgrims, Bart; Ivens, Jan

2018-05-18

The scalp plays a crucial role in head impact biomechanics, being the first tissue involved in the impact and providing a sliding interface between the impactor and/or helmet and the skull. It is important to understand both the scalp-skull and the scalp-helmet sliding in order to determine the head response due to an impact. However, experimental data on the sliding properties of the scalp is lacking. The aim of this work was to identify the sliding properties of the scalp using cadaver heads, in terms of scalp-skull and scalp-liner (internal liner of the helmet) friction and to compare these values with that of widely used artificial headforms (HIII and magnesium EN960). The effect of the hair, the direction of sliding, the speed of the test and the normal load were considered. The experiments revealed that the sliding behaviour of the scalp under impact loading is characterised by three main phases: (1) the low friction sliding of the scalp over the skull (scalp-skull friction), (2) the tensioning effect of the scalp and (3) the sliding of the liner fabric over the scalp (scalp-liner friction). Results showed that the scalp-skull coefficient of friction (COF) is very low (0.06 ± 0.048), whereas the scalp-liner COF is 0.29 ± 0.07. The scalp-liner COF is statistically different from the value of the HIII-liner (0.75 ± 0.06) and the magnesium EN960-liner (0.16 ± 0.026). These data will lead to the improvement of current headforms for head impact standard tests, ultimately leading to more realistic head impact simulations and the optimization of helmet designs. Copyright © 2018 Elsevier Ltd. All rights reserved.

Linear Motor With Air Slide

NASA Technical Reports Server (NTRS)

Johnson, Bruce G.; Gerver, Michael J.; Hawkey, Timothy J.; Fenn, Ralph C.

1993-01-01

Improved linear actuator comprises air slide and linear electric motor. Unit exhibits low friction, low backlash, and more nearly even acceleration. Used in machinery in which positions, velocities, and accelerations must be carefully controlled and/or vibrations must be suppressed.

Comparing and contrasting observed adaptations in three deltas: the Ganges-Meghna-Brahmaputra, Mahanadi and Volta

NASA Astrophysics Data System (ADS)

Nicholls, R. J.; Suckall, N.; Mensah, A.; Mondal, S.; Dey, S.; Hazra, S.

2015-12-01

In low and middle-income countries, many deltaic communities directly depend on the natural environment for income and well-being. Current environmental concerns that threaten deltaic communities, such as increasing salinity, sedimentation, erosion and subsidence are likely to be exacerbated by climate change and variability, for example sea-level rise, increased storminess and rising temperatures. Such changes, along with other social and environmental stressors, mean that communities must adapt. This paper outlines findings of a systematic review of the peer-reviewed and grey literature that examines observed adaptations in three deltas of differing sizes in various geographical contexts: the Ganges-Meghna-Brahmaputra in India and Bangladesh, the Mahanadi in India, and the Volta in Ghana. It compares and contrasts various elements of observed adaptations, including who is driving the adaptation, the beneficiaries, barriers to participation and evidence for maladaptation. The predominant drivers of adaptation vary from government (at state level in India and national level in Bangladesh) and NGOs (in Ghana). Autonomous adaptations are not widely reported in the literature from any of the deltas. In all three deltas there is a focus on supporting adaptation in farming rather than fishing; despite the fact that fisheries contribute to local food security as well as national economies. Lack of access to financial, natural, physical and human capital are common barriers to adaptation in all three deltas. Additionally the Indian literature in particular highlights the lack of coordination between different government departments, coupled with an excessively top-down (state-driven) approach to adaptation. Maladaptation is most commonly reported in the literature from Bangladesh, for example, loss of employment of inland fishermen in embanked areas. The paper concludes by highlighting some of the implications of these findings for adaptation policy in deltas.

The Evolution of Interfacial Sliding Stresses During Cyclic Push-in Testing of C- and BN-Coated Hi-Nicalon Fiber-Reinforced CMCs

NASA Technical Reports Server (NTRS)

Eldridge, J. I.; Bansal, N. P.; Bhatt, R. T.

1998-01-01

Interfacial debond cracks and fiber/matrix sliding stresses in ceramic matrix composites (CMCs) can evolve under cyclic fatigue conditions as well as with changes in the environment, strongly affecting the crack growth behavior, and therefore, the useful service lifetime of the composite. In this study, room temperature cyclic fiber push-in testing was applied to monitor the evolution of frictional sliding stresses and fiber sliding distances with continued cycling in both C- and BN-coated Hi-Nicalon SiC fiber-reinforced CMCs. A SiC matrix composite reinforced with C-coated Hi-Nical on fibers as well as barium strontium aluminosilicate (BSAS) matrix composites reinforced with BN-coated (four different deposition processes compared) Hi-Nicalon fibers were examined. For failure at a C interface, test results indicated progressive increases in fiber sliding distances during cycling in room air but not in nitrogen. These results suggest the presence of moisture will promote crack growth when interfacial failure occurs at a C interface. While short-term testing environmental effects were not apparent for failure at the BN interfaces, long-term exposure of partially debonded BN-coated fibers to humid air resulted in large increases in fiber sliding distances and decreases in interfacial sliding stresses for all the BN coatings, presumably due to moisture attack. A wide variation was observed in debond and frictional sliding stresses among the different BN coatings.

Color accuracy and reproducibility in whole slide imaging scanners

PubMed Central

Shrestha, Prarthana; Hulsken, Bas

2014-01-01

Abstract We propose a workflow for color reproduction in whole slide imaging (WSI) scanners, such that the colors in the scanned images match to the actual slide color and the inter-scanner variation is minimum. We describe a new method of preparation and verification of the color phantom slide, consisting of a standard IT8-target transmissive film, which is used in color calibrating and profiling the WSI scanner. We explore several International Color Consortium (ICC) compliant techniques in color calibration/profiling and rendering intents for translating the scanner specific colors to the standard display (sRGB) color space. Based on the quality of the color reproduction in histopathology slides, we propose the matrix-based calibration/profiling and absolute colorimetric rendering approach. The main advantage of the proposed workflow is that it is compliant to the ICC standard, applicable to color management systems in different platforms, and involves no external color measurement devices. We quantify color difference using the CIE-DeltaE2000 metric, where DeltaE values below 1 are considered imperceptible. Our evaluation on 14 phantom slides, manufactured according to the proposed method, shows an average inter-slide color difference below 1 DeltaE. The proposed workflow is implemented and evaluated in 35 WSI scanners developed at Philips, called the Ultra Fast Scanners (UFS). The color accuracy, measured as DeltaE between the scanner reproduced colors and the reference colorimetric values of the phantom patches, is improved on average to 3.5 DeltaE in calibrated scanners from 10 DeltaE in uncalibrated scanners. The average inter-scanner color difference is found to be 1.2 DeltaE. The improvement in color performance upon using the proposed method is apparent with the visual color quality of the tissue scans. PMID:26158041

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.

Mechanism of opening a sliding clamp

PubMed Central

Douma, Lauren G.; Yu, Kevin K.; England, Jennifer K.

2017-01-01

Abstract Clamp loaders load ring-shaped sliding clamps onto DNA where the clamps serve as processivity factors for DNA polymerases. In the first stage of clamp loading, clamp loaders bind and stabilize clamps in an open conformation, and in the second stage, clamp loaders place the open clamps around DNA so that the clamps encircle DNA. Here, the mechanism of the initial clamp opening stage is investigated. Mutations were introduced into the Escherichia coli β-sliding clamp that destabilize the dimer interface to determine whether the formation of an open clamp loader–clamp complex is dependent on spontaneous clamp opening events. In other work, we showed that mutation of a positively charged Arg residue at the β-dimer interface and high NaCl concentrations destabilize the clamp, but neither facilitates the formation of an open clamp loader–clamp complex in experiments presented here. Clamp opening reactions could be fit to a minimal three-step ‘bind-open-lock’ model in which the clamp loader binds a closed clamp, the clamp opens, and subsequent conformational rearrangements ‘lock’ the clamp loader–clamp complex in a stable open conformation. Our results support a model in which the E. coli clamp loader actively opens the β-sliding clamp. PMID:28973453

Adapted Finnegan scoring list for observation of anti-depressant exposed infants.

PubMed

Kieviet, Noera; van Ravenhorst, Mariëtte; Dolman, Koert M; van de Ven, Peter M; Heres, Marion; Wennink, Hanneke; Honig, Adriaan

2015-01-01

The Finnegan scoring list (FSL) is widely used to screen for poor neonatal adaptation in infants exposed to anti-depressants in utero. However, the large number of FSL-items and differential weighing of each item is time consuming. The aim of this study was to shorten and simplify the FSL yet preserving its clinimetric properties. This observational study examined infants exposed to an anti-depressant during pregnancy admitted for at least 72 h on a maternity ward. Trained nurses completed the FSL three times daily. Items for the adapted FSL were selected through forward analysis whereby the number of selected items was based on the area under the curve (AUC). Internal validity was assessed by cross-validation. 183 infants met the inclusion criteria. By forward analysis eight equally-weighed items resulted in an AUC of 0.91. In cross-validation, the mean AUC was 0.89 for 8 items. This adapted FSL had a sensitivity of 97.7% and specificity of 37.0% and a sensitivity of 41.9% and specificity of 86.2% regarding a cut-off of, respectively, 1 and 2. An adapted FSL with eight equally-weighed items has acceptable clinimetric properties and can serve as an easy to apply screening tool in infants exposed to anti-depressants during pregnancy.

Utilizing Whole Slide Images for Pathology Peer Review and Working Groups.

PubMed

Malarkey, David E; Willson, Gabrielle A; Willson, Cynthia J; Adams, E Terence; Olson, Greg R; Witt, William M; Elmore, Susan A; Hardisty, Jerry F; Boyle, Michael C; Crabbs, Torrie A; Miller, Rodney A

2015-12-01

This article describes the results of comparisons of digitally scanned whole slide images (WSIs) and glass microscope slides for diagnosis of tissues under peer review by the National Toxicology Program. Findings in this article were developed as a result of the data collected from 6 pathology working groups (PWGs), 1 pathology peer review, and survey comments from over 25 participating pathologists. For each PWG, 6-14 pathologists examined 10-143 tissues per study from 6- and 9-month perinatal studies and 2-year carcinogenicity studies. Overall it was found that evaluation of WSIs is generally equivalent to using glass slides. Concordance of PWG consensus diagnoses based upon review of WSIs versus glass slides ranged from 74% to 100% (median 86%). The intra- and interobserver diagnostic variation did not appear to influence the conclusions of any study. Based upon user opinions collected from surveys, WSIs may be less optimal than glass slides for evaluation of subtle lesions, large complex lesions, small lesions in a large section of tissue, and foci of altered hepatocytes. These results indicate that, although there may be some limitations, the use of WSIs can effectively accomplish the objectives of a conventional glass slide review and definitely serves as a useful adjunct to the conduct of PWGs. © 2015 by The Author(s).

Treatment of Oroantral Communication Using the Lateral Palatal Sliding Flap Technique

PubMed Central

Ribeiro, Fernando Salimon; de Toledo, Cassio Torres; Aleixo, Michele Romero; Durigan, Maria Cristina; da Silva, Willian Corrêa; Bueno, Samanta Kelen; Pontes, Ana Emília Farias

2015-01-01

Herein, we present a case of oroantral communication that was to be treated with clinical examination, tomography, and prototyping. A patient presented with oroantral communication with purulent exudation for 4 months, since the displacement of the dental implant and O-ring component to the maxillary sinus. Tomographic examination and prototyping revealed a 5 mm bone gap. The patient underwent local washes and antibiotic therapy. After local palpation, a bone defect detected by prototyping was suspected to be greater than that observed. For the surgery, a communication tunnel was made, and the bone defect was found to be 12 mm in diameter. A pedicle flap was raised on the palate, followed by sliding and suturing. No complications were observed during the postoperative period, and the suture was removed after a week. Four months later, communication did not resume, and the patient did not complain of pain, foul smelling, or purulent discharge and was satisfied with the outcome. The findings of this case suggest that the lateral sliding flap can be used as an efficient technique for closing oroantral communications. An accurate clinical examination is a critical tool that can be used instead of tomography and prototyping, which can be misleading. PMID:26113864

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

NASA Astrophysics Data System (ADS)

Kapoor, Neha; Ohri, Jyoti

2017-02-01

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.

Modelling airway smooth muscle passive length adaptation via thick filament length distributions

PubMed Central

Donovan, Graham M.

2013-01-01

We present a new model of airway smooth muscle (ASM), which surrounds and constricts every airway in the lung and thus plays a central role in the airway constriction associated with asthma. This new model of ASM is based on an extension of sliding filament/crossbridge theory, which explicitly incorporates the length distribution of thick sliding filaments to account for a phenomenon known as dynamic passive length adaptation; the model exhibits good agreement with experimental data for ASM force–length behaviour across multiple scales. Principally these are (nonlinear) force–length loops at short timescales (seconds), parabolic force–length curves at medium timescales (minutes) and length adaptation at longer timescales. This represents a significant improvement on the widely-used cross-bridge models which work so well in or near the isometric regime, and may have significant implications for studies which rely on crossbridge or other dynamic airway smooth muscle models, and thus both airway and lung dynamics. PMID:23721681

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.

A technigue exploitation about anti-slide tire polyploid on ice-snow road in winter

NASA Astrophysics Data System (ADS)

Xiaojie, Qi; Qiang, Wang; Zhao, Yang; Yunlong, Wang; Guotian, Wang; Degang, Lv

2017-04-01

Present studies focus on improving anti-slide property of tyes on ice-snow road by changing material modification of tyre tread and designing groove. However, the basic reason causing starting slide, long braking distance, turning slide slip and so on of tyres used in winter is that tyre tread materials are unitary and homogenous rubber composite which can’t coordinate driving demands of tyres in winter under muti-work condition, and can’t exert their best property when starting, braking and sliding slip. In order to improve comprehensive anti-slide property of tyres, this paper discusses about changing structure, shape and distribution proportion among haploid materials of tyre tread rubber. Polyploid bubber tyre tread technique based on artificial neural network which is in favor of starting, braking and anti-slide slip is optimized and combined. Friction feature and anti-slide mechanism on ice-snow road of polyploid rubber tyre tread are studied using testing technique of low-temperature cabin and computer simulation. A set high anti-slide theories and realizing method systems of polyploid rubber composite formed from basic theory, models and technique method are developped which will be applied into solving anti-slide problem of winter tyres, provide theory instruction for studies on high anti-slide winter tyres, and promote development of application and usage safety of winter tyres.

Effects of ridge cracking and interface sliding on morphological symmetry breaking in straight-sided blisters

NASA Astrophysics Data System (ADS)

Li, Shi-Chen; Yu, Sen-Jiang; He, Linghui; Ni, Yong

2018-03-01

Complex surface patterns generated by nonlinear buckling originate from various symmetry-breaking instabilities. Identifying possible key factors that regulate the instability modes is critical to reveal the mechanism of the surface pattern selection. In this paper, how another two factors (ridge cracking and interface sliding) including Poisson's ratio influence the morphological symmetry breaking in straight-sided blisters are systematically studied. Morphology diagrams from stability analysis show that ridge cracking and low Poisson's ratio promote symmetric instability mode and favor bubble-like blisters while interface sliding and high Poisson's ratio facilitate antisymmetric instability mode and result in telephone cord buckles. The analytical predictions are evidenced by experimental observations on annealed silicon nitride films on glass substrates and confirmed by nonlinear numerical simulations. This study explains how and why the rarely observed bubble-like blisters in accompany with ridge crack can appear in brittle thin films in comparison with the ubiquitously observed telephone cord buckles that usually form as the development of an antisymmetric instability mode when straight-sided blisters undergo the super-critical isotropic compression.

Smartphone adapters for digital photomicrography.

PubMed

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

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. 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. 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. 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.

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

4. AFRD WAREHOUSE, WEST SIDE DETAIL OF ALTERED SLIDING DOORS, ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

4. 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

Instant Reality--The Use (and Misuse) of Photographic Slides in the Classroom.

ERIC Educational Resources Information Center

Underhill, Nic

The paper suggests ways in which the teacher of English as a second language may use slides to stimulate students by teaching through, and not just about, the slides. Slides are useful when used as a tool to uncover the students' creative and imaginative faculties, which may fail to be discovered through conventional language teaching. The use of…

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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

3D DEM analyses of the 1963 Vajont rock slide

NASA Astrophysics Data System (ADS)

Boon, Chia Weng; Houlsby, Guy; Utili, Stefano

2013-04-01

The 1963 Vajont rock slide has been modelled using the distinct element method (DEM). The open-source DEM code, YADE (Kozicki & Donzé, 2008), was used together with the contact detection algorithm proposed by Boon et al. (2012). The critical sliding friction angle at the slide surface was sought using a strength reduction approach. A shear-softening contact model was used to model the shear resistance of the clayey layer at the slide surface. The results suggest that the critical sliding friction angle can be conservative if stability analyses are calculated based on the peak friction angles. The water table was assumed to be horizontal and the pore pressure at the clay layer was assumed to be hydrostatic. The influence of reservoir filling was marginal, increasing the sliding friction angle by only 1.6˚. The results of the DEM calculations were found to be sensitive to the orientations of the bedding planes and cross-joints. Finally, the failure mechanism was investigated and arching was found to be present at the bend of the chair-shaped slope. References Boon C.W., Houlsby G.T., Utili S. (2012). A new algorithm for contact detection between convex polygonal and polyhedral particles in the discrete element method. Computers and Geotechnics, vol 44, 73-82, doi.org/10.1016/j.compgeo.2012.03.012. Kozicki, J., & Donzé, F. V. (2008). A new open-source software developed for numerical simulations using discrete modeling methods. Computer Methods in Applied Mechanics and Engineering, 197(49-50), 4429-4443.

Structural basis of human PCNA sliding on DNA

NASA Astrophysics Data System (ADS)

de March, Matteo; Merino, Nekane; Barrera-Vilarmau, Susana; Crehuet, Ramon; Onesti, Silvia; Blanco, Francisco J.; de Biasio, Alfredo

2017-01-01

Sliding clamps encircle DNA and tether polymerases and other factors to the genomic template. However, the molecular mechanism of clamp sliding on DNA is unknown. Using crystallography, NMR and molecular dynamics simulations, here we show that the human clamp PCNA recognizes DNA through a double patch of basic residues within the ring channel, arranged in a right-hand spiral that matches the pitch of B-DNA. We propose that PCNA slides by tracking the DNA backbone via a `cogwheel' mechanism based on short-lived polar interactions, which keep the orientation of the clamp invariant relative to DNA. Mutation of residues at the PCNA-DNA interface has been shown to impair the initiation of DNA synthesis by polymerase δ (pol δ). Therefore, our findings suggest that a clamp correctly oriented on DNA is necessary for the assembly of a replication-competent PCNA-pol δ holoenzyme.