Dream controller

DOEpatents

Cheng, George Shu-Xing; Mulkey, Steven L; Wang, Qiang; Chow, Andrew J

2013-11-26

A method and apparatus for intelligently controlling continuous process variables. A Dream Controller comprises an Intelligent Engine mechanism and a number of Model-Free Adaptive (MFA) controllers, each of which is suitable to control a process with specific behaviors. The Intelligent Engine can automatically select the appropriate MFA controller and its parameters so that the Dream Controller can be easily used by people with limited control experience and those who do not have the time to commission, tune, and maintain automatic controllers.

Rapid control and feedback rates enhance neuroprosthetic control

PubMed Central

Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.

2017-01-01

Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms. PMID:28059065

Control allocation-based adaptive control for greenhouse climate

NASA Astrophysics Data System (ADS)

Su, Yuanping; Xu, Lihong; Goodman, Erik D.

2018-04-01

This paper presents an adaptive approach to greenhouse climate control, as part of an integrated control and management system for greenhouse production. In this approach, an adaptive control algorithm is first derived to guarantee the asymptotic convergence of the closed system with uncertainty, then using that control algorithm, a controller is designed to satisfy the demands for heat and mass fluxes to maintain inside temperature, humidity and CO2 concentration at their desired values. Instead of applying the original adaptive control inputs directly, second, a control allocation technique is applied to distribute the demands of the heat and mass fluxes to the actuators by minimising tracking errors and energy consumption. To find an energy-saving solution, both single-objective optimisation (SOO) and multiobjective optimisation (MOO) in the control allocation structure are considered. The advantage of the proposed approach is that it does not require any a priori knowledge of the uncertainty bounds, and the simulation results illustrate the effectiveness of the proposed control scheme. It also indicates that MOO saves more energy in the control process.

Rapid control and feedback rates enhance neuroprosthetic control

NASA Astrophysics Data System (ADS)

Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.

2017-01-01

Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms.

Output Control Using Feedforward And Cascade Controllers

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1990-01-01

Report presents theoretical study of open-loop control elements in single-input, single-output linear system. Focus on output-control (servomechanism) problem, in which objective is to find control scheme that causes output to track certain command inputs and to reject certain disturbance inputs in steady state. Report closes with brief discussion of characteristics and relative merits of feedforward, cascade, and feedback controllers and combinations thereof.

Control fast or control smart: When should invading pathogens be controlled?

PubMed

Thompson, Robin N; Gilligan, Christopher A; Cunniffe, Nik J

2018-02-01

The intuitive response to an invading pathogen is to start disease management as rapidly as possible, since this would be expected to minimise the future impacts of disease. However, since more spread data become available as an outbreak unfolds, processes underpinning pathogen transmission can almost always be characterised more precisely later in epidemics. This allows the future progression of any outbreak to be forecast more accurately, and so enables control interventions to be targeted more precisely. There is also the chance that the outbreak might die out without any intervention whatsoever, making prophylactic control unnecessary. Optimal decision-making involves continuously balancing these potential benefits of waiting against the possible costs of further spread. We introduce a generic, extensible data-driven algorithm based on parameter estimation and outbreak simulation for making decisions in real-time concerning when and how to control an invading pathogen. The Control Smart Algorithm (CSA) resolves the trade-off between the competing advantages of controlling as soon as possible and controlling later when more information has become available. We show-using a generic mathematical model representing the transmission of a pathogen of agricultural animals or plants through a population of farms or fields-how the CSA allows the timing and level of deployment of vaccination or chemical control to be optimised. In particular, the algorithm outperforms simpler strategies such as intervening when the outbreak size reaches a pre-specified threshold, or controlling when the outbreak has persisted for a threshold length of time. This remains the case even if the simpler methods are fully optimised in advance. Our work highlights the potential benefits of giving careful consideration to the question of when to start disease management during emerging outbreaks, and provides a concrete framework to allow policy-makers to make this decision.

Birth Control

MedlinePlus

... gov/ Home Body Your sexuality Birth control Birth control Birth control (also called contraception) may seem confusing ... What do I need to know about birth control? top The more you know about birth control, ...

Application of Fuzzy-Logic Controller and Neural Networks Controller in Gas Turbine Speed Control and Overheating Control and Surge Control on Transient Performance

NASA Astrophysics Data System (ADS)

Torghabeh, A. A.; Tousi, A. M.

2007-08-01

This paper presents Fuzzy Logic and Neural Networks approach to Gas Turbine Fuel schedules. Modeling of non-linear system using feed forward artificial Neural Networks using data generated by a simulated gas turbine program is introduced. Two artificial Neural Networks are used , depicting the non-linear relationship between gas generator speed and fuel flow, and turbine inlet temperature and fuel flow respectively . Off-line fast simulations are used for engine controller design for turbojet engine based on repeated simulation. The Mamdani and Sugeno models are used to expression the Fuzzy system . The linguistic Fuzzy rules and membership functions are presents and a Fuzzy controller will be proposed to provide an Open-Loop control for the gas turbine engine during acceleration and deceleration . MATLAB Simulink was used to apply the Fuzzy Logic and Neural Networks analysis. Both systems were able to approximate functions characterizing the acceleration and deceleration schedules . Surge and Flame-out avoidance during acceleration and deceleration phases are then checked . Turbine Inlet Temperature also checked and controls by Neural Networks controller. This Fuzzy Logic and Neural Network Controllers output results are validated and evaluated by GSP software . The validation results are used to evaluate the generalization ability of these artificial Neural Networks and Fuzzy Logic controllers.

Highly integrated digital electronic control: Digital flight control, aircraft model identification, and adaptive engine control

NASA Technical Reports Server (NTRS)

Baer-Riedhart, Jennifer L.; Landy, Robert J.

1987-01-01

The highly integrated digital electronic control (HIDEC) program at NASA Ames Research Center, Dryden Flight Research Facility is a multiphase flight research program to quantify the benefits of promising integrated control systems. McDonnell Aircraft Company is the prime contractor, with United Technologies Pratt and Whitney Aircraft, and Lear Siegler Incorporated as major subcontractors. The NASA F-15A testbed aircraft was modified by the HIDEC program by installing a digital electronic flight control system (DEFCS) and replacing the standard F100 (Arab 3) engines with F100 engine model derivative (EMD) engines equipped with digital electronic engine controls (DEEC), and integrating the DEEC's and DEFCS. The modified aircraft provides the capability for testing many integrated control modes involving the flight controls, engine controls, and inlet controls. This paper focuses on the first two phases of the HIDEC program, which are the digital flight control system/aircraft model identification (DEFCS/AMI) phase and the adaptive engine control system (ADECS) phase.

The Effect of Shared Information on Pilot/Controller And Controller/Controller Interactions

NASA Technical Reports Server (NTRS)

Hansman, R. John

1999-01-01

In order to respond to the increasing demand on limited airspace system resources, a number of applications of information technology have been proposed, or are under investigation, to improve the efficiency, capacity and reliability of ATM (Asynchronous Transfer Mode) operations. Much of the attention in advanced ATM technology has focused on advanced automation systems or decision aiding systems to improve the performance of individual Pilots or Controllers. However, the most significant overall potential for information technology appears to he in increasing the shared information between human agents such as Pilots, Controllers or between interacting Controllers or traffic flow managers. Examples of proposed shared information systems in the US include; Controller Pilot Databank Communication (CPDLC), Traffic Management Advisor (TMA); Automatic Dependent Surveillance (ADS); Collaborative Decision Making (CDM) and NAS Level Common Information Exchange. Air Traffic Management is fundamentally a human centered process consisting of the negotiation, execution and monitoring of contracts between human agents for the allocation of limited airspace, runway and airport surface resources. The decision processes within ATM tend to be Semistructured. Many of the routine elements in ATM decision making on the part of the Controllers or Pilots are well Structured and can be represented by well defined rules or procedures. However in disrupted conditions, the ATM decision processes are often Unstructured and cannot be reduced to a set of discrete rules. As a consequence, the ability to automate ATM processes will be limited and ATM will continue to be a human centric process where the responsibility and the authority for the negotiation will continue to rest with human Controllers and Pilots. The use of information technology to support the human decision process will therefore be an important aspect of ATM modernization. The premise of many of the proposed shared

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.

Control Law for Automatic Landing Using Fuzzy Logic Control

NASA Astrophysics Data System (ADS)

Kato, Akio; Inagaki, Yoshiki

The effectiveness of fuzzy logic control law for automatic landing of aircraft, which cover both of control to lead aircraft from level flight at an altitude of 500m to the flight on the glide-path course near the runway and control for the aircraft to land smoothly on a runway, was studied. The control law of the automatic landing was designed to match the design goals of leading from the horizontal flight to the flight on the glide-path course quickly and smoothly and of landing smoothly on a runway. Because there is the ground effect at landing, design of control law and evaluation of control performance were done in consideration of the ground effect. As a result, it was confirmed that the design objective was achieved. Even if the characteristics of the plant changes greatly, this control law was able to maintain the control performance. Moreover, it was confirmed to be able to land safely when there was air turbulence. This paper shows that fuzzy logic control is an effective and flexible method when applied to control law for automatic landing and the design method of control law using fuzzy logic control was obtained.

Implications of the degree of controllability of controlled plants in the sense of LQR optimal control

NASA Astrophysics Data System (ADS)

Xia, Yaping; Yin, Minghui; Zou, Yun

2018-01-01

In this paper, the relationship between the degree of controllability (DOC) of controlled plants and the corresponding quadratic optimal performance index in LQR control is investigated for the electro-hydraulic synchronising servo control systems and wind turbine systems, respectively. It is shown that for these two types of systems, the higher the DOC of a controlled plant is, the better the quadratic optimal performance index is. It implies that in some LQR controller designs, the measure of the DOC of a controlled plant can be used as an index for the optimisation of adjustable plant parameters, by which the plant can be controlled more effectively.

Cognitive control modulates attention to food cues: Support for the control readiness model of self-control.

PubMed

Kleiman, Tali; Trope, Yaacov; Amodio, David M

2016-12-01

Self-control in one's food choices often depends on the regulation of attention toward healthy choices and away from temptations. We tested whether selective attention to food cues can be modulated by a newly developed proactive self-control mechanism-control readiness-whereby control activated in one domain can facilitate control in another domain. In two studies, we elicited the activation of control using a color-naming Stroop task and tested its effect on attention to food cues in a subsequent, unrelated task. We found that control readiness modulates both overt attention, which involves shifts in eye gaze (Study 1), and covert attention, which involves shift in mental attention without shifting in eye gaze (Study 2). We further demonstrated that individuals for whom tempting food cues signal a self-control problem (operationalized by relatively higher BMI) were especially likely to benefit from control readiness. We discuss the theoretical contributions of the control readiness model and the implications of our findings for enhancing proactive self-control to overcome temptation in food choices. Copyright © 2016 Elsevier Inc. All rights reserved.

Adaptive control applied to Space Station attitude control system

NASA Technical Reports Server (NTRS)

Lam, Quang M.; Chipman, Richard; Hu, Tsay-Hsin G.; Holmes, Eric B.; Sunkel, John

1992-01-01

This paper presents an adaptive control approach to enhance the performance of current attitude control system used by the Space Station Freedom. The proposed control law was developed based on the direct adaptive control or model reference adaptive control scheme. Performance comparisons, subject to inertia variation, of the adaptive controller and the fixed-gain linear quadratic regulator currently implemented for the Space Station are conducted. Both the fixed-gain and the adaptive gain controllers are able to maintain the Station stability for inertia variations of up to 35 percent. However, when a 50 percent inertia variation is applied to the Station, only the adaptive controller is able to maintain the Station attitude.

Control Law for Automatic Landing Using Fuzzy-Logic Control

NASA Astrophysics Data System (ADS)

Kato, Akio; Inagaki, Yoshiki

The effectiveness of a fuzzy-logic control law for automatically landing an aircraft that handles both the control to lead an aircraft from horizontal flight at an altitude of 500 meters to flight along the glide-path course near the runway, as well as the control to direct the aircraft to land smoothly on a runway, was investigated. The control law for the automatic landing was designed to match the design goals of directing an aircraft from horizontal flight to flight along a glide-path course quickly and smoothly, and for landing smoothly on a runway. The design of the control law and evaluation of the control performance were performed considering the ground effect at landing. As a result, it was confirmed that the design goals were achieved. Even if the characteristics of the aircraft change greatly, the proposed control law is able to maintain the control performance. Moreover, it was confirmed to be able to land an aircraft safely during air turbulence. The present paper indicates that fuzzy-logic control is an effective and flexible method when applied to the control law for automatic landing, and the design method of the control law using fuzzy-logic control was obtained.

Nonlinear rescaling of control values simplifies fuzzy control

NASA Technical Reports Server (NTRS)

Vanlangingham, H.; Tsoukkas, A.; Kreinovich, V.; Quintana, C.

1993-01-01

Traditional control theory is well-developed mainly for linear control situations. In non-linear cases there is no general method of generating a good control, so we have to rely on the ability of the experts (operators) to control them. If we want to automate their control, we must acquire their knowledge and translate it into a precise control strategy. The experts' knowledge is usually represented in non-numeric terms, namely, in terms of uncertain statements of the type 'if the obstacle is straight ahead, the distance to it is small, and the velocity of the car is medium, press the brakes hard'. Fuzzy control is a methodology that translates such statements into precise formulas for control. The necessary first step of this strategy consists of assigning membership functions to all the terms that the expert uses in his rules (in our sample phrase these words are 'small', 'medium', and 'hard'). The appropriate choice of a membership function can drastically improve the quality of a fuzzy control. In the simplest cases, we can take the functions whose domains have equally spaced endpoints. Because of that, many software packages for fuzzy control are based on this choice of membership functions. This choice is not very efficient in more complicated cases. Therefore, methods have been developed that use neural networks or generic algorithms to 'tune' membership functions. But this tuning takes lots of time (for example, several thousands iterations are typical for neural networks). In some cases there are evident physical reasons why equally space domains do not work: e.g., if the control variable u is always positive (i.e., if we control temperature in a reactor), then negative values (that are generated by equal spacing) simply make no sense. In this case it sounds reasonable to choose another scale u' = f(u) to represent u, so that equal spacing will work fine for u'. In the present paper we formulate the problem of finding the best rescaling function, solve

Propulsion controls

NASA Technical Reports Server (NTRS)

Harkney, R. D.

1980-01-01

Increased system requirements and functional integration with the aircraft have placed an increased demand on control system capability and reliability. To provide these at an affordable cost and weight and because of the rapid advances in electronic technology, hydromechanical systems are being phased out in favor of digital electronic systems. The transition is expected to be orderly from electronic trimming of hydromechanical controls to full authority digital electronic control. Future propulsion system controls will be highly reliable full authority digital electronic with selected component and circuit redundancy to provide the required safety and reliability. Redundancy may include a complete backup control of a different technology for single engine applications. The propulsion control will be required to communicate rapidly with the various flight and fire control avionics as part of an integrated control concept.

Multimodal Perception and Multicriterion Control of Nested Systems. 1; Coordination of Postural Control and Vehicular Control

NASA Technical Reports Server (NTRS)

Riccio, Gary E.; McDonald, P. Vernon

1998-01-01

The purpose of this report is to identify the essential characteristics of goal-directed whole-body motion. The report is organized into three major sections (Sections 2, 3, and 4). Section 2 reviews general themes from ecological psychology and control-systems engineering that are relevant to the perception and control of whole-body motion. These themes provide an organizational framework for analyzing the complex and interrelated phenomena that are the defining characteristics of whole-body motion. Section 3 of this report applies the organization framework from the first section to the problem of perception and control of aircraft motion. This is a familiar problem in control-systems engineering and ecological psychology. Section 4 examines an essential but generally neglected aspect of vehicular control: coordination of postural control and vehicular control. To facilitate presentation of this new idea, postural control and its coordination with vehicular control are analyzed in terms of conceptual categories that are familiar in the analysis of vehicular control.

LPV Controller Interpolation for Improved Gain-Scheduling Control Performance

NASA Technical Reports Server (NTRS)

Wu, Fen; Kim, SungWan

2002-01-01

In this paper, a new gain-scheduling control design approach is proposed by combining LPV (linear parameter-varying) control theory with interpolation techniques. The improvement of gain-scheduled controllers can be achieved from local synthesis of Lyapunov functions and continuous construction of a global Lyapunov function by interpolation. It has been shown that this combined LPV control design scheme is capable of improving closed-loop performance derived from local performance improvement. The gain of the LPV controller will also change continuously across parameter space. The advantages of the newly proposed LPV control is demonstrated through a detailed AMB controller design example.

Anticipatory control: A software retrofit for current plant controllers

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

Parthasarathy, S.; Parlos, A.G.; Atiya, A.F.

1993-01-01

The design and simulated testing of an artificial neural network (ANN)-based self-adapting controller for complex process systems are presented in this paper. The proposed controller employs concepts based on anticipatory systems, which have been widely used in the petroleum and chemical industries, and they are slowly finding their way into the power industry. In particular, model predictive control (MPC) is used for the systematic adaptation of the controller parameters to achieve desirable plant performance over the entire operating envelope. The versatile anticipatory control algorithm developed in this study is projected to enhance plant performance and lend robustness to drifts inmore » plant parameters and to modeling uncertainties. This novel technique of integrating recurrent ANNs with a conventional controller structure appears capable of controlling complex, nonlinear, and nonminimum phase process systems. The direct, on-line adaptive control algorithm presented in this paper considers the plant response over a finite time horizon, diminishing the need for manual control or process interruption for controller gain tuning.« less

Coordinated train control and energy management control strategies

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

Gordon, S.P.; Lehrer, D.G.

1998-05-01

The Bay Area Rapid Transit (BART) system, in collaboration with Hughes Aircraft Company and Harmon Industries, as in the process of developing an Advanced Automatic Train Control (AATC) system to replace the current fixed-block automatic system. In the long run, the AATC system is expected to not only allow for safe short headway operation, but also to facilitate coordinated train control and energy management. This new system will employ spread spectrum radios, installed onboard trains, at wayside locations, and at control stations, to determine train locations and reliably transfer control information. Sandia National Laboratories has worked cooperatively with BART tomore » develop a simulator of the train control and the power consumption of the AATC system. The authors are now in the process of developing enhanced train control algorithms to supplement the safety critical controller in order to smooth out train trajectories through coordinated control of multiple trains, and to reduce energy consumption and power infrastructure requirements. The control algorithms so far considered include (1) reducing peak power consumption to avoid voltage sags, especially during an outage or while clearing a backup, (2) rapid and smooth recovery from a backup, (3) avoiding oscillations due to train interference, (4) limiting needle peaks in power demand at substations to some specified level, (5) coasting, and (6) coordinating train movement, e.g., starts/stops and hills.« less

Pilot control through the TAFCOS automatic flight control system

NASA Technical Reports Server (NTRS)

Wehrend, W. R., Jr.

1979-01-01

The set of flight control logic used in a recently completed flight test program to evaluate the total automatic flight control system (TAFCOS) with the controller operating in a fully automatic mode, was used to perform an unmanned simulation on an IBM 360 computer in which the TAFCOS concept was extended to provide a multilevel pilot interface. A pilot TAFCOS interface for direct pilot control by use of a velocity-control-wheel-steering mode was defined as well as a means for calling up conventional autopilot modes. It is concluded that the TAFCOS structure is easily adaptable to the addition of a pilot control through a stick-wheel-throttle control similar to conventional airplane controls. Conventional autopilot modes, such as airspeed-hold, altitude-hold, heading-hold, and flight path angle-hold, can also be included.

Variable flow control for a nuclear reactor control rod

DOEpatents

Carleton, Richard D.; Bhattacharyya, Ajay

1978-01-01

A variable flow control for a control rod assembly of a nuclear reactor that depends on turbulent friction though an annulus. The annulus is formed by a piston attached to the control rod drive shaft and a housing or sleeve fitted to the enclosure housing the control rod. As the nuclear fuel is burned up and the need exists for increased reactivity, the control rods are withdrawn, which increases the length of the annulus and decreases the rate of coolant flow through the control rod assembly.

FAA Air Traffic Control Operations Concepts. Volume 7. ATCT (Airport Traffic Control Towers) Tower Controllers

DTIC Science & Technology

1989-04-21

kift rIn FAA AIR TRAFFIC CONTROL OPERATIONS CONCEPTS V olum e V iI:.................... ATCT Tower Controllers AmELECTE JUL 2 11989 21 April 1989 A...01 022.3013209-87-B 11 a FAA AIR TRAFFIC CONTROL OPERATIONS CONCEPTS VOLUME VII: ATCT TOWER CONTROLLERS CDRL Bl 12, VOL. VII CONTRACT DTF-AO1-85-Y...INCORPORATED 7150 Campus Drive, Suite 100 Colorado Springs, CO 80920 (719) 590-5100 DOT/FAA/AP-87-0i (VOL#7) 21 April 1989 FAA AIR TRAFFIC CONTROL OPERATIONS

The neural optimal control hierarchy for motor control

NASA Astrophysics Data System (ADS)

DeWolf, T.; Eliasmith, C.

2011-10-01

Our empirical, neuroscientific understanding of biological motor systems has been rapidly growing in recent years. However, this understanding has not been systematically mapped to a quantitative characterization of motor control based in control theory. Here, we attempt to bridge this gap by describing the neural optimal control hierarchy (NOCH), which can serve as a foundation for biologically plausible models of neural motor control. The NOCH has been constructed by taking recent control theoretic models of motor control, analyzing the required processes, generating neurally plausible equivalent calculations and mapping them on to the neural structures that have been empirically identified to form the anatomical basis of motor control. We demonstrate the utility of the NOCH by constructing a simple model based on the identified principles and testing it in two ways. First, we perturb specific anatomical elements of the model and compare the resulting motor behavior with clinical data in which the corresponding area of the brain has been damaged. We show that damaging the assigned functions of the basal ganglia and cerebellum can cause the movement deficiencies seen in patients with Huntington's disease and cerebellar lesions. Second, we demonstrate that single spiking neuron data from our model's motor cortical areas explain major features of single-cell responses recorded from the same primate areas. We suggest that together these results show how NOCH-based models can be used to unify a broad range of data relevant to biological motor control in a quantitative, control theoretic framework.

Success Stories in Control: Nonlinear Dynamic Inversion Control

NASA Technical Reports Server (NTRS)

Bosworth, John T.

2010-01-01

NASA plays an important role in advancing the state of the art in flight control systems. In the case of Nonlinear Dynamic Inversion (NDI) NASA supported initial implementation of the theory in an aircraft and demonstration in a space vehicle. Dr. Dale Enns of Honeywell Aerospace Advanced Technology performed this work in cooperation with NASA and under NASA contract. Honeywell and Lockheed Martin were subsequently contracted by AFRL to create "Design Guidelines for Multivariable Control Theory". This foundational work directly contributed to the advancement of the technology and the credibility of the control law as a design option. As a result Honeywell collaborated with Lockheed Martin to produce a Nonlinear Dynamic Inversion controller for the X-35 and subsequently Lockheed Martin did the same for the production Lockheed Martin F-35 vehicle. The theory behind NDI is to use a systematic generalized approach to controlling a vehicle. Using general aircraft nonlinear equations of motion and onboard aerodynamic, mass properties, and engine models specific to the vehicle, a relationship between control effectors and desired aircraft motion can be formulated. Using this formulation a control combination is used that provides a predictable response to commanded motion. Control loops around this formulation shape the response as desired and provide robustness to modeling errors. Once the control law is designed it can be used on a similar class of vehicle with only an update to the vehicle specific onboard models.

Angular-velocity control approach for stance-control orthoses.

PubMed

Lemaire, Edward D; Goudreau, Louis; Yakimovich, Terris; Kofman, Jonathan

2009-10-01

Currently, stance-control knee orthoses require external control mechanisms to control knee flexion during stance and allow free knee motion during the swing phase of gait. A new angular-velocity control approach that uses a rotary-hydraulic device to resist knee flexion when the knee angular velocity passes a preset threshold is presented. This angular-velocity approach for orthotic stance control is based on the premise that knee-flexion angular velocity during a knee-collapse event, such as a stumble or fall, is greater than that during walking. The new hydraulic knee-flexion control device does not require an external control mechanism to switch from free motion to stance control mode. Functional test results demonstrated that the hydraulic angular-velocity activated knee joint provided free knee motion during walking, engaged upon knee collapse, and supported body weight while the end-user recovered to a safe body position. The joint was tested to 51.6 Nm in single loading tests and passed 200,000 repeated loading cycles with a peak load of 88 Nm per cycle. The hydraulic, angular velocity activation approach has potential to improve safety and security for people with lower extremity weakness or when recovering from joint trauma.

Structural Controllability and Controlling Centrality of Temporal Networks

PubMed Central

Pan, Yujian; Li, Xiang

2014-01-01

Temporal networks are such networks where nodes and interactions may appear and disappear at various time scales. With the evidence of ubiquity of temporal networks in our economy, nature and society, it's urgent and significant to focus on its structural controllability as well as the corresponding characteristics, which nowadays is still an untouched topic. We develop graphic tools to study the structural controllability as well as its characteristics, identifying the intrinsic mechanism of the ability of individuals in controlling a dynamic and large-scale temporal network. Classifying temporal trees of a temporal network into different types, we give (both upper and lower) analytical bounds of the controlling centrality, which are verified by numerical simulations of both artificial and empirical temporal networks. We find that the positive relationship between aggregated degree and controlling centrality as well as the scale-free distribution of node's controlling centrality are virtually independent of the time scale and types of datasets, meaning the inherent robustness and heterogeneity of the controlling centrality of nodes within temporal networks. PMID:24747676

Kinematics and Dynamics of Motion Control Based on Acceleration Control

NASA Astrophysics Data System (ADS)

Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

Quasi-modal vibration control by means of active control bearings

NASA Technical Reports Server (NTRS)

Nonami, K.; Fleming, D. P.

1986-01-01

This paper investigates a design method of an active control bearing system with only velocity feedback. The study provides a new quasi-modal control method for a control system design of an active control bearing system in which feedback coefficients are determined on the basis of a modal analysis. Although the number of sensors and actuators is small, this quasi-modal control method produces a control effect close to an ideal modal control.

Local position control: A new concept for control of manipulators

NASA Technical Reports Server (NTRS)

Kelly, Frederick A.

1988-01-01

Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

Multi-application controls: Robust nonlinear multivariable aerospace controls applications

NASA Technical Reports Server (NTRS)

Enns, Dale F.; Bugajski, Daniel J.; Carter, John; Antoniewicz, Bob

1994-01-01

This viewgraph presentation describes the general methodology used to apply Honywell's Multi-Application Control (MACH) and the specific application to the F-18 High Angle-of-Attack Research Vehicle (HARV) including piloted simulation handling qualities evaluation. The general steps include insertion of modeling data for geometry and mass properties, aerodynamics, propulsion data and assumptions, requirements and specifications, e.g. definition of control variables, handling qualities, stability margins and statements for bandwidth, control power, priorities, position and rate limits. The specific steps include choice of independent variables for least squares fits to aerodynamic and propulsion data, modifications to the management of the controls with regard to integrator windup and actuation limiting and priorities, e.g. pitch priority over roll, and command limiting to prevent departures and/or undesirable inertial coupling or inability to recover to a stable trim condition. The HARV control problem is characterized by significant nonlinearities and multivariable interactions in the low speed, high angle-of-attack, high angular rate flight regime. Systematic approaches to the control of vehicle motions modeled with coupled nonlinear equations of motion have been developed. This paper will discuss the dynamic inversion approach which explicity accounts for nonlinearities in the control design. Multiple control effectors (including aerodynamic control surfaces and thrust vectoring control) and sensors are used to control the motions of the vehicles in several degrees-of-freedom. Several maneuvers will be used to illustrate performance of MACH in the high angle-of-attack flight regime. Analytical methods for assessing the robust performance of the multivariable control system in the presence of math modeling uncertainty, disturbances, and commands have reached a high level of maturity. The structured singular value (mu) frequency response methodology is presented

Motion control of 7-DOF arms - The configuration control approach

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Long, Mark K.; Lee, Thomas S.

1993-01-01

Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola-68020/VME-bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control.

Controllability of discrete bilinear systems with bounded control.

NASA Technical Reports Server (NTRS)

Tarn, T. J.; Elliott, D. L.; Goka, T.

1973-01-01

The subject of this paper is the controllability of time-invariant discrete-time bilinear systems. Bilinear systems are classified into two categories; homogeneous and inhomogeneous. Sufficient conditions which ensure the global controllability of discrete-time bilinear systems are obtained by localized analysis in control variables.

Controller partitioning for integrated flight/propulsion control implementation

NASA Technical Reports Server (NTRS)

Garg, Sanjay

1993-01-01

The notion of partitioning a centralized controller into a decentralized, hierarchical structure suitable for integrated flight/propulsion control (IFPC) implementation is discussed. A systematic procedure is developed for determining partitioned airframe and engine subsystem controllers (subcontrollers), with the desired interconnection structure, that approximate the closed-loop performance and robustness characteristics of a given centralized controller. The procedure is demonstrated by application to IFPC design for a Short Take-Off and Vertical Landing (STOVL) aircraft in the landing approach to hover transition flight phase.

Control Systems

NASA Technical Reports Server (NTRS)

1984-01-01

Boeing Commercial Airplane Company's Flight Control Department engineers relied on Langley developed software package known as ORACLS to develop an advanced control synthesis package for both continuous and discrete control system. Package was used by Boeing for computerized analysis of new system designs. Resulting applications include a multiple input/output control system for the terrain-following navigation equipment of the Air Forces B-1 Bomber, and another for controlling in flight changes of wing camber on an experimental airplane. ORACLS is one of 1,300 computer programs available from COSMIC.

Substructural controller synthesis

NASA Technical Reports Server (NTRS)

Su, Tzu-Jeng; Craig, Roy R., Jr.

1989-01-01

A decentralized design procedure which combines substructural synthesis, model reduction, decentralized controller design, subcontroller synthesis, and controller reduction is proposed for the control design of flexible structures. The structure to be controlled is decomposed into several substructures, which are modeled by component mode synthesis methods. For each substructure, a subcontroller is designed by using the linear quadratic optimal control theory. Then, a controller synthesis scheme called Substructural Controller Synthesis (SCS) is used to assemble the subcontrollers into a system controller, which is to be used to control the whole structure.

Synthesis of nonlinear control strategies from fuzzy logic control algorithms

NASA Technical Reports Server (NTRS)

Langari, Reza

1993-01-01

Fuzzy control has been recognized as an alternative to conventional control techniques in situations where the plant model is not sufficiently well known to warrant the application of conventional control techniques. Precisely what fuzzy control does and how it does what it does is not quite clear, however. This important issue is discussed and in particular it is shown how a given fuzzy control scheme can resolve into a nonlinear control law and that in those situations the success of fuzzy control hinges on its ability to compensate for nonlinearities in plant dynamics.

Cascade control of superheated steam temperature with neuro-PID controller.

PubMed

Zhang, Jianhua; Zhang, Fenfang; Ren, Mifeng; Hou, Guolian; Fang, Fang

2012-11-01

In this paper, an improved cascade control methodology for superheated processes is developed, in which the primary PID controller is implemented by neural networks trained by minimizing error entropy criterion. The entropy of the tracking error can be estimated recursively by utilizing receding horizon window technique. The measurable disturbances in superheated processes are input to the neuro-PID controller besides the sequences of tracking error in outer loop control system, hence, feedback control is combined with feedforward control in the proposed neuro-PID controller. The convergent condition of the neural networks is analyzed. The implementation procedures of the proposed cascade control approach are summarized. Compared with the neuro-PID controller using minimizing squared error criterion, the proposed neuro-PID controller using minimizing error entropy criterion may decrease fluctuations of the superheated steam temperature. A simulation example shows the advantages of the proposed method. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Voltage Controller

NASA Technical Reports Server (NTRS)

1997-01-01

Power Efficiency Corporation, specifically formed to manufacture and develop products from NASA technology, has a license to a three-phase power factor controller originally developed by Frank Nola, an engineer at Marshall Space Flight Center. Power Efficiency and two major distributors, Performance Control and Edison Power Technologies, use the electronic control boards to assemble three different motor controllers: Power Commander, Performance Controller, and Energy Master. The company Power Factor Controller reduces excessive energy waste in AC induction motors. It is used in industries and applications where motors operate under variable loads, including elevators and escalators, machine tools, intake and exhaust fans, oil wells, conveyors, pumps, die casting, and compressors. Customer lists include companies such as May Department Stores, Caesars Atlantic City, Ford Motors, and American Axle.

Unidirectional Quantum Remote Control: Teleportation of Control-State

NASA Astrophysics Data System (ADS)

Zheng, Yi-Zhuang; Gu, Yong-Jian; Wu, Gui-Chu; Guo, Guang-Can

2003-08-01

We investigate the problem of teleportation of unitary operations by unidirectional control-state teleportation and propose a scheme called unidirectional quantum remote control. The scheme is based on the isomorphism between operation and state. It allows us to store a unitary operation in a control state, thereby teleportation of the unitary operation can be implemented by unidirectional teleportation of the control-state. We find that the probability of success for implementing an arbitrary unitary operation on arbitrary M-qubit state by unidirectional control-state teleportation is 4-M, and 2M ebits and 4M cbits are consumed in each teleportation. The project supported by the National Fundamental Research Programme (2001CB309300) and the Zhejiang Provincial Natural Science Foundation of China under Grant No. 102068

Effect of correlations on controllability transition in network control

PubMed Central

Nie, Sen; Wang, Xu-Wen; Wang, Bing-Hong; Jiang, Luo-Luo

2016-01-01

The network control problem has recently attracted an increasing amount of attention, owing to concerns including the avoidance of cascading failures of power-grids and the management of ecological networks. It has been proven that numerical control can be achieved if the number of control inputs exceeds a certain transition point. In the present study, we investigate the effect of degree correlation on the numerical controllability in networks whose topological structures are reconstructed from both real and modeling systems, and we find that the transition point of the number of control inputs depends strongly on the degree correlation in both undirected and directed networks with moderately sparse links. More interestingly, the effect of the degree correlation on the transition point cannot be observed in dense networks for numerical controllability, which contrasts with the corresponding result for structural controllability. In particular, for directed random networks and scale-free networks, the influence of the degree correlation is determined by the types of correlations. Our approach provides an understanding of control problems in complex sparse networks. PMID:27063294

Real-time Adaptive Control Using Neural Generalized Predictive Control

NASA Technical Reports Server (NTRS)

Haley, Pam; Soloway, Don; Gold, Brian

1999-01-01

The objective of this paper is to demonstrate the feasibility of a Nonlinear Generalized Predictive Control algorithm by showing real-time adaptive control on a plant with relatively fast time-constants. Generalized Predictive Control has classically been used in process control where linear control laws were formulated for plants with relatively slow time-constants. The plant of interest for this paper is a magnetic levitation device that is nonlinear and open-loop unstable. In this application, the reference model of the plant is a neural network that has an embedded nominal linear model in the network weights. The control based on the linear model provides initial stability at the beginning of network training. In using a neural network the control laws are nonlinear and online adaptation of the model is possible to capture unmodeled or time-varying dynamics. Newton-Raphson is the minimization algorithm. Newton-Raphson requires the calculation of the Hessian, but even with this computational expense the low iteration rate make this a viable algorithm for real-time control.

SODR Memory Control Buffer Control ASIC

NASA Technical Reports Server (NTRS)

Hodson, Robert F.

1994-01-01

The Spacecraft Optical Disk Recorder (SODR) is a state of the art mass storage system for future NASA missions requiring high transmission rates and a large capacity storage system. This report covers the design and development of an SODR memory buffer control applications specific integrated circuit (ASIC). The memory buffer control ASIC has two primary functions: (1) buffering data to prevent loss of data during disk access times, (2) converting data formats from a high performance parallel interface format to a small computer systems interface format. Ten 144 p in, 50 MHz CMOS ASIC's were designed, fabricated and tested to implement the memory buffer control function.

Improved fuzzy PID controller design using predictive functional control structure.

PubMed

Wang, Yuzhong; Jin, Qibing; Zhang, Ridong

2017-11-01

In conventional PID scheme, the ensemble control performance may be unsatisfactory due to limited degrees of freedom under various kinds of uncertainty. To overcome this disadvantage, a novel PID control method that inherits the advantages of fuzzy PID control and the predictive functional control (PFC) is presented and further verified on the temperature model of a coke furnace. Based on the framework of PFC, the prediction of the future process behavior is first obtained using the current process input signal. Then, the fuzzy PID control based on the multi-step prediction is introduced to acquire the optimal control law. Finally, the case study on a temperature model of a coke furnace shows the effectiveness of the fuzzy PID control scheme when compared with conventional PID control and fuzzy self-adaptive PID control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Optimal Control Design Advantages Utilizing Two-Degree-of-Freedom Controllers

DTIC Science & Technology

1993-12-01

AFrTIGAE/ENYIV3D-27 AD--A273 839 D"TIC OPTIMAL CONTROL DESIGN ADVANTAGES UTILIZING TWO-DEGREE-OF-FREEDOM CONTROLLERS THESIS Michael J. Stephens...AFIT/GAE/ENY/93D-27 OPTIMAL CONTROL DESIGN ADVANTAGES UTILIZING TWO-DEGREE-OF-FREEDOM CONTROLLERS THESIS Presented to the Faculty of the Graduate...measurement noises compared to the I- DOF model. xvii OPTIMAL CONTROL DESIGN ADVANTAGES UTILIZING TWO-DEGREE-OF-FREEDOM CONTROLLERS I. Introduction L1

Arbitrating Control of Control and Display Units

NASA Technical Reports Server (NTRS)

Sugden, Paul C.

2007-01-01

The ARINC 739 Switch is a computer program that arbitrates control of two multi-function control and display units (MCDUs) between (1) a commercial flight-management computer (FMC) and (2) NASA software used in research on transport aircraft. (MCDUs are the primary interfaces between pilots and FMCs on many commercial aircraft.) This program was recently redesigned into a software library that can be embedded in research application programs. As part of the redesign, this software was combined with software for creating custom pages of information to be displayed on a CDU. This software commands independent switching of the left (pilot s) and right (copilot s) MCDUs. For example, a custom CDU page can control the left CDU while the FMC controls the right CDU. The software uses menu keys to switch control of the CDU between the FMC or a custom CDU page. The software provides an interface that enables custom CDU pages to insert keystrokes into the FMC s CDU input interface. This feature allows the custom CDU pages to manipulate the FMC as if it were a pilot.

13. CONTROL ROOM OF GENE PUMPING STATION. CONTROL CUBICLES ARRAYED ...

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

13. CONTROL ROOM OF GENE PUMPING STATION. CONTROL CUBICLES ARRAYED BEHIND MANAGER'S ART DECO-STYLE CONTROL DESK, WITH CONTROL CUBICLE 1 AT FAR RIGHT AND CONTROL CUBICLE 9 AT FAR LEFT. - Gene Pump Plant, South of Gene Wash Reservoir, 2 miles west of Whitsett Pump Plant, Parker Dam, San Bernardino County, CA

Mosquito Control

MedlinePlus

... Labs and Research Centers Contact Us Share Mosquito Control About Mosquitoes General Information Life Cycle Information from ... Repellent that is Right for You DEET Mosquito Control Methods Success in mosquito control: an integrated approach ...

Multicopter control with Navio using REX control system

NASA Astrophysics Data System (ADS)

Golembiovsky, Matej; Dedek, Jan; Ozana, Stepan

2017-06-01

This article deals with study of possible connection of the REXcontrols platform with Raspberry Pi based control system and Navio2 expansion board. This board is designed for development of autonomous robotic platforms type car, plane or multicopter. In this article, control system REXcontrols is introduced and its integration possibilities for control board Navio2 are discussed. The main discussed aspects are communication possibilities of the REXcontrols system with external scripts which further on allow control of this board. The main reasons for this undertaking are vast possibilities of archiving, visualization, signal processing and control which REXcontrols system allows. The control itself of the navio2 board is done through numerous interfaces. Specifically it is a pair of SPI data buses, an I2C data bus, UART and multiple GPIO pins. However, since REXcontrols control system has only limited access to these data buses, it is necessary to establish the communication through external scripts. For this purpose REXcontrols is equipped with mechanisms; SILO, EPC and REXLANG which are described in the article. Due to its simple implementation into REXcontrols and the option to utilize available libraries for communication with Navio2 board in external script, an EPC block was selected for the final implementation.

Add Control: plant virtualization for control solutions in WWTP.

PubMed

Maiza, M; Bengoechea, A; Grau, P; De Keyser, W; Nopens, I; Brockmann, D; Steyer, J P; Claeys, F; Urchegui, G; Fernández, O; Ayesa, E

2013-01-01

This paper summarizes part of the research work carried out in the Add Control project, which proposes an extension of the wastewater treatment plant (WWTP) models and modelling architectures used in traditional WWTP simulation tools, addressing, in addition to the classical mass transformations (transport, physico-chemical phenomena, biological reactions), all the instrumentation, actuation and automation & control components (sensors, actuators, controllers), considering their real behaviour (signal delays, noise, failures and power consumption of actuators). Its ultimate objective is to allow a rapid transition from the simulation of the control strategy to its implementation at full-scale plants. Thus, this paper presents the application of the Add Control simulation platform for the design and implementation of new control strategies at the WWTP of Mekolalde.

Modelling and Control of an Annular Momentum Control Device

NASA Technical Reports Server (NTRS)

Downer, James R.; Johnson, Bruce G.

1988-01-01

The results of a modelling and control study for an advanced momentum storage device supported on magnetic bearings are documented. The control challenge posed by this device lies in its dynamics being such a strong function of flywheel rotational speed. At high rotational speed, this can lead to open loop instabilities, resulting in requirements for minimum and maximum control bandwidths and gains for the stabilizing controllers. Using recently developed analysis tools for systems described by complex coefficient differential equations, the closed properties of the controllers were analyzed and stability properties established. Various feedback controllers are investigated and discussed. Both translational and angular dynamics compensators are developed, and measures of system stability and robustness to plant and operational speed variations are presented.

Automatic control design procedures for restructurable aircraft control

NASA Technical Reports Server (NTRS)

Looze, D. P.; Krolewski, S.; Weiss, J.; Barrett, N.; Eterno, J.

1985-01-01

A simple, reliable automatic redesign procedure for restructurable control is discussed. This procedure is based on Linear Quadratic (LQ) design methodologies. It employs a robust control system design for the unfailed aircraft to minimize the effects of failed surfaces and to extend the time available for restructuring the Flight Control System. The procedure uses the LQ design parameters for the unfailed system as a basis for choosing the design parameters of the failed system. This philosophy alloys the engineering trade-offs that were present in the nominal design to the inherited by the restructurable design. In particular, it alloys bandwidth limitations and performance trade-offs to be incorporated in the redesigned system. The procedure also has several other desirable features. It effectively redistributes authority among the available control effectors to maximize the system performance subject to actuator limitations and constraints. It provides a graceful performance degradation as the amount of control authority lessens. When given the parameters of the unfailed aircraft, the automatic redesign procedure reproduces the nominal control system design.

Birth Control Methods

MedlinePlus

... Z Health Topics Birth control methods Birth control methods > A-Z Health Topics Birth control methods fact ... To receive Publications email updates Submit Birth control methods Birth control (contraception) is any method, medicine, or ...

A four-axis hand controller for helicopter flight control

NASA Technical Reports Server (NTRS)

Demaio, Joe

1993-01-01

A proof-of-concept hand controller for controlling lateral and longitudinal cyclic pitch, collective pitch and tail rotor thrust was developed. The purpose of the work was to address problems of operator fatigue, poor proprioceptive feedback and cross-coupling of axes associated with many four-axis controller designs. The present design is an attempt to reduce cross-coupling to a level that can be controlled with breakout force, rather than to eliminate it entirely. The cascaded design placed lateral and longitudinal cyclic in their normal configuration. Tail rotor thrust was placed atop the cyclic controller. A left/right twisting motion with the wrist made the control input. The axis of rotation was canted outboard (clockwise) to minimize cross-coupling with the cyclic pitch axis. The collective control was a twist grip, like a motorcycle throttle. Measurement of the amount of cross-coupling involved in pure, single-axis inputs showed cross coupling under 10 percent of full deflection for all axes. This small amount of cross-coupling could be further reduced with better damping and force gradient control. Fatigue was not found to be a problem, and proprioceptive feedback was adequate for all flight tasks executed.

Controlling You Watching Me: Measuring Perception Control on Social Media.

PubMed

Keep, Melanie; Attrill-Smith, Alison

2017-09-01

Online self-presentation assumes that individuals intentionally control how others perceive them based on their online behaviors. Existing tools are limited in their ability to measure this notion of perception control and there is little understanding around factors which may affect the desire for perception control. This article reports on the development of a perception control scale and comparisons of perception control across age and between genders. A total of 222 participants completed an online survey with items measuring perception control and participant demographics. A principal component analysis revealed a one-factor, 12-item scale explaining 41.14% of the variance. Perception control was found to increase with age and did not differ between genders. Results are consistent with existing impression management research suggesting that while participants of both genders desire to control how others perceive them, as a person's sense of self stabilizes over time, they are less motivated to change their behaviors to control others' impressions of them.

Birth Control

MedlinePlus

Birth control, also known as contraception, is designed to prevent pregnancy. Birth control methods may work in a number of different ... eggs that could be fertilized. Types include birth control pills, patches, shots, vaginal rings, and emergency contraceptive ...

Automatic control of finite element models for temperature-controlled radiofrequency ablation.

PubMed

Haemmerich, Dieter; Webster, John G

2005-07-14

The finite element method (FEM) has been used to simulate cardiac and hepatic radiofrequency (RF) ablation. The FEM allows modeling of complex geometries that cannot be solved by analytical methods or finite difference models. In both hepatic and cardiac RF ablation a common control mode is temperature-controlled mode. Commercial FEM packages don't support automating temperature control. Most researchers manually control the applied power by trial and error to keep the tip temperature of the electrodes constant. We implemented a PI controller in a control program written in C++. The program checks the tip temperature after each step and controls the applied voltage to keep temperature constant. We created a closed loop system consisting of a FEM model and the software controlling the applied voltage. The control parameters for the controller were optimized using a closed loop system simulation. We present results of a temperature controlled 3-D FEM model of a RITA model 30 electrode. The control software effectively controlled applied voltage in the FEM model to obtain, and keep electrodes at target temperature of 100 degrees C. The closed loop system simulation output closely correlated with the FEM model, and allowed us to optimize control parameters. The closed loop control of the FEM model allowed us to implement temperature controlled RF ablation with minimal user input.

Automatic control of finite element models for temperature-controlled radiofrequency ablation

PubMed Central

Haemmerich, Dieter; Webster, John G

2005-01-01

Background The finite element method (FEM) has been used to simulate cardiac and hepatic radiofrequency (RF) ablation. The FEM allows modeling of complex geometries that cannot be solved by analytical methods or finite difference models. In both hepatic and cardiac RF ablation a common control mode is temperature-controlled mode. Commercial FEM packages don't support automating temperature control. Most researchers manually control the applied power by trial and error to keep the tip temperature of the electrodes constant. Methods We implemented a PI controller in a control program written in C++. The program checks the tip temperature after each step and controls the applied voltage to keep temperature constant. We created a closed loop system consisting of a FEM model and the software controlling the applied voltage. The control parameters for the controller were optimized using a closed loop system simulation. Results We present results of a temperature controlled 3-D FEM model of a RITA model 30 electrode. The control software effectively controlled applied voltage in the FEM model to obtain, and keep electrodes at target temperature of 100°C. The closed loop system simulation output closely correlated with the FEM model, and allowed us to optimize control parameters. Discussion The closed loop control of the FEM model allowed us to implement temperature controlled RF ablation with minimal user input. PMID:16018811

Control Software

NASA Technical Reports Server (NTRS)

1997-01-01

Real-Time Innovations, Inc. (RTI) collaborated with Ames Research Center, the Jet Propulsion Laboratory and Stanford University to leverage NASA research to produce ControlShell software. RTI is the first "graduate" of Ames Research Center's Technology Commercialization Center. The ControlShell system was used extensively on a cooperative project to enhance the capabilities of a Russian-built Marsokhod rover being evaluated for eventual flight to Mars. RTI's ControlShell is complex, real-time command and control software, capable of processing information and controlling mechanical devices. One ControlShell tool is StethoScope. As a real-time data collection and display tool, StethoScope allows a user to see how a program is running without changing its execution. RTI has successfully applied its software savvy in other arenas, such as telecommunications, networking, video editing, semiconductor manufacturing, automobile systems, and medical imaging.

Control rod drive

DOEpatents

Hawke, Basil C.

1986-01-01

A control rod drive uses gravitational forces to insert one or more control rods upwardly into a reactor core from beneath the reactor core under emergency conditions. The preferred control rod drive includes a vertically movable weight and a mechanism operatively associating the weight with the control rod so that downward movement of the weight is translated into upward movement of the control rod. The preferred control rod drive further includes an electric motor for driving the control rods under normal conditions, an electrically actuated clutch which automatically disengages the motor during a power failure and a decelerator for bringing the control rod to a controlled stop when it is inserted under emergency conditions into a reactor core.

Veterinary infection control in Australia: is there control?

PubMed

Attard, K; Burrows, E; Kotiranta-Harris, K; Hedlefs, R; Ketheesan, N; Govan, B

2012-11-01

There is little information relating to infection control procedures in Australian veterinary practices. This review summarises the findings of international studies in the area of zoonoses and infection control, and discusses potential reasons for the apparent complacency about these issues in veterinary practice. It is the authors' opinion that legislative changes governing veterinary practice in Australia should be implemented. The curricula in veterinary schools should also emphasise infection control. These measures would significantly improve safety issues associated with the control of zoonoses in veterinary practice. © 2012 The Authors. Australian Veterinary Journal © 2012 Australian Veterinary Association.

Road map to adaptive optimal control. [jet engine control

NASA Technical Reports Server (NTRS)

Boyer, R.

1980-01-01

A building block control structure leading toward adaptive, optimal control for jet engines is developed. This approach simplifies the addition of new features and allows for easier checkout of the control by providing a baseline system for comparison. Also, it is possible to eliminate certain features that do not have payoff by being selective in the addition of new building blocks to be added to the baseline system. The minimum risk approach specifically addresses the need for active identification of the plant to be controlled in real time and real time optimization of the control for the identified plant.

CONTROL LIMITER DEVICE

DOEpatents

DeShong, J.A.

1960-03-01

A control-limiting device for monltoring a control system is described. The system comprises a conditionsensing device, a condition-varying device exerting a control over the condition, and a control means to actuate the condition-varying device. A control-limiting device integrates the total movement or other change of the condition-varying device over any interval of time during a continuum of overlapping periods of time, and if the tothl movement or change of the condition-varying device exceeds a preset value, the control- limiting device will switch the control of the operated apparatus from automatic to manual control.

3. EAGLE ROCK CONTROL CENTER, OPERATIONS CONTROL. AS SYSTEM BECOMES ...

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

3. EAGLE ROCK CONTROL CENTER, OPERATIONS CONTROL. AS SYSTEM BECOMES INCREASINGLY AUTOMATED, EAGLE ROCK WILL BECOME MORE AND MORE THE CENTRAL CONTROL SYSTEM OF THE METROPOLITAN WATER DISTRICT. - Eagle Rock Operations Control Center, Pasadena, Los Angeles County, CA

Restructurable Controls

NASA Technical Reports Server (NTRS)

Montoya, R. J. (Compiler); Howell, W. E. (Compiler); Bundick, W. T. (Compiler); Ostroff, A. J. (Compiler); Hueschen, R. M. (Compiler); Belcastro, C. M. (Compiler)

1983-01-01

Restructurable control system theory, robust reconfiguration for high reliability and survivability for advanced aircraft, restructurable controls problem definition and research, experimentation, system identification methods applied to aircraft, a self-repairing digital flight control system, and state-of-the-art theory application are addressed.

Finite Control Set Model Predictive Control for Multiple Distributed Generators Microgrids

NASA Astrophysics Data System (ADS)

Babqi, Abdulrahman Jamal

This dissertation proposes two control strategies for AC microgrids that consist of multiple distributed generators (DGs). The control strategies are valid for both grid-connected and islanded modes of operation. In general, microgrid can operate as a stand-alone system (i.e., islanded mode) or while it is connected to the utility grid (i.e., grid connected mode). To enhance the performance of a micrgorid, a sophisticated control scheme should be employed. The control strategies of microgrids can be divided into primary and secondary controls. The primary control regulates the output active and reactive powers of each DG in grid-connected mode as well as the output voltage and frequency of each DG in islanded mode. The secondary control is responsible for regulating the microgrid voltage and frequency in the islanded mode. Moreover, it provides power sharing schemes among the DGs. In other words, the secondary control specifies the set points (i.e. reference values) for the primary controllers. In this dissertation, Finite Control Set Model Predictive Control (FCS-MPC) was proposed for controlling microgrids. FCS-MPC was used as the primary controller to regulate the output power of each DG (in the grid-connected mode) or the voltage of the point of DG coupling (in the islanded mode of operation). In the grid-connected mode, Direct Power Model Predictive Control (DPMPC) was implemented to manage the power flow between each DG and the utility grid. In the islanded mode, Voltage Model Predictive Control (VMPC), as the primary control, and droop control, as the secondary control, were employed to control the output voltage of each DG and system frequency. The controller was equipped with a supplementary current limiting technique in order to limit the output current of each DG in abnormal incidents. The control approach also enabled smooth transition between the two modes. The performance of the control strategy was investigated and verified using PSCAD/EMTDC software

No evidence for common processes of cognitive control and self-control.

PubMed

Scherbaum, Stefan; Frisch, Simon; Holfert, Anna-Maria; O'Hora, Denis; Dshemuchadse, Maja

2018-01-01

Cognitive control and self-control are often used as interchangeable terms. Both terms refer to the ability to pursue long-term goals, but the types of controlled behavior that are typically associated with these terms differ, at least superficially. Cognitive control is observed in the control of attention and the overcoming of habitual responses, while self-control is observed in resistance to short-term impulses and temptations. Evidence from clinical studies and neuroimaging studies suggests that below these superficial differences, common control process (e.g., inhibition) might guide both types of controlled behavior. Here, we study this hypothesis in a behavioral experiment, which interlaced trials of a Simon task with trials of an intertemporal decision task. If cognitive control and self-control depend on a common control process, we expected conflict adaptation from Simon task trials to lead to increased self-control in the intertemporal decision trials. However, despite successful manipulations of conflict and conflict adaptation, we found no evidence for this hypothesis. We investigate a number of alternative explanations of this result and conclude that the differences between cognitive control and self-control are not superficial, but rather reflect differences at the process level. Copyright © 2017 Elsevier B.V. All rights reserved.

Spacecraft nonlinear control

NASA Technical Reports Server (NTRS)

Sheen, Jyh-Jong; Bishop, Robert H.

1992-01-01

The feedback linearization technique is applied to the problem of spacecraft attitude control and momentum management with control moment gyros (CMGs). The feedback linearization consists of a coordinate transformation, which transforms the system to a companion form, and a nonlinear feedback control law to cancel the nonlinear dynamics resulting in a linear equivalent model. Pole placement techniques are then used to place the closed-loop poles. The coordinate transformation proposed here evolves from three output functions of relative degree four, three, and two, respectively. The nonlinear feedback control law is presented. Stability in a neighborhood of a controllable torque equilibrium attitude (TEA) is guaranteed and this fact is demonstrated by the simulation results. An investigation of the nonlinear control law shows that singularities exist in the state space outside the neighborhood of the controllable TEA. The nonlinear control law is simplified by a standard linearization technique and it is shown that the linearized nonlinear controller provides a natural way to select control gains for the multiple-input, multiple-output system. Simulation results using the linearized nonlinear controller show good performance relative to the nonlinear controller in the neighborhood of the TEA.

Modal control of a plate using a fuzzy logic controller

NASA Astrophysics Data System (ADS)

Sharma, Manu; Singh, S. P.; Sachdeva, B. L.

2007-08-01

This paper presents fuzzy logic based independent modal space control (IMSC) and fuzzy logic based modified independent modal space control (MIMSC) of vibration. The rule base of the controller consists of nine rules, which have been derived based upon simple human reasoning. Input to the controller consists of the first two modal displacements and velocities of the structure and the output of the controller is the modal force to be applied by the actuator. Fuzzy logic is used in such a way that the actuator is never called to apply effort which is beyond safe limits and also the operator is saved from calculating control gains. The proposed fuzzy controller is experimentally tested for active vibration control of a cantilevered plate. A piezoelectric patch is used as a sensor to sense vibrations of the plate and another piezoelectric patch is used as an actuator to control vibrations of the plate. For analytical formulation, a finite element method based upon Hamilton's principle is used to model the plate. For experimentation, the first two modes of the plate are observed using a Kalman observer. Real-time experiments are performed to control the first mode, the second mode and both modes simultaneously. Experiments are also performed to control the first mode by IMSC, the second mode by IMSC and both modes simultaneously by MIMSC. It is found that for the same decibel reduction in the first mode, the voltage applied by the fuzzy logic based controller is less than that applied by IMSC. While controlling the second mode by IMSC, a considerable amount of spillover is observed in the first mode and region just after the second mode, whereas while controlling the second mode by fuzzy logic, spillover effects are much smaller. While controlling two modes simultaneously, with a single sensor/actuator pair, appreciable resonance control is observed both with fuzzy logic based MIMSC as well as with direct MIMSC, but there is a considerable amount of spillover in the off

A temperature controller board for the ARC controller

NASA Astrophysics Data System (ADS)

Tulloch, Simon

2016-07-01

A high-performance temperature controller board has been produced for the ARC Generation-3 CCD controller. It contains two 9W temperature servo loops and four temperature input channels and is fully programmable via the ARC API and OWL data acquisition program. PI-loop control is implemented in an on-board micro. Both diode and RTD sensors can be used. Control and telemetry data is sent via the ARC backplane although a USB-2 interface is also available. Further functionality includes hardware timers and high current drivers for external shutters and calibration LEDs, an LCD display, a parallel i/o port, a pressure sensor interface and an uncommitted analogue telemetry input.

Structural Pest Control.

ERIC Educational Resources Information Center

Kahn, M. S.; Hoffman, W. M.

This manual is designed for those who seek certification as pesticide applicators for industrial, institutional, structural, and health-related pest control. It is divided into six sections covering general pest control, wood-destroying organisms, bird control, fumigation, rodent control, and industrial weed control. The manual gives information…

COPD - control drugs

MedlinePlus

Chronic obstructive pulmonary disease - control drugs; Bronchodilators - COPD - control drugs; Beta agonist inhaler - COPD - control drugs; Anticholinergic inhaler - COPD - control drugs; Long-acting inhaler - COPD - ...

Combining matched and unmatched control groups in case-control studies.

PubMed

le Cessie, Saskia; Nagelkerke, Nico; Rosendaal, Frits R; van Stralen, Karlijn J; Pomp, Elisabeth R; van Houwelingen, Hans C

2008-11-15

Multiple control groups in case-control studies are used to control for different sources of confounding. For example, cases can be contrasted with matched controls to adjust for multiple genetic or unknown lifestyle factors and simultaneously contrasted with an unmatched population-based control group. Inclusion of different control groups for a single exposure analysis yields several estimates of the odds ratio, all using only part of the data. Here the authors introduce an easy way to combine odds ratios from several case-control analyses with the same cases. The approach is based upon methods used for meta-analysis but takes into account the fact that the same cases are used and that the estimated odds ratios are therefore correlated. Two ways of estimating this correlation are discussed: sandwich methodology and the bootstrap. Confidence intervals for the pooled estimates and a test for checking whether the odds ratios in the separate case-control studies differ significantly are derived. The performance of the method is studied by simulation and by applying the methods to a large study on risk factors for thrombosis, the MEGA Study (1999-2004), wherein cases with first venous thrombosis were included with a matched control group of partners and an unmatched population-based control group.

Quality control in diagnostic immunohistochemistry: integrated on-slide positive controls.

PubMed

Bragoni, A; Gambella, A; Pigozzi, S; Grigolini, M; Fiocca, R; Mastracci, L; Grillo, F

2017-11-01

Standardization in immunohistochemistry is a priority in modern pathology and requires strict quality control. Cost containment has also become fundamental and auditing of all procedures must take into account both these principles. Positive controls must be routinely performed so that their positivity guarantees the appropriateness of the immunohistochemical procedure. The aim of this study is to develop a low cost (utilizing a punch biopsy-PB-tool) procedure to construct positive controls which can be integrated in the patient's tissue slide. Sixteen frequently used control blocks were selected and multiple cylindrical samples were obtained using a 5-mm diameter punch biopsy tool, separately re-embedding them in single blocks. For each diagnostic immunoreaction requiring a positive control, an integrated PB-control section (cut from the appropriate PB-control block) was added to the top right corner of the diagnostic slide before immunostaining. This integrated control technique permitted a saving of 4.75% in total direct lab costs and proved to be technically feasible and reliable. Our proposal is easy to perform and within the reach of all pathology labs, requires easily available tools, its application costs is less than using external paired controls and ensures that a specific control for each slide is always available.

An Introduction to Controller Performance Assessment in Process Control Class through Stiction in Control Valves

ERIC Educational Resources Information Center

Srinivasan, Ranganathan; Rengaswamy, Raghunathan; Harris, Sandra

2007-01-01

In this paper, we discuss a simple liquid level experiment that can be used to teach nonlinear phenomena in process control through stiction in control valves. This experiment can be used to introduce the undergraduate students to the area of Controller Performance Assessment (CPA). The experiment is very easy to set-up and demonstrate. While…

Spacecraft attitude control using a smart control system

NASA Technical Reports Server (NTRS)

Buckley, Brian; Wheatcraft, Louis

1992-01-01

Traditionally, spacecraft attitude control has been implemented using control loops written in native code for a space hardened processor. The Naval Research Lab has taken this approach during the development of the Attitude Control Electronics (ACE) package. After the system was developed and delivered, NRL decided to explore alternate technologies to accomplish this same task more efficiently. The approach taken by NRL was to implement the ACE control loops using systems technologies. The purpose of this effort was to: (1) research capabilities required of an expert system in processing a classic closed-loop control algorithm; (2) research the development environment required to design and test an embedded expert systems environment; (3) research the complexity of design and development of expert systems versus a conventional approach; and (4) test the resulting systems against the flight acceptance test software for both response and accuracy. Two expert systems were selected to implement the control loops. Criteria used for the selection of the expert systems included that they had to run in both embedded systems and ground based environments. Using two different expert systems allowed a comparison of the real-time capabilities, inferencing capabilities, and the ground-based development environment. The two expert systems chosen for the evaluation were Spacecraft Command Language (SCL), and NEXTPERT Object. SCL is a smart control system produced for the NRL by Interface and Control Systems (ICS). SCL was developed to be used for real-time command, control, and monitoring of a new generation of spacecraft. NEXPERT Object is a commercially available product developed by Neuron Data. Results of the effort were evaluated using the ACE test bed. The ACE test bed had been developed and used to test the original flight hardware and software using simulators and flight-like interfaces. The test bed was used for testing the expert systems in a 'near-flight' environment

Multi-axis control based on movement control cards in NC systems

NASA Astrophysics Data System (ADS)

Jiang, Tingbiao; Wei, Yunquan

2005-12-01

Today most movement control cards need special control software of topper computers and are only suitable for fixed-axis controls. Consequently, the number of axes which can be controlled is limited. Advanced manufacture technology develops at a very high speed, and that development brings forth. New requirements for movement control in mechanisms and electronics. This paper introduces products of the 5th generation of movement control cards, PMAC 2A-PC/104, made by the Delta Tau Company in the USA. Based on an analysis of PMAC 2A-PC/104, this paper first describes two aspects relevant to the hardware structure of movement control cards and the interrelated software of the topper computers. Then, two methods are presented for solving these problems. The first method is to set limit switches on the movement control cards; all of them can be used to control each moving axis. The second method is to program applied software with existing programming language (for example, VC ++, Visual Basic, Delphi, and so forth). This program is much easier to operate and expand by its users. By using a limit switch, users can choose different axes in movement control cards. Also, users can change parts of the parameters in the control software of topper computers to realize different control axes. Combining these 2 methods proves to be convenient for realizing multi-axis control in numerical control systems.

Context-specific adjustment of cognitive control: Transfer of adaptive control sets.

PubMed

Surrey, Caroline; Dreisbach, Gesine; Fischer, Rico

2017-11-01

Cognitive control protects processing of relevant information from interference by irrelevant information. The level of this processing selectivity can be flexibly adjusted to different control demands (e.g., frequency of conflict) associated with a certain context, leading to the formation of specific context-control associations. In the present study we investigated the robustness and transferability of the acquired context-control demands to new situations. In three experiments, we used a version of the context-specific proportion congruence (CSPC) paradigm, in which each context (e.g., location) is associated with a specific conflict frequency, determining high and low control demands. In a learning phase, associations between context and control demands were established. In a subsequent transfer block, stimulus-response mappings, whole task sets, or context-control demands changed. Results showed an impressive robustness of context-control associations, as context-specific adjustments of control from the learning phase were virtually unaffected by new stimuli and tasks in the transfer block. Only a change of the context-control demand eliminated the context-specific adjustment of control. These findings suggest that context-control associations that have proven to be adaptive in the past are continuously applied despite major changes in the task structure as long as the context-control associations remain the same.

Controlling Fertility.

ERIC Educational Resources Information Center

Donnay, France

1991-01-01

Recent developments in fertility control are presented in relation to the global demographic situation. Discussion focuses on changes in scientific knowledge and concepts that have shifted the focus from birth control to planned parenthood to the notion of controlled fertility. The place of family planning programs, including their socioeconomic…

Detonation control

DOEpatents

Mace, Jonathan L.; Seitz, Gerald J.; Bronisz, Lawrence E.

2016-10-25

Detonation control modules and detonation control circuits are provided herein. A trigger input signal can cause a detonation control module to trigger a detonator. A detonation control module can include a timing circuit, a light-producing diode such as a laser diode, an optically triggered diode, and a high-voltage capacitor. The trigger input signal can activate the timing circuit. The timing circuit can control activation of the light-producing diode. Activation of the light-producing diode illuminates and activates the optically triggered diode. The optically triggered diode can be coupled between the high-voltage capacitor and the detonator. Activation of the optically triggered diode causes a power pulse to be released from the high-voltage capacitor that triggers the detonator.

Anticipatory Neurofuzzy Control

NASA Technical Reports Server (NTRS)

Mccullough, Claire L.

1994-01-01

Technique of feedback control, called "anticipatory neurofuzzy control," developed for use in controlling flexible structures and other dynamic systems for which mathematical models of dynamics poorly known or unknown. Superior ability to act during operation to compensate for, and adapt to, errors in mathematical model of dynamics, changes in dynamics, and noise. Also offers advantage of reduced computing time. Hybrid of two older fuzzy-logic control techniques: standard fuzzy control and predictive fuzzy control.

Manual-control Analysis Applied to the Money-supply Control Task

NASA Technical Reports Server (NTRS)

Wingrove, R. C.

1984-01-01

The recent procedure implemented by the Federal Reserve Board to control the money supply is formulated in the form of a tracking model as used in the study of manual-control tasks. Using this model, an analysis is made to determine the effect of monetary control on the fluctuations in economic output. The results indicate that monetary control can reduce the amplitude of fluctuations at frequencies near the region of historic business cycles. However, with significant time lags in the control loop, monetary control tends to increase the amplitude of the fluctuations at the higher frequencies. How the investigator or student can use the tools developed in the field of manual-control analysis to study the nature of economic fluctuations and to examine different strategies for stabilization is examined.

Reliable and Affordable Control Systems Active Combustor Pattern Factor Control

NASA Technical Reports Server (NTRS)

McCarty, Bob; Tomondi, Chris; McGinley, Ray

2004-01-01

Active, closed-loop control of combustor pattern factor is a cooperative effort between Honeywell (formerly AlliedSignal) Engines and Systems and the NASA Glenn Research Center to reduce emissions and turbine-stator vane temperature variations, thereby enhancing engine performance and life, and reducing direct operating costs. Total fuel flow supplied to the engine is established by the speed/power control, but the distribution to individual atomizers will be controlled by the Active Combustor Pattern Factor Control (ACPFC). This system consist of three major components: multiple, thin-film sensors located on the turbine-stator vanes; fuel-flow modulators for individual atomizers; and control logic and algorithms within the electronic control.

Controller for computer control of brushless dc motors. [automobile engines

NASA Technical Reports Server (NTRS)

Hieda, L. S. (Inventor)

1981-01-01

A motor speed and torque controller for brushless d.c. motors provides an unusually smooth torque control arrangement. The controller provides a means for controlling a current waveform in each winding of a brushless dc motor by synchronization of an excitation pulse train from a programmable oscillator. Sensing of torque for synchronization is provided by a light beam chopper mounted on the motor rotor shaft. Speed and duty cycle are independently controlled by controlling the frequency and pulse width output of the programmable oscillator. A means is also provided so that current transitions from one motor winding to another is effected without abrupt changes in output torque.

Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

1992-01-01

A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

From remote-controlled to self-controlled citizens

NASA Astrophysics Data System (ADS)

Helbing, D.

2017-01-01

The digital revolution will make data abundant and cheap. Moving from a time of darkness into a digital age with information overload, we will need suitable filters. However, those who build these filters will determine what we see. This creates possibilities to influence people's decisions such that they become remotely controlled rather than make their decisions on their own. Since omnibenevolent rule cannot be supposed and top-down control is flawed for several reasons, another approach is needed. It can be found with distributed control, collective intelligence and participation. "Nervousnet" will be presented as a feasible specimen of a Citizen Web.

Trajectory controllability of semilinear systems with multiple variable delays in control

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

Klamka, Jerzy, E-mail: Jerzy.Klamka@polsl.pl, E-mail: Michal.Niezabitowski@polsl.pl; Niezabitowski, Michał, E-mail: Jerzy.Klamka@polsl.pl, E-mail: Michal.Niezabitowski@polsl.pl

In this paper, finite-dimensional dynamical control system described by semilinear differential state equation with multiple variable delays in control are considered. The concept of controllability we extend on trajectory controllability for systems with multiple point delays in control. Moreover, remarks and comments on the relationships between different concepts of controllability are presented. Finally, simple numerical example, which illustrates theoretical considerations is also given. The possible extensions are also proposed.

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.

An accurate reactive power control study in virtual flux droop control

NASA Astrophysics Data System (ADS)

Wang, Aimeng; Zhang, Jia

2017-12-01

This paper investigates the problem of reactive power sharing based on virtual flux droop method. Firstly, flux droop control method is derived, where complicated multiple feedback loops and parameter regulation are avoided. Then, the reasons for inaccurate reactive power sharing are theoretically analyzed. Further, a novel reactive power control scheme is proposed which consists of three parts: compensation control, voltage recovery control and flux droop control. Finally, the proposed reactive power control strategy is verified in a simplified microgrid model with two parallel DGs. The simulation results show that the proposed control scheme can achieve accurate reactive power sharing and zero deviation of voltage. Meanwhile, it has some advantages of simple control and excellent dynamic and static performance.

29 CFR 4001.3 - Trades or businesses under common control; controlled groups.

Code of Federal Regulations, 2012 CFR

2012-07-01

... CORPORATION GENERAL TERMINOLOGY § 4001.3 Trades or businesses under common control; controlled groups. For... control with such person. (2) Persons are under common control if they are members of a “controlled group... 29 Labor 9 2012-07-01 2012-07-01 false Trades or businesses under common control; controlled...

29 CFR 4001.3 - Trades or businesses under common control; controlled groups.

Code of Federal Regulations, 2010 CFR

2010-07-01

... CORPORATION GENERAL TERMINOLOGY § 4001.3 Trades or businesses under common control; controlled groups. For... control with such person. (2) Persons are under common control if they are members of a “controlled group... 29 Labor 9 2010-07-01 2010-07-01 false Trades or businesses under common control; controlled...

29 CFR 4001.3 - Trades or businesses under common control; controlled groups.

Code of Federal Regulations, 2014 CFR

2014-07-01

... CORPORATION GENERAL TERMINOLOGY § 4001.3 Trades or businesses under common control; controlled groups. For... control with such person. (2) Persons are under common control if they are members of a “controlled group... 29 Labor 9 2014-07-01 2014-07-01 false Trades or businesses under common control; controlled...

29 CFR 4001.3 - Trades or businesses under common control; controlled groups.

Code of Federal Regulations, 2013 CFR

2013-07-01

... CORPORATION GENERAL TERMINOLOGY § 4001.3 Trades or businesses under common control; controlled groups. For... control with such person. (2) Persons are under common control if they are members of a “controlled group... 29 Labor 9 2013-07-01 2013-07-01 false Trades or businesses under common control; controlled...

29 CFR 4001.3 - Trades or businesses under common control; controlled groups.

Code of Federal Regulations, 2011 CFR

2011-07-01

... CORPORATION GENERAL TERMINOLOGY § 4001.3 Trades or businesses under common control; controlled groups. For... control with such person. (2) Persons are under common control if they are members of a “controlled group... 29 Labor 9 2011-07-01 2011-07-01 false Trades or businesses under common control; controlled...

Predictive IP controller for robust position control of linear servo system.

PubMed

Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

2016-07-01

Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Hand controller study of force and control mode

NASA Technical Reports Server (NTRS)

Morris, A. Terry

1992-01-01

The objectives are to compare and evaluate the utility and effectiveness of various input control devices, e.g., hand controllers, with respect to the relative importance of force and operation control mode (rate or position) for Space Station Freedom (SSF) related tasks. The topics are presented in viewgraph form and include the: Intelligent Research Systems Lab (ISRL) experimental design; Telerobotic Systems Research Laboratory (TSRL) final experimental design; and factor analysis summary of results.

Relationship between antigravity control and postural control in young children.

PubMed

Sellers, J S

1988-04-01

The purposes of this study were 1) to determine the relationship between antigravity control (supine flexion and prone extension) and postural control (static and dynamic balance), 2) to determine the quality of antigravity and postural control, and 3) to determine whether sex and ethnic group differences correlate with differences in antigravity control and postural control in young children. I tested 107 black, Hispanic, and Caucasian children in a Head Start program, with a mean age of 61 months. The study results showed significant relationships between antigravity control and postural control. Subjects' supine flexion performance was significantly related to the quantity and quality of their static and dynamic balance performance, whereas prone extension performance was related only to the quality of dynamic balance performance. Quality scale measurements (r = .90) indicated that the children in this study had not yet developed full antigravity or postural control. The study results revealed differences between sexes in the quality of static balance and prone extension performance and ethnic differences in static balance, dynamic balance, and prone extension performance.

Adaptive control method for core power control in TRIGA Mark II reactor

NASA Astrophysics Data System (ADS)

Sabri Minhat, Mohd; Selamat, Hazlina; Subha, Nurul Adilla Mohd

2018-01-01

The 1MWth Reactor TRIGA PUSPATI (RTP) Mark II type has undergone more than 35 years of operation. The existing core power control uses feedback control algorithm (FCA). It is challenging to keep the core power stable at the desired value within acceptable error bands to meet the safety demand of RTP due to the sensitivity of nuclear research reactor operation. Currently, the system is not satisfied with power tracking performance and can be improved. Therefore, a new design core power control is very important to improve the current performance in tracking and regulate reactor power by control the movement of control rods. In this paper, the adaptive controller and focus on Model Reference Adaptive Control (MRAC) and Self-Tuning Control (STC) were applied to the control of the core power. The model for core power control was based on mathematical models of the reactor core, adaptive controller model, and control rods selection programming. The mathematical models of the reactor core were based on point kinetics model, thermal hydraulic models, and reactivity models. The adaptive control model was presented using Lyapunov method to ensure stable close loop system and STC Generalised Minimum Variance (GMV) Controller was not necessary to know the exact plant transfer function in designing the core power control. The performance between proposed adaptive control and FCA will be compared via computer simulation and analysed the simulation results manifest the effectiveness and the good performance of the proposed control method for core power control.

65. DETAIL OF ASSISTANT LAUNCH CONTROLLER AND LAUNCH CONTROLLER PANELS ...

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

65. DETAIL OF ASSISTANT LAUNCH CONTROLLER AND LAUNCH CONTROLLER PANELS LOCATED NEAR CENTER OF SLC-3E CONTROL ROOM. NOTE 30-CHANNEL COMMUNICATIONS PANELS. PAYLOAD ENVIRONMENTAL CONTROL AND MONITORING PANELS (LEFT) AND LAUNCH OPERATORS PANEL (RIGHT) IN BACKGROUND. - Vandenberg Air Force Base, Space Launch Complex 3, Launch Operations Building, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Does Self-Control Training Improve Self-Control? A Meta-Analysis.

PubMed

Friese, Malte; Frankenbach, Julius; Job, Veronika; Loschelder, David D

2017-11-01

Self-control is positively associated with a host of beneficial outcomes. Therefore, psychological interventions that reliably improve self-control are of great societal value. A prominent idea suggests that training self-control by repeatedly overriding dominant responses should lead to broad improvements in self-control over time. Here, we conducted a random-effects meta-analysis based on robust variance estimation of the published and unpublished literature on self-control training effects. Results based on 33 studies and 158 effect sizes revealed a small-to-medium effect of g = 0.30, confidence interval (CI 95 ) [0.17, 0.42]. Moderator analyses found that training effects tended to be larger for (a) self-control stamina rather than strength, (b) studies with inactive compared to active control groups, (c) males than females, and (d) when proponents of the strength model of self-control were (co)authors of a study. Bias-correction techniques suggested the presence of small-study effects and/or publication bias and arrived at smaller effect size estimates (range: g corrected = .13 to .24). The mechanisms underlying the effect are poorly understood. There is not enough evidence to conclude that the repeated control of dominant responses is the critical element driving training effects.

Control Reconfiguration of Command and Control Systems

DTIC Science & Technology

2007-01-01

decision errors and control action delays upon entering a state. These two undesirable effects can be intertwined. To quantify their individual impact...19 6) Effect of...Study of the Effect of Supervisory Control on a Redundant Database Unit . . . . . . . . . . . . . . 32 (Metzler and Wu, Report to AFRL 2005) 9.1) Problem

Simulation Analysis of Computer-Controlled pressurization for Mixture Ratio Control

NASA Technical Reports Server (NTRS)

Alexander, Leslie A.; Bishop-Behel, Karen; Benfield, Michael P. J.; Kelley, Anthony; Woodcock, Gordon R.

2005-01-01

A procedural code (C++) simulation was developed to investigate potentials for mixture ratio control of pressure-fed spacecraft rocket propulsion systems by measuring propellant flows, tank liquid quantities, or both, and using feedback from these measurements to adjust propellant tank pressures to set the correct operating mixture ratio for minimum propellant residuals. The pressurization system eliminated mechanical regulators in favor of a computer-controlled, servo- driven throttling valve. We found that a quasi-steady state simulation (pressure and flow transients in the pressurization systems resulting from changes in flow control valve position are ignored) is adequate for this purpose. Monte-Carlo methods are used to obtain simulated statistics on propellant depletion. Mixture ratio control algorithms based on proportional-integral-differential (PID) controller methods were developed. These algorithms actually set target tank pressures; the tank pressures are controlled by another PID controller. Simulation indicates this approach can provide reductions in residual propellants.

Fluidic emergency roll control system. [for emergency aircraft control following failure of primary roll control system

NASA Technical Reports Server (NTRS)

Haefner, K. B.; Honda, T. S.

1973-01-01

A fluidic emergency roll control system for aircraft stabilization in the event of primary flight control failure was evaluated. The fluidic roll control units were designed to provide roll torque proportional to an electrical command as operated by two diametrically opposed thrust nozzles located in the wing tips. The control package consists of a solid propellant gas generator, two diametrically opposed vortex valve modulated thrust nozzles, and an electromagnetic torque motor. The procedures for the design, development, and performance testing of the system are described.

Structural Controllability of Temporal Networks with a Single Switching Controller

PubMed Central

Yao, Peng; Hou, Bao-Yu; Pan, Yu-Jian; Li, Xiang

2017-01-01

Temporal network, whose topology evolves with time, is an important class of complex networks. Temporal trees of a temporal network describe the necessary edges sustaining the network as well as their active time points. By a switching controller which properly selects its location with time, temporal trees are used to improve the controllability of the network. Therefore, more nodes are controlled within the limited time. Several switching strategies to efficiently select the location of the controller are designed, which are verified with synthetic and empirical temporal networks to achieve better control performance. PMID:28107538

Programmable Digital Controller

NASA Technical Reports Server (NTRS)

Wassick, Gregory J.

2012-01-01

An existing three-channel analog servo loop controller has been redesigned for piezoelectric-transducer-based (PZT-based) etalon control applications to a digital servo loop controller. This change offers several improvements over the previous analog controller, including software control over proportional-integral-derivative (PID) parameters, inclusion of other data of interest such as temperature and pressure in the control laws, improved ability to compensate for PZT hysteresis and mechanical mount fluctuations, ability to provide pre-programmed scanning and stepping routines, improved user interface, expanded data acquisition, and reduced size, weight, and power.

CONTROL ROD DRIVE

DOEpatents

Chapellier, R.A.; Rogers, I.

1961-06-27

Accurate and controlled drive for the control rod is from an electric motor. A hydraulic arrangement is provided to balance a piston against which a control rod is urged by the application of fluid pressure. The electric motor drive of the control rod for normal operation is made through the aforementioned piston. In the event scramming is required, the fluid pressure urging the control rod against the piston is relieved and an opposite fluid pressure is applied. The lack of mechanical connection between the electric motor and control rod facilitates the scramming operation.

Controlling chimeras

NASA Astrophysics Data System (ADS)

Bick, Christian; Martens, Erik A.

2015-03-01

Coupled phase oscillators model a variety of dynamical phenomena in nature and technological applications. Non-local coupling gives rise to chimera states which are characterized by a distinct part of phase-synchronized oscillators while the remaining ones move incoherently. Here, we apply the idea of control to chimera states: using gradient dynamics to exploit drift of a chimera, it will attain any desired target position. Through control, chimera states become functionally relevant; for example, the controlled position of localized synchrony may encode information and perform computations. Since functional aspects are crucial in (neuro-)biology and technology, the localized synchronization of a chimera state becomes accessible to develop novel applications. Based on gradient dynamics, our control strategy applies to any suitable observable and can be generalized to arbitrary dimensions. Thus, the applicability of chimera control goes beyond chimera states in non-locally coupled systems.

Accounting for control mislabeling in case-control biomarker studies.

PubMed

Rantalainen, Mattias; Holmes, Chris C

2011-12-02

In biomarker discovery studies, uncertainty associated with case and control labels is often overlooked. By omitting to take into account label uncertainty, model parameters and the predictive risk can become biased, sometimes severely. The most common situation is when the control set contains an unknown number of undiagnosed, or future, cases. This has a marked impact in situations where the model needs to be well-calibrated, e.g., when the prediction performance of a biomarker panel is evaluated. Failing to account for class label uncertainty may lead to underestimation of classification performance and bias in parameter estimates. This can further impact on meta-analysis for combining evidence from multiple studies. Using a simulation study, we outline how conventional statistical models can be modified to address class label uncertainty leading to well-calibrated prediction performance estimates and reduced bias in meta-analysis. We focus on the problem of mislabeled control subjects in case-control studies, i.e., when some of the control subjects are undiagnosed cases, although the procedures we report are generic. The uncertainty in control status is a particular situation common in biomarker discovery studies in the context of genomic and molecular epidemiology, where control subjects are commonly sampled from the general population with an established expected disease incidence rate.

Spacecraft attitude control using neuro-fuzzy approximation of the optimal controllers

NASA Astrophysics Data System (ADS)

Kim, Sung-Woo; Park, Sang-Young; Park, Chandeok

2016-01-01

In this study, a neuro-fuzzy controller (NFC) was developed for spacecraft attitude control to mitigate large computational load of the state-dependent Riccati equation (SDRE) controller. The NFC was developed by training a neuro-fuzzy network to approximate the SDRE controller. The stability of the NFC was numerically verified using a Lyapunov-based method, and the performance of the controller was analyzed in terms of approximation ability, steady-state error, cost, and execution time. The simulations and test results indicate that the developed NFC efficiently approximates the SDRE controller, with asymptotic stability in a bounded region of angular velocity encompassing the operational range of rapid-attitude maneuvers. In addition, it was shown that an approximated optimal feedback controller can be designed successfully through neuro-fuzzy approximation of the optimal open-loop controller.

Smooth integral sliding mode controller for the position control of Stewart platform.

PubMed

Kumar P, Ramesh; Chalanga, Asif; Bandyopadhyay, B

2015-09-01

This paper proposes the application of a new algorithm for the position control of a Stewart platform. The conventional integral sliding mode controller is a combination of nominal control and discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in the feedback control is undesirable for practical applications due to chattering which causes the wear and tear of the mechanical actuators. In this paper the existing integral sliding mode control law for systems with matched disturbances is modified by replacing the discontinuous part by a continuous modified twisting control. This proposed controller is continuous in nature due to the combinations of two continuous controls. The desired position of the platform has been achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

DETAIL INTERIOR VIEW OF CONTROL PANEL IN CONTROL STATION, VIEW ...

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

DETAIL INTERIOR VIEW OF CONTROL PANEL IN CONTROL STATION, VIEW TOWARDS WEST - St. Lucie Canal, Lock No. 1, Control Station, St. Lucie, Cross State Canal, Okeechobee Intracoastal Waterway, Stuart, Martin County, FL

3. VAL CONTROL STATION, VIEW OF CONTROL PANELS SHOWING MAIN ...

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

3. VAL CONTROL STATION, VIEW OF CONTROL PANELS SHOWING MAIN PRESSURE GAUGES, LOOKING NORTH. - Variable Angle Launcher Complex, Control Station, CA State Highway 39 at Morris Reservior, Azusa, Los Angeles County, CA

Aircraft control system

NASA Technical Reports Server (NTRS)

Kendall, Greg T. (Inventor); Morgan, Walter R. (Inventor)

2010-01-01

A span-loaded, highly flexible flying wing, having horizontal control surfaces mounted aft of the wing on extended beams to form local pitch-control devices. Each of five spanwise wing segments of the wing has one or more motors and photovoltaic arrays, and produces its own lift independent of the other wing segments, to minimize inter-segment loads. Wing dihedral is controlled by separately controlling the local pitch-control devices consisting of a control surface on a boom, such that inboard and outboard wing segment pitch changes relative to each other, and thus relative inboard and outboard lift is varied.

Cooperative control theory and integrated flight and propulsion control

NASA Technical Reports Server (NTRS)

Schmidt, David K.; Schierman, John D.

1995-01-01

The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multivariable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. In these example evaluations, the significance of these interactions was underscored. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important nonlinear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multivariable techniques, including model-following formulations of LQG and/or H infinity methods, showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods. The major contributions of the second phase of the grant was the development of conditions under which no decentralized controller could achieve closed loop system requirements on stability and/or performance. Sought were conditions that depended only on properties of the plant and the requirement, and independent of any particular control law or synthesis approach. Therefore, they could be applied a priori, before synthesis of a candidate control law. Under this grant, such conditions were found regarding stability, and encouraging initial results were obtained regarding performance.

Processing Control Information in a Nominal Control Construction: An Eye-Tracking Study.

PubMed

Kwon, Nayoung; Sturt, Patrick

2016-08-01

In an eye-tracking experiment, we examined the processing of the nominal control construction. Participants' eye-movements were monitored while they read sentences that included either giver control nominals (e.g. promise in Luke's promise to Sophia to photograph himself) or recipient control nominals (e.g. plea in Luke's plea to Sophia to photograph herself). In order to examine both the initial access of control information, and its later use in on-line processing, we combined a manipulation of nominal control with a gender match/mismatch paradigm. Results showed that there was evidence of processing difficulty for giver control sentences (relative to recipient control sentences) at the point where the control dependency was initially created, suggesting that control information was accessed during the early parsing stages. This effect is attributed to a recency preference in the formation of control dependencies; the parser prefers to assign a recent antecedent to PRO. In addition, readers slowed down after reading a reflexive pronoun that mismatched with the gender of the antecedent indicated by the control nominal (e.g. Luke's promise to Sophia to photograph herself). The mismatch cost suggests that control information of the nominal control construction was used to constrain dependency formation involving a controller, PRO and a reflexive, confirming the use of control information in on-line interpretation.

Myoelectric control system and task-specific characteristics affect voluntary use of simultaneous control

PubMed Central

Smith, Lauren H.; Kuiken, Todd A.; Hargrove, Levi J.

2015-01-01

Clinically available myoelectric control does not enable simultaneous proportional control of prosthetic degrees of freedom. Multiple studies have proposed systems that provide simultaneous control, though few have investigated whether subjects voluntarily use simultaneous control or how they implement it. Additionally, few studies have explicitly evaluated the effect of providing proportional velocity control. The objective of this study was to evaluate factors influencing when and how subjects use simultaneous myoelectric control, including the ability to proportionally control the velocity and the required task precision. Five able-bodied subjects used simultaneous myoelectric control systems with and without proportional velocity control in a virtual Fitts’ Law task. Though subjects used simultaneous control to a substantial degree when proportional velocity control was present, they used very little simultaneous control when using constant-velocity control. Furthermore, use of simultaneous control varied significantly with target distance and width, reflecting a strategy of using simultaneous control for gross cursor positioning and sequential control for fine corrective movements. These results provide insight into how users take advantage of simultaneous control and highlight the need for real-time evaluation of simultaneous control algorithms, as the potential benefit of providing simultaneous control may be affected by other characteristics of the myoelectric control system. PMID:25769167

Integrated flight/propulsion control - Adaptive engine control system mode

NASA Technical Reports Server (NTRS)

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

1985-01-01

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

77. Deputy commander's launch control console, fire control panel missing ...

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

77. Deputy commander's launch control console, fire control panel missing at right, south side - Ellsworth Air Force Base, Delta Flight, Launch Control Facility, County Road CS23A, North of Exit 127, Interior, Jackson County, SD

Drive Control of an Electric Vehicle by a Non-linear Controller

NASA Astrophysics Data System (ADS)

Mubin, Marizan; Ouchi, Shigeto; Anabuki, Masatoshi; Hirata, Hiroshi

The driving force of automobiles is transmitted by the frictional force between the tires and the road surface. This frictional force is a function of the weight of the car-body and the friction coefficient μ between the tires and the road surface. The friction coefficient μ is also a function of the following parameters: the slip ratio λ determined by the car-body speed and the wheel speed, and the condition of the road surface. Slippage of automobiles which causes much damage often occurs during accelerating and braking. In this paper, we propose a new drive control system which has an effect on acceleration and braking. In the drive control system, a non-linear controller designed by using a Lyapunov function is used. This non-linear controller has two functions: first one is μ control which moves the car-body, another one is λ control. The controller is designed in order that μ and λ work at noslip and with slip respectively. As another controller, a disturbance observer is used for estimating the car-body speed which is difficult to be measured. Then, this lead to the proof of the stability condition of the combined system which consists of two controllers: the non-linear controller and the disturbance observer. Finally, the effectiveness of this control system is proved by a very satisfactory simulation and experimental results for two cases.

141. Detail of east control panel in control room, looking ...

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

141. Detail of east control panel in control room, looking east. This panel contains electrical switches that were used to control valves at circular forebay. It also contains voltage regulators, synchroscope adjust field breaker, ammeters, wattmeters, temperature indicator of generator windings, and butterfly valve and governor controls. Photo by Jet Lowe, HAER, 1989. - Puget Sound Power & Light Company, White River Hydroelectric Project, 600 North River Avenue, Dieringer, Pierce County, WA

Contact Control, Version 1

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

von Sternberg, Alex

The contact control code is a generalized force control scheme meant to interface with a robotic arm being controlled using the Robot Operating System (ROS). The code allows the user to specify a control scheme for each control dimension in a way that many different control task controllers could be built from the same generalized controller. The input to the code includes maximum velocity, maximum force, maximum displacement, and a control law assigned to each direction and the output is a 6 degree of freedom velocity command that is sent to the robot controller.

Control of equipment isolation system using wavelet-based hybrid sliding mode control

NASA Astrophysics Data System (ADS)

Huang, Shieh-Kung; Loh, Chin-Hsiung

2017-04-01

Critical non-structural equipment, including life-saving equipment in hospitals, circuit breakers, computers, high technology instrumentations, etc., is vulnerable to strong earthquakes, and on top of that, the failure of the vibration-sensitive equipment will cause severe economic loss. In order to protect vibration-sensitive equipment or machinery against strong earthquakes, various innovative control algorithms are developed to compensate the internal forces that to be applied. These new or improved control strategies, such as the control algorithms based on optimal control theory and sliding mode control (SMC), are also developed for structures engineering as a key element in smart structure technology. The optimal control theory, one of the most common methodologies in feedback control, finds control forces through achieving a certain optimal criterion by minimizing a cost function. For example, the linear-quadratic regulator (LQR) was the most popular control algorithm over the past three decades, and a number of modifications have been proposed to increase the efficiency of classical LQR algorithm. However, except to the advantage of simplicity and ease of implementation, LQR are susceptible to parameter uncertainty and modeling error due to complex nature of civil structures. Different from LQR control, a robust and easy to be implemented control algorithm, SMC has also been studied. SMC is a nonlinear control methodology that forces the structural system to slide along surfaces or boundaries; hence this control algorithm is naturally robust with respect to parametric uncertainties of a structure. Early attempts at protecting vibration-sensitive equipment were based on the use of existing control algorithms as described above. However, in recent years, researchers have tried to renew the existing control algorithms or developing a new control algorithm to adapt the complex nature of civil structures which include the control of both structures and non

Controlling Separation in Turbomachines

NASA Technical Reports Server (NTRS)

Evans, Simon; Himmel, Christoph; Power, Bronwyn; Wakelam, Christian; Xu, Liping; Hynes, Tom; Hodson, Howard

2010-01-01

Four examples of flow control: 1) Passive control of LP turbine blades (Laminar separation control). 2) Aspiration of a conventional axial compressor blade (Turbulent separation control). 3) Compressor blade designed for aspiration (Turbulent separation control). 4.Control of intakes in crosswinds (Turbulent separation control).

Adaptive Controller Adaptation Time and Available Control Authority Effects on Piloting

NASA Technical Reports Server (NTRS)

Trujillo, Anna; Gregory, Irene

2013-01-01

Adaptive control is considered for highly uncertain, and potentially unpredictable, flight dynamics characteristic of adverse conditions. This experiment looked at how adaptive controller adaptation time to recover nominal aircraft dynamics affects pilots and how pilots want information about available control authority transmitted. Results indicate that an adaptive controller that takes three seconds to adapt helped pilots when looking at lateral and longitudinal errors. The controllability ratings improved with the adaptive controller, again the most for the three seconds adaptation time while workload decreased with the adaptive controller. The effects of the displays showing the percentage amount of available safe flight envelope used in the maneuver were dominated by the adaptation time. With the displays, the altitude error increased, controllability slightly decreased, and mental demand increased. Therefore, the displays did require some of the subjects resources but these negatives may be outweighed by pilots having more situation awareness of their aircraft.

A geometrical approach to control and controllability of nonlinear dynamical networks

PubMed Central

Wang, Le-Zhi; Su, Ri-Qi; Huang, Zi-Gang; Wang, Xiao; Wang, Wen-Xu; Grebogi, Celso; Lai, Ying-Cheng

2016-01-01

In spite of the recent interest and advances in linear controllability of complex networks, controlling nonlinear network dynamics remains an outstanding problem. Here we develop an experimentally feasible control framework for nonlinear dynamical networks that exhibit multistability. The control objective is to apply parameter perturbation to drive the system from one attractor to another, assuming that the former is undesired and the latter is desired. To make our framework practically meaningful, we consider restricted parameter perturbation by imposing two constraints: it must be experimentally realizable and applied only temporarily. We introduce the concept of attractor network, which allows us to formulate a quantifiable controllability framework for nonlinear dynamical networks: a network is more controllable if the attractor network is more strongly connected. We test our control framework using examples from various models of experimental gene regulatory networks and demonstrate the beneficial role of noise in facilitating control. PMID:27076273

Evaluating the use of friend or family controls in epidemiologic case-control studies.

PubMed

Zhong, Charlie; Cockburn, Myles; Cozen, Wendy; Voutsinas, Jenna; Lacey, James V; Luo, Jianning; Sullivan-Halley, Jane; Bernstein, Leslie; Wang, Sophia S

2017-02-01

Traditional methodologies for identifying and recruiting controls in epidemiologic case-control studies, such as random digit dialing or neighborhood walk, suffer from declining response rates. Here, we revisit the feasibility and comparability of using alternative sources of controls, specifically friend and family controls. We recruited from a recently completed case-control study of non-Hodgkin lymphoma (NHL) among women in Los Angeles County where controls from the parent study were ascertained by neighborhood walk. We calculated participation rates and compared questionnaire responses between the friend/family controls and the original matched controls from the parent study. Of the 182 NHL case patients contacted, 111 (61%) agreed to participate in our feasibility study. 70 (63%) provided contact information for potential friend and/or family member controls. We were able to successfully contact and recruit a friend/family member for 92% of the case patients. This represented 46 friend controls and 54 family controls. Family controls significantly differed from original matched controls by sex and household income. Other characteristics were similar between friend controls and the original study's neighborhood controls. The apparent comparability of neighborhood controls to friend and family controls among respondents in this study suggests that these alternative methods of control identification can serve as a complementary source of eligible controls in epidemiologic case-control studies. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Sharing control with haptics: seamless driver support from manual to automatic control.

PubMed

Mulder, Mark; Abbink, David A; Boer, Erwin R

2012-10-01

Haptic shared control was investigated as a human-machine interface that can intuitively share control between drivers and an automatic controller for curve negotiation. As long as automation systems are not fully reliable, a role remains for the driver to be vigilant to the system and the environment to catch any automation errors. The conventional binary switches between supervisory and manual control has many known issues, and haptic shared control is a promising alternative. A total of 42 respondents of varying age and driving experience participated in a driving experiment in a fixed-base simulator, in which curve negotiation behavior during shared control was compared to during manual control, as well as to three haptic tunings of an automatic controller without driver intervention. Under the experimental conditions studied, the main beneficial effect of haptic shared control compared to manual control was that less control activity (16% in steering wheel reversal rate, 15% in standard deviation of steering wheel angle) was needed for realizing an improved safety performance (e.g., 11% in peak lateral error). Full automation removed the need for any human control activity and improved safety performance (e.g., 35% in peak lateral error) but put the human in a supervisory position. Haptic shared control kept the driver in the loop, with enhanced performance at reduced control activity, mitigating the known issues that plague full automation. Haptic support for vehicular control ultimately seeks to intuitively combine human intelligence and creativity with the benefits of automation systems.

17. DETAIL OF CONTROL PANEL FOR FILTER #9: CONTROL SWITCHES ...

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

17. DETAIL OF CONTROL PANEL FOR FILTER #9: CONTROL SWITCHES CONTROL BY PERCENTAGE OF VALVE OPENINGS INFLUENT, EFFLUENT, DRAINAGE, BACKWASH AND SURFACE WASH. - F. E. Weymouth Filtration Plant, 700 North Moreno Avenue, La Verne, Los Angeles County, CA

A Robust H ∞ Controller for an UAV Flight Control System

PubMed Central

López, J.

2015-01-01

The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements. PMID:26221622

A Robust H ∞ Controller for an UAV Flight Control System.

PubMed

López, J; Dormido, R; Dormido, S; Gómez, J P

2015-01-01

The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

The impact of circulation control on rotary aircraft controls systems

NASA Technical Reports Server (NTRS)

Kingloff, R. F.; Cooper, D. E.

1987-01-01

Application of circulation to rotary wing systems is a new development. Efforts to determine the near and far field flow patterns and to analytically predict those flow patterns have been underway for some years. Rotary wing applications present a new set of challenges in circulation control technology. Rotary wing sections must accommodate substantial Mach number, free stream dynamic pressure and section angle of attack variation at each flight condition within the design envelope. They must also be capable of short term circulation blowing modulation to produce control moments and vibration alleviation in addition to a lift augmentation function. Control system design must provide this primary control moment, vibration alleviation and lift augmentation function. To accomplish this, one must simultaneously control the compressed air source and its distribution. The control law algorithm must therefore address the compressor as the air source, the plenum as the air pressure storage and the pneumatic flow gates or valves that distribute and meter the stored pressure to the rotating blades. Also, mechanical collective blade pitch, rotor shaft angle of attack and engine power control must be maintained.

Controls Considerations for Turbine Active Clearance Control

NASA Technical Reports Server (NTRS)

Melcher, Kevin J.

2004-01-01

This presentation discusses active control of turbine tip clearance from a control systems perspective. It is a subset of charts that were presented at the 2003 meeting of the International Society of Air Breathing Engines which was held August 31 through September 5 in Cleveland, Ohio. The associated reference paper is cited at the end of the presentation. The presentation describes active tip clearance control research being conducted by NASA to improve turbine engine systems. The target application for this effort is commercial aircraft engines. However, it is believed that the technologies developed as part of this research will benefit a broad spectrum of current and future turbomachinery. The first part of the presentation discusses the concept of tip clearance, problems associated with it, and the benefits of controlling it. It lays out a framework for implementing tip clearance controls that enables the implementation to progress from purely analytical to hardware-in-the-loop to fully experimental. And it briefly discusses how the technologies developed will be married to the previously described ACC Test Rig for hardware-in-the-loop demonstrations. The final portion of the presentation, describes one of the key technologies in some detail by presenting equations and results for a functional dynamic model of the tip clearance phenomena. As shown, the model exhibits many of the clearance dynamics found in commercial gas turbine engines. However, initial attempts to validate the model identified limitations that are being addressed to make the model more realistic.

Birth control, population control, and family planning: an overview.

PubMed

Critchlow, D T

1995-01-01

This overview of the US birth control movement reflects on the emergence of family planning policy due to the efforts of Margaret Sanger, feminists, and the civil rights movement, the eugenics motive to limit "deviant" populations, and the population control movement, which aims to solve social and economic problems through fertility control. Population control moved through three stages: from the cause of "voluntary motherhood" to advance suffrage and women's political and social status, to the concept of "birth control" promoted by socialist feminists to help empower women and the working class, to, from 1920 on, a liberal movement for civil rights and population control. Physicians such as Dr. Robert Latou Dickinson legitimized the movement in the formation of the Committee on Maternal Health in 1925, but the movement remained divided until 1939, when Sanger's group merged with the American Birth Control League, the predecessor of the present Planned Parenthood Federation of America. A key legal decision in 1939 in the United States v. One Package amended the Comstock Act and allowed for the distribution of birth control devices by mail to physicians. Sanger, after a brief retirement, formed the International Planned Parenthood Federation and supported research into the pill. Eugenicists through the Committee on Maternal Health supported Christopher Tietze and others developing the pill. Final constitutional access to contraception based on the right to privacy was granted in Griswold v. Connecticut. The ruling in Eisenstadt v. Baird in 1972 extended this right to unmarried persons. The right to privacy was further extended in the Roe v. Wade decision in 1973 on legal abortion. The argument for improving the quality of the population remained from the formation of the Population Reference Bureau in 1929 through the 1960s. Under the leadership of Rockefeller, population control was defined as justified on a scientific and humanitarian basis. US government support

Current control of PMSM based on maximum torque control reference frame

NASA Astrophysics Data System (ADS)

Ohnuma, Takumi

2017-07-01

This study presents a new method of current controls of PMSMs (Permanent Magnet Synchronous Motors) based on a maximum torque control reference frame, which is suitable for high-performance controls of the PMSMs. As the issues of environment and energy increase seriously, PMSMs, one of the AC motors, are becoming popular because of their high-efficiency and high-torque density in various applications, such as electric vehicles, trains, industrial machines, and home appliances. To use the PMSMs efficiently, a proper current control of the PMSMs is necessary. In general, a rotational coordinate system synchronizing with the rotor is used for the current control of PMSMs. In the rotating reference frame, the current control is easier because the currents on the rotating reference frame can be expressed as a direct current in the controller. On the other hand, the torque characteristics of PMSMs are non-linear and complex; the PMSMs are efficient and high-density though. Therefore, a complicated control system is required to involve the relation between the torque and the current, even though the rotating reference frame is adopted. The maximum torque control reference frame provides a simpler way to control efficiently the currents taking the torque characteristics of the PMSMs into consideration.

Development of ADOCS controllers and control laws. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

Landis, Kenneth H.; Glusman, Steven I.

1985-01-01

The Advanced Cockpit Controls/Advanced Flight Control System (ACC/AFCS) study was conducted by the Boeing Vertol Company as part of the Army's Advanced Digital/Optical Control System (ADOCS) program. Specifically, the ACC/AFCS investigation was aimed at developing the flight control laws for the ADOCS demonstrator aircraft that will provide satisfactory handling qualities for an attack helicopter mission. The three major elements of design considered during the study are as follows: Pilot's integrated Side-Stick Controller (SSC) -- Number of axes controlled; force/displacement characteristics; ergonomic design. Stability and Control Augmentation System (SCAS)--Digital flight control laws for the various mission phases; SCAS mode switching logic. Pilot's Displays--For night/adverse weather conditions, the dynamics of the superimposed symbology presented to the pilot in a format similar to the Advanced Attack Helicopter (AAH) Pilot Night Vision System (PNVS) for each mission phase as a function of SCAS characteristics; display mode switching logic. Volume 1 is an Executive Summary of the study. Conclusions drawn from analysis of pilot rating data and commentary were used to formulate recommendations for the ADOCS demonstrator flight control system design. The ACC/AFCS simulation data also provide an extensive data base to aid the development of advanced flight control system design for future V/STOL aircraft.

Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

PubMed

Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

2017-03-01

This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

Guaranteeing Isochronous Control of Networked Motion Control Systems Using Phase Offset Adjustment

PubMed Central

Kim, Ikhwan; Kim, Taehyoun

2015-01-01

Guaranteeing isochronous transfer of control commands is an essential function for networked motion control systems. The adoption of real-time Ethernet (RTE) technologies may be profitable in guaranteeing deterministic transfer of control messages. However, unpredictable behavior of software in the motion controller often results in unexpectedly large deviation in control message transmission intervals, and thus leads to imprecise motion. This paper presents a simple and efficient heuristic to guarantee the end-to-end isochronous control with very small jitter. The key idea of our approach is to adjust the phase offset of control message transmission time in the motion controller by investigating the behavior of motion control task. In realizing the idea, we performed a pre-runtime analysis to determine a safe and reliable phase offset and applied the phase offset to the runtime code of motion controller by customizing an open-source based integrated development environment (IDE). We also constructed an EtherCAT-based motion control system testbed and performed extensive experiments on the testbed to verify the effectiveness of our approach. The experimental results show that our heuristic is highly effective even for low-end embedded controller implemented in open-source software components under various configurations of control period and the number of motor drives. PMID:26076407

17. CONTROL ROOM, NORTH SIDE, WITH BRIDGE SWING CONTROLS ON ...

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

17. CONTROL ROOM, NORTH SIDE, WITH BRIDGE SWING CONTROLS ON LEFT, SIGNAL CONTROLS ON RIGHT, WHISTLE PULL TOP. RADIO TELEPHONE IN CENTER BACK (Fred Small) - Burlington Northern Railroad Bridge, Spanning Willamette River at River Mile 6.9, Portland, Multnomah County, OR

Dynamics and control of quadcopter using linear model predictive control approach

NASA Astrophysics Data System (ADS)

Islam, M.; Okasha, M.; Idres, M. M.

2017-12-01

This paper investigates the dynamics and control of a quadcopter using the Model Predictive Control (MPC) approach. The dynamic model is of high fidelity and nonlinear, with six degrees of freedom that include disturbances and model uncertainties. The control approach is developed based on MPC to track different reference trajectories ranging from simple ones such as circular to complex helical trajectories. In this control technique, a linearized model is derived and the receding horizon method is applied to generate the optimal control sequence. Although MPC is computer expensive, it is highly effective to deal with the different types of nonlinearities and constraints such as actuators’ saturation and model uncertainties. The MPC parameters (control and prediction horizons) are selected by trial-and-error approach. Several simulation scenarios are performed to examine and evaluate the performance of the proposed control approach using MATLAB and Simulink environment. Simulation results show that this control approach is highly effective to track a given reference trajectory.

A compatible control algorithm for greenhouse environment control based on MOCC strategy.

PubMed

Hu, Haigen; Xu, Lihong; Zhu, Bingkun; Wei, Ruihua

2011-01-01

Conventional methods used for solving greenhouse environment multi-objective conflict control problems lay excessive emphasis on control performance and have inadequate consideration for both energy consumption and special requirements for plant growth. The resulting solution will cause higher energy cost. However, during the long period of work and practice, we find that it may be more reasonable to adopt interval or region control objectives instead of point control objectives. In this paper, we propose a modified compatible control algorithm, and employ Multi-Objective Compatible Control (MOCC) strategy and an extant greenhouse model to achieve greenhouse climate control based on feedback control architecture. A series of simulation experiments through various comparative studies are presented to validate the feasibility of the proposed algorithm. The results are encouraging and suggest the energy-saving application to real-world engineering problems in greenhouse production. It may be valuable and helpful to formulate environmental control strategies, and to achieve high control precision and low energy cost for real-world engineering application in greenhouse production. Moreover, the proposed approach has also potential to be useful for other practical control optimization problems with the features like the greenhouse environment control system.

A Compatible Control Algorithm for Greenhouse Environment Control Based on MOCC Strategy

PubMed Central

Hu, Haigen; Xu, Lihong; Zhu, Bingkun; Wei, Ruihua

2011-01-01

Conventional methods used for solving greenhouse environment multi-objective conflict control problems lay excessive emphasis on control performance and have inadequate consideration for both energy consumption and special requirements for plant growth. The resulting solution will cause higher energy cost. However, during the long period of work and practice, we find that it may be more reasonable to adopt interval or region control objectives instead of point control objectives. In this paper, we propose a modified compatible control algorithm, and employ Multi-Objective Compatible Control (MOCC) strategy and an extant greenhouse model to achieve greenhouse climate control based on feedback control architecture. A series of simulation experiments through various comparative studies are presented to validate the feasibility of the proposed algorithm. The results are encouraging and suggest the energy-saving application to real-world engineering problems in greenhouse production. It may be valuable and helpful to formulate environmental control strategies, and to achieve high control precision and low energy cost for real-world engineering application in greenhouse production. Moreover, the proposed approach has also potential to be useful for other practical control optimization problems with the features like the greenhouse environment control system. PMID:22163799

Hierarchical control of ride height system for electronically controlled air suspension based on variable structure and fuzzy control theory

NASA Astrophysics Data System (ADS)

Xu, Xing; Zhou, Kongkang; Zou, Nannan; Jiang, Hong; Cui, Xiaoli

2015-09-01

The current research of air suspension mainly focuses on the characteristics and design of the air spring. In fact, electronically controlled air suspension (ECAS) has excellent performance in flexible height adjustment during different driving conditions. However, the nonlinearity of the ride height adjusting system and the uneven distribution of payload affect the control accuracy of ride height and the body attitude. Firstly, the three-point measurement system of three height sensors is used to establish the mathematical model of the ride height adjusting system. The decentralized control of ride height and the centralized control of body attitude are presented to design the ride height control system for ECAS. The exact feedback linearization method is adopted for the nonlinear mathematical model of the ride height system. Secondly, according to the hierarchical control theory, the variable structure control (VSC) technique is used to design a controller that is able to adjust the ride height for the quarter-vehicle anywhere, and each quarter-vehicle height control system is independent. Meanwhile, the three-point height signals obtained by three height sensors are tracked to calculate the body pitch and roll attitude over time, and then by calculating the deviation of pitch and roll and its rates, the height control correction is reassigned based on the fuzzy algorithm. Finally, to verify the effectiveness and performance of the proposed combined control strategy, a validating test of ride height control system with and without road disturbance is carried out. Testing results show that the height adjusting time of both lifting and lowering is over 5 s, and the pitch angle and the roll angle of body attitude are less than 0.15°. This research proposes a hierarchical control method that can guarantee the attitude stability, as well as satisfy the ride height tracking system.

Rethinking Coercive Control.

PubMed

Stark, Evan

2009-12-01

The critical appraisals of Coercive Control focus largely on what my analysis implies for intervention, a matter to which the book devotes only limited space. In this reply, I reiterate core concepts in the book and acknowledge that much more work is needed to translate the realities of coercive control into practical legal and advocacy strategies. I review how coercive control differs from partner assaults and so why it merits a distinct response; the extent to which coercive control targets gender identity; the wisdom of complementing the focus on violence with an emphasis on male domination, sexual inequality and personal liberty; what this implies for shelters and the law; why sexual inequality differentiates coercive control from female partner abuse of men; how sexual equality can be both cause and antidote for coercive control; why I think an affirmative concept of freedom is essential to grasp the human rights violations inflicted by coercive control; and what it means to "story" coercive control by integrating women into the larger liberty narrative on which our national identity rests.

Nuclear reactor control

DOEpatents

Cawley, William E.; Warnick, Robert F.

1982-01-01

1. In a nuclear reactor incorporating a plurality of columns of tubular fuel elements disposed in horizontal tubes in a mass of graphite wherein water flows through the tubes to cool the fuel elements, the improvement comprising at least one control column disposed in a horizontal tube including fewer fuel elements than in a normal column of fuel elements and tubular control elements disposed at both ends of said control column, and means for varying the horizontal displacement of the control column comprising a winch at the upstream end of the control column and a cable extending through the fuel and control elements and attached to the element at the downstream end of the column.

20. DETAIL INTERIOR VIEW OF STATION SERVICE CONTROLS IN CONTROL ...

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

20. DETAIL INTERIOR VIEW OF STATION SERVICE CONTROLS IN CONTROL ROOM ON LEVEL +77 OF POWERHOUSE #1; THESE CONTROLS ARE TO THE LEFT OF THE ORIGINAL OPERATOR DESK. - Bonneville Project, Powerhouse No.1, Spanning Bradford Slough, from Bradford Island, Bonneville, Multnomah County, OR

Decentralized adaptive control

NASA Technical Reports Server (NTRS)

Oh, B. J.; Jamshidi, M.; Seraji, H.

1988-01-01

A decentralized adaptive control is proposed to stabilize and track the nonlinear, interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.

Frequency-Specific Fractal Analysis of Postural Control Accounts for Control Strategies

PubMed Central

Gilfriche, Pierre; Deschodt-Arsac, Véronique; Blons, Estelle; Arsac, Laurent M.

2018-01-01

Diverse indicators of postural control in Humans have been explored for decades, mostly based on the trajectory of the center-of-pressure. Classical approaches focus on variability, based on the notion that if a posture is too variable, the subject is not stable. Going deeper, an improved understanding of underlying physiology has been gained from studying variability in different frequency ranges, pointing to specific short-loops (proprioception), and long-loops (visuo-vestibular) in neural control. More recently, fractal analyses have proliferated and become useful additional metrics of postural control. They allowed identifying two scaling phenomena, respectively in short and long timescales. Here, we show that one of the most widely used methods for fractal analysis, Detrended Fluctuation Analysis, could be enhanced to account for scalings on specific frequency ranges. By computing and filtering a bank of synthetic fractal signals, we established how scaling analysis can be focused on specific frequency components. We called the obtained method Frequency-specific Fractal Analysis (FsFA) and used it to associate the two scaling phenomena of postural control to proprioceptive-based control loop and visuo-vestibular based control loop. After that, convincing arguments of method validity came from an application on the study of unaltered vs. altered postural control in athletes. Overall, the analysis suggests that at least two timescales contribute to postural control: a velocity-based control in short timescales relying on proprioceptive sensors, and a position-based control in longer timescales with visuo-vestibular sensors, which is a brand-new vision of postural control. Frequency-specific scaling exponents are promising markers of control strategies in Humans. PMID:29643816

Cooperative control theory and integrated flight and propulsion control

NASA Technical Reports Server (NTRS)

Schmidt, David K.; Schierman, John D.

1994-01-01

This report documents the activities and research results obtained under a grant (NAG3-998) from the NASA Lewis Research Center. The focus of the research was the investigation of dynamic interactions between airframe and engines for advanced ASTOVL aircraft configurations, and the analysis of the implications of these interactions on the stability and performance of the airframe and engine control systems. In addition, the need for integrated flight and propulsion control for such aircraft was addressed. The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multi variable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important non-linear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multi variable techniques, included model-following formulations of LQG and/or H (infinity) methods showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods.

Feedback control of acoustic musical instruments: collocated control using physical analogs.

PubMed

Berdahl, Edgar; Smith, Julius O; Niemeyer, Günter

2012-01-01

Traditionally, the average professional musician has owned numerous acoustic musical instruments, many of them having distinctive acoustic qualities. However, a modern musician could prefer to have a single musical instrument whose acoustics are programmable by feedback control, where acoustic variables are estimated from sensor measurements in real time and then fed back in order to influence the controlled variables. In this paper, theory is presented that describes stable feedback control of an acoustic musical instrument. The presentation should be accessible to members of the musical acoustics community who may have limited or no experience with feedback control. First, the only control strategy guaranteed to be stable subject to any musical instrument mobility is described: the sensors and actuators must be collocated, and the controller must emulate a physical analog system. Next, the most fundamental feedback controllers and the corresponding physical analog systems are presented. The effects that these controllers have on acoustic musical instruments are described. Finally, practical design challenges are discussed. A proof explains why changing the resonance frequency of a musical resonance requires much more control power than changing the decay time of the resonance. © 2012 Acoustical Society of America.

Controllability of impulse controlled systems of heat equations coupled by constant matrices

NASA Astrophysics Data System (ADS)

Qin, Shulin; Wang, Gengsheng

2017-11-01

This paper studies the approximate and null controllability for impulse controlled systems of heat equations coupled by a pair (A , B) of constant matrices. We present a necessary and sufficient condition for the approximate controllability, which is exactly Kalman's controllability rank condition of (A , B). We prove that when such a system is approximately controllable, the approximate controllability over an interval [ 0 , T ] can be realized by adding controls at arbitrary q (A , B) different control instants 0 <τ1 <τ2 < ⋯ <τ q (A , B) < T, provided that τ q (A , B) -τ1 controllable.

Controlling chaos faster.

PubMed

Bick, Christian; Kolodziejski, Christoph; Timme, Marc

2014-09-01

Predictive feedback control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive feedback control is severely limited because asymptotic convergence speed decreases with stronger instabilities which in turn are typical for larger target periods, rendering it harder to effectively stabilize periodic orbits of large period. Here, we study stalled chaos control, where the application of control is stalled to make use of the chaotic, uncontrolled dynamics, and introduce an adaptation paradigm to overcome this limitation and speed up convergence. This modified control scheme is not only capable of stabilizing more periodic orbits than the original predictive feedback control but also speeds up convergence for typical chaotic maps, as illustrated in both theory and application. The proposed adaptation scheme provides a way to tune parameters online, yielding a broadly applicable, fast chaos control that converges reliably, even for periodic orbits of large period.

Active vibration control for flexible rotor by optimal direct-output feedback control

NASA Technical Reports Server (NTRS)

Nonami, Kenzou; Dirusso, Eliseo; Fleming, David P.

1989-01-01

Experimental research tests were performed to actively control the rotor vibrations of a flexible rotor mounted on flexible bearing supports. The active control method used in the tests is called optimal direct-output feedback control. This method uses four electrodynamic actuators to apply control forces directly to the bearing housings in order to achieve effective vibration control of the rotor. The force actuators are controlled by an analog controller that accepts rotor displacement as input. The controller is programmed with experimentally determined feedback coefficients; the output is a control signal to the force actuators. The tests showed that this active control method reduced the rotor resonance peaks due to unbalance from approximately 250 micrometers down to approximately 25 micrometers (essentially runout level). The tests were conducted over a speed range from 0 to 10,000 rpm; the rotor system had nine critical speeds within this speed range. The method was effective in significantly reducing the rotor vibration for all of the vibration modes and critical speeds.

Active vibration control for flexible rotor by optimal direct-output feedback control

NASA Technical Reports Server (NTRS)

Nonami, K.; Dirusso, E.; Fleming, D. P.

1989-01-01

Experimental research tests were performed to actively control the rotor vibrations of a flexible rotor mounted on flexible bearing supports. The active control method used in the tests is called optimal direct-output feedback control. This method uses four electrodynamic actuators to apply control forces directly to the bearing housings in order to achieve effective vibration control of the rotor. The force actuators are controlled by an analog controller that accepts rotor displacement as input. The controller is programmed with experimentally determined feedback coefficients; the output is a control signal to the force actuators. The tests showed that this active control method reduced the rotor resonance peaks due to unbalance from approximately 250 microns down to approximately 25 microns (essentially runout level). The tests were conducted over a speed range from 0 to 10,000 rpm; the rotor system had nine critical speeds within this speed range. The method was effective in significantly reducing the rotor vibration for all of the vibration modes and critical speeds.

10. CONTROL ROOM INTERIOR. Looking into southwest corner. CONTROL ROOM ...

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

10. CONTROL ROOM INTERIOR. Looking into southwest corner. CONTROL ROOM INTERIOR, SHOWING ESCAPE HATCH. Looking north along east wall. - Edwards Air Force Base, Air Force Rocket Propulsion Laboratory, Instrumentation & Control Building, Test Area 1-115, northwest end of Saturn Boulevard, Boron, Kern County, CA

MTPA control of mechanical sensorless IPMSM based on adaptive nonlinear control.

PubMed

Najjar-Khodabakhsh, Abbas; Soltani, Jafar

2016-03-01

In this paper, an adaptive nonlinear control scheme has been proposed for implementing maximum torque per ampere (MTPA) control strategy corresponding to interior permanent magnet synchronous motor (IPMSM) drive. This control scheme is developed in the rotor d-q axis reference frame using adaptive input-output state feedback linearization (AIOFL) method. The drive system control stability is supported by Lyapunov theory. The motor inductances are online estimated by an estimation law obtained by AIOFL. The estimation errors of these parameters are proved to be asymptotically converged to zero. Based on minimizing the motor current amplitude, the MTPA control strategy is performed by using the nonlinear optimization technique while considering the online reference torque. The motor reference torque is generated by a conventional rotor speed PI controller. By performing MTPA control strategy, the generated online motor d-q reference currents were used in AIOFL controller to obtain the SV-PWM reference voltages and the online estimation of the motor d-q inductances. In addition, the stator resistance is online estimated using a conventional PI controller. Moreover, the rotor position is detected using the online estimation of the stator flux and online estimation of the motor q-axis inductance. Simulation and experimental results obtained prove the effectiveness and the capability of the proposed control method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Riot Control Agents

MedlinePlus

... Submit What's this? Submit Button Facts About Riot Control Agents Interim document Recommend on Facebook Tweet Share Compartir What riot control agents are Riot control agents (sometimes referred to ...

Control Law-Control Allocation Interaction: F/A-18 PA Simulation Test - Bed

NASA Technical Reports Server (NTRS)

Durham, Wayne; Nelson, Mark

2001-01-01

This report documents the first stage of research into Control Law - Control Allocation Interactions. A three-year research effort was originally proposed: 1. Create a desktop flight simulation environment under which experiments related to the open questions may be conducted. 2. Conduct research to determine which aspects of control allocation have impact upon control law design that merits further research. 3. Conduct research into those aspects of control allocation identified above, and their impacts upon control law design. Simulation code was written utilizing the F/A-18 airframe in the power approach (PA) configuration. A dynamic inversion control law was implemented and used to drive a state-of-the-art control allocation subroutine.

JEN-1 Reactor Control System; SISTEMA DE CONTROL DEL REACTOR JEN-1

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

Cantillo, M.F.; Nuno, C.M.; Andreu, J.L.M.

1963-01-01

ABS>The JEN-1 3Mw power swimming pool reactor electrical control circuits are described. Start-up, power generation in the core, and shutdown are controlled by the reactor control system. This control system guarantees in each moment the safety conditions during reactor operation. Each circuit was represented by a scheme, complemented with a description of its function, components, and operation theory. Components described include: scram circuit; fission counter control circuit; servo control circuit; control circuit of safety sheets; control circuits of primary, secondary, and clean-up pump motors and tower fan motor; primary valve motor circuit; center cubicle alarm circuit; and process alarm circuit.more » (auth)« less

Tandem robot control system and method for controlling mobile robots in tandem

DOEpatents

Hayward, David R.; Buttz, James H.; Shirey, David L.

2002-01-01

A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

Heat Control via Torque Control in Friction Stir Welding

NASA Technical Reports Server (NTRS)

Venable, Richard; Colligan, Kevin; Knapp, Alan

2004-01-01

In a proposed advance in friction stir welding, the torque exerted on the workpiece by the friction stir pin would be measured and controlled in an effort to measure and control the total heat input to the workpiece. The total heat input to the workpiece is an important parameter of any welding process (fusion or friction stir welding). In fusion welding, measurement and control of heat input is a difficult problem. However, in friction stir welding, the basic principle of operation affords the potential of a straightforward solution: Neglecting thermal losses through the pin and the spindle that supports it, the rate of heat input to the workpiece is the product of the torque and the speed of rotation of the friction stir weld pin and, hence, of the spindle. Therefore, if one acquires and suitably processes data on torque and rotation and controls the torque, the rotation, or both, one should be able to control the heat input into the workpiece. In conventional practice in friction stir welding, one uses feedback control of the spindle motor to maintain a constant speed of rotation. According to the proposal, one would not maintain a constant speed of rotation: Instead, one would use feedback control to maintain a constant torque and would measure the speed of rotation while allowing it to vary. The torque exerted on the workpiece would be estimated as the product of (1) the torque-multiplication ratio of the spindle belt and/or gear drive, (2) the force measured by a load cell mechanically coupled to the spindle motor, and (3) the moment arm of the load cell. Hence, the output of the load cell would be used as a feedback signal for controlling the torque (see figure).

Irradiance and spectral distribution control system for controlled environment chambers

NASA Technical Reports Server (NTRS)

Krones, M. J.; Sager, J. C.; Johnson, A. T.; Knott, W. M. (Principal Investigator)

1987-01-01

This paper describes a closed-loop control system for controlling the irradiance and spectral quality generated by fluorescent lamps in a controlled environment chamber. The 400 to 800 nm irradiance and the ratio of the red waveband (600 to 700 nm) to the far-red waveband (700 to 800 nm) were independently controlled and varied as functions of time. A suggested application is to investigate the possibility of synergistic effects of changing irradiance levels and changing spectral distributions on photoperiodism and photomorphogenesis.

18. Station Service Control and Motor Control Center #2, view ...

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

18. Station Service Control and Motor Control Center #2, view to the northeast. Note the circuit breaker switch on cart in left corner of photograph. This switch is part of the motor control center which has been temporarily removed from the slot marked with a tag that is visible at lower left end of control center. - Washington Water Power Clark Fork River Noxon Rapids Hydroelectric Development, Powerhouse, South bank of Clark Fork River at Noxon Rapids, Noxon, Sanders County, MT

39. View of bridge operators controls in the control house ...

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

39. View of bridge operators controls in the control house facing south. Controls on the right are for the south span and on the left for the north span. The large dial indicator towards the top of the picture is a position indicator for the south span. Also present is a marine radio for talking to marine traffic and control ropes for the horn and siren. - Henry Ford Bridge, Spanning Cerritos Channel, Los Angeles-Long Beach Harbor, Los Angeles, Los Angeles County, CA

Fault tolerant control of multivariable processes using auto-tuning PID controller.

PubMed

Yu, Ding-Li; Chang, T K; Yu, Ding-Wen

2005-02-01

Fault tolerant control of dynamic processes is investigated in this paper using an auto-tuning PID controller. A fault tolerant control scheme is proposed composing an auto-tuning PID controller based on an adaptive neural network model. The model is trained online using the extended Kalman filter (EKF) algorithm to learn system post-fault dynamics. Based on this model, the PID controller adjusts its parameters to compensate the effects of the faults, so that the control performance is recovered from degradation. The auto-tuning algorithm for the PID controller is derived with the Lyapunov method and therefore, the model predicted tracking error is guaranteed to converge asymptotically. The method is applied to a simulated two-input two-output continuous stirred tank reactor (CSTR) with various faults, which demonstrate the applicability of the developed scheme to industrial processes.

REACTOR CONTROL

DOEpatents

Fortescue, P.; Nicoll, D.

1962-04-24

A control system employed with a high pressure gas cooled reactor in which a control rod is positioned for upward and downward movement into the neutron field from a position beneath the reactor is described. The control rod is positioned by a coupled piston cylinder releasably coupled to a power drive means and the pressurized coolant is directed against the lower side of the piston. The coolant pressure is offset by a higher fiuid pressure applied to the upper surface of the piston and means are provided for releasing the higher pressure on the upper side of the piston so that the pressure of the coolant drives the piston upwardly, forcing the coupled control rod into the ncutron field of the reactor. (AEC)

A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control

NASA Astrophysics Data System (ADS)

Obayashi, Masanao; Uchiyama, Shogo; Kuremoto, Takashi; Kobayashi, Kunikazu

This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

Controllability of control and mixture weakly dependent siphons in S3PR

NASA Astrophysics Data System (ADS)

Hong, Liang; Chao, Daniel Y.

2013-08-01

Deadlocks in a flexible manufacturing system modelled by Petri nets arise from insufficiently marked siphons. Monitors are added to control these siphons to avoid deadlocks rendering the system too complicated since the total number of monitors grows exponentially. Li and Zhou propose to add monitors only to elementary siphons while controlling the other (strongly or weakly) dependent siphons by adjusting control depth variables. To avoid generating new siphons, the control arcs are ended at source transitions of process nets. This disturbs the original model more and hence loses more live states. Negative terms in the controllability make the control policy for weakly dependent siphons rather conservative. We studied earlier on the controllability of strongly dependent siphons and proposed to add monitors in the order of basic, compound, control, partial mixture and full mixture (strongly dependent) siphons to reduce the number of mixed integer programming iterations and redundant monitors. This article further investigates the controllability of siphons derived from weakly 2-compound siphons. We discover that the controllability for weakly and strongly compound siphons is similar. It no longer holds for control and mixture siphons. Some control and mixture siphons, derived from strongly 2-compound siphons are not redundant - no longer so for those derived from weakly 2-compound siphons; that is all control and mixture siphons are redundant. They do not need to be the conservative one as proposed by Li and Zhou. Thus, we can adopt the maximally permissive control policy even though new siphons are generated.

Robotic excavator trajectory control using an improved GA based PID controller

NASA Astrophysics Data System (ADS)

Feng, Hao; Yin, Chen-Bo; Weng, Wen-wen; Ma, Wei; Zhou, Jun-jing; Jia, Wen-hua; Zhang, Zi-li

2018-05-01

In order to achieve excellent trajectory tracking performances, an improved genetic algorithm (IGA) is presented to search for the optimal proportional-integral-derivative (PID) controller parameters for the robotic excavator. Firstly, the mathematical model of kinematic and electro-hydraulic proportional control system of the excavator are analyzed based on the mechanism modeling method. On this basis, the actual model of the electro-hydraulic proportional system are established by the identification experiment. Furthermore, the population, the fitness function, the crossover probability and mutation probability of the SGA are improved: the initial PID parameters are calculated by the Ziegler-Nichols (Z-N) tuning method and the initial population is generated near it; the fitness function is transformed to maintain the diversity of the population; the probability of crossover and mutation are adjusted automatically to avoid premature convergence. Moreover, a simulation study is carried out to evaluate the time response performance of the proposed controller, i.e., IGA based PID against the SGA and Z-N based PID controllers with a step signal. It was shown from the simulation study that the proposed controller provides the least rise time and settling time of 1.23 s and 1.81 s, respectively against the other tested controllers. Finally, two types of trajectories are designed to validate the performances of the control algorithms, and experiments are performed on the excavator trajectory control experimental platform. It was demonstrated from the experimental work that the proposed IGA based PID controller improves the trajectory accuracy of the horizontal line and slope line trajectories by 23.98% and 23.64%, respectively in comparison to the SGA tuned PID controller. The results further indicate that the proposed IGA tuning based PID controller is effective for improving the tracking accuracy, which may be employed in the trajectory control of an actual excavator.

Alpha Control - A new Concept in SPM Control

NASA Astrophysics Data System (ADS)

Spizig, P.; Sanchen, D.; Volswinkler, G.; Ibach, W.; Koenen, J.

2006-03-01

Controlling modern Scanning Probe Microscopes demands highly sophisticated electronics. While flexibility and powerful computing power is of great importance in facilitating the variety of measurement modes, extremely low noise is also a necessity. Accordingly, modern SPM Controller designs are based on digital electronics to overcome the drawbacks of analog designs. While todays SPM controllers are based on DSPs or Microprocessors and often still incorporate analog parts, we are now introducing a completely new approach: Using a Field Programmable Gate Array (FPGA) to implement the digital control tasks allows unrivalled data processing speed by computing all tasks in parallel within a single chip. Time consuming task switching between data acquisition, digital filtering, scanning and the computing of feedback signals can be completely avoided. Together with a star topology to avoid any bus limitations in accessing the variety of ADCs and DACs, this design guarantees for the first time an entirely deterministic timing capability in the nanosecond regime for all tasks. This becomes especially useful for any external experiments which must be synchronized with the scan or for high speed scans that require not only closed loop control of the scanner, but also dynamic correction of the scan movement. Delicate samples additionally benefit from extremely high sample rates, allowing highly resolved signals and low noise levels.

Deadbeat Predictive Controllers

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Phan, Minh

1997-01-01

Several new computational algorithms are presented to compute the deadbeat predictive control law. The first algorithm makes use of a multi-step-ahead output prediction to compute the control law without explicitly calculating the controllability matrix. The system identification must be performed first and then the predictive control law is designed. The second algorithm uses the input and output data directly to compute the feedback law. It combines the system identification and the predictive control law into one formulation. The third algorithm uses an observable-canonical form realization to design the predictive controller. The relationship between all three algorithms is established through the use of the state-space representation. All algorithms are applicable to multi-input, multi-output systems with disturbance inputs. In addition to the feedback terms, feed forward terms may also be added for disturbance inputs if they are measurable. Although the feedforward terms do not influence the stability of the closed-loop feedback law, they enhance the performance of the controlled system.

Flight Control of Biomimetic Air Vehicles Using Vibrational Control and Averaging

NASA Astrophysics Data System (ADS)

Tahmasian, Sevak; Woolsey, Craig A.

2017-08-01

A combination of vibrational inputs and state feedback is applied to control the flight of a biomimetic air vehicle. First, a control strategy is developed for longitudinal flight, using a quasi-steady aerodynamic model and neglecting wing inertial effects. Vertical and forward motion is controlled by modulating the wings' stroke and feather angles, respectively. Stabilizing control parameter values are determined using the time-averaged dynamic model. Simulations of a system resembling a hawkmoth show that the proposed controller can overcome modeling error associated with the wing inertia and small parameter uncertainties when following a prescribed trajectory. After introducing the approach through an application to longitudinal flight, the control strategy is extended to address flight in three-dimensional space.

Irrigation Controllers

EPA Pesticide Factsheets

With proper installation, programming, and maintenance, homeowners and businesses can use WaterSense labeled controllers instead of standard clock-timer controllers on their existing systems, and no longer worry about wasted water.

Robust Control of Uncertain Systems via Dissipative LQG-Type Controllers

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.

2000-01-01

Optimal controller design is addressed for a class of linear, time-invariant systems which are dissipative with respect to a quadratic power function. The system matrices are assumed to be affine functions of uncertain parameters confined to a convex polytopic region in the parameter space. For such systems, a method is developed for designing a controller which is dissipative with respect to a given power function, and is simultaneously optimal in the linear-quadratic-Gaussian (LQG) sense. The resulting controller provides robust stability as well as optimal performance. Three important special cases, namely, passive, norm-bounded, and sector-bounded controllers, which are also LQG-optimal, are presented. The results give new methods for robust controller design in the presence of parametric uncertainties.

Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2012-01-01

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

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.

JPL control/structure interaction test bed real-time control computer architecture

NASA Technical Reports Server (NTRS)

Briggs, Hugh C.

1989-01-01

The Control/Structure Interaction Program is a technology development program for spacecraft that exhibit interactions between the control system and structural dynamics. The program objectives include development and verification of new design concepts - such as active structure - and new tools - such as combined structure and control optimization algorithm - and their verification in ground and possibly flight test. A focus mission spacecraft was designed based upon a space interferometer and is the basis for design of the ground test article. The ground test bed objectives include verification of the spacecraft design concepts, the active structure elements and certain design tools such as the new combined structures and controls optimization tool. In anticipation of CSI technology flight experiments, the test bed control electronics must emulate the computation capacity and control architectures of space qualifiable systems as well as the command and control networks that will be used to connect investigators with the flight experiment hardware. The Test Bed facility electronics were functionally partitioned into three units: a laboratory data acquisition system for structural parameter identification and performance verification; an experiment supervisory computer to oversee the experiment, monitor the environmental parameters and perform data logging; and a multilevel real-time control computing system. The design of the Test Bed electronics is presented along with hardware and software component descriptions. The system should break new ground in experimental control electronics and is of interest to anyone working in the verification of control concepts for large structures.

Feed Forward Neural Network and Optimal Control Problem with Control and State Constraints

NASA Astrophysics Data System (ADS)

Kmet', Tibor; Kmet'ová, Mária

2009-09-01

A feed forward neural network based optimal control synthesis is presented for solving optimal control problems with control and state constraints. The paper extends adaptive critic neural network architecture proposed by [5] to the optimal control problems with control and state constraints. The optimal control problem is transcribed into a nonlinear programming problem which is implemented with adaptive critic neural network. The proposed simulation method is illustrated by the optimal control problem of nitrogen transformation cycle model. Results show that adaptive critic based systematic approach holds promise for obtaining the optimal control with control and state constraints.

Towards autonomous fuzzy control

NASA Technical Reports Server (NTRS)

Shenoi, Sujeet; Ramer, Arthur

1993-01-01

The efficient implementation of on-line adaptation in real time is an important research problem in fuzzy control. The goal is to develop autonomous self-organizing controllers employing system-independent control meta-knowledge which enables them to adjust their control policies depending on the systems they control and the environments in which they operate. An autonomous fuzzy controller would continuously observe system behavior while implementing its control actions and would use the outcomes of these actions to refine its control policy. It could be designed to lie dormant when its control actions give rise to adequate performance characteristics but could rapidly and autonomously initiate real-time adaptation whenever its performance degrades. Such an autonomous fuzzy controller would have immense practical value. It could accommodate individual variations in system characteristics and also compensate for degradations in system characteristics caused by wear and tear. It could also potentially deal with black-box systems and control scenarios. On-going research in autonomous fuzzy control is reported. The ultimate research objective is to develop robust and relatively inexpensive autonomous fuzzy control hardware suitable for use in real time environments.

Weight Control

MedlinePlus

... obesity. Achieving a healthy weight can help you control your cholesterol, blood pressure and blood sugar. It ... use more calories than you eat. A weight-control strategy might include Choosing low-fat, low-calorie ...

Learning Switching Control: A Tank Level-Control Exercise

ERIC Educational Resources Information Center

Pasamontes, M.; Alvarez, J. D.; Guzman, J. L.; Berenguel, M.

2012-01-01

A key topic in multicontroller strategies is the mechanism for switching between controllers, depending on the current operating point. The objective of the switching mechanism is to keep the control action coherent. To help students understand the switching strategy involved in multicontroller schema and the relationship between the system…

Periodic control of the individual-blade-control helicopter rotor

NASA Technical Reports Server (NTRS)

Mckillip, R. M., Jr.

1985-01-01

This paper describes the results of an investigation into methods of controller design for linear periodic systems utilizing an extension of modern control methods. Trends present in the selection of various cost functions are outlined, and closed-loop controller results are demonstrated for two cases: first, on an analog computer simulation of the rigid out of plane flapping dynamics of a single rotor blade, and second, on a 4 ft diameter single-bladed model helicopter rotor in the MIT 5 x 7 subsonic wind tunnel, both for various high levels of advance ratio. It is shown that modal control using the IBC concept is possible over a large range of advance ratios with only a modest amount of computational power required.

Active control using control allocation for UAVs with seamless morphing wing

NASA Astrophysics Data System (ADS)

Wang, Zheng-jie; Sun, Yin-di; Yang, Da-qing; Guo, Shi-jun

2012-04-01

In this paper, a small seamless morphing wing aircraft of MTOW=51 kg is investigated. The leading edge (LE) and trailing edge (TE) control surfaces are positioned in the wing section in span wise. Based on the studying results of aeroelastic wing characteristics, the controller should be designed depending on the flight speed. Compared with a wing of rigid hinged aileron, the morphing wing produces the rolling moment by deflecting the flexible TE and LE surfaces. An iteration method of pseudo-inverse allocation and quadratic programming allocation within the constraints of actuators have be investigated to solve the nonlinear control allocation caused by the aerodynamics of the effectors. The simulation results will show that the control method based on control allocation can achieve the control target.

Active control using control allocation for UAVs with seamless morphing wing

NASA Astrophysics Data System (ADS)

Wang, Zheng-jie; Sun, Yin-di; Yang, Da-qing; Guo, Shi-jun

2011-11-01

In this paper, a small seamless morphing wing aircraft of MTOW=51 kg is investigated. The leading edge (LE) and trailing edge (TE) control surfaces are positioned in the wing section in span wise. Based on the studying results of aeroelastic wing characteristics, the controller should be designed depending on the flight speed. Compared with a wing of rigid hinged aileron, the morphing wing produces the rolling moment by deflecting the flexible TE and LE surfaces. An iteration method of pseudo-inverse allocation and quadratic programming allocation within the constraints of actuators have be investigated to solve the nonlinear control allocation caused by the aerodynamics of the effectors. The simulation results will show that the control method based on control allocation can achieve the control target.

Controllability of switched singular mix-valued logical control networks with constraints

NASA Astrophysics Data System (ADS)

Deng, Lei; Gong, Mengmeng; Zhu, Peiyong

2018-03-01

The present paper investigates the controllability problem of switched singular mix-valued logical control networks (SSMLCNs) with constraints on states and controls. First, using the semi-tenser product (STP) of matrices, the SSMLCN is expressed in an algebraic form, based on which a necessary and sufficient condition is given for the uniqueness of solution of SSMLCNs. Second, a necessary and sufficient criteria is derived for the controllability of constrained SSMLCNs, by converting a constrained SSMLCN into a parallel constrained switched mix-valued logical control network. Third, an algorithm is presented to design a proper switching sequence and a control scheme which force a state to a reachable state. Finally, a numerical example is given to demonstrate the efficiency of the results obtained in this paper.

Investigation of Optimal Control Allocation for Gust Load Alleviation in Flight Control

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Taylor, Brian R.; Bodson, Marc

2012-01-01

Advances in sensors and avionics computation power suggest real-time structural load measurements could be used in flight control systems for improved safety and performance. A conventional transport flight control system determines the moments necessary to meet the pilot's command, while rejecting disturbances and maintaining stability of the aircraft. Control allocation is the problem of converting these desired moments into control effector commands. In this paper, a framework is proposed to incorporate real-time structural load feedback and structural load constraints in the control allocator. Constrained optimal control allocation can be used to achieve desired moments without exceeding specified limits on monitored load points. Minimization of structural loads by the control allocator is used to alleviate gust loads. The framework to incorporate structural loads in the flight control system and an optimal control allocation algorithm will be described and then demonstrated on a nonlinear simulation of a generic transport aircraft with flight dynamics and static structural loads.

Equilibrium control of nonlinear verticum-type systems, applied to integrated pest control.

PubMed

Molnár, S; Gámez, M; López, I; Cabello, T

2013-08-01

Linear verticum-type control and observation systems have been introduced for modelling certain industrial systems, consisting of subsystems, vertically connected by certain state variables. Recently the concept of verticum-type observation systems and the corresponding observability condition have been extended by the authors to the nonlinear case. In the present paper the general concept of a nonlinear verticum-type control system is introduced, and a sufficient condition for local controllability to equilibrium is obtained. In addition to a usual linearization, the basic idea is a decomposition of the control of the whole system into the control of the subsystems. Starting from the integrated pest control model of Rafikov and Limeira (2012) and Rafikov et al. (2012), a nonlinear verticum-type model has been set up an equilibrium control is obtained. Furthermore, a corresponding bioeconomical problem is solved minimizing the total cost of integrated pest control (combining chemical control with a biological one). Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Control of Domestic Rats & Mice, Training Guide--Rodent Control Series.

ERIC Educational Resources Information Center

Bjornson, Bayard F.; And Others

As one booklet in a series on rodent control, this training guide has been developed to assist administrators, rodent-control operators, and others responsible for rodent-control operations in the training of employees in this field. Topics covered include rodents and human welfare, description and habits of domestic rats and mice, rodent-borne…

Neural net controller for inlet pressure control of rocket engine testing

NASA Technical Reports Server (NTRS)

Trevino, Luis C.

1994-01-01

Many dynamic systems operate in select operating regions, each exhibiting characteristic modes of behavior. It is traditional to employ standard adjustable gain proportional-integral-derivative (PID) loops in such systems where no apriori model information is available. However, for controlling inlet pressure for rocket engine testing, problems in fine tuning, disturbance accommodation, and control gains for new profile operating regions (for research and development) are typically encountered. Because of the capability of capturing I/O peculiarities, using NETS, a back propagation trained neural network is specified. For select operating regions, the neural network controller is simulated to be as robust as the PID controller. For a comparative analysis, the higher order moment neural array (HOMNA) method is used to specify a second neural controller by extracting critical exemplars from the I/O data set. Furthermore, using the critical exemplars from the HOMNA method, a third neural controller is developed using NETS back propagation algorithm. All controllers are benchmarked against each other.

High-Speed Current dq PI Controller for Vector Controlled PMSM Drive

PubMed Central

Reaz, Mamun Bin Ibne; Rahman, Labonnah Farzana; Chang, Tae Gyu

2014-01-01

High-speed current controller for vector controlled permanent magnet synchronous motor (PMSM) is presented. The controller is developed based on modular design for faster calculation and uses fixed-point proportional-integral (PI) method for improved accuracy. Current dq controller is usually implemented in digital signal processor (DSP) based computer. However, DSP based solutions are reaching their physical limits, which are few microseconds. Besides, digital solutions suffer from high implementation cost. In this research, the overall controller is realizing in field programmable gate array (FPGA). FPGA implementation of the overall controlling algorithm will certainly trim down the execution time significantly to guarantee the steadiness of the motor. Agilent 16821A Logic Analyzer is employed to validate the result of the implemented design in FPGA. Experimental results indicate that the proposed current dq PI controller needs only 50 ns of execution time in 40 MHz clock, which is the lowest computational cycle for the era. PMID:24574913

Dynamic power flow controllers

DOEpatents

Divan, Deepakraj M.; Prasai, Anish

2017-03-07

Dynamic power flow controllers are provided. A dynamic power flow controller may comprise a transformer and a power converter. The power converter is subject to low voltage stresses and not floated at line voltage. In addition, the power converter is rated at a fraction of the total power controlled. A dynamic power flow controller controls both the real and the reactive power flow between two AC sources having the same frequency. A dynamic power flow controller inserts a voltage with controllable magnitude and phase between two AC sources; thereby effecting control of active and reactive power flows between two AC sources.

Birth Control Explorer

MedlinePlus

... STIs Media Facebook Twitter Tumblr Shares · 0 Birth Control Explorer Sort by all methods most effective methods ... You are here Home » Birth Control Explorer Birth Control Explorer If you’re having sex —or if ...

EPICS Controlled Collimator for Controlling Beam Sizes in HIPPO

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

Napolitano, Arthur Soriano; Vogel, Sven C.

2017-08-03

Controlling the beam spot size and shape in a diffraction experiment determines the probed sample volume. The HIPPO - High-Pressure-Preferred Orientation– neutron time-offlight diffractometer is located at the Lujan Neutron Scattering Center in Los Alamos National Laboratories. HIPPO characterizes microstructural parameters, such as phase composition, strains, grain size, or texture, of bulk (cm-sized) samples. In the current setup, the beam spot has a 10 mm diameter. Using a collimator, consisting of two pairs of neutron absorbing boron-nitride slabs, horizontal and vertical dimensions of a rectangular beam spot can be defined. Using the HIPPO robotic sample changer for sample motion, themore » collimator would enable scanning of e.g. cylindrical samples along the cylinder axis by probing slices of such samples. The project presented here describes implementation of such a collimator, in particular the motion control software. We utilized the EPICS (Experimental Physics Interface and Control System) software interface to integrate the collimator control into the HIPPO instrument control system. Using EPICS, commands are sent to commercial stepper motors that move the beam windows.« less

Motor control and learning with lower-limb myoelectric control in amputees.

PubMed

Alcaide-Aguirre, Ramses E; Morgenroth, David C; Ferris, Daniel P

2013-01-01

Advances in robotic technology have recently enabled the development of powered lower-limb prosthetic limbs. A major hurdle in developing commercially successful powered prostheses is the control interface. Myoelectric signals are one way for prosthetic users to provide feedforward volitional control of prosthesis mechanics. The goal of this study was to assess motor learning in people with lower-limb amputation using proportional myoelectric control from residual-limb muscles. We examined individuals with transtibial amputation and nondisabled controls performing tracking tasks of a virtual object. We assessed how quickly the individuals with amputation improved their performance and whether years since amputation correlated with performance. At the beginning of training, subjects with amputation performed much worse than control subjects. By the end of a short training period, tracking error did not significantly differ between subjects with amputation and nondisabled subjects. Initial but not final performance correlated significantly with time since amputation. This study demonstrates that although subjects with amputation may initially have poor volitional control of their residual lower-limb muscles, training can substantially improve their volitional control. These findings are encouraging for the future use of proportional myoelectric control of powered lower-limb prostheses.

Capabilities of a New Pressure Controller for Gas-Controlled Heat Pipes

NASA Astrophysics Data System (ADS)

Giunta, S.; Merlone, A.; Marenco, S.; Marcarino, P.; Tiziani, A.

2008-10-01

Pressure control is used in many metrological applications and for the control of thermodynamic quantities. At the Italian National Research Institute of Metrology (INRiM), a new pressure controller has been designed and assembled, operating in the pressure range between 4 kPa and 400 kPa. This innovative instrument uses a commercial pressure transducer with a sensitivity of 10-4 and several electro-valves interposed among calibrated volumes of different dimensions in order to realize known ratios for very fine pressure changes. The device is provided with several circuits to drive the electro-valve actions, for signal processing and transmission, and for both manual and automatic control. Input/output peripherals, such as a 4 × 20 dot matrix display and a 4 × 4 keyboard, allow setting of the parameters and data visualization, while a remote control port allows interfacing with a computer. The operating principle of this pressure controller has been recently applied, with excellent results, to control the pressure in gas-controlled heat pipes by using a standard platinum resistance thermometer as a temperature/pressure sensor, achieving in this case a relative sensitivity better than 10-6 in pressure. Several tests were also made to control the pressure by means of a commercial sensor. The device, its main components, and its capabilities are here reported, together with application tests and results.

Testing a Constrained MPC Controller in a Process Control Laboratory

ERIC Educational Resources Information Center

Ricardez-Sandoval, Luis A.; Blankespoor, Wesley; Budman, Hector M.

2010-01-01

This paper describes an experiment performed by the fourth year chemical engineering students in the process control laboratory at the University of Waterloo. The objective of this experiment is to test the capabilities of a constrained Model Predictive Controller (MPC) to control the operation of a Double Pipe Heat Exchanger (DPHE) in real time.…

Learning Sequential Composition Control.

PubMed

Najafi, Esmaeil; Babuska, Robert; Lopes, Gabriel A D

2016-11-01

Sequential composition is an effective supervisory control method for addressing control problems in nonlinear dynamical systems. It executes a set of controllers sequentially to achieve a control specification that cannot be realized by a single controller. As these controllers are designed offline, sequential composition cannot address unmodeled situations that might occur during runtime. This paper proposes a learning approach to augment the standard sequential composition framework by using online learning to handle unforeseen situations. New controllers are acquired via learning and added to the existing supervisory control structure. In the proposed setting, learning experiments are restricted to take place within the domain of attraction (DOA) of the existing controllers. This guarantees that the learning process is safe (i.e., the closed loop system is always stable). In addition, the DOA of the new learned controller is approximated after each learning trial. This keeps the learning process short as learning is terminated as soon as the DOA of the learned controller is sufficiently large. The proposed approach has been implemented on two nonlinear systems: 1) a nonlinear mass-damper system and 2) an inverted pendulum. The results show that in both cases a new controller can be rapidly learned and added to the supervisory control structure.

The Galileo scan platform pointing control system - A modern control theoretic viewpoint

NASA Technical Reports Server (NTRS)

Sevaston, G. E.; Macala, G. A.; Man, G. K.

1985-01-01

The current Galileo scan platform pointing control system (SPPCS) is described, and ways in which modern control concepts could serve to enhance it are considered. Of particular interest are: the multi-variable design model and overall control system architecture, command input filtering, feedback compensator and command input design, stability robustness constraint for both continuous time control systems and for sampled data control systems, and digital implementation of the control system. The proposed approach leads to the design of a system that is similar to current Galileo SPPCS configuration, but promises to be more systematic.

Indirect decentralized repetitive control

NASA Technical Reports Server (NTRS)

Lee, Soo Cheol; Longman, Richard W.

1993-01-01

Learning control refers to controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect decentralized learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper extends these results to apply to the indirect repetitive control problem in which a periodic (i.e., repetitive) command is given to a control system. Decentralized indirect repetitive control algorithms are presented that have guaranteed convergence to zero tracking error under very general conditions. The original motivation of the repetitive control and learning control fields was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the desired trajectory. Decentralized repetitive control is natural for this application because the feedback control for link rotations is normally implemented in a decentralized manner, treating each link as if it is independent of the other links.

Stand-alone digital data storage control system including user control interface

NASA Technical Reports Server (NTRS)

Wright, Kenneth D. (Inventor); Gray, David L. (Inventor)

1994-01-01

A storage control system includes an apparatus and method for user control of a storage interface to operate a storage medium to store data obtained by a real-time data acquisition system. Digital data received in serial format from the data acquisition system is first converted to a parallel format and then provided to the storage interface. The operation of the storage interface is controlled in accordance with instructions based on user control input from a user. Also, a user status output is displayed in accordance with storage data obtained from the storage interface. By allowing the user to control and monitor the operation of the storage interface, a stand-alone, user-controllable data storage system is provided for storing the digital data obtained by a real-time data acquisition system.

Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation

NASA Technical Reports Server (NTRS)

Burken, John J.; Lu, Ping; Wu, Zheng-Lu; Bahm, Cathy

2001-01-01

Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the fight body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

Profile control simulations and experiments on TCV: a controller test environment and results using a model-based predictive controller

NASA Astrophysics Data System (ADS)

Maljaars, E.; Felici, F.; Blanken, T. C.; Galperti, C.; Sauter, O.; de Baar, M. R.; Carpanese, F.; Goodman, T. P.; Kim, D.; Kim, S. H.; Kong, M.; Mavkov, B.; Merle, A.; Moret, J. M.; Nouailletas, R.; Scheffer, M.; Teplukhina, A. A.; Vu, N. M. T.; The EUROfusion MST1-team; The TCV-team

2017-12-01

The successful performance of a model predictive profile controller is demonstrated in simulations and experiments on the TCV tokamak, employing a profile controller test environment. Stable high-performance tokamak operation in hybrid and advanced plasma scenarios requires control over the safety factor profile (q-profile) and kinetic plasma parameters such as the plasma beta. This demands to establish reliable profile control routines in presently operational tokamaks. We present a model predictive profile controller that controls the q-profile and plasma beta using power requests to two clusters of gyrotrons and the plasma current request. The performance of the controller is analyzed in both simulation and TCV L-mode discharges where successful tracking of the estimated inverse q-profile as well as plasma beta is demonstrated under uncertain plasma conditions and the presence of disturbances. The controller exploits the knowledge of the time-varying actuator limits in the actuator input calculation itself such that fast transitions between targets are achieved without overshoot. A software environment is employed to prepare and test this and three other profile controllers in parallel in simulations and experiments on TCV. This set of tools includes the rapid plasma transport simulator RAPTOR and various algorithms to reconstruct the plasma equilibrium and plasma profiles by merging the available measurements with model-based predictions. In this work the estimated q-profile is merely based on RAPTOR model predictions due to the absence of internal current density measurements in TCV. These results encourage to further exploit model predictive profile control in experiments on TCV and other (future) tokamaks.

CONTROL ROD

DOEpatents

Zinn, W.H.; Ross, H.V.

1958-11-18

A control rod is described for a nuclear reactor. In certaln reactor designs it becomes desirable to use a control rod having great width but relatively llttle thickness. This patent is addressed to such a need. The neutron absorbing material is inserted in a triangular tube, leaving volds between the circular insert and the corners of the triangular tube. The material is positioned within the tube by the use of dummy spacers to achleve the desired absorption pattern, then the ends of the tubes are sealed with suitable plugs. The tubes may be welded or soldered together to form two flat surfaces of any desired width, and covered with sheetmetal to protect the tubes from damage. This design provides a control member that will not distort under the action of outside forces or be ruptured by gases generated within the jacketed control member.

Position control of an industrial robot using fractional order controller

NASA Astrophysics Data System (ADS)

Clitan, Iulia; Muresan, Vlad; Abrudean, Mihail; Clitan, Andrei; Miron, Radu

2017-02-01

This paper presents the design of a control structure that ensures no overshoot for the movement of an industrial robot, used for the evacuation of round steel blocks from inside a rotary hearth furnace. First, a mathematical model for the positioning system is derived from a set of experimental data, and further, the paper focuses on obtaining a PID type controller, using the relay method as tuning method in order to obtain a stable closed loop system. The controller parameters are further tuned in order to achieve the imposed set of performances for the positioning of the industrial robot through computer simulation, using trial and error method. Further, a fractional - order PID controller is obtained in order to improve the control signal variation, so as to fit within the range of unified current's variation, 4 to 20 mA.

Active control of transient rotordynamic vibration by optimal control methods

NASA Technical Reports Server (NTRS)

Palazzolo, A. B.; Lin, R. R.; Alexander, R. M.; Kascak, A. F.

1988-01-01

Although considerable effort has been put into the study of steady state vibration control, there are few methods applicable to transient vibration control of rotorbearing systems. In this paper optimal control theory has been adopted to minimize rotor vibration due to sudden imbalance, e.g., blade loss. The system gain matrix is obtained by choosing the weighting matrices and solving the Riccati equation. Control forces are applied to the system via a feedback loop. A seven mass rotor system is simulated for illustration. A relationship between the number of sensors and the number of modes used in the optimal control model is investigated. Comparisons of responses are made for various configurations of modes, sensors, and actuators. Furthermore, spillover effect is examined by comparing results from collocated and noncollocated sensor configurations. Results show that shaft vibration is significantly attenuated in the closed loop system.

Improving glycaemic control self-efficacy and glycaemic control behaviour in Chinese patients with type 2 diabetes mellitus: randomised controlled trial.

PubMed

Shi, Qifang; Ostwald, Sharon K; Wang, Shaopeng

2010-02-01

To examine the effect of a hospital-based clinic intervention on glycaemic control self-efficacy and glycaemic control behaviour of Chinese patients with type 2 diabetes mellitus (DM). Self-efficacy expectations are related to self-management of diabetes and, in conjunction with environmental support, are better predictors of behaviour than are knowledge and skills. Enhancing self-efficacy in patients with DM has been shown to have a positive effect on behavioural change and positively influence long-term glycaemic control. A randomised controlled trial study consisting of two-group pretest-post-test. One hundred and fifty-seven patients with type 2 DM were randomly divided into two groups: (1) the experimental group (77 patients) receiving one-month hospital-based clinic intervention and (2) the control group (80 patients) receiving usual care. Data collection instruments used in this study were Diabetes Management Self-Efficacy Scale and Summary of Diabetes Self-Care Activities Measure. Outcomes were determined by changes in glycaemic control self-efficacy and glycaemic control behaviour of patients with type 2 DM. The findings revealed that the experimental group showed statistically significant improvement in glycaemic control self-efficacy and glycaemic control behaviour immediately and four months after the intervention (F = 26.888, df = 1, 155, p < 0.05 and F = 18.619, df = 1, 155, p < 0.05, respectively). One-month hospital-based clinic intervention could be useful in improving glycaemic control self-efficacy and glycaemic control behaviour. Nurses can learn and use the sources of self-efficacy to enhance patients' self-efficacy on their glycaemic control in clinical care. The health education is most important in nursing care and should be considered while organising the hospital-based clinic intervention.

Birth Control Ring

MedlinePlus

... Safe Videos for Educators Search English Español Birth Control Ring KidsHealth / For Teens / Birth Control Ring What's in this article? What Is It? ... Anillo vaginal anticonceptivo What Is It? The birth control ring is a soft, flexible, doughnut-shaped ring ...

Organizational Control: Two Functions

ERIC Educational Resources Information Center

Ouchi, William G.; Maguire, Mary Ann

1975-01-01

Distinguishes between two modes of organizational control, personal surveillance (behavior control) and the measurement of outputs (output control). Output control occurs in response to a manager's need to provide legitimate evidence of performance, while behavior control is exerted when means-ends relations are known and appropriate instruction…

Precision digital control systems

NASA Astrophysics Data System (ADS)

Vyskub, V. G.; Rozov, B. S.; Savelev, V. I.

This book is concerned with the characteristics of digital control systems of great accuracy. A classification of such systems is considered along with aspects of stabilization, programmable control applications, digital tracking systems and servomechanisms, and precision systems for the control of a scanning laser beam. Other topics explored are related to systems of proportional control, linear devices and methods for increasing precision, approaches for further decreasing the response time in the case of high-speed operation, possibilities for the implementation of a logical control law, and methods for the study of precision digital control systems. A description is presented of precision automatic control systems which make use of electronic computers, taking into account the existing possibilities for an employment of computers in automatic control systems, approaches and studies required for including a computer in such control systems, and an analysis of the structure of automatic control systems with computers. Attention is also given to functional blocks in the considered systems.

Control of a Robotic Hand Using a Tongue Control System-A Prosthesis Application.

PubMed

Johansen, Daniel; Cipriani, Christian; Popovic, Dejan B; Struijk, Lotte N S A

2016-07-01

The aim of this study was to investigate the feasibility of using an inductive tongue control system (ITCS) for controlling robotic/prosthetic hands and arms. This study presents a novel dual modal control scheme for multigrasp robotic hands combining standard electromyogram (EMG) with the ITCS. The performance of the ITCS control scheme was evaluated in a comparative study. Ten healthy subjects used both the ITCS control scheme and a conventional EMG control scheme to complete grasping exercises with the IH1 Azzurra robotic hand implementing five grasps. Time to activate a desired function or grasp was used as the performance metric. Statistically significant differences were found when comparing the performance of the two control schemes. On average, the ITCS control scheme was 1.15 s faster than the EMG control scheme, corresponding to a 35.4% reduction in the activation time. The largest difference was for grasp 5 with a mean AT reduction of 45.3% (2.38 s). The findings indicate that using the ITCS control scheme could allow for faster activation of specific grasps or functions compared with a conventional EMG control scheme. For transhumeral and especially bilateral amputees, the ITCS control scheme could have a significant impact on the prosthesis control. In addition, the ITCS would provide bilateral amputees with the additional advantage of environmental and computer control for which the ITCS was originally developed.

Control-oriented modeling and adaptive backstepping control for a nonminimum phase hypersonic vehicle.

PubMed

Ye, Linqi; Zong, Qun; Tian, Bailing; Zhang, Xiuyun; Wang, Fang

2017-09-01

In this paper, the nonminimum phase problem of a flexible hypersonic vehicle is investigated. The main challenge of nonminimum phase is the prevention of dynamic inversion methods to nonlinear control design. To solve this problem, we make research on the relationship between nonminimum phase and backstepping control, finding that a stable nonlinear controller can be obtained by changing the control loop on the basis of backstepping control. By extending the control loop to cover the internal dynamics in it, the internal states are directly controlled by the inputs and simultaneously serve as virtual control for the external states, making it possible to guarantee output tracking as well as internal stability. Then, based on the extended control loop, a simplified control-oriented model is developed to enable the applicability of adaptive backstepping method. It simplifies the design process and releases some limitations caused by direct use of the no simplified control-oriented model. Next, under proper assumptions, asymptotic stability is proved for constant commands, while bounded stability is proved for varying commands. The proposed method is compared with approximate backstepping control and dynamic surface control and is shown to have superior tracking accuracy as well as robustness from the simulation results. This paper may also provide a beneficial guidance for control design of other complex systems. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Time under control: time perspective and desire for control in substance use.

PubMed

Fieulaine, Nicolas; Martinez, Frederic

2010-08-01

To investigate the role of time perspective and desire for control in self-reported substance use and to test for a moderating effect of desire for control in the relation between time perspective and substance use. A random sample of 240 persons, aged 15 years and over, selected in various public spaces in an urban region in central France. Time perspective was measured using subscales of the Zimbardo Time Perspective Inventory (ZTPI, Zimbardo & Boyd, 1999), Desire for control was measured using a translated version of the Desire for Control Scale (DCS, Burger & Cooper, 1979), and substance use was self-reported. After controlling for age and gender, significant links were found between time perspective and substance use. Desire for control did not appear to be directly related to substance use. The interaction effect between TP and desire for control appeared to be related to substance use. There was evidence that the relation between TP and substance use is buffered by low desire for control. This study converges with previous studies demonstrating the relation between TP and substance use, but provides evidence of the moderating role played by desire for control. Desire for control thus appears as worthy of interest in the analysis of self-regulatory process, and further research on the links between TP and various aspects of control is required. In order to be more effective, the design of future studies and interventions based on time-related issues should consider how desire for control plays a part in establishing vulnerability profiles. Copyright 2010 Elsevier Ltd. All rights reserved.

Implementation and performance evaluation open-source controller for precision control of gripper

NASA Astrophysics Data System (ADS)

Lee, Seung-Yong; Ham, Un-Hyeong; Park, Young-Woo; Jung, Hak-Sang; Jung, Il-Kyun; Lim, Sun

2017-12-01

This paper proposes integrating gripper embedded operating system, which consist of external interface structure for sophisticated gripper control. This system has multiple functions that control the gripping module and measure the pose of the gripper body with respect to contact environment. A controller based on open source only for the gripper is developed and an external communication interface between robot controller and gripper controller is designed. An experimental environment for the fixed-cycle test consists of integrating magic gripper software system and hardware on commercial business. As a result, a deviation is measured approximately 2% and the system were verified for gripper control.

Computer Controlled Portable Greenhouse Climate Control System for Enhanced Energy Efficiency

NASA Astrophysics Data System (ADS)

Datsenko, Anthony; Myer, Steve; Petties, Albert; Hustek, Ryan; Thompson, Mark

2010-04-01

This paper discusses a student project at Kettering University focusing on the design and construction of an energy efficient greenhouse climate control system. In order to maintain acceptable temperatures and stabilize temperature fluctuations in a portable plastic greenhouse economically, a computer controlled climate control system was developed to capture and store thermal energy incident on the structure during daylight periods and release the stored thermal energy during dark periods. The thermal storage mass for the greenhouse system consisted of a water filled base unit. The heat exchanger consisted of a system of PVC tubing. The control system used a programmable LabView computer interface to meet functional specifications that minimized temperature fluctuations and recorded data during operation. The greenhouse was a portable sized unit with a 5' x 5' footprint. Control input sensors were temperature, water level, and humidity sensors and output control devices were fan actuating relays and water fill solenoid valves. A Graphical User Interface was developed to monitor the system, set control parameters, and to provide programmable data recording times and intervals.

Neural network-based nonlinear model predictive control vs. linear quadratic gaussian control

USGS Publications Warehouse

Cho, C.; Vance, R.; Mardi, N.; Qian, Z.; Prisbrey, K.

1997-01-01

One problem with the application of neural networks to the multivariable control of mineral and extractive processes is determining whether and how to use them. The objective of this investigation was to compare neural network control to more conventional strategies and to determine if there are any advantages in using neural network control in terms of set-point tracking, rise time, settling time, disturbance rejection and other criteria. The procedure involved developing neural network controllers using both historical plant data and simulation models. Various control patterns were tried, including both inverse and direct neural network plant models. These were compared to state space controllers that are, by nature, linear. For grinding and leaching circuits, a nonlinear neural network-based model predictive control strategy was superior to a state space-based linear quadratic gaussian controller. The investigation pointed out the importance of incorporating state space into neural networks by making them recurrent, i.e., feeding certain output state variables into input nodes in the neural network. It was concluded that neural network controllers can have better disturbance rejection, set-point tracking, rise time, settling time and lower set-point overshoot, and it was also concluded that neural network controllers can be more reliable and easy to implement in complex, multivariable plants.

Birth Control Patch

MedlinePlus

... Safe Videos for Educators Search English Español Birth Control Patch KidsHealth / For Teens / Birth Control Patch What's in this article? What Is It? ... It Cost? Print What Is It? The birth control patch is a thin, beige, 1¾-inch (4½- ...

Birth Control Shot

MedlinePlus

... Safe Videos for Educators Search English Español Birth Control Shot KidsHealth / For Teens / Birth Control Shot What's in this article? What Is It? ... La inyección anticonceptiva What Is It? The birth control shot is a long-acting form of progesterone, ...

Birth Control Pill

MedlinePlus

... Safe Videos for Educators Search English Español Birth Control Pill KidsHealth / For Teens / Birth Control Pill What's in this article? What Is It? ... La píldora anticonceptiva What Is It? The birth control pill (also called "the Pill") is a daily ...

Indirect decentralized learning control

NASA Technical Reports Server (NTRS)

Longman, Richard W.; Lee, Soo C.; Phan, M.

1992-01-01

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controllers in decentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The basic result of the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

Infinite horizon optimal impulsive control with applications to Internet congestion control

NASA Astrophysics Data System (ADS)

Avrachenkov, Konstantin; Habachi, Oussama; Piunovskiy, Alexey; Zhang, Yi

2015-04-01

We investigate infinite-horizon deterministic optimal control problems with both gradual and impulsive controls, where any finitely many impulses are allowed simultaneously. Both discounted and long-run time-average criteria are considered. We establish very general and at the same time natural conditions, under which the dynamic programming approach results in an optimal feedback policy. The established theoretical results are applied to the Internet congestion control, and by solving analytically and nontrivially the underlying optimal control problems, we obtain a simple threshold-based active queue management scheme, which takes into account the main parameters of the transmission control protocols, and improves the fairness among the connections in a given network.

Control system and method for payload control in mobile platform cranes

DOEpatents

Robinett, III, Rush D.; Groom, Kenneth N.; Feddema, John T.; Parker, Gordon G.

2002-01-01

A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.

Compatibility of information and mode of control: The case for natural control systems

NASA Technical Reports Server (NTRS)

Owen, Dean H.

1993-01-01

The operation of control systems has been determined largely by mechanical constraints. Compatibility with the characteristics of the operator is a secondary consideration, with the result that control may never be optimal, control workload may interfere with performance of secondary tasks, and learning may be more difficult and protracted than necessary. With the introduction of a computer in the control loop, the mode of operation can be adapted to the operator, rather than vice versa. The concept of natural control is introduced to describe a system that supports control of the information used by the operator in achieving an intended goal. As an example, control of speed during simulated approach to a pad by helicopter pilots is used to contrast path-speed control with direct control of global optical flow-pattern information. Differences are evidenced in the performance domains of control activity, speed, and global optical flow velocity.

Malagasy Backward Object Control

ERIC Educational Resources Information Center

Potsdam, Eric

2009-01-01

Backward control is an obligatory interpretational dependency between an overt controller and a nonovert controllee in which the controllee is structurally superior to the controller: "Meg persuaded [Delta]i" ["Roni to give up"]. It contrasts with ordinary forward control, in which the controller is structurally higher: "Meg persuaded Roni"…

Wisdom Appliance Control System

NASA Astrophysics Data System (ADS)

Hendrick; Jheng, Jyun-Teng; Tsai, Chen-Chai; Liou, Jia-Wei; Wang, Zhi-Hao; Jong, Gwo-Jia

2017-07-01

Intelligent appliances wisdom involves security, home care, convenient and energy saving, but the home automation system is still one of the core unit, and also using micro-processing electronics technology to centralized and control the home electrical products and systems, such as: lighting, television, fan, air conditioning, stereo, it composed of front-controller systems and back-controller panels, user using front-controller to control command, and then through the back-controller to powered the device.

Wake flow control using a dynamically controlled wind turbine

NASA Astrophysics Data System (ADS)

Castillo, Ricardo; Wang, Yeqin; Pol, Suhas; Swift, Andy; Hussain, Fazle; Westergaard, Carsten; Texas Tech University Team

2016-11-01

A wind tunnel based "Hyper Accelerated Wind Farm Kinematic-Control Simulator" (HAWKS) is being built at Texas Tech University to emulate controlled wind turbine flow physics. The HAWKS model turbine has pitch, yaw and speed control which is operated in real model time, similar to that of an equivalent full scale turbine. Also, similar to that of a full scale wind turbine, the controls are developed in a Matlab Simulink environment. The current diagnostic system consists of power, rotor position, rotor speed measurements and PIV wake characterization with four cameras. The setup allows up to 7D downstream of the rotor to be mapped. The purpose of HAWKS is to simulate control strategies at turnaround times much faster than CFD and full scale testing. The fundamental building blocks of the simulator have been tested, and demonstrate wake steering for both static and dynamic turbine actuation. Parameters which have been studied are yaw, rotor speed and combinations hereof. The measured wake deflections for static yaw cases are in agreement with previously reported research implying general applicability of the HAWKS platform for the purpose of manipulating the wake. In this presentation the general results will be introduced followed by an analysis of the wake turbulence and coherent structures when comparing static and dynamic flow cases. The outcome of such studies could ultimately support effective wind farm wake flow control strategies. Texas Emerging Technology Fund (ETF).

Analysis of explicit model predictive control for path-following control

PubMed Central

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration. PMID:29534080

Analysis of explicit model predictive control for path-following control.

PubMed

Lee, Junho; Chang, Hyuk-Jun

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration.

Intermittent Control Systems

ERIC Educational Resources Information Center

Montgomery, Thomas L.; And Others

1975-01-01

The technique of intermittent control systems for air quality control as developed and used by the Tennessee Valley Authority is investigated. Although controversial, all Tennessee Valley Authority sulfur dioxide elimination programs are scheduled to be operational this year. Existing or anticipated intermittent control systems are identified. (BT)

Directions in propulsion control

NASA Technical Reports Server (NTRS)

Lorenzo, Carl F.

1990-01-01

Discussed here is research at NASA Lewis in the area of propulsion controls as driven by trends in advanced aircraft. The objective of the Lewis program is to develop the technology for advanced reliable propulsion control systems and to integrate the propulsion control with the flight control for optimal full-system control.

Steering Law Controlling the Constant Speeds of Control Moment Gyros

NASA Astrophysics Data System (ADS)

KOYASAKO, Y.; TAKAHASHI, M.

2016-09-01

To enable the agile control of satellites, using control moment gyros (CMGs) has become increasingly necessary because of their ability to generate large amounts of torque. However, CMGs have a singularity problem whereby the torque by the CMGs degenerates from three dimensions to two dimensions, affecting spacecraft attitude control performance. This study proposes a new steering control law for CMGs by controlling the constant speed of a CMG. The proposed method enables agile attitude changes, according to the required task, by managing the total angular momentum of the CMGs by considering the distance to external singularities. In the proposed method, the total angular momentum is biased in a specific direction and the angular momentum envelope is extended. The design method can increase the net angular momentum of CMGs which can be exchanged with the satellite. The effectiveness of the proposed method is demonstrated by numerical simulations.

Model and Study on Cascade Control System Based on IGBT Chopping Control

NASA Astrophysics Data System (ADS)

Niu, Yuxin; Chen, Liangqiao; Wang, Shuwen

2018-01-01

Thyristor cascade control system has a wide range of applications in the industrial field, but the traditional cascade control system has some shortcomings, such as a low power factor, serious harmonic pollution. In this paper, not only analyzing its system structure and working principle, but also discussing the two main factors affecting the power factor. Chopping-control cascade control system, adopted a new power switching device IGBT, which could overcome traditional cascade control system’s two main drawbacks efficiently. The basic principle of this cascade control system is discussed in this paper and the model of speed control system is built by using MATLAB/Simulink software. Finally, the simulation results of the system shows that the system works efficiently. This system is worthy to be spread widely in engineering application.

ER fluid applications to vibration control devices and an adaptive neural-net controller

NASA Astrophysics Data System (ADS)

Morishita, Shin; Ura, Tamaki

1993-07-01

Four applications of electrorheological (ER) fluid to vibration control actuators and an adaptive neural-net control system suitable for the controller of ER actuators are described: a shock absorber system for automobiles, a squeeze film damper bearing for rotational machines, a dynamic damper for multidegree-of-freedom structures, and a vibration isolator. An adaptive neural-net control system composed of a forward model network for structural identification and a controller network is introduced for the control system of these ER actuators. As an example study of intelligent vibration control systems, an experiment was performed in which the ER dynamic damper was attached to a beam structure and controlled by the present neural-net controller so that the vibration in several modes of the beam was reduced with a single dynamic damper.

A Study on Aircraft Engine Control Systems for Integrated Flight and Propulsion Control

NASA Astrophysics Data System (ADS)

Yamane, Hideaki; Matsunaga, Yasushi; Kusakawa, Takeshi; Yasui, Hisako

The Integrated Flight and Propulsion Control (IFPC) for a highly maneuverable aircraft and a fighter-class engine with pitch/yaw thrust vectoring is described. Of the two IFPC functions the aircraft maneuver control utilizes the thrust vectoring based on aerodynamic control surfaces/thrust vectoring control allocation specified by the Integrated Control Unit (ICU) of a FADEC (Full Authority Digital Electronic Control) system. On the other hand in the Performance Seeking Control (PSC) the ICU identifies engine's various characteristic changes, optimizes manipulated variables and finally adjusts engine control parameters in cooperation with the Engine Control Unit (ECU). It is shown by hardware-in-the-loop simulation that the thrust vectoring can enhance aircraft maneuverability/agility and that the PSC can improve engine performance parameters such as SFC (specific fuel consumption), thrust and gas temperature.

Quantitative safety assessment of air traffic control systems through system control capacity

NASA Astrophysics Data System (ADS)

Guo, Jingjing

Quantitative Safety Assessments (QSA) are essential to safety benefit verification and regulations of developmental changes in safety critical systems like the Air Traffic Control (ATC) systems. Effectiveness of the assessments is particularly desirable today in the safe implementations of revolutionary ATC overhauls like NextGen and SESAR. QSA of ATC systems are however challenged by system complexity and lack of accident data. Extending from the idea "safety is a control problem" in the literature, this research proposes to assess system safety from the control perspective, through quantifying a system's "control capacity". A system's safety performance correlates to this "control capacity" in the control of "safety critical processes". To examine this idea in QSA of the ATC systems, a Control-capacity Based Safety Assessment Framework (CBSAF) is developed which includes two control capacity metrics and a procedural method. The two metrics are Probabilistic System Control-capacity (PSC) and Temporal System Control-capacity (TSC); each addresses an aspect of a system's control capacity. And the procedural method consists three general stages: I) identification of safety critical processes, II) development of system control models and III) evaluation of system control capacity. The CBSAF was tested in two case studies. The first one assesses an en-route collision avoidance scenario and compares three hypothetical configurations. The CBSAF was able to capture the uncoordinated behavior between two means of control, as was observed in a historic midair collision accident. The second case study compares CBSAF with an existing risk based QSA method in assessing the safety benefits of introducing a runway incursion alert system. Similar conclusions are reached between the two methods, while the CBSAF has the advantage of simplicity and provides a new control-based perspective and interpretation to the assessments. The case studies are intended to investigate the

Linear decentralized learning control

NASA Technical Reports Server (NTRS)

Lee, Soo C.; Longman, Richard W.; Phan, Minh

1992-01-01

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

Temperature offset control system

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

Fried, M.

1987-07-28

This patent describes a temperature offset control system for controlling the operation of both heating and air conditioning systems simultaneously contained within the same premises each of which is set by local thermostats to operate at an appropriate temperature, the offset control system comprising: a central control station having means for presetting an offset temperature range, means for sensing the temperature at a central location, means for comparing the sensed temperature with the offset temperature range, means responsive to the comparison for producing a control signal indicative of whether the sensed temperature is within the offset temperature range or beyondmore » the offset temperature range, and means for transmitting the control signal onto the standard energy lines servicing the premises; and a receiving station respectively associated with each heating and air conditioning system, the receiving stations each comprising means for receiving the same transmitted control signal from the energy lines, and switch means for controlling the energization of the respective system in response to the received control signal. The heating systems and associated local thermostat are disabled by the control signal when the control signal originates from a sensed temperature above the lower end of the offset temperature range. The air conditioning systems and associated thermostats are disabled by the same control signal when the control signal originates from a sensed temperature below the upper end of the offset temperature range.« less

ISS Contingency Attitude Control Recovery Method for Loss of Automatic Thruster Control

NASA Technical Reports Server (NTRS)

Bedrossian, Nazareth; Bhatt, Sagar; Alaniz, Abran; McCants, Edward; Nguyen, Louis; Chamitoff, Greg

2008-01-01

In this paper, the attitude control issues associated with International Space Station (ISS) loss of automatic thruster control capability are discussed and methods for attitude control recovery are presented. This scenario was experienced recently during Shuttle mission STS-117 and ISS Stage 13A in June 2007 when the Russian GN&C computers, which command the ISS thrusters, failed. Without automatic propulsive attitude control, the ISS would not be able to regain attitude control after the Orbiter undocked. The core issues associated with recovering long-term attitude control using CMGs are described as well as the systems engineering analysis to identify recovery options. It is shown that the recovery method can be separated into a procedure for rate damping to a safe harbor gravity gradient stable orientation and a capability to maneuver the vehicle to the necessary initial conditions for long term attitude hold. A manual control option using Soyuz and Progress vehicle thrusters is investigated for rate damping and maneuvers. The issues with implementing such an option are presented and the key issue of closed-loop stability is addressed. A new non-propulsive alternative to thruster control, Zero Propellant Maneuver (ZPM) attitude control method is introduced and its rate damping and maneuver performance evaluated. It is shown that ZPM can meet the tight attitude and rate error tolerances needed for long term attitude control. A combination of manual thruster rate damping to a safe harbor attitude followed by a ZPM to Stage long term attitude control orientation was selected by the Anomaly Resolution Team as the alternate attitude control method for such a contingency.

Finite-horizon control-constrained nonlinear optimal control using single network adaptive critics.

PubMed

Heydari, Ali; Balakrishnan, Sivasubramanya N

2013-01-01

To synthesize fixed-final-time control-constrained optimal controllers for discrete-time nonlinear control-affine systems, a single neural network (NN)-based controller called the Finite-horizon Single Network Adaptive Critic is developed in this paper. Inputs to the NN are the current system states and the time-to-go, and the network outputs are the costates that are used to compute optimal feedback control. Control constraints are handled through a nonquadratic cost function. Convergence proofs of: 1) the reinforcement learning-based training method to the optimal solution; 2) the training error; and 3) the network weights are provided. The resulting controller is shown to solve the associated time-varying Hamilton-Jacobi-Bellman equation and provide the fixed-final-time optimal solution. Performance of the new synthesis technique is demonstrated through different examples including an attitude control problem wherein a rigid spacecraft performs a finite-time attitude maneuver subject to control bounds. The new formulation has great potential for implementation since it consists of only one NN with single set of weights and it provides comprehensive feedback solutions online, though it is trained offline.

Control Systems of Rubber Dryer Machinery Components Using Programmable Logic Control (PLC)

NASA Astrophysics Data System (ADS)

Hendra; Yulianto, A. S.; Indriani, A.; Hernadewita; Hermiyetti

2018-02-01

Application of programmable logic control (PLC) is widely used on the control systems in the many field engineering such as automotive, aviation, food processing and other industries [1-2]. PLC is simply program to control many automatic activity, easy to use, flexible and others. PLC using the ladder program to solve and regulated the control system component. In previous research, PLC was used for control system of rotary dryer machine. In this paper PLC are used for control system of motion component in the rubber dryer machinery. Component of rubber dryer machine is motors, gearbox, sprocket, heater, drying chamber and bearing. Principle working of rubber dryer machinery is wet rubber moving into the drying chamber by sprocket. Sprocket is driven by motors that conducted by PLC to moving and set of wet rubber on the drying chamber. Drying system uses greenhouse effect by making hanger dryer design in the form of line path. In this paper focused on motion control system motors and sensors drying rubber using PLC. The results show that control system of rubber dryer machinery can work in accordance control input and the time required to dry the rubber.

A Comparison of Multivariable Control Design Techniques for a Turbofan Engine Control

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Watts, Stephen R.

1995-01-01

This paper compares two previously published design procedures for two different multivariable control design techniques for application to a linear engine model of a jet engine. The two multivariable control design techniques compared were the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) and the H-Infinity synthesis. The two control design techniques were used with specific previously published design procedures to synthesize controls which would provide equivalent closed loop frequency response for the primary control loops while assuring adequate loop decoupling. The resulting controllers were then reduced in order to minimize the programming and data storage requirements for a typical implementation. The reduced order linear controllers designed by each method were combined with the linear model of an advanced turbofan engine and the system performance was evaluated for the continuous linear system. Included in the performance analysis are the resulting frequency and transient responses as well as actuator usage and rate capability for each design method. The controls were also analyzed for robustness with respect to structured uncertainties in the unmodeled system dynamics. The two controls were then compared for performance capability and hardware implementation issues.

Banishing the Control Homunculi in Studies of Action Control and Behavior Change

PubMed Central

Verbruggen, Frederick; McLaren, Ian P. L.; Chambers, Christopher D.

2014-01-01

For centuries, human self-control has fascinated scientists and nonscientists alike. Current theories often attribute it to an executive control system. But even though executive control receives a great deal of attention across disciplines, most aspects of it are still poorly understood. Many theories rely on an ill-defined set of “homunculi” doing jobs like “response inhibition” or “updating” without explaining how they do so. Furthermore, it is not always appreciated that control takes place across different timescales. These two issues hamper major advances. Here we focus on the mechanistic basis for the executive control of actions. We propose that at the most basic level, action control depends on three cognitive processes: signal detection, action selection, and action execution. These processes are modulated via error-correction or outcome-evaluation mechanisms, preparation, and task rules maintained in working and long-term memory. We also consider how executive control of actions becomes automatized with practice and how people develop a control network. Finally, we discuss how the application of this unified framework in clinical domains can increase our understanding of control deficits and provide a theoretical basis for the development of novel behavioral change interventions. PMID:25419227

The application of neural network PID controller to control the light gasoline etherification

NASA Astrophysics Data System (ADS)

Cheng, Huanxin; Zhang, Yimin; Kong, Lingling; Meng, Xiangyong

2017-06-01

Light gasoline etherification technology can effectively improve the quality of gasoline, which is environmental- friendly and economical. By combining BP neural network and PID control and using BP neural network self-learning ability for online parameter tuning, this method optimizes the parameters of PID controller and applies this to the Fcc gas flow control to achieve the control of the final product- heavy oil concentration. Finally, through MATLAB simulation, it is found that the PID control based on BP neural network has better controlling effect than traditional PID control.

Spacecraft stability and control

NASA Technical Reports Server (NTRS)

Barret, Chris

1992-01-01

The Earth's first artificial satellite, Sputnik 1, slowly tumbled in orbit. The first U.S. satellite, Explorer 1, also tumbled out of control. Today, satellite stability and control has become a higher priority. For a satellite design that is to have a life expectancy of 14 years, appropriate spacecraft flight control systems will be reviewed, stability requirements investigated, and an appropriate flight control system recommended in order to see the design process. Disturbance torques, including aerodynamic, magnetic, gravity gradient, solar, micrometeorite, debris, collision, and internal torques, will be assessed to quantify the disturbance environment so that the required compensating torques can be determined. The control torques, including passive versus active, momentum control, bias momentum, spin stabilization, dual spin, gravity gradient, magnetic, reaction wheels, control moment gyros, inertia augmentation techniques, three-axis control, and reaction control systems (RCSs), will be considered. Conditions for stability will also be considered.

Innovations in Rheometer Controlled-Rate Control Loop Design: Ultra Low Angular Speed Control and New Applications

NASA Astrophysics Data System (ADS)

Schulz, Ulrich; Sierro, Philippe; Nijman, Jint

2008-07-01

The design and implementation of an angular speed control loop for a universal rheometer is not a trivial task. The combination of a highly dynamic, very low inertia (drag cup) motor (motor inertia is 10-5 kg m2) with samples which can range in viscosity from 10-3 Pas to 108 Pas, which can be between purely viscous and higly viscoelastic, which can exhibit yield-stresses, etc. asks for a highly adaptive digital control loop. For the HAAKE MARS rotational rheometer a new adaptive control loop was developed which allows the control of angular speeds as low 5×10-9 rad/s and response times a short as 10 ms. The adaptation of the control loop to "difficult" samples is performed by analysing the response of the complete system to a short pre-test. In this paper we will show that the (very) short response times at (very) low angular speeds are not only achieved with ideal samples, but due to the adaptable control loop, also with "difficult" samples. We will show measurement results on "difficult" samples like cosmetic creams and emulsions, a laponite gel, etc. to proof that angular speeds down to 10-4 rad/s are reached within 10 ms to 20 ms and angular speeds down to 10-7 rad/s within 1 s to 2 s. The response times for reaching ultra low angular speeds down to 5×10-9 rad/s are in the order of 10 s to 30 s. With this new control loop it is, for the first time, possible to measure yield stresses by applying a very low constant shear-rate to the sample and measuring the torque response as a function of time.

The Internal Control System and Control Programs: A Reference Guide

DTIC Science & Technology

1990-06-01

multilocation audits . [Ref. 27:Ch. 8, p. 4] 3. Verification Staqe The actual audit field work occurs during this phase. The audit team provides an entrance...number) ;E, GUO.)P SuB GROUP Internal Control; Internal Control System; Audits ; Reviews; Ccamand Evaluation Program; EconnTy & Efficiency Reviews...general overview of the inter- nal control system and discusses the various external and internal audits , inspections, reviews and investiaative

An intelligent control scheme for precise tip-motion control in atomic force microscopy.

PubMed

Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

2016-01-01

The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

Proteomic analysis of serum and sputum analytes distinguishes controlled and poorly controlled asthmatics.

PubMed

Kasaian, M T; Lee, J; Brennan, A; Danto, S I; Black, K E; Fitz, L; Dixon, A E

2018-04-17

A major goal of asthma therapy is to achieve disease control, with maintenance of lung function, reduced need for rescue medication, and prevention of exacerbation. Despite current standard of care, up to 70% of patients with asthma remain poorly controlled. Analysis of serum and sputum biomarkers could offer insights into parameters associated with poor asthma control. To identify signatures as determinants of asthma disease control, we performed proteomics using Olink proximity extension analysis. Up to 3 longitudinal serum samples were collected from 23 controlled and 25 poorly controlled asthmatics. Nine of the controlled and 8 of the poorly controlled subjects also provided 2 longitudinal sputum samples. The study included an additional cohort of 9 subjects whose serum was collected within 48 hours of asthma exacerbation. Two separate pre-defined Proseek Multiplex panels (INF and CVDIII) were run to quantify 181 separate protein analytes in serum and sputum. Panels consisting of 9 markers in serum (CCL19, CCL25, CDCP1, CCL11, FGF21, FGF23, Flt3L, IL-10Rβ, IL-6) and 16 markers in sputum (tPA, KLK6, RETN, ADA, MMP9, Chit1, GRN, PGLYRP1, MPO, HGF, PRTN3, DNER, PI3, Chi3L1, AZU1, and OPG) distinguished controlled and poorly controlled asthmatics. The sputum analytes were consistent with a pattern of neutrophil activation associated with poor asthma control. The serum analyte profile of the exacerbation cohort resembled that of the controlled group rather than that of the poorly controlled asthmatics, possibly reflecting a therapeutic response to systemic corticosteroids. Proteomic profiles in serum and sputum distinguished controlled and poorly controlled asthmatics, and were maintained over time. Findings support a link between sputum neutrophil markers and loss of asthma control. © 2018 John Wiley & Sons Ltd.

Real-time economic nonlinear model predictive control for wind turbine control

NASA Astrophysics Data System (ADS)

Gros, Sebastien; Schild, Axel

2017-12-01

Nonlinear model predictive control (NMPC) is a strong candidate to handle the control challenges emerging in the modern wind energy industry. Recent research suggested that wind turbine (WT) control based on economic NMPC (ENMPC) can improve the closed-loop performance and simplify the task of controller design when compared to a classical NMPC approach. This paper establishes a formal relationship between the ENMPC controller and the classic NMPC approach, and compares empirically their closed-loop nominal behaviour and performance. The robustness of the performance is assessed for an inaccurate modelling of the tower fore-aft main frequency. Additionally, though a perfect wind preview is assumed here, the effect of having a limited horizon of preview of the wind speed via the LIght Detection And Ranging (LIDAR) sensor is investigated. Finally, this paper provides new algorithmic solutions for deploying ENMPC for WT control, and report improved computational times.

Control Measure Dataset

EPA Pesticide Factsheets

The EPA Control Measure Dataset is a collection of documents describing air pollution control available to regulated facilities for the control and abatement of air pollution emissions from a range of regulated source types, whether directly through the use of technical measures, or indirectly through economic or other measures.

Three-Axis Attitude Control of Solar Sails Utilising Reflectivity Control Devices

NASA Astrophysics Data System (ADS)

Theodorou, Theodoros

Solar sails are spacecraft that utilise the Solar Radiation Pressure, the force generated by impinging photons, to propel themselves. Conventional actuators are not suitable for controlling the attitude of solar sails therefore specific attitude control methods have been devised to tackle this. One of these methods is to change the centre of pressure with respect to the center of mass thus creating a torque. Reflectivity Control Devices (RCDs) have been proposed and successfully used to change the centre of pressure. Current methods that utilise RCDs have control authority over two axis only with no ability to control the torque about the normal of the sail surface. This thesis extends the state of the art and demonstrates 3-axis control by generating arbitrary torque vectors within a convex polyhedron. Two different RCD materials are considered, transmission and diffusion technologies both compatible with the proposed concept. A number of metrics have been developed which facilitate the comparison of different sail configurations. One of these metics is the sun map which is a graphic representation of the sun angles for which control authority is maintained. An iterative design process is presented which makes use of the metrics developed and aids in the design of a sail which meets the mission requirements and constraints. Moreover, the effects of different parameters on the performance of the proposed control concept are discussed. For example it is shown that by alternating the angle between the edge and middle RCDs the control authority increases. The concept's scalability has been investigated and a hybrid control scheme has been devised which makes use of both RCDs and reaction wheels. The RCDs are complemented by the reaction wheels to achieve higher slew rates while in turn the RCDs desaturate the reaction wheels. Finally, a number of simulations are conducted to verify the validity of the proposed concept.

MOSFET Power Controller

NASA Technical Reports Server (NTRS)

Mitchell, J.; Jones, K.

1986-01-01

High current and voltage controlled remotely. Remote Power Conroller includes two series-connected banks of parallel-connected MOSFET's to withstand high current and voltage. Voltage sharing between switch banks, low-impedance, gate-drive circuits used. Provided controlled range for turn on. Individually trimmable to insure simultaneous switching within few nanoseconds during both turn on and turn off. Control circuit for each switch bank and over-current trip circuit float independently and supplied power via transformer T1 from inverter. Control of floating stages by optocouplers.

[On-site quality control of acupuncture randomized controlled trial: design of content and checklist of quality control based on PICOST].

PubMed

Li, Hong-Jiao; He, Li-Yun; Liu, Zhi-Shun; Sun, Ya-Nan; Yan, Shi-Yan; Liu, Jia; Zhao, Ye; Liu, Bao-Yan

2014-02-01

To effectively guarantee quality of randomized controlld trial (RCT) of acupuncture and develop reasonable content and checklist of on-site quality control, influencing factors on quality of acupuncture RCT are analyzed and scientificity of quality control content and feasibility of on-site manipulation are put into overall consideration. Based on content and checklist of on-site quality control in National 11th Five-Year Plan Project Optimization of Comprehensive Treatment Plan for TCM in Prevention and Treatment of Serious Disease and Clinical Assessment on Generic Technology and Quality Control Research, it is proposed that on-site quality control of acupuncture RCT should be conducted with PICOST (patient, intervention, comparison, out come, site and time) as core, especially on quality control of interveners' skills and outcome assessment of blinding, and checklist of on-site quality control is developed to provide references for undertaking groups of the project.

Simulation of process identification and controller tuning for flow control system

NASA Astrophysics Data System (ADS)

Chew, I. M.; Wong, F.; Bono, A.; Wong, K. I.

2017-06-01

PID controller is undeniably the most popular method used in controlling various industrial processes. The feature to tune the three elements in PID has allowed the controller to deal with specific needs of the industrial processes. This paper discusses the three elements of control actions and improving robustness of controllers through combination of these control actions in various forms. A plant model is simulated using the Process Control Simulator in order to evaluate the controller performance. At first, the open loop response of the plant is studied by applying a step input to the plant and collecting the output data from the plant. Then, FOPDT of physical model is formed by using both Matlab-Simulink and PRC method. Then, calculation of controller’s setting is performed to find the values of Kc and τi that will give satisfactory control in closed loop system. Then, the performance analysis of closed loop system is obtained by set point tracking analysis and disturbance rejection performance. To optimize the overall physical system performance, a refined tuning of PID or detuning is further conducted to ensure a consistent resultant output of closed loop system reaction to the set point changes and disturbances to the physical model. As a result, the PB = 100 (%) and τi = 2.0 (s) is preferably chosen for setpoint tracking while PB = 100 (%) and τi = 2.5 (s) is selected for rejecting the imposed disturbance to the model. In a nutshell, selecting correlation tuning values is likewise depended on the required control’s objective for the stability performance of overall physical model.

Control of Dual-Opposed Stirling Convertors with Active Power Factor Correction Controllers

NASA Technical Reports Server (NTRS)

Regan, Timothy F.; Lewandowski, Edward J.; Schreiber, Jeffrey G.

2007-01-01

When using recently-developed active power factor correction (APFC) controllers in power systems comprised of dual-opposed free-piston Stirling convertors, a variety of configurations of the convertors and controller(s) can be considered, with configuration ultimately selected based on benefits of efficiency, reliability, and robust operation. The configuration must not only achieve stable control of the two convertors, but also synchronize and regulate motion of the pistons to minimize net dynamic forces. The NASA Glenn Research Center (GRC) System Dynamic Model (SDM) was used to study ten configurations of dual-opposed convertor systems. These configurations considered one controller with the alternators connected in series or in parallel, and two controllers with the alternators not connected (isolated). For the configurations where the alternators were not connected, several different approaches were evaluated to synchronize the two convertors. In addition, two thermodynamic configurations were considered: two convertors with isolated working spaces and convertors with a shared expansion space. Of the ten configurations studied, stable operating modes were found for four. Three of those four had a common expansion space. One stable configuration was found for the dual-opposed convertors with separate working spaces. That configuration required isochronous control of both convertors, and two APFC controllers were used to accomplish this. A frequency/phase control loop was necessary to allow each APFC controller to synchronize its associated convertor with a common frequency.

Control of Dual-Opposed Stirling Convertors with Active Power Factor Correction Controllers

NASA Technical Reports Server (NTRS)

Regan, Timothy F.; Lewandowski, Edward J.; Schreiber, Jeffrey G.

2006-01-01

When using recently-developed active power factor correction (APFC) controllers in power systems comprised of dual-opposed free-piston Stirling convertors, a variety of configurations of the convertors and controller(s) can be considered, with configuration ultimately selected based on benefits of efficiency, reliability, and robust operation. The configuration must not only achieve stable control of the two convertors, but also synchronize and regulate motion of the pistons to minimize net dynamic forces. The NASA Glenn Research Center (GRC) System Dynamic Model (SDM) was used to study ten configurations of dual-opposed convertor systems. These configurations considered one controller with the alternators connected in series or in parallel, and two controllers with the alternators not connected (isolated). For the configurations where the alternators were not connected, several different approaches were evaluated to synchronize the two convertors. In addition, two thermodynamic configurations were considered: two convertors with isolated working spaces and convertors with a shared expansion space. Of the ten configurations studied, stable operating modes were found for four. Three of those four had a common expansion space. One stable configuration was found for the dual-opposed convertors with separate working spaces. That configuration required isochronous control of both convertors, and two APFC controllers were used to accomplish this. A frequency/phase control loop was necessary to allow each APFC controller to synchronize its associated convertor with a common frequency.

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.

Terminal iterative learning control based station stop control of a train

NASA Astrophysics Data System (ADS)

Hou, Zhongsheng; Wang, Yi; Yin, Chenkun; Tang, Tao

2011-07-01

The terminal iterative learning control (TILC) method is introduced for the first time into the field of train station stop control and three TILC-based algorithms are proposed in this study. The TILC-based train station stop control approach utilises the terminal stop position error in previous braking process to update the current control profile. The initial braking position, or the braking force, or their combination is chosen as the control input, and corresponding learning law is developed. The terminal stop position error of each algorithm is guaranteed to converge to a small region related with the initial offset of braking position with rigorous analysis. The validity of the proposed algorithms is verified by illustrative numerical examples.

Controllability analysis and decentralized control of a wet limestone flue gas desulfurization plant

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

Perales, A.L.V.; Ortiz, F.J.G.; Ollero, P.

2008-12-15

Presently, decentralized feedback control is the only control strategy used in wet limestone flue gas desulfurization (WLFGD) plants. Proper tuning of this control strategy is becoming an important issue in WLFGD plants because more stringent SO{sub 2} regulations have come into force recently. Controllability analysis is a highly valuable tool for proper design of control systems, but it has not been applied to WLFGD plants so far. In this paper a decentralized control strategy is designed and applied to a WLFGD pilot plant taking into account the conclusions of a controllability analysis. The results reveal that good SO{sub 2} controlmore » in WLFGD plants can be achieved mainly because the main disturbance of the process is well-aligned with the plant and interactions between control loops are beneficial to SO{sub 2} control.« less

HYDRAULIC SERVO CONTROL MECHANISM

DOEpatents

Hussey, R.B.; Gottsche, M.J. Jr.

1963-09-17

A hydraulic servo control mechanism of compact construction and low fluid requirements is described. The mechanism consists of a main hydraulic piston, comprising the drive output, which is connected mechanically for feedback purposes to a servo control piston. A control sleeve having control slots for the system encloses the servo piston, which acts to cover or uncover the slots as a means of controlling the operation of the system. This operation permits only a small amount of fluid to regulate the operation of the mechanism, which, as a result, is compact and relatively light. This mechanism is particuiarly adaptable to the drive and control of control rods in nuclear reactors. (auth)

Nuclear reactor control apparatus

DOEpatents

Sridhar, Bettadapur N.

1983-11-01

Nuclear reactor core safety rod release apparatus comprises a control rod having a detent notch in the form of an annular peripheral recess at its upper end, a control rod support tube for raising and lowering the control rod under normal conditions, latches pivotally mounted on the control support tube with free ends thereof normally disposed in the recess in the control rod, and cam means for pivoting the latches out of the recess in the control rod when a scram condition occurs. One embodiment of the invention comprises an additional magnetically-operated latch for releasing the control rod under two different conditions, one involving seismic shock.

Robust attitude control design for spacecraft under assigned velocity and control constraints.

PubMed

Hu, Qinglei; Li, Bo; Zhang, Youmin

2013-07-01

A novel robust nonlinear control design under the constraints of assigned velocity and actuator torque is investigated for attitude stabilization of a rigid spacecraft. More specifically, a nonlinear feedback control is firstly developed by explicitly taking into account the constraints on individual angular velocity components as well as external disturbances. Considering further the actuator misalignments and magnitude deviation, a modified robust least-squares based control allocator is employed to deal with the problem of distributing the previously designed three-axis moments over the available actuators, in which the focus of this control allocation is to find the optimal control vector of actuators by minimizing the worst-case residual error using programming algorithms. The attitude control performance using the controller structure is evaluated through a numerical example. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Temperature control in a solar collector field using Filtered Dynamic Matrix Control.

PubMed

Lima, Daniel Martins; Normey-Rico, Julio Elias; Santos, Tito Luís Maia

2016-05-01

This paper presents the output temperature control of a solar collector field of a desalinization plant using the Filtered Dynamic Matrix Control (FDMC). The FDMC is a modified controller based on the Dynamic Matrix Control (DMC), a predictive control strategy widely used in industry. In the FDMC, a filter is used in the prediction error, which allows the modification of the robustness and disturbance rejection characteristics of the original algorithm. The implementation and tuning of the FDMC are simple and maintain the advantages of DMC. Several simulation results using a validated model of the solar plant are presented considering different scenarios. The results are also compared to nonlinear control techniques, showing that FDMC, if properly tuned, can yield similar results to more complex control algorithms. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Application of precomputed control laws in a reconfigurable aircraft flight control system

NASA Technical Reports Server (NTRS)

Moerder, Daniel D.; Halyo, Nesim; Broussard, John R.; Caglayan, Alper K.

1989-01-01

A self-repairing flight control system concept in which the control law is reconfigured after actuator and/or control surface damage to preserve stability and pilot command tracking is described. A key feature of the controller is reconfigurable multivariable feedback. The feedback gains are designed off-line and scheduled as a function of the aircraft control impairment status so that reconfiguration is performed simply by updating the gain schedule after detection of an impairment. A novel aspect of the gain schedule design procedure is that the schedule is calculated using a linear quadratic optimization-based simultaneous stabilization algorithm in which the scheduled gain is constrained to stabilize a collection of plant models representing the aircraft in various control failure modes. A description and numerical evaluation of a controller design for a model of a statically unstable high-performance aircraft are given.

Digital Optical Control System

NASA Astrophysics Data System (ADS)

Jordan, David H.; Tipton, Charles A.; Christmann, Charles E.; Hochhausler, Nils P.

1988-09-01

We describe the digital optical control system (DOGS), a state-of-the-art controller for electrical feedback in an optical system. The need for a versatile optical controller arose from a number of unique experiments being performed by the Air Force Weapons Laboratory. These experiments use similar detectors and actuator-controlled mirrors, but the control requirements vary greatly. The experiments have in common a requirement for parallel control systems. The DOGS satisfies these needs by allowing several control systems to occupy a single chassis with one master controller. The architecture was designed to allow upward compatibility with future configurations. Combinations of off-the-shelf and custom boards are configured to meet the requirements of each experiment. The configuration described here was used to control piston error to X/80 at a wavelength of 0.51 Am. A peak sample rate of 8 kHz, yielding a closed loop bandwidth of 800 Hz, was achieved.

Programmable control means for providing safe and controlled medication infusion

NASA Technical Reports Server (NTRS)

Fischell, Robert E. (Inventor)

1988-01-01

An implantable programmable infusion pump (IPIP) is disclosed and generally includes: a fluid reservoir filled with selected medication; a pump for causing a precise volumetric dosage of medication to be withdrawn from the reservoir and delivered to the appropriate site within the body; and, a control means for actuating the pump in a safe and programmable manner. The control means includes a microprocessor, a permanent memory containing a series of fixed software instructions, and a memory for storing prescription schedules, dosage limits and other data. The microprocessor actuates the pump in accordance with programmable prescription parameters and dosage limits stored in the memory. A communication link allows the control means to be remotely programmed. The control means incorporates a running integral dosage limit and other safety features which prevent an inadvertent or intentional medication overdose. The control means also monitors the pump and fluid handling system and provides an alert if any improper or potentially unsafe operation is detected.

Propulsion control experience used in the Highly Integrated Digital Electronic Control (HIDEC) program

NASA Technical Reports Server (NTRS)

Myers, L. P.; Burcham, F. W., Jr.

1984-01-01

The highly integrated digital electronic control (HIDEC) program will integrate the propulsion and flight control systems on an F-15 airplane at NASA Ames Research Center's Dryden Flight Research Facility. Ames-Dryden has conducted several propulsion control programs that have contributed to the HIDEC program. The digital electronic engine control (DEEC) flight evaluation investigated the performance and operability of the F100 engine equipped with a full-authority digital electronic control system. Investigations of nozzle instability, fault detection and accommodation, and augmentor transient capability provided important information for the HIDEC program. The F100 engine model derivative (EMD) was also flown in the F-15 airplane, and airplane performance was significantly improved. A throttle response problem was found and solved with a software fix to the control logic. For the HIDEC program, the F100 EMD engines equipped with DEEC controls will be integrated with the digital flight control system. The control modes to be implemented are an integrated flightpath management mode and an integrated adaptive engine control system mode. The engine control experience that will be used in the HIDEC program is discussed.

A multichannel amplitude and relative-phase controller for active sound quality control

NASA Astrophysics Data System (ADS)

Mosquera-Sánchez, Jaime A.; Desmet, Wim; de Oliveira, Leopoldo P. R.

2017-05-01

The enhancement of the sound quality of periodic disturbances for a number of listeners within an enclosure often confronts difficulties given by cross-channel interferences, which arise from simultaneously profiling the primary sound at each error sensor. These interferences may deteriorate the original sound among each listener, which is an unacceptable result from the point of view of sound quality control. In this paper we provide experimental evidence on controlling both amplitude and relative-phase functions of stationary complex primary sounds for a number of listeners within a cavity, attaining amplifications of twice the original value, reductions on the order of 70 dB, and relative-phase shifts between ± π rad, still in a free-of-interference control scenario. To accomplish such burdensome control targets, we have designed a multichannel active sound profiling scheme that bases its operation on exchanging time-domain control signals among the control units during uptime. Provided the real parts of the eigenvalues of persistently excited control matrices are positive, the proposed multichannel array is able to counterbalance cross-channel interferences, while attaining demanding control targets. Moreover, regularization of unstable control matrices is not seen to prevent the proposed array to provide free-of-interference amplitude and relative-phase control, but the system performance is degraded, as a function of the amount of regularization needed. The assessment of Loudness and Roughness metrics on the controlled primary sound proves that the proposed distributed control scheme noticeably outperforms current techniques, since active amplitude- and/or relative-phase-based enhancement of the auditory qualities of a primary sound no longer implies in causing interferences among different positions. In this regard, experimental results also confirm the effectiveness of the proposed scheme on stably enhancing the sound qualities of periodic sounds for

Instrumentation and control systems, equipment location; instrumentation and control building, ...

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

Instrumentation and control systems, equipment location; instrumentation and control building, instrumentation room, bays and console plan. Specifications No. Eng-04-353-55-72; drawing no. 60-09-12; sheet 110 of 148; file no. 1321/61. Stamped: Record drawing - as constructed. Below stamp: Contract no. 4338, no change. - Edwards Air Force Base, Air Force Rocket Propulsion Laboratory, Control Center, Test Area 1-115, near Altair & Saturn Boulevards, Boron, Kern County, CA

An intelligent traffic controller

DOT National Transportation Integrated Search

1995-11-01

Advances in computing sciences have not been applied to traffic control. This paper describes the development of an intelligent controller. A controller with advanced control logic can significantly improve traffic flows at intersections. In this vei...

An Introduction to Numerical Control. Problems for Numerical Control Part Programming.

ERIC Educational Resources Information Center

Campbell, Clifton P.

This combination text and workbook is intended to introduce industrial arts students to numerical control part programming. Discussed in the first section are the impact of numerical control, training efforts, numerical control in established programs, related information for drafting, and the Cartesian Coordinate System and dimensioning…

Adaptive model-based control systems and methods for controlling a gas turbine

NASA Technical Reports Server (NTRS)

Brunell, Brent Jerome (Inventor); Mathews, Jr., Harry Kirk (Inventor); Kumar, Aditya (Inventor)

2004-01-01

Adaptive model-based control systems and methods are described so that performance and/or operability of a gas turbine in an aircraft engine, power plant, marine propulsion, or industrial application can be optimized under normal, deteriorated, faulted, failed and/or damaged operation. First, a model of each relevant system or component is created, and the model is adapted to the engine. Then, if/when deterioration, a fault, a failure or some kind of damage to an engine component or system is detected, that information is input to the model-based control as changes to the model, constraints, objective function, or other control parameters. With all the information about the engine condition, and state and directives on the control goals in terms of an objective function and constraints, the control then solves an optimization so the optimal control action can be determined and taken. This model and control may be updated in real-time to account for engine-to-engine variation, deterioration, damage, faults and/or failures using optimal corrective control action command(s).

Robust control of multi-jointed arm with a decentralized autonomous control mechanism

NASA Technical Reports Server (NTRS)

Kimura, Shinichi; Miyazaki, Ken; Suzuki, Yoshiaki

1994-01-01

A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.

Stability and performance of propulsion control systems with distributed control architectures and failures

NASA Astrophysics Data System (ADS)

Belapurkar, Rohit K.

Future aircraft engine control systems will be based on a distributed architecture, in which, the sensors and actuators will be connected to the Full Authority Digital Engine Control (FADEC) through an engine area network. Distributed engine control architecture will allow the implementation of advanced, active control techniques along with achieving weight reduction, improvement in performance and lower life cycle cost. The performance of a distributed engine control system is predominantly dependent on the performance of the communication network. Due to the serial data transmission policy, network-induced time delays and sampling jitter are introduced between the sensor/actuator nodes and the distributed FADEC. Communication network faults and transient node failures may result in data dropouts, which may not only degrade the control system performance but may even destabilize the engine control system. Three different architectures for a turbine engine control system based on a distributed framework are presented. A partially distributed control system for a turbo-shaft engine is designed based on ARINC 825 communication protocol. Stability conditions and control design methodology are developed for the proposed partially distributed turbo-shaft engine control system to guarantee the desired performance under the presence of network-induced time delay and random data loss due to transient sensor/actuator failures. A fault tolerant control design methodology is proposed to benefit from the availability of an additional system bandwidth and from the broadcast feature of the data network. It is shown that a reconfigurable fault tolerant control design can help to reduce the performance degradation in presence of node failures. A T-700 turbo-shaft engine model is used to validate the proposed control methodology based on both single input and multiple-input multiple-output control design techniques.

Control range: a controllability-based index for node significance in directed networks

NASA Astrophysics Data System (ADS)

Wang, Bingbo; Gao, Lin; Gao, Yong

2012-04-01

While a large number of methods for module detection have been developed for undirected networks, it is difficult to adapt them to handle directed networks due to the lack of consensus criteria for measuring the node significance in a directed network. In this paper, we propose a novel structural index, the control range, motivated by recent studies on the structural controllability of large-scale directed networks. The control range of a node quantifies the size of the subnetwork that the node can effectively control. A related index, called the control range similarity, is also introduced to measure the structural similarity between two nodes. When applying the index of control range to several real-world and synthetic directed networks, it is observed that the control range of the nodes is mainly influenced by the network's degree distribution and that nodes with a low degree may have a high control range. We use the index of control range similarity to detect and analyze functional modules in glossary networks and the enzyme-centric network of homo sapiens. Our results, as compared with other approaches to module detection such as modularity optimization algorithm, dynamic algorithm and clique percolation method, indicate that the proposed indices are effective and practical in depicting structural and modular characteristics of sparse directed networks.

Robust fault-tolerant tracking control design for spacecraft under control input saturation.

PubMed

Bustan, Danyal; Pariz, Naser; Sani, Seyyed Kamal Hosseini

2014-07-01

In this paper, a continuous globally stable tracking control algorithm is proposed for a spacecraft in the presence of unknown actuator failure, control input saturation, uncertainty in inertial matrix and external disturbances. The design method is based on variable structure control and has the following properties: (1) fast and accurate response in the presence of bounded disturbances; (2) robust to the partial loss of actuator effectiveness; (3) explicit consideration of control input saturation; and (4) robust to uncertainty in inertial matrix. In contrast to traditional fault-tolerant control methods, the proposed controller does not require knowledge of the actuator faults and is implemented without explicit fault detection and isolation processes. In the proposed controller a single parameter is adjusted dynamically in such a way that it is possible to prove that both attitude and angular velocity errors will tend to zero asymptotically. The stability proof is based on a Lyapunov analysis and the properties of the singularity free quaternion representation of spacecraft dynamics. Results of numerical simulations state that the proposed controller is successful in achieving high attitude performance in the presence of external disturbances, actuator failures, and control input saturation. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

A parameter optimization approach to controller partitioning for integrated flight/propulsion control application

NASA Technical Reports Server (NTRS)

Schmidt, Phillip; Garg, Sanjay; Holowecky, Brian

1992-01-01

A parameter optimization framework is presented to solve the problem of partitioning a centralized controller into a decentralized hierarchical structure suitable for integrated flight/propulsion control implementation. The controller partitioning problem is briefly discussed and a cost function to be minimized is formulated, such that the resulting 'optimal' partitioned subsystem controllers will closely match the performance (including robustness) properties of the closed-loop system with the centralized controller while maintaining the desired controller partitioning structure. The cost function is written in terms of parameters in a state-space representation of the partitioned sub-controllers. Analytical expressions are obtained for the gradient of this cost function with respect to parameters, and an optimization algorithm is developed using modern computer-aided control design and analysis software. The capabilities of the algorithm are demonstrated by application to partitioned integrated flight/propulsion control design for a modern fighter aircraft in the short approach to landing task. The partitioning optimization is shown to lead to reduced-order subcontrollers that match the closed-loop command tracking and decoupling performance achieved by a high-order centralized controller.

A parameter optimization approach to controller partitioning for integrated flight/propulsion control application

NASA Technical Reports Server (NTRS)

Schmidt, Phillip H.; Garg, Sanjay; Holowecky, Brian R.

1993-01-01

A parameter optimization framework is presented to solve the problem of partitioning a centralized controller into a decentralized hierarchical structure suitable for integrated flight/propulsion control implementation. The controller partitioning problem is briefly discussed and a cost function to be minimized is formulated, such that the resulting 'optimal' partitioned subsystem controllers will closely match the performance (including robustness) properties of the closed-loop system with the centralized controller while maintaining the desired controller partitioning structure. The cost function is written in terms of parameters in a state-space representation of the partitioned sub-controllers. Analytical expressions are obtained for the gradient of this cost function with respect to parameters, and an optimization algorithm is developed using modern computer-aided control design and analysis software. The capabilities of the algorithm are demonstrated by application to partitioned integrated flight/propulsion control design for a modern fighter aircraft in the short approach to landing task. The partitioning optimization is shown to lead to reduced-order subcontrollers that match the closed-loop command tracking and decoupling performance achieved by a high-order centralized controller.

Robust control of accelerators

NASA Astrophysics Data System (ADS)

Joel, W.; Johnson, D.; Chaouki, Abdallah T.

1991-07-01

The problem of controlling the variations in the rf power system can be effectively cast as an application of modern control theory. Two components of this theory are obtaining a model and a feedback structure. The model inaccuracies influence the choice of a particular controller structure. Because of the modelling uncertainty, one has to design either a variable, adaptive controller or a fixed, robust controller to achieve the desired objective. The adaptive control scheme usually results in very complex hardware; and, therefore, shall not be pursued in this research. In contrast, the robust control method leads to simpler hardware. However, robust control requires a more accurate mathematical model of the physical process than is required by adaptive control. Our research at the Los Alamos National Laboratory (LANL) and the University of New Mexico (UNM) has led to the development and implementation of a new robust rf power feedback system. In this article, we report on our research progress. In section 1, the robust control problem for the rf power system and the philosophy adopted for the beginning phase of our research is presented. In section 2, the results of our proof-of-principle experiments are presented. In section 3, we describe the actual controller configuration that is used in LANL FEL physics experiments. The novelty of our approach is that the control hardware is implemented directly in rf. without demodulating, compensating, and then remodulating.

Gendering Coercive Control.

PubMed

Anderson, Kristin L

2009-12-01

This article examines the theory of gender presented in Stark's Coercive Control: How Men Entrap Women in Personal Life. Stark suggests that gender is a form of structural inequality that makes women more vulnerable than men to the strategies of coercive control. However, Stark assumes rather than demonstrates that gendered structural inequality increases women's vulnerability. In this article, the author applies the multilevel theory of gender as identity, interaction, and social structure to document the multiple ways coercive control is gendered. The author argues that, to understand the gender dynamics of coercive control, researchers must examine the interactions across levels of gender. The author concludes with an assessment of the prospects and pitfalls of applying the concept of coercive control to renew the feminist social movement to end domestic violence.

Control technology development

NASA Astrophysics Data System (ADS)

Schaechter, D. B.

1982-03-01

The main objectives of the control technology development task are given in the slide below. The first is to develop control design techniques based on flexible structural models, rather than simple rigid-body models. Since large space structures are distributed parameter systems, a new degree of freedom, that of sensor/actuator placement, may be exercised for improving control system performance. Another characteristic of large space structures is numerous oscillatory modes within the control bandwidth. Reduced-order controller design models must be developed which produce stable closed-loop systems when combined with the full-order system. Since the date of an actual large-space-structure flight is rapidly approaching, it is vitally important that theoretical developments are tested in actual hardware. Experimental verification is a vital counterpart of all current theoretical developments.

Cyclic control stick

DOEpatents

Whitaker, Charles N.; Zimmermann, Richard E.

1989-01-01

A cyclic control stick of the type used in helicopters for reducing the safety hazards associated with such a mechanism in the event of a crewman being thrown violently into contact with the cyclic control stick resulting from a crash or the like. The cyclic control stick is configured to break away upon the exertion of an impact force which exceeds a predetermined value and/or is exerted for more than a momentary time duration. The cyclic control stick is also configured to be adjustable so as to locate the grip thereof as far away from the crewman as possible for safety reasons without comprising the comfort of the crewman or the use of the control stick, and a crushable pad is provided on the top of the grip for impact energy absorbing purposes.

LOFT. Interior, control room in control building (TAN630). Camera facing ...

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

LOFT. Interior, control room in control building (TAN-630). Camera facing north. Sign says "This control console is partially active. Do not operate any switch handle without authorization." Date: May 2004. INEEL negative no. HD-39-14-3 - Idaho National Engineering Laboratory, Test Area North, Scoville, Butte County, ID

Optimization control of LNG regasification plant using Model Predictive Control

NASA Astrophysics Data System (ADS)

Wahid, A.; Adicandra, F. F.

2018-03-01

Optimization of liquified natural gas (LNG) regasification plant is important to minimize costs, especially operational costs. Therefore, it is important to choose optimum LNG regasification plant design and maintaining the optimum operating conditions through the implementation of model predictive control (MPC). Optimal tuning parameter for MPC such as P (prediction horizon), M (control of the horizon) and T (sampling time) are achieved by using fine-tuning method. The optimal criterion for design is the minimum amount of energy used and for control is integral of square error (ISE). As a result, the optimum design is scheme 2 which is developed by Devold with an energy savings of 40%. To maintain the optimum conditions, required MPC with P, M and T as follows: tank storage pressure: 90, 2, 1; product pressure: 95, 2, 1; temperature vaporizer: 65, 2, 2; and temperature heater: 35, 6, 5, with ISE value at set point tracking respectively 0.99, 1792.78, 34.89 and 7.54, or improvement of control performance respectively 4.6%, 63.5%, 3.1% and 58.2% compared to PI controller performance. The energy savings that MPC controllers can make when there is a disturbance in temperature rise 1°C of sea water is 0.02 MW.

CRUCIFORM CONTROL ROD JOINT

DOEpatents

Thorp, A.G. II

1962-08-01

An invention is described which relates to nuclear reactor control rod components and more particularly to a joint between cruciform control rod members and cruciform control rod follower members. In one embodiment this invention provides interfitting crossed arms at adjacent ends of a control rod and its follower in abutting relation. This holds the members against relative opposite longitudinal movement while a compression member keys the arms against relative opposite rotation around a common axis. Means are also provided for centering the control rod and its follower on a common axis and for selectively releasing the control rod from its follower for the insertion of a replacement of the control rod and reuse of the follower. (AEC)

Control system design method

DOEpatents

Wilson, David G [Tijeras, NM; Robinett, III, Rush D.

2012-02-21

A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.

An Update on Tobacco Control Initiatives in Comprehensive Cancer Control Plans

PubMed Central

Dunne, Katherine; Henderson, Susan; Stewart, Sherri L.; Moore, Angela; Hayes, Nikki S.; Jordan, Jerelyn

2013-01-01

Introduction Comprehensive cancer control (CCC) coalitions address tobacco use, the leading cause of preventable death in the United States, through formal plans to guide tobacco control activities and other cancer prevention strategies. Best Practices for Comprehensive Tobacco Control Programs (Best Practices) and The Guide to Community Preventive Services (The Community Guide) are used to assist with this effort. We examined CCC plans to determine the extent to which they followed the Centers for Disease Control and Prevention’s (CDC’s) tobacco control and funding recommendations. Methods We obtained 69 CCC plans, current as of August 1, 2011, to determine which CDC recommendations from Best Practices and The Community Guide were incorporated. Data were abstracted through a content review and key word search and then summarized across the plans with dichotomous indicators. Additionally, we analyzed plans for inclusion of tobacco control funding goals and strategies. Results CCC plans incorporated a mean 4.5 (standard deviation [SD], 2.1) of 5 recommendations from Best Practices and 5.2 (SD, 0.9) of 10 recommendations from The Community Guide. Two-thirds of plans (66.7%) addressed funding for tobacco control as a strategy or action item; 47.8% of those plans (31.9% of total) defined a specific, measurable funding goal. Conclusion Although most CCC plans follow CDC-recommended tobacco control recommendations and funding levels, not all recommendations are addressed by every plan and certain recommendations are addressed in varying numbers of plans. Clearer prioritization of tobacco control recommendations by CDC may improve the extent to which they are followed and therefore maximize their public health benefit. PMID:23806802

Control strategies for planetary rover motion and manipulator control

NASA Technical Reports Server (NTRS)

Trautwein, W.

1973-01-01

An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.

Decoupled Modulation Control

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

Wang, Shaobu; Huang, Renke; Huang, Zhenyu

The objective of this research work is to develop decoupled modulation control methods for damping inter-area oscillations with low frequencies, so the damping control can be more effective and easier to design with less interference among different oscillation modes in the power system. A signal-decoupling algorithm was developed that can enable separation of multiple oscillation frequency contents and extraction of a “pure” oscillation frequency mode that are fed into Power System Stabilizers (PSSs) as the modulation input signals. As a result, instead of introducing interferences between different oscillation modes from the traditional approaches, the output of the new PSS modulationmore » control signal mainly affects only one oscillation mode of interest. The new decoupled modulation damping control algorithm has been successfully developed and tested on the standard IEEE 4-machine 2-area test system and a minniWECC system. The results are compared against traditional modulation controls, which demonstrates the validity and effectiveness of the newly-developed decoupled modulation damping control algorithm.« less

Impaired Feedforward Control and Enhanced Feedback Control of Speech in Patients with Cerebellar Degeneration.

PubMed

Parrell, Benjamin; Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B

2017-09-20

The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control. SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of

Impaired Feedforward Control and Enhanced Feedback Control of Speech in Patients with Cerebellar Degeneration

PubMed Central

Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B.

2017-01-01

The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control. SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of

Exact controllability for a Thermodiffusion System with locally distributed controls

NASA Astrophysics Data System (ADS)

de Moraes, F. G.; Schulz, R. A.; Soriano, J. A.

2018-03-01

In this work we establish a exact controllability result for a thermodiffusion system, modeled by Cattaneo's law, posed in a one-dimensional domain. In the present model the control mechanisms are effective in a small subinterval of the domain. To obtain the desired results, we prove an observability inequality for the adjoint system which, together with the multiplier methods and the Hilbert Uniqueness Method (HUM) developed by J.L. Lions, gives the controllability.

Contrasting Complement Control, Temporal Adjunct Control and Controlled Verbal Gerund Subjects in ASD: The Role of Contextual Cues in Reference Assignment.

PubMed

Janke, Vikki; Perovic, Alexandra

2017-01-01

This study examines two complex syntactic dependencies (complement control and sentence-final temporal adjunct control) and one pragmatic dependency (controlled verbal gerund subjects) in children with ASD. Sixteen high-functioning (HFA) children (aged 6-16) with a diagnosis of autism and no language impairment, matched on age, gender and non-verbal MA to one TD control group, and on age, gender and verbal MA to another TD control group, undertook three picture-selection tasks. Task 1 measured their base-line interpretations of the empty categories ( ec ). Task 2 preceded these sentence sets with a weakly established topic cueing an alternative referent and Task 3 with a strongly established topic cueing an alternative referent. In complement control (Ron persuaded Hermione ec to kick the ball) and sentence-final temporal adjunct control (Harry tapped Luna while ec feeding the owl), the reference of the ec is argued to be related obligatorily to the object and subject respectively. In controlled verbal-gerund subjects (VGS) ( ec Rowing the boat clumsily made Luna seasick), the ec 's reference is resolved pragmatically. Referent choices across the three tasks were compared. TD children chose the object uniformly in complement control across all tasks but in adjunct control, preferences shifted toward the object in Task 3. In controlled VGSs, they exhibited a strong preference for an internal-referent interpretation in Task 1, which shifted in the direction of the cues in Tasks 2 and 3. HFA children gave a mixed performance. They patterned with their TD counterparts on complement control and controlled VGSs but performed marginally differently on adjunct control: no TD groups were influenced by the weakly established topic in Task 2 but all groups were influenced by the strongly established topic in Task 3. HFA children were less influenced than the TD children, resulting in their making fewer object choices overall but revealing parallel patterns of performance. In

Contrasting Complement Control, Temporal Adjunct Control and Controlled Verbal Gerund Subjects in ASD: The Role of Contextual Cues in Reference Assignment

PubMed Central

Janke, Vikki; Perovic, Alexandra

2017-01-01

This study examines two complex syntactic dependencies (complement control and sentence-final temporal adjunct control) and one pragmatic dependency (controlled verbal gerund subjects) in children with ASD. Sixteen high-functioning (HFA) children (aged 6–16) with a diagnosis of autism and no language impairment, matched on age, gender and non-verbal MA to one TD control group, and on age, gender and verbal MA to another TD control group, undertook three picture-selection tasks. Task 1 measured their base-line interpretations of the empty categories (ec). Task 2 preceded these sentence sets with a weakly established topic cueing an alternative referent and Task 3 with a strongly established topic cueing an alternative referent. In complement control (Ron persuaded Hermione ec to kick the ball) and sentence-final temporal adjunct control (Harry tapped Luna while ec feeding the owl), the reference of the ec is argued to be related obligatorily to the object and subject respectively. In controlled verbal-gerund subjects (VGS) (ec Rowing the boat clumsily made Luna seasick), the ec's reference is resolved pragmatically. Referent choices across the three tasks were compared. TD children chose the object uniformly in complement control across all tasks but in adjunct control, preferences shifted toward the object in Task 3. In controlled VGSs, they exhibited a strong preference for an internal-referent interpretation in Task 1, which shifted in the direction of the cues in Tasks 2 and 3. HFA children gave a mixed performance. They patterned with their TD counterparts on complement control and controlled VGSs but performed marginally differently on adjunct control: no TD groups were influenced by the weakly established topic in Task 2 but all groups were influenced by the strongly established topic in Task 3. HFA children were less influenced than the TD children, resulting in their making fewer object choices overall but revealing parallel patterns of performance. In

Controlling a multi-degree of freedom upper limb prosthesis using foot controls: user experience.

PubMed

Resnik, Linda; Klinger, Shana Lieberman; Etter, Katherine; Fantini, Christopher

2014-07-01

The DEKA Arm, a pre-commercial upper limb prosthesis, funded by the DARPA Revolutionizing Prosthetics Program, offers increased degrees of freedom while requiring a large number of user control inputs to operate. To address this challenge, DEKA developed prototype foot controls. Although the concept of utilizing foot controls to operate an upper limb prosthesis has been discussed for decades, only small-sized studies have been performed and no commercial product exists. The purpose of this paper is to report amputee user perspectives on using three different iterations of foot controls to operate the DEKA Arm. Qualitative data was collected from 36 subjects as part of the Department of Veterans Affairs (VA) Study to Optimize the DEKA Arm through surveys, interviews, audio memos, and videotaped sessions. Three major, interrelated themes were identified using the constant comparative method: attitudes towards foot controls, psychomotor learning and physical experience of using foot controls. Feedback about foot controls was generally positive for all iterations. The final version of foot controls was viewed most favorably. Our findings indicate that foot controls are a viable control option that can enable control of a multifunction upper limb prosthesis (the DEKA Arm). Multifunction upper limb prostheses require many user control inputs to operate. Foot controls offer additional control input options for such advanced devices, yet have had minimal study. This study found that foot controls were a viable option for controlling multifunction upper limb prostheses. Most of the 36 subjects in this study were willing to adopt foot controls to control the multiple degrees of freedom of the DEKA Arm. With training and practice, all users were able to develop the psychomotor skills needed to successfully operate food controls. Some had initial difficulty, but acclimated over time.

Some Issues Related to Integrating Active Flow Control With Flight Control

NASA Technical Reports Server (NTRS)

Williams, David; Colonius, Tim; Tadmor, Gilead; Rowley, Clancy

2010-01-01

Time varying control of CL is necessary for integrating AFC and Flight Control (Biasing allows for +/- changes in lift) Time delays associated with actuation are long (APPROX.5.8 c/U) and must be included in controllers. Convolution of input signal with single pulse kernel gives reasonable prediction of lift response.

Automated Steering Control Design by Visual Feedback Approach —System Identification and Control Experiments with a Radio-Controlled Car—

NASA Astrophysics Data System (ADS)

Fujiwara, Yukihiro; Yoshii, Masakazu; Arai, Yasuhito; Adachi, Shuichi

Advanced safety vehicle(ASV)assists drivers’ manipulation to avoid trafic accidents. A variety of researches on automatic driving systems are necessary as an element of ASV. Among them, we focus on visual feedback approach in which the automatic driving system is realized by recognizing road trajectory using image information. The purpose of this paper is to examine the validity of this approach by experiments using a radio-controlled car. First, a practical image processing algorithm to recognize white lines on the road is proposed. Second, a model of the radio-controlled car is built by system identication experiments. Third, an automatic steering control system is designed based on H∞ control theory. Finally, the effectiveness of the designed control system is examined via traveling experiments.

Active vibration and noise control of vibro-acoustic system by using PID controller

NASA Astrophysics Data System (ADS)

Li, Yunlong; Wang, Xiaojun; Huang, Ren; Qiu, Zhiping

2015-07-01

Active control simulation of the acoustic and vibration response of a vibro-acoustic cavity of an airplane based on a PID controller is presented. A full numerical vibro-acoustic model is developed by using an Eulerian model, which is a coupled model based on the finite element formulation. The reduced order model, which is used to design the closed-loop control system, is obtained by the combination of modal expansion and variable substitution. Some physical experiments are made to validate and update the full-order and the reduced-order numerical models. Optimization of the actuator placement is employed in order to get an effective closed-loop control system. For the controller design, an iterative method is used to determine the optimal parameters of the PID controller. The process is illustrated by the design of an active noise and vibration control system for a cavity structure. The numerical and experimental results show that a PID-based active control system can effectively suppress the noise inside the cavity using a sound pressure signal as the controller input. It is also possible to control the noise by suppressing the vibration of the structure using the structural displacement signal as the controller input. For an airplane cavity structure, considering the issue of space-saving, the latter is more suitable.

The LHCb Run Control

NASA Astrophysics Data System (ADS)

Alessio, F.; Barandela, M. C.; Callot, O.; Duval, P.-Y.; Franek, B.; Frank, M.; Galli, D.; Gaspar, C.; Herwijnen, E. v.; Jacobsson, R.; Jost, B.; Neufeld, N.; Sambade, A.; Schwemmer, R.; Somogyi, P.

2010-04-01

LHCb has designed and implemented an integrated Experiment Control System. The Control System uses the same concepts and the same tools to control and monitor all parts of the experiment: the Data Acquisition System, the Timing and the Trigger Systems, the High Level Trigger Farm, the Detector Control System, the Experiment's Infrastructure and the interaction with the CERN Technical Services and the Accelerator. LHCb's Run Control, the main interface used by the experiment's operator, provides access in a hierarchical, coherent and homogeneous manner to all areas of the experiment and to all its sub-detectors. It allows for automated (or manual) configuration and control, including error recovery, of the full experiment in its different running modes. Different instances of the same Run Control interface are used by the various sub-detectors for their stand-alone activities: test runs, calibration runs, etc. The architecture and the tools used to build the control system, the guidelines and components provided to the developers, as well as the first experience with the usage of the Run Control will be presented

Modern control techniques in active flutter suppression using a control moment gyro

NASA Technical Reports Server (NTRS)

Buchek, P. M.

1974-01-01

Development of organized synthesis techniques, using concepts of modern control theory was studied for the design of active flutter suppression systems for two and three-dimensional lifting surfaces, utilizing a control moment gyro (CMG) to generate the required control torques. Incompressible flow theory is assumed, with the unsteady aerodynamic forces and moments for arbitrary airfoil motion obtained by using the convolution integral based on Wagner's indicial lift function. Linear optimal control theory is applied to find particular optimal sets of gain values which minimize a quadratic performance function. The closed loop system's response to impulsive gust disturbances and the resulting control power requirements are investigated, and the system eigenvalues necessary to minimize the maximum value of control power are determined.

Control Systems with Normalized and Covariance Adaptation by Optimal Control Modification

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T. (Inventor); Burken, John J. (Inventor); Hanson, Curtis E. (Inventor)

2016-01-01

Disclosed is a novel adaptive control method and system called optimal control modification with normalization and covariance adjustment. The invention addresses specifically to current challenges with adaptive control in these areas: 1) persistent excitation, 2) complex nonlinear input-output mapping, 3) large inputs and persistent learning, and 4) the lack of stability analysis tools for certification. The invention has been subject to many simulations and flight testing. The results substantiate the effectiveness of the invention and demonstrate the technical feasibility for use in modern aircraft flight control systems.

Application of neural models as controllers in mobile robot velocity control loop

NASA Astrophysics Data System (ADS)

Cerkala, Jakub; Jadlovska, Anna

2017-01-01

This paper presents the application of an inverse neural models used as controllers in comparison to classical PI controllers for velocity tracking control task used in two-wheel, differentially driven mobile robot. The PI controller synthesis is based on linear approximation of actuators with equivalent load. In order to obtain relevant datasets for training of feed-forward multi-layer perceptron based neural network used as neural model, the mathematical model of mobile robot, that combines its kinematic and dynamic properties such as chassis dimensions, center of gravity offset, friction and actuator parameters is used. Neural models are trained off-line to act as an inverse dynamics of DC motors with particular load using data collected in simulation experiment for motor input voltage step changes within bounded operating area. The performances of PI controllers versus inverse neural models in mobile robot internal velocity control loops are demonstrated and compared in simulation experiment of navigation control task for line segment motion in plane.

29. MAIN CONTROL ROOM, PANELS WEST OF MAIN CONTROL AREA, ...

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

29. MAIN CONTROL ROOM, PANELS WEST OF MAIN CONTROL AREA, LOOKING SOUTH (LOCATION Q) - Shippingport Atomic Power Station, On Ohio River, 25 miles Northwest of Pittsburgh, Shippingport, Beaver County, PA

28. MAIN CONTROL ROOM, PANELS WEST OF MAIN CONTROL AREA, ...

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

28. MAIN CONTROL ROOM, PANELS WEST OF MAIN CONTROL AREA, LOOKING NORTH (LOCATION Q) - Shippingport Atomic Power Station, On Ohio River, 25 miles Northwest of Pittsburgh, Shippingport, Beaver County, PA

A unified method for evaluating real-time computer controllers: A case study. [aircraft control

NASA Technical Reports Server (NTRS)

Shin, K. G.; Krishna, C. M.; Lee, Y. H.

1982-01-01

A real time control system consists of a synergistic pair, that is, a controlled process and a controller computer. Performance measures for real time controller computers are defined on the basis of the nature of this synergistic pair. A case study of a typical critical controlled process is presented in the context of new performance measures that express the performance of both controlled processes and real time controllers (taken as a unit) on the basis of a single variable: controller response time. Controller response time is a function of current system state, system failure rate, electrical and/or magnetic interference, etc., and is therefore a random variable. Control overhead is expressed as a monotonically nondecreasing function of the response time and the system suffers catastrophic failure, or dynamic failure, if the response time for a control task exceeds the corresponding system hard deadline, if any. A rigorous probabilistic approach is used to estimate the performance measures. The controlled process chosen for study is an aircraft in the final stages of descent, just prior to landing. First, the performance measures for the controller are presented. Secondly, control algorithms for solving the landing problem are discussed and finally the impact of the performance measures on the problem is analyzed.

Population versus hospital controls for case-control studies on cancers in Chinese hospitals

PubMed Central

2011-01-01

Background Correct control selection is crucial to the internal validity of case-control studies. Little information exists on differences between population and hospital controls in case-control studies on cancers in Chinese hospital setting. Methods We conducted three parallel case-control studies on leukemia, breast and colorectal cancers in China between 2009 and 2010, using population and hospital controls to separately match 540 incident cases by age, gender and residency at a 1:1 ratio. Demographic and lifestyle factors were measured using a validated questionnaire in face-to-face interview. Odds ratios (ORs) and 95% confidence intervals (CIs) were obtained using conditional logistic regression analyses. Results The two control groups had closely similar exposure distributions of 15 out of 16 factors, with the only exception being that hospital controls were less likely to have a BMI ≥ 25 (OR = 0.71, 95% CI: 0.54, 0.93). For exposure of green tea drinking, the adjusted ORs (95% CIs) comparing green tealeaves intake ≥ 1000 grams annually with non-drinkers were 0.51 (0.31, 0.83) and 0.21 (0.27, 0.74) for three cancers combined, 0.06 (0.01, 0.61) and 0.07 (0.01, 0.47) for breast cancer, 0.52 (0.29, 0.94) and 0.45 (0.25, 0.82) for colorectal cancer, 0.65 (0.08, 5.63) and 0.57 (0.07, 4.79) for leukemia using hospital and population controls respectively. Conclusions The study found that hospital controls were comparable with population controls for most demographic characteristics and lifestyle factors measured, but there was a slight difference between the two control groups. Hospital outpatients provide a satisfactory control group in hospital-based case-control study in the Chinese hospital setting. PMID:22171783

Population versus hospital controls for case-control studies on cancers in Chinese hospitals.

PubMed

Li, Lin; Zhang, Min; Holman, D'Arcy

2011-12-15

Correct control selection is crucial to the internal validity of case-control studies. Little information exists on differences between population and hospital controls in case-control studies on cancers in Chinese hospital setting. We conducted three parallel case-control studies on leukemia, breast and colorectal cancers in China between 2009 and 2010, using population and hospital controls to separately match 540 incident cases by age, gender and residency at a 1:1 ratio. Demographic and lifestyle factors were measured using a validated questionnaire in face-to-face interview. Odds ratios (ORs) and 95% confidence intervals (CIs) were obtained using conditional logistic regression analyses. The two control groups had closely similar exposure distributions of 15 out of 16 factors, with the only exception being that hospital controls were less likely to have a BMI ≥ 25 (OR = 0.71, 95% CI: 0.54, 0.93). For exposure of green tea drinking, the adjusted ORs (95% CIs) comparing green tealeaves intake ≥ 1000 grams annually with non-drinkers were 0.51 (0.31, 0.83) and 0.21 (0.27, 0.74) for three cancers combined, 0.06 (0.01, 0.61) and 0.07 (0.01, 0.47) for breast cancer, 0.52 (0.29, 0.94) and 0.45 (0.25, 0.82) for colorectal cancer, 0.65 (0.08, 5.63) and 0.57 (0.07, 4.79) for leukemia using hospital and population controls respectively. The study found that hospital controls were comparable with population controls for most demographic characteristics and lifestyle factors measured, but there was a slight difference between the two control groups. Hospital outpatients provide a satisfactory control group in hospital-based case-control study in the Chinese hospital setting.

Manual on Bibliographic Control.

ERIC Educational Resources Information Center

International Federation of Library Associations, The Hague (Netherlands).

This manual outlines objectives, functions, and methods for establishing national bibliographic control as part of the development of a worldwide system for the control and exchange of bibliographic information. Chapters cover: (1) definitions of bibliographic control and related concepts including Universal Bibliographic Control (UBC) and…

Phase Control in Nonlinear Systems

NASA Astrophysics Data System (ADS)

Zambrano, Samuel; Seoane, Jesús M.; Mariño, Inés P.; Sanjuán, Miguel A. F.; Meucci, Riccardo

The following sections are included: * Introduction * Phase Control of Chaos * Description of the model * Numerical exploration of phase control of chaos * Experimental evidence of phase control of chaos * Phase Control of Intermittency in Dynamical Systems * Crisis-induced intermittency and its control * Experimental setup and implementation of the phase control scheme * Phase control of the laser in the pre-crisis regime * Phase control of the intermittency after the crisis * Phase control of the intermittency in the quadratic map * Phase Control of Escapes in Open Dynamical Systems * Control of open dynamical systems * Model description * Numerical simulations and heuristic arguments * Experimental implementation in an electronic circuit * Conclusions and Discussions * Acknowledgments * References

Controlling aliased dynamics in motion systems? An identification for sampled-data control approach

NASA Astrophysics Data System (ADS)

Oomen, Tom

2014-07-01

Sampled-data control systems occasionally exhibit aliased resonance phenomena within the control bandwidth. The aim of this paper is to investigate the aspect of these aliased dynamics with application to a high performance industrial nano-positioning machine. This necessitates a full sampled-data control design approach, since these aliased dynamics endanger both the at-sample performance and the intersample behaviour. The proposed framework comprises both system identification and sampled-data control. In particular, the sampled-data control objective necessitates models that encompass the intersample behaviour, i.e., ideally continuous time models. Application of the proposed approach on an industrial wafer stage system provides a thorough insight and new control design guidelines for controlling aliased dynamics.

Controllability of Surface Water Networks

NASA Astrophysics Data System (ADS)

Riasi, M. Sadegh; Yeghiazarian, Lilit

2017-12-01

To sustainably manage water resources, we must understand how to control complex networked systems. In this paper, we study surface water networks from the perspective of structural controllability, a concept that integrates classical control theory with graph-theoretic formalism. We present structural controllability theory and compute four metrics: full and target controllability, control centrality and control profile (FTCP) that collectively determine the structural boundaries of the system's control space. We use these metrics to answer the following questions: How does the structure of a surface water network affect its controllability? How to efficiently control a preselected subset of the network? Which nodes have the highest control power? What types of topological structures dominate controllability? Finally, we demonstrate the structural controllability theory in the analysis of a wide range of surface water networks, such as tributary, deltaic, and braided river systems.

Temperature Control. Honeywell Planning Guide.

ERIC Educational Resources Information Center

Honeywell, Inc., Minneapolis, Minn.

Presents planning considerations in selecting proper temperature control systems. Various aspects are discussed including--(1) adequate environmental control, (2) adequate control area, (3) control system design, (4) operators rate their systems, (5) type of control components, (6) basic control system, (7) automatic control systems, and (8)…

SPERTI Control Building (PER601) interior. Control panel with data readout ...

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

SPERT-I Control Building (PER-601) interior. Control panel with data readout equipment in control room. Panels and equipment were fabricated elsewhere at NRTS during SPERT-I construction. Photographer: R.G. Larsen. Date: November 21, 1955. INEEL negative no. 55-3208 - Idaho National Engineering Laboratory, SPERT-I & Power Burst Facility Area, Scoville, Butte County, ID

Fuzzy and neural control

NASA Technical Reports Server (NTRS)

Berenji, Hamid R.

1992-01-01

Fuzzy logic and neural networks provide new methods for designing control systems. Fuzzy logic controllers do not require a complete analytical model of a dynamic system and can provide knowledge-based heuristic controllers for ill-defined and complex systems. Neural networks can be used for learning control. In this chapter, we discuss hybrid methods using fuzzy logic and neural networks which can start with an approximate control knowledge base and refine it through reinforcement learning.

Nonlinear Model Predictive Control for Cooperative Control and Estimation

NASA Astrophysics Data System (ADS)

Ru, Pengkai

Recent advances in computational power have made it possible to do expensive online computations for control systems. It is becoming more realistic to perform computationally intensive optimization schemes online on systems that are not intrinsically stable and/or have very small time constants. Being one of the most important optimization based control approaches, model predictive control (MPC) has attracted a lot of interest from the research community due to its natural ability to incorporate constraints into its control formulation. Linear MPC has been well researched and its stability can be guaranteed in the majority of its application scenarios. However, one issue that still remains with linear MPC is that it completely ignores the system's inherent nonlinearities thus giving a sub-optimal solution. On the other hand, if achievable, nonlinear MPC, would naturally yield a globally optimal solution and take into account all the innate nonlinear characteristics. While an exact solution to a nonlinear MPC problem remains extremely computationally intensive, if not impossible, one might wonder if there is a middle ground between the two. We tried to strike a balance in this dissertation by employing a state representation technique, namely, the state dependent coefficient (SDC) representation. This new technique would render an improved performance in terms of optimality compared to linear MPC while still keeping the problem tractable. In fact, the computational power required is bounded only by a constant factor of the completely linearized MPC. The purpose of this research is to provide a theoretical framework for the design of a specific kind of nonlinear MPC controller and its extension into a general cooperative scheme. The controller is designed and implemented on quadcopter systems.

Nonlinear Control Systems

DTIC Science & Technology

2007-03-01

Finite -dimensional regulators for a class of infinite dimensional systems ,” Systems and Control Letters, 3 (1983), 7-12. [11] B...semiglobal stabilizability by encoded state feedback,” to appear in Systems and Control Letters. 22 29. C. De Persis, A. Isidori, “Global stabilization of...nonequilibrium setting, for both finite and infinite dimensional control systems . Our objectives for distributed parameter systems included

4. NORTH REAR, CONTROL TOWER AND CONTROL HOUSE, SHOWING INTAKE ...

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

4. NORTH REAR, CONTROL TOWER AND CONTROL HOUSE, SHOWING INTAKE STRUCTURE TRASH RACKS BELOW. - Prado Dam, Outlet Works, Santa Ana River near junction of State Highways 71 & 91, Corona, Riverside County, CA

Looking Northwest at Furnace Control Panels and Gas Control Furnace ...

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

Looking Northwest at Furnace Control Panels and Gas Control Furnace in Red Room Within Recycle Recovery Building - Hematite Fuel Fabrication Facility, Recycle Recovery Building, 3300 State Road P, Festus, Jefferson County, MO

Control of large flexible spacecraft by the independent modal-space control method

NASA Technical Reports Server (NTRS)

Meirovitch, L.; Shenar, J.

1984-01-01

The problem of control of a large-order flexible structure in the form of a plate-like lattice by the Independent Modal-Space Control (IMSC) method is presented. The equations of motion are first transformed to the modal space, thus obtaining internal (plant) decoupling of the system. Then, the control laws are designed in the modal space for each mode separately, so that the modal equations of motion are rendered externally (controller) decoupled. This complete decoupling applies both to rigid-body modes and elastic modes. The application of linear optimal control, in conjunction with a quadratic performance index, is first reviewed. A solution for high-order systems is proposed here by the IMSC method, whereby the problem is reduced to a number of modal minimum-fuel problems for the controlled modes.

Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

NASA Astrophysics Data System (ADS)

Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

2008-08-01

In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

Vehicle active steering control research based on two-DOF robust internal model control

NASA Astrophysics Data System (ADS)

Wu, Jian; Liu, Yahui; Wang, Fengbo; Bao, Chunjiang; Sun, Qun; Zhao, Youqun

2016-07-01

Because of vehicle's external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

Environmental Controls.

ERIC Educational Resources Information Center

Schneiderman, Helen, Ed.

1994-01-01

Environmental control units, or ECUs, are devices or systems which allow for alternate access to electronic or electrical devices and those objects, like draperies and doors, which may be adapted for use with electricity. Such devices offer the person with a mobility limitation the opportunity to control his or her environment, thus enhancing the…

Gas turbine engine control system

NASA Technical Reports Server (NTRS)

Idelchik, Michael S. (Inventor)

1991-01-01

A control system and method of controlling a gas turbine engine. The control system receives an error signal and processes the error signal to form a primary fuel control signal. The control system also receives at least one anticipatory demand signal and processes the signal to form an anticipatory fuel control signal. The control system adjusts the value of the anticipatory fuel control signal based on the value of the error signal to form an adjusted anticipatory signal and then the adjusted anticipatory fuel control signal and the primary fuel control signal are combined to form a fuel command signal.

Nonlinear control of magnetic bearings

NASA Technical Reports Server (NTRS)

Pradeep, A. K.; Gurumoorthy, R.

1994-01-01

In this paper we present a variety of nonlinear controllers for the magnetic bearing that ensure both stability and robustness. We utilize techniques of discontinuous control to design novel control laws for the magnetic bearing. We present in particular sliding mode controllers, time optimal controllers, winding algorithm based controllers, nested switching controllers, fractional controllers, and synchronous switching controllers for the magnetic bearing. We show existence of solutions to systems governed by discontinuous control laws, and prove stability and robustness of the chosen control laws in a rigorous setting. We design sliding mode observers for the magnetic bearing and prove the convergence of the state estimates to their true values. We present simulation results of the performance of the magnetic bearing subject to the aforementioned control laws, and conclude with comments on design.

[Filariasis control: entry point for other helminthiasis control programs?].

PubMed

Boussinesq, M

2006-08-01

Filariasis control programs are based on a decentralized drug distribution strategy known as "community-directed". This strategy could also be applied to the control of schistosomiasis and intestinal nematode infections. Integration of these control programs could be highly cost-effective. However, as a prerequisite for integration, it would be necessary to identify zones where these helminthic infections co-exist, specify the population categories that should receive each medication (ivermectin, albendazole, mebendazole, and praziquantel), check that combined administration of these drugs is safe and ensure that an integrated program would have no detrimental effect on the health care system and on the efficacy of ongoing programs.

Try to Control Yourself!

ERIC Educational Resources Information Center

Esque, Timm J.

1996-01-01

Conventional management controls employees, but successful management encourages and enables employees to control themselves. Where control resides in an organization can be determined by examining its performance tracking systems. Most are management information systems. The best are owned and used by the employees to control and adjust their own…

An Improved Method to Control the Critical Parameters of a Multivariable Control System

NASA Astrophysics Data System (ADS)

Subha Hency Jims, P.; Dharmalingam, S.; Wessley, G. Jims John

2017-10-01

The role of control systems is to cope with the process deficiencies and the undesirable effect of the external disturbances. Most of the multivariable processes are highly iterative and complex in nature. Aircraft systems, Modern Power Plants, Refineries, Robotic systems are few such complex systems that involve numerous critical parameters that need to be monitored and controlled. Control of these important parameters is not only tedious and cumbersome but also is crucial from environmental, safety and quality perspective. In this paper, one such multivariable system, namely, a utility boiler has been considered. A modern power plant is a complex arrangement of pipework and machineries with numerous interacting control loops and support systems. In this paper, the calculation of controller parameters based on classical tuning concepts has been presented. The controller parameters thus obtained and employed has controlled the critical parameters of a boiler during fuel switching disturbances. The proposed method can be applied to control the critical parameters like elevator, aileron, rudder, elevator trim rudder and aileron trim, flap control systems of aircraft systems.

Control and modeling of a CELSS (Controlled Ecological Life Support System)

NASA Technical Reports Server (NTRS)

Auslander, D. M.; Spear, R. C.; Babcock, P. S.; Nadel, M.

1983-01-01

Research topics that arise from the conceptualization of control for closed life support systems which are life support systems in which all or most of the mass is recycled are discussed. Modeling and control of uncertain and poorly defined systems, resource allocation in closed life support systems, and control structures or systems with delay and closure are emphasized.

Detail of motor control cabinet and field breakers. Control cabinet ...

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

Detail of motor control cabinet and field breakers. Control cabinet and breaker panel built by Cutler-Hammer - Wellton-Mohawk Irrigation System, Pumping Plant No. 3, South of Interstate 8, Wellton, Yuma County, AZ

3. WEST SIDE, CONTROL TOWER AND CONTROL HOUSE, ALSO SHOWING ...

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

3. WEST SIDE, CONTROL TOWER AND CONTROL HOUSE, ALSO SHOWING INTAKE STRUCTURE BELOW AT LEFT. - Prado Dam, Outlet Works, Santa Ana River near junction of State Highways 71 & 91, Corona, Riverside County, CA

On Restructurable Control System Theory

NASA Technical Reports Server (NTRS)

Athans, M.

1983-01-01

The state of stochastic system and control theory as it impacts restructurable control issues is addressed. The multivariable characteristics of the control problem are addressed. The failure detection/identification problem is discussed as a multi-hypothesis testing problem. Control strategy reconfiguration, static multivariable controls, static failure hypothesis testing, dynamic multivariable controls, fault-tolerant control theory, dynamic hypothesis testing, generalized likelihood ratio (GLR) methods, and adaptive control are discussed.

Self-control, future orientation, smoking, and the impact of Dutch tobacco control measures.

PubMed

Daly, Michael; Delaney, Liam; Baumeister, Roy F

2015-06-01

The pronounced discrepancy between smokers' intentions to quit and their smoking behavior has led researchers to suggest that many smokers are time inconsistent, have self-control problems, and may benefit from external efforts to constrain their consumption. This study aims to test whether self-control and future orientation predict smoking levels and to identify if these traits modify how cigarette consumption responds to the introduction of tobacco control measures. A sample of Dutch adults (N = 1585) completed a measure of self-control and the Consideration of Future Consequences Scale (CFCS) in 2001 and indicated their tobacco consumption each year from 2001 to 2007. In 2004, a workplace smoking ban and substantial tax increase on tobacco was introduced in the Netherlands. To identify the potential impact of these tobacco control measures we examined whether participants smoked or were heavy smokers (20 + cigarettes per day) each year from 2001 to 2007. Participants with high self-control and CFCS scores showed lower rates of smoking across the seven year period of the study. The 2004 smoking restrictions were linked with a subsequent decline in heavy smoking. This decline was moderated by self-control levels. Those with low self-control showed a large reduction in heavy smoking whereas those with high self-control did not. The effects were, however, temporary: many people with low self-control resumed heavy smoking 2-3 years after the introduction of the tobacco restrictions. The immediate costs which national tobacco control measures impose on smokers may assist smokers with poor self-control in reducing their cigarette consumption.

Robot welding process control

NASA Technical Reports Server (NTRS)

Romine, Peter L.

1991-01-01

This final report documents the development and installation of software and hardware for Robotic Welding Process Control. Primary emphasis is on serial communications between the CYRO 750 robotic welder, Heurikon minicomputer running Hunter & Ready VRTX, and an IBM PC/AT, for offline programming and control and closed-loop welding control. The requirements for completion of the implementation of the Rocketdyne weld tracking control are discussed. The procedure for downloading programs from the Intergraph, over the network, is discussed. Conclusions are made on the results of this task, and recommendations are made for efficient implementation of communications, weld process control development, and advanced process control procedures using the Heurikon.

A modular robust control framework for control of movement elicited by multi-electrode intraspinal microstimulation

NASA Astrophysics Data System (ADS)

Roshani, Amir; Erfanian, Abbas

2016-08-01

Objective. An important issue in restoring motor function through intraspinal microstimulation (ISMS) is the motor control. To provide a physiologically plausible motor control using ISMS, it should be able to control the individual motor unit which is the lowest functional unit of motor control. By focal stimulation only a small group of motor neurons (MNs) within a motor pool can be activated. Different groups of MNs within a motor pool can potentially be activated without involving adjacent motor pools by local stimulation of different parts of a motor pool via microelectrode array implanted into a motor pool. However, since the system has multiple inputs with single output during multi-electrode ISMS, it poses a challenge to movement control. In this paper, we proposed a modular robust control strategy for movement control, whereas multi-electrode array is implanted into each motor activation pool of a muscle. Approach. The controller was based on the combination of proportional-integral-derivative and adaptive fuzzy sliding mode control. The global stability of the controller was guaranteed. Main results. The results of the experiments on rat models showed that the multi-electrode control can provide a more robust control and accurate tracking performance than a single-electrode control. The control output can be pulse amplitude (pulse amplitude modulation, PAM) or pulse width (pulse width modulation, PWM) of the stimulation signal. The results demonstrated that the controller with PAM provided faster convergence rate and better tracking performance than the controller with PWM. Significance. This work represents a promising control approach to the restoring motor functions using ISMS. The proposed controller requires no prior knowledge about the dynamics of the system to be controlled and no offline learning phase. The proposed control design is modular in the sense that each motor pool has an independent controller and each controller is able to control ISMS

Power Controller

NASA Technical Reports Server (NTRS)

1983-01-01

The power factor controller (PFC) senses shifts in the relationship between voltage and current, and matches them with a motor's need. This prevents waste as motors do not need a high voltage when they are not operating at full load conditions. PFC is manufactured by Nordic Controls Company, among others, and has proved extremely cost effective.

Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control

NASA Astrophysics Data System (ADS)

Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

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

Emotional Learning Based Intelligent Controllers for Rotor Flux Oriented Control of Induction Motor

NASA Astrophysics Data System (ADS)

Abdollahi, Rohollah; Farhangi, Reza; Yarahmadi, Ali

2014-08-01

This paper presents design and evaluation of a novel approach based on emotional learning to improve the speed control system of rotor flux oriented control of induction motor. The controller includes a neuro-fuzzy system with speed error and its derivative as inputs. A fuzzy critic evaluates the present situation, and provides the emotional signal (stress). The controller modifies its characteristics so that the critics stress is reduced. The comparative simulation results show that the proposed controller is more robust and hence found to be a suitable replacement of the conventional PI controller for the high performance industrial drive applications.

Adaptive hybrid control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Remote control for motor vehicle

NASA Technical Reports Server (NTRS)

Johnson, Dale R. (Inventor); Ciciora, John A. (Inventor)

1984-01-01

A remote controller is disclosed for controlling the throttle, brake and steering mechanism of a conventional motor vehicle, with the remote controller being particularly advantageous for use by severely handicapped individuals. The controller includes a remote manipulator which controls a plurality of actuators through interfacing electronics. The remote manipulator is a two-axis joystick which controls a pair of linear actuators and a rotary actuator, with the actuators being powered by electric motors to effect throttle, brake and steering control of a motor vehicle adapted to include the controller. The controller enables the driver to control the adapted vehicle from anywhere in the vehicle with one hand with minimal control force and range of motion. In addition, even though a conventional vehicle is adapted for use with the remote controller, the vehicle may still be operated in the normal manner.

Modular Battery Controller

NASA Technical Reports Server (NTRS)

Button, Robert M (Inventor); Gonzalez, Marcelo C (Inventor)

2017-01-01

Some embodiments of the present invention describe a battery including a plurality of master-less controllers. Each controller is operatively connected to a corresponding cell in a string of cells, and each controller is configured to bypass a fraction of current around the corresponding cell when the corresponding cell has a greater charge than one or more other cells in the string of cells.

Adaptation of a Control Center Development Environment for Industrial Process Control

NASA Technical Reports Server (NTRS)

Killough, Ronnie L.; Malik, James M.

1994-01-01

In the control center, raw telemetry data is received for storage, display, and analysis. This raw data must be combined and manipulated in various ways by mathematical computations to facilitate analysis, provide diversified fault detection mechanisms, and enhance display readability. A development tool called the Graphical Computation Builder (GCB) has been implemented which provides flight controllers with the capability to implement computations for use in the control center. The GCB provides a language that contains both general programming constructs and language elements specifically tailored for the control center environment. The GCB concept allows staff who are not skilled in computer programming to author and maintain computer programs. The GCB user is isolated from the details of external subsystem interfaces and has access to high-level functions such as matrix operators, trigonometric functions, and unit conversion macros. The GCB provides a high level of feedback during computation development that improves upon the often cryptic errors produced by computer language compilers. An equivalent need can be identified in the industrial data acquisition and process control domain: that of an integrated graphical development tool tailored to the application to hide the operating system, computer language, and data acquisition interface details. The GCB features a modular design which makes it suitable for technology transfer without significant rework. Control center-specific language elements can be replaced by elements specific to industrial process control.

Emerging trends in vibration control of wind turbines: a focus on a dual control strategy.

PubMed

Staino, Andrea; Basu, Biswajit

2015-02-28

The paper discusses some of the recent developments in vibration control strategies for wind turbines, and in this context proposes a new dual control strategy based on the combination and modification of two recently proposed control schemes. Emerging trends in the vibration control of both onshore and offshore wind turbines are presented. Passive, active and semi-active structural vibration control algorithms have been reviewed. Of the existing controllers, two control schemes, active pitch control and active tendon control, have been discussed in detail. The proposed new control scheme is a merger of active tendon control with passive pitch control, and is designed using a Pareto-optimal problem formulation. This combination of controllers is the cornerstone of a dual strategy with the feature of decoupling vibration control from optimal power control as one of its main advantages, in addition to reducing the burden on the pitch demand. This dual control strategy will bring in major benefits to the design of modern wind turbines and is expected to play a significant role in the advancement of offshore wind turbine technologies. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

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 Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Krishnakumar, Kalmanje; Boskovic, Jovan

2008-01-01

This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High gain control creates high-frequency oscillations that can excite unmodeled dynamics and can lead to instability. The fast adaptation approach is based on the minimization of the squares of the tracking error, which is formulated as an optimal control problem. The necessary condition of optimality is used to derive an adaptive law using the gradient method. This adaptive law is shown to result in uniform boundedness of the tracking error by means of the Lyapunov s direct method. Furthermore, this adaptive law allows a large adaptive gain to be used without causing undesired high-gain control effects. The method is shown to be more robust than standard model-reference adaptive control. Simulations demonstrate the effectiveness of the proposed method.

Fully probabilistic control for stochastic nonlinear control systems with input dependent noise.

PubMed

Herzallah, Randa

2015-03-01

Robust controllers for nonlinear stochastic systems with functional uncertainties can be consistently designed using probabilistic control methods. In this paper a generalised probabilistic controller design for the minimisation of the Kullback-Leibler divergence between the actual joint probability density function (pdf) of the closed loop control system, and an ideal joint pdf is presented emphasising how the uncertainty can be systematically incorporated in the absence of reliable systems models. To achieve this objective all probabilistic models of the system are estimated from process data using mixture density networks (MDNs) where all the parameters of the estimated pdfs are taken to be state and control input dependent. Based on this dependency of the density parameters on the input values, explicit formulations to the construction of optimal generalised probabilistic controllers are obtained through the techniques of dynamic programming and adaptive critic methods. Using the proposed generalised probabilistic controller, the conditional joint pdfs can be made to follow the ideal ones. A simulation example is used to demonstrate the implementation of the algorithm and encouraging results are obtained. Copyright © 2014 Elsevier Ltd. All rights reserved.

On the theory of singular optimal controls in dynamic systems with control delay

NASA Astrophysics Data System (ADS)

Mardanov, M. J.; Melikov, T. K.

2017-05-01

An optimal control problem with a control delay is considered, and a more broad class of singular (in classical sense) controls is investigated. Various sequences of necessary conditions for the optimality of singular controls in recurrent form are obtained. These optimality conditions include analogues of the Kelley, Kopp-Moyer, R. Gabasov, and equality-type conditions. In the proof of the main results, the variation of the control is defined using Legendre polynomials.

Differential-Drive Mobile Robot Control Design based-on Linear Feedback Control Law

NASA Astrophysics Data System (ADS)

Nurmaini, Siti; Dewi, Kemala; Tutuko, Bambang

2017-04-01

This paper deals with the problem of how to control differential driven mobile robot with simple control law. When mobile robot moves from one position to another to achieve a position destination, it always produce some errors. Therefore, a mobile robot requires a certain control law to drive the robot’s movement to the position destination with a smallest possible error. In this paper, in order to reduce position error, a linear feedback control is proposed with pole placement approach to regulate the polynoms desired. The presented work leads to an improved understanding of differential-drive mobile robot (DDMR)-based kinematics equation, which will assist to design of suitable controllers for DDMR movement. The result show by using the linier feedback control method with pole placement approach the position error is reduced and fast convergence is achieved.

Results of telerobotic hand controller study using force information and rate control

NASA Technical Reports Server (NTRS)

Willshire, Kelli F.; Harrison, F. W.; Hogge, Edward F.; Williams, Robert L.; Soloway, Donald

1992-01-01

To increase quantified information about the effectiveness and subjective workload of force information relayed through manipulator input control devices, a space related task was performed by eight subjects with kinesthetic force feedback and/or local force accommodation through three different input control devices (i.e., hand controllers) operating in rate control mode. Task completion time, manipulator work, and subjective responses were measured. Results indicated a difference among the hand controllers. For the Honeywell six degree-of-freedom hand controller, the overall task completion times were shortest, the amount of work exerted was the least, and was the most preferred by test subjects. Neither force accommodation with or without reflection resulted in shorter task completion times or reduced work although those conditions were better than no force information for some aspects. Comparisons of results from previous studies are discussed.

Observer-based state tracking control of uncertain stochastic systems via repetitive controller

NASA Astrophysics Data System (ADS)

Sakthivel, R.; Susana Ramya, L.; Selvaraj, P.

2017-08-01

This paper develops the repetitive control scheme for state tracking control of uncertain stochastic time-varying delay systems via equivalent-input-disturbance approach. The main purpose of this work is to design a repetitive controller to guarantee the tracking performance under the effects of unknown disturbances with bounded frequency and parameter variations. Specifically, a new set of linear matrix inequality (LMI)-based conditions is derived based on the suitable Lyapunov-Krasovskii functional theory for designing a repetitive controller which guarantees stability and desired tracking performance. More precisely, an equivalent-input-disturbance estimator is incorporated into the control design to reduce the effect of the external disturbances. Simulation results are provided to demonstrate the desired control system stability and their tracking performance. A practical stream water quality preserving system is also provided to show the effectiveness and advantage of the proposed approach.

TFTR diagnostic vacuum controller

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

Olsen, D.; Persons, R.

1981-01-01

The TFTR diagnostic vacuum controller (DVC) provides in conjunction with the Central Instrumentation Control and Data Acquisition System (CICADA), control and monitoring for the pumps, valves and gauges associated with each individual diagnostic vacuum system. There will be approximately 50 systems on TFTR. Two standard versions of the controller (A and B) wil be provided in order to meet the requirements of two diagnostic manifold arrangements. All pump and valve sequencing, as well as protection features, will be implemented by the controller.

Magnetically Controlled Variable Transformer

NASA Technical Reports Server (NTRS)

Kleiner, Charles T.

1994-01-01

Improved variable-transformer circuit, output voltage and current of which controlled by use of relatively small current supplied at relatively low power to control windings on its magnetic cores. Transformer circuits of this type called "magnetic amplifiers" because ratio between controlled output power and power driving control current of such circuit large. This ratio - power gain - can be as large as 100 in present circuit. Variable-transformer circuit offers advantages of efficiency, safety, and controllability over some prior variable-transformer circuits.

Plasma Equilibrium Control in Nuclear Fusion Devices 2. Plasma Control in Magnetic Confinement Devices 2.1 Plasma Control in Tokamaks

NASA Astrophysics Data System (ADS)

Fukuda, Takeshi

The plasma control technique for use in large tokamak devices has made great developmental strides in the last decade, concomitantly with progress in the understanding of tokamak physics and in part facilitated by the substantial advancement in the computing environment. Equilibrium control procedures have thereby been established, and it has been pervasively recognized in recent years that the real-time feedback control of physical quantities is indispensable for the improvement and sustainment of plasma performance in a quasi-steady-state. Further development is presently undertaken to realize the “advanced plasma control” concept, where integrated fusion performance is achieved by the simultaneous feedback control of multiple physical quantities, combined with equilibrium control.

Controlling Mackey-Glass chaos.

PubMed

Kiss, Gábor; Röst, Gergely

2017-11-01

The Mackey-Glass equation is the representative example of delay induced chaotic behavior. Here, we propose various control mechanisms so that otherwise erratic solutions are forced to converge to the positive equilibrium or to a periodic orbit oscillating around that equilibrium. We take advantage of some recent results of the delay differential literature, when a sufficiently large domain of the phase space has been shown to be attractive and invariant, where the system is governed by monotone delayed feedback and chaos is not possible due to some Poincaré-Bendixson type results. We systematically investigate what control mechanisms are suitable to drive the system into such a situation and prove that constant perturbation, proportional feedback control, Pyragas control, and state dependent delay control can all be efficient to control Mackey-Glass chaos with properly chosen control parameters.

Controlling Mackey-Glass chaos

NASA Astrophysics Data System (ADS)

Kiss, Gábor; Röst, Gergely

2017-11-01

The Mackey-Glass equation is the representative example of delay induced chaotic behavior. Here, we propose various control mechanisms so that otherwise erratic solutions are forced to converge to the positive equilibrium or to a periodic orbit oscillating around that equilibrium. We take advantage of some recent results of the delay differential literature, when a sufficiently large domain of the phase space has been shown to be attractive and invariant, where the system is governed by monotone delayed feedback and chaos is not possible due to some Poincaré-Bendixson type results. We systematically investigate what control mechanisms are suitable to drive the system into such a situation and prove that constant perturbation, proportional feedback control, Pyragas control, and state dependent delay control can all be efficient to control Mackey-Glass chaos with properly chosen control parameters.

Trajectory tracking in quadrotor platform by using PD controller and LQR control approach

NASA Astrophysics Data System (ADS)

Islam, Maidul; Okasha, Mohamed; Idres, Moumen Mohammad

2017-11-01

The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be controlled at the same time in the Quadrotor, the trajectories are designed on the basis of the four states whereas three dimensional position and rotation along an axis, known as yaw movement are considered. In this work, both the PD controller and LQR control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because the performance of linear model and nonlinear model around certain nominal point is almost similar. Simulink and MATLAB software is used to design the controllers and to evaluate the performance of both the controllers.

A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth; Bayard, David S.

1988-01-01

A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.

Flight Controllers in Mission Control Center during splashdown of Apollo 14

NASA Image and Video Library

1971-02-09

S71-18400 (9 Feb. 1971) --- Flight controllers in the Mission Operations Control Room (MOCR) of the Mission Control Center (MCC) view a colorful display which signals the successful splashdown and recovery of the crew of the Apollo 14 lunar landing mission. The MOCR's large screen at right shows a television shot aboard the USS New Orleans, Apollo 14 prime recovery ship.

Acoustic emission feedback control for control of boiling in a microwave oven

DOEpatents

White, Terry L.

1991-01-01

An acoustic emission based feedback system for controlling the boiling level of a liquid medium in a microwave oven is provided. The acoustic emissions from the medium correlated with surface boiling is used to generate a feedback control signal proportional to the level of boiling of the medium. This signal is applied to a power controller to automatically and continuoulsly vary the power applied to the oven to control the boiling at a selected level.

Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

NASA Astrophysics Data System (ADS)

Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

2016-09-01

In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

Fuzzy decoupling controller based on multimode control algorithm of PI-single neuron and its application

NASA Astrophysics Data System (ADS)

Zhang, Xianxia; Wang, Jian; Qin, Tinggao

2003-09-01

Intelligent control algorithms are introduced into the control system of temperature and humidity. A multi-mode control algorithm of PI-Single Neuron is proposed for single loop control of temperature and humidity. In order to remove the coupling between temperature and humidity, a new decoupling method is presented, which is called fuzzy decoupling. The decoupling is achieved by using a fuzzy controller that dynamically modifies the static decoupling coefficient. Taking the control algorithm of PI-Single Neuron as the single loop control of temperature and humidity, the paper provides the simulated output response curves with no decoupling control, static decoupling control and fuzzy decoupling control. Those control algorithms are easily implemented in singlechip-based hardware systems.

Control strategies for a telerobot

NASA Technical Reports Server (NTRS)

Ohara, John; Stasi, Bill

1989-01-01

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Aircraft adaptive learning control

NASA Technical Reports Server (NTRS)

Lee, P. S. T.; Vanlandingham, H. F.

1979-01-01

The optimal control theory of stochastic linear systems is discussed in terms of the advantages of distributed-control systems, and the control of randomly-sampled systems. An optimal solution to longitudinal control is derived and applied to the F-8 DFBW aircraft. A randomly-sampled linear process model with additive process and noise is developed.

Comparative study of a learning fuzzy PID controller and a self-tuning controller.

PubMed

Kazemian, H B

2001-01-01

The self-organising fuzzy controller is an extension of the rule-based fuzzy controller with an additional learning capability. The self-organising fuzzy (SOF) is used as a master controller to readjust conventional PID gains at the actuator level during the system operation, copying the experience of a human operator. The application of the self-organising fuzzy PID (SOF-PID) controller to a 2-link non-linear revolute-joint robot-arm is studied using path tracking trajectories at the setpoint. For the purpose of comparison, the same experiments are repeated by using the self-tuning controller subject to the same data supplied at the setpoint. For the path tracking experiments, the output trajectories of the SOF-PID controller followed the specified path closer and smoother than the self-tuning controller.

Joint Control for Dummies: An Elaboration of Lowenkron's Model of Joint (Stimulus) Control

ERIC Educational Resources Information Center

Sidener, David W.

2006-01-01

The following paper describes Lowenkron's model of joint (stimulus) control. Joint control is described as a means of accounting for performances, especially generalized performances, for which a history of contingency control does not provide an adequate account. Examples are provided to illustrate instances in which joint control may facilitate…

Touch sensors and control.

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

Description of the equipment employed and results obtained in experiments with tactile feedback and different levels of automatic control. In the experiments described tactile feedback was investigated by incorporating a touch sensing and touch display system into a teleoperator, while the levels of automatic control were investigated by incorporating supervisory control features in the teleoperator control system. In particular, a hand contact system which senses and reproduces to the operator the contact between the end-effector and the object being touched or manipulated is described, as well as a jaw contact system which senses and reproduces to the operator the shape and location of the object held in the remote jaws, and an arm control system consisting of a control station where the operator controls the motion of the arm by transmitting commands, a remote station that accepts the commands and uses them, and a communications link that limits information flow. In addition, an algorithmic language for remote manipulation is described, and the desired features that an automatic arm controller should possess are reviewed.

One shot methods for optimal control of distributed parameter systems 1: Finite dimensional control

NASA Technical Reports Server (NTRS)

Taasan, Shlomo

1991-01-01

The efficient numerical treatment of optimal control problems governed by elliptic partial differential equations (PDEs) and systems of elliptic PDEs, where the control is finite dimensional is discussed. Distributed control as well as boundary control cases are discussed. The main characteristic of the new methods is that they are designed to solve the full optimization problem directly, rather than accelerating a descent method by an efficient multigrid solver for the equations involved. The methods use the adjoint state in order to achieve efficient smoother and a robust coarsening strategy. The main idea is the treatment of the control variables on appropriate scales, i.e., control variables that correspond to smooth functions are solved for on coarse grids depending on the smoothness of these functions. Solution of the control problems is achieved with the cost of solving the constraint equations about two to three times (by a multigrid solver). Numerical examples demonstrate the effectiveness of the method proposed in distributed control case, pointwise control and boundary control problems.

[Statistical process control applied to intensity modulated radiotherapy pretreatment controls with portal dosimetry].

PubMed

Villani, N; Gérard, K; Marchesi, V; Huger, S; François, P; Noël, A

2010-06-01

The first purpose of this study was to illustrate the contribution of statistical process control for a better security in intensity modulated radiotherapy (IMRT) treatments. This improvement is possible by controlling the dose delivery process, characterized by pretreatment quality control results. So, it is necessary to put under control portal dosimetry measurements (currently, the ionisation chamber measurements were already monitored by statistical process control thanks to statistical process control tools). The second objective was to state whether it is possible to substitute ionisation chamber with portal dosimetry in order to optimize time devoted to pretreatment quality control. At Alexis-Vautrin center, pretreatment quality controls in IMRT for prostate and head and neck treatments were performed for each beam of each patient. These controls were made with an ionisation chamber, which is the reference detector for the absolute dose measurement, and with portal dosimetry for the verification of dose distribution. Statistical process control is a statistical analysis method, coming from industry, used to control and improve the studied process quality. It uses graphic tools as control maps to follow-up process, warning the operator in case of failure, and quantitative tools to evaluate the process toward its ability to respect guidelines: this is the capability study. The study was performed on 450 head and neck beams and on 100 prostate beams. Control charts, showing drifts, both slow and weak, and also both strong and fast, of mean and standard deviation have been established and have shown special cause introduced (manual shift of the leaf gap of the multileaf collimator). Correlation between dose measured at one point, given with the EPID and the ionisation chamber has been evaluated at more than 97% and disagreement cases between the two measurements were identified. The study allowed to demonstrate the feasibility to reduce the time devoted to

Intelligent failure-tolerant control

NASA Technical Reports Server (NTRS)

Stengel, Robert F.

1991-01-01

An overview of failure-tolerant control is presented, beginning with robust control, progressing through parallel and analytical redundancy, and ending with rule-based systems and artificial neural networks. By design or implementation, failure-tolerant control systems are 'intelligent' systems. All failure-tolerant systems require some degrees of robustness to protect against catastrophic failure; failure tolerance often can be improved by adaptivity in decision-making and control, as well as by redundancy in measurement and actuation. Reliability, maintainability, and survivability can be enhanced by failure tolerance, although each objective poses different goals for control system design. Artificial intelligence concepts are helpful for integrating and codifying failure-tolerant control systems, not as alternatives but as adjuncts to conventional design methods.

Microfluidic proportional flow controller

PubMed Central

Prentice-Mott, Harrison; Toner, Mehmet; Irimia, Daniel

2011-01-01

Precise flow control in microfluidic chips is important for many biochemical assays and experiments at microscale. While several technologies for controlling fluid flow have been implemented either on- or off-chip, these can provide either high-speed or high-precision control, but seldom could accomplish both at the same time. Here we describe a new on-chip, pneumatically activated flow controller that allows for fast and precise control of the flow rate through a microfluidic channel. Experimental results show that the new proportional flow controllers exhibited a response time of approximately 250 ms, while our numerical simulations suggest that faster actuation down to approximately 50 ms could be achieved with alternative actuation schemes. PMID:21874096

Aircraft loss-of-control prevention and recovery: A hybrid control strategy

NASA Astrophysics Data System (ADS)

Dongmo, Jean-Etienne Temgoua

The Complexity of modern commercial and military aircrafts has necessitated better protection and recovery systems. With the tremendous advances in computer technology, control theory and better mathematical models, a number of issues (Prevention, Reconfiguration, Recovery, Operation near critical points, ... etc) moderately addressed in the past have regained interest in the aeronautical industry. Flight envelope is essential in all flying aerospace vehicles. Typically, flying the vehicle means remaining within the flight envelope at all times. Operation outside the normal flight regime is usually subject to failure of components (Actuators, Engines, Deflection Surfaces) , pilots's mistakes, maneuverability near critical points and environmental conditions (crosswinds...) and in general characterized as Loss-Of-Control (LOC) because the aircraft no longer responds to pilot's inputs as expected. For the purpose of this work, (LOC) in aircraft is defined as the departure from the safe set (controlled flight) recognized as the maximum controllable (reachable) set in the initial flight envelope. The LOC can be reached either through failure, unintended maneuvers, evolution near irregular points and disturbances. A coordinated strategy is investigated and designed to ensure that the aircraft can maneuver safely in their constraint domain and can also recover from abnormal regime. The procedure involves the computation of the largest controllable (reachable) set (Safe set) contained in the initial prescribed envelope. The problem is posed as a reachability problem using Hamilton-Jacobi Partial Differential Equation (HJ-PDE) where a cost function is set to he minimized along trajectory departing from the given set. Prevention is then obtained by computing the controller which would allow the flight vehicle to remain in the maximum controlled set in a multi-objective set up. Then the recovery procedure is illustrated with a two-point boundary value problem. Once

Effect of intermittent feedback control on robustness of human-like postural control system

NASA Astrophysics Data System (ADS)

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Effect of intermittent feedback control on robustness of human-like postural control system.