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Sample records for coordinate system based

  1. Multi-view coordinate system transformation based on robot

    NASA Astrophysics Data System (ADS)

    Song, Li-mei; Wang, Peng-qiang; Xi, Jiang-tao; Guo, Qing-hua; Tang, Huan; Li, Jing; Li, Xiao-jie; Zhu, Teng-da

    2015-11-01

    The registration of point cloud is important for large object measurement. A measurement method for coordinate system transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot moves to three different positions to capture the images of three targets. Then the transformation matrix X between camera and tool center point (TCP) coordinate systems can be calculated by using the known parameters of robot and the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system by the transformation matrix X. With the help of robot, the multi-view point cloud can be easily transformed into a unified coordinate system. By using robot, the measurement doesn't need any mark. Experimental results show that the method is effective.

  2. System safety based on a coordinated principle-based theme

    SciTech Connect

    Cooper, J.A.

    1998-08-01

    In this paper, the authors demonstrate a logical progression for the identification of assets, threats, vulnerabilities, and protective measures, based on a structured approach that incorporates the results of the previous paper. The authors utilize a logical structure for identifying the constituents of the problem, derive appropriate applicable principles, and demonstrate a technique for incorporating the principles into a coordinated safety theme. They also show how to qualitatively assess such generally non-quantifiable items such as safety-component and safety-system response to severe abnormal environments. An illustrative example is followed step-by-step through to a safety system design approach and a safety assessment approach. The general approach is illustrated here through an example, generally representing a test rocket launch scenario, where the concern is the potential for loss of life.

  3. Galactic coordinate system based on multi-wavelength catalogues

    NASA Astrophysics Data System (ADS)

    Ding, P.-J.; Liu, J.-C.; Zhu, Z.

    2015-08-01

    The currently used Galactic Coordinate System (GalCS) is based on the FK5 system at J2000.0, which was transformed from the FK4 system at B1950.0. The limitations and misunderstandings for this transformed GalCS is necessarily be avoided by defining a new GalCS connecting directly to the International Celestial Reference System (ICRS). We try to find the best orientation of the GalCS using data from two all-sky surveys: AKARI and WISE at six wavelengths between 3.4~μm to 90~μm, and synthesize results obtained at various wavelengths to define an improved GalCS in the framework of the ICRS. The revised GalCS parameters for defining the new GalCS in the ICRS are summarized as: α^p = 192°.777, δ^p= 26°.9298, for the equatorial coordinates of the north Galactic pole and θ = 122°.95017 for the position angle of the Galactic center. As one of the Galactic sub-structures, the Galactic warp presents different forms in different GalCS that are constructed with various data and methods, which shows the importance of re-defining a Galactic coordinate system by the IAU for better study of the Galactic structure and kinematics.

  4. Surface-based determination of the pelvic coordinate system

    NASA Astrophysics Data System (ADS)

    Fieten, Lorenz; Eschweiler, Jörg; Heger, Stefan; Kabir, Koroush; Gravius, Sascha; de la Fuente, Matías; Radermacher, Klaus

    2009-02-01

    In total hip replacement (THR) one technical factor influencing the risk of dislocation is cup orientation. Computer-assisted surgery systems allow for cup navigation in anatomy-based reference frames. The pelvic coordinate system most used for cup navigation in THR is based on the mid-sagittal plane (MSP) and the anterior pelvic plane (APP). From a geometrical point of view, the MSP can be considered as a mirror plane, whereas the APP can be considered as a tangent plane comprising the anterior superior iliac spines (ASIS) and the pubic tubercles. In most systems relying on the pelvic coordinate system, the most anterior points of the ASIS and the pubic tubercles are selected manually. As manual selection of landmark points is a tedious, time-consuming and error-prone task, a surface-based approach for combined MSP and APP computation is presented in this paper: Homologous points defining the MSP and the landmark points defining the APP are selected automatically from surface patches. It is investigated how MSP computation can benefit from APP computation and vice versa, and clinical perspectives of combined MSP and APP computation are discussed. Experimental results on computed tomography data show that the surface-based approach can improve accuracy.

  5. Flexible coordinate measurement system based on robot for industries

    NASA Astrophysics Data System (ADS)

    Guo, Yin; Yang, Xue-you; Liu, Chang-jie; Ye, Sheng-hua

    2010-10-01

    The flexible coordinate measurement system based on robot which is applicable to multi-model vehicle is designed to meet the needs of online measurement for current mainstream mixed body-in-white(BIW) production line. The moderate precision, good flexibility and no blind angle are the benefits of this measurement system. According to the measurement system, a monocular structured light vision sensor has been designed, which can measure not only edges, but also planes, apertures and other features. And a effective way to fast on-site calibration of the whole system using the laser tracker has also been proposed, which achieves the unity of various coordinate systems in industrial fields. The experimental results show satisfactory precision of +/-0.30mm of this measurement system, which is sufficient for the needs of online measurement for body-in-white(BIW) in the auto production line. The system achieves real-time detection and monitoring of the whole process of the car body's manufacture, and provides a complete data support in purpose of overcoming the manufacturing error immediately and accurately and improving the manufacturing precision.

  6. Galactic coordinate system based on multi-wavelength catalogs

    NASA Astrophysics Data System (ADS)

    Ding, Ping-Jie; Zhu, Zi; Liu, Jia-Cheng

    2015-07-01

    The currently used Galactic coordinate system (GalCS) is based on the FK5 system at J2000.0, which was transformed from the FK4 system at B1950.0. The limitations and misunderstandings related to this transformed GalCS can be avoided by defining a new GalCS that is directly connected to the International Celestial Reference System (ICRS). With more data at various wavelengths released by large survey programs, a more appropriate GalCS consistent with features associated with the Milky Way can be established. We try to find the best orientation of the GalCS using data from two all-sky surveys, AKARI and WISE, at six wavelengths between 3.4 μm and 90 μm, and synthesize results obtained at various wavelengths to define an improved GalCS in the framework of the ICRS. The revised GalCS parameters for defining the new GalCS in the ICRS are summarized as: αp = 192.777°, δp = 26.9298°, for the equatorial coordinates of the north Galactic pole and θ = 122.95017° for the position angle of the Galactic center. As one of the Galactic substructures, the Galactic warp exhibits different forms in different GalCSs that are constructed with various data and methods, which shows the importance of re-defining the GalCS by the relative commission of the International Astronomical Union that can lead to a better understanding of Galactic structure and kinematics. Supported by the National Natural Science Foundation of China.

  7. Micro practices of coordination based on complex adaptive systems: user needs and strategies for coordinating public health in Denmark

    PubMed Central

    Wittrup, Inge; Burau, Viola

    2015-01-01

    Introduction Many highly formalised approaches to coordination poorly fit public health and recent studies call for coordination based on complex adaptive systems. Our contribution is two-fold. Empirically, we focus on public health, and theoretically we build on the patient perspective and treat coordination as a process of contingent, two-level negotiations of user needs. Theory and Methods The paper draws on the concept of user needs-based coordination and sees coordination as a process, whereby needs emerging from the life world of the user are made amenable to the health system through negotiations. The analysis is based on an explorative case study of a health promotion initiative in Denmark. It adopts an anthropological qualitative approach and uses a range of qualitative data. Results The analysis identifies four strategies of coordination: the coordinator focusing on the individual user or on relations with other professionals; and the manager coaching the coordinator or providing structural support. Crucially, the coordination strategies by management remain weak as they do not directly relate to specific user needs. Discussion In process of bottom-up negotiations user needs become blurred and this is especially a challenge for management. The study therefore calls for an increased focus on the level nature of negotiations to bridge the gap that currently weakens coordination strategies by management. PMID:26528097

  8. Magnetic Coordinate Systems

    NASA Astrophysics Data System (ADS)

    Laundal, K. M.; Richmond, A. D.

    2016-07-01

    Geospace phenomena such as the aurora, plasma motion, ionospheric currents and associated magnetic field disturbances are highly organized by Earth's main magnetic field. This is due to the fact that the charged particles that comprise space plasma can move almost freely along magnetic field lines, but not across them. For this reason it is sensible to present such phenomena relative to Earth's magnetic field. A large variety of magnetic coordinate systems exist, designed for different purposes and regions, ranging from the magnetopause to the ionosphere. In this paper we review the most common magnetic coordinate systems and describe how they are defined, where they are used, and how to convert between them. The definitions are presented based on the spherical harmonic expansion coefficients of the International Geomagnetic Reference Field (IGRF) and, in some of the coordinate systems, the position of the Sun which we show how to calculate from the time and date. The most detailed coordinate systems take the full IGRF into account and define magnetic latitude and longitude such that they are constant along field lines. These coordinate systems, which are useful at ionospheric altitudes, are non-orthogonal. We show how to handle vectors and vector calculus in such coordinates, and discuss how systematic errors may appear if this is not done correctly.

  9. Object-Coordinate-Based Bilateral Control System Using Visual Information

    NASA Astrophysics Data System (ADS)

    Nakajima, Yu; Nozaki, Takahiro; Oyamada, Yuji; Ohnishi, Kouhei

    In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e. g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using the environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by taking some of their tasks. An experiment is conducted to prove the benefit of the proposed method by using a 1-DOF master robot and a 2-DOF slave robot.

  10. Coordinates calibration method in a robotic remanufacturing measurement system based on linear laser scanner

    NASA Astrophysics Data System (ADS)

    Shen, C. D.; Zhu, S.; Li, C.; Liang, Y. Y.

    2009-07-01

    In robotic remanufacturing measurement system, the 3D laser scanner is arranged by the robot and the object scanned is mounted on a turntable. This paper deals with the method of calibrating the relationship between the scanner coordinate and the robot Tool0 and furthermore locating the center axis of the turntable. The data of Tool0 can be directly obtained denoting its relationship with the robot base coordinate. So, the new methods of coordinate's transformation are effectively developed. Moreover some motivated experiments and optimized programs are designed for realizing process stabilization and reliability. This paper detailed explains the basic algorithm theory, practical operation instructions, the experiment data analysis, and etc. Theory deduction and experiments show the new methods are reasonable and efficient.

  11. A biologically based neural system coordinates the joints and legs of a tetrapod.

    PubMed

    Hunt, Alexander; Schmidt, Manuela; Fischer, Martin; Quinn, Roger

    2015-10-01

    A biologically inspired neural control system has been developed that coordinates a tetrapod trotting gait in the sagittal plane. The developed neuromechanical system is used to explore properties of connections in inter-leg and intra-leg coordination. The neural controller is built with biologically based neurons and synapses, and connections are based on data from literature where available. It is applied to a planar biomechanical model of a rat with 14 joints, each actuated by a pair of antagonistic Hill muscle models. The controller generates tension in the muscles through activation of simulated motoneurons. The hind leg and inter-leg control networks are based on pathways discovered in cat research tuned to the kinematic motions of a rat. The foreleg network was developed by extrapolating analogous pathways from the hind legs. The formulated intra-leg and inter-leg networks properly coordinate the joints and produce motions similar to those of a walking rat. Changing the strength of a single inter-leg connection is sufficient to account for differences in phase timing in different trotting rats. PMID:26351756

  12. Research on large spatial coordinate automatic measuring system based on multilateral method

    NASA Astrophysics Data System (ADS)

    Miao, Dongjing; Li, Jianshuan; Li, Lianfu; Jiang, Yuanlin; Kang, Yao; He, Mingzhao; Deng, Xiangrui

    2015-10-01

    To measure the spatial coordinate accurately and efficiently in large size range, a manipulator automatic measurement system which based on multilateral method is developed. This system is divided into two parts: The coordinate measurement subsystem is consists of four laser tracers, and the trajectory generation subsystem is composed by a manipulator and a rail. To ensure that there is no laser beam break during the measurement process, an optimization function is constructed by using the vectors between the laser tracers measuring center and the cat's eye reflector measuring center, then an orientation automatically adjust algorithm for the reflector is proposed, with this algorithm, the laser tracers are always been able to track the reflector during the entire measurement process. Finally, the proposed algorithm is validated by taking the calibration of laser tracker for instance: the actual experiment is conducted in 5m × 3m × 3.2m range, the algorithm is used to plan the orientations of the reflector corresponding to the given 24 points automatically. After improving orientations of some minority points with adverse angles, the final results are used to control the manipulator's motion. During the actual movement, there are no beam break occurs. The result shows that the proposed algorithm help the developed system to measure the spatial coordinates over a large range with efficiency.

  13. 75 FR 42376 - Proposed Information Collection; Comment Request; NTIA/FCC Web-based Frequency Coordination System

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-07-21

    ...; NTIA/FCC Web- based Frequency Coordination System AGENCY: National Telecommunications and Information... Telecommunications and Information Administration (NTIA) hosts a Web-based system that collects specific...-primary basis by federal and non-federal users. The Web-based system provides a means for...

  14. An Extensible Space-Based Coordination Approach for Modeling Complex Patterns in Large Systems

    NASA Astrophysics Data System (ADS)

    Kühn, Eva; Mordinyi, Richard; Schreiber, Christian

    Coordination is frequently associated with shared data spaces employing Linda coordination. But in practice, communication between parallel and distributed processes is carried out with message exchange patterns. What, actually, do shared data spaces contribute beyond these? In this paper we present a formal representation for a definition of shared spaces by introducing an "extensible tuple model", based on existing research on Linda coordination, some Linda extensions, and virtual shared memory. The main enhancements of the extensible tuple model comprise: means for structuring of spaces, Internet- compatible addressing of resources, more powerful coordination capabilities, a clear separation of user data and coordination information, support of symmetric peer application architectures, and extensibility through programmable aspects. The advantages of the extensible tuple model (XTM) are that it allows for a specification of complex coordination patterns.

  15. Hipparchus' coordinate system

    NASA Astrophysics Data System (ADS)

    Duke, Dennis W.

    2002-07-01

    In his "Histoire de l'Astronomie Ancienne" Delambre concludes unequivocally that Hipparchus knew and used a definite system of celestial spherical coordinates, namely the right ascension and declination system that we use today. The basis of Delambre's conclusion was disarmingly simple: he pointed out that in the "Commentary to Aratus" Hipparchus actually quotes the positions of numerous stars directly in right ascension and declination (or more often its complement, polar distance). Nearly two centuries later, in his "A History of Ancient Mathematical Astronomy", Neugebauer not only completely ignores Delambre's conclusion on this issue, but goes further to propose his own, as we shall see quite fanciful, theory that begins "From the Commentary to Aratus, it is quite obvious that at Hipparchus' time a definite system of spherical coordinates for stellar positions did not yet exist." and concludes "...nowhere in Greek astronomy before the catalogue of stars in the Almagest is it attested that orthogonal spherical coordinates are used to determine stellar positions." Today it is clear that Neugebauer's theory is conventionally accepted. It is the purpose of this paper to offer fresh arguments that Delambre was correct.

  16. The Evaluation of SEPAS National Project Based on Electronic Health Record System (EHRS) Coordinates in Iran

    PubMed Central

    Asadi, Farkhondeh; Moghaddasi, Hamid; Rabiei, Reza; Rahimi, Forough; Mirshekarlou, Soheila Jahangiri

    2015-01-01

    Background: Electronic Health Records (EHRs) are secure private lifetime records that can be shared by using interoperability standards between different organizations and units. These records are created by the productive system that is called EHR system. Implementing EHR systems has a number of advantages such as facilitating access to medical records, supporting patient care, and improving the quality of care and health care decisions. The project of electronic health record system in Iran, which is the goal of this study, is called SEPAS. With respect to the importance of EHR and EHR systems the researchers investigated the project from two perspectives: determining the coordinates of the project and how it evolved, and incorporating the coordinates of EHR system in this project. Methods: In this study two evaluation tools, a checklist and a questionnaire, were developed based on texts and reliable documentation. The questionnaire and the checklist were validated using content validity by receiving the experts’ comments and the questionnaire’s reliability was estimated through Test-retest(r =87%). Data were collected through study, observation, and interviews with experts and specialists of SEPAS project. Results: This research showed that SEPAS project, like any other project, could be evaluated. It has some aims; steps, operational phases and certain start and end time, but all the resources and required facilities for the project have not been considered. Therefore it could not satisfy its specified objective and the useful and unique changes which are the other characteristics of any project have not been achieved. In addition, the findings of EHR system coordinates can be determined in 4 categories as Standards and rules, Telecommunication-Communication facilities, Computer equipment and facilities and Stakeholders. Conclusions: The findings indicated that SEPAS has the ability to use all standards of medical terminology and health classification

  17. Three-parameter error analysis method based on rotating coordinates in rotating birefringent polarizer system

    SciTech Connect

    Cao, Junjie; Jia, Hongzhi

    2015-11-15

    We propose error analysis using a rotating coordinate system with three parameters of linearly polarized light—incidence angle, azimuth angle on the front surface, and angle between the incidence and vibration planes—and demonstrate the method on a rotating birefringent prism system. The transmittance and angles are calculated plane-by-plane using a birefringence ellipsoid model and the final transmitted intensity equation is deduced. The effects of oblique incidence, light interference, beam convergence, and misalignment of the rotation and prism axes are discussed. We simulate the entire error model using MATLAB and conduct experiments based on a built polarimeter. The simulation and experimental results are consistent and demonstrate the rationality and validity of this method.

  18. Three-parameter error analysis method based on rotating coordinates in rotating birefringent polarizer system.

    PubMed

    Cao, Junjie; Jia, Hongzhi

    2015-11-01

    We propose error analysis using a rotating coordinate system with three parameters of linearly polarized light--incidence angle, azimuth angle on the front surface, and angle between the incidence and vibration planes--and demonstrate the method on a rotating birefringent prism system. The transmittance and angles are calculated plane-by-plane using a birefringence ellipsoid model and the final transmitted intensity equation is deduced. The effects of oblique incidence, light interference, beam convergence, and misalignment of the rotation and prism axes are discussed. We simulate the entire error model using MATLAB and conduct experiments based on a built polarimeter. The simulation and experimental results are consistent and demonstrate the rationality and validity of this method. PMID:26628116

  19. Robust patterning of gene expression based on internal coordinate system of cells.

    PubMed

    Ogawa, Ken-ichiro; Miyake, Yoshihiro

    2015-06-01

    Cell-to-cell communication in multicellular organisms is established through the transmission of various kinds of chemical substances such as proteins. It is well known that gene expression triggered by a chemical substance in individuals has stable spatial patterns despite the individual differences in concentration patterns of the chemical substance. This fact reveals an important property of multicellular organisms called "robustness", which allows the organisms to generate their forms while maintaining proportion. Robustness has been conventionally accounted for by the stability of solutions of dynamical equations that represent a specific interaction network of chemical substances. However, any biological system is composed of autonomous elements. In general, an autonomous element does not merely accept information on the chemical substance from the environment; instead, it accepts the information based on its own criteria for reaction. Therefore, this phenomenon needs to be considered from the viewpoint of cells. Such a viewpoint is expected to allow the consideration of the autonomy of cells in multicellular organisms. This study aims to explain theoretically the robust patterning of gene expression from the viewpoint of cells. For this purpose, we introduced a new operator for transforming a state variable of a chemical substance from an external coordinate system to an internal coordinate system of each cell, which describes the observation of the chemical substance by cells. We then applied this operator to the simplest reaction-diffusion model of the chemical substance to investigate observation effects by cells. Our mathematical analysis of this extended model indicates that the robust patterning of gene expression against individual differences in concentration pattern of the chemical substance can be explained from the viewpoint of cells if there is a regulation field that compensates for the difference between cells seen in the observation results

  20. A PLM-based automated inspection planning system for coordinate measuring machine

    NASA Astrophysics Data System (ADS)

    Zhao, Haibin; Wang, Junying; Wang, Boxiong; Wang, Jianmei; Chen, Huacheng

    2006-11-01

    With rapid progress of Product Lifecycle Management (PLM) in manufacturing industry, automatic generation of inspection planning of product and the integration with other activities in product lifecycle play important roles in quality control. But the techniques for these purposes are laggard comparing with techniques of CAD/CAM. Therefore, an automatic inspection planning system for Coordinate Measuring Machine (CMM) was developed to improve the automatization of measuring based on the integration of inspection system in PLM. Feature information representation is achieved based on a PLM canter database; measuring strategy is optimized through the integration of multi-sensors; reasonable number and distribution of inspection points are calculated and designed with the guidance of statistic theory and a synthesis distribution algorithm; a collision avoidance method is proposed to generate non-collision inspection path with high efficiency. Information mapping is performed between Neutral Interchange Files (NIFs), such as STEP, DML, DMIS, XML, etc., to realize information integration with other activities in the product lifecycle like design, manufacturing and inspection execution, etc. Simulation was carried out to demonstrate the feasibility of the proposed system. As a result, the inspection process is becoming simpler and good result can be got based on the integration in PLM.

  1. Measuring emission coordinates in a pulsar-based relativistic positioning system

    NASA Astrophysics Data System (ADS)

    Bunandar, Darius; Caveny, Scott A.; Matzner, Richard A.

    2011-11-01

    A relativistic deep space positioning system has been proposed using four or more pulsars with stable repetition rates. (Each pulsar emits pulses at a fixed repetition period in its rest frame.) The positioning system uses the fact that an event in spacetime can be fully described by emission coordinates: the proper emission time of each pulse measured at the event. The proper emission time of each pulse from four different pulsars—interpolated as necessary—provides the four spacetime coordinates of the reception event in the emission coordinate system. If more than four pulsars are available, the redundancy can improve the accuracy of the determination and/or resolve degeneracies resulting from special geometrical arrangements of the sources and the event. We introduce a robust numerical approach to measure the emission coordinates of an event in any arbitrary spacetime geometry. Our approach uses a continuous solution of the eikonal equation describing the backward null cone from the event. The pulsar proper time at the instant the null cone intersects the pulsar world line is one of the four required coordinates. The process is complete (modulo degeneracies) when four pulsar world lines have been crossed by the light cone. The numerical method is applied in two different examples: measuring emission coordinates of an event in Minkowski spacetime, using pulses from four pulsars stationary in the spacetime; and measuring emission coordinates of an event in Schwarzschild spacetime, using pulses from four pulsars freely falling toward a static black hole. These numerical simulations are merely exploratory, but with improved resolution and computational resources the method can be applied to more pertinent problems. For instance one could measure the emission coordinates, and therefore the trajectory, of the Earth.

  2. Multipole Structure and Coordinate Systems

    ERIC Educational Resources Information Center

    Burko, Lior M.

    2007-01-01

    Multipole expansions depend on the coordinate system, so that coefficients of multipole moments can be set equal to zero by an appropriate choice of coordinates. Therefore, it is meaningless to say that a physical system has a nonvanishing quadrupole moment, say, without specifying which coordinate system is used. (Except if this moment is the…

  3. Modeling and simulation of virtual human's coordination based on multi-agent systems

    NASA Astrophysics Data System (ADS)

    Zhang, Mei; Wen, Jing-Hua; Zhang, Zu-Xuan; Zhang, Jian-Qing

    2006-10-01

    The difficulties and hotspots researched in current virtual geographic environment (VGE) are sharing space and multiusers operation, distributed coordination and group decision-making. The theories and technologies of MAS provide a brand-new environment for analysis, design and realization of distributed opening system. This paper takes cooperation among virtual human in VGE which multi-user participate in as main researched object. First we describe theory foundation truss of VGE, and present the formalization description of Multi-Agent System (MAS). Then we detailed analyze and research arithmetic of collectivity operating behavior learning of virtual human based on best held Genetic Algorithm(GA), and establish dynamics action model which Multi-Agents and object interact dynamically and colony movement strategy. Finally we design a example which shows how 3 evolutional Agents cooperate to complete the task of colony pushing column box, and design a virtual world prototype of virtual human pushing box collectively based on V-Realm Builder 2.0, moreover we make modeling and dynamic simulation with Simulink 6.

  4. Market-Based Coordination and Auditing Mechanisms for Self-Interested Multi-Robot Systems

    ERIC Educational Resources Information Center

    Ham, MyungJoo

    2009-01-01

    We propose market-based coordinated task allocation mechanisms, which allocate complex tasks that require synchronized and collaborated services of multiple robot agents to robot agents, and an auditing mechanism, which ensures proper behaviors of robot agents by verifying inter-agent activities, for self-interested, fully-distributed, and…

  5. A practical approach for active camera coordination based on a fusion-driven multi-agent system

    NASA Astrophysics Data System (ADS)

    Bustamante, Alvaro Luis; Molina, José M.; Patricio, Miguel A.

    2014-04-01

    In this paper, we propose a multi-agent system architecture to manage spatially distributed active (or pan-tilt-zoom) cameras. Traditional video surveillance algorithms are of no use for active cameras, and we have to look at different approaches. Such multi-sensor surveillance systems have to be designed to solve two related problems: data fusion and coordinated sensor-task management. Generally, architectures proposed for the coordinated operation of multiple cameras are based on the centralisation of management decisions at the fusion centre. However, the existence of intelligent sensors capable of decision making brings with it the possibility of conceiving alternative decentralised architectures. This problem is approached by means of a MAS, integrating data fusion as an integral part of the architecture for distributed coordination purposes. This paper presents the MAS architecture and system agents.

  6. An Adaptive Coordinated Control for an Offshore Wind Farm Connected VSC Based Multi-Terminal DC Transmission System

    NASA Astrophysics Data System (ADS)

    Kumar, M. Ajay; Srikanth, N. V.

    2014-11-01

    The voltage source converter (VSC) based multiterminal high voltage direct current (MTDC) transmission system is an interesting technical option to integrate offshore wind farms with the onshore grid due to its unique performance characteristics and reduced power loss via extruded DC cables. In order to enhance the reliability and stability of the MTDC system, an adaptive neuro fuzzy inference system (ANFIS) based coordinated control design has been addressed in this paper. A four terminal VSC-MTDC system which consists of an offshore wind farm and oil platform is implemented in MATLAB/ SimPowerSystems software. The proposed model is tested under different fault scenarios along with the converter outage and simulation results show that the novel coordinated control design has great dynamic stabilities and also the VSC-MTDC system can supply AC voltage of good quality to offshore loads during the disturbances.

  7. Exploring chemical reactivity of complex systems with path-based coordinates: role of the distance metric.

    PubMed

    Zinovjev, Kirill; Tuñón, Iñaki

    2014-09-01

    Path-based reaction coordinates constitute a valuable tool for free-energy calculations in complex processes. When a reference path is defined by means of collective variables, a nonconstant distance metric that incorporates the nonorthonormality of these variables should be taken into account. In this work, we show that, accounting for the correct metric tensor, these kind of variables can provide iso-hypersurfaces that coincide with the iso-committor surfaces and that activation free energies equal the value that would be obtained if the committor function itself were used as reaction coordinate. The advantages of the incorporation of the variable metric tensor are illustrated with the analysis of the enzymatic reaction catalyzed by isochorismate-pyruvate lyase. Hybrid QM/MM techniques are used to obtain the free energy profile and to analyze reactive trajectories initiated at the transition state. For this example, the committor histogram is peaked at 0.5 only when a variable metric tensor is incorporated in the definition of the path-based coordinate. PMID:24986052

  8. Terrestrial Coordinate Systems and Frames

    NASA Astrophysics Data System (ADS)

    Boucher, C.; Murdin, P.

    2000-11-01

    A terrestrial reference system (TRS) is a spatial reference system corotating with the Earth in its DIURNAL MOTION in space. In such a system, the positions of points anchored on the Earth's solid surface have coordinates which have only small variations with time, as a result of geophysical effects (tectonic or tidal deformations; see TECTONICS, EARTH'S INTERIOR, TIDES). A terrestrial reference ...

  9. MARS, a Multi-Agent System for Assessing Rowers' Coordination via Motion-Based Stigmergy

    PubMed Central

    Avvenuti, Marco; Cesarini, Daniel; Cimino, Mario G. C. A.

    2013-01-01

    A crucial aspect in rowing is having a synchronized, highly-efficient stroke. This is very difficult to obtain, due to the many interacting factors that each rower of the crew must perceive. Having a system that monitors and represents the crew coordination would be of great help to the coach during training sessions. In the literature, some methods already employ wireless sensors for capturing motion patterns that affect rowing performance. A challenging problem is to support the coach's decisions at his same level of knowledge, using a limited number of sensors and avoiding the complexity of the biomechanical analysis of human movements. In this paper, we present a multi-agent information-processing system for on-water measuring of both the overall crew asynchrony and the individual rower asynchrony towards the crew. More specifically, in the system, the first level of processing is managed by marking agents, which release marks in a sensing space, according to the rowers' motion. The accumulation of marks enables a stigmergic cooperation mechanism, generating collective marks, i.e., short-term memory structures in the sensing space. At the second level of processing, information provided by marks is observed by similarity agents, which associate a similarity degree with respect to optimal marks. Finally, the third level is managed by granulation agents, which extract asynchrony indicators for different purposes. The effectiveness of the system has been experimented on real-world scenarios. The study includes the problem statement and its characterization in the literature, as well as the proposed solving approach and initial experimental setting. PMID:24036582

  10. MARS, a multi-agent system for assessing rowers' coordination via motion-based stigmergy.

    PubMed

    Avvenuti, Marco; Cesarini, Daniel; Cimino, Mario G C A

    2013-01-01

    A crucial aspect in rowing is having a synchronized, highly-efficient stroke. This is very difficult to obtain, due to the many interacting factors that each rower of the crew must perceive. Having a system that monitors and represents the crew coordination would be of great help to the coach during training sessions. In the literature, some methods already employ wireless sensors for capturing motion patterns that affect rowing performance. A challenging problem is to support the coach's decisions at his same level of knowledge, using a limited number of sensors and avoiding the complexity of the biomechanical analysis of human movements. In this paper, we present a multi-agent information-processing system for on-water measuring of both the overall crew asynchrony and the individual rower asynchrony towards the crew. More specifically, in the system, the first level of processing is managed by marking agents, which release marks in a sensing space, according to the rowers' motion. The accumulation of marks enables a stigmergic cooperation mechanism, generating collective marks, i.e., short-term memory structures in the sensing space. At the second level of processing, information provided by marks is observed by similarity agents, which associate a similarity degree with respect to optimal marks. Finally, the third level is managed by granulation agents, which extract asynchrony indicators for different purposes. The effectiveness of the system has been experimented on real-world scenarios. The study includes the problem statement and its characterization in the literature, as well as the proposed solving approach and initial experimental setting. PMID:24036582

  11. Computer aided coordinate measuring systems

    NASA Astrophysics Data System (ADS)

    Nastri, J. W.

    Sikorsky's computer-aided inspection system and equipment utilized to assure that manufactured parts meet drawing tolerance specifications are discussed. An overview of the system is given, and the software is described, including the monitor console routine and commands and the language commands. The system's three coordinate measuring machines are discussed, and the part inspection methods are described in stepwise fashion. System benefits and time savings items are detailed, including quick and accurate measurement of parts difficult to inspect by conventional methods, significant reduction in inspection time, a consistent baseline that highlights variances, and the use of personnel with lower skill levels to effectively inspect critical parts.

  12. Computerized mappings of the cerebral cortex: a multiresolution flattening method and a surface-based coordinate system

    NASA Technical Reports Server (NTRS)

    Drury, H. A.; Van Essen, D. C.; Anderson, C. H.; Lee, C. W.; Coogan, T. A.; Lewis, J. W.

    1996-01-01

    We present a new method for generating two-dimensional maps of the cerebral cortex. Our computerized, two-stage flattening method takes as its input any well-defined representation of a surface within the three-dimensional cortex. The first stage rapidly converts this surface to a topologically correct two-dimensional map, without regard for the amount of distortion introduced. The second stage reduces distortions using a multiresolution strategy that makes gross shape changes on a coarsely sampled map and further shape refinements on progressively finer resolution maps. We demonstrate the utility of this approach by creating flat maps of the entire cerebral cortex in the macaque monkey and by displaying various types of experimental data on such maps. We also introduce a surface-based coordinate system that has advantages over conventional stereotaxic coordinates and is relevant to studies of cortical organization in humans as well as non-human primates. Together, these methods provide an improved basis for quantitative studies of individual variability in cortical organization.

  13. Decentralised coordination of a multi-agent system based on intermittent data

    NASA Astrophysics Data System (ADS)

    DeLellis, Pietro; Garofalo, Franco; Lo Iudice, Francesco; Mancini, Giovanni

    2015-08-01

    In this paper, we present a novel decentralised and non-cooperative algorithm for estimation and control of a multi-agent system. The control goal is to achieve a balanced formation on a generic closed curve. Different from previous work, each agent only gathers a measurement of its Euclidean distance from the other agents when they are in its proximity. This distance is usually different from the controlled distance along the curve, thus producing an uncertain and intermittent information on the actual spacing among agents. This fleeting data flow is processed by an estimation algorithm to produce an interval estimate of the relative position, which is then used by an 'interval feedback control law' to steer the system dynamics. The effectiveness of the approach and its performance are demonstrated through an extensive numerical analysis on two representative examples.

  14. Barriers to healthcare coordination in market-based and decentralized public health systems: a qualitative study in healthcare networks of Colombia and Brazil

    PubMed Central

    Vargas, Ingrid; Mogollón-Pérez, Amparo Susana; De Paepe, Pierre; Ferreira da Silva, Maria Rejane; Unger, Jean-Pierre; Vázquez, María-Luisa

    2016-01-01

    Although integrated healthcare networks (IHNs) are promoted in Latin America in response to health system fragmentation, few analyses on the coordination of care across levels in these networks have been conducted in the region. The aim is to analyse the existence of healthcare coordination across levels of care and the factors influencing it from the health personnel’ perspective in healthcare networks of two countries with different health systems: Colombia, with a social security system based on managed competition and Brazil, with a decentralized national health system. A qualitative, exploratory and descriptive–interpretative study was conducted, based on a case study of healthcare networks in four municipalities. Individual semi-structured interviews were conducted with a three stage theoretical sample of (a) health (112) and administrative (66) professionals of different care levels, and (b) managers of providers (42) and insurers (14). A thematic content analysis was conducted, segmented by cases, informant groups and themes. The results reveal poor clinical information transfer between healthcare levels in all networks analysed, with added deficiencies in Brazil in the coordination of access and clinical management. The obstacles to care coordination are related to the organization of both the health system and the healthcare networks. In the health system, there is the existence of economic incentives to compete (exacerbated in Brazil by partisan political interests), the fragmentation and instability of networks in Colombia and weak planning and evaluation in Brazil. In the healthcare networks, there are inadequate working conditions (temporary and/or part-time contracts) which hinder the use of coordination mechanisms, and inadequate professional training for implementing a healthcare model in which primary care should act as coordinator in patient care. Reforms are needed in these health systems and networks in order to modify incentives

  15. Barriers to healthcare coordination in market-based and decentralized public health systems: a qualitative study in healthcare networks of Colombia and Brazil.

    PubMed

    Vargas, Ingrid; Mogollón-Pérez, Amparo Susana; De Paepe, Pierre; Ferreira da Silva, Maria Rejane; Unger, Jean-Pierre; Vázquez, María-Luisa

    2016-07-01

    Although integrated healthcare networks (IHNs) are promoted in Latin America in response to health system fragmentation, few analyses on the coordination of care across levels in these networks have been conducted in the region. The aim is to analyse the existence of healthcare coordination across levels of care and the factors influencing it from the health personnel' perspective in healthcare networks of two countries with different health systems: Colombia, with a social security system based on managed competition and Brazil, with a decentralized national health system. A qualitative, exploratory and descriptive-interpretative study was conducted, based on a case study of healthcare networks in four municipalities. Individual semi-structured interviews were conducted with a three stage theoretical sample of (a) health (112) and administrative (66) professionals of different care levels, and (b) managers of providers (42) and insurers (14). A thematic content analysis was conducted, segmented by cases, informant groups and themes. The results reveal poor clinical information transfer between healthcare levels in all networks analysed, with added deficiencies in Brazil in the coordination of access and clinical management. The obstacles to care coordination are related to the organization of both the health system and the healthcare networks. In the health system, there is the existence of economic incentives to compete (exacerbated in Brazil by partisan political interests), the fragmentation and instability of networks in Colombia and weak planning and evaluation in Brazil. In the healthcare networks, there are inadequate working conditions (temporary and/or part-time contracts) which hinder the use of coordination mechanisms, and inadequate professional training for implementing a healthcare model in which primary care should act as coordinator in patient care. Reforms are needed in these health systems and networks in order to modify incentives, strengthen

  16. The Washington State System for Coordination of Staff Development. The Staff Development Coordination Study. Final Report.

    ERIC Educational Resources Information Center

    Washington Office of the State Superintendent of Public Instruction, Olympia.

    This report outlines the roles and responsibilities, pertaining to the improvement amd coordination of statewide teacher inservice, of the Superintendent of Public Instruction (SPI) in the state of Washington. After a field-based research study was conducted, a system was devised by which the SPI can improve coordination of staff development…

  17. A one-step colorimetric acid-base titration sensor using a complementary color changing coordination system.

    PubMed

    Cho, Hui Hun; Kim, Si Hyun; Heo, Jun Hyuk; Moon, Young Eel; Choi, Young Hun; Lim, Dong Cheol; Han, Kwon-Hoon; Lee, Jung Heon

    2016-06-21

    We report the development of a colorimetric sensor that allows for the quantitative measurement of the acid content via acid-base titration in a single-step. In order to create the sensor, we used a cobalt coordination system (Co-complex sensor) that changes from greenish blue colored Co(H2O)4(OH)2 to pink colored Co(H2O)6(2+) after neutralization. Greenish blue and pink are two complementary colors with a strong contrast. As a certain amount of acid is introduced to the Co-complex sensor, a portion of greenish blue colored Co(H2O)4(OH)2 changes to pink colored Co(H2O)6(2+), producing a different color. As the ratio of greenish blue and pink in the Co-complex sensor is determined by the amount of neutralization reaction occurring between Co(H2O)4(OH)2 and an acid, the sensor produced a spectrum of green, yellow green, brown, orange, and pink colors depending on the acid content. In contrast, the color change appeared only beyond the end point for normal acid-base titration. When we mixed this Co-complex sensor with different concentrations of citric acid, tartaric acid, and malic acid, three representative organic acids in fruits, we observed distinct color changes for each sample. This color change could also be observed in real fruit juice. When we treated the Co-complex sensor with real tangerine juice, it generated diverse colors depending on the concentration of citric acid in each sample. These results provide a new angle on simple but quantitative measurements of analytes for on-site usage in various applications, such as in food, farms, and the drug industry. PMID:27143645

  18. State-Based Implicit Coordination and Applications

    NASA Technical Reports Server (NTRS)

    Narkawicz, Anthony J.; Munoz, Cesar A.

    2011-01-01

    In air traffic management, pairwise coordination is the ability to achieve separation requirements when conflicting aircraft simultaneously maneuver to solve a conflict. Resolution algorithms are implicitly coordinated if they provide coordinated resolution maneuvers to conflicting aircraft when only surveillance data, e.g., position and velocity vectors, is periodically broadcast by the aircraft. This paper proposes an abstract framework for reasoning about state-based implicit coordination. The framework consists of a formalized mathematical development that enables and simplifies the design and verification of implicitly coordinated state-based resolution algorithms. The use of the framework is illustrated with several examples of algorithms and formal proofs of their coordination properties. The work presented here supports the safety case for a distributed self-separation air traffic management concept where different aircraft may use different conflict resolution algorithms and be assured that separation will be maintained.

  19. Reference coordinate systems: An update. Supplement 11

    NASA Technical Reports Server (NTRS)

    Mueller, Ivan I.

    1988-01-01

    A common requirement for all geodetic investigations is a well-defined coordinate system attached to the earth in some prescribed way, as well as a well-defined inertial coordinate system in which the motions of the terrestrial frame can be monitored. The paper deals with the problems encountered when establishing such coordinate systems and the transformations between them. In addition, problems related to the modeling of the deformable earth are discussed. This paper is an updated version of the earlier work, Reference Coordinate Systems for Earth Dynamics: A Preview, by the author.

  20. Compact-range coordinate system established using a laser tracker.

    SciTech Connect

    Gallegos, Floyd H.; Bryce, Edwin Anthony

    2006-12-01

    Establishing a Cartesian coordinate reference system for an existing Compact Antenna Range using the parabolic reflector is presented. A SMX (Spatial Metrix Corporation) M/N 4000 laser-based coordinate measuring system established absolute coordinates for the facility. Electric field characteristics with positional movement correction are evaluated. Feed Horn relocation for alignment with the reflector axis is also described. Reference points are established for follow-on non-laser alignments utilizing a theodolite.

  1. A practice-based information system for multi-disciplinary care of chronically ill patients: what information do we need? The Community Care Coordination Network Database Group.

    PubMed Central

    Moran, W. P.; Messick, C.; Guerette, P.; Anderson, R.; Bradham, D.; Wofford, J. L.; Velez, R.

    1994-01-01

    Primary care physicians provide longitudinal care for chronically ill individuals in concert with many other community-based disciplines. The care management of these individuals requires data not traditionally collected during the care of well, or acutely ill individuals. These data not only concern the patient, in the form of patient functional status, mental status and affect, but also pertain to the caregiver, home environment, and the formal community health and social service system. The goal of the Community Care Coordination Network is to build a primary care-based information system to share patient data and communicate patient related information among the community-based multi-disciplinary teams. One objective of the Community Care Coordination Network is to create a Community Care Database for chronically ill individuals by identifying those data elements necessary for efficient multi-disciplinary care. PMID:7949995

  2. AST: World Coordinate Systems in Astronomy

    NASA Astrophysics Data System (ADS)

    Berry, David S.; Warren-Smith, Rodney F.

    2014-04-01

    The AST library provides a comprehensive range of facilities for attaching world coordinate systems to astronomical data, for retrieving and interpreting that information in a variety of formats, including FITS-WCS, and for generating graphical output based on it. Core projection algorithms are provided by WCSLIB (ascl:1108.003) and astrometry is provided by the PAL and SOFA (ascl:1403.026) libraries. AST bindings are available in Python (pyast), Java (JNIAST) and Perl (Starlink::AST). AST is used as the plotting and astrometry library in DS9 and GAIA, and is distributed separately and as part of the Starlink software collection.

  3. Which coordinate system for modelling path integration?

    PubMed

    Vickerstaff, Robert J; Cheung, Allen

    2010-03-21

    Path integration is a navigation strategy widely observed in nature where an animal maintains a running estimate, called the home vector, of its location during an excursion. Evidence suggests it is both ancient and ubiquitous in nature, and has been studied for over a century. In that time, canonical and neural network models have flourished, based on a wide range of assumptions, justifications and supporting data. Despite the importance of the phenomenon, consensus and unifying principles appear lacking. A fundamental issue is the neural representation of space needed for biological path integration. This paper presents a scheme to classify path integration systems on the basis of the way the home vector records and updates the spatial relationship between the animal and its home location. Four extended classes of coordinate systems are used to unify and review both canonical and neural network models of path integration, from the arthropod and mammalian literature. This scheme demonstrates analytical equivalence between models which may otherwise appear unrelated, and distinguishes between models which may superficially appear similar. A thorough analysis is carried out of the equational forms of important facets of path integration including updating, steering, searching and systematic errors, using each of the four coordinate systems. The type of available directional cue, namely allothetic or idiothetic, is also considered. It is shown that on balance, the class of home vectors which includes the geocentric Cartesian coordinate system, appears to be the most robust for biological systems. A key conclusion is that deducing computational structure from behavioural data alone will be difficult or impossible, at least in the absence of an analysis of random errors. Consequently it is likely that further theoretical insights into path integration will require an in-depth study of the effect of noise on the four classes of home vectors. PMID:19962387

  4. System-Level Planning, Coordination, and Communication

    PubMed Central

    Kanter, Robert K.; Dries, David; Luyckx, Valerie; Lim, Matthew L.; Wilgis, John; Anderson, Michael R.; Sarani, Babak; Hupert, Nathaniel; Mutter, Ryan; Devereaux, Asha V.; Christian, Michael D.; Kissoon, Niranjan; Christian, Michael D.; Devereaux, Asha V.; Dichter, Jeffrey R.; Kissoon, Niranjan; Rubinson, Lewis; Amundson, Dennis; Anderson, Michael R.; Balk, Robert; Barfield, Wanda D.; Bartz, Martha; Benditt, Josh; Beninati, William; Berkowitz, Kenneth A.; Daugherty Biddison, Lee; Braner, Dana; Branson, Richard D; Burkle, Frederick M.; Cairns, Bruce A.; Carr, Brendan G.; Courtney, Brooke; DeDecker, Lisa D.; De Jong, Marla J.; Dominguez-Cherit, Guillermo; Dries, David; Einav, Sharon; Erstad, Brian L.; Etienne, Mill; Fagbuyi, Daniel B.; Fang, Ray; Feldman, Henry; Garzon, Hernando; Geiling, James; Gomersall, Charles D.; Grissom, Colin K.; Hanfling, Dan; Hick, John L.; Hodge, James G.; Hupert, Nathaniel; Ingbar, David; Kanter, Robert K.; King, Mary A.; Kuhnley, Robert N.; Lawler, James; Leung, Sharon; Levy, Deborah A.; Lim, Matthew L.; Livinski, Alicia; Luyckx, Valerie; Marcozzi, David; Medina, Justine; Miramontes, David A.; Mutter, Ryan; Niven, Alexander S.; Penn, Matthew S.; Pepe, Paul E.; Powell, Tia; Prezant, David; Reed, Mary Jane; Rich, Preston; Rodriquez, Dario; Roxland, Beth E.; Sarani, Babak; Shah, Umair A.; Skippen, Peter; Sprung, Charles L.; Subbarao, Italo; Talmor, Daniel; Toner, Eric S.; Tosh, Pritish K.; Upperman, Jeffrey S.; Uyeki, Timothy M.; Weireter, Leonard J.; West, T. Eoin; Wilgis, John; Ornelas, Joe; McBride, Deborah; Reid, David; Baez, Amado; Baldisseri, Marie; Blumenstock, James S.; Cooper, Art; Ellender, Tim; Helminiak, Clare; Jimenez, Edgar; Krug, Steve; Lamana, Joe; Masur, Henry; Mathivha, L. Rudo; Osterholm, Michael T.; Reynolds, H. Neal; Sandrock, Christian; Sprecher, Armand; Tillyard, Andrew; White, Douglas; Wise, Robert; Yeskey, Kevin

    2014-01-01

    BACKGROUND: System-level planning involves uniting hospitals and health systems, local/regional government agencies, emergency medical services, and other health-care entities involved in coordinating and enabling care in a major disaster. We reviewed the literature and sought expert opinions concerning system-level planning and engagement for mass critical care due to disasters or pandemics and offer suggestions for system-planning, coordination, communication, and response. The suggestions in this chapter are important for all of those involved in a pandemic or disaster with multiple critically ill or injured patients, including front-line clinicians, hospital administrators, and public health or government officials. METHODS: The American College of Chest Physicians (CHEST) consensus statement development process was followed in developing suggestions. Task Force members met in person to develop nine key questions believed to be most relevant for system-planning, coordination, and communication. A systematic literature review was then performed for relevant articles and documents, reports, and other publications reported since 1993. No studies of sufficient quality were identified upon which to make evidence-based recommendations. Therefore, the panel developed expert opinion-based suggestions using a modified Delphi process. RESULTS: Suggestions were developed and grouped according to the following thematic elements: (1) national government support of health-care coalitions/regional health authorities (HC/RHAs), (2) teamwork within HC/RHAs, (3) system-level communication, (4) system-level surge capacity and capability, (5) pediatric patients and special populations, (6) HC/RHAs and networks, (7) models of advanced regional care systems, and (8) the use of simulation for preparedness and planning. CONCLUSIONS: System-level planning is essential to provide care for large numbers of critically ill patients because of disaster or pandemic. It also entails a

  5. Stigmergy based behavioural coordination for satellite clusters

    NASA Astrophysics Data System (ADS)

    Tripp, Howard; Palmer, Phil

    2010-04-01

    Multi-platform swarm/cluster missions are an attractive prospect for improved science return as they provide a natural capability for temporal, spatial and signal separation with further engineering and economic advantages. As spacecraft numbers increase and/or the round-trip communications delay from Earth lengthens, the traditional "remote-control" approach begins to break down. It is therefore essential to push control into space; to make spacecraft more autonomous. An autonomous group of spacecraft requires coordination, but standard terrestrial paradigms such as negotiation, require high levels of inter-spacecraft communication, which is nontrivial in space. This article therefore introduces the principals of stigmergy as a novel method for coordinating a cluster. Stigmergy is an agent-based, behavioural approach that allows for infrequent communication with decisions based on local information. Behaviours are selected dynamically using a genetic algorithm onboard. supervisors/ground stations occasionally adjust parameters and disseminate a "common environment" that is used for local decisions. After outlining the system, an analysis of some crucial parameters such as communications overhead and number of spacecraft is presented to demonstrate scalability. Further scenarios are considered to demonstrate the natural ability to deal with dynamic situations such as the failure of spacecraft, changing mission objectives and responding to sudden bursts of high priority tasks.

  6. Coordination-Cluster-Based Molecular Magnetic Refrigerants.

    PubMed

    Zhang, Shaowei; Cheng, Peng

    2016-08-01

    Coordination polymers serving as molecular magnetic refrigerants have been attracting great interest. In particular, coordination cluster compounds that demonstrate their apparent advantages on cryogenic magnetic refrigerants have attracted more attention in the last five years. Herein, we mainly focus on depicting aspects of syntheses, structures, and magnetothermal properties of coordination clusters that serve as magnetic refrigerants on account of the magnetocaloric effect. The documented molecular magnetic refrigerants are classified into two primary categories according to the types of metal centers, namely, homo- and heterometallic clusters. Every section is further divided into several subgroups based on the metal nuclearity and their dimensionalities, including discrete molecular clusters and those with extended structures constructed from molecular clusters. The objective is to present a rough overview of recent progress in coordination-cluster-based molecular magnetic refrigerants and provide a tutorial for researchers who are interested in the field. PMID:27381662

  7. Distributed Sensor Coordination for Advanced Energy Systems

    SciTech Connect

    Tumer, Kagan

    2013-07-31

    The ability to collect key system level information is critical to the safe, efficient and reli- able operation of advanced energy systems. With recent advances in sensor development, it is now possible to push some level of decision making directly to computationally sophisticated sensors, rather than wait for data to arrive to a massive centralized location before a decision is made. This type of approach relies on networked sensors (called “agents” from here on) to actively collect and process data, and provide key control deci- sions to significantly improve both the quality/relevance of the collected data and the as- sociating decision making. The technological bottlenecks for such sensor networks stem from a lack of mathematics and algorithms to manage the systems, rather than difficulties associated with building and deploying them. Indeed, traditional sensor coordination strategies do not provide adequate solutions for this problem. Passive data collection methods (e.g., large sensor webs) can scale to large systems, but are generally not suited to highly dynamic environments, such as ad- vanced energy systems, where crucial decisions may need to be reached quickly and lo- cally. Approaches based on local decisions on the other hand cannot guarantee that each agent performing its task (maximize an agent objective) will lead to good network wide solution (maximize a network objective) without invoking cumbersome coordination rou- tines. There is currently a lack of algorithms that will enable self-organization and blend the efficiency of local decision making with the system level guarantees of global decision making, particularly when the systems operate in dynamic and stochastic environments. In this work we addressed this critical gap and provided a comprehensive solution to the problem of sensor coordination to ensure the safe, reliable, and robust operation of advanced energy systems. The differentiating aspect of the proposed work is in shift- ing

  8. Forward Modeling Method of Gravity and Magnetic Fields and Their Gradient Tensors Based on 3-D Delaunay Discretization in Cartesian and Spherical Coordinate Systems

    NASA Astrophysics Data System (ADS)

    Zhang, Y.; Chen, C.; Du, J.; Sun, S.; Liang, Q.

    2015-12-01

    In the study of the inversion of gravity and magnetic data, the discretization of underground space is usually achieved by the use of structured grids. For instance, using the regular block as the module unit to divide model space in Cartesian coordinate system and the tesseroid in spherical coordinate system. Structured grids show clear spatial structures and mathematical properties. However, the block can only provide a rough approximation to the given terrain and using the tesseroid to approximate the terrain even seems impracticable. These shape determining errors cause the reduction of forward modeling precision. Moreover, the precision decreases again while using the tesseroid as no analytical algorithm has been acquired. On the other hand, since most terrain data has a limited resolution, unstructured grids, based on the polyhedron or tetrahedron, could fill the space completely, which allows us to reduce errors in shape determination to the minima. In addition, the analytical algorithms for polyhedron have been proposed. In our study, we use the tetrahedron as the module unit to divide the underground space. Moreover, based on the former researches, we supplement new analytical algorithms for tetrahedron to forward modeling gravity and magnetic fields and their gradient tensors in both Cartesian and spherical coordinate systems. The algorithm is testified by comparing the forward gravity and magnetic data of a block with the data obtained using the existed algorithms. The absolute difference between these two data is under 10e-9 mGal. Our approach is suitable for the inversion of gravity and magnetic data in both Cartesian and spherical coordinate systems.This study is supported by Natural Science Fund of Hubei Province (Grant No.: 2015CFB361) and International Cooperation Project in Science and Technology of China (Grant No.: 2010DFA24580).

  9. HCPV trackers arrangement based on space coordinate transformations

    NASA Astrophysics Data System (ADS)

    Mi, Zhe; Chen, Nuofu; Liu, Hu; Bai, Yiming; Zhang, Xiulan; Chen, Jikun; Wang, Xiangwu

    2014-09-01

    A new pattern of space coordinate system based on sun-tracking surface has been introduced in this paper. The calculation of shadow area between HCPV trackers has been simplified within this kind of coordinate system. The spaces between rows and columns of HCPV arrays can be calculated accurately. Therefore, an appropriate layout of trackers arrangement for a HCPV power plant can be determined and designed by use of this method.

  10. Information Systems Coordinate Emergency Management

    NASA Technical Reports Server (NTRS)

    2012-01-01

    -changing planet. This information can be captured, analyzed, and visualized by geographic information systems (GIS) to produce maps, charts, and other tools that can reveal information essential to a wide variety of applications including emergency management. Knowing precise, real-time information about the size, location, environmental conditions, and resulting damage of an event like a flood or wildfire as well as the location and numbers of emergency responders and other resources contributes directly to the effectiveness of disaster mitigation. The need for such information is also evident when responding to homeland security threats, such as a terrorist attack. Recognizing the value of its geospatial information resources for this and other purposes, in 1998 Stennis and the state of Mississippi partnered to form what became the Enterprise for Innovative Geospatial Solutions (EIGS) industry cluster, supporting the growth of remote sensing and GIS-based research and business. As part of EIGS, several companies partnered with NASA through dual use and Small Business Innovation Research (SBIR) contracts. Among those was NVision.

  11. Design and synthesis of two luminescent Zn(II)-based coordination polymers with different structures regulated by different solvent system

    NASA Astrophysics Data System (ADS)

    Wu, Wei-Ping; Wen, Gui-Lin; Liao, Yi; Wang, Jun; Lu, Lu; Wu, Yu; Xie, Bin

    2016-08-01

    Two new coordination polymers (CPs) [Zn(HL)(H2O)]n (1) and [Zn3(L)2(H2O)2]n·(H2O)n (2), based on a multifunctional ligand combined carboxylate groups and a nitrogen donor group 5-(6-carboxypyridin-2-yl)isophthalic acid (H3L), have been synthesized under different solvent media and fully characterized by powder X-ray diffraction (PXRD), infrared (IR) spectra, elemental analyses (EA) and thermogravimetric analyses (TGA). Single-crystal X-ray diffraction analysis reveals that 1 shows 1D dimeric chain structure, while 2 gives a 3D dense packing framework. Topology analysis illustrates that 2 can be simplified as a 3-nodal net (4, 5, 6-connected net) with the point symbol of {44·62}{46·64}2{48·66·8}. In addition, solid state luminescent properties of two complexes have also been studied in detail, which may act as the potential optical materials.

  12. Measurement system for 3-D foot coordinates and parameters

    NASA Astrophysics Data System (ADS)

    Liu, Guozhong; Li, Yunhui; Wang, Boxiong; Shi, Hui; Luo, Xiuzhi

    2008-12-01

    The 3-D foot-shape measurement system based on laser-line-scanning principle and the model of the measurement system were presented. Errors caused by nonlinearity of CCD cameras and caused by installation can be eliminated by using the global calibration method for CCD cameras, which based on nonlinear coordinate mapping function and the optimized method. A local foot coordinate system is defined with the Pternion and the Acropodion extracted from the boundaries of foot projections. The characteristic points can thus be located and foot parameters be extracted automatically by the local foot coordinate system and the related sections. Foot measurements for about 200 participants were conducted and the measurement results for male and female participants were presented. 3-D foot coordinates and parameters measurement makes it possible to realize custom-made shoe-making and shows great prosperity in shoe design, foot orthopaedic treatment, shoe size standardization, and establishment of a feet database for consumers.

  13. On a new coordinate system with astrophysical application: Spiral coordinates

    NASA Astrophysics Data System (ADS)

    Campos, L. M. B. C.; Gil, P. J. S.

    In this presentation are introduced spiral coordinates, which are a particular case of conformal coordinates, i.e. orthogonal curvelinear coordinates with equal factors along all coordinate axis. The spiral coordinates in the plane have as coordinate curves two families of logarithmic spirals, making a constant angle, respectively phi and pi / 2-phi, with all radial lines, where phi is a parameter. They can be obtained from a complex function, representing a spiral potential flow, due to the superposition of a source/sink with a vortex; the parameter phi in this case specifies the ratio of the ass flux of source/sink to the circulation of the vortex. Regardless of hydrodynamical or other interpretations, spiral coordinates are particulary convenient in situation where physical quantities vary only along a logarithmicspiral. The example chosen is the propagation of Alfven waves along a logarithmic spiral, as an approximation to Parker's spiral. The equation of dissipative MHD are written in spiral coordinates, and eliminated to specify the Alfven wave equation in spiral coordinates; the latter is solved exactly in terms of Bessel functions, and the results analyzed for values of the parameters corresponding to the solar wind.

  14. Quantification of Aromaticity Based on Interaction Coordinates: A New Proposal.

    PubMed

    Pandey, Sarvesh Kumar; Manogaran, Dhivya; Manogaran, Sadasivam; Schaefer, Henry F

    2016-05-12

    Attempts to establish degrees of aromaticity in molecules are legion. In the present study, we begin with a fictitious fragment arising from only those atoms contributing to the aromatic ring and having a force field projected from the original system. For example, in benzene, we adopt a fictitious C6 fragment with a force field projected from the full benzene force field. When one bond or angle is stretched and kept fixed, followed by a partial optimization for all other internal coordinates, structures change from their respective equilibria. These changes are the responses of all other internal coordinates for constraining the bond or angle by unit displacements and relaxing the forces on all other internal coordinates. The "interaction coordinate" derived from the redundant internal coordinate compliance constants measures how a bond (its electron density) responds for constrained optimization when another bond or angle is stretched by a specified unit (its electron density is perturbed by a finite amount). The sum of interaction coordinates (responses) of all bonded neighbors for all internal coordinates of the fictitious fragment is a measure of the strength of the σ and π electron interactions leading to aromatic stability. This sum, based on interaction coordinates, appears to be successful as an aromaticity index for a range of chemical systems. Since the concept involves analyzing a fragment rather than the whole molecule, this idea is more general and is likely to lead to new insights. PMID:27074522

  15. Local and global navigational coordinate systems in desert ants.

    PubMed

    Collett, Matthew; Collett, Thomas S

    2009-04-01

    While foraging, the desert ant Cataglyphis fortis keeps track of its position with respect to its nest through a process of path integration (PI). Once it finds food, it can then follow a direct home vector to its nest. Furthermore, it remembers the coordinates of a food site, and uses these coordinates to return to the site. Previous studies suggest, however, that it does not associate any coordinates remembered from previous trips with familiar views such that it can produce a home vector when displaced to a familiar site. We ask here whether a desert ant uses any association between PI coordinates and familiar views to ensure consistent PI coordinates as it travels along a habitual route. We describe an experiment in which we manipulated the PI coordinates an ant has when reaching a distinctive point along a habitual route on the way to a feeder. The subsequent home vectors of the manipulated ants, when displaced from the food-site to a test ground, show that also when a route memory is evoked at a significant point on the way to a food site, C. fortis does not reset its PI coordinates to those it normally has at that point. We use this result to argue that local vector memories, which encode the metric properties of a segment of a habitual route, must be encoded in a route-based coordinate system that is separate from the nest-based global coordinates. We propose a model for PI-based guidance that can account for several puzzling observations, and that naturally produces the route-based coordinate system required for learning and following local vectors. PMID:19282486

  16. Quipus and System of Coordinated Precession

    NASA Astrophysics Data System (ADS)

    Campos, T. C.

    2004-05-01

    The Incas of ancient Peru possessed no writing. Instead, they developed a unique system expressed on spatial arrays of colored knotted cords called Quipus to record and transmit information throughout their vast empire. In their thorough description of quipus, Ascher & Ascher observed that in two cases the numbers registered in their strings have a very special relationship to each other. For this to occur the numbers must have been obtained through the multiplication of whole numbers by fractions or decimals, operations apparently beyond the arithmetic knowledge of the Incas. The quipus AS120 and AS143, coming from Ica (Peru) and conserved in the Museum of Berlin has the suitable characteristics previously. In the AS143 there is a the relationship with the systems of coordinated precession (tilt of Earth's spin axis (40036); eccentricity of Earth's orbit (97357); and precession of equinoxes (between 18504 and 23098)). For the history of the Earth are necessary an chronometer natural to coordinate and to classify the observations and this chronometer comes to be the vernal point, defining the vernal point as" a sensitive axis of maximum conductivity" as itdemonstrates it the stability of the geomagnetic equator (inclination of the field is zero grades), in the year 1939 calculated with the IGRF from the year 1900 up to the 2004 and that it is confirmed with tabulated data of the Geophysical Institute of Huancayo (Peru),from that date until this year (2004) and this fluctuating between the 12-14 South.,on the other hand in the area of Brazil it has advanced very quickly toward the north, and above to 108 km. approximately it is located the equatorial electrojet that is but intense in the equinoxes in South America. And this stability from the point of view of the precession of the equinoxes this coinciding with the entrance of the apparent sun for the constellation of Aquarius, being this mechanism the base to establish a system of coordinated precession where it is

  17. Examination of Eulerian and Lagrangian Coordinate Systems.

    ERIC Educational Resources Information Center

    Remillard, Wilfred J.

    1978-01-01

    Studies the relationship between Eulerian and Lagrangian coordinate systems with the help of computer plots of variables such as density and particle displacement. Gives examples which illustrate the differences in the shape of a traveling wave as seen by observers in the two systems. (Author/GA)

  18. Distributed sensor coordination for advanced energy systems

    SciTech Connect

    Tumer, Kagan

    2015-03-12

    Motivation: The ability to collect key system level information is critical to the safe, efficient and reliable operation of advanced power systems. Recent advances in sensor technology have enabled some level of decision making directly at the sensor level. However, coordinating large numbers of sensors, particularly heterogeneous sensors, to achieve system level objectives such as predicting plant efficiency, reducing downtime or predicting outages requires sophisticated coordination algorithms. Indeed, a critical issue in such systems is how to ensure the interaction of a large number of heterogenous system components do not interfere with one another and lead to undesirable behavior. Objectives and Contributions: The long-term objective of this work is to provide sensor deployment, coordination and networking algorithms for large numbers of sensors to ensure the safe, reliable, and robust operation of advanced energy systems. Our two specific objectives are to: 1. Derive sensor performance metrics for heterogeneous sensor networks. 2. Demonstrate effectiveness, scalability and reconfigurability of heterogeneous sensor network in advanced power systems. The key technical contribution of this work is to push the coordination step to the design of the objective functions of the sensors, allowing networks of heterogeneous sensors to be controlled. By ensuring that the control and coordination is not specific to particular sensor hardware, this approach enables the design and operation of large heterogeneous sensor networks. In addition to the coordination coordination mechanism, this approach allows the system to be reconfigured in response to changing needs (e.g., sudden external events requiring new responses) or changing sensor network characteristics (e.g., sudden changes to plant condition). Impact: The impact of this work extends to a large class of problems relevant to the National Energy Technology Laboratory including sensor placement, heterogeneous sensor

  19. [A theoretical analysis of coordination in the field of health care: application to coordinated care systems].

    PubMed

    Sebai, Jihane

    2016-01-01

    Various organizational, functional or structural issues have led to a review of the foundations of the former health care system based on a traditional market segmentation between general practice and hospital medicine, and between health and social sectors and marked by competition between private and public sectors. The current reconfiguration of the health care system has resulted in “new” levers explained by the development of a new organizational reconfiguration of the primary health care model. Coordinated care structures (SSC) have been developed in this context by making coordination the cornerstone of relations between professionals to ensure global, continuous and quality health care. This article highlights the contributions of various theoretical approaches to the understanding of the concept of coordination in the analysis of the current specificity of health care. PMID:27392057

  20. Numerical solution of flow problems using body-fitted coordinate systems

    NASA Technical Reports Server (NTRS)

    Thompson, J. F.

    1980-01-01

    The paper deals with numerically generated boundary-fitted coordinate systems. This procedure eliminates the shape of the boundaries as a complicating factor and allows the flow about arbitrary boundaries to be treated essentially as easily as that about simple boundaries. The technique of boundary-fitted coordinate systems is based on a method of automatic numerical generation of a general curvilinear coordinate system having a coordinate line coincident with each boundary of a general multiconnected region involving any number of arbitrarily shaped boundaries. Once the curvilinear coordinate system is generated, any partial differential system of interest may be solved on the coordinate system by transforming the equations and solving the resulting system in finite-difference approximation on the rectangular transformed plane. Attention is given to the types of boundary-fitted coordinate systems, coordinate system control, operation of the coordinate codes, solution of partial differential equations, application to free-surface flow, and other applications of interest.

  1. A new quantitative evaluation method of spiral drawing for patients with Parkinson’s disease based on a polar coordinate system with varying origin

    NASA Astrophysics Data System (ADS)

    Wang, Min; Wang, Bei; Zou, Junzhong; Nakamura, Masatoshi

    2012-09-01

    Parkinson's disease (PD) is a common disease of the central nervous system among the elderly, and its complex symptoms bring up challenges for the clinical diagnosis. In this paper, a new method based on a polar coordinate system with varying origin was proposed in order to quantitatively evaluate the performance in spiral drawing tasks for patients with Parkinson's disease, since this method can assess the movement ability of spiral drawing before and after deep brain stimulation (DBS) among the patients. In this paper, three normal subjects and twelve PD patients participated in spiral drawing experiment. The hand movements of patients, before and after DBS, were recorded by a digitized tablet respectively in this experiment. And the variation of origin, radius, degree and other characteristics of hand movements were evaluated by introducing a set of parameters for feature extraction. The result showed that the proposed polar coordinate system embraced good performance in the quantitative evaluation of spiral drawing. Therefore, the proposed method overcame the limitation of data processes with fixed origin for diagnosis and evaluation, and by combining with extraction and analysis of characteristic parameters it had clinical significance in measuring the effectiveness of operation or treatment for the PD patients.

  2. Existence of frozen-in coordinate systems

    NASA Technical Reports Server (NTRS)

    Chertkov, A. D.

    1995-01-01

    The 'frozen-in' coordinate systems were first introduced in the works on 'reconnection' and 'magnetic barrier' theories (see review by M.l.Pudovkin and V.S.Semenov, Space Sci. Rev. 41,1 1985). The idea was to utilize the mathematical apparatus developed for 'general relativity' theory to simplify obtaining solutions to the ideal MHD equations set. Magnetic field (B), plasma velocity (v), and their vector product were used as coordinate vectors. But there exist no stationary solutions of ideal MHD set that satisfies the required boundary conditions at infinity (A.D.Chertkov, Solar Wind Seven Conf.,Pergamon Press,1992,165) having non-zero vector product of v and B where v and B originate from the same sphere. The existence of a solution is the hidden mine of the mentioned theories. The solution is constructed in the coordinate system, which is unknown and indeterminate before obtaining this solution. A substitution of the final solution must be done directly into the initial MHD set in order to check the method. One can demonstrate that 'solutions' of Petschek's problem, obtained by 'frozen-in' coordinate systems, does not satisfy just the 'frozen-in' equation, i.e. induction equation. It stems from the fact that Petschek's 're-connection' model, treated as a boundary problem, is over determined. This problem was incorrectly formulated.

  3. The Coordinate Additional Perturbations to Mars Orbiters and the Choice of Corresponding Coordinate System

    NASA Astrophysics Data System (ADS)

    Liu, L.; Zhao, Y. H.; Zhang, W.; Wang, Y. R.; Wang, J. S.

    2010-10-01

    Similar to the study of the related problems of Earth satellites, in the research of the motion of Mars orbiter especially for low orbit satellites, it is more appropriate to choose an epoch Mars-centered and Mars-equator reference system, which indeed is called the Mars-centered celestial coordinate system. In this system, the xy plane and the direction of the x axis correspond to the mean equator and mean equinox. Similar to the precession and nutation on the Earth, the wiggling of instantaneous Mars equator causes the coordinate additional perturbations in this Mars coordinate system. The paper quotes a method which is similar to the one used in dealing with the coordinate additional perturbations of Earth. According to this method, based on the IAU2000 Mars orientation model and under the precondition of a certain accuracy, we are able to figure out the precession part of the change of Mars gravitation. This lays the foundation for further study of its influence on the Mars orbiter's orbit of precession and the solution of the corresponding coordinate additional perturbations. The obtained analytical solution is easy to use. Compared with the numerical solution with higher accuracy, the result shows that the accuracy of this analytical solution could satisfy general requirements in use. Therefore, our result verifies that a unified coordinate system, the Mars-centered celestial system in which J2000.0 is chosen as its current initial epoch, could be applied to deal with the relative problems of Mars orbiters, especially for low orbit satellites. It is different from the method we previously used in dealing with the corresponding problems of Earth satellites, where we adopted the instantaneous equator and epoch (J1950.0) mean equinox as xy plane and the direction of x axis. In contrast, the coordinate transformation brings heavy workload and certain inconvenience in relative former works in which the prior system is used. If adopting the unified coordinate

  4. Coordinate Additional Perturbations to Mars Orbiters and Choice of Corresponding Coordinate System

    NASA Astrophysics Data System (ADS)

    Liu, Lin; Zhao, Yu-hui; Zhang, Wei; Wang, Yan-rong; Wang, Jia-song

    2011-04-01

    Similar to the study of the related problems of Earth satellites, in the research of the motion of Mars orbiter especially for low-orbit satellites, it is more appropriate to choose an epoch Mars-centered and Mars-equator reference system, which indeed is called the Mars-centered celestial coordinate system. In this system, the xy-plane and the direction of the x-axis correspond to the mean equator and mean equinox. Similar to the precession and nutation of the Earth, the wiggling of instantaneous Mars equator causes the coordinate additional perturbations in this Mars coordinate system. The paper quotes a method which is similar to the one used in dealing with the coordinate additional perturbations of Earth. According to this method, based on the IAU2000 Mars orientation model and under the precondition of a certain accuracy, we are able to figure out the precession part of the change of Mars gravitation. This lays the foundation for further study of its influence on the Mars orbiter's orbit of precession and the solution of the corresponding coordinate additional perturbations. The obtained analytical solution is easy to use. Compared with the numerical solution with higher accuracy, the result shows that the accuracy of this analytical solution could satisfy the general requirements in use. Therefore, our result verifies that a unified coordinate system, the Mars-centered celestial system in which J2000.0 is chosen as its current initial epoch, could be applied to deal with the relative problems of Mars orbiters, especially for low-orbit satellites. It is different from the method we previously used in dealing with the corresponding problems of Earth satellites, where we adopted the instantaneous equator and epoch (J1950.0) mean equinox as xy-plane and the direction of x -axis. In contrast, the coordinate transformation brings heavy workload and certain inconvenience in relative former works in which the prior system is used. If adopting the unified coordinate

  5. Nanometrization of Lanthanide-Based Coordination Polymers.

    PubMed

    Neaime, Chrystelle; Daiguebonne, Carole; Calvez, Guillaume; Freslon, Stéphane; Bernot, Kevin; Grasset, Fabien; Cordier, Stéphane; Guillou, Olivier

    2015-11-23

    Heteronuclear lanthanide-based coordination polymers are microcrystalline powders, the luminescence properties of which can be precisely tuned by judicious choice of the rare-earth ions. In this study, we demonstrate that such materials can also be obtained as stable solutions of nanoparticles in non-toxic polyols. Bulk powders of the formula [Ln2-2x Ln'2x (bdc)3 ⋅4 H2 O]∞ (where H2 bdc denotes 1,4-benzene-dicarboxylic acid, 0≤x≤1, and Ln and Ln' denote lanthanide ions of the series La to Tm plus Y) afford nanoparticles that have been characterized by dynamic light-scattering (DLS) and transmission electron microscopy (TEM) measurements. Their luminescence properties are similar to those of the bulk materials. Stabilities versus time and versus dilution with another solvent have been studied. This study has revealed that it is possible to tune the size of the nanoparticles. This process offers a reliable means of synthesizing suspensions of nanoparticles with tunable luminescence properties and tunable size distributions in a green solvent (glycerol). The process is also extendable to other coordination polymers and other solvents (ethylene glycol, for example). It constitutes a new route for the facile solubilization of lanthanide-based coordination polymers. PMID:26471940

  6. Model reduction in the physical coordinate system

    NASA Technical Reports Server (NTRS)

    Yae, K. Harold; Joeng, K. Y.

    1989-01-01

    In the dynamics modeling of a flexible structure, finite element analysis employs reduction techniques, such as Guyan's reduction, to remove some of the insignificant physical coordinates, thus producing a dynamics model that has smaller mass and stiffness matrices. But this reduction is limited in the sense that it removes certain degrees of freedom at a node points themselves in the model. From the standpoint of linear control design, the resultant model is still too large despite the reduction. Thus, some form of the model reduction is frequently used in control design by approximating a large dynamical system with a fewer number of state variables. However, a problem arises from the placement of sensors and actuators in the reduced model, because a model usually undergoes, before being reduced, some form of coordinate transformations that do not preserve the physical meanings of the states. To correct such a problem, a method is developed that expresses a reduced model in terms of a subset of the original states. The proposed method starts with a dynamic model that is originated and reduced in finite element analysis. Then the model is converted to the state space form, and reduced again by the internal balancing method. At this point, being in the balanced coordinate system, the states in the reduced model have no apparent resemblance to those of the original model. Through another coordinate transformation that is developed, however, this reduced model is expressed by a subset of the original states.

  7. A reactive coordination scheme for a many-robot system.

    PubMed

    Evans, K S; Unsal, C; Bay, J S

    1997-01-01

    This paper presents a novel approach for coordinating a homogeneous system of mobile robots using implicit communication in the form of broadcasts. The broadcast-based coordination scheme was developed for the Army Ant swarm-a system of small, relatively inexpensive mobile robots that can accomplish complex tasks by cooperating as a team. The primary drawback, however, of the Army Ant system is that the absence of a central supervisor poses difficulty in the coordination and control of the agents. Our coordination scheme provides a global "group dynamic" that controls the actions of each robot using only local interactions. Coordination of the swarm is achieved with signals we call "heartbeats". Each agent broadcasts a unique heartbeat and responds to the collective behavior of all other heartbeats. We generate heartbeats with van der Pol oscillators. In this application, we use the known properties of coupled van der Pol oscillators to create predictable group behavior. Some of the properties and behaviors of coupled van der Pol oscillators are discussed in detail. We emphasize the use of this scheme to allow agents to simultaneously perform an action such as lifting, steering, or changing speed. The results of experiments performed on three actual heartbeat circuits are presented and the behavior of the realized system is compared to simulated results. We also demonstrate the application of the coordination scheme to global speed control. PMID:18255900

  8. Interference coordination of heterogeneous LTE systems using remote radio heads

    NASA Astrophysics Data System (ADS)

    Kim, Jaewon; Lee, Donghyun; Sung, Wonjin

    2013-12-01

    In this paper, we present an operational strategy to mitigate co-channel interference (CCI) by using geographically distributed remote radio heads (RRHs). The inter-node CCI becomes a dominant performance degradation factor for heterogeneous network (HetNet) systems. Recently, there are emerging attempts in Third Generation Partnership Project to adopt advanced techniques to Long Term Evolution Advanced systems to mitigate CCI problems for HetNet systems, namely, the coordinated multipoint transmission (CoMP). However, the CoMP scheme cannot control the CCI generated from outside coordination boundaries. To resolve this problem, we propose a partial activation strategy by using RRHs deployed near cell edge which results in moving coverage boundary effects. Based on Monte Carlo system level simulations, performance of the conventional strategies and the presented strategy is evaluated. Simulation results show that the proposed scheme outperforms the enhanced inter-cell interference coordination and CoMP schemes especially for users located near cell edge areas.

  9. An integrated logic system for time-resolved fluorescent "turn-on" detection of cysteine and histidine base on terbium (III) coordination polymer-copper (II) ensemble.

    PubMed

    Xue, Shi-Fan; Lu, Ling-Fei; Wang, Qi-Xian; Zhang, Shengqiang; Zhang, Min; Shi, Guoyue

    2016-09-01

    Cysteine (Cys) and histidine (His) both play indispensable roles in many important biological activities. An enhanced Cys level can result in Alzheimer's and cardiovascular diseases. Likewise, His plays a significant role in the growth and repair of tissues as well as in controlling the transmission of metal elements in biological bases. Therefore, it is meaningful to detect Cys and His simultaneously. In this work, a novel terbium (III) coordination polymer-Cu (II) ensemble (Tb(3+)/GMP-Cu(2+)) was proposed. Guanosine monophosphate (GMP) can self-assemble with Tb(3+) to form a supramolecular Tb(3+) coordination polymer (Tb(3+)/GMP), which can be suited as a time-resolved probe. The fluorescence of Tb(3+)/GMP would be quenched upon the addition of Cu(2+), and then the fluorescence of the as-prepared Tb(3+)/GMP-Cu(2+) ensemble would be restored again in the presence of Cys or His. By incorporating N-Ethylmaleimide and Ni(2+) as masking agents, Tb(3+)/GMP-Cu(2+) was further exploited as an integrated logic system and a specific time-resolved fluorescent "turn-on" assay for simultaneously sensing His and Cys was designed. Meanwhile it can also be used in plasma samples, showing great potential to meet the need of practical application. PMID:27343597

  10. Coordinate System Issues in Binary Star Computations

    NASA Astrophysics Data System (ADS)

    Kaplan, George H.

    2015-08-01

    It has been estimated that half of all stars are components of binary or multiple systems. Yet the number of known orbits for astrometric and spectroscopic binary systems together is less than 7,000 (including redundancies), almost all of them for bright stars. A new generation of deep all-sky surveys such as Pan-STARRS, Gaia, and LSST are expected to lead to the discovery of millions of new systems. Although for many of these systems, the orbits may be undersampled initially, it is to be expected that combinations of new and old data sources will eventually lead to many more orbits being known. As a result, a revolution in the scientific understanding of these systems may be upon us.The current database of visual (astrometric) binary orbits represents them relative to the “plane of the sky”, that is, the plane orthogonal to the line of sight. Although the line of sight to stars constantly changes due to proper motion, aberration, and other effects, there is no agreed upon standard for what line of sight defines the orbital reference plane. Furthermore, the computation of differential coordinates (component B relative to A) for a given date must be based on the binary system’s direction at that date. Thus, a different “plane of the sky” is appropriate for each such date, i.e., each observation. However, projection effects between the reference planes, differential aberration, and the curvature of the sky are generally neglected in such computations. Usually the only correction applied is for the change in the north direction (position angle zero) due to precession (and sometimes also proper motion). This paper will present an algorithm for a more complete model of the geometry involved, and will show that such a model is necessary to avoid errors in the computed observables that are significant at modern astrometric accuracy. The paper will also suggest where conventions need to be established to avoid ambiguities in how quantities related to binary star

  11. A coordinated approach to control system modifications

    SciTech Connect

    Lance, G.J.; Babuka, R.D.; Ricker, S.

    1995-10-01

    This paper describes the structured approach to a major control system retrofit. The project included replacing out-dated controls hardware with a distributed control system as part of a low NO{sub x} conversion project. The success of the coordinated approach used for this project depended on many key factors. The most important factor was strength of the EKPC/B and W relationship that united B and W design and installation expertise with EKPC operations. This relationship provided a comprehensive forum for information exchange between all parties involved. The design documents (P and IDs, SRSs, I/O Lists, and SITs) provided a conduit for technical information exchange. The integrated schedule was used as a dynamic road map to drive, guide and coordinate the project. The schedule provided direction to all contributing organizations through the engineering, installation, and start-up phases. The labor partnering approach to electrical and instrumentation installation infused valuable installation expertise into the project. The lessons learned sessions provided important performance feedback. These sessions measured the effectiveness of overall communication and led to process improvement. The success of this project is directly attributable to the dedication and coordinated approach of the EKPC/B and W project team.

  12. Implementation of a Relay Coordination System for the Mars Network

    NASA Technical Reports Server (NTRS)

    Allard, Daniel A.

    2010-01-01

    Mars network relay operations involve the coordination of lander and orbiter teams through long-term and short-term planning, tactical changes and post-pass analysis. Much of this coordination is managed through email traffic and point-to-point file data exchanges. It is often difficult to construct a complete and accurate picture of the relay situation at any given moment, as there is no centralized store of correlated relay data. The Mars Relay Operations Service (MaROS) is being implemented to address the problem of relay coordination for current and next-generation relay missions. The service is provided for the purpose of coordinating communications sessions between landed spacecraft assets and orbiting spacecraft assets at Mars. The service centralizes a set of functions previously distributed across multiple spacecraft operations teams, and as such greatly improves visibility into the end-to-end strategic coordination process. Most of the process revolves around the scheduling of communications sessions between the spacecraft during periods of time when a landed asset on Mars is geometrically visible by an orbiting spacecraft. These "relay" sessions are used to transfer data both to and from the landed asset via the orbiting asset on behalf of Earth-based spacecraft operators. This paper will discuss the relay coordination problem space, overview the architecture and design selected to meet system requirements, and describe the first phase of system implementation

  13. Study on portable optical 3D coordinate measuring system

    NASA Astrophysics Data System (ADS)

    Ren, Tongqun; Zhu, Jigui; Guo, Yinbiao

    2009-05-01

    A portable optical 3D coordinate measuring system based on digital Close Range Photogrammetry (CRP) technology and binocular stereo vision theory is researched. Three ultra-red LED with high stability is set on a hand-hold target to provide measuring feature and establish target coordinate system. Ray intersection based field directional calibrating is done for the intersectant binocular measurement system composed of two cameras by a reference ruler. The hand-hold target controlled by Bluetooth wireless communication is free moved to implement contact measurement. The position of ceramic contact ball is pre-calibrated accurately. The coordinates of target feature points are obtained by binocular stereo vision model from the stereo images pair taken by cameras. Combining radius compensation for contact ball and residual error correction, object point can be resolved by transfer of axes using target coordinate system as intermediary. This system is suitable for on-field large-scale measurement because of its excellent portability, high precision, wide measuring volume, great adaptability and satisfying automatization. It is tested that the measuring precision is near to +/-0.1mm/m.

  14. Surface-based matching of 3D point clouds with variable coordinates in source and target system

    NASA Astrophysics Data System (ADS)

    Ge, Xuming; Wunderlich, Thomas

    2016-01-01

    The automatic co-registration of point clouds, representing three-dimensional (3D) surfaces, is an important technique in 3D reconstruction and is widely applied in many different disciplines. An alternative approach is proposed here that estimates the transformation parameters of one or more 3D search surfaces with respect to a 3D template surface. The approach uses the nonlinear Gauss-Helmert model, minimizing the quadratically constrained least squares problem. This approach has the ability to match arbitrarily oriented 3D surfaces captured from a number of different sensors, on different time-scales and at different resolutions. In addition to the 3D surface-matching paths, the mathematical model allows the precision of the point clouds to be assessed after adjustment. The error behavior of surfaces can also be investigated based on the proposed approach. Some practical examples are presented and the results are compared with the iterative closest point and the linear least-squares approaches to demonstrate the performance and benefits of the proposed technique.

  15. Silver(I) complexes in coordination supramolecular system with bulky acridine-based ligands: syntheses, crystal structures, and theoretical investigations on C-H...Ag close interaction.

    PubMed

    Liu, Chun-Sen; Chen, Pei-Quan; Yang, En-Cui; Tian, Jin-Lei; Bu, Xian-He; Li, Zheng-Ming; Sun, Hong-Wei; Lin, Zhenyang

    2006-07-24

    In our efforts to investigate the coordination architectures of transition metals and organic ligands with tailored structures, we have prepared two structurally related rigid bulky acridine-based ligands, 9-[3-(2-pyridyl)pyrazol-1-yl]- acridine (L(1)) and 9-(1-imidazolyl)acridine (L2), and synthesized and characterized four of their Ag(I) complexes, {[AgL1](ClO4)}2 (1), {[AgL1](NO3)}2 (2), [AgL2(2)](ClO4) (3), and {[(Ag3L2(3))(NO3)](NO3)2(H2O)}(infinity) (4). The single-crystal X-ray diffraction analysis shows that the structures of 1 and 2 are similar to each other, with the two intramolecular Ag(I) centers of each complex being encircled by two L1 ligands; this forms a unique boxlike cyclic dimer, which is further linked to form one-dimensional (1D) chains of 1 and a two-dimensional (2D) network of 2 by intermolecular face-to-face pi...pi stacking and/or weak C-H...O hydrogen-bonding interactions, respectively. 3 has a mononuclear structure, which is further assembled into a 2D network via intermolecular Ag...O and pi...pi stacking weak interactions. 4 possesses two different 1D motifs that are further interlinked through interlayer face-to-face pi...pi stacking and Ag...O weak interactions, resulting in a 2D network. It is worth noting that one of the interesting structural features of 1, 2, and 4 is the presence of obvious C-H...M hydrogen-bonding interactions between the Ag centers and some acridine ring H atoms identified by X-ray diffraction on the basis of the van der Waals radii. Furthermore, as a representative example, full geometry optimization on the basis of the experimental structure, the natural bond orbital (NBO), and topological analysis of 1 were carried out by DFT and AIM (Atoms in Molecules) calculations. The total C-H...Ag interaction energy in 1 is estimated to be about 14 kJ/mol. Therefore, this work offers three new rare examples (1, 2, and 4) that exhibit C-H...Ag weak interactions, in which the N donors of the acridine rings coordinate

  16. The valuation system: A coordinate-based meta-analysis of BOLD fMRI experiments examining neural correlates of subjective value

    PubMed Central

    Bartra, Oscar; McGuire, Joseph T.; Kable, Joseph W.

    2013-01-01

    Numerous experiments have recently sought to identify neural signals associated with the subjective value (SV) of choice alternatives. Theoretically, SV assessment is an intermediate computational step during decision making, in which alternatives are placed on a common scale to facilitate value-maximizing choice. Here we present a quantitative, coordinate-based meta-analysis of 206 published fMRI studies investigating neural correlates of SV. Our results identify two general patterns of SV-correlated brain responses. In one set of regions, both positive and negative effects of SV on BOLD are reported at above-chance rates across the literature. Areas exhibiting this pattern include anterior insula, dorsomedial prefrontal cortex, dorsal and posterior striatum, and thalamus. The mixture of positive and negative effects potentially reflects an underlying U-shaped function, indicative of signal related to arousal or salience. In a second set of areas, including ventromedial prefrontal cortex and anterior ventral striatum, positive effects predominate. Positive effects in the latter regions are seen both when a decision is confronted and when an outcome is delivered, as well as for both monetary and primary rewards. These regions appear to constitute a "valuation system," carrying a domain-general SV signal and potentially contributing to value-based decision making. PMID:23507394

  17. Sensitivity analysis approach to multibody systems described by natural coordinates

    NASA Astrophysics Data System (ADS)

    Li, Xiufeng; Wang, Yabin

    2014-03-01

    The classical natural coordinate modeling method which removes the Euler angles and Euler parameters from the governing equations is particularly suitable for the sensitivity analysis and optimization of multibody systems. However, the formulation has so many principles in choosing the generalized coordinates that it hinders the implementation of modeling automation. A first order direct sensitivity analysis approach to multibody systems formulated with novel natural coordinates is presented. Firstly, a new selection method for natural coordinate is developed. The method introduces 12 coordinates to describe the position and orientation of a spatial object. On the basis of the proposed natural coordinates, rigid constraint conditions, the basic constraint elements as well as the initial conditions for the governing equations are derived. Considering the characteristics of the governing equations, the newly proposed generalized-α integration method is used and the corresponding algorithm flowchart is discussed. The objective function, the detailed analysis process of first order direct sensitivity analysis and related solving strategy are provided based on the previous modeling system. Finally, in order to verify the validity and accuracy of the method presented, the sensitivity analysis of a planar spinner-slider mechanism and a spatial crank-slider mechanism are conducted. The test results agree well with that of the finite difference method, and the maximum absolute deviation of the results is less than 3%. The proposed approach is not only convenient for automatic modeling, but also helpful for the reduction of the complexity of sensitivity analysis, which provides a practical and effective way to obtain sensitivity for the optimization problems of multibody systems.

  18. On representations for joint moments using a joint coordinate system.

    PubMed

    O'Reilly, Oliver M; Sena, Mark P; Feeley, Brian T; Lotz, Jeffrey C

    2013-11-01

    In studies of the biomechanics of joints, the representation of moments using the joint coordinate system has been discussed by several authors. The primary purpose of this technical brief is to emphasize that there are two distinct, albeit related, representations for moment vectors using the joint coordinate system. These distinct representations are illuminated by exploring connections between the Euler and dual Euler bases, the "nonorthogonal projections" presented in a recent paper by Desroches et al. (2010, "Expression of Joint Moment in the Joint Coordinate System," ASME J. Biomech. Eng., 132(11), p. 11450) and seminal works by Grood and Suntay (Grood and Suntay, 1983, "A Joint Coordinate System for the Clinical Description of Three-Dimensional Motions: Application to the Knee," ASME J. Biomech. Eng., 105(2), pp. 136-144) and Fujie et al. (1996, "Forces and Moment in Six-DOF at the Human Knee Joint: Mathematical Description for Control," Journal of Biomechanics, 29(12), pp. 1577-1585) on the knee joint. It is also shown how the representation using the dual Euler basis leads to straightforward definition of joint stiffnesses. PMID:24008987

  19. Precise Selenodetic Coordinate System on Artificial Light Refers

    NASA Astrophysics Data System (ADS)

    Bagrov, Alexander; Pichkhadze, Konstantin M.; Sysoev, Valentin

    Historically a coordinate system for the Moon was established on the base of telescopic observations from the Earth. As the angular resolution of Earth-to-Space telescopic observations is limited by Earth atmosphere, and is ordinary worse then 1 ang. second, the mean accuracy of selenodetic coordinates is some angular minutes, which corresponds to errors about 900 meters for positions of lunar objects near center of visible lunar disk, and at least twice more when objects are near lunar poles. As there are no Global Positioning System nor any astronomical observation instruments on the Moon, we proposed to use an autonomous light beacon on the Luna-Globe landing module to fix its position on the surface of the moon ant to use it as refer point for fixation of spherical coordinates system for the Moon. The light beacon is designed to be surely visible by orbiting probe TV-camera. As any space probe has its own stars-orientation system, there is not a problem to calculate a set of directions to the beacon and to the referent stars in probe-centered coordinate system during flight over the beacon. Large number of measured angular positions and time of each observation will be enough to calculate both orbital parameters of the probe and selenodetic coordinates of the beacon by methods of geodesy. All this will allow fixing angular coordinates of any feature of lunar surface in one global coordinate system, referred to the beacon. The satellite’s orbit plane contains ever the center mass of main body, so if the beacon will be placed closely to a lunar pole, we shall determine pole point position of the Moon with accuracy tens times better then it is known now. When angular accuracy of self-orientation by stars of the orbital module of Luna-Glob mission will be 6 angular seconds, then being in circular orbit with height of 200 km the on-board TV-camera will allow calculation of the beacon position as well as 6" corresponding to spatial resolution of the camera. It mean

  20. A topological coordinate system for the diamond cubic grid.

    PubMed

    Čomić, Lidija; Nagy, Benedek

    2016-09-01

    Topological coordinate systems are used to address all cells of abstract cell complexes. In this paper, a topological coordinate system for cells in the diamond cubic grid is presented and some of its properties are detailed. Four dependent coordinates are used to address the voxels (triakis truncated tetrahedra), their faces (hexagons and triangles), their edges and the points at their corners. Boundary and co-boundary relations, as well as adjacency relations between the cells, can easily be captured by the coordinate values. Thus, this coordinate system is apt for implementation in various applications, such as visualizations, morphological and topological operations and shape analysis. PMID:27580205

  1. Dynamic coordination of a self-reconfigurable manipulator system

    NASA Technical Reports Server (NTRS)

    Kim, Sungbok; Lee, Sukhan

    1991-01-01

    The authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic coordination of two arms having three different dual-arm topologies. The authors develop the Cartesian space dynamic models of a dual-arm system of three dual-arm topologies and derive the kinematic and dynamic constraints imposed on two arms in cooperation. Dual-arm dynamic manipulabilities are defined to quantify the dynamic performance of three dual-arm topologies in terms of the efficiency of generating Cartesian accelerations. A methodology of selecting serial, parallel, and bracing structures based on dual-arm dynamic manipulabilities is provided.

  2. Coordinate Reference System Metadata in Interdisciplinary Environmental Modeling

    NASA Astrophysics Data System (ADS)

    Blodgett, D. L.; Arctur, D. K.; Hnilo, J.; Danko, D. M.; Rutledge, G. K.

    2011-12-01

    For global climate modeling based on a unit sphere, the positional accuracy of transformations between "real earth" coordinates and the spherical earth coordinates is practically irrelevant due to the coarse grid and precision of global models. Consequently, many climate models are driven by data using real-earth coordinates without transforming them to the shape of the model grid. Additionally, metadata to describe the earth shape and its relationship to latitude longitude demarcations, or datum, used for model output is often left unspecified or ambiguous. Studies of weather and climate effects on coastal zones, water resources, agriculture, biodiversity, and other critical domains typically require positional accuracy on the order of several meters or less. This precision requires that a precise datum be used and accounted for in metadata. While it may be understood that climate model results using spherical earth coordinates could not possibly approach this level of accuracy, precise coordinate reference system metadata is nevertheless required by users and applications integrating climate and geographic information. For this reason, data publishers should provide guidance regarding the appropriate datum to assume for their data. Without some guidance, analysts must make assumptions they are uncomfortable or unwilling to make and may spend inordinate amounts of time researching the correct assumption to make. A consequence of the (practically justified for global climate modeling) disregard for datums is that datums are also neglected when publishing regional or local scale climate and weather data where datum information may be important. For example, observed data, like precipitation and temperature measurements, used in downscaling climate model results are georeferenced precisely. If coordinate reference system metadata are disregarded in cases like this, systematic biases in geolocation can result. Additionally, if no datum transformation was applied to

  3. Control systems and coordination protocols of the secretory pathway.

    PubMed

    Luini, Alberto; Mavelli, Gabriella; Jung, Juan; Cancino, Jorge

    2014-01-01

    Like other cellular modules, the secretory pathway and the Golgi complex are likely to be supervised by control systems that support homeostasis and optimal functionality under all conditions, including external and internal perturbations. Moreover, the secretory apparatus must be functionally connected with other cellular modules, such as energy metabolism and protein degradation, via specific rules of interaction, or "coordination protocols". These regulatory devices are of fundamental importance for optimal function; however, they are generally "hidden" at steady state. The molecular components and the architecture of the control systems and coordination protocols of the secretory pathway are beginning to emerge through studies based on the use of controlled transport-specific perturbations aimed specifically at the detection and analysis of these internal regulatory devices. PMID:25374666

  4. Mare Orientale Prime Meridian lunar coordinate system

    NASA Astrophysics Data System (ADS)

    Walden, B.; York, C.; McGown, R.; Billings, T.

    The Moon was the first extraterrestrial body to be mapped. From 1514 to 1840, navigators sailing the open seas needed accurate lunar maps to determine longitude by the "lunar-distance" method. For the convenience of early navigators, astronomers and selenographers, the lunar prime meridian was made to bisect the lunar disk as seen from Earth, formalized as the present Mean Earth / Polar Axis system. In 1961, the International Astronomical Union reversed lunar east and west to avoid confusion by astronauts and their controllers, so that now Mare Orientale -- the Eastern Sea -- lies on the Moon's western limb. By international agreement in 1974, lunar longitude was defined to increase eastward from zero to 360 degrees and prime meridians are generally defined by an observable feature. Examination of popular lunar maps indicates these newer standards are not widely accepted. Modern navigation no longer relies on the Moon. Lunar maps are now made by satellite imagery from lunar orbit. Today, humankind anticipates navigating the Moon itself. A relatively simple change to the lunar coordinate system could benefit upcoming lunar activities and promote acceptance of a 360 degree standard: move the lunar prime meridian. We propose the lunar prime meridian intersect some natural monument that most nearly represents the center longitude of Mare Orientale (perhaps crater Hohmann), and longitude increase eastward from zero to 360 degrees. Mare Orientale is a dramatic large "target," easily identifiable from space. Nearside traffic will use low longitude numbers from zero to r ughly 180 degrees,o and will not frequently cross this prime meridian. Earth's angle above the eastern horizon equals approximate longitude. Low and high longitude numbers will reflect the distinctive nearside and farside geological domains. The face of the Moon as seen from Earth will no longer be split in two. Calculations are simplified and sources of error eliminated. This system is more convenient and

  5. Space telescope coordinate systems, symbols, and nomenclature definitions

    NASA Technical Reports Server (NTRS)

    Kennel, H. F.

    1976-01-01

    The major coordinate systems as well as the transformations and transformation angles between them, for the Space Telescope are defined. The coordinate systems were primarily developed for use in pointing and control system analysis and simulation. Additional useful information (on nomenclature, symbols, quaternion operations, etc.) is also contained.

  6. State-based models for planning and execution coordination

    NASA Technical Reports Server (NTRS)

    Bennett, Matthew B.; Knight, Russell L.; Rasmussen, Robert D.; Ingham, Michel D.

    2005-01-01

    Many traditional planners are built on top of existing execution engines that were not necessarily intended to be operated by a planner. The Mission Data System has been designed from the onset to have both an execution and planning engine and provides a framework for producing state-based models that can be used to coordinate planning and execution. The models provide a basis for ensuring the consistency of assumptions made by the execution engine and planner, and the frameworks provide a basis for run time communications between the planner and execution engines.

  7. A vision-aided alignment datum system for coordinate measuring machines

    NASA Astrophysics Data System (ADS)

    Wang, L.; Lin, G. C. I.

    1997-07-01

    This paper presents the development of a CAD-based and vision-aided precision measurement system. A new coordinate system alignment technique for coordinate measuring machines (CMMs) is described. This alignment technique involves a machine vision system with CAD-based planning and execution of inspection. The determination method for measuring datums for the coordinate measuring technique, using the AutoCAD development system, is described in more detail. To improve image quality in the machine vision system, a contrast enhancement technique is used on the image background to reduce image noise, and an on-line calibration technique is applied. Some systematic errors may be caused by imperfect geometric features in components during coordinate system alignment. This measurement system approach, with its new measuring coordinate alignment method, can be used for high-precision measurement to overcome such errors.

  8. Systems and Methods of Coordination Control for Robot Manipulation

    NASA Technical Reports Server (NTRS)

    Chang, Chu-Yin (Inventor); English, James (Inventor); Tardella, Neil (Inventor); Bacon, James (Inventor)

    2013-01-01

    Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

  9. Representation of Projection and Coordinate Systems in Engineering Graphics.

    ERIC Educational Resources Information Center

    Ross, William A.

    1990-01-01

    The existing methods for graphically illustrating projection and coordinate systems for manual and computer-aided drafting and design are examined. Inconsistencies in methods used to graphically depict first and third angle projection in texts and the lack of attention in the relationship of projection to coordinate systems are noted. (KR)

  10. Local search to improve coordinate-based task mapping

    SciTech Connect

    Balzuweit, Evan; Bunde, David P.; Leung, Vitus J.; Finley, Austin; Lee, Alan C. S.

    2015-10-31

    We present a local search strategy to improve the coordinate-based mapping of a parallel job’s tasks to the MPI ranks of its parallel allocation in order to reduce network congestion and the job’s communication time. The goal is to reduce the number of network hops between communicating pairs of ranks. Our target is applications with a nearest-neighbor stencil communication pattern running on mesh systems with non-contiguous processor allocation, such as Cray XE and XK Systems. Utilizing the miniGhost mini-app, which models the shock physics application CTH, we demonstrate that our strategy reduces application running time while also reducing the runtime variability. Furthermore, we further show that mapping quality can vary based on the selected allocation algorithm, even between allocation algorithms of similar apparent quality.

  11. Local search to improve coordinate-based task mapping

    DOE PAGESBeta

    Balzuweit, Evan; Bunde, David P.; Leung, Vitus J.; Finley, Austin; Lee, Alan C. S.

    2015-10-31

    We present a local search strategy to improve the coordinate-based mapping of a parallel job’s tasks to the MPI ranks of its parallel allocation in order to reduce network congestion and the job’s communication time. The goal is to reduce the number of network hops between communicating pairs of ranks. Our target is applications with a nearest-neighbor stencil communication pattern running on mesh systems with non-contiguous processor allocation, such as Cray XE and XK Systems. Utilizing the miniGhost mini-app, which models the shock physics application CTH, we demonstrate that our strategy reduces application running time while also reducing the runtimemore » variability. Furthermore, we further show that mapping quality can vary based on the selected allocation algorithm, even between allocation algorithms of similar apparent quality.« less

  12. Determination of Ship Approach Parameters in the Polar Coordinates System

    NASA Astrophysics Data System (ADS)

    Banachowicz, Andrzej; Wolski, Adam

    2014-06-01

    An essential aspect of the safety of navigation is avoiding collisions with other vessels and natural or man made navigational obstructions. To solve this kind of problem the navigator relies on automatic anti-collision ARPA systems, or uses a geometric method and makes radar plots. In both cases radar measurements are made: bearing (or relative bearing) on the target position and distance, both naturally expressed in the polar coordinates system originating at the radar antenna. We first convert original measurements to an ortho-Cartesian coordinate system. Then we solve collision avoiding problems in rectangular planar coordinates, and the results are transformed to the polar coordinate system. This article presents a method for an analysis of a collision situation at sea performed directly in the polar coordinate system. This approach enables a simpler geometric interpretation of a collision situation

  13. Reference coordinate systems for Earth dynamics: A preview

    NASA Technical Reports Server (NTRS)

    Mueller, I. I.

    1982-01-01

    Geodynamics is the subject of intensive international research during last decade. A common requirement for all investigations is the necessity of a well defined coordinate system attached to the Earth in some prescribed way. In addition, a well defined inertial coordinate system is also needed in which the motions of the terrestrial system can be monitored. The problems encountered when establishing such coordinate systems and the transformations between them are presented. In addition, problems related to the modeling of the deformable Earth are discussed. Finally, action items are listed which are necessary to assure that the reference system issue is resolved early and that uniformity is assured by means of international agreements.

  14. [Enriching the diagnosis announcement system with the coordination passport].

    PubMed

    Bertrand, Nathalie

    2016-05-01

    The personalised care plan of a person with cancer requires proper coordination between the various professionals involved in their care at the different stages of their illness. In order to organise this coordination efficiently, for the patient as well as for the health professionals, an oncology hospital team has developed a practical and modular tool. The coordination passport enriches the diagnosis announcement system used in the hospital. PMID:27155278

  15. Unified Selenocentric Reference Coordinates Net in the Dynamic System

    NASA Astrophysics Data System (ADS)

    Nefedyev, Yuri; Petrova, Natalia; Varaksina, Natalia

    In this report the task of the making selenocentric inertial reference net is solved. The purpose is making summary reference net by expansion KSC-1162 selenodetic system using 12 cosmic and ground selenodesic catalogues. The prospective analysis of this net was performed. These selenocentric reference catalogue covers full visible and a part of far lunar sides. Modern cosmic technologies need the accurate coordinate - temporal support including reference frame realization, inertial and dynamic system orientation and studying dynamic and geometry celestial bodies. That refers to dynamic and geometric selenocentric lunar parameters. The catalogue based on mission “Apollo” and reference nets of the west lunar hemisphere made by missions “Zond 5”, ”Zond 8” cover small part of the Moon surface. Three ALSEP stations were used to transform “Apollo” topographic coordinates. Transformation mean-square errors are less than 80 meters and measurement’s errors are about 60 meters. On this account positions inaccuracy near and between ALSEP stations are less 150 meters. The offset from place of the location ALSEP enlarges the supposed mistake is more than 300 m and this is a major part of the lunar surface. In solving the problem of high-precision condensation and expansion of fundamental selenocentric net KSC-1162 on the visible side of the Moon and lunar far side were obtained following new results: a) the analysis and investigation of the accuracy of basic net contained in ULCN were carried out; b) the decryption of common objects for coordinate systems which are being explored was executed; c) the extension of the mathematical content package TSC was carried out; d) the development of TSC as an expert system of universal transformation planet's coordinates was carried out; e) the possibility of applying the ARM-approach to the problem TC on common objects, which allows to find optimal parameter estimation and model structure of TC was confirmed; f) the

  16. An intelligent hybrid behavior coordination system for an autonomous mobile robot

    NASA Astrophysics Data System (ADS)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Fallouh, Samer

    2013-12-01

    In this paper, development of a low-cost PID controller with an intelligent behavior coordination system for an autonomous mobile robot is described that is equipped with IR sensors, ultrasonic sensors, regulator, and RC filters on the robot platform based on HCS12 microcontroller and embedded systems. A novel hybrid PID controller and behavior coordination system is developed for wall-following navigation and obstacle avoidance of an autonomous mobile robot. Adaptive control used in this robot is a hybrid PID algorithm associated with template and behavior coordination models. Software development contains motor control, behavior coordination intelligent system and sensor fusion. In addition, the module-based programming technique is adopted to improve the efficiency of integrating the hybrid PID and template as well as behavior coordination model algorithms. The hybrid model is developed to synthesize PID control algorithms, template and behavior coordination technique for wall-following navigation with obstacle avoidance systems. The motor control, obstacle avoidance, and wall-following navigation algorithms are developed to propel and steer the autonomous mobile robot. Experiments validate how this PID controller and behavior coordination system directs an autonomous mobile robot to perform wall-following navigation with obstacle avoidance. Hardware configuration and module-based technique are described in this paper. Experimental results demonstrate that the robot is successfully capable of being guided by the hybrid PID controller and behavior coordination system for wall-following navigation with obstacle avoidance.

  17. Coordinated design of coding and modulation systems

    NASA Technical Reports Server (NTRS)

    Massey, J. L.

    1976-01-01

    Work on partial unit memory codes continued; it was shown that for a given virtual state complexity, the maximum free distance over the class of all convolutional codes is achieved within the class of unit memory codes. The effect of phase-lock loop (PLL) tracking error on coding system performance was studied by using the channel cut-off rate as the measure of quality of a modulation system. Optimum modulation signal sets for a non-white Gaussian channel considered an heuristic selection rule based on a water-filling argument. The use of error correcting codes to perform data compression by the technique of syndrome source coding was researched and a weight-and-error-locations scheme was developed that is closely related to LDSC coding.

  18. Transformation formulas relating geodetic coordinates to a tangent to Earth, plane coordinate system

    NASA Technical Reports Server (NTRS)

    Credeur, L.

    1981-01-01

    Formulas and their approximation were developed to map geodetic position to an Earth tangent plane with an airport centered rectangular coordinate system. The transformations were developed for use in a terminal area air traffic model with deterministic aircraft traffic. The exact configured vehicle's approximation equations used in their precision microwave landing system navigation experiments.

  19. Microgrids and distributed generation systems: Control, operation, coordination and planning

    NASA Astrophysics Data System (ADS)

    Che, Liang

    Distributed Energy Resources (DERs) which include distributed generations (DGs), distributed energy storage systems, and adjustable loads are key components in microgrid operations. A microgrid is a small electric power system integrated with on-site DERs to serve all or some portion of the local load and connected to the utility grid through the point of common coupling (PCC). Microgrids can operate in both grid-connected mode and island mode. The structure and components of hierarchical control for a microgrid at Illinois Institute of Technology (IIT) are discussed and analyzed. Case studies would address the reliable and economic operation of IIT microgrid. The simulation results of IIT microgrid operation demonstrate that the hierarchical control and the coordination strategy of distributed energy resources (DERs) is an effective way of optimizing the economic operation and the reliability of microgrids. The benefits and challenges of DC microgrids are addressed with a DC model for the IIT microgrid. We presented the hierarchical control strategy including the primary, secondary, and tertiary controls for economic operation and the resilience of a DC microgrid. The simulation results verify that the proposed coordinated strategy is an effective way of ensuring the resilient response of DC microgrids to emergencies and optimizing their economic operation at steady state. The concept and prototype of a community microgrid that interconnecting multiple microgrids in a community are proposed. Two works are conducted. For the coordination, novel three-level hierarchical coordination strategy to coordinate the optimal power exchanges among neighboring microgrids is proposed. For the planning, a multi-microgrid interconnection planning framework using probabilistic minimal cut-set (MCS) based iterative methodology is proposed for enhancing the economic, resilience, and reliability signals in multi-microgrid operations. The implementation of high-reliability microgrids

  20. Plasticity of Intermediate Mechanics Students' Coordinate System Choice

    ERIC Educational Resources Information Center

    Sayre, Eleanor C.; Wittman, Michael C.

    2008-01-01

    We investigate the interplay between mathematics and physics resources in intermediate mechanics students. In the mechanics course, the selection and application of coordinate systems is a consistent thread. At the University of Maine, students often start the course with a strong preference to use Cartesian coordinates, in accordance with their…

  1. Geometric deviation modeling by kinematic matrix based on Lagrangian coordinate

    NASA Astrophysics Data System (ADS)

    Liu, Weidong; Hu, Yueming; Liu, Yu; Dai, Wanyi

    2015-09-01

    Typical representation of dimension and geometric accuracy is limited to the self-representation of dimension and geometric deviation based on geometry variation thinking, yet the interactivity affection of geometric variation and gesture variation of multi-rigid body is not included. In this paper, a kinematic matrix model based on Lagrangian coordinate is introduced, with the purpose of unified model for geometric variation and gesture variation and their interactive and integrated analysis. Kinematic model with joint, local base and movable base is built. The ideal feature of functional geometry is treated as the base body; the fitting feature of functional geometry is treated as the adjacent movable body; the local base of the kinematic model is fixed onto the ideal geometry, and the movable base of the kinematic model is fixed onto the fitting geometry. Furthermore, the geometric deviation is treated as relative location or rotation variation between the movable base and the local base, and it's expressed by the Lagrangian coordinate. Moreover, kinematic matrix based on Lagrangian coordinate for different types of geometry tolerance zones is constructed, and total freedom for each kinematic model is discussed. Finally, the Lagrangian coordinate library, kinematic matrix library for geometric deviation modeling is illustrated, and an example of block and piston fits is introduced. Dimension and geometric tolerances of the shaft and hole fitting feature are constructed by kinematic matrix and Lagrangian coordinate, and the results indicate that the proposed kinematic matrix is capable and robust in dimension and geometric tolerances modeling.

  2. National Coordination Office for Space-Based PNT

    NASA Astrophysics Data System (ADS)

    Shaw, M. E.

    2008-12-01

    In December 2004, President Bush issued the US Policy on space-based positioning, navigation, and timing (PNT), providing guidance on the management of the Global Positioning System (GPS) and other space- based PNT systems. The policy established the National Executive Committee (EXCOM) to advise and coordinate federal agencies on matters related to space-based PNT. Chaired jointly by the deputy secretaries of defense and transportation, the EXCOM includes equivalent level officials from the Departments of State, the Interior, Agriculture, Commerce, and Homeland Security, the Joint Chiefs of Staff, and the National Aeronautics and Space Administration (NASA). A National Coordination Office (NCO) supports the EXCOM through an interagency staff. Since establishing the EXCOM and NCO in 2005, the organizations have quickly grown in influence and effectiveness, leading or managing many interagency initiatives including the development of a Five-Year National Space-Based PNT Plan, the Space-Based PNT Interference Detection and Mitigation (IDM) Plan, and other strategic documents. The NCO has also facilitated interagency coordination on numerous policy issues and on external communications intended to spread a consistent, positive US message about space-based PNT. Role of the NCO - The purpose of the EXCOM is to provide top-level guidance to US agencies regarding space-based PNT infrastructure. The president established it at the deputy secretary level to ensure its strategic recommendations effect real change in agency budgets. Recognizing such high-level officials could only meet every few months, the president directed the EXCOM to establish an NCO to carry out its day-to-day business, including overseeing the implementation of EXCOM action items across the member agencies. These range from the resolution of funding issues to the assessment of strategic policy options. They also include the completion of specific tasks and documents requested by the EXCOM co

  3. Efficient system-wide coordination in noisy environments

    PubMed Central

    Moreira, André A.; Mathur, Abhishek; Diermeier, Daniel; Amaral, Luís A. N.

    2004-01-01

    Many natural and social systems display global organization and coordination without centralized control. The origin of this global coordination is a topic of great current interest. Here we investigate a density-classification task as a model system for coordination and information processing in decentralized systems. We show that sophisticated strategies, selected under idealized conditions, are not robust to environmental changes. We also demonstrate that a simple heuristic is able to successfully complete the classification task under a broad range of environmental conditions. Our findings hint at the possibility that complex networks and ecologically efficient rules coevolve over time. PMID:15297617

  4. Coordinated scheduling for dynamic real-time systems

    NASA Technical Reports Server (NTRS)

    Natarajan, Swaminathan; Zhao, Wei

    1994-01-01

    In this project, we addressed issues in coordinated scheduling for dynamic real-time systems. In particular, we concentrated on design and implementation of a new distributed real-time system called R-Shell. The design objective of R-Shell is to provide computing support for space programs that have large, complex, fault-tolerant distributed real-time applications. In R-shell, the approach is based on the concept of scheduling agents, which reside in the application run-time environment, and are customized to provide just those resource management functions which are needed by the specific application. With this approach, we avoid the need for a sophisticated OS which provides a variety of generalized functionality, while still not burdening application programmers with heavy responsibility for resource management. In this report, we discuss the R-Shell approach, summarize the achievement of the project, and describe a preliminary prototype of R-Shell system.

  5. Physical systems in a space with noncommutativity of coordinates

    NASA Astrophysics Data System (ADS)

    Gnatenko, Kh. P.

    2016-01-01

    We consider a space with canonical noncommutativity of coordinates. The problem of rotational symmetry breaking is studied in this space. To preserve the rotational symmetry we consider the generalization of constant matrix of noncommutativity to a tensor defined with the help of additional coordinates governed by a rotationally symmetric system. The properties of physical systems are examined in the rotationally invariant space with noncommutativity of coordinates. Namely, we consider an effect of coordinate noncommutativity on the energy levels of the hydrogen atom in the rotationally invariant noncommutative space. The motion of a particle in the uniform field is also studied in the noncommutative space with preserved rotational symmetry. On the basis of exact calculations we show that there is an effect of coordinate noncommutativity on the mass of a particle and conclude that noncommutativity causes the anisotropy of mass.

  6. The Frog-Boiling Attack: Limitations of Anomaly Detection for Secure Network Coordinate Systems

    NASA Astrophysics Data System (ADS)

    Chan-Tin, Eric; Feldman, Daniel; Hopper, Nicholas; Kim, Yongdae

    A network coordinate system assigns Euclidean “virtual” coordinates to every node in a network to allow easy estimation of network latency between pairs of nodes that have never contacted each other. These systems have been implemented in a variety of applications, most notably the popular Azureus/Vuze BitTorrent client. Zage and Nita-Rotaru (CCS 2007) and independently, Kaafar et al. (SIGCOMM 2007), demonstrated that several widely-cited network coordinate systems are prone to simple attacks, and proposed mechanisms to defeat these attacks using outlier detection to filter out adversarial inputs. We propose a new attack, Frog-Boiling, that defeats anomaly-detection based defenses in the context of network coordinate systems, and demonstrate empirically that Frog-Boiling is more disruptive than the previously known attacks. Our results suggest that a new approach is needed to solve this problem: outlier detection alone cannot be used to secure network coordinate systems.

  7. Approximate Linearization Control of 2-DOF Underactuated-by-1 Systems Using Higher Order Linearization Coordinate

    NASA Astrophysics Data System (ADS)

    Hoshino, Tasuku

    This paper deals with an approximate linearization control of 2-DOF underactuated-by-1 nonlinear systems, proposing a novel linearization coordinate which reduces the approximation error over the state space around the operating point. The coordinate is analytically constructed in a systematic way by solving two first order linear partial differential equations and the solution is given in an infinite series of configuration variables. The resulting linearization feedback is highly nonlinear and the basin of attraction of the stabilized system using proposed coordinate is large, comparing with those of a conventional first order or other lower order linearization coordinates. The approximate linearization control based on the proposed coordinate is applied to the stabilization of a rotational inverted pendulum; the advantage is verified in simulations and experiments. Some perspectives on availability of the linearization coordinate are discussed and they are computed also for a mobile inverted pendulum, Acrobot, and for Pendubot as examples.

  8. Compound Words: A Problem in Post-Coordinate Retrieval Systems

    ERIC Educational Resources Information Center

    Jones, Kevin P.

    1971-01-01

    Compound words cause some difficulty in post-coordinate indexing systems: if too many are fractured, or the wrong categories are selected for fracturing noise will be produced at unacceptable levels on retrieval. (Author/MM)

  9. Unified Planetary Coordinates System: A Searchable Database of Geodetic Information

    NASA Technical Reports Server (NTRS)

    Becker, K. J.a; Gaddis, L. R.; Soderblom, L. A.; Kirk, R. L.; Archinal, B. A.; Johnson, J. R.; Anderson, J. A.; Bowman-Cisneros, E.; LaVoie, S.; McAuley, M.

    2005-01-01

    Over the past 40 years, an enormous quantity of orbital remote sensing data has been collected for Mars from many missions and instruments. Unfortunately these datasets currently exist in a wide range of disparate coordinate systems, making it extremely difficult for the scientific community to easily correlate, combine, and compare data from different Mars missions and instruments. As part of our work for the PDS Imaging Node and on behalf of the USGS Astrogeology Team, we are working to solve this problem and to provide the NASA scientific research community with easy access to Mars orbital data in a unified, consistent coordinate system along with a wide variety of other key geometric variables. The Unified Planetary Coordinates (UPC) system is comprised of two main elements: (1) a database containing Mars orbital remote sensing data computed using a uniform coordinate system, and (2) a process by which continual maintainance and updates to the contents of the database are performed.

  10. Optimization-Based Models of Muscle Coordination

    PubMed Central

    Prilutsky, Boris I.; Zatsiorsky, Vladimir M.

    2010-01-01

    Optimization-based models may provide reasonably accurate estimates of activation and force patterns of individual muscles in selected well-learned tasks with submaximal efforts. Such optimization criteria as minimum energy expenditure, minimum muscle fatigue, and minimum sense of effort seem most promising. PMID:11800497

  11. Optimization-based models of muscle coordination.

    PubMed

    Prilutsky, Boris I; Zatsiorsky, Vladimir M

    2002-01-01

    Optimization-based models may provide reasonably accurate estimates of activation and force patterns of individual muscles in selected well-learned tasks with submaximal efforts. Such optimization criteria as minimum energy expenditure, minimum muscle fatigue, and minimum sense of effort seem most promising. PMID:11800497

  12. The registration system of the coordinate-tracking setup on the drift chambers

    NASA Astrophysics Data System (ADS)

    Zadeba, E. A.; Borisov, A. A.; Fakhrutdinov, R. M.; Kokoulin, R. P.; Kompaniets, K. G.; Kozhin, A. S.; Ovechkin, A. S.; Petrukhin, A. A.; Shutenko, V. V.; Yashin, I. I.

    2016-02-01

    The large-scale coordinate-tracking detector for registration of near-horizontal muon flux generated by ultra-high energy cosmic rays is being developed in MEPhI. Detector is based on the multiwire drift chambers from the neutrino experiment at the IHEP U-70 accelerator. Their key advantages are a large effective area (1.85 m2), good coordinate and angular resolution with a small number of measuring channels. Detector will be operated as a part of the experimental complex NEVOD, in particular, its registration system allows joint operation with Cherenkov water detector (CWD) and coordinate detector DECOR. Coordinate tracking unit on the drift chambers (CTUDC) is mounted on the opposite sides of CWD. It consists of two coordinate planes containing 8 drift chambers and represents a prototype of a full-size setup. Registration system of the CTUDC is based on the E-MISS electronics developed in IHEP, its principle of operation is presented.

  13. Coordinate-dependent diffusion coefficients: Decay rate in open quantum systems

    SciTech Connect

    Sargsyan, V. V.; Palchikov, Yu. V.; Antonenko, N. V.; Kanokov, Z.; Adamian, G. G.

    2007-06-15

    Based on a master equation for the reduced density matrix of an open quantum collective system, the influence of coordinate-dependent microscopical diffusion coefficients on the decay rate from a metastable state is treated. For various frictions and temperatures larger than a crossover temperature, the quasistationary decay rates obtained with the coordinate-dependent microscopical set of diffusion coefficients are compared with those obtained with the coordinate-independent microscopical set of diffusion coefficients and coordinate-independent and -dependent phenomenological sets of diffusion coefficients. Neglecting the coordinate dependence of diffusion coefficients, one can strongly overestimate or underestimate the decay rate at low temperature. The coordinate-dependent phenomenological diffusion coefficient in momentum are shown to be suitable for applications.

  14. Community-based care coordination: practical applications for childhood asthma.

    PubMed

    Findley, Sally; Rosenthal, Michael; Bryant-Stephens, Tyra; Damitz, Maureen; Lara, Marielena; Mansfield, Carol; Matiz, Adriana; Nourani, Vesall; Peretz, Patricia; Persky, Victoria W; Valencia, Gilberto Ramos; Uyeda, Kimberly; Viswanathan, Meera

    2011-11-01

    Care coordination programs have been used to address chronic illnesses, including childhood asthma, but primarily via practice-based models. An alternative approach employs community-based care coordinators who bridge gaps between families, health care providers, and support services. Merck Childhood Asthma Network, Inc. (MCAN) sites developed community-based care coordination approaches for childhood asthma. Using a community-based care coordination logic model, programs at each site are described along with program operational statistics. Four sites used three to four community health workers (CHWs) to provide care coordination, whereas one site used five school-based asthma nurses. This school-based site had the highest caseload (82.5 per year), but program duration was 3 months with 4 calls or visits. Other sites averaged fewer cases (35 to 61 per CHW per year), but families received more (7 to 17) calls or visits over a year. Retention was 43% to 93% at 6 months and 24% to 75% at 12 months. Pre-post cross-site data document changes in asthma management behaviors and outcomes. After program participation, 93% to 100% of caregivers had confidence in controlling their child's asthma, 85% to 92% had taken steps to reduce triggers, 69% to 100% had obtained an asthma action plan, and 46% to 100% of those with moderate to severe asthma reported appropriate use of controller medication. Emergency department visits for asthma decreased by 36% to 63%, and asthma-related hospitalizations declined by 26% to 78%. More than three fourths had fewer school absences. In conclusion, MCAN community-based care coordination programs improved management behaviors and decreased morbidity across all sites. PMID:22068360

  15. Distributed coordination of simulated robots based on self-organization.

    PubMed

    Baldassarre, Gianluca; Parisi, Domenico; Nolfi, Stefano

    2006-01-01

    Distributed coordination of groups of individuals accomplishing a common task without leaders, with little communication, and on the basis of self-organizing principles, is an important research issue within the study of collective behavior of animals, humans, and robots. The article shows how distributed coordination allows a group of evolved, physically linked simulated robots (inspired by a robot under construction) to display a variety of highly coordinated basic behaviors such as collective motion, collective obstacle avoidance, and collective approach to light, and to integrate them in a coherent fashion. In this way the group is capable of searching and approaching a lighted target in an environment scattered with obstacles, furrows, and holes, where robots acting individually fail. The article shows how the emerged coordination of the group relies upon robust self-organizing principles (e.g., positive feedback) based on a novel sensor that allows the single robots to perceive the group's "average" motion direction. The article also presents a robust solution to a difficult coordination problem, which might also be encountered by some organisms, caused by the fact that the robots have to be capable of moving in any direction while being physically connected. Finally, the article shows how the evolved distributed coordination mechanisms scale very well with respect to the number of robots, the way in which robots are assembled, the structure of the environment, and several other aspects. PMID:16859442

  16. The OSU 275 system of satellite tracking station coordinates

    NASA Technical Reports Server (NTRS)

    Mueller, I. I.; Kumar, M.

    1975-01-01

    A brief review of the methods and data used in the OSU 275 geodetic system is given along with the summary of the results. Survey information regarding the tracking stations in the system is given in tabular form along with the geodetic and geophysical parameters, origin and orientation, Cartisian coordinates, and systematic differences with global and nonglobal geodetic systems.

  17. Computer transformation of partial differential equations into any coordinate system

    NASA Technical Reports Server (NTRS)

    Sullivan, R. D.

    1977-01-01

    The use of tensors to provide a compact way of writing partial differential equations in a form valid in all coordinate systems is discussed. In order to find solutions to the equations with their boundary conditions they must be expressed in terms of the coordinate system under consideration. The process of arriving at these expressions from the tensor formulation was automated by a software system, TENSR. An allied system that analyzes the resulting expressions term by term and drops those that are negligible is also described.

  18. AST: A library for modelling and manipulating coordinate systems

    NASA Astrophysics Data System (ADS)

    Berry, David S.; Warren-Smith, Rodney F.; Jenness, Tim

    2016-04-01

    In view of increased interest in object-oriented systems for describing coordinate information, we present a description of the data model used by the Starlink AST library. AST provides a comprehensive range of facilities for attaching world co-ordinate systems to astronomical data, and for retrieving and interpreting that information in a variety of formats, including FITS-WCS. AST is a mature system that has been in use for more than 17 years, and may consequently be useful as a means of informing development of similar systems in the future.

  19. Modeling and Simulation of Complex Network Attributes on Coordinating Large Multiagent System

    PubMed Central

    Li, Xiang; Liu, Ming

    2014-01-01

    With the expansion of distributed multiagent systems, traditional coordination strategy becomes a severe bottleneck when the system scales up to hundreds of agents. The key challenge is that in typical large multiagent systems, sparsely distributed agents can only communicate directly with very few others and the network is typically modeled as an adaptive complex network. In this paper, we present simulation testbed CoordSim built to model the coordination of network centric multiagent systems. Based on the token-based strategy, the coordination can be built as a communication decision problem that agents make decisions to target communications and pass them over to the capable agents who will potentially benefit the team most. We have theoretically analyzed that the characters of complex network make a significant difference with both random and intelligent coordination strategies, which may contribute to future multiagent algorithm design. PMID:24955399

  20. Precision Effects for Solar Image Coordinates Within the FITS World Coordinate System

    NASA Technical Reports Server (NTRS)

    Thompson, W. T.

    2010-01-01

    The FITS world coordinate system (WCS) provides a number of tools for precisely specifying the spatial coordinates of an image. Many of the finer details that the WCS addresses have not historically been taken into account in solar image processing. This paper examines various effects which can affect the expression of coordinates in FITS headers, to determine under what conditions such effects need to be taken into account in data analysis, and under what conditions they can be safely ignored. Effects which are examined include perspective, parallax, spherical projection, optical axis determination, speed-of-light effects, stellar aberration, gravitational deflection, and scattering and refraction at radio wavelengths. Purely instrumental effects, such as misalignment or untreated optical aberrations, are not considered. Since the value of the solar radius is an experimental quantity, the effect of adopting a specific radius value is also examined. These effects are examined in the context of a previous paper outlining a WCS standard for encoding solar coordinates in FITS files. Aspects of that previous paper are clarified and extended in the present work.

  1. MEDELLER: homology-based coordinate generation for membrane proteins

    PubMed Central

    Kelm, Sebastian; Shi, Jiye; Deane, Charlotte M.

    2010-01-01

    Motivation: Membrane proteins (MPs) are important drug targets but knowledge of their exact structure is limited to relatively few examples. Existing homology-based structure prediction methods are designed for globular, water-soluble proteins. However, we are now beginning to have enough MP structures to justify the development of a homology-based approach specifically for them. Results: We present a MP-specific homology-based coordinate generation method, MEDELLER, which is optimized to build highly reliable core models. The method outperforms the popular structure prediction programme Modeller on MPs. The comparison of the two methods was performed on 616 target–template pairs of MPs, which were classified into four test sets by their sequence identity. Across all targets, MEDELLER gave an average backbone root mean square deviation (RMSD) of 2.62 Å versus 3.16 Å for Modeller. On our ‘easy’ test set, MEDELLER achieves an average accuracy of 0.93 Å backbone RMSD versus 1.56 Å for Modeller. Availability and Implementation: http://medeller.info; Implemented in Python, Bash and Perl CGI for use on Linux systems; Supplementary data are available at http://www.stats.ox.ac.uk/proteins/resources. Contact: kelm@stats.ox.ac.uk Supplementary information: Supplementary data are available at Bioinformatics online. PMID:20926421

  2. On Market-Based Coordination of Thermostatically Controlled Loads With User Preference

    SciTech Connect

    Li, Sen; Zhang, Wei; Lian, Jianming; Kalsi, Karanjit

    2014-12-15

    This paper presents a market-based control framework to coordinate a group of autonomous Thermostatically Controlled Loads (TCL) to achieve the system-level objectives with pricing incentives. The problem is formulated as maximizing the social welfare subject to feeder power constraint. It allows the coordinator to affect the aggregated power of a group of dynamical systems, and creates an interactive market where the users and the coordinator cooperatively determine the optimal energy allocation and energy price. The optimal pricing strategy is derived, which maximizes social welfare while respecting the feeder power constraint. The bidding strategy is also designed to compute the optimal price in real time (e.g., every 5 minutes) based on local device information. The coordination framework is validated with realistic simulations in GridLab-D. Extensive simulation results demonstrate that the proposed approach effectively maximizes the social welfare and decreases power congestion at key times.

  3. A sensitivity-based coordination method for optimization of product families

    NASA Astrophysics Data System (ADS)

    Zou, Jun; Yao, Wei-Xing; Xia, Tian-Xiang

    2016-07-01

    This article provides an introduction to a decomposition-based method for the optimization of product families with predefined platforms. To improve the efficiency of the system coordinator, a new sensitivity-based coordination method (SCM) is proposed. The key idea in SCM is that the system level coordinates share variables by using sensitivity information to make trade-offs between the product subsystems. The coordinated shared variables are determined by minimizing the performance deviation with respect to the optimal design of subproblems and constraint violation incurred by sharing. Each subproblem has a significant degree of independence and can be solved in a simultaneous way. The numerical performance of SCM is investigated, and the results suggest that the new approach is robust and leads to a substantial reduction in computational effort compared with the analytical target cascading method. Then, the proposed methodology is applied to the structural optimization of a family of automotive body side-frames.

  4. Coordinate Projection-based Solver for ODE with Invariants

    SciTech Connect

    Serban, Radu

    2008-04-08

    CPODES is a general purpose (serial and parallel) solver for systems of ordinary differential equation (ODE) with invariants. It implements a coordinate projection approach using different types of projection (orthogonal or oblique) and one of several methods for the decompositon of the Jacobian of the invariant equations.

  5. A Zn based coordination polymer exhibiting long-lasting phosphorescence.

    PubMed

    Cepeda, Javier; Sebastian, Eider San; Padro, Daniel; Rodríguez-Diéguez, Antonio; García, Jose A; Ugalde, Jesus M; Seco, Jose M

    2016-07-01

    A new Zn(ii) based coordination polymer (CP) built by the cohesive pilling of 2D Shubnikov type layers is reported. This material exhibits time dependent multicoloured emission, part of which shows a persistent green phosphorescence visible for up to two seconds to the naked eye, which originates from multiple charge transfer mechanisms. PMID:27297330

  6. Laser measuring system accurately locates point coordinates on photograph

    NASA Technical Reports Server (NTRS)

    Doede, J. H.; Lindenmeyer, C. W.; Vonderohe, R. H.

    1966-01-01

    Laser activated ultraprecision ranging apparatus interfaced with a computer determines point coordinates on a photograph. A helium-neon gas CW laser provides collimated light for a null balancing optical system. This system has no mechanical connection between the ranging apparatus and the photograph.

  7. Coordinating Board, Texas College and University System, 1977 Annual Report.

    ERIC Educational Resources Information Center

    Ashworth, Kenneth H.

    The annual report of the Coordinating Board, Texas College and University System for the fiscal year ending August 31, 1977 is presented. An overview of Board activities provides information on institutional authorization, higher education budget requests, institutional units in the College and University System, supply-and-demand career…

  8. Influenza Virus Surveillance in Coordinated Swine Production Systems, United States.

    PubMed

    Kaplan, Bryan S; DeBeauchamp, Jennifer; Stigger-Rosser, Evelyn; Franks, John; Crumpton, Jeri Carol; Turner, Jasmine; Darnell, Daniel; Jeevan, Trushar; Kayali, Ghazi; Harding, Abbey; Webby, Richard J; Lowe, James F

    2015-10-01

    To clarify the epidemiology of influenza A viruses in coordinated swine production systems to which no animals from outside the system are introduced, we conducted virologic surveillance during September 2012-September 2013. Animal age, geographic location, and farm type were found to affect the prevalence of these viruses. PMID:26402228

  9. Coordinate systems for mapping low-altitude trapped particle fluxes

    SciTech Connect

    Heynderickx, D.; Lemaire, J.

    1996-07-01

    The widely used coordinate system ({ital B},{ital L}) has proved very suitable for most of the region covered by the Van Allen belts, but is not very well suited for the low-altitude regions where the Earth{close_quote}s atmosphere interacts with the trapped particle population. Several alternative coordinate systems have been proposed that aim to take into account the steep flux gradients in the region of the upper atmosphere. An overview of these coordinates is presented. The effectiveness of each system is assessed by mapping the proton flux distribution of NASA{close_quote}s AP-8 model. Special attention is given to Hassitt{close_quote}s weighted average of the atmospheric density over the drift shells of trapped particles, which appears very efficient in mapping fluxes for low {ital L} values. {copyright} {ital 1996 American Institute of Physics.}

  10. Comparison of scapular local coordinate systems

    PubMed Central

    Ludewig, Paula M; Hassett, Daniel R; LaPrade, Robert F; Camargo, Paula R; Braman, Jonathan P

    2010-01-01

    Background Our purposes were to compare between the original and current recommended standard methods of three-dimensional scapular rotation descriptions and to examine the prevalence of gimbal-lock for scapular motion during scapular plane abduction. Additionally we compared these standards to an alternative method and a glenoid based description. Methods Eleven asymptomatic subjects were studied using electromagnetic sensors secured to bone-fixed pins in the scapula and humerus during two repetitions of scapular plane abduction. Anatomical landmarks defined scapular axes. Scapular angular data were analyzed at humerothoracic elevation angles from initial to maximum elevation. Repeated measures ANOVAs were performed for each variable with a significance level of P<0.05. An anatomical model was used to compare the standards to the alternative and glenoid methods. Findings For scapular upward rotation and tilting, larger differences occurred between standards at higher angles of elevation. The current standard measured 12.4° less upward rotation and 6.1° greater posterior tilting at maximum elevation as compared to the original. The current standard measured 11.6° less scapular internal rotation across all elevation angles. Using the original landmarks, six subjects attained a mean end-range humerothoracic elevation of 147.4° (SD 12.1°), with a mean end-range scapular upward rotation of 54.4°. The alternative method was more closely aligned to the glenoid method than the current standard. Interpretation Significant differences were found between the two standards. The current standard interprets the same scapular motion with less internal rotation and upward rotation, and more posterior tilting than the original. No subjects reached upward rotation positions nearing gimbal-lock. Axis orientations also affect clinical interpretation. The alternative method appears worthy of further consideration as shoulder kinematic measurement further evolves. PMID:20185212

  11. Using endmembers as a coordinate system in hyperspectral imagery

    NASA Astrophysics Data System (ADS)

    Gillis, David; Bowles, Jeffrey H.; Winter, Michael E.

    2002-11-01

    The linear mixing model (LMM) is a well-known and useful method for decomposing spectra in a hyperspectral image into the sum of their constituents, or endmembers. Mathematically, if the spectra are represented as n-dimensional vectors, then the LMM implies that the set of endmembers defines a basis or coordinate system for the set of spectra. Because the endmembers themselves are generally not orthogonal, the geometry (distances, difference angles, etc.) is changed by moving from band space to endmember space. We explore some of the differences between the two coordinate systems, and show in particular that the difference in angle measurements leads to an improved method for subpixel target detection.

  12. The modeling of portable 3D vision coordinate measuring system

    NASA Astrophysics Data System (ADS)

    Liu, Shugui; Huang, Fengshan; Peng, Kai

    2005-02-01

    The portable three-dimensional vision coordinate measuring system, which consists of a light pen, a CCD camera and a laptop computer, can be widely applied in most coordinate measuring fields especially on the industrial spots. On the light pen there are at least three point-shaped light sources (LEDs) acting as the measured control characteristic points and a touch trigger probe with a spherical stylus which is used to contact the point to be measured. The most important character of this system is that three light sources and the probe stylus are aligned in one line with known positions. In building and studying this measuring system, how to construct the system"s mathematical model is the most key problem called perspective of three-collinear-points problem, which is a particular case of perspective of three-points problem (P3P). On the basis of P3P and spatial analytical geometry theory, the system"s mathematical model is established in this paper. What"s more, it is verified that perspective of three-collinear-points problem has a unique solution. And the analytical equations of the measured point"s coordinates are derived by using the system"s mathematical model and the restrict condition that three light sources and the probe stylus are aligned in one line. Finally, the effectiveness of the mathematical model is confirmed by experiments.

  13. Coordinating Board, Texas College and University System, 1978 Annual Report.

    ERIC Educational Resources Information Center

    Ashworth, Kenneth H.

    The 1978 annual report of the Coordinating Board of the Texas College and University System is presented. The Board's major accomplishments in 1978 included the development of enrollment projections for the next decade, adoption of faculty workload guidelines, and implementation of a family practice residency program. The contents of the report…

  14. Installation Manual for the Uniterm System of Coordinate Indexing.

    ERIC Educational Resources Information Center

    Documentation Inc., Washington, DC.

    The Uniterm system of coordinate indexing, developed by the Armed Services Technical Information Agency, provides a method for the organization, storage, and retrieval of information. The contents of reports are analyzed, and terms are assigned to the documents. For each term there is a card upon which the accession number of documents assigned…

  15. Coordination polymer particles as potential drug delivery systems.

    PubMed

    Imaz, Inhar; Rubio-Martínez, Marta; García-Fernández, Lorena; García, Francisca; Ruiz-Molina, Daniel; Hernando, Jordi; Puntes, Victor; Maspoch, Daniel

    2010-07-14

    Micro- and nanoscale coordination polymer particles can be used for encapsulating and delivering drugs. In vitro cancer cell cytotoxicity assays showed that these capsules readily release doxorubicin, which shows anticancer efficacy. The results from this work open up new avenues for metal-organic capsules to be used as potential drug delivery systems. PMID:20485835

  16. MASDynamics: Toward Systemic Modeling of Decentralized Agent Coordination

    NASA Astrophysics Data System (ADS)

    Sudeikat, Jan; Renz, Wolfgang

    Enabling distributed software systems to purposefully self-organize, i.e. to adapt to dynamically changing execution contexts by the collective adjustment of individual components, challenges current development practices. Since the dynamics of self-organizing systems arise from agent coaction, developers cannot directly infer the macroscopic system behavior from established agent design models. This paper plays a part in an ongoing research effort that addresses the provision of self-organizing processes as design elements, i.e. reusable patterns of agent interrelations. We propose a systemic modeling approach and support the application independent description of (inter-) agent coordination patterns by a domain specific language that allows to map interrelations of agent activity to detailed agent design models. This facilitates the separation of decentralized coordination strategies from domain specific agent implementations and enables development teams to treat nature-inspired coordination strategies, which steer self-organizing dynamics, as design concepts. In addition, we show how this modeling conception provides a declarative programming approach by the automated supplementation of conventional developed agent models with non-linear, inter-agent coordination mechanisms.

  17. Designing Coordinated Assessment Systems for IASA Title I.

    ERIC Educational Resources Information Center

    Roeber, Edward D.

    This paper describes an approach that states and local districts might use to develop a coordinated assessment system so that information collected at state and local levels about programs under Title I of the Improving America's Schools Act (IASA) would be complementary and not redundant. The reauthorization of Title I provides a unique…

  18. An analysis of natural convection film boiling from spheres using the spherical coordinate system

    SciTech Connect

    Tso, C.P.; Leong, K.C.; Tan, H.S.

    1995-11-01

    The problem of natural convection film boiling on a sphere was analyzed by solving the momentum and energy equations in spherical coordinates. These solutions were compared to the analytical model of Frederking and Clark based on the Cartesian coordinate system, empirical correlation of Frederking and Clark and recent experimental data of Tso et al. for boiling in various refrigerants and liquid nitrogen. For the average Nusselt number, good agreement with Frederking and Clark`s model was obtained. Results using spherical coordinates yield a limiting value of 2 for the average Nusselt number near a modified Rayleigh number of 1 which could not be extracted from Frederking and Clark`s model.

  19. A multi-agent system for coordinating international shipping

    SciTech Connect

    Goldsmith, S.Y.; Phillips, L.R.; Spires, S.V.

    1998-05-01

    Moving commercial cargo across the US-Mexico border is currently a complex, paper-based, error-prone process that incurs expensive inspections and delays at several ports of entry in the Southwestern US. Improved information handling will dramatically reduce border dwell time, variation in delivery time, and inventories, and will give better control of the shipment process. The Border Trade Facilitation System (BTFS) is an agent-based collaborative work environment that assists geographically distributed commercial and government users with transshipment of goods across the US-Mexico border. Software agents mediate the creation, validation and secure sharing of shipment information and regulatory documentation over the Internet, using the World Wide Web to interface with human actors. Agents are organized into Agencies. Each agency represents a commercial or government agency. Agents perform four specific functions on behalf of their user organizations: (1) agents with domain knowledge elicit commercial and regulatory information from human specialists through forms presented via web browsers; (2) agents mediate information from forms with diverse otologies, copying invariant data from one form to another thereby eliminating the need for duplicate data entry; (3) cohorts of distributed agents coordinate the work flow among the various information providers and they monitor overall progress of the documentation and the location of the shipment to ensure that all regulatory requirements are met prior to arrival at the border; (4) agents provide status information to human actors and attempt to influence them when problems are predicted.

  20. Documentation of program AFTBDY to generate coordinate system for 3D after body using body fitted curvilinear coordinates, part 1

    NASA Technical Reports Server (NTRS)

    Kumar, D.

    1980-01-01

    The computer program AFTBDY generates a body fitted curvilinear coordinate system for a wedge curved after body. This wedge curved after body is being used in an experimental program. The coordinate system generated by AFTBDY is used to solve 3D compressible N.S. equations. The coordinate system in the physical plane is a cartesian x,y,z system, whereas, in the transformed plane a rectangular xi, eta, zeta system is used. The coordinate system generated is such that in the transformed plane coordinate spacing in the xi, eta, zeta direction is constant and equal to unity. The physical plane coordinate lines in the different regions are clustered heavily or sparsely depending on the regions where physical quantities to be solved for by the N.S. equations have high or low gradients. The coordinate distribution in the physical plane is such that x stays constant in eta and zeta direction, whereas, z stays constant in xi and eta direction. The desired distribution in x and z is input to the program. Consequently, only the y-coordinate is solved for by the program AFTBDY.

  1. Reference coordinate systems and frames: Concepts and realization

    NASA Astrophysics Data System (ADS)

    Mueller, Ivan I.

    1985-06-01

    Geodynamics has become the subject of intensive international research during the last decade, involving plate tectonics, both on the intra-plate and inter-plate scale, i.e., the study of crustal movements, and the study of earth rotation and of other dynamic phenomena such as the tides. Interrelated are efforts improving our knowledge of the gravity and magnetic fields of the earth. A common requirement for all these investigations is the necessity for a well-defined reference coordinate system (or systems) to which all relevant observations can be referred and in which theories or models for the dynamic behavior of the earth can be formulated. In view of the unprecedented progress in the ability of geodetic observational systems to measure crustal movements and the rotation of the earth, as well as in theory and model development, there is a great need for the theoretical definition, practical realization, and international acceptance of suitable coordinate system(s) to facilitate such work. This article deals with certain aspects of the establishment and maintenance of such a coordinate system.

  2. Deployment dynamics of a simplified spinning IKAROS solar sail via absolute coordinate based method

    NASA Astrophysics Data System (ADS)

    Zhao, Jiang; Tian, Qiang; Hu, Hai-Yan

    2013-02-01

    The spinning solar sail of large scale has been well developed in recent years. Such a solar sail can be considered as a rigid-flexible multibody system mainly composed of a spinning central rigid hub, a number of flexible thin tethers, sail membranes, and tip masses. A simplified interplanetary kite-craft accelerated by radiation of the Sun (IKAROS) model is established in this study by using the absolute-coordinate-based (ACB) method that combines the natural coordinate formulation (NCF) describing the central rigid hub and the absolute nodal coordinate formulation (ANCF) describing flexible parts. The initial configuration of the system in the second-stage deployment is determined through both dynamic and static analyses. The huge set of stiff equations of system dynamics is solved by using the generalized-alpha method, and thus the deployment dynamics of the system can be well understood.

  3. Research on the multi-angle monocular coordinates measuring system for spatial points

    NASA Astrophysics Data System (ADS)

    Zhang, Yihui; Sun, Changku; Wang, Peng; Sun, Pengfei

    2015-08-01

    To improve the accuracy of coordinate measurement, the precise 3D coordinates of spatial points on the surface of the target object are needed. Based on the stereo vision measurement model, an all-around coordinates measuring system with single camera and a two-dimensional turntable is proposed. By controlling the rotation of objects in two different orientations and by the principle of relative motion, the single-CCD sensor model was imaged as a visual multi-CCD sensor model. In other words, the visual CCD sensors at different but relative positions are used to acquire coordinates information of the measured points. Considering the calibration accuracy of those two shafts affecting the accuracy of the entire system, the mathematical calibration model is built, consisting of virtual multi-CCD sensor measuring system based on the non-orthogonal shafting. The shaft and its calibration method are described in detail. The experimental result shows that the system based on the virtual multi-CCD sensor model can achieve the standard deviation of 0.44mm, and thus proves the feasibility of its multi-angle coordinates measurement for spatial points.

  4. Unique sensor fusion system for coordinate-measuring machine tasks

    NASA Astrophysics Data System (ADS)

    Nashman, Marilyn; Yoshimi, Billibon; Hong, Tsai Hong; Rippey, William G.; Herman, Martin

    1997-09-01

    This paper describes a real-time hierarchical system that fuses data from vision and touch sensors to improve the performance of a coordinate measuring machine (CMM) used for dimensional inspection tasks. The system consists of sensory processing, world modeling, and task decomposition modules. It uses the strengths of each sensor -- the precision of the CMM scales and the analog touch probe and the global information provided by the low resolution camera -- to improve the speed and flexibility of the inspection task. In the experiment described, the vision module performs all computations in image coordinate space. The part's boundaries are extracted during an initialization process and then the probe's position is continuously updated as it scans and measures the part surface. The system fuses the estimated probe velocity and distance to the part boundary in image coordinates with the estimated velocity and probe position provided by the CMM controller. The fused information provides feedback to the monitor controller as it guides the touch probe to scan the part. We also discuss integrating information from the vision system and the probe to autonomously collect data for 2-D to 3-D calibration, and work to register computer aided design (CAD) models with images of parts in the workplace.

  5. Combined non-contact coordinate measurement system and calibration method

    NASA Astrophysics Data System (ADS)

    Fan, Yiyan; Zhao, Bin

    2015-07-01

    A combined non-contact measurement system comprising attitude angle sensor, angle encoder, laser rangefinder, and total station is adopted to measure the spatial coordinate of the hidden zones in large-scale space. The laser from the total station is aimed at the optical system of the attitude angle sensor to obtain the spatial coordinate and the spatial attitude angles. Then, the angle encoder driven by a stepping motor is rotated to drive the laser rangefinder to direct at the measured point. This approach is used to obtain the distance from the rangefinder to the measured point and the angle of the angle encoder. Finally, the spatial coordinates of the measured point can be calculated by using these measured parameters. For the measurement system, we propose a weighted least squares (WLS) calibration method, in which weights are determined for the angular distribution density. Experimental results show that the measurement system could expand the scale and achieve reliable precision during combined measurement and the measurement error of the weighted least squares method is less than that of the ordinary least square (OLS) method.

  6. Practical Method for Transient Stability with Unbalanced Condition based on Symmetric Coordinates

    NASA Astrophysics Data System (ADS)

    Fujiwara, Shuhei; Kono, Yoshiyuki; Kitayama, Masashi; Goda, Tadahiro

    The symmetric coordinates are very popular method to model unbalanced faults in power system analysis. It is not only easy to handle with a single fault, but also it can be extended to multiple faults. But it is not easy to model situations that those unbalanced situation will continuously change, like a SVC (Static Var Compensator) with unbalanced fault in power system or an unbalanced nonlinear load. Under these situations, we propose a practical use of multiple fault calculation method based on symmetric coordinates that can handle with these kinds of unbalanced situations.

  7. Distinction of Green Sweet Peppers by Using Various Color Space Models and Computation of 3 Dimensional Location Coordinates of Recognized Green Sweet Peppers Based on Parallel Stereovision System

    NASA Astrophysics Data System (ADS)

    Bachche, Shivaji; Oka, Koichi

    2013-06-01

    This paper presents the comparative study of various color space models to determine the suitable color space model for detection of green sweet peppers. The images were captured by using CCD cameras and infrared cameras and processed by using Halcon image processing software. The LED ring around the camera neck was used as an artificial lighting to enhance the feature parameters. For color images, CieLab, YIQ, YUV, HSI and HSV whereas for infrared images, grayscale color space models were selected for image processing. In case of color images, HSV color space model was found more significant with high percentage of green sweet pepper detection followed by HSI color space model as both provides information in terms of hue/lightness/chroma or hue/lightness/saturation which are often more relevant to discriminate the fruit from image at specific threshold value. The overlapped fruits or fruits covered by leaves can be detected in better way by using HSV color space model as the reflection feature from fruits had higher histogram than reflection feature from leaves. The IR 80 optical filter failed to distinguish fruits from images as filter blocks useful information on features. Computation of 3D coordinates of recognized green sweet peppers was also conducted in which Halcon image processing software provides location and orientation of the fruits accurately. The depth accuracy of Z axis was examined in which 500 to 600 mm distance between cameras and fruits was found significant to compute the depth distance precisely when distance between two cameras maintained to 100 mm.

  8. Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator

    PubMed Central

    Omar, Mohamed A.

    2014-01-01

    Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations. PMID:25045732

  9. Static analysis of large-scale multibody system using joint coordinates and spatial algebra operator.

    PubMed

    Omar, Mohamed A

    2014-01-01

    Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations. PMID:25045732

  10. A hierarchical distributed control model for coordinating intelligent systems

    NASA Technical Reports Server (NTRS)

    Adler, Richard M.

    1991-01-01

    A hierarchical distributed control (HDC) model for coordinating cooperative problem-solving among intelligent systems is described. The model was implemented using SOCIAL, an innovative object-oriented tool for integrating heterogeneous, distributed software systems. SOCIAL embeds applications in 'wrapper' objects called Agents, which supply predefined capabilities for distributed communication, control, data specification, and translation. The HDC model is realized in SOCIAL as a 'Manager'Agent that coordinates interactions among application Agents. The HDC Manager: indexes the capabilities of application Agents; routes request messages to suitable server Agents; and stores results in a commonly accessible 'Bulletin-Board'. This centralized control model is illustrated in a fault diagnosis application for launch operations support of the Space Shuttle fleet at NASA, Kennedy Space Center.

  11. A Triphasic Sorting System: Coordination Cages in Ionic Liquids.

    PubMed

    Grommet, Angela B; Bolliger, Jeanne L; Browne, Colm; Nitschke, Jonathan R

    2015-12-01

    Host-guest chemistry is usually carried out in either water or organic solvents. To investigate the utility of alternative solvents, three different coordination cages were dissolved in neat ionic liquids. By using (19) F NMR spectroscopy to monitor the presence of free and bound guest molecules, all three cages were demonstrated to be stable and capable of encapsulating guests in ionic solution. Different cages were found to preferentially dissolve in different phases, allowing for the design of a triphasic sorting system. Within this system, three coordination cages, namely Fe4 L6 2, Fe8 L12 3, and Fe4 L4 4, each segregated into a distinct layer. Upon the addition of a mixture of three different guests, each cage (in each separate layer) selectively bound its preferred guest. PMID:26494225

  12. The oblate spheroidal harmonics under coordinate system rotation and translation

    NASA Astrophysics Data System (ADS)

    Panou, Georgios

    2014-05-01

    Several recent studies in geodesy and related sciences make use of oblate spheroidal harmonics. For instance, the Earth's external gravitational potential can be mathematically expanded in an oblate spheroidal harmonic series which converges outside any spheroid enclosing all the masses. In this presentation, we develop the exact relations between the solid oblate spheroidal harmonics in two coordinate systems, related to each other by an arbitrary rotation or translation. We start with the relations which exist between the spherical harmonics in the two coordinate systems. This problem has received considerable attention in the past and equivalent results have been independently derived by several investigators. Then, combining the previous results with the expressions which relate the solid spherical harmonics and the solid spheroidal harmonics, we obtain the relations under consideration. For simplicity, complex notation has been adopted throughout the work. This approach is also suitable and easy to use in the zonal harmonic expansions. The spherical harmonics under coordinate system rotation and translation are obtained as a degenerate case. The above theory can be used in any spheroidal harmonic model. Finally, some simple examples are given, in order to illuminate the mathematical derivations.

  13. Classification of physical activities based on body-segments coordination.

    PubMed

    Fradet, Laetitia; Marin, Frederic

    2016-09-01

    Numerous innovations based on connected objects and physical activity (PA) monitoring have been proposed. However, recognition of PAs requires robust algorithm and methodology. The current study presents an innovative approach for PA recognition. It is based on the heuristic definition of postures and the use of body-segments coordination obtained through external sensors. The first part of this study presents the methodology required to define the set of accelerations which is the most appropriate to represent the particular body-segments coordination involved in the chosen PAs (here walking, running, and cycling). For that purpose, subjects of different ages and heterogeneous physical conditions walked, ran, cycled, and performed daily activities at different paces. From the 3D motion capture, vertical and horizontal accelerations of 8 anatomical landmarks representative of the body were computed. Then, the 680 combinations from up to 3 accelerations were compared to identify the most appropriate set of acceleration to discriminate the PAs in terms of body segment coordinations. The discrimination was based on the maximal Hausdorff Distance obtained between the different set of accelerations. The vertical accelerations of both knees demonstrated the best PAs discrimination. The second step was the proof of concept, implementing the proposed algorithm to classify PAs of new group of subjects. The originality of the proposed algorithm is the possibility to use the subject's specific measures as reference data. With the proposed algorithm, 94% of the trials were correctly classified. In conclusion, our study proposed a flexible and extendable methodology. At the current stage, the algorithm has been shown to be valid for heterogeneous subjects, which suggests that it could be deployed in clinical or health-related applications regardless of the subjects' physical abilities or characteristics. PMID:27441831

  14. Motor learning of novel dynamics is not represented in a single global coordinate system: evaluation of mixed coordinate representations and local learning

    PubMed Central

    Franklin, David W.; Flanagan, J. Randall; Wolpert, Daniel M.; Kording, Konrad

    2013-01-01

    Successful motor performance requires the ability to adapt motor commands to task dynamics. A central question in movement neuroscience is how these dynamics are represented. Although it is widely assumed that dynamics (e.g., force fields) are represented in intrinsic, joint-based coordinates (Shadmehr R, Mussa-Ivaldi FA. J Neurosci 14: 3208–3224, 1994), recent evidence has questioned this proposal. Here we reexamine the representation of dynamics in two experiments. By testing generalization following changes in shoulder, elbow, or wrist configurations, the first experiment tested for extrinsic, intrinsic, or object-centered representations. No single coordinate frame accounted for the pattern of generalization. Rather, generalization patterns were better accounted for by a mixture of representations or by models that assumed local learning and graded, decaying generalization. A second experiment, in which we replicated the design of an influential study that had suggested encoding in intrinsic coordinates (Shadmehr and Mussa-Ivaldi 1994), yielded similar results. That is, we could not find evidence that dynamics are represented in a single coordinate system. Taken together, our experiments suggest that internal models do not employ a single coordinate system when generalizing and may well be represented as a mixture of coordinate systems, as a single system with local learning, or both. PMID:24353296

  15. A global model of the neutral thermosphere in magnetic coordinates based on AE-C data

    NASA Technical Reports Server (NTRS)

    Stehle, C. G.

    1980-01-01

    An empirical model of the global atomic oxygen and helium distributions in the thermosphere is developed in a magnetic coordinate system and compared to similar models which are expanded in geographic coordinates. The advantage of using magnetic coordinates is that fewer terms are needed to make predictions which are nearly identical to those which would be obtained from a geographic model with longitudinal and universal time corrections. Magnetic coordinates are more directly related to the major energy inputs in the polar regions than geographic coordinates and are more convenient to use in studies of high latitude energy deposition processes. This is important for comparison with theoretical models where the number of coordinates is limited. The effect of magnetic activity on the atomic oxygen distribution in the morning sector of the high latitude thermosphere in the auroral zone is also considered. A magnetic activity indicator (ML) based on an auroral electrojet index (AL) and the 3 hour ap index are used to relate the atomic oxygen density variations to magnetic activity in this region.

  16. Developing community based rehabilitation for cancer survivors: organizing for coordination and coherence in practice

    PubMed Central

    2013-01-01

    Background Increasing incidences of cancer combined with prolonged survival have raised the need for developing community based rehabilitation. The objectives of the analysis were to describe and interpret the key issues related to coordination and coherence of community-based cancer rehabilitation in Denmark and to provide insights relevant for other contexts. Methods Twenty-seven rehabilitation managers across 15 municipalities in Denmark comprised the sample. The study was designed with a combination of data collection methods including questionnaires, individual interviews, and focus groups. A Grounded Theory approach was used to analyze the data. Results A lack of shared cultures among health care providers and systems of delivery was a primary barrier to collaboration which was essential for establishing coordination of care. Formal multidisciplinary steering committees, team-based organization, and informal relationships were fundamental for developing coordination and coherence. Conclusions Coordination and coherence in community-based rehabilitation relies on increased collaboration, which may best be optimized by use of shared frameworks within and across systems. Results highlight the challenges faced in practical implementation of community rehabilitation and point to possible strategies for its enhancement. PMID:24004881

  17. Human Balance System: A Complex Coordination of Central and Peripheral Systems

    MedlinePlus

    ... 8428 · INFO @ VESTIBULAR . ORG · WWW . VESTIBULAR . ORG The Human Balance System — A Complex Coordination of Central and ... support. 1 A properly functioning balance system allows humans to see clearly while moving, identify orientation with ...

  18. Intrinsic interference mitigating coordinated beamforming for the FBMC/OQAM based downlink

    NASA Astrophysics Data System (ADS)

    Cheng, Yao; Li, Peng; Haardt, Martin

    2014-12-01

    In this work, we propose intrinsic interference mitigating coordinated beamforming (IIM-CBF)-based transmission strategies for the downlink of multi-user multiple-input-multiple-out (MIMO) systems and coordinated multi-point (CoMP) systems where filter bank based multi-carrier with offset quadrature amplitude modulation (FBMC/OQAM) is employed. Our goal is to alleviate the dimensionality constraint imposed on the state-of-the-art solutions for FBMC/OQAM-based space division multiple access that the total number of receive antennas of the users must not exceed the number of transmit antennas at the base station. First, two IIM-CBF algorithms are developed for a single-cell multi-user MIMO downlink system. The central idea is to jointly and iteratively calculate the precoding matrix and decoding matrix for each subcarrier to mitigate the multi-user interference as well as the intrinsic interference inherent in FBMC/OQAM-based systems. Second, for a CoMP downlink scenario where partial coordination among the base stations is considered, the application of coordinated beamforming-based transmission schemes is further investigated. An appropriate IIM-CBF technique is proposed. Simulation results show that when the number of transmit antennas at the base station is equal to the total number of receive antennas of the users, the proposed IIM-CBF algorithm outperforms the existing transmission strategies for FBMC/OQAM-based multi-user MIMO downlink systems. Moreover, we evaluate the performances of the IIM-CBF schemes in the downlink of multi-user MIMO systems and CoMP systems where the total number of receive antennas of users exceeds the number of transmit antennas at the base station. It is observed that by employing the IIM-CBF techniques, FBMC/OQAM systems achieve a similar bit error rate (BER) performance as its orthogonal frequency division multiplexing with the cyclic prefix insertion (CP-OFDM)-based counterpart while exhibiting superiority in terms of a higher

  19. A regional method for craniofacial reconstruction based on coordinate adjustments and a new fusion strategy.

    PubMed

    Deng, Qingqiong; Zhou, Mingquan; Wu, Zhongke; Shui, Wuyang; Ji, Yuan; Wang, Xingce; Liu, Ching Yiu Jessica; Huang, Youliang; Jiang, Haiyan

    2016-02-01

    Craniofacial reconstruction recreates a facial outlook from the cranium based on the relationship between the face and the skull to assist identification. But craniofacial structures are very complex, and this relationship is not the same in different craniofacial regions. Several regional methods have recently been proposed, these methods segmented the face and skull into regions, and the relationship of each region is then learned independently, after that, facial regions for a given skull are estimated and finally glued together to generate a face. Most of these regional methods use vertex coordinates to represent the regions, and they define a uniform coordinate system for all of the regions. Consequently, the inconsistence in the positions of regions between different individuals is not eliminated before learning the relationships between the face and skull regions, and this reduces the accuracy of the craniofacial reconstruction. In order to solve this problem, an improved regional method is proposed in this paper involving two types of coordinate adjustments. One is the global coordinate adjustment performed on the skulls and faces with the purpose to eliminate the inconsistence of position and pose of the heads; the other is the local coordinate adjustment performed on the skull and face regions with the purpose to eliminate the inconsistence of position of these regions. After these two coordinate adjustments, partial least squares regression (PLSR) is used to estimate the relationship between the face region and the skull region. In order to obtain a more accurate reconstruction, a new fusion strategy is also proposed in the paper to maintain the reconstructed feature regions when gluing the facial regions together. This is based on the observation that the feature regions usually have less reconstruction errors compared to rest of the face. The results demonstrate that the coordinate adjustments and the new fusion strategy can significantly improve the

  20. Control systems improvements in a precision coordinate measuring machine

    NASA Astrophysics Data System (ADS)

    Douglass, S. S.; Babelay, E. F., Jr.; Igou, R. E.; Woodard, L. M.; Green, W. L.

    1981-09-01

    A conventional, manually driven Moore No. 3 coordinate measuring machine at the Oak Ridge Y-12 Plant is being upgraded to provide a continuous-path numerical control capability and simultaneously serve as a vehicle for testing new machine slide-control concepts. Besides new lead screw drive motors, an NC machine control unit, and a closed-loop servo system, the machine has also been equipped with vibration isolation, air-bearing slideways, and laser interferometric position feedback. The present conventional slide servo system will be replaced with a digital servo system wherein various feedback and compensation techniques can be realized through the use of a high speed, dedicated digital processor. The improvements to data are described with emphasis on identification and compensation of the slide control systems.

  1. Metabolomic insights into system-wide coordination of vertebrate metamorphosis

    PubMed Central

    2014-01-01

    Background After completion of embryogenesis, many organisms experience an additional obligatory developmental transition to attain a substantially different juvenile or adult form. During anuran metamorphosis, the aquatic tadpole undergoes drastic morphological changes and remodelling of tissues and organs to become a froglet. Thyroid hormones are required to initiate the process, but the mechanism whereby the many requisite changes are coordinated between organs and tissues is poorly understood. Metabolites are often highly conserved biomolecules between species and are the closest reflection of phenotype. Due to the extensive distribution of blood throughout the organism, examination of the metabolites contained therein provides a system-wide overview of the coordinated changes experienced during metamorphosis. We performed an untargeted metabolomic analysis on serum samples from naturally-metamorphosing Rana catesbeiana from tadpoles to froglets using ultraperformance liquid chromatography coupled to a mass spectrometer. Total and aqueous metabolite extracts were obtained from each serum sample to select for nonpolar and polar metabolites, respectively, and selected metabolites were validated by running authentic compounds. Results The majority of the detected metabolites (74%) showed statistically significant abundance changes (padj < 0.001) between metamorphic stages. We observed extensive remodelling of five core metabolic pathways: arginine and purine/pyrimidine, cysteine/methionine, sphingolipid, and eicosanoid metabolism and the urea cycle, and found evidence for a major role for lipids during this postembryonic process. Metabolites traditionally linked to human disease states were found to have biological linkages to the system-wide changes occuring during the events leading up to overt morphological change. Conclusions To our knowledge, this is the first wide-scale metabolomic study of vertebrate metamorphosis identifying fundamental pathways

  2. Behavior Analysis Based on Coordinates of Body Tags

    NASA Astrophysics Data System (ADS)

    Luštrek, Mitja; Kaluža, Boštjan; Dovgan, Erik; Pogorelc, Bogdan; Gams, Matjaž

    This paper describes fall detection, activity recognition and the detection of anomalous gait in the Confidence project. The project aims to prolong the independence of the elderly by detecting falls and other types of behavior indicating a health problem. The behavior will be analyzed based on the coordinates of tags worn on the body. The coordinates will be detected with radio sensors. We describe two Confidence modules. The first one classifies the user's activity into one of six classes, including falling. The second one detects walking anomalies, such as limping, dizziness and hemiplegia. The walking analysis can automatically adapt to each person by using only the examples of normal walking of that person. Both modules employ machine learning: the paper focuses on the features they use and the effect of tag placement and sensor noise on the classification accuracy. Four tags were enough for activity recognition accuracy of over 93% at moderate sensor noise, while six were needed to detect walking anomalies with the accuracy of over 90%.

  3. The Neural Network In Coordinate Transformation

    NASA Astrophysics Data System (ADS)

    Urusan, Ahmet Yucel

    2011-12-01

    In international literature, Coordinate operations is divided into two categories. They are coordinate conversion and coordinate transformation. Coordinates converted from coordinate system A to coordinate system B in the same datum (mean origine, scale and axis directions are same) by coordinate conversion. There are two different datum in coordinate transformation. The basis of each datum to a different coordinate reference system. In Coordinate transformation, coordinates are transformed from coordinate reference system A to coordinate referance system B. Geodetic studies based on physical measurements. Coordinate transformation needs identical points which were measured in each coordinate reference system (A and B). However it is difficult (and need a big reserved budget) to measure in some places like as top of mountain, boundry of countries and seaside. In this study, this sample problem solution was researched. The method of learning which is one of the neural network methods, was used for solution of this problem.

  4. A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence.

    PubMed

    Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

    2016-01-01

    Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration. PMID:26901203

  5. A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence

    PubMed Central

    Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

    2016-01-01

    Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration. PMID:26901203

  6. A global model of the neutral thermosphere in magnetic coordinates based on OGO 6 data

    NASA Technical Reports Server (NTRS)

    Stehle, C. G.; Nisbet, J. S.; Bleuler, E.

    1982-01-01

    Data from the OGO 6 satellite have been analyzed in magnetic latitude and magnetic local time coordinates for various seasons and magnetic activity levels. These measurements show considerable detail, particularly in the auroral regions where the energy inputs are well organized in this coordinate system. This detail is not readily observed in models based on geographic coordinates. Atomic oxygen and helium densities and a parameter related to the molecular nitrogen density were analyzed. The long-term averages of these quantities are presented in graphical form and as analytic functions to provide models of these thermospheric parameters. The atomic oxygen and helium densities show minima at high latitudes in the postmidnight sector for nearly all seasons and magnetic activity levels. The exospheric temperature inferred from the N2 density increases toward high latitudes for all seasons and all magnetic activity levels. This inferred temperature is about 300 deg K higher at the summer magnetic pole than at the winter magnetic pole.

  7. Multiple vehicle coordination and cooperative estimation for target tracking with applications to autonomous underwater vehicle systems

    NASA Astrophysics Data System (ADS)

    Triplett, Benjamin

    2008-07-01

    The subjects of Multi-vehicle coordinated control and fin-actuated underwater vehicles are receiving significant attention. Coordinated control is becoming more practical as advances in technology increase the areas of application in which systems of multiple vehicles could accomplish challenging tasks that are difficult or infeasible for a single vehicle to complete. Advances in sensor technology, improvements in wireless communication systems, and increases in microprocessor computation speed, all contribute to the creation of successful coordinated control systems. Coordinated target tracking, in which several pursuit autonomous pursuit vehicles follow and maintain state knowledge of a target vehicle, is the coordinated multiple-vehicle problem that is studied in this dissertation. Results show that multiple vehicles can be used to advantage in the target tracking problem, and that the sharing of target state information, whether data from measurements or estimates, improves the target tracking results. A fin-actuated underwater vehicle (FUV) was created as a hardware test platform for the application and study of both geometric methods in control and multiple-vehicle coordination. Combined with simulation based on geometric control methods, the FUV demonstrates remarkably good agreement between theory and experiment. Simple maneuvers such as forward swimming and turning, as well as more complicated agile maneuvers such as snap-turns are demonstrated by the robot and in simulation. Further, the robot is used with feedback control and radio communication in order to accomplish a number of individual and multi-vehicle tasks, such as radio-control, autonomous trajectory tracking, and coordinated heading control.

  8. Ambulatory estimation of knee-joint kinematics in anatomical coordinate system using accelerometers and magnetometers.

    PubMed

    Kun, Liu; Inoue, Yoshio; Shibata, Kyoko; Enguo, Cao

    2011-02-01

    Knee-joint kinematics analysis using an optimal sensor set and a reliable algorithm would be useful in the gait analysis. An original approach for ambulatory estimation of knee-joint angles in anatomical coordinate system is presented, which is composed of a physical-sensor-difference-based algorithm and virtual-sensor-difference-based algorithm. To test the approach, a wearable monitoring system composed of accelerometers and magnetometers was developed and evaluated on lower limb. The flexion/extension (f/e), abduction/adduction (a/a), and inversion/extension (i/e) rotation angles of the knee joint in the anatomical joint coordinate system were estimated. In this method, since there is no integration of angular acceleration or angular velocity, the result is not distorted by offset and drift. The three knee-joint angles within the anatomical coordinate system are independent of the orders, which must be considered when Euler angles are used. Besides, since there are no physical sensors implanted in the knee joint based on the virtual-sensor-difference-based algorithm, it is feasible to analyze knee-joint kinematics with less numbers and types of sensors than those mentioned in some others methods. Compared with results from the reference system, the developed wearable sensor system is available to do gait analysis with fewer sensors and high degree of accuracy. PMID:21257363

  9. Review and Evaluation of Hand-Arm Coordinate Systems for Measuring Vibration Exposure, Biodynamic Responses, and Hand Forces.

    PubMed

    Dong, Ren G; Sinsel, Erik W; Welcome, Daniel E; Warren, Christopher; Xu, Xueyan S; McDowell, Thomas W; Wu, John Z

    2015-09-01

    The hand coordinate systems for measuring vibration exposures and biodynamic responses have been standardized, but they are not actually used in many studies. This contradicts the purpose of the standardization. The objectives of this study were to identify the major sources of this problem, and to help define or identify better coordinate systems for the standardization. This study systematically reviewed the principles and definition methods, and evaluated typical hand coordinate systems. This study confirms that, as accelerometers remain the major technology for vibration measurement, it is reasonable to standardize two types of coordinate systems: a tool-based basicentric (BC) system and an anatomically based biodynamic (BD) system. However, these coordinate systems are not well defined in the current standard. Definition of the standard BC system is confusing, and it can be interpreted differently; as a result, it has been inconsistently applied in various standards and studies. The standard hand BD system is defined using the orientation of the third metacarpal bone. It is neither convenient nor defined based on important biological or biodynamic features. This explains why it is rarely used in practice. To resolve these inconsistencies and deficiencies, we proposed a revised method for defining the realistic handle BC system and an alternative method for defining the hand BD system. A fingertip-based BD system for measuring the principal grip force is also proposed based on an important feature of the grip force confirmed in this study. PMID:26929824

  10. Review and Evaluation of Hand–Arm Coordinate Systems for Measuring Vibration Exposure, Biodynamic Responses, and Hand Forces

    PubMed Central

    Dong, Ren G.; Sinsel, Erik W.; Welcome, Daniel E.; Warren, Christopher; Xu, Xueyan S.; McDowell, Thomas W.; Wu, John Z.

    2015-01-01

    The hand coordinate systems for measuring vibration exposures and biodynamic responses have been standardized, but they are not actually used in many studies. This contradicts the purpose of the standardization. The objectives of this study were to identify the major sources of this problem, and to help define or identify better coordinate systems for the standardization. This study systematically reviewed the principles and definition methods, and evaluated typical hand coordinate systems. This study confirms that, as accelerometers remain the major technology for vibration measurement, it is reasonable to standardize two types of coordinate systems: a tool-based basicentric (BC) system and an anatomically based biodynamic (BD) system. However, these coordinate systems are not well defined in the current standard. Definition of the standard BC system is confusing, and it can be interpreted differently; as a result, it has been inconsistently applied in various standards and studies. The standard hand BD system is defined using the orientation of the third metacarpal bone. It is neither convenient nor defined based on important biological or biodynamic features. This explains why it is rarely used in practice. To resolve these inconsistencies and deficiencies, we proposed a revised method for defining the realistic handle BC system and an alternative method for defining the hand BD system. A fingertip-based BD system for measuring the principal grip force is also proposed based on an important feature of the grip force confirmed in this study. PMID:26929824

  11. Cognitive process-based subtypes of developmental coordination disorder (DCD).

    PubMed

    Asonitou, Katerina; Koutsouki, Dimitra

    2016-06-01

    The purpose of the study was to identify the cognitive subtypes demonstrated by children with developmental coordination disorder (DCD) using the Planning-Attention-Simultaneous-Successive Processing (PASS) theory and the Cognitive Assessment System (D-N CAS). Participants were 108 children aged 5- and 6-years old, 54 with DCD and 54 without DCD, all attending typical kindergartens. They were examined on 31 cognitive-motor variables. Hierarchical-agglomerative and iterative partitioning cluster analyses including 9 motor and 7 cognitive variables revealed the following six subtypes: It is well known that DCD is a heterogeneous condition. However, whenever cognitive processes were lower than average, cognitive-motor relationship was evident in subgroups C1, C4, C5 and C6. Early identification of task-specific cognitive-motor difficulties may be essential for early educational intervention practices in order to anticipate and improve learning, academic and performing difficulties. PMID:26991728

  12. Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

    NASA Technical Reports Server (NTRS)

    Benson, Elizabeth; Cowley, Matthew; Harvill, Lauren; Rajulu. Sudhakar

    2015-01-01

    Introduction: When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. It has been shown that using a spherical coordinate system allows Anthropometry and Biomechanics Facility (ABF) personnel to increase their ability to transmit important human mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project was to use innovative analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub-projects, meant to validate and verify a new method before it was implemented in the ABF's data analysis practices. A mechanical test rig was built and tracked in 3D using an optical motion capture system. Its position and orientation were reported in both Euler and spherical reference systems. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder to include the rest of the joints of the body. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. These visualization methods will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development. Results: Initial results

  13. Three faces of integrative coordination: a model of interorganizational relations in community-based health and human services.

    PubMed Central

    Bolland, J M; Wilson, J V

    1994-01-01

    OBJECTIVE. This study develops a theoretically justified, network-based model of integrative coordination in community-based health and human services, and it uses this model to measure and compare coordination in six elder service systems. DATA SOURCES AND STUDY SETTING. We collected data between 1989 and 1991 in six Alabama counties, including two major MSAs, two small MSAs, and two rural areas. STUDY DESIGN AND DATA COLLECTION/EXTRACTION METHODS. Our measurement of coordination is based on patterns of interorganizational relationships connecting the agencies constituting a community-based health and human services system. Within each site, we interviewed representatives from these agencies, asking them to indicate client referral, generalized support, and agenda-setting relationships they had developed with each of the other agencies in the system. Using network analysis procedures we then identified the network associated with each of these organizational functions (i.e., service delivery, administration, and planning) in each site, and we assessed levels of coordination in each network. PRINCIPAL FINDINGS. Our measure of integrative coordination is consistent with other indicators of coordination we derive from our data, suggesting its validity. In addition, levels of integrative coordination across sites for each organizational function are generally comparable. Comparisons across sites show integrative coordination to be consistently highest for service delivery networks and lowest for planning networks. CONCLUSIONS. Previous attempts to assess interorganizational coordination without regard to organizational function are subject to misinterpretation. The differing interorganizational dynamics involved in service delivery, administration, and planning appear to generate different patterns of interorganizational relationships, and different levels of coordination. PMID:8063569

  14. A semi-implicit ocean circulation model using a generalized topography-following coordinate system

    SciTech Connect

    Song, Yuhe; Haidvogel, D.

    1994-11-01

    We introduce a new ocean circulation model featuring an improved vertical coordinate representation. This new coordinate is a generalized {sigma}coordinate; however, it is capable of simultaneously maintaining high resolution in the surface layer as well as dealing with steep and/or tall topography. The model equations are the tree-dimensional, free surface, primitive equations with orthogonal curvilinear coordinates in the horizontal and the new general coordinate in the vertical. Vertical mixing is treated implicitly by the generalized Crank-Nicolson method based on a Galerkin finite element formulation. Two alternate parameterizations of surface mixing are incorporated, based respectively on the approaches of Price, Weller, and Pinkel and Mellor and Yamada. Finally, a quadrature formula of Lagrange interpolation is employed to produce a more accurate calculation of pressure and vertical velocity. Three tests are used to demonstrate the accuracy, stability, and applicability of the model: the diurnal cycling of the surface mixed layer, flow around a tall seamount, and a regional simulation of the California current system.

  15. Conservation equations of gasdynamics in curvilinear coordinate systems

    NASA Technical Reports Server (NTRS)

    Vinokur, M.

    1974-01-01

    Description of a new method of writing the conservation equations of gasdynamics in curvilinear coordinates which eliminates undifferentiated terms. It is thus possible to readily apply difference schemes derived for Cartesian coordinates which conserve mass, momentum, and energy in the total flow field. The method is derived for orthogonal coordinates, and then extended to cover the most general class of coordinate transformations, using general tensor analysis. Several special features of the equations are discussed.

  16. COSPAR, IAU, LSI Colloquium on Lunar Dynamics and Observational Coordinate Systems: Revised abstracts

    NASA Technical Reports Server (NTRS)

    Moutsoulas, M. (Editor)

    1973-01-01

    The proceedings of a colloquium on lunar dynamics and observational coordinate systems are presented. Discussions were held on the establishment of a fundamental reference system and on the lunar ephemerides. Abstracts of the subjects discussed at the meeting are submitted. Some of the topics discussed are: (1) coordinates of the Apollo retroreflectors, (2) determination of lunar baselines, (3) numerical series for the variations of lunar coordinates, (4) fundamental craters for establishing a lunar coordinate system, and (5) composite lunar gravity fields.

  17. Cytotoxicity of cyclometalated platinum complexes based on tridentate NCN and CNN-coordinating ligands: remarkable coordination dependence.

    PubMed

    Vezzu, Dileep A K; Lu, Qun; Chen, Yan-Hua; Huo, Shouquan

    2014-05-01

    A series of cyclometalated platinum complexes with diverse coordination patterns and geometries were screened for their anticancer activity. It was discovered that the N^C^N-coordinated platinum complex based on 1,3-di(pyridyl)benzene displayed much higher cytotoxicity against human lung cancer cells NCI-H522, HCC827, and NCI-H1299, and human prostate cancer cell RV1 than cisplatin. In a sharp contrast, the C^N^N-coordinated platinum complex based on 6-phenyl-2,2'-bipyridine was ineffective on these cancer cells. This remarkable difference in cytotoxicity displayed by N^C^N- and C^N^N-coordinated platinum complexes was related to the trans effect of the carbon donor in the cyclometalated platinum complexes, which played a crucial role in facilitating the dissociation of the chloride ligand to create an active binding site. The DNA binding was studied for the N^C^N-coordinated platinum complex using electrophoresis and emission titration. The cellular uptake observed by fluorescent microscope showed that the complex is largely concentrated in the cytoplasm. The possible pathways for the cell apoptosis were studied by western blot analysis and the activation of PARP via caspase 7 was observed. PMID:24531534

  18. Cytotoxicity of Cyclometalated Platinum Complexes Based on Tridentate NCN and CNN-coordinating ligands: Remarkable Coordination Dependence

    PubMed Central

    Vezzu, Dileep A. k.; Lu, Qun; Chen, Yan-Hua; Huo, Shouquan

    2014-01-01

    A series of cyclometalated platinum complexes with diverse coordination patterns and geometries were screened for their anticancer activity. It was discovered that the NʌCʌN-coordinated platinum complex based on 1,3-di(pyridyl)benzene displayed much higher cytotoxicity against human lung cancer cells NCI-H522, HCC827, and NCI-H1299, and human prostate cancer cell RV1 than cisplatin. In a sharp contrast, the CʌNʌN-coordinated platinum complex based on 6-phenyl-2,2′-bipyridine was ineffective on these cancer cells. This remarkable difference in cytotoxicity displayed by NʌCʌN- and CʌNʌN-coordinated platinum complexes was related to the trans effect of the carbon donor in the cyclometalated platinum complexes, which played a crucial role in facilitating the dissociation of the chloride ligand to create an active binding site. The DNA binding was studied for the NʌCʌN-coordinated platinum complex using electrophoresis and emission titration. The cellular uptake observed by fluorescent microscope showed the complex is largely concentrated in the cytoplasm. The possible pathways for the cell apoptosis was studied by western blot analysis and the activation of PARP via caspase 7 was observed. PMID:24531534

  19. Family Voice with Informed Choice: Coordinating Wraparound with Research-Based Treatment for Children and Adolescents

    PubMed Central

    Bruns, Eric J.; Walker, Janet S.; Bernstein, Adam; Daleiden, Eric; Pullmann, Michael D.; Chorpita, Bruce F.

    2014-01-01

    The wraparound process is a type of individualized, team-based care coordination that has become central to many state and system efforts to reform children’s mental health service delivery for youths with the most complex needs and their families. Although the emerging wraparound research base is generally positive regarding placements and costs, effect sizes are smaller for clinical and functional outcomes. This paper presents a review of literature on care coordination and wraparound models, with a focus on theory and research that indicates the need to better connect wraparound-enrolled children and adolescents to evidence-based treatment (EBT). The paper goes on to describe how recently developed applications of EBT that are based on quality improvement and flexible application of “common elements” of research-based care may provide a more individualized approach that better aligns with the philosophy and procedures of the wraparound process. Finally, this paper presents preliminary studies that show the feasibility and potential effectiveness of coordinating wraparound with the Managing and Adapting Practice (MAP) system, and discusses intervention development and research options that are currently underway. PMID:24325146

  20. Emergency control system based on the analytical hierarchy process and coordinated development degree model for sudden water pollution accidents in the Middle Route of the South-to-North Water Transfer Project in China.

    PubMed

    Long, Yan; Xu, Guobin; Ma, Chao; Chen, Liang

    2016-06-01

    Water transfer projects are important for realizing reasonable allocation of water resources, but once a water pollution accident occurs during such a project, the water environment is exposed to enormous risks. Therefore, it is critical to determine an appropriate emergency control system (ECS) for sudden water pollution accidents that occur in water transfer projects. In this study, the analytical hierarchy process (AHP) integrated with the coordinated development degree model (CDDM) was used to develop the ECS. This ECS was developed into two parts, including the emergency risk assessment and the emergency control. Feasible emergency control targets and control technology were also proposed for different sudden water pollution accidents. A demonstrative project was conducted in the Fangshui to Puyang channel, which is part of the Beijing-Shijiazhuang Emergency Water Supply Project (BSP) in the Middle Route of the South-to-North Water Transfer Project (MR-SNWTP) in China. However, we could not use an actual toxic soluble pollutant to validate our ECS, so we performed the experiment with sucrose to test the ECS based on its concentration variation. The relative error of peak sucrose concentration was less than 20 %. PMID:26979314

  1. An Approach to Absolute Position Control based on Object Coordinate

    NASA Astrophysics Data System (ADS)

    Nakano, Keisuke; Murakami, Toshiyuki

    This paper describes an accurate position control in object coordinate. In case the motion control of industrial robot placed in global coordinate is considered in object coordinate, it is preferable and convenient to decide its motion by the teaching of robot operator. However the teaching procedure requires much time and effort. Moreover, as often as relative position between robot and object is changed, the operator needs to do the teaching operation again. To improve the above issue, it is required to develop the strategy that decides the robot motion without the teaching operation. This paper proposes a control strategy that is not required the teaching operation and enables to realize the desired motion without affecting the relative position error between the robot and the target object in object coordinate defined by PSD (Position Sensitive Detector). In the proposed approach, the estimation algorithm of the kinetic transformation between global and object coordinates is introduced by using PSD output, and the error of coordinate transformation estimated by the proposed approach is compensated in global coordinate. The validity of the proposed method is shown by simulations and experiments.

  2. Development of Support System for Setting and Coordination between Protection Relays

    NASA Astrophysics Data System (ADS)

    Kameda, Hideyuki; Uemura, Satoshi; Uchikawa, Yuuki; Nakajima, Takayuki

    The opportunity for distributed generators to be connected to the power system has been increasing since the introduction of electricity deregulation. Moreover, a power system which has a new concept such as a micro-grid or a smart-grid is going to appear. The increase in the uncertainty of power flow and the power system operation under an irregular system configuration is supposed in such new power systems. And the sensitivity of a protection relay may decrease or a protection relay may miscoordinate with other protection relays. Under the above conditions, to prevent the fault expansion is required of the electric power utilities. From the background, the development of a program that can check the relay setting and the coordination between protection relay systems is desired. The development of “Support System for Setting and Coordination between protection relays” called SSSC was initiated in 2006, and it will be completed in 2011. SSSC has the following features ·It enables us to check whether the protection relay is set as operate correctly against all of assumed system faults. ·It enables us to check automatically whether the coordination between the protection relays is proper as prevent the fault extension even if an unexpected condition occurs. ·It enables us to analyze the response of the protection relays in the power system where some apparatus with nonlinear characteristic is installed. This paper describes the prototype of the SSSC based on the dynamic analysis like Y-method. Furthermore, in this paper, the checking method of coordination between protection relays for short circuit fault, and the verification results of the prototype in the 6.6kV model distribution system are described.

  3. Dynamic modeling and optimal joint torque coordination of advanced robotic systems

    NASA Astrophysics Data System (ADS)

    Kang, Hee-Jun

    The development is documented of an efficient dynamic modeling algorithm and the subsequent optimal joint input load coordination of advanced robotic systems for industrial application. A closed-form dynamic modeling algorithm for the general closed-chain robotic linkage systems is presented. The algorithm is based on the transfer of system dependence from a set of open chain Lagrangian coordinates to any desired system generalized coordinate set of the closed-chain. Three different techniques for evaluation of the kinematic closed chain constraints allow the representation of the dynamic modeling parameters in terms of system generalized coordinates and have no restriction with regard to kinematic redundancy. The total computational requirement of the closed-chain system model is largely dependent on the computation required for the dynamic model of an open kinematic chain. In order to improve computational efficiency, modification of an existing open-chain KIC based dynamic formulation is made by the introduction of the generalized augmented body concept. This algorithm allows a 44 pct. computational saving over the current optimized one (O(N4), 5995 when N = 6). As means of resolving redundancies in advanced robotic systems, local joint torque optimization is applied for effectively using actuator power while avoiding joint torque limits. The stability problem in local joint torque optimization schemes is eliminated by using fictitious dissipating forces which act in the necessary null space. The performance index representing the global torque norm is shown to be satisfactory. In addition, the resulting joint motion trajectory becomes conservative, after a transient stage, for repetitive cyclic end-effector trajectories. The effectiveness of the null space damping method is shown. The modular robot, which is built of well defined structural modules from a finite-size inventory and is controlled by one general computer system, is another class of evolving

  4. Comparison of Flux-Surface Aligned Curvilinear Coordinate Systems and Neoclassical Magnetic Field Predictions

    NASA Astrophysics Data System (ADS)

    Collart, T. G.; Stacey, W. M.

    2015-11-01

    Several methods are presented for extending the traditional analytic ``circular'' representation of flux-surface aligned curvilinear coordinate systems to more accurately describe equilibrium plasma geometry and magnetic fields in DIII-D. The formalism originally presented by Miller is extended to include different poloidal variations in the upper and lower hemispheres. A coordinate system based on separate Fourier expansions of major radius and vertical position greatly improves accuracy in edge plasma structure representation. Scale factors and basis vectors for a system formed by expanding the circular model minor radius can be represented using linear combinations of Fourier basis functions. A general method for coordinate system orthogonalization is presented and applied to all curvilinear models. A formalism for the magnetic field structure in these curvilinear models is presented, and the resulting magnetic field predictions are compared against calculations performed in a Cartesian system using an experimentally based EFIT prediction for the Grad-Shafranov equilibrium. Supported by: US DOE under DE-FG02-00ER54538.

  5. Efficient transformations from geodetic to UTM coordinate systems

    SciTech Connect

    Toms, R.M.

    1996-08-07

    The problem of efficiently performing transformations from geocentric to geodetic coordinates has been addressed at previous DIS (Distributed Interactive Simulation) workshops. This paper extends the work presented at the 14th DIS Workshop. As a consequence of the new algorithm for geocentric to geodetic coordinate conversion, a subsequent conversion to Universal Transverse Mercator coordinates is made considerably more efficient. No additional trigonometric or square root evaluations are required and accuracy is not degraded.

  6. Creating coordination-based cavities in a multiresponsive supramolecular gel.

    PubMed

    Wei, Shi-Chao; Pan, Mei; Fan, Yuan-Zhong; Liu, Haoliang; Zhang, Jianyong; Su, Cheng-Yong

    2015-05-11

    Creating cavities in varying levels, from molecular containers to macroscopic materials of porosity, have long been motivated for biomimetic or practical applications. Herein, we report an assembly approach to multiresponsive supramolecular gels by integrating photochromic metal-organic cages as predefined building units into the supramolecular gel skeleton, providing a new approach to create cavities in gels. Formation of discrete O-Pd2 L4 cages is driven by coordination between Pd(2+) and a photochromic dithienylethene bispyridine ligand (O-PyFDTE). In the presence of suitable solvents (DMSO or MeCN/DMSO), the O-Pd2 L4 cage molecules aggregate to form nanoparticles, which are further interconnected through supramolecular interactions to form a three-dimensional (3D) gel matrix to trap a large amount of solvent molecules. Light-induced phase and structural transformations readily occur owing to the reversible photochromic open-ring/closed-ring isomeric conversion of the cage units upon UV/visible light radiation. Furthermore, such Pd2 L4 cage-based gels show multiple reversible gel-solution transitions when thermal-, photo-, or mechanical stimuli are applied. Such supramolecular gels consisting of porous molecules may be developed as a new type of porous materials with different features from porous solids. PMID:25876958

  7. Synthesis, structural and fungicidal studies of hydrazone based coordination compounds

    NASA Astrophysics Data System (ADS)

    Sharma, Amit Kumar; Chandra, Sulekh

    2013-02-01

    The coordination compounds of the Co(II), Ni(II) and Cu(II) metal ions derived from imine based ligand, benzil bis(carbohydarzone) were structurally and pharmaceutically studied. The compounds have the general stoichiometry [M(L)]X2 and [Co(L)X2], where M = Ni(II) and Cu(II), and X=NO3- and Cl- ions. The analytical techniques like elemental analyses, molar conductance measurements, magnetic susceptibility measurements, IR, UV/Visible, NMR, ESI mass and EPR were used to study the compounds. The key IR bands, i.e., amide I, amide II and amide III stretching vibrations accounts for the tetradentate metal binding nature of the ligand. The electronic and EPR spectral results suggest the square planar Ni(II) and Cu(II) complexes (giso = 2.11-2.22) and tetragonal geometry Co(II) complexes (giso = 2.10-2.17). To explore the compounds in the biological field, they were examined against the opportunistic pathogens, i.e., Alternaria brassicae, Aspergillus niger and Fusarium oxysporum. The partial covalent character of metal-ligand bond is supported by the orbital reduction factor k (0.62-0.92) and nephalauxetic parameter β (0.55-0.57).

  8. Intelligent multiagent coordination based on reinforcement hierarchical neuro-fuzzy models.

    PubMed

    Mendoza, Leonardo Forero; Vellasco, Marley; Figueiredo, Karla

    2014-12-01

    This paper presents the research and development of two hybrid neuro-fuzzy models for the hierarchical coordination of multiple intelligent agents. The main objective of the models is to have multiple agents interact intelligently with each other in complex systems. We developed two new models of coordination for intelligent multiagent systems, which integrates the Reinforcement Learning Hierarchical Neuro-Fuzzy model with two proposed coordination mechanisms: the MultiAgent Reinforcement Learning Hierarchical Neuro-Fuzzy with a market-driven coordination mechanism (MA-RL-HNFP-MD) and the MultiAgent Reinforcement Learning Hierarchical Neuro-Fuzzy with graph coordination (MA-RL-HNFP-CG). In order to evaluate the proposed models and verify the contribution of the proposed coordination mechanisms, two multiagent benchmark applications were developed: the pursuit game and the robot soccer simulation. The results obtained demonstrated that the proposed coordination mechanisms greatly improve the performance of the multiagent system when compared with other strategies. PMID:25406641

  9. Coordinated ground-based and geosynchronous satellite-based measurements of auroral pulsations

    SciTech Connect

    Suszcynsky, David M.; Borovsky, Joseph E.; Thomsen, Michelle F.; McComas, David J.; Belian, Richard D.

    1996-09-01

    We describe a technique that uses a ground-based all-sky video camera and geosynchronous satellite-based plasma and energetic particle detectors to study ionosphere-magnetosphere coupling as it relates to the aurora. The video camera system was deployed in Eagle, Alaska for a seven month period at the foot of the magnetic field line that threads geosynchronous satellite 1989-046. Since 1989-046 corotates with the earth, its footprint remains nearly fixed in the vicinity of Eagle, allowing for routine continuous monitoring of an auroral field line at its intersections with the ground and with geosynchronous orbit. As an example of the utility of this technique, we present coordinated ground-based and satellite based observations during periods of auroral pulsations and compare this data to the predictions of both the relaxation oscillator theory and flow cyclotron maser theory for the generation of pulsating aurorae. The observed plasma and energetic particle characteristics at geosynchronous orbit during pulsating aurorae displays are found to be in agreement with the predictions of both theories lending further support that a cyclotron resonance mechanism is responsible for auroral pulsations.

  10. Analysis of the Throughput of the Cellular Radio-Communication Systems Using Coordinated Data Transmission to Suppress Mutual Unintended Interference

    NASA Astrophysics Data System (ADS)

    Morozov, G. V.; Davydov, A. V.; Mal'tsev, A. A.

    2014-08-01

    We present the results of the comparative analysis of two data-transmission schemes of the fourth-generation cellular communication standard LTE-A, which use the "quasistatic" and "dynamic" coordination at the neighbor base stations. Both schemes are used to suppress mutual unintended co-channel interference resulting from the repeated use of one frequency channel by the neighbor base stations. The general case of the heterogeneous cellular radio-communication system with different station types (macro- and picostations) is considered. In this work, the efficiency of the coordinated-transmission schemes is studied along with the adaptive algorithms for the dataflow planning and control. The use of both coordination schemes is comparatively analyzed. An original algorithm for redistribution of the user connections is proposed for the dynamic scheme and the dependence of the communication-system throughput on the radio-network configuration and the number of base stations, that participate in the coordination is studied.

  11. Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

    NASA Technical Reports Server (NTRS)

    Benson, Elizabeth; Cowley, Matthew S.; Harvill. Lauren; Rajulu, Sudhakar

    2014-01-01

    When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. One of our key functions is to help design engineers understand how a human will perform with new designs and all too often traditional use of Euler rotations becomes as much of a hindrance as a help. It is believed that using a spherical coordinate system will allow ABF personnel to more quickly and easily transmit important mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project is to establish new analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub-projects, meant to validate and verify the method before it was implemented in the ABF's data analysis practices. The first stage was a proof of concept, where a mechanical test rig was built and instrumented with an inclinometer, so that its angle from horizontal was known. The test rig was tracked in 3D using an optical motion capture system, and its position and orientation were reported in both Euler and spherical reference systems. The rig was meant to simulate flexion/extension, transverse rotation and abduction/adduction of the human shoulder, but without the variability inherent in human motion. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would

  12. Coordinated management of combined sewer overflows by means of environmental decision support systems.

    PubMed

    Murla, Damian; Gutierrez, Oriol; Martinez, Montse; Suñer, David; Malgrat, Pere; Poch, Manel

    2016-04-15

    During heavy rainfall, the capacity of sewer systems and wastewater treatment plants may be surcharged producing uncontrolled wastewater discharges and a depletion of the environmental quality. Therefore there is a need of advanced management tools to tackle with these complex problems. In this paper an environmental decision support system (EDSS), based on the integration of mathematical modeling and knowledge-based systems, has been developed for the coordinated management of urban wastewater systems (UWS) to control and minimize uncontrolled wastewater spills. Effectiveness of the EDSS has been tested in a specially designed virtual UWS, including two sewers systems, two WWTP and one river subjected to typical Mediterranean rain conditions. Results show that sewer systems, retention tanks and wastewater treatment plants improve their performance under wet weather conditions and that EDSS can be very effective tools to improve the management and prevent the system from possible uncontrolled wastewater discharges. PMID:26820929

  13. The study of dual camera 3D coordinate vision measurement system using a special probe

    NASA Astrophysics Data System (ADS)

    Liu, Shugui; Peng, Kai; Zhang, Xuefei; Zhang, Haifeng; Huang, Fengshan

    2006-11-01

    Due to high precision and convenient operation, the vision coordinate measurement machine with one probe has become the research focus in visual industry. In general such a visual system can be setup conveniently with just one CCD camera and probe. However, the price of the system will surge up too high to accept while the top performance hardware, such as CCD camera, image captured card and etc, have to be applied in the system to obtain the high axis-oriented measurement precision. In this paper, a new dual CCD camera vision coordinate measurement system based on redundancy principle is proposed to achieve high precision by moderate price. Since two CCD cameras are placed with the angle of camera axis like about 90 degrees to build the system, two sub-systems can be built by each CCD camera and the probe. With the help of the probe the inner and outer parameters of camera are first calibrated, the system by use of redundancy technique is set up now. When axis-oriented error is eliminated within the two sub-systems, which is so large and always exits in the single camera system, the high precision measurement is obtained by the system. The result of experiment compared to that from CMM shows that the system proposed is more excellent in stableness and precision with the uncertainty beyond +/-0.1 mm in xyz orient within the distance of 2m using two common CCD cameras.

  14. Nonlinear joint transmit-receive processing for coordinated multi-cell systems: centralized and decentralized

    NASA Astrophysics Data System (ADS)

    Hu, Zhirui; Feng, Chunyan; Zhang, Tiankui; Niu, Qin; Chen, Yue

    2015-12-01

    This paper proposes a nonlinear joint transmit-receive (tx-rx) processing scheme for downlink-coordinated multi-cell systems with multi-stream multi-antenna users. The nonlinear joint tx-rx processing is formulated as an optimization problem to maximize the minimum signal-to-interference noise ratio (SINR) of streams to guarantee the fairness among streams of each user. Nonlinear Tomlinson-Harashima precoding (THP) is applied at transmitters, and linear receive processing is applied at receivers, to eliminate the inter-user interference and inter-stream interference. We consider multi-cell systems under two coordinated modes: centralized and decentralized, corresponding to systems with high- and low-capacity backhaul links, respectively. For the centralized coordinated mode, transmit and receive processing matrices are jointly determined by the central processing unit based on the global channel state information (CSI) shared by base stations (BSs). For the decentralized coordinated mode, transmit and receive processing matrices are computed independently based on the local CSI at each BS. In correspondence, we propose both a centralized and a decentralized algorithm to solve the optimization problem under the two modes, respectively. Feasibility and computational complexity of the proposed algorithms are also analyzed. Simulation results prove that the proposed nonlinear joint tx-rx processing scheme can achieve user fairness by equalizing the bit error rate (BER) among streams of each user and the proposed scheme outperforms the existing linear joint tx-rx processing. Moreover, consistent with previous research results, performance of the proposed centralized nonlinear joint tx-rx processing scheme is proved to be better than that of the decentralized nonlinear joint tx-rx processing.

  15. The School Health Portfolio System: a new tool for planning and evaluating coordinated school health programs.

    PubMed

    Weiler, Robert M; Pigg, R Morgan

    2004-11-01

    The School Health Portfolio System (SHPS), developed originally to evaluate the Florida Coordinated School Health Program Pilot Schools Project, offers a new and innovative system for planning and evaluating a coordinated school health program at the individual school level. The SHPS provides practitioners a detailed but easy-to-use system that enables schools to create new programs or modify existing programs across all eight components of the CSHP model, as well as administrative support critical to sustainability. The System comes packaged as a self-contained, notebook-style manual divided into 15 sections. It includes electronic templates of key documents to guide school teams in creating a customized portfolio, and a list of sample goals and artifacts that confirm achievement of a goal related to the school's coordinated school health program. An evaluation rubric provides a structured method to assess a program portfolio's contents, and the extent to which the contents document achievement of program goals. The rubric produces both a qualitative assessment, such as a narrative summary of program strengths and areas for improvement, and a quantitative assessment, such as a numerical score (0-100), letter grade (A-F), or 5-star system (*-*****). The physical structure, function, and scoring of the rubric depend on the method of assessment. The SHPS enables schools to set goals based on individual school needs, and incorporate CSHP goals into school improvement plans--a critical factor in sustainability and accountability. The System also offers teams the option of coordinating their efforts with CDC's School Health Index as a companion assessment measure. This article outlines the process a team would follow in developing a portfolio, and includes a sample assessment for the area of School Health Education. PMID:15656262

  16. Homogenisation in project management for large German research projects in the Earth system sciences: overcoming the institutional coordination bias

    NASA Astrophysics Data System (ADS)

    Rauser, Florian; Vamborg, Freja

    2016-04-01

    The interdisciplinary project on High Definition Clouds and Precipitation for advancing climate prediction HD(CP)2 (hdcp2.eu) is an example for the trend in fundamental research in Europe to increasingly focus on large national and international research programs that require strong scientific coordination. The current system has traditionally been host-based: project coordination activities and funding is placed at the host institute of the central lead PI of the project. This approach is simple and has the advantage of strong collaboration between project coordinator and lead PI, while exhibiting a list of strong, inherent disadvantages that are also mentioned in this session's description: no community best practice development, lack of integration between similar projects, inefficient methodology development and usage, and finally poor career development opportunities for the coordinators. Project coordinators often leave the project before it is finalized, leaving some of the fundamentally important closing processes to the PIs. This systematically prevents the creation of professional science management expertise within academia, which leads to an automatic imbalance that hinders the outcome of large research programs to help future funding decisions. Project coordinators in academia often do not work in a professional project office environment that could distribute activities and use professional tools and methods between different projects. Instead, every new project manager has to focus on methodological work anew (communication infrastructure, meetings, reporting), even though the technological needs of large research projects are similar. This decreases the efficiency of the coordination and leads to funding that is effectively misallocated. We propose to challenge this system by creating a permanent, virtual "Centre for Earth System Science Management CESSMA" (cessma.com), and changing the approach from host- based to centre-based. This should

  17. Some notions of decentralization and coordination in large-scale dynamic systems

    NASA Technical Reports Server (NTRS)

    Chong, C. Y.

    1975-01-01

    Some notions of decentralization and coordination in the control of large-scale dynamic systems are discussed. Decentralization and coordination have always been important concepts in the study of large systems. Roughly speaking decentralization is the process of dividing a large problem into subproblems so that it can be handled more easily. Coordination is the manipulation of the subproblem so that the original problem is solved. The various types of decentralization and coordination that have been used to control dynamic systems are discussed. The emphasis was to distinguish between on-line and off-line operations to understand the results available by indicating the aspects of the problem which are decentralized.

  18. A second-order method for interface reconstruction in orthogonal coordinate systems

    SciTech Connect

    Colella, P.; Graves, D.T.; Greenough, J.A.

    2002-01-02

    The authors present a second-order algorithm for reconstructing an interface from a distribution of volume fractions in a general orthogonal coordinate system with derivatives approximated using finite differences. The method approximates the interface curve by a piecewise-linear profile. An integral formulation is used that accounts for the orthogonal coordinate system in a natural way. The authors present results obtained using this method for tracking a material interface between two compressible media in spherical coordinates.

  19. Intelligent multi-agent coordination system for advanced manufacturing

    NASA Astrophysics Data System (ADS)

    Maturana, Francisco P.; Balasubramanian, Sivaram; Norrie, Douglas H.

    1997-12-01

    Global competition and rapidly changing customer requirements are forcing major changes in the production styles and configuration of manufacturing organizations. Agent-based systems are showing considerable potential as a new paradigm for agile manufacturing systems. With this approach, centralized and sequential manufacturing planning, scheduling, and control systems may be replaced by distributed intelligent systems to facilitate flexible and rapid response to changing production styles and variations in product requirements. In this paper, the characteristics and components of such a multi-agent architecture for advanced manufacturing are described. This architecture addresses agility in terms of the ability of the manufacturing system to solve manufacturing tasks using virtual enterprise mechanisms while maintaining concurrent information processing and control.

  20. Stable reduced-order models of generalized dynamical systems using coordinate-transformed Arnoldi algorithms

    SciTech Connect

    Silveira, L.M.; Kamon, M.; Elfadel, I.; White, J.

    1996-12-31

    Model order reduction based on Krylov subspace iterative methods has recently emerged as a major tool for compressing the number of states in linear models used for simulating very large physical systems (VLSI circuits, electromagnetic interactions). There are currently two main methods for accomplishing such a compression: one is based on the nonsymmetric look-ahead Lanczos algorithm that gives a numerically stable procedure for finding Pade approximations, while the other is based on a less well characterized Arnoldi algorithm. In this paper, we show that for certain classes of generalized state-space systems, the reduced-order models produced by a coordinate-transformed Arnoldi algorithm inherit the stability of the original system. Complete Proofs of our results will be given in the final paper.

  1. GEO objects spatial density and collision probability in the Earth-centered Earth-fixed (ECEF) coordinate system

    NASA Astrophysics Data System (ADS)

    Dongfang, Wang; Baojun, Pang; Weike, Xiao; Keke, Peng

    2016-01-01

    The geostationary (GEO) ring is a valuable orbital region contaminated with an alarming number of space debris. Due to its particular orbital characters, the GEO objects spatial distribution is very susceptible to local longitude regions. Therefore the local longitude distribution of these objects in the Earth-centered Earth-fixed (ECEF) coordinate system is much more stable and useful in practical applications than it is in the J2000 inertial coordinate system. In previous studies of space debris environment models, the spatial density is calculated in the J2000 coordinate system, which makes it impossible to identify the spatial distribution in different local longitude regions. For GEO objects, this may bring potent inaccuracy. In order to describe the GEO objects spatial distribution in different local longitude regions, this paper introduced a new method which can provide the spatial density distribution in the ECEF coordinate system. Based on 2014/12/10 two line element (TLE) data provided by the US Space Surveillance Network, the spatial density of cataloged GEO objects are given in the ECEF coordinate system. Combined with the previous studies of "Cube" collision probability evaluation, the GEO region collision probability in the ECEF coordinate system is also given here. The examination reveals that GEO space debris distribution is not uniform by longitude; it is relatively centered about the geopotential wells. The method given in this paper is also suitable for smaller debris in the GEO region. Currently the longitudinal-dependent analysis is not represented in GEO debris models such as ORDEM or MASTER. Based our method the further version of space debris environment engineering model (SDEEM) developed by China will present a longitudinal independent GEO space debris environment description in the ECEF coordinate system.

  2. Intelligent vehicle electrical power supply system with central coordinated protection

    NASA Astrophysics Data System (ADS)

    Yang, Diange; Kong, Weiwei; Li, Bing; Lian, Xiaomin

    2016-05-01

    The current research of vehicle electrical power supply system mainly focuses on electric vehicles (EV) and hybrid electric vehicles (HEV). The vehicle electrical power supply system used in traditional fuel vehicles is rather simple and imperfect; electrical/electronic devices (EEDs) applied in vehicles are usually directly connected with the vehicle's battery. With increasing numbers of EEDs being applied in traditional fuel vehicles, vehicle electrical power supply systems should be optimized and improved so that they can work more safely and more effectively. In this paper, a new vehicle electrical power supply system for traditional fuel vehicles, which accounts for all electrical/electronic devices and complex work conditions, is proposed based on a smart electrical/electronic device (SEED) system. Working as an independent intelligent electrical power supply network, the proposed system is isolated from the electrical control module and communication network, and access to the vehicle system is made through a bus interface. This results in a clean controller power supply with no electromagnetic interference. A new practical battery state of charge (SoC) estimation method is also proposed to achieve more accurate SoC estimation for lead-acid batteries in traditional fuel vehicles so that the intelligent power system can monitor the status of the battery for an over-current state in each power channel. Optimized protection methods are also used to ensure power supply safety. Experiments and tests on a traditional fuel vehicle are performed, and the results reveal that the battery SoC is calculated quickly and sufficiently accurately for battery over-discharge protection. Over-current protection is achieved, and the entire vehicle's power utilization is optimized. For traditional fuel vehicles, the proposed vehicle electrical power supply system is comprehensive and has a unified system architecture, enhancing system reliability and security.

  3. Real-time blind image deconvolution based on coordinated framework of FPGA and DSP

    NASA Astrophysics Data System (ADS)

    Wang, Ze; Li, Hang; Zhou, Hua; Liu, Hongjun

    2015-10-01

    Image restoration takes a crucial place in several important application domains. With the increasing of computation requirement as the algorithms become much more complexity, there has been a significant rise in the need for accelerating implementation. In this paper, we focus on an efficient real-time image processing system for blind iterative deconvolution method by means of the Richardson-Lucy (R-L) algorithm. We study the characteristics of algorithm, and an image restoration processing system based on the coordinated framework of FPGA and DSP (CoFD) is presented. Single precision floating-point processing units with small-scale cascade and special FFT/IFFT processing modules are adopted to guarantee the accuracy of the processing. Finally, Comparing experiments are done. The system could process a blurred image of 128×128 pixels within 32 milliseconds, and is up to three or four times faster than the traditional multi-DSPs systems.

  4. 36 CFR 9.83 - Coordination of AMRAP activities in National Park System units.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 36 Parks, Forests, and Public Property 1 2011-07-01 2011-07-01 false Coordination of AMRAP activities in National Park System units. 9.83 Section 9.83 Parks, Forests, and Public Property NATIONAL PARK... Coordination of AMRAP activities in National Park System units. (a) To facilitate compliance with this...

  5. 36 CFR 9.83 - Coordination of AMRAP activities in National Park System units.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 36 Parks, Forests, and Public Property 1 2014-07-01 2014-07-01 false Coordination of AMRAP activities in National Park System units. 9.83 Section 9.83 Parks, Forests, and Public Property NATIONAL PARK... Coordination of AMRAP activities in National Park System units. (a) To facilitate compliance with this...

  6. 36 CFR 9.83 - Coordination of AMRAP activities in National Park System units.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 36 Parks, Forests, and Public Property 1 2012-07-01 2012-07-01 false Coordination of AMRAP activities in National Park System units. 9.83 Section 9.83 Parks, Forests, and Public Property NATIONAL PARK... Coordination of AMRAP activities in National Park System units. (a) To facilitate compliance with this...

  7. 36 CFR 9.83 - Coordination of AMRAP activities in National Park System units.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 36 Parks, Forests, and Public Property 1 2010-07-01 2010-07-01 false Coordination of AMRAP activities in National Park System units. 9.83 Section 9.83 Parks, Forests, and Public Property NATIONAL PARK... Coordination of AMRAP activities in National Park System units. (a) To facilitate compliance with this...

  8. 36 CFR 9.83 - Coordination of AMRAP activities in National Park System units.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 36 Parks, Forests, and Public Property 1 2013-07-01 2013-07-01 false Coordination of AMRAP activities in National Park System units. 9.83 Section 9.83 Parks, Forests, and Public Property NATIONAL PARK... Coordination of AMRAP activities in National Park System units. (a) To facilitate compliance with this...

  9. Building Management Information Systems to Coordinate Citywide Afterschool Programs: A Toolkit for Cities. Executive Summary

    ERIC Educational Resources Information Center

    Kingsley, Chris

    2012-01-01

    This executive summary describes highlights from the report, "Building Management Information Systems to Coordinate Citywide Afterschool Programs: A Toolkit for Cities." City-led efforts to build coordinated systems of afterschool programming are an important strategy for improving the health, safety and academic preparedness of children and…

  10. Coordinate families for the Schwarzschild geometry based on radial timelike geodesics

    NASA Astrophysics Data System (ADS)

    Finch, Tehani K.

    2015-05-01

    We explore the connections between various coordinate systems associated with observers moving inwardly along radial geodesics in the Schwarzschild geometry. Painlevé-Gullstrand (PG) time is adapted to freely falling observers dropped from rest from infinity; Lake-Martel-Poisson (LMP) time coordinates are adapted to observers who start at infinity with non-zero initial inward velocity; Gautreau-Hoffmann time coordinates are adapted to observers dropped from rest from a finite distance from the black hole horizon. We construct from these an LMP family and a proper-time family of time coordinates, the intersection of which is PG time. We demonstrate that these coordinate families are distinct, but related, one-parameter generalizations of PG time, and show linkage to Lemaître coordinates as well.

  11. Coordinate Families for the Schwarzschild Geometry Based on Radial Timelike Geodesics

    NASA Technical Reports Server (NTRS)

    Finch, Tehani K.

    2015-01-01

    We explore the connections between various coordinate systems associated with observers moving inwardly along radial geodesics in the Schwarzschild geometry. Painleve-Gullstrand (PG) time is adapted to freely falling observers dropped from rest from in nity; Lake-Martel-Poisson (LMP) time coordinates are adapted to observers who start at in nity with non-zero initial inward velocity; Gautreau-Ho mann (GH) time coordinates are adapted to observers dropped from rest from a nite distance from the black hole horizon. We construct from these an LMP family and a propertime family of time coordinates, the intersection of which is PG time. We demonstrate that these coordinate families are distinct, but related, one-parameter generalizations of PG time, and show linkage to Lema^tre coordinates as well.

  12. Natural Systems: MINNEMAST Coordinated Mathematics - Science Series, Unit 29.

    ERIC Educational Resources Information Center

    Bakke, Jeannette; And Others

    This volume is the last in a series of 29 coordinated MINNEMAST units in mathematics and science for kindergarten and the primary grades. Intended for use by third-grade teachers, this unit guide provides a summary and overview of the unit, a list of materials needed, and descriptions of three groups of lessons. The purposes and procedures for…

  13. Heliophysics/Geospace System Observatory: System level science by large-scale space-ground coordination

    NASA Astrophysics Data System (ADS)

    Nishimura, T.; Angelopoulos, V.; Moore, T. E.; Samara, M.

    2015-12-01

    Recent multi-satellite and ground-based network measurements have revealed importance of cross-scale and cross-regional coupling processes for understanding key issues in geospace such as magnetic reconnection, substorms and particle acceleration. In particular, localized and fast plasma transport in a global scale has been recognized to play a fundamental role in regulating evolution of the magnetosphere-ionosphere-thermosphere coupling. Those results call for coordinated measurements multi-missions and facilities in a global scale for understanding global coupling processes in a system level. In fact, the National Research Council recommends to use NASA's existing heliophysics flight missions and NSF's ground-based facilities by forming a network of observing platforms that operate simultaneously to investigate the solar system. This array can be thought of as a single observatory, the Heliophysics/Geospace System Observatory (H/GSO). Motivated by the successful launch of MMS and the healthy status of THEMIS, Van Allen Probes and other missions, we plan a strategic use of existing and upcoming assets in space and ground in the next two years. In the 2015-2016 and 2016-2017 northern winter seasons, MMS will be in the dayside over northern Europe, and THEMIS will be in the nightside over North America. In the 2016 and 2017 southern winter seasons, THEMIS will be in the dayside over the South Pole, and MMS will be in the nightside in the Australian sector. These are favorable configurations for simultaneous day-night coupling measurements of magnetic reconnection and related plasma transport both in space and on the ground, and also provide excellent opportunities for cross-scale coupling, global effects of dayside transients, tail-inner magnetosphere coupling, and other global processes. This presentation will give the current status and plan of the H/GSO and these science targets.

  14. GNSS RTK-networks: The significance and issues to realize a recent reference coordinate system

    NASA Astrophysics Data System (ADS)

    Umnig, Elke; Möller, Gregor; Weber, Robert

    2014-05-01

    The upcoming release of the new global reference frame ITRF2013 will provide high accurate reference station positions and station velocities at the mm- and mm/year level, respectively. ITRF users benefit from this development in various ways. For example, this new frame allows for embedding high accurate GNSS baseline observations to an underlying reference of at least the same accuracy. Another advantage is that the IGS products are fully consistent with this frame and therefore all GNSS based zero-difference positioning results (Precise Point Positioning (PPP)) will be aligned to the ITRF2013. Unfortunately the transistion to a new frame (or just to a new epoch) implies also issues in particular for providers and users of real time positioning services. Thus providers have to perform arrangements, such as the readjustment of the reference station coordinates and the update of the transformation parameters from the homogenous GNSS coordinate frame into the national datum. Finally providers have to inform their clients appropriately about these changes and significant adjustments. Furthermore the aspect of the continental reference frame has to be considered: In Europe the use of the continental reference system/reference frame ETRS89/ETRF2000 is, due to cross-national guidelines, recommend by most national mapping authorities. Subsequently GNSS post-processing applications are degraded by the concurrent use of the reference systems and reference frames, to which terrestrial site coordinates and satellite coordinates are aligned. In this presentation we highlight all significant steps and hurdles which have to be jumped over when introducing a new reference frame from point of view of a typical regional RTK-reference station network provider. This network is located in Austria and parts of the neighbouring countries and consists of about 40 reference stations. Moreover, we discuss the significance of permanently monitoring the stability of the reference network

  15. Use of numerically generated body-fitted coordinate systems for solution of the Navier-Stokes equations

    NASA Technical Reports Server (NTRS)

    Thompson, J. F.; Mastin, C. W.; Thames, F. C.; Shanks, S. P.

    1975-01-01

    A procedure for numerical solution of the time-dependent, two-dimensional incompressible Navier-Stokes equations that can treat the unsteady laminar flow about bodies of arbitrary shape, such as two-dimensional airfoils, multiple airfoils, and submerged hydrofoils, as naturally as it can deal with the flow about simple bodies. The solution is based on a method of automatic numerical generation of a general curvilinear coordinate system with coordinate lines coincident with all boundaries of a general multiconnected region containing any number of arbitrarily shaped bodies. The curvilinear coordinates are generated as the solution of two elliptical partial differential equations with Dirichlet boundary conditions, one coordinate being specified to be constant on each of the boundaries, and a distribution of the other being specified along the boundaries. The solution compares excellently with the Blasius boundary layer solution for the flow past a semiinfinite flat plate.

  16. Unidirectional rotating coordinate rotation digital computer algorithm based on rotational phase estimation

    NASA Astrophysics Data System (ADS)

    Zhang, Chaozhu; Han, Jinan; Yan, Huizhi

    2015-06-01

    The improved coordinate rotation digital computer (CORDIC) algorithm gives high precision and resolution phase rotation, but it has some shortages such as high iterations and big system delay. This paper puts forward unidirectional rotating CORDIC algorithm to solve these problems. First, using under-damping theory, a part of unidirectional phase rotations is carried out. Then, the threshold value of angle is determined based on phase rotation estimation method. Finally, rotation phase estimation completes the rest angle iterations. Furthermore, the paper simulates and implements the numerical control oscillator by Quartus II software and Modelsim software. According to the experimental results, the algorithm reduces iterations and judgment of sign bit, so that it decreases system delay and resource utilization and improves the throughput. We always analyze the error brought by this algorithm. It turned out that the algorithm has a good application prospect in global navigation satellite system and channelized receiver.

  17. Slow-fast effect and generation mechanism of brusselator based on coordinate transformation

    NASA Astrophysics Data System (ADS)

    Li, Xianghong; Hou, Jingyu; Shen, Yongjun

    2016-08-01

    The Brusselator with different time scales, which behaves in the classical slow-fast effect, is investigated, and is characterized by the coupling of the quiescent and spiking states. In order to reveal the generation mechanism by using the slow-fast analysis method, the coordinate transformation is introduced into the classical Brusselator, so that the transformed system can be divided into the fast and slow subsystems. Furthermore, the stability condition and bifurcation phenomenon of the fast subsystem are analyzed, and the attraction domains of different equilibria are presented by theoretical analysis and numerical simulation respectively. Based on the transformed system, it could be found that the generation mechanism between the quiescent and spiking states is Fold bifurcation and change of the attraction domain of the fast subsystem. The results may also be helpful to the similar system with multiple time scales.

  18. Unidirectional rotating coordinate rotation digital computer algorithm based on rotational phase estimation.

    PubMed

    Zhang, Chaozhu; Han, Jinan; Yan, Huizhi

    2015-06-01

    The improved coordinate rotation digital computer (CORDIC) algorithm gives high precision and resolution phase rotation, but it has some shortages such as high iterations and big system delay. This paper puts forward unidirectional rotating CORDIC algorithm to solve these problems. First, using under-damping theory, a part of unidirectional phase rotations is carried out. Then, the threshold value of angle is determined based on phase rotation estimation method. Finally, rotation phase estimation completes the rest angle iterations. Furthermore, the paper simulates and implements the numerical control oscillator by Quartus II software and Modelsim software. According to the experimental results, the algorithm reduces iterations and judgment of sign bit, so that it decreases system delay and resource utilization and improves the throughput. We always analyze the error brought by this algorithm. It turned out that the algorithm has a good application prospect in global navigation satellite system and channelized receiver. PMID:26133856

  19. Quantum mechanical fragment methods based on partitioning atoms or partitioning coordinates.

    PubMed

    Wang, Bo; Yang, Ke R; Xu, Xuefei; Isegawa, Miho; Leverentz, Hannah R; Truhlar, Donald G

    2014-09-16

    atoms for capping dangling bonds, and we have shown that they can greatly improve the accuracy. Finally we present a new approach that goes beyond QM/MM by combining the convenience of molecular mechanics with the accuracy of fitting a potential function to electronic structure calculations on a specific system. To make the latter practical for systems with a large number of degrees of freedom, we developed a method to interpolate between local internal-coordinate fits to the potential energy. A key issue for the application to large systems is that rather than assigning the atoms or monomers to fragments, we assign the internal coordinates to reaction, secondary, and tertiary sets. Thus, we make a partition in coordinate space rather than atom space. Fits to the local dependence of the potential energy on tertiary coordinates are arrayed along a preselected reaction coordinate at a sequence of geometries called anchor points; the potential energy function is called an anchor points reactive potential. Electrostatically embedded fragment methods and the anchor points reactive potential, because they are based on treating an entire system by quantum mechanical electronic structure methods but are affordable for large and complex systems, have the potential to open new areas for accurate simulations where combined QM/MM methods are inadequate. PMID:24841937

  20. [Polar coordinates representation based leukocyte segmentation of microscopic cell images].

    PubMed

    Gu, Guanghua; Cui, Dong; Hao, Lianwang

    2010-12-01

    We propose an algorithm for segmentation of the overlapped leukocyte in the microscopic cell image. The histogram of the saturation channel in the cell image is smoothed to obtain the meaningful global valley point by the fingerprint smoothing method, and then the nucleus can be segmented. A circular region, containing the entire regions of the leukocyte, is marked off according to the equivalent sectional radius of the nucleus. Then, the edge of the overlapped leukocyte is represented by polar coordinates. The overlapped region by the change of the polar angle of the edge pixels is determined, and the closed edge of the leukocyte integrating the gradient information of the overlapped region is reconstructed. Finally, the leukocyte is exactly extracted. The experimental results show that our method has good performance in terms of recall ratio, precision ratio and pixel error ratio. PMID:21374971

  1. Use of global positioning system measurements to determine geocentric coordinates and variations in Earth orientation

    NASA Technical Reports Server (NTRS)

    Malla, R. P.; Wu, S.-C.; Lichten, S. M.

    1993-01-01

    Geocentric tracking station coordinates and short-period Earth-orientation variations can be measured with Global Positioning System (GPS) measurements. Unless calibrated, geocentric coordinate errors and changes in Earth orientation can lead to significant deep-space tracking errors. Ground-based GPS estimates of daily and subdaily changes in Earth orientation presently show centimeter-level precision. Comparison between GPS-estimated Earth-rotation variations, which are the differences between Universal Time 1 and Universal Coordinated Time (UT1-UTC), and those calculated from ocean tide models suggests that observed subdaily variations in Earth rotation are dominated by oceanic tidal effects. Preliminary GPS estimates for the geocenter location (from a 3-week experiment) agree with independent satellite laser-ranging estimates to better than 10 cm. Covariance analysis predicts that temporal resolution of GPS estimates for Earth orientation and geocenter improves significantly when data collected from low Earth-orbiting satellites as well as from ground sites are combined. The low Earth GPS tracking data enhance the accuracy and resolution for measuring high-frequency global geodynamical signals over time scales of less than 1 day.

  2. Let's move to spheres! Why a spherical coordinate system is rewarding when analyzing particle increment statistics

    NASA Astrophysics Data System (ADS)

    Most, Sebastian; Nowak, Wolfgang; Bijeljic, Branko

    2016-04-01

    For understanding non-Fickian transport in porous media, thorough understanding of pore-scale processes is required. When using particle methods as research instruments, we need a detailed understanding of the dependence and memory between subsequent increments in particle motion. We are especially interested in the dependence and memory of the spatial increments (size and direction) at consecutive time steps. Understanding the increment statistics is crucial for the upscaling that always becomes essential for transport simulations at larger scales. Upscaling means averaging over a (representative elementary) volume to save limited computational resources. However, this averaging means a loss of detail and therefore dispersion models should compensate for this loss. Formulating an appropriate dispersion model requires a detailed understanding of the dependencies and memory effects in the transport process. Particle-based simulations for transport in porous media are usually conducted and analyzed in a Cartesian coordinate system. We will show that, for understanding the process physically and representing the process statistically, it is more appropriate to switch to a spherical coordinate system that moves with each particle. Increment statistics in a Cartesian coordinate system usually reveal that a large displacement in longitudinal direction triggers a large displacement in transverse direction as fast flow channels are not perfectly aligned with the Cartesian axis along the main flow direction. We can overcome this inherent link, typical for the Cartesian description by using the absolute displacements together with the direction of the particle movement, where the direction is determined by the angles azimuth and elevation. This can be understood as a Lagrangian spherical process description. The root of the dependence of the transport process is in the complex pore geometry. For some time past, high-resolution micro-CT scans of pore space geometry became the

  3. Movement Coordination during Conversation

    PubMed Central

    Latif, Nida; Barbosa, Adriano V.; Vatiokiotis-Bateson, Eric; Castelhano, Monica S.; Munhall, K. G.

    2014-01-01

    Behavioral coordination and synchrony contribute to a common biological mechanism that maintains communication, cooperation and bonding within many social species, such as primates and birds. Similarly, human language and social systems may also be attuned to coordination to facilitate communication and the formation of relationships. Gross similarities in movement patterns and convergence in the acoustic properties of speech have already been demonstrated between interacting individuals. In the present studies, we investigated how coordinated movements contribute to observers’ perception of affiliation (friends vs. strangers) between two conversing individuals. We used novel computational methods to quantify motor coordination and demonstrated that individuals familiar with each other coordinated their movements more frequently. Observers used coordination to judge affiliation between conversing pairs but only when the perceptual stimuli were restricted to head and face regions. These results suggest that observed movement coordination in humans might contribute to perceptual decisions based on availability of information to perceivers. PMID:25119189

  4. Supply coordination based on bonus policy in assembly under uncertain delivery time

    NASA Astrophysics Data System (ADS)

    Li, Guo; Liu, Mengqi; Wang, Zhaohua; Peng, Bingzong

    2013-03-01

    The existing research of supply coordination under uncertain delivery time mainly focuses on the collaboration between the supplier and the manufacturer, which aim at minimizing the total cost of each side and finding comparative optimal solutions under decentralized decision. In the supply coordination, the collaboration between suppliers in assembly system is usually not considered. As a result, the manufacturer's production is often delayed due to mismatching delivery of components between suppliers. Therefore, to ensure supply coordination in assembly system, collaboration between suppliers should be taken into consideration. In this paper, an assembly system with two suppliers and one manufacturer under uncertain delivery time is considered. The model is established and optimal solution is given under decentralized decision. Furthermore, the cost functions of two suppliers are both convex, and a unique Nash equilibrium exists between two suppliers. Then the optimal decision under supply coordination is analyzed, which is regarded as a benchmark for supply coordination. Additionally, the total cost of the assembly system is jointly convex in agreed delivery time. To achieve supply coordination a bonus policy is explored in the assembly system under uncertain delivery time, and the total cost under bonus policy must be lower than under decentralized decision. Finally the numerical and sensitivity analysis shows the cost of assembly system under bonus policy equals that under supply coordination, and the cost of each side in assembly system under bonus policy is lower compared to that under decentralized decision. The proposed research minimizes the total cost of each side with bonus policy in assembly system, ensures the supply coordination between suppliers and the manufacturer, and improves the competiveness of the whole supply chain.

  5. An adaptive control scheme for coordinated multimanipulator systems

    SciTech Connect

    Jonghann Jean; Lichen Fu . Dept. of Electrical Engineering)

    1993-04-01

    The problem of adaptive coordinated control of multiple robot arms transporting an object is addressed. A stable adaptive control scheme for both trajectory tracking and internal force control is presented. Detailed analyses on tracking properties of the object position, velocity and the internal forces exerted on the object are given. It is shown that this control scheme can achieve satisfactory tracking performance without using the measurement of contact forces and their derivatives. It can be shown that this scheme can be realized by decentralized implementation to reduce the computational burden. Moreover, some efficient adaptive control strategies can be incorporated to reduce the computational complexity.

  6. A generalized orthogonal coordinate system for describing families of axisymmetric and two-dimensional bodies

    NASA Technical Reports Server (NTRS)

    Gnoffo, P. A.

    1977-01-01

    A generalized curvilinear orthogonal coordinate system is presented which can be used for approximating various axisymmetric and two-dimensional body shapes of interest to aerodynamicists. Such body shapes include spheres, ellipses, spherically capped cones, flat-faced cylinders with rounded corners, circular disks, and planetary probe vehicles. A set of transformation equations is also developed whereby a uniform velocity field approaching a body at any angle of attack can be resolved in the transformed coordinate system. The Navier-Stokes equations are written in terms of a generalized orthogonal coordinate system to show the resultant complexity of the governing equations.

  7. Epigenetic coordination of acute systemic inflammation: potential therapeutic targets

    PubMed Central

    Vachharajani, Vidula; Liu, Tiefu; McCall, Charles E.

    2015-01-01

    Epigenetic reprogramming of thousands of genes directs the course of acute systemic inflammation, which is highly lethal when dysregulated during sepsis. No molecular-based treatments for sepsis are available. A new concept supports that sepsis is an immunometabolic disease and that loss of control of nuclear epigenetic regulator Sirtuin 1 (SIRT-1), a NAD+ sensor directs immune and metabolic pathways during sepsis. SIRT-1, acting as homeostasis checkpoint, controls hyper and hypo inflammatory responses of sepsis at the microvascular interface, which disseminates inflammatory injury to cause multiple organ failure. Modifying SIRT-1 activity, which can prevent or treat established sepsis in mice, may provide a new way treat sepsis by epigenetically restoring immunometabolic homeostasis. PMID:25088223

  8. A new coordinated control strategy for boiler-turbine system of coal-fired power plant

    SciTech Connect

    Li, S.Y.; Liu, H.B.; Cai, W.J.; Soh, Y.C.; Xie, L.H.

    2005-11-01

    This paper presents the new development of the boiler-turbine coordinated control strategy using fuzzy reasoning and autotuning techniques. The boiler-turbine system is a very complex process that is a multivariable, nonlinear, slowly time-varying plant with large settling time and a lot of uncertainties. As there exist strong couplings between the main steam pressure control loop and the power output control loop in the boiler-turbine unit with large time-delay and uncertainties, automatic coordinated control of the two loops is a very challenging problem. This paper presents a new coordinated control strategy (CCS) which is organized into two levels: a basic control level and a high supervision level. Proportional-integral derivative (PID) type controllers are used in the basic level to perform basic control functions while the decoupling between two control loops can be realized in the high level. A special subclass of fuzzy inference systems, called the Gaussian partition with evenly (GPE) spaced midpoints systems, is used to self-tune the main steam pressure PID controller's parameters online based on the error signal and its first difference, aimed at overcoming the uncertainties due to changing fuel calorific value, machine wear, contamination of the boiler heating surfaces and plant modeling errors. For the large variation of operating condition, a supervisory control level has been developed by autotuning technique. The developed CCS has been implemented in a power plant in China, and satisfactory industrial operation results demonstrate that the proposed control strategy has enhanced the adaptability and robustness of the process. Indeed, better control performance and economic benefit have been achieved.

  9. Columbia River Coordinated Information System (CIS); Information Needs, 1992 Technical Report.

    SciTech Connect

    Petrosky, Charlie; Kinney, William J.; Rowe, Mike

    1993-05-01

    Successful application of adaptive management to rebuilding the Columbia Basin`s anadromous fish resources requires that available information and experience be organized and shared between numerous organizations and individuals. Much of this knowledge exists only in unpublished form in agency and individual files. Even that information which is published in the form of technical and contract reports receives only limited distribution and is often out of print and unavailable after a few years. Only a small fraction of the basin`s collective knowledge is captured in permanent and readily available databases and recognized journals. State, tribal, and federal fishery managers have recognize these information management problems and have committed to a program, the Coordinated Information System Project, to capture and share more easily the core data and other information upon which management decisions are based. That project is now completing the process of scoping and identification of information needs. Construction of prototype systems will begin in 1992. This report is one in a series of seven describing the results of the Coordinated Information on System scoping and needs identification phase.

  10. Geographic asymmetries of the Viking auroral distribution: Implications for ionospheric coordinate systems

    SciTech Connect

    Hearn, D.J.; Elphinstone, R.D.; Murphree, J.S.; Cogger, L.L. )

    1993-02-01

    Viking images of the auroral distribution have been used to investigate the relevance of various ionospheric coordinate systems. An important aspect of the large-scale auroral shape is its dependence on the asymmetries of the Earth's internal field. Model predictions of where the aurora occurs, using the equatorial plane's volume current density, agree with observations and imply that the internal field plays a more important role that generally believed. Historically, the belief that the internal field has only small effects seems to stem from the widespread use of the corrected geomagnetic and invariant coordinate systems. These systems involve the mapping of field lines and have advantages in statistical studies and comparisons; less sophisticated systems such as the eccentric dipole coordinate system should be used in individual studies and in studies involving differentiation or integration of some observational parameters. Observations of the auraoral distribution are give to illustrate the universal time, tilt angle, and Kp variability in different coordinate systems and demonstrate that the dominant variability of the aurora is due to internal field asymmetries. A new set of coordinate systems are briefly developed as examples of how to incorporate external field models into studies of auraoral images. It is proposed that the one of these coordinate systems can be used as a test of how well an external field model can match observed auroral distributions. 19 refs., 1 tab.

  11. Survey of the Child Neurology Program Coordinator Association: Workforce Issues and Readiness for the Next Accreditation System.

    PubMed

    Feist, Terri B; Campbell, Julia L; LaBare, Julie A; Gilbert, Donald L

    2016-03-01

    In preparation for the implementation of the Next Accreditation System in Child Neurology, the authors organized the first meeting of child neurology program coordinators in October 2014. A workforce and program-readiness survey was conducted initially. Coordinator job titles varied widely. Most respondents (65%) managed 1 or more fellowships plus child neurology residency. Most had worked in graduate medical education less than 5 years (53%), with no career path (88%), supervised by someone without graduate medical education experience (85%), in divisions where faculty knowledge was judged inadequate (72%). A small proportion of programs had established clinical competency committee policies (28%) and was ready to implement milestone-based evaluations (56%). A post-conference survey demonstrated substantial improvements in relevant skills. The complexity of residency program management in the Next Accreditation System era supports substantive modifications to the program coordinator role. Such changes should include defined career pathway, managerial classification, administrative support, and continuing education. PMID:26116383

  12. The Study of Seasonal Changes of Permanent Stations Coordinates based on Weekly EPN Solutions

    NASA Astrophysics Data System (ADS)

    Maciuk, Kamil

    2016-03-01

    Daily and weekly coordinates solutions of GNSS permanent stations operating within EPN network allows to track long-term changes of coordinates caused e.g. by the local and global movements of tectonic plates. They are therefore an excellent tool for testing stability and repeatability of stations position. The article presents an analysis of coordinates changes of selected reference stations based on weekly EPN solutions. In addition the author proposes parameters of approximating function by assuming an existence of periodic, annually repeatable trend. The author performed also an independent fitting function for two different periods of two ITRF frames of routine time analysis and reprocessing.

  13. Resolution enhancement of passive microwave images from geostationary Earth orbit via a projective sphere coordinate system

    NASA Astrophysics Data System (ADS)

    Liu, Dawei; Liu, Kai; Lv, Changchun; Miao, Jungang

    2014-01-01

    A projective sphere coordinate system in a Wiener filter method to improve the performance of resolution enhancement for microwave radiometer data of a geostationary Earth orbit (GEO) satellite is proposed. Because of the impact of Earth's curvature on remote sensing measurement, the footprint of microwave radiometer is varied while scanning, especially in positions far from subsatellite point. The deconvolution technique used in the microwave radiometer measurements from Earth directly is therefore inaccurate because microwave measurement under this situation cannot be considered as a convolution process. To ameliorate the deconvolution method, a projective spherical coordinate system that enforces the footprint of a microwave radiometer invariant on the surface of a spherical coordinate system in measurements is presented in this article. The performance of the projective coordinate system is evaluated by GEO satellite simulated observations. The simulation results show that the proposed method produces better resolution enhancement, especially in the position where the footprint of the microwave radiometer is seriously influenced by Earth curvature.

  14. A new method based on the subpixel Gaussian model for accurate estimation of asteroid coordinates

    NASA Astrophysics Data System (ADS)

    Savanevych, V. E.; Briukhovetskyi, O. B.; Sokovikova, N. S.; Bezkrovny, M. M.; Vavilova, I. B.; Ivashchenko, Yu. M.; Elenin, L. V.; Khlamov, S. V.; Movsesian, Ia. S.; Dashkova, A. M.; Pogorelov, A. V.

    2015-08-01

    We describe a new iteration method to estimate asteroid coordinates, based on a subpixel Gaussian model of the discrete object image. The method operates by continuous parameters (asteroid coordinates) in a discrete observational space (the set of pixel potentials) of the CCD frame. In this model, the kind of coordinate distribution of the photons hitting a pixel of the CCD frame is known a priori, while the associated parameters are determined from a real digital object image. The method that is developed, which is flexible in adapting to any form of object image, has a high measurement accuracy along with a low calculating complexity, due to the maximum-likelihood procedure that is implemented to obtain the best fit instead of a least-squares method and Levenberg-Marquardt algorithm for minimization of the quadratic form. Since 2010, the method has been tested as the basis of our Collection Light Technology (COLITEC) software, which has been installed at several observatories across the world with the aim of the automatic discovery of asteroids and comets in sets of CCD frames. As a result, four comets (C/2010 X1 (Elenin), P/2011 NO1(Elenin), C/2012 S1 (ISON) and P/2013 V3 (Nevski)) as well as more than 1500 small Solar system bodies (including five near-Earth objects (NEOs), 21 Trojan asteroids of Jupiter and one Centaur object) have been discovered. We discuss these results, which allowed us to compare the accuracy parameters of the new method and confirm its efficiency. In 2014, the COLITEC software was recommended to all members of the Gaia-FUN-SSO network for analysing observations as a tool to detect faint moving objects in frames.

  15. Advancing Coordinated Care in Four Provincial Healthcare Systems: Evaluating a Knowledge-Exchange Intervention

    PubMed Central

    Lyons, Renee; Parker, Victoria; Phillips, Stephen

    2011-01-01

    Objectives: This research project created and evaluated a knowledge-exchange intervention designed to facilitate an increase in organizational readiness for implementing coordinated stroke care in four primarily rural provincial healthcare systems. Intervention: Knowledge brokers were linked to networks within, across and outside the provinces to support, inform and disseminate best practice recommendations for coordinated stroke care within the provincial healthcare systems. Findings: The intervention increased awareness and dissemination of recommendations, which stimulated the implementation of coordinated stroke care. Similar knowledge-exchange interventions might work in other healthcare jurisdictions with similar demographics, to promote evidence-informed improvements in healthcare. PMID:22851988

  16. The quantization of the radii of coordination spheres cubic crystals and cluster systems

    NASA Astrophysics Data System (ADS)

    Melnikov, G.; Emelyanov, S.; Ignatenko, N.; Ignatenko, G.

    2016-02-01

    The article deals with the creation of an algorithm for calculating the radii of coordination spheres and coordination numbers cubic crystal structure and cluster systems in liquids. Solution has important theoretical value since it allows us to calculate the amount of coordination in the interparticle interaction potentials, to predict the processes of growth of the crystal structures and processes of self-organization of particles in the cluster system. One option accounting geometrical and quantum factors is the use of the Fibonacci series to construct a consistent number of focal areas for cubic crystals and cluster formation in the liquid.

  17. Improved Power System Stability Using Backtracking Search Algorithm for Coordination Design of PSS and TCSC Damping Controller.

    PubMed

    Niamul Islam, Naz; Hannan, M A; Mohamed, Azah; Shareef, Hussain

    2016-01-01

    Power system oscillation is a serious threat to the stability of multimachine power systems. The coordinated control of power system stabilizers (PSS) and thyristor-controlled series compensation (TCSC) damping controllers is a commonly used technique to provide the required damping over different modes of growing oscillations. However, their coordinated design is a complex multimodal optimization problem that is very hard to solve using traditional tuning techniques. In addition, several limitations of traditionally used techniques prevent the optimum design of coordinated controllers. In this paper, an alternate technique for robust damping over oscillation is presented using backtracking search algorithm (BSA). A 5-area 16-machine benchmark power system is considered to evaluate the design efficiency. The complete design process is conducted in a linear time-invariant (LTI) model of a power system. It includes the design formulation into a multi-objective function from the system eigenvalues. Later on, nonlinear time-domain simulations are used to compare the damping performances for different local and inter-area modes of power system oscillations. The performance of the BSA technique is compared against that of the popular particle swarm optimization (PSO) for coordinated design efficiency. Damping performances using different design techniques are compared in term of settling time and overshoot of oscillations. The results obtained verify that the BSA-based design improves the system stability significantly. The stability of the multimachine power system is improved by up to 74.47% and 79.93% for an inter-area mode and a local mode of oscillation, respectively. Thus, the proposed technique for coordinated design has great potential to improve power system stability and to maintain its secure operation. PMID:26745265

  18. Improved Power System Stability Using Backtracking Search Algorithm for Coordination Design of PSS and TCSC Damping Controller

    PubMed Central

    Niamul Islam, Naz; Hannan, M. A.; Mohamed, Azah; Shareef, Hussain

    2016-01-01

    Power system oscillation is a serious threat to the stability of multimachine power systems. The coordinated control of power system stabilizers (PSS) and thyristor-controlled series compensation (TCSC) damping controllers is a commonly used technique to provide the required damping over different modes of growing oscillations. However, their coordinated design is a complex multimodal optimization problem that is very hard to solve using traditional tuning techniques. In addition, several limitations of traditionally used techniques prevent the optimum design of coordinated controllers. In this paper, an alternate technique for robust damping over oscillation is presented using backtracking search algorithm (BSA). A 5-area 16-machine benchmark power system is considered to evaluate the design efficiency. The complete design process is conducted in a linear time-invariant (LTI) model of a power system. It includes the design formulation into a multi-objective function from the system eigenvalues. Later on, nonlinear time-domain simulations are used to compare the damping performances for different local and inter-area modes of power system oscillations. The performance of the BSA technique is compared against that of the popular particle swarm optimization (PSO) for coordinated design efficiency. Damping performances using different design techniques are compared in term of settling time and overshoot of oscillations. The results obtained verify that the BSA-based design improves the system stability significantly. The stability of the multimachine power system is improved by up to 74.47% and 79.93% for an inter-area mode and a local mode of oscillation, respectively. Thus, the proposed technique for coordinated design has great potential to improve power system stability and to maintain its secure operation. PMID:26745265

  19. Molecular tectonics: heterometallic coordination networks based on a Pt(II) organometallic metallatecton.

    PubMed

    Zigon, Nicolas; Kyritsakas, Nathalie; Hosseini, Mir Wais

    2015-08-28

    Combinations of a neutral organometallic tecton based on a square planar Pt(ii) complex bearing two triphenylphosphine groups and two 4-ethynylpyridyl coordinating moieties in trans positions, with various metal halides (MX2, M = Co(ii), Ni(ii), Cd(ii), X = Cl(-) or Br(-)) lead to the formation of 2D grid type heterobimetallic coordination networks in the crystalline phase. PMID:26204438

  20. A joint coordinate system proposal for the study of the trapeziometacarpal joint kinematics.

    PubMed

    Cheze, L; Dumas, R; Comtet, J J; Rumelhart, C; Fayet, M

    2009-06-01

    The International Society of Biomechanics (ISB) has recommended a standardisation for the motion reporting of almost all human joints. This study proposes an adaptation for the trapeziometacarpal joint. The definition of the segment coordinate system of both trapezium and first metacarpal is based on functional anatomy. The definition of the joint coordinate system (JCS) is guided by the two degrees of freedom of the joint, i.e. flexion-extension about a trapezium axis and abduction-adduction about a first metacarpal axis. The rotations obtained using three methods are compared on the same data: the fixed axes sequence proposed by Cooney et al., the mobile axes sequence proposed by the ISB and our alternative mobile axes sequence. The rotation amplitudes show a difference of 9 degrees in flexion-extension, 2 degrees in abduction-adduction and 13 degrees in internal-external rotation. This study emphasizes the importance of adapting the JCS to the functional anatomy of each particular joint. PMID:18853290

  1. Columbia River Coordinated Information System (CIS); Data Catalog, 1992 Technical Report.

    SciTech Connect

    O'Connor, Dick; Allen, Stan; Reece, Doug

    1993-05-01

    The Columbia River Coordinated Information system (CIS) Project started in 1989 to address regional data sharing. Coordinated exchange and dissemination of any data must begin with dissemination of information about those data, such as: what is available; where the data are stored; what form they exist in; who to contact for further information or access to these data. In Phase II of this Project (1991), a Data Catalog describing the contents of regional datasets and less formal data collections useful for system monitoring and evaluation projects was built to improve awareness of their existence. Formal datasets are described in a `Dataset Directory,` while collections of data are Used to those that collect such information in the `Data Item Directory.` The Data Catalog will serve regional workers as a useful reference which centralizes the institutional knowledge of many data contacts into a single source. Recommendations for improvement of the Catalog during Phase III of this Project include addressing gaps in coverage, establishing an annual maintenance schedule, and loading the contents into a PC-based electronic database for easier searching and cross-referencing.

  2. An alternative definition of the scapular coordinate system for use with RSA.

    PubMed

    Kedgley, Angela E; Dunning, Cynthia E

    2010-05-28

    When performing radiostereometric analysis (RSA), computed tomography scans are often taken to obtain the landmarks used to create anatomical coordinate systems (CSs) for quantifying joint kinematics. Different conventions for defining CSs lead to an inability to compare results among studies. The International Society of Biomechanics (ISB) has proposed a set of CSs; however, the landmarks needed to create the recommended scapular CS require the entire scapula to be scanned, thereby also exposing breast and other tissues to radiation. The main purpose of this work was to investigate an alternate definition of the CS that has repeatably attainable landmarks and axes as close as possible to those recommended by the ISB, while limiting the portion of the scapula requiring scanning. Intra- and inter-investigator variabilities of landmark digitization were quantified in one model of a scapula and one cadaveric specimen. Based on the variability of the digitizations, an alternative CS was defined. The differences between the ISB and alternative CSs were evaluated on 11 cadaveric specimens. Beaded biplanar RSA was performed on the glenohumeral joint model in 15 different configurations and the resulting kinematics were calculated for each set of landmark digitizations using both sets of coordinate systems. While the kinematic angles obtained using the alternative CS were statistically different from those obtained using the ISB standard, these differences were small (on the order of 5 degrees) and therefore considered to be of little clinical significance. In all likelihood, the benefits of decreasing radiation exposure outweigh these differences in angles. PMID:20181341

  3. From Here to Transformation: Phase II in the Implementation of Missouri's Telecommunications-based Delivery System for Higher Education. Report Presented to the Missouri Coordinating Board for Higher Education by the CBHE Telecommunications Advisory Group.

    ERIC Educational Resources Information Center

    Southwest Missouri State Univ., Springfield.

    This report represents phase two in the development of Missouri's telecommunications-based delivery system for postsecondary education. The 1996 report challenged the state's public and independent colleges and universities to use inter-institutional partnering and emerging telecommunications technologies to improve citizens' access to education.…

  4. Bioinspired Coordinated Path Following for Vessels with Speed Saturation Based on Virtual Leader

    PubMed Central

    Fu, Mingyu

    2016-01-01

    This paper investigates the coordinated path following of multiple marine vessels with speed saturation. Based on virtual leader strategy, the authors show how the neural dynamic model and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader, whose controller is designed based on the biological neural shunting model. Utilizing the characteristic of bounded and smooth output of neural dynamic model, the tracking error jump is avoided and speed saturation problem is solved in straight path. Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point. The consensus of formation reference point is realized by using the synchronization controller based on passivity. Finally, simulation results validate the effectiveness of the proposed coordinated algorithm. PMID:27034652

  5. Proton exchange in acid-base complexes induced by reaction coordinates with heavy atom motions

    NASA Astrophysics Data System (ADS)

    Alavi, Saman; Taghikhani, Mahdi

    2012-06-01

    We extend previous work on nitric acid-ammonia and nitric acid-alkylamine complexes to illustrate that proton exchange reaction coordinates involve the rocking motion of the base moiety in many double hydrogen-bonded gas phase strong acid-strong base complexes. The complexes studied involve the biologically and atmospherically relevant glycine, formic, acetic, propionic, and sulfuric acids with ammonia/alkylamine bases. In these complexes, the magnitude of the imaginary frequencies associated with the proton exchange transition states are <400 cm-1. This contrasts with widely studied proton exchange reactions between symmetric carboxylic acid dimers or asymmetric DNA base pair and their analogs where the reaction coordinate is localized in proton motions and the magnitude of the imaginary frequencies for the transition states are >1100 cm-1. Calculations on complexes of these acids with water are performed for comparison. Variations of normal vibration modes along the reaction coordinate in the complexes are described.

  6. Luminescent Europium(III) Coordination Zippers Linked with Thiophene-Based Bridges.

    PubMed

    Hirai, Yuichi; Nakanishi, Takayuki; Kitagawa, Yuichi; Fushimi, Koji; Seki, Tomohiro; Ito, Hajime; Hasegawa, Yasuchika

    2016-09-19

    Novel Eu(III) coordination polymers [Eu(hfa)3 (dpt)]n (dpt: 2,5-bis(diphenylphosphoryl)thiophene) and [Eu(hfa)3 (dpedot)]n (dpedot: 2,5-bis(diphenylphosphoryl)ethylenedioxythiophene) with hydrogen-bonded zipper structures are reported. The coordination polymers are composed of Eu(III) ions, hexafluoroacetylacetonato ligands, and thiophene-based phosphine oxide bridges. The zig-zag orientation of single polymer chains induced the formation of densely packed coordination structures with multiple intermolecular interactions, resulting in thermal stability above 300 °C. They exhibit a high intrinsic emission quantum yield (ca. 80 %) due to their asymmetrical and low-vibrational coordination structures around Eu(III) ions. Furthermore, the characteristic alternative orientation of substituents also contributes to the dramatically high ligand-to-metal energy transfer efficiencies of up to 80 % in the solid state. PMID:27554795

  7. Coordinated joint motion control system with position error correction

    DOEpatents

    Danko, George L.

    2016-04-05

    Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

  8. Coordinated joint motion control system with position error correction

    DOEpatents

    Danko, George

    2011-11-22

    Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

  9. Machine perception and intelligent control architecture for multirobot coordination based on biological principles

    NASA Astrophysics Data System (ADS)

    Thomopoulos, Stelios C.; Braught, Grant

    1996-10-01

    Intelligent control, inspired by biological and AI (artificial intelligence) principles, has increased the understanding of controlling complex processes without precise mathematical model of the controlled process. Through customized applications, intelligent control has demonstrated that it is a step in the right direction. However, intelligent control has yet to provide a complete solution to the problem of integrated manufacturing systems via intelligent reconfiguration of the robotics systems. The aim of this paper is to present an intelligent control architecture and design methodology based on biological principles that govern self-organization of autonomous agents. Two key structural elements of the proposed control architecture have been tested individually on key pilot applications and shown promising results. The proposed intelligent control design is inspired by observed individual and collective biological behavior in colonies of living organisms that are capable of self-organization into groups of specialized individuals capable of collectively achieving a set of prescribed or emerging objectives. The nervous and brain system in the proposed control architecture is based on reinforcement learning principles and conditioning and modeled using adaptive neurocontrollers. Mathematical control theory (e.g. optimal control, adaptive control, and neurocontrol) is used to coordinate the interactions of multiple robotics agents.

  10. The insulation coordination and surge arrester design for HTS cable system in Icheon substation

    NASA Astrophysics Data System (ADS)

    Lee, Hansang; Yoon, Dong-Hee; Lee, Seung-Ryul; Yang, Byeong-Mo; Jang, Gilsoo

    2013-01-01

    This paper proposes an insulation coordination and surge arrester design for HTS (High-Temperature Superconducting) cable system in Icheon substation in Korea. In the aspect of the economic analysis, since the HTS cable is very expensive, the insulation coordination to prevent the dielectric breakdown caused by the lightning surge should be considered carefully. Also, in the aspect of the power system reliability, since the HTS cable has much more capacity compared than conventional power cables and the ripple effect from the HTS cable failure may lead to the wide area blackout, an intensive study for insulation coordination from lightning surge is one of the most important considerations. In this paper, the insulation coordination for lightning surge is verified using HTS cable and power equipment models and the design of the proper surge arrester is proposed.