Science.gov

Sample records for acceleration feedback control

  1. Acceleration and torque feedback for robotic control - Experimental results

    NASA Technical Reports Server (NTRS)

    Mclnroy, John E.; Saridis, George N.

    1990-01-01

    Gross motion control of robotic manipulators typically requires significant on-line computations to compensate for nonlinear dynamics due to gravity, Coriolis, centripetal, and friction nonlinearities. One controller proposed by Luo and Saridis avoids these computations by feeding back joint acceleration and torque. This study implements the controller on a Puma 600 robotic manipulator. Joint acceleration measurement is obtained by measuring linear accelerations of each joint, and deriving a computationally efficient transformation from the linear measurements to the angular accelerations. Torque feedback is obtained by using the previous torque sent to the joints. The implementation has stability problems on the Puma 600 due to the extremely high gains inherent in the feedback structure. Since these high gains excite frequency modes in the Puma 600, the algorithm is modified to decrease the gain inherent in the feedback structure. The resulting compensator is stable and insensitive to high frequency unmodeled dynamics. Moreover, a second compensator is proposed which uses acceleration and torque feedback, but still allows nonlinear terms to be fed forward. Thus, by feeding the increment in the easily calculated gravity terms forward, improved responses are obtained. Both proposed compensators are implemented, and the real time results are compared to those obtained with the computed torque algorithm.

  2. Neuro-fuzzy control of structures using acceleration feedback

    NASA Astrophysics Data System (ADS)

    Schurter, Kyle C.; Roschke, Paul N.

    2001-08-01

    This paper described a new approach for the reduction of environmentally induced vibration in constructed facilities by way of a neuro-fuzzy technique. The new control technique is presented and tested in a numerical study that involves two types of building models. The energy of each building is dissipated through magnetorheological (MR) dampers whose damping properties are continuously updated by a fuzzy controller. This semi-active control scheme relies on the development of a correlation between the accelerations of the building (controller input) and the voltage applied to the MR damper (controller output). This correlation forms the basis for the development of an intelligent neuro-fuzzy control strategy. To establish a context for assessing the effectiveness of the semi-active control scheme, responses to earthquake excitation are compared with passive strategies that have similar authority for control. According to numerical simulation, MR dampers are less effective control mechanisms than passive dampers with respect to a single degree of freedom (DOF) building model. On the other hand, MR dampers are predicted to be superior when used with multiple DOF structures for reduction of lateral acceleration.

  3. Feedback control of torsion balance in measurement of gravitational constant G with angular acceleration method

    SciTech Connect

    Quan, Li-Di; Xue, Chao; Shao, Cheng-Gang; Yang, Shan-Qing; Tu, Liang-Cheng; Luo, Jun; Wang, Yong-Ji

    2014-01-15

    The performance of the feedback control system is of central importance in the measurement of the Newton's gravitational constant G with angular acceleration method. In this paper, a PID (Proportion-Integration-Differentiation) feedback loop is discussed in detail. Experimental results show that, with the feedback control activated, the twist angle of the torsion balance is limited to 7.3×10{sup −7} rad /√( Hz ) at the signal frequency of 2 mHz, which contributes a 0.4 ppm uncertainty to the G value.

  4. Tangential acceleration feedback control of friction induced vibration

    NASA Astrophysics Data System (ADS)

    Nath, Jyayasi; Chatterjee, S.

    2016-09-01

    Tangential control action is studied on a phenomenological mass-on-belt model exhibiting friction-induced self-excited vibration attributed to the low-velocity drooping characteristics of friction which is also known as Stribeck effect. The friction phenomenon is modelled by the exponential model. Linear stability analysis is carried out near the equilibrium point and local stability boundary is delineated in the plane of control parameters. The system is observed to undergo a Hopf bifurcation as the eigenvalues determined from the linear stability analysis are found to cross the imaginary axis transversally from RHS s-plane to LHS s-plane or vice-versa as one varies the control parameters, namely non-dimensional belt velocity and the control gain. A nonlinear stability analysis by the method of Averaging reveals the subcritical nature of the Hopf bifurcation. Thus, a global stability boundary is constructed so that any choice of control parameters from the globally stable region leads to a stable equilibrium. Numerical simulations in a MATLAB SIMULINK model and bifurcation diagrams obtained in AUTO validate these analytically obtained results. Pole crossover design is implemented to optimize the filter parameters with an independent choice of belt velocity and control gain. The efficacy of this optimization (based on numerical results) in the delicate low velocity region is also enclosed.

  5. Basis function repetitive and feedback control with application to a particle accelerator

    NASA Astrophysics Data System (ADS)

    Akogyeram, Raphael Akuete

    2002-09-01

    The thesis addresses three problem areas within repetitive control. Firstly, it addresses issues concerning the ability of repetitive control and feedback control systems to eliminate periodic disturbances occurring above the Nyquist frequency of the hardware. Methods are developed for decomposing and unfolding notch filter or comb filter feedback control so that disturbances above Nyquist frequency can be canceled. Phenomena affecting final error levels are discussed, including error in unfolding, coarseness of zero-order hold cancellation, and waterbed effects in the feedback control system frequency response for different sample rates. Secondly, matched basis function repetitive control laws are developed for batch mode and real time implementation to converge to zero tracking error in the presence of periodic disturbances. For both control methods, conditions are given that guarantee asymptotic and monotonic convergence. Stability tests are formulated to examine stability when the period of a disturbance is not an integer number of sample times, and when there are multiple unrelated periods whose common period is too long to use. Thirdly, an understanding is developed of the optimum division of labor between the objectives accomplished by feedback and the objectives accomplished by repetitive control action. Some experimental results of the particle accelerator testbed at Thomas Jefferson National Accelerator Facility, Newport News, Virginia, are reported.

  6. Acceleration feedback of a current-following synchronized control algorithm for telescope elevation axis

    NASA Astrophysics Data System (ADS)

    Tang, Tao; Zhang, Tong; Du, Jun-Feng; Ren, Ge; Tian, Jing

    2016-11-01

    This paper proposes a dual-motor configuration to enhance closed-loop performance of a telescope control system. Two identical motors are mounted on each side of a U-type frame to drive the telescope elevation axis instead of a single motor drive, which is usually used in a classical design. This new configuration and mechanism can reduce the motor to half the size used in the former design, and it also provides some other advantages. A master-slave current control mode is employed to synchronize the two motors. Acceleration feedback control is utilized to further enhance the servo performance. Extensive experiments are used to validate the effectiveness of the proposed control algorithm in synchronization, disturbance attenuation and low-velocity tracking.

  7. Comparing joint kinematics and center of mass acceleration as feedback for control of standing balance by functional neuromuscular stimulation

    PubMed Central

    2012-01-01

    Background The purpose of this study was to determine the comparative effectiveness of feedback control systems for maintaining standing balance based on joint kinematics or total body center of mass (COM) acceleration, and assess their clinical practicality for standing neuroprostheses after spinal cord injury (SCI). Methods In simulation, controller performance was measured according to the upper extremity effort required to stabilize a three-dimensional model of bipedal standing against a variety of postural disturbances. Three cases were investigated: proportional-derivative control based on joint kinematics alone, COM acceleration feedback alone, and combined joint kinematics and COM acceleration feedback. Additionally, pilot data was collected during external perturbations of an individual with SCI standing with functional neuromuscular stimulation (FNS), and the resulting joint kinematics and COM acceleration data was analyzed. Results Compared to the baseline case of maximal constant muscle excitations, the three control systems reduced the mean upper extremity loading by 51%, 43% and 56%, respectively against external force-pulse perturbations. Controller robustness was defined as the degradation in performance with increasing levels of input errors expected with clinical deployment of sensor-based feedback. At error levels typical for body-mounted inertial sensors, performance degradation due to sensor noise and placement were negligible. However, at typical tracking error levels, performance could degrade as much as 86% for joint kinematics feedback and 35% for COM acceleration feedback. Pilot data indicated that COM acceleration could be estimated with a few well-placed sensors and efficiently captures information related to movement synergies observed during perturbed bipedal standing following SCI. Conclusions Overall, COM acceleration feedback may be a more feasible solution for control of standing with FNS given its superior robustness and small

  8. Reward feedback accelerates motor learning.

    PubMed

    Nikooyan, Ali A; Ahmed, Alaa A

    2015-01-15

    Recent findings have demonstrated that reward feedback alone can drive motor learning. However, it is not yet clear whether reward feedback alone can lead to learning when a perturbation is introduced abruptly, or how a reward gradient can modulate learning. In this study, we provide reward feedback that decays continuously with increasing error. We asked whether it is possible to learn an abrupt visuomotor rotation by reward alone, and if the learning process could be modulated by combining reward and sensory feedback and/or by using different reward landscapes. We designed a novel visuomotor learning protocol during which subjects experienced an abruptly introduced rotational perturbation. Subjects received either visual feedback or reward feedback, or a combination of the two. Two different reward landscapes, where the reward decayed either linearly or cubically with distance from the target, were tested. Results demonstrate that it is possible to learn from reward feedback alone and that the combination of reward and sensory feedback accelerates learning. An analysis of the underlying mechanisms reveals that although reward feedback alone does not allow for sensorimotor remapping, it can nonetheless lead to broad generalization, highlighting a dissociation between remapping and generalization. Also, the combination of reward and sensory feedback accelerates learning without compromising sensorimotor remapping. These findings suggest that the use of reward feedback is a promising approach to either supplement or substitute sensory feedback in the development of improved neurorehabilitation techniques. More generally, they point to an important role played by reward in the motor learning process.

  9. Acceleration feedback control (AFC) enhanced by disturbance observation and compensation (DOC) for high precision tracking in telescope systems

    NASA Astrophysics Data System (ADS)

    Wang, Qiang; Cai, Hua-Xiang; Huang, Yong-Mei; Ge, Liang; Tang, Tao; Su, Yan-Rui; Liu, Xiang; Li, Jin-Ying; He, Dong; Du, Sheng-Ping; Ling, Yu

    2016-08-01

    In this paper, a cascade acceleration feedback control (AFC) enhanced by a disturbance observation and compensation (DOC) method is proposed to improve the tracking precision of telescope systems. Telescope systems usually suffer some uncertain disturbances, such as wind load, nonlinear friction and other unknown disturbances. To ensure tracking precision, an acceleration feedback loop which can increase the stiffness of such a system is introduced. Moreover, to further improve the tracking precision, we introduce the DOC method which can accurately estimate the disturbance and compensate it. Furthermore, the analysis of tracking accuracy used by this method is proposed. Finally, a few comparative experimental results show that the proposed control method has excellent performance for reducing the tracking error of a telescope system.

  10. Feedback implementation options and issues for B factory accelerators

    SciTech Connect

    Fox, J.D.; Briggs, D.; Eisen, N.; Hindi, H.; Hosseini, W.; Oxoby, G.; Linscott, I.; Coiro, O.; Ghigo, A.; Serio, M.; Lambertson, G.; Voelker, F.

    1992-09-01

    The proposed B factory accelerator facilities will require active feedback systems to control multibunch instabilities. These feedback systems must operate in machines with thousands of circulating bunches and with short (2--4 ns) interbunch intervals. The functional requirements for transverse (betatron) and longitudinal (synchrotron) feedback systems are presented. Several possible implementation options are discussed and system requirements developed. Conceptual designs are presented for the PEP II transverse and longitudinal feedback systems.

  11. Tail buffet alleviation of high performance twin tail aircraft using offset piezoceramic stack actuators and acceleration feedback control

    NASA Astrophysics Data System (ADS)

    Bayon de Noyer, Maxime P.

    In High Performance Twin-Tail Aircraft (HPTTA), tail buffet occurs during high angles of attack maneuvers. At high angles of attack, flow separates and vortices are convected by the geometry of the wing-fuselage interface toward the vertical tails. This phenomenon, along with the aeroelastic coupling of the tail structural assembly, results in vibrations that can shorten the fatigue life of the empennage assembly and limit the flight envelope due to the large amplitude of the fin vibrations. The main goal of this research was to develop an active buffet alleviation system for HPTTA using Offset Piezoceramic Stack Actuators (OPSA) in combination with Acceleration Feedback Control (AFC) theory. In order to complete this task, the research work was divided into three main areas. First, two new methods for the design of non-collocated AFC controller parameters were developed for pure active damping applications and for quadratic performance criterion minimization. Second, a new type of moment inducing actuator based on piezoceramic stacks, the OPSA, was developed to provide high control authority while satisfying high reliability and maintainability requirements. A modal model of the OPSA acting on a benchmark structure was developed to create a low frequency approximation of the actuator and to optimize its offset distance and its placement. Third, because of the non-availability of reliable models for the controlled structure and the buffet-induced loads, a control system design method, based solely on the use of experimental data, was developed. Finally, two sets of experiments were conducted to show the feasibility of controlling buffet-induced vibrations during high angle of attack operations of a HPTTA. The first experiment validated both the effectiveness and the robustness of the active buffet alleviation system on an aeroelastically scaled model in wind tunnel tests. The second experiment showed that the combination of OPSA and AFC could suppress vibrations in

  12. Designing Genetic Feedback Controllers.

    PubMed

    Harris, Andreas W K; Dolan, James A; Kelly, Ciarán L; Anderson, James; Papachristodoulou, Antonis

    2015-08-01

    By incorporating feedback around systems we wish to manipulate, it is possible to improve their performance and robustness properties to meet pre-specified design objectives. For decades control engineers have been successfully implementing feedback controllers for complex mechanical and electrical systems such as aircraft and sports cars. Natural biological systems use feedback extensively for regulation and adaptation but apart from the most basic designs, there is no systematic framework for designing feedback controllers in Synthetic Biology. In this paper we describe how classical approaches from linear control theory can be used to close the loop. This includes the design of genetic circuits using feedback control and the presentation of a biological phase lag controller. PMID:26390502

  13. Adaptive control for accelerators

    DOEpatents

    Eaton, Lawrie E.; Jachim, Stephen P.; Natter, Eckard F.

    1991-01-01

    An adaptive feedforward control loop is provided to stabilize accelerator beam loading of the radio frequency field in an accelerator cavity during successive pulses of the beam into the cavity. A digital signal processor enables an adaptive algorithm to generate a feedforward error correcting signal functionally determined by the feedback error obtained by a beam pulse loading the cavity after the previous correcting signal was applied to the cavity. Each cavity feedforward correcting signal is successively stored in the digital processor and modified by the feedback error resulting from its application to generate the next feedforward error correcting signal. A feedforward error correcting signal is generated by the digital processor in advance of the beam pulse to enable a composite correcting signal and the beam pulse to arrive concurrently at the cavity.

  14. Feedback control of multibunch instabilities

    SciTech Connect

    Galayda, J. )

    1992-03-10

    This lecture is intended to be an introduction to the use of feedback control to counteract multibunch instabilities. Furthermore, the intent is to make the most direct connection possible between feedback system design and the linear equations of motion of a single particle in an accelerator. Descriptions of the electronic design and considerations of gain versus stability have been treated in the literature (1,2,3) and will be glossed over in this lecture. The exposition is aimed at an audience with reasonable background in linear charged particle optics and minimal familiarity with circuit theory and electronics design. We begin with a brief description of the sources of instability and a description of the function of a feedback system in terms of the equation of motion of a beam bunch. We will try to list the fundamentals of the design process of a feedback system in such a way as to give the reader a framework within which to evaluate the subsequent material. Section 2 develops simple definitions of feedback system performance parameters: damping time constant, gain, and power requirements. Sections 3 and 4 give a perspective on feedback signal processing, using several betatron damping systems to exemplify time domain signal processing. Section 5 views the signal processing problem in frequency domain, using the CERN PS Booster longitudinal damper as an example.

  15. Feedback in Flow for Accelerated Reaction Development.

    PubMed

    Reizman, Brandon J; Jensen, Klavs F

    2016-09-20

    The pharmaceutical industry is investing in continuous flow and high-throughput experimentation as tools for rapid process development accelerated scale-up. Coupled with automation, these technologies offer the potential for comprehensive reaction characterization and optimization, but with the cost of conducting exhaustive multifactor screens. Automated feedback in flow offers researchers an alternative strategy for efficient characterization of reactions based on the use of continuous technology to control chemical reaction conditions and optimize in lieu of screening. Optimization with feedback allows experiments to be conducted where the most information can be gained from the chemistry, enabling product yields to be maximized and kinetic models to be generated while the total number of experiments is minimized. This Account opens by reviewing select examples of feedback optimization in flow and applications to chemical research. Systems in the literature are classified into (i) deterministic "black box" optimization systems that do not model the reaction system and are therefore limited in the utility of results for scale-up, (ii) deterministic model-based optimization systems from which reaction kinetics and/or mechanisms can be automatically evaluated, and (iii) stochastic systems. Though diverse in application, flow feedback systems have predominantly focused upon the optimization of continuous variables, i.e., variables such as time, temperature, and concentration that can be ramped from one experiment to the next. Unfortunately, this implies that the screening of discrete variables such as catalyst, ligand, or solvent generally does not factor into automated flow optimization, resulting in incomplete process knowledge. Herein, we present a system and strategy developed for optimizing discrete and continuous variables of a chemical reaction simultaneously. The approach couples automated feedback with high-throughput reaction screening in droplet flow

  16. Feedback in Flow for Accelerated Reaction Development.

    PubMed

    Reizman, Brandon J; Jensen, Klavs F

    2016-09-20

    The pharmaceutical industry is investing in continuous flow and high-throughput experimentation as tools for rapid process development accelerated scale-up. Coupled with automation, these technologies offer the potential for comprehensive reaction characterization and optimization, but with the cost of conducting exhaustive multifactor screens. Automated feedback in flow offers researchers an alternative strategy for efficient characterization of reactions based on the use of continuous technology to control chemical reaction conditions and optimize in lieu of screening. Optimization with feedback allows experiments to be conducted where the most information can be gained from the chemistry, enabling product yields to be maximized and kinetic models to be generated while the total number of experiments is minimized. This Account opens by reviewing select examples of feedback optimization in flow and applications to chemical research. Systems in the literature are classified into (i) deterministic "black box" optimization systems that do not model the reaction system and are therefore limited in the utility of results for scale-up, (ii) deterministic model-based optimization systems from which reaction kinetics and/or mechanisms can be automatically evaluated, and (iii) stochastic systems. Though diverse in application, flow feedback systems have predominantly focused upon the optimization of continuous variables, i.e., variables such as time, temperature, and concentration that can be ramped from one experiment to the next. Unfortunately, this implies that the screening of discrete variables such as catalyst, ligand, or solvent generally does not factor into automated flow optimization, resulting in incomplete process knowledge. Herein, we present a system and strategy developed for optimizing discrete and continuous variables of a chemical reaction simultaneously. The approach couples automated feedback with high-throughput reaction screening in droplet flow

  17. Feedback control of coupled-bunch instabilities

    SciTech Connect

    Fox, J.D.; Eisen, N.; Hindi, H.; Linscott, I.; Oxoby, G.; Sapozhnikov, L.; Serio, M.

    1993-05-01

    The next generation of synchrotron light sources and particle accelerators will require active feedback systems to control multi-bunch instabilities. Stabilizing hundreds or thousands of potentially unstable modes in these accelerator designs presents many technical challenges. Feedback systems to stabilize coupled-bunch instabilities may be understood in the frequency domain (mode-based feedback) or in the time domain (bunch-by-bunch feedback). In both approaches an external amplifier system is used to create damping fields that prevent coupled-bunch oscillations from growing without bound. The system requirements for transverse (betatron) and longitudinal (synchrotron) feedback are presented, and possible implementation options developed. Feedback system designs based on digital signal-processing techniques are described. Experimental results are shown from a synchrotron oscillation damper in the SSRL/SLAC storage ring SPEAR that uses digital signal-processing techniques.

  18. Feedback between Accelerator Physicists and magnet builders

    SciTech Connect

    Peggs, S.

    1995-12-31

    Our task is not to record history but to change it. (K. Marx (paraphrased)) How should Accelerator Physicists set magnet error specifications? In a crude social model, they place tolerance limits on undesirable nonlinearities and errors (higher order harmonics, component alignments, etc.). The Magnet Division then goes away for a suitably lengthy period of time, and comes back with a working magnet prototype that is reproduced in industry. A better solution is to set no specifications. Accelerator Physicists begin by evaluating expected values of harmonics, generated by the Magnet Division, before and during prototype construction. Damaging harmonics are traded off against innocuous harmonics as the prototype design evolves, lagging one generation behind the evolution of expected harmonics. Finally, the real harmonics are quickly evaluated during early industrial production, allowing a final round of performance trade-offs, using contingency scenarios prepared earlier. This solution assumes a close relationship and rapid feedback between the Accelerator Physicists and the magnet builders. What follows is one perspective of the way that rapid feedback was used to `change history` (improve linear and dynamic aperture) at RHIC, to great benefit.

  19. Feedback control of canards

    NASA Astrophysics Data System (ADS)

    Durham, Joseph; Moehlis, Jeff

    2008-03-01

    We present a control mechanism for tuning a fast-slow dynamical system undergoing a supercritical Hopf bifurcation to be in the canard regime, the tiny parameter window between small and large periodic behavior. Our control strategy uses continuous feedback control via a slow control variable to cause the system to drift on average toward canard orbits. We apply this to tune the FitzHugh-Nagumo model to produce maximal canard orbits. When the controller is improperly configured, periodic or chaotic mixed-mode oscillations are found. We also investigate the effects of noise on this control mechanism. Finally, we demonstrate that a sensor tuned in this way to operate near the canard regime can detect tiny changes in system parameters.

  20. Feedback control of sound

    NASA Astrophysics Data System (ADS)

    Rafaely, Boaz

    This thesis is concerned with the development an application of feedback control techniques for active sound control. Both fixed and adaptive controllers are considered. The controller design problem for active sound control is formulated as a constrained optimisation problem with an H2 performance objective, of minimising the variance of the control error, and H2 and H∞ design constraints involving control power output, disturbance enhancement, and robust stability. An Internal Model Controller with an FIR control filter is assumed. Conventional H2 design methods for feedback controllers are studied first. Although such controllers can satisfy the design constraints by employing effort terms in the quadratic cost function, they do not achieve the best possible performance, and when adapted using LMS-based algorithms, they suffer from instabilities if the plant response varies significantly. Improved H2/H∞ design methods for fixed and adaptive controllers are then developed, which achieve the best H2 performance under the design constraints, offer an improved stability when made adaptive, and in general outperform the conventional H2 controllers. The H2/H∞ design problems employ convex programming to ensure a unique solution. The Sequential Quadratic Programming methods is used for the off-line design of fixed controllers, and penalty and barrier function methods, together with frequency domain LMS-based algorithms are employed in the H2/H∞ adaptive controllers. The controllers studied and developed here were applied to three active sound control systems: a noise-reducing headset, an active headrest, and a sound radiating panel. The emphasis was put on developing control strategies that improve system performance. First, a high performance controller for the noise-reducing headset was implemented in real-time, which combines analogue and adaptive digital controllers, and can thus reject disturbances which has both broad-band and periodic components. Then

  1. Feedback control of waiting times

    NASA Astrophysics Data System (ADS)

    Brandes, Tobias; Emary, Clive

    2016-04-01

    Feedback loops are known as a versatile tool for controlling transport in small systems, which usually have large intrinsic fluctuations. Here we investigate the control of a temporal correlation function, the waiting-time distribution, under active and passive feedback conditions. We develop a general formalism and then specify to the simple unidirectional transport model, where we compare costs of open-loop and feedback control and use methods from optimal control theory to optimize waiting-time distributions.

  2. Research on output feedback control

    NASA Technical Reports Server (NTRS)

    Calise, Anthony J.

    1988-01-01

    A summary is presented of the main results obtained during the course of research on output feedback control. The term output feedback is used to denote a controller design approach which does not rely on an observer to estimate the states of the system. Thus, the order of the controller is fixed, and can even be zero order, which amounts to constant gain ouput feedback. The emphasis has been on optimal output feedback. That is, a fixed order controller is designed based on minimizing a suitably chosen quadratic performance index. A number of problem areas that arise in this context have been addressed. These include developing suitable methods for selecting an index of performance, both time domain and frequency domain methods for achieving robustness of the closed loop system, developing canonical forms to achieve a minimal parameterization for the controller, two time scale design formulations for ill-conditioned systems, and the development of convergent numerical algorithms for solving the output feedback problem.

  3. Balanced bridge feedback control system

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J. (Inventor)

    1990-01-01

    In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.

  4. Feedback control indirect response models.

    PubMed

    Zhang, Yaping; D'Argenio, David Z

    2016-08-01

    A general framework is introduced for modeling pharmacodynamic processes that are subject to autoregulation, which combines the indirect response (IDR) model approach with methods from classical feedback control of engineered systems. The canonical IDR models are modified to incorporate linear combinations of feedback control terms related to the time course of the difference (the error signal) between the pharmacodynamic response and its basal value. Following the well-established approach of traditional engineering control theory, the proposed feedback control indirect response models incorporate terms proportional to the error signal itself, the integral of the error signal, the derivative of the error signal or combinations thereof. Simulations are presented to illustrate the types of responses produced by the proposed feedback control indirect response model framework, and to illustrate comparisons with other PK/PD modeling approaches incorporating feedback. In addition, four examples from literature are used to illustrate the implementation and applicability of the proposed feedback control framework. The examples reflect each of the four mechanisms of drug action as modeled by each of the four canonical IDR models and include: selective serotonin reuptake inhibitors and extracellular serotonin; histamine H2-receptor antagonists and gastric acid; growth hormone secretagogues and circulating growth hormone; β2-selective adrenergic agonists and potassium. The proposed feedback control indirect response approach may serve as an exploratory modeling tool and may provide a bridge for development of more mechanistic systems pharmacology models. PMID:27394724

  5. ASDTIC - A feedback control innovation.

    NASA Technical Reports Server (NTRS)

    Lalli, V. R.; Schoenfeld, A. D.

    1972-01-01

    The ASDTIC (analog signal to discrete time interval converter) control subsystem provides precise output control of high performance aerospace power supplies. The key to ASDTIC operation is that it stably controls output by sensing output energy change as well as output magnitude. The ASDTIC control subsystem and control module were developed to improve power supply performance during static and dynamic input voltage and output load variations, to reduce output voltage or current regulation due to component variations or aging, to maintain a stable feedback control with variations in the loop gain or loop time constants, and to standardize the feedback control subsystem for power conditioning equipment.

  6. ASDTIC: A feedback control innovation

    NASA Technical Reports Server (NTRS)

    Lalli, V. R.; Schoenfeld, A. D.

    1972-01-01

    The ASDTIC (Analog Signal to Discrete Time Interval Converter) control subsystem provides precise output control of high performance aerospace power supplies. The key to ASDTIC operation is that it stably controls output by sensing output energy change as well as output magnitude. The ASDTIC control subsystem and control module were developed to improve power supply performance during static and dynamic input voltage and output load variations, to reduce output voltage or current regulation due to component variations or aging, to maintain a stable feedback control with variations in the loop gain or loop time constants, and to standardize the feedback control subsystem for power conditioning equipment.

  7. Controllable Laser Ion Acceleration

    NASA Astrophysics Data System (ADS)

    Kawata, S.; Kamiyama, D.; Ohtake, Y.; Takano, M.; Barada, D.; Kong, Q.; Wang, P. X.; Gu, Y. J.; Wang, W. M.; Limpouch, J.; Andreev, A.; Bulanov, S. V.; Sheng, Z. M.; Klimo, O.; Psikal, J.; Ma, Y. Y.; Li, X. F.; Yu, Q. S.

    2016-02-01

    In this paper a future laser ion accelerator is discussed to make the laser-based ion accelerator compact and controllable. Especially a collimation device is focused in this paper. The future laser ion accelerator should have an ion source, ion collimators, ion beam bunchers, and ion post acceleration devices [Laser Therapy 22, 103(2013)]: the ion particle energy and the ion energy spectrum are controlled to meet requirements for a future compact laser ion accelerator for ion cancer therapy or for other purposes. The energy efficiency from the laser to ions is improved by using a solid target with a fine sub-wavelength structure or a near-critical density gas plasma. The ion beam collimation is performed by holes behind the solid target or a multi-layered solid target. The control of the ion energy spectrum and the ion particle energy, and the ion beam bunching would be successfully realized by a multistage laser-target interaction.

  8. Robust control of accelerators

    SciTech Connect

    Johnson, W.J.D. ); Abdallah, C.T. )

    1990-01-01

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

  9. Feedback control of resistive instabilities

    SciTech Connect

    White, R.B.; Rutherford, P.H.; Furth, H.P.; Park, W.; Chen, L.

    1985-12-01

    Resistive instabilities are responsible for much of the global behavior and the determination of the possible domains of operation of tokamaks. Their successful control could have definite advantages, even making available new regimes of operation. Elimination of sawtoothing might allow operation with higher currents and more peaked current profiles, with q on axis well below unity. In this work different feedback schemes are explored. Simple analytical derivations of the effects of local heating and current drive feedback are presented. Although control of modes with m greater than or equal to 2 is fairly straightforward, the control of the m = 1 mode is more difficult because of its proximity to ideal instability. The most promising scheme utilizes high energy trapped particles. 20 refs., 3 figs.

  10. Feedback control and output feedback control for the stabilisation of switched Boolean networks

    NASA Astrophysics Data System (ADS)

    Li, Fangfei; Yu, Zhaoxu

    2016-02-01

    This paper presents the feedback control and output feedback control for the stabilisation of switched Boolean network. A necessary condition for the existence of a state feedback controller for the stabilisation of switched Boolean networks under arbitrary switching signal is derived first, and constructive procedures for feedback control and output feedback control design are provided. An example is introduced to show the effectiveness of this paper.

  11. Realizing actual feedback control of complex network

    NASA Astrophysics Data System (ADS)

    Tu, Chengyi; Cheng, Yuhua

    2014-06-01

    In this paper, we present the concept of feedbackability and how to identify the Minimum Feedbackability Set of an arbitrary complex directed network. Furthermore, we design an estimator and a feedback controller accessing one MFS to realize actual feedback control, i.e. control the system to our desired state according to the estimated system internal state from the output of estimator. Last but not least, we perform numerical simulations of a small linear time-invariant dynamics network and a real simple food network to verify the theoretical results. The framework presented here could make an arbitrary complex directed network realize actual feedback control and deepen our understanding of complex systems.

  12. Modal insensitivity with optimality. [in feedback control

    NASA Technical Reports Server (NTRS)

    Calise, A. J.; Raman, K. V.

    1984-01-01

    This paper deals with the design of a constant gain, feedback controller which results in selected modal insensitivity, and at the same time optimizes a quadratic performance index representative of desired system performance for nominal plant parameter values. Both full state and output feedback control are considered. A constraint is established for the feedback gain matrix that results in modal insensitivity, and necessary conditions for optimality subject to this constraint are given. This forms the basis for a numerical algorithm to compute the optimal feedback gain. To illustrate the procedure, a design is carried out using the lateral dynamics of an L-1011 aircraft.

  13. Vibration control in accelerators

    SciTech Connect

    Montag, C.

    2011-01-01

    In the vast majority of accelerator applications, ground vibration amplitudes are well below tolerable magnet jitter amplitudes. In these cases, it is necessary and sufficient to design a rigid magnet support structure that does not amplify ground vibration. Since accelerator beam lines are typically installed at an elevation of 1-2m above ground level, special care has to be taken in order to avoid designing a support structure that acts like an inverted pendulum with a low resonance frequency, resulting in untolerable lateral vibration amplitudes of the accelerator components when excited by either ambient ground motion or vibration sources within the accelerator itself, such as cooling water pumps or helium flow in superconducting magnets. In cases where ground motion amplitudes already exceed the required jiter tolerances, for instance in future linear colliders, passive vibration damping or active stabilization may be considered.

  14. Active vibration suppression through positive acceleration feedback on a building-like structure: An experimental study

    NASA Astrophysics Data System (ADS)

    Enríquez-Zárate, J.; Silva-Navarro, G.; Abundis-Fong, H. F.

    2016-05-01

    This work deals with the structural and dynamic analysis of a building-like structure consisting of a three-story building with one active vibration absorber. The base of the structure is perturbed using an electromagnetic shaker, which provides forces with a wide range of excitation frequencies, including some resonance frequencies of the structure. One beam-column of the structure is coupled with a PZT stack actuator to reduce the vibrations. The overall mechanical structure is modeled using Euler-Lagrange methodology and validated using experimental modal analysis and Fine Element Method (FEM) techniques. The active control laws are synthesized to actively attenuate the vibration system response via the PZT stack actuator, caused by excitation forces acting on the base of the structure. The control scheme is obtained using Positive Acceleration Feedback (PAF) and Multiple Positive Acceleration Feedback (MPAF) to improve the closed-loop system response. Some experimental results are included to illustrate the overall system performance.

  15. Control and diagnostic uses of feedback

    SciTech Connect

    Sen, A. K.

    2000-05-01

    Recent results on multimode feedback control of magnetohydrodynamic (MHD) modes and a variety of diagnostic uses of feedback are summarized. First, is the report on reduction and scaling of transport under feedback. By controlling the fluctuation amplitudes and consequently the transport via feedback, it is found that the scaling of the diffusion coefficient is linear with root-mean-square rms fluctuation level. The scaling appears not to agree with any generic theory. A variety of other diagnostic uses of feedback have been developed. The primary goal is an experimental methodology for the determination of dynamic models of plasma turbulence, both for better transport understanding and more credible feedback controller designs. A specific motivation is to search for a low-order dynamic model, suitable for the convenient study of both transport and feedback. First, the time series analysis method is used for the determination of chaotic attractor dimension of plasma fluctuations. For ExB rotational flute modes it is found to be close to three, indicating that a low-order dynamic model may be adequate for transport prediction and feedback controller design. Second, a new method for direct experimental determination of nonlinear dynamical models of plasma turbulence using feedback has been developed. Specifically, the process begins with a standard three-wave coupling model and introduces a variable feedback gain. The power spectrum, delayed power spectrum, and bispectrum of fluctuations are then experimentally obtained. By varying the feedback gain continuously, an arbitrary number of numerical equations for a fixed number of unknowns can be generated. Their numerical solution yields the linear dispersion, as well as nonlinear coupling coefficients. This method has been successfully applied for ExB rotationally driven flute modes. (c) 2000 American Institute of Physics.

  16. Control and diagnostic uses of feedback

    NASA Astrophysics Data System (ADS)

    Sen, A. K.

    2000-05-01

    Recent results on multimode feedback control of magnetohydrodynamic (MHD) modes and a variety of diagnostic uses of feedback are summarized. First, is the report on reduction and scaling of transport under feedback. By controlling the fluctuation amplitudes and consequently the transport via feedback, it is found that the scaling of the diffusion coefficient is linear with root-mean-square rms fluctuation level. The scaling appears not to agree with any generic theory. A variety of other diagnostic uses of feedback have been developed. The primary goal is an experimental methodology for the determination of dynamic models of plasma turbulence, both for better transport understanding and more credible feedback controller designs. A specific motivation is to search for a low-order dynamic model, suitable for the convenient study of both transport and feedback. First, the time series analysis method is used for the determination of chaotic attractor dimension of plasma fluctuations. For E×B rotational flute modes it is found to be close to three, indicating that a low-order dynamic model may be adequate for transport prediction and feedback controller design. Second, a new method for direct experimental determination of nonlinear dynamical models of plasma turbulence using feedback has been developed. Specifically, the process begins with a standard three-wave coupling model and introduces a variable feedback gain. The power spectrum, delayed power spectrum, and bispectrum of fluctuations are then experimentally obtained. By varying the feedback gain continuously, an arbitrary number of numerical equations for a fixed number of unknowns can be generated. Their numerical solution yields the linear dispersion, as well as nonlinear coupling coefficients. This method has been successfully applied for E×B rotationally driven flute modes.

  17. Artificial proprioceptive feedback for myoelectric control.

    PubMed

    Pistohl, Tobias; Joshi, Deepak; Ganesh, Gowrishankar; Jackson, Andrew; Nazarpour, Kianoush

    2015-05-01

    The typical control of myoelectric interfaces, whether in laboratory settings or real-life prosthetic applications, largely relies on visual feedback because proprioceptive signals from the controlling muscles are either not available or very noisy. We conducted a set of experiments to test whether artificial proprioceptive feedback, delivered noninvasively to another limb, can improve control of a two-dimensional myoelectrically-controlled computer interface. In these experiments, participants were required to reach a target with a visual cursor that was controlled by electromyogram signals recorded from muscles of the left hand, while they were provided with an additional proprioceptive feedback on their right arm by moving it with a robotic manipulandum. Provision of additional artificial proprioceptive feedback improved the angular accuracy of their movements when compared to using visual feedback alone but did not increase the overall accuracy quantified with the average distance between the cursor and the target. The advantages conferred by proprioception were present only when the proprioceptive feedback had similar orientation to the visual feedback in the task space and not when it was mirrored, demonstrating the importance of congruency in feedback modalities for multi-sensory integration. Our results reveal the ability of the human motor system to learn new inter-limb sensory-motor associations; the motor system can utilize task-related sensory feedback, even when it is available on a limb distinct from the one being actuated. In addition, the proposed task structure provides a flexible test paradigm by which the effectiveness of various sensory feedback and multi-sensory integration for myoelectric prosthesis control can be evaluated.

  18. Nonlinear feedback control of multiple robot arms

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Yun, X.; Bejczy, A. K.

    1987-01-01

    Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

  19. Optimal open-loop and feedback control using single gimbal control moment gyroscopes

    NASA Technical Reports Server (NTRS)

    Hoelscher, Brian R.; Vadali, Srinvas R.

    1993-01-01

    Methods for control of spacecraft maneuvers through the use of single gimbal control moment gyroscopes are developed. The development employs an integrated model of the spacecraft dynamics with the control moment gyroscope dynamics. Smooth and continuous open-loop control profiles are obtained which minimize a weighted function of maneuver time, magnitude of control effort, and proximity to singular gimbal configurations. Closed-loop state feedback control laws are derived by invoking Lyapunov stability theory. The schemes are presented for implementing the commanded state feedback: gimbal rate control and gimbal acceleration control. The appropriate handling of singular gimbal configurations is also discussed.

  20. Vibration absorption in a building like structure by means of piezoelectric patches and positive acceleration feedback

    NASA Astrophysics Data System (ADS)

    Rios-Gutierrez, Max A.; Silva-Navarro, Gerardo

    2010-04-01

    This paper is about mechanical vibration suppression in a three story building like structure. The experimental platform is a laboratory prototype made of aluminum alloy with bolted joints and an elctromagnetic shaker used as a disturbance source. This prototype can be used as a representation of a civil structure as well as an industrial machinery element. This structure is modeled and validated by the application of finite element methods and experimental modal analysis. The system response is controlled by a piezoelectric actuator, properly located on the structure, and with the synthesis of a feedback control law based on the well-known positive acceleration feedback control scheme. Some numerical simulations and experiments results are performed to illustrate the overall system performance in presence of several types of excitation.

  1. Control of robot dynamics using acceleration control

    NASA Technical Reports Server (NTRS)

    Workman, G. L.; Prateru, S.; Li, W.; Hinman, Elaine

    1992-01-01

    Acceleration control of robotic devices can provide improvements to many space-based operations using flexible manipulators and to ground-based operations requiring better precision and efficiency than current industrial robots can provide. This paper reports on a preliminary study of acceleration measurement on robotic motion during parabolic flights on the NASA KC-135 and a parallel study of accelerations with and without gravity arising from computer simulated motions using TREETOPS software.

  2. Feedback controlled electrostatic and electromagnetic sample positioners

    NASA Technical Reports Server (NTRS)

    Rhim, Won-Kyu; Elleman, D. D.

    1990-01-01

    Four different sample positioners are discussed. The four systems share a common operating principle in that the sample positioning is achieved by feedback controlled forces which can be electrostatic, dielectrophoretic, or electromagnetic. The first system is the electrostatic liquid drop positioner which operates at the near ambient position. The second system is the tetrahedral electrostatic positioner which is being developed for the high temperature materials processing in vacuum. The third system is essentially the the same tetrahedral system above except that the position control is achieved by dielectrophoretic forces in the pressurized gas environment. Finally, the feasibility of a feedback controlled electromagnetic positioner is discussed.

  3. A Portable Accelerator Control Toolkit

    NASA Astrophysics Data System (ADS)

    Watson, W. A., III

    1997-05-01

    In recent years, the expense of creating good control software has led to a number of collaborative efforts between laboratories to share this effort and expense. The EPICS collaboration is a particularly successful example of this trend. More recently another collaborative effort has addressed the need for sophisticated high level software, including model driven accelerator controls. This work builds upon the cdev (Common DEVice) software framework, which provides a generic abstraction of a control system, and maps that abstraction onto a number of site-specific control systems including EPICS, the SLAC control system, CERN/PS and others. With the advent of cdev, it is now possible to create portable accelerator control applications which have no knowledge of the underlying and site-specific control system. Applications based on cdev now provide a large suite of tools for accelerator operations, including general purpose displays, on-line accelerator models, beamline steering, machine status displays incorporating both hardware and model information (for example beam positions overlaid with beta functions) and more. A survey of cdev compatible portable applications will be presented, as well as plans for future enhancements.

  4. A portable accelerator control toolkit

    SciTech Connect

    Watson, W.A. III

    1997-06-01

    In recent years, the expense of creating good control software has led to a number of collaborative efforts among laboratories to share this cost. The EPICS collaboration is a particularly successful example of this trend. More recently another collaborative effort has addressed the need for sophisticated high level software, including model driven accelerator controls. This work builds upon the CDEV (Common DEVice) software framework, which provides a generic abstraction of a control system, and maps that abstraction onto a number of site-specific control systems including EPICS, the SLAC control system, CERN/PS and others. In principle, it is now possible to create portable accelerator control applications which have no knowledge of the underlying and site-specific control system. Applications based on CDEV now provide a growing suite of tools for accelerator operations, including general purpose displays, an on-line accelerator model, beamline steering, machine status displays incorporating both hardware and model information (such as beam positions overlaid with beta functions) and more. A survey of CDEV compatible portable applications will be presented, as well as plans for future development.

  5. Robust pole assignment using velocity-acceleration feedback for second-order dynamical systems with singular mass matrix.

    PubMed

    Abdelaziz, Taha H S

    2015-07-01

    In this paper the robust pole assignment problem using combined velocity and acceleration feedback for second-order linear systems with singular mass matrix is illustrated. This is promising for better applicability in several practical applications where the acceleration signals are easier to obtain than the proportional ones. First, the explicit parametric expressions of both the feedback gain controller and the eigenvector matrix are derived. The parametric solution involves manipulations only on the original second-order model. The available degrees of freedom offered by the velocity-acceleration feedback in selecting the associated eigenvectors are utilized to improve robustness of the closed-loop system. Straight-forward computational algorithms are introduced to demonstrate the effectiveness of the proposed approach. These algorithms are applicable for a dynamical system with mass matrices that can be either singular or nonsingular. Numerical examples are provided to illustrate the application of the proposed procedure. PMID:25724296

  6. Control of conducting polymer actuators without physical feedback: simulated feedback control approach with particle swarm optimization

    NASA Astrophysics Data System (ADS)

    Xiang, Xingcan; Mutlu, Rahim; Alici, Gursel; Li, Weihua

    2014-03-01

    Conducting polymer actuators have shown significant potential in articulating micro instruments, manipulation devices, and robotics. However, implementing a feedback control strategy to enhance their positioning ability and accuracy in any application requires a feedback sensor, which is extremely large in size compared to the size of the actuators. Therefore, this paper proposes a new sensorless control scheme without the use of a position feedback sensor. With the help of the system identification technique and particle swarm optimization, the control scheme, which we call the simulated feedback control system, showed a satisfactory command tracking performance for the conducting polymer actuator’s step and dynamic displacement responses, especially under a disturbance, without needing a physical feedback loop, but using a simulated feedback loop. The primary contribution of this study is to propose and experimentally evaluate the simulated feedback control scheme for a class of the conducting polymer actuators known as tri-layer polymer actuators, which can operate both in dry and wet media. This control approach can also be extended to other smart actuators or systems, for which the feedback control based on external sensing is impractical.

  7. Nonsmooth feedback controls of nonlocal dispersal models

    NASA Astrophysics Data System (ADS)

    Malaguti, Luisa; Rubbioni, Paola

    2016-03-01

    The paper deals with a nonlocal diffusion equation which is a model for biological invasion and disease spread. A nonsmooth feedback control term is included and the existence of controlled dynamics is proved, satisfying different kinds of nonlocal condition. Jump discontinuities appear in the process. The existence of optimal control strategies is also shown, under suitably regular control functionals. The investigation makes use of techniques of multivalued analysis and is based on the degree theory for condensing operators in Hilbert spaces.

  8. Centralized digital control of accelerators

    SciTech Connect

    Melen, R.E.

    1983-09-01

    In contrasting the title of this paper with a second paper to be presented at this conference entitled Distributed Digital Control of Accelerators, a potential reader might be led to believe that this paper will focus on systems whose computing intelligence is centered in one or more computers in a centralized location. Instead, this paper will describe the architectural evolution of SLAC's computer based accelerator control systems with respect to the distribution of their intelligence. However, the use of the word centralized in the title is appropriate because these systems are based on the use of centralized large and computationally powerful processors that are typically supported by networks of smaller distributed processors.

  9. Balanced-Bridge Feedback Control Of Motor

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J.

    1990-01-01

    Sensitivity to variations in electrical and mechanical characteristics reduced. Proposed control system for motor-driven rotary actuator includes three nested feedback loops which, when properly designed, decoupled from each other. Intended to increase accuracy of control by mitigating such degrading effects as vibrations and variations in electrical and mechanical characteristics of structure rotated. Lends itself to optimization of performance via independent optimization of each of three loops. Includes outer, actuator, and driver feedback loops, configured so that actuator is subsystem, and driver is subsystem of actuator.

  10. Feedback control laws for highly maneuverable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Balas, Gary J.

    1992-01-01

    The results of a study of the application of H infinity and mu synthesis techniques to the design of feedback control laws for the longitudinal dynamics of the High Angle of Attack Research Vehicle (HARV) are presented. The objective of this study is to develop methods for the design of feedback control laws which cause the closed loop longitudinal dynamics of the HARV to meet handling quality specifications over the entire flight envelope. Control law designs are based on models of the HARV linearized at various flight conditions. The control laws are evaluated by both linear and nonlinear simulations of typical maneuvers. The fixed gain control laws resulting from both the H infinity and mu synthesis techniques result in excellent performance even when the aircraft performs maneuvers in which the system states vary significantly from their equilibrium design values. Both the H infinity and mu synthesis control laws result in performance which compares favorably with an existing baseline longitudinal control law.

  11. Modal self-excitation by nonlinear acceleration feedback in a class of mechanical systems

    NASA Astrophysics Data System (ADS)

    Malas, Anindya; Chatterjee, S.

    2016-08-01

    The article proposes an acceleration feedback based technique for exciting modal self-oscillation in a class of multi degrees-of-freedom mechanical systems. The controller comprises a bank of second-order filters and the control law is formulated as the nonlinear function of the filter output. A design methodology is developed to excite self-oscillation in any desired mode or combination of modes (mixed-mode oscillation). The choice of control parameters takes into account the control cost and robustness of the controller. The effects of structural damping on the system performance are also studied. Analytical results are confirmed by numerical simulations. An adaptive control is proposed to maintain the oscillation amplitude at the desired level.

  12. Applying vision feedback to crane controller design

    NASA Astrophysics Data System (ADS)

    Lee, Lun-Hui; Huang, Pei-Hsiang; Pan, Shing-Tai; Wijaya Lie, Handra; Chiang, Tung-Chien; Chang, Cheng-Yuan

    2015-01-01

    Encoders are generally used to track the motion of industrial mechanisms. However, the information obtained by encoders may have errors due to encoder aging or mechanism-design problem. Therefore, information by visual feedback is a better way to track the movement of industrial mechanisms. However, image information costs lots of computing effort so it is not easy to be used in real-time control applications. This manuscript derives a simple but effective visual feedback method to follow the target and the image information is obtained only by a general handy camcorder. Besides, the proposed method can track multi-locations in a meantime. Fast image pattern recognition and localisation of the colour histogram by using a moving tracking block is applied to increase the calculation speed. Finally, the obtained locations information by the proposed visual feedback method is applied in an industrial crane control system to verify the effectiveness.

  13. Generic device controller for accelerator control systems

    SciTech Connect

    Mariotti, R.; Buxton, W.; Frankel, R.; Hoff, L.

    1987-01-01

    A new distributed intelligence control system has become operational at the AGS for transport, injection, and acceleration of heavy ions. A brief description of the functionality of the physical devices making up the system is given. An attempt has been made to integrate the devices for accelerator specific interfacing into a standard microprocessor system, namely, the Universal Device Controller (UDC). The main goals for such a generic device controller are to provide: local computing power; flexibility to configure; and real time event handling. The UDC assemblies and software are described. (LEW)

  14. Optimal Feedback Control of Thermal Networks

    NASA Technical Reports Server (NTRS)

    Papalexandris, Miltiadis

    2003-01-01

    An improved approach to the mathematical modeling of feedback control of thermal networks has been devised. Heretofore software for feedback control of thermal networks has been developed by time-consuming trial-and-error methods that depend on engineers expertise. In contrast, the present approach is a systematic means of developing algorithms for feedback control that is optimal in the sense that it combines performance with low cost of implementation. An additional advantage of the present approach is that a thermal engineer need not be expert in control theory. Thermal networks are lumped-parameter approximations used to represent complex thermal systems. Thermal networks are closely related to electrical networks commonly represented by lumped-parameter circuit diagrams. Like such electrical circuits, thermal networks are mathematically modeled by systems of differential-algebraic equations (DAEs) that is, ordinary differential equations subject to a set of algebraic constraints. In the present approach, emphasis is placed on applications in which thermal networks are subject to constant disturbances and, therefore, integral control action is necessary to obtain steady-state responses. The mathematical development of the present approach begins with the derivation of optimal integral-control laws via minimization of an appropriate cost functional that involves augmented state vectors. Subsequently, classical variational arguments provide optimality conditions in the form of the Hamiltonian equations for the standard linear-quadratic-regulator (LQR) problem. These equations are reduced to an algebraic Riccati equation (ARE) with respect to the augmented state vector. The solution of the ARE leads to the direct computation of the optimal proportional- and integral-feedback control gains. In cases of very complex networks, large numbers of state variables make it difficult to implement optimal controllers in the manner described in the preceding paragraph.

  15. Feedback control of unstable cellular solidification fronts.

    PubMed

    Pons, A J; Karma, A; Akamatsu, S; Newey, M; Pomerance, A; Singer, H; Losert, W

    2007-02-01

    We present a feedback control scheme to stabilize unstable cellular patterns during the directional solidification of a binary alloy. The scheme is based on local heating of cell tips which protrude ahead of the mean position of all tips in the array. The feasibility of this scheme is demonstrated using phase-field simulations and, experimentally, using a real-time image processing algorithm, to track cell tips, coupled with a movable laser spot array device to heat the tips locally. We demonstrate, both numerically and experimentally, that spacings well below the threshold for a period-doubling instability can be stabilized. As predicted by the numerical calculations, cellular arrays become stable with uniform spacing through the feedback control which is maintained with minimal heating.

  16. Thermodynamics of Nonequilibrium Systems with Feedback Control

    NASA Astrophysics Data System (ADS)

    Sagawa, Takahiro

    2015-03-01

    In modern nonequilibrium physics, ``Maxwell's demon'' has attracted renewed attentions in both terms of theory and experiment. The demon plays a key role to unify thermodynamics and information theory, which can extract the useful work from a heat bath by using the obtained information via feedback control. In this talk, I will talk about the recent development of thermodynamics of information. In particular, I will focus on the generalizations of the second law of thermodynamics and the Jarzynski equality in the presence of feedback control, where information contents and thermodynamic quantities are treated on an equal footing. I will also discuss recent experimental results that realized Maxwell's demon by colloidal particles and single electrons.

  17. Controlling dynamical systems using multiple delay feedback control

    NASA Astrophysics Data System (ADS)

    Ahlborn, Alexander; Parlitz, Ulrich

    2005-07-01

    Multiple delay feedback control (MDFC) with two, three, or four different and independent delay times is used to stabilize steady states of various chaotic dynamical systems. A comparison with delayed feedback control methods that are based on a single (fundamental) delay time [Pyragas’ time delay auto synchronization (TDAS) and extended TDAS] shows that MDFC is more effective for fixed point stabilization in terms of stability and flexibility, in particular for large delay times.

  18. Adaptive output feedback control of flexible systems

    NASA Astrophysics Data System (ADS)

    Yang, Bong-Jun

    Neural network-based adaptive output feedback approaches that augment a linear control design are described in this thesis, and emphasis is placed on their real-time implementation with flexible systems. Two different control architectures that are robust to parametric uncertainties and unmodelled dynamics are presented. The unmodelled effects can consist of minimum phase internal dynamics of the system together with external disturbance process. Within this context, adaptive compensation for external disturbances is addressed. In the first approach, internal model-following control, adaptive elements are designed using feedback inversion. The effect of an actuator limit is treated using control hedging, and the effect of other actuation nonlinearities, such as dead zone and backlash, is mitigated by a disturbance observer-based control design. The effectiveness of the approach is illustrated through simulation and experimental testing with a three-disk torsional system, which is subjected to control voltage limit and stiction. While the internal model-following control is limited to minimum phase systems, the second approach, external model-following control, does not involve feedback linearization and can be applied to non-minimum phase systems. The unstable zero dynamics are assumed to have been modelled in the design of the existing linear controller. The laboratory tests for this method include a three-disk torsional pendulum, an inverted pendulum, and a flexible-base robot manipulator. The external model-following control architecture is further extended in three ways. The first extension is an approach for control of multivariable nonlinear systems. The second extension is a decentralized adaptive control approach for large-scale interconnected systems. The third extension is to make use of an adaptive observer to augment a linear observer-based controller. In this extension, augmenting terms for the adaptive observer can be used to achieve adaptation in

  19. Control of parallel manipulators using force feedback

    NASA Technical Reports Server (NTRS)

    Nanua, Prabjot

    1994-01-01

    Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

  20. EMG spike time difference based feedback control.

    PubMed

    Butala, Jaydrath; Arkles, Anthony; Gray, John R

    2007-01-01

    Flight control in insects has been studied extensively; however the underlying neural mechanisms are not fully understood. Output from the central nervous system (CNS) must drive wing phase shifts and flight muscle depressor asymmetries associated with adaptive flight maneuvers. These maneuvers will, in turn, influence the insect's sensory environment, thus closing the feedback loop. We present a novel method that utilizes asymmetrical timing of bilateral depressor muscles, the forewing first basalars (m97), of the locust to close a visual feedback loop in a computer-generated flight simulator. The method converts the time difference between left and right m97s to analog voltage values. These voltage values can be obtained using open-loop experiments (visual motion controlled by the experimenter), or can be used to control closed-loop experiments (muscle activity controls the visual stimuli) experiments. Electromyographic (EMG) signals were obtained from right and left m97 muscles; spike time difference between them was calculated and converted to voltage values. Testing this circuit with real animals, we were able to detect the spike time difference and convert that to voltage that controlled the presentation of a stimulus in a closed-loop environment. This method may be used in conjunction with the flight simulator to understand the manner in which sensory information is integrated with the activity of the flight circuitry to study the neural control of this complex behaviour. PMID:18003414

  1. Smart building temperature control using occupant feedback

    NASA Astrophysics Data System (ADS)

    Gupta, Santosh K.

    This work was motivated by the problem of computing optimal commonly-agreeable thermal settings in spaces with multiple occupants. In this work we propose algorithms that take into account each occupant's preferences along with the thermal correlations between different zones in a building, to arrive at optimal thermal settings for all zones of the building in a coordinated manner. In the first part of this work we incorporate active occupant feedback to minimize aggregate user discomfort and total energy cost. User feedback is used to estimate the users comfort range, taking into account possible inaccuracies in the feedback. The control algorithm takes the energy cost into account, trading it off optimally with the aggregate user discomfort. A lumped heat transfer model based on thermal resistance and capacitance is used to model a multi-zone building. We provide a stability analysis and establish convergence of the proposed solution to a desired temperature that minimizes the sum of energy cost and aggregate user discomfort. However, for convergence to the optimal, sufficient separation between the user feedback frequency and the dynamics of the system is necessary; otherwise, the user feedback provided do not correctly reflect the effect of current control input value on user discomfort. The algorithm is further extended using singular perturbation theory to determine the minimum time between successive user feedback solicitations. Under sufficient time scale separation, we establish convergence of the proposed solution. Simulation study and experimental runs on the Watervliet based test facility demonstrates performance of the algorithm. In the second part we develop a consensus algorithm for attaining a common temperature set-point that is agreeable to all occupants of a zone in a typical multi-occupant space. The information on the comfort range functions is indeed held privately by each occupant. Using occupant differentiated dynamically adjusted prices as

  2. Smart building temperature control using occupant feedback

    NASA Astrophysics Data System (ADS)

    Gupta, Santosh K.

    This work was motivated by the problem of computing optimal commonly-agreeable thermal settings in spaces with multiple occupants. In this work we propose algorithms that take into account each occupant's preferences along with the thermal correlations between different zones in a building, to arrive at optimal thermal settings for all zones of the building in a coordinated manner. In the first part of this work we incorporate active occupant feedback to minimize aggregate user discomfort and total energy cost. User feedback is used to estimate the users comfort range, taking into account possible inaccuracies in the feedback. The control algorithm takes the energy cost into account, trading it off optimally with the aggregate user discomfort. A lumped heat transfer model based on thermal resistance and capacitance is used to model a multi-zone building. We provide a stability analysis and establish convergence of the proposed solution to a desired temperature that minimizes the sum of energy cost and aggregate user discomfort. However, for convergence to the optimal, sufficient separation between the user feedback frequency and the dynamics of the system is necessary; otherwise, the user feedback provided do not correctly reflect the effect of current control input value on user discomfort. The algorithm is further extended using singular perturbation theory to determine the minimum time between successive user feedback solicitations. Under sufficient time scale separation, we establish convergence of the proposed solution. Simulation study and experimental runs on the Watervliet based test facility demonstrates performance of the algorithm. In the second part we develop a consensus algorithm for attaining a common temperature set-point that is agreeable to all occupants of a zone in a typical multi-occupant space. The information on the comfort range functions is indeed held privately by each occupant. Using occupant differentiated dynamically adjusted prices as

  3. Output feedback control of a mechanical system using magnetic levitation.

    PubMed

    Beltran-Carbajal, F; Valderrabano-Gonzalez, A; Rosas-Caro, J C; Favela-Contreras, A

    2015-07-01

    This paper presents an application of a nonlinear magnetic levitation system to the problem of efficient active control of mass-spring-damper mechanical systems. An output feedback control scheme is proposed for reference position trajectory tracking tasks on the flexible mechanical system. The electromagnetically actuated system is shown to be a differentially flat nonlinear system. An extended state estimation approach is also proposed to obtain estimates of velocity, acceleration and disturbance signals. The differential flatness structural property of the system is then employed for the synthesis of the controller and the signal estimation approach presented in this work. Some experimental and simulation results are included to show the efficient performance of the control approach and the effective estimation of the unknown signals.

  4. Output feedback control of a mechanical system using magnetic levitation.

    PubMed

    Beltran-Carbajal, F; Valderrabano-Gonzalez, A; Rosas-Caro, J C; Favela-Contreras, A

    2015-07-01

    This paper presents an application of a nonlinear magnetic levitation system to the problem of efficient active control of mass-spring-damper mechanical systems. An output feedback control scheme is proposed for reference position trajectory tracking tasks on the flexible mechanical system. The electromagnetically actuated system is shown to be a differentially flat nonlinear system. An extended state estimation approach is also proposed to obtain estimates of velocity, acceleration and disturbance signals. The differential flatness structural property of the system is then employed for the synthesis of the controller and the signal estimation approach presented in this work. Some experimental and simulation results are included to show the efficient performance of the control approach and the effective estimation of the unknown signals. PMID:25707718

  5. Head and Tibial Acceleration as a Function of Stride Frequency and Visual Feedback during Running.

    PubMed

    Busa, Michael A; Lim, Jongil; van Emmerik, Richard E A; Hamill, Joseph

    2016-01-01

    Individuals regulate the transmission of shock to the head during running at different stride frequencies although the consequences of this on head-gaze stability remain unclear. The purpose of this study was to examine if providing individuals with visual feedback of their head-gaze orientation impacts tibial and head accelerations, shock attenuation and head-gaze motion during preferred speed running at different stride frequencies. Fifteen strides from twelve recreational runners running on a treadmill at their preferred speed were collected during five stride frequencies (preferred, ±10% and ±20% of preferred) in two visual task conditions (with and without real-time visual feedback of head-gaze orientation). The main outcome measures were tibial and head peak accelerations assessed in the time and frequency domains, shock attenuation from tibia to head, and the magnitude and velocity of head-gaze motion. Decreasing stride frequency resulted in greater vertical accelerations of the tibia (p<0.01) during early stance and at the head (p<0.01) during early and late stance; however, for the impact portion the increase in head acceleration was only observed for the slowest stride frequency condition. Visual feedback resulted in reduced head acceleration magnitude (p<0.01) and integrated power spectral density in the frequency domain (p<0.01) in late stance, as well as overall of head-gaze motion (p<0.01). When running at preferred speed individuals were able to stabilize head acceleration within a wide range of stride frequencies; only at a stride frequency 20% below preferred did head acceleration increase. Furthermore, impact accelerations of the head and tibia appear to be solely a function of stride frequency as no differences were observed between feedback conditions. Increased visual task demands through head gaze feedback resulted in reductions in head accelerations in the active portion of stance and increased head-gaze stability.

  6. Head and Tibial Acceleration as a Function of Stride Frequency and Visual Feedback during Running

    PubMed Central

    Busa, Michael A.; Lim, Jongil; van Emmerik, Richard E. A.; Hamill, Joseph

    2016-01-01

    Individuals regulate the transmission of shock to the head during running at different stride frequencies although the consequences of this on head-gaze stability remain unclear. The purpose of this study was to examine if providing individuals with visual feedback of their head-gaze orientation impacts tibial and head accelerations, shock attenuation and head-gaze motion during preferred speed running at different stride frequencies. Fifteen strides from twelve recreational runners running on a treadmill at their preferred speed were collected during five stride frequencies (preferred, ±10% and ±20% of preferred) in two visual task conditions (with and without real-time visual feedback of head-gaze orientation). The main outcome measures were tibial and head peak accelerations assessed in the time and frequency domains, shock attenuation from tibia to head, and the magnitude and velocity of head-gaze motion. Decreasing stride frequency resulted in greater vertical accelerations of the tibia (p<0.01) during early stance and at the head (p<0.01) during early and late stance; however, for the impact portion the increase in head acceleration was only observed for the slowest stride frequency condition. Visual feedback resulted in reduced head acceleration magnitude (p<0.01) and integrated power spectral density in the frequency domain (p<0.01) in late stance, as well as overall of head-gaze motion (p<0.01). When running at preferred speed individuals were able to stabilize head acceleration within a wide range of stride frequencies; only at a stride frequency 20% below preferred did head acceleration increase. Furthermore, impact accelerations of the head and tibia appear to be solely a function of stride frequency as no differences were observed between feedback conditions. Increased visual task demands through head gaze feedback resulted in reductions in head accelerations in the active portion of stance and increased head-gaze stability. PMID:27271850

  7. Head and Tibial Acceleration as a Function of Stride Frequency and Visual Feedback during Running.

    PubMed

    Busa, Michael A; Lim, Jongil; van Emmerik, Richard E A; Hamill, Joseph

    2016-01-01

    Individuals regulate the transmission of shock to the head during running at different stride frequencies although the consequences of this on head-gaze stability remain unclear. The purpose of this study was to examine if providing individuals with visual feedback of their head-gaze orientation impacts tibial and head accelerations, shock attenuation and head-gaze motion during preferred speed running at different stride frequencies. Fifteen strides from twelve recreational runners running on a treadmill at their preferred speed were collected during five stride frequencies (preferred, ±10% and ±20% of preferred) in two visual task conditions (with and without real-time visual feedback of head-gaze orientation). The main outcome measures were tibial and head peak accelerations assessed in the time and frequency domains, shock attenuation from tibia to head, and the magnitude and velocity of head-gaze motion. Decreasing stride frequency resulted in greater vertical accelerations of the tibia (p<0.01) during early stance and at the head (p<0.01) during early and late stance; however, for the impact portion the increase in head acceleration was only observed for the slowest stride frequency condition. Visual feedback resulted in reduced head acceleration magnitude (p<0.01) and integrated power spectral density in the frequency domain (p<0.01) in late stance, as well as overall of head-gaze motion (p<0.01). When running at preferred speed individuals were able to stabilize head acceleration within a wide range of stride frequencies; only at a stride frequency 20% below preferred did head acceleration increase. Furthermore, impact accelerations of the head and tibia appear to be solely a function of stride frequency as no differences were observed between feedback conditions. Increased visual task demands through head gaze feedback resulted in reductions in head accelerations in the active portion of stance and increased head-gaze stability. PMID:27271850

  8. Optogenetic feedback control of neural activity

    PubMed Central

    Newman, Jonathan P; Fong, Ming-fai; Millard, Daniel C; Whitmire, Clarissa J; Stanley, Garrett B; Potter, Steve M

    2015-01-01

    Optogenetic techniques enable precise excitation and inhibition of firing in specified neuronal populations and artifact-free recording of firing activity. Several studies have suggested that optical stimulation provides the precision and dynamic range requisite for closed-loop neuronal control, but no approach yet permits feedback control of neuronal firing. Here we present the ‘optoclamp’, a feedback control technology that provides continuous, real-time adjustments of bidirectional optical stimulation in order to lock spiking activity at specified targets over timescales ranging from seconds to days. We demonstrate how this system can be used to decouple neuronal firing levels from ongoing changes in network excitability due to multi-hour periods of glutamatergic or GABAergic neurotransmission blockade in vitro as well as impinging vibrissal sensory drive in vivo. This technology enables continuous, precise optical control of firing in neuronal populations in order to disentangle causally related variables of circuit activation in a physiologically and ethologically relevant manner. DOI: http://dx.doi.org/10.7554/eLife.07192.001 PMID:26140329

  9. Practical scheme for error control using feedback

    SciTech Connect

    Sarovar, Mohan; Milburn, Gerard J.; Ahn, Charlene; Jacobs, Kurt

    2004-05-01

    We describe a scheme for quantum-error correction that employs feedback and weak measurement rather than the standard tools of projective measurement and fast controlled unitary gates. The advantage of this scheme over previous protocols [for example, Ahn et al. Phys. Rev. A 65, 042301 (2001)], is that it requires little side processing while remaining robust to measurement inefficiency, and is therefore considerably more practical. We evaluate the performance of our scheme by simulating the correction of bit flips. We also consider implementation in a solid-state quantum-computation architecture and estimate the maximal error rate that could be corrected with current technology.

  10. Speech Production as State Feedback Control

    PubMed Central

    Houde, John F.; Nagarajan, Srikantan S.

    2011-01-01

    Spoken language exists because of a remarkable neural process. Inside a speaker's brain, an intended message gives rise to neural signals activating the muscles of the vocal tract. The process is remarkable because these muscles are activated in just the right way that the vocal tract produces sounds a listener understands as the intended message. What is the best approach to understanding the neural substrate of this crucial motor control process? One of the key recent modeling developments in neuroscience has been the use of state feedback control (SFC) theory to explain the role of the CNS in motor control. SFC postulates that the CNS controls motor output by (1) estimating the current dynamic state of the thing (e.g., arm) being controlled, and (2) generating controls based on this estimated state. SFC has successfully predicted a great range of non-speech motor phenomena, but as yet has not received attention in the speech motor control community. Here, we review some of the key characteristics of speech motor control and what they say about the role of the CNS in the process. We then discuss prior efforts to model the role of CNS in speech motor control, and argue that these models have inherent limitations – limitations that are overcome by an SFC model of speech motor control which we describe. We conclude by discussing a plausible neural substrate of our model. PMID:22046152

  11. Feedback Error Learning in neuromotor control

    NASA Astrophysics Data System (ADS)

    Ishihara, Abraham K.

    This thesis is concerned with adaptive human motor control. Adaptation is a highly desirable characteristic of any biological system. Failure is an undesirable, yet very real, characteristic of the human motor control systems. Variability is a ubiquitous observation in human movements that has no direct analogue in the design and analysis of robotic control algorithms. This thesis attempts to link these three aspects of motor control under the constraints of a biologically inspired control framework termed Feedback Error Learning (FEL). Utilizing nonlinear and adaptive control methods we prove conditions for which the FEL framework is stable and successful learning can occur. Utilizing singular perturbation methods, we derive conditions for which the system is guaranteed to fail. Variability is analyzed using Ito Calculus and stochastic Lyapunov functionals where signal dependent noise, a commonly observed phenomenon, enters in the learning algorithm. We also show how signal dependent noise might benefit biological control systems despite the inherent variability introduced into the motor control loops. Lastly, we investigate a force tracking control task, where subjects are asked to track a time-varying plant. Using basic control and system identification techniques, we probe the human motor learning system and extract learning rates with respect to the FEL model.

  12. Feedback controlled hybrid fast ferrite tuners

    SciTech Connect

    Remsen, D.B.; Phelps, D.A.; deGrassie, J.S.; Cary, W.P.; Pinsker, R.I.; Moeller, C.P.; Arnold, W.; Martin, S.; Pivit, E.

    1993-09-01

    A low power ANT-Bosch fast ferrite tuner (FFT) was successfully tested into (1) the lumped circuit equivalent of an antenna strap with dynamic plasma loading, and (2) a plasma loaded antenna strap in DIII-D. When the FFT accessible mismatch range was phase-shifted to encompass the plasma-induced variation in reflection coefficient, the 50 {Omega} source was matched (to within the desired 1.4 : 1 voltage standing wave ratio). The time required to achieve this match (i.e., the response time) was typically a few hundred milliseconds, mostly due to a relatively slow network analyzer-computer system. The response time for the active components of the FFT was 10 to 20 msec, or much faster than the present state-of-the-art for dynamic stub tuners. Future FFT tests are planned, that will utilize the DIII-D computer (capable of submillisecond feedback control), as well as several upgrades to the active control circuit, to produce a FFT feedback control system with a response time approaching 1 msec.

  13. Feedback Controller Design for the Synchronization of Boolean Control Networks.

    PubMed

    Liu, Yang; Sun, Liangjie; Lu, Jianquan; Liang, Jinling

    2016-09-01

    This brief investigates the partial and complete synchronization of two Boolean control networks (BCNs). Necessary and sufficient conditions for partial and complete synchronization are established by the algebraic representations of logical dynamics. An algorithm is obtained to construct the feedback controller that guarantees the synchronization of master and slave BCNs. Two biological examples are provided to illustrate the effectiveness of the obtained results.

  14. Inferring Network Connectivity by Delayed Feedback Control

    PubMed Central

    Yu, Dongchuan; Parlitz, Ulrich

    2011-01-01

    We suggest a control based approach to topology estimation of networks with elements. This method first drives the network to steady states by a delayed feedback control; then performs structural perturbations for shifting the steady states times; and finally infers the connection topology from the steady states' shifts by matrix inverse algorithm () or -norm convex optimization strategy applicable to estimate the topology of sparse networks from perturbations. We discuss as well some aspects important for applications, such as the topology reconstruction quality and error sources, advantages and disadvantages of the suggested method, and the influence of (control) perturbations, inhomegenity, sparsity, coupling functions, and measurement noise. Some examples of networks with Chua's oscillators are presented to illustrate the reliability of the suggested technique. PMID:21969856

  15. Man-systems evaluation of moving base vehicle simulation motion cues. [human acceleration perception involving visual feedback

    NASA Technical Reports Server (NTRS)

    Kirkpatrick, M.; Brye, R. G.

    1974-01-01

    A motion cue investigation program is reported that deals with human factor aspects of high fidelity vehicle simulation. General data on non-visual motion thresholds and specific threshold values are established for use as washout parameters in vehicle simulation. A general purpose similator is used to test the contradictory cue hypothesis that acceleration sensitivity is reduced during a vehicle control task involving visual feedback. The simulator provides varying acceleration levels. The method of forced choice is based on the theory of signal detect ability.

  16. Closed-loop control of ionization oscillations in Hall accelerators

    SciTech Connect

    Barral, S.; Kaczmarczyk, J.; Kurzyna, J.; Dudeck, M.

    2011-08-15

    Feedback control of ionization oscillations in Hall accelerators is investigated with a proportional-integral-derivative controller acting on the discharge voltage. The stability of the current is found to systematically improve with proportional control, whereas integral and derivative control have in most cases a detrimental or insignificant impact. At low discharge voltages, proportional control eliminates at the same time ionization breathing oscillations as well as a coexisting low frequency mode. A progressive deterioration of the stability is observed at higher voltage, presumably attributable to the limited output voltage range of the controller. The time-averaged characteristics of the discharge such as average current, thrust and efficiency, remain unchanged within measurement uncertainties.

  17. Information-Technology Approach to Quantum Feedback Control

    NASA Astrophysics Data System (ADS)

    Dong, Dao-Yi; Zhang, Chen-Bin; Chen, Zong-Hai; Chen, Chun-Lin

    Quantum control theory is profitably reexamined from the perspective of quantum information, two results on the role of quantum information technology in quantum feedback control are presented and two quantum feedback control schemes, teleportation-based distant quantum feedback control and quantum feedback control with quantum cloning, are proposed. In the first feedback scheme, the output from the quantum system to be controlled is fed back into the distant actuator via teleportation to alter the dynamics of system. The result theoretically shows that it can accomplish some tasks such as distant feedback quantum control that Markovian or Bayesian quantum feedback can not complete. In the second feedback strategy, the design of quantum feedback control algorithms is separated into a state recognition step, which gives "on-off" signal to the actuator through recognizing some copies from the cloning machine, and a feedback (control) step using another copies of cloning machine. A compromise between information acquisition and measurement disturbance is established, and this strategy can perform some quantum control tasks with coherent feedback.

  18. Accelerator diagnosis and control by Neural Nets

    SciTech Connect

    Spencer, J.E.

    1989-01-01

    Neural Nets (NN) have been described as a solution looking for a problem. In the last conference, Artificial Intelligence (AI) was considered in the accelerator context. While good for local surveillance and control, its use for large complex systems (LCS) was much more restricted. By contrast, NN provide a good metaphor for LCS. It can be argued that they are logically equivalent to multi-loop feedback/forward control of faulty systems, and therefore provide an ideal adaptive control system. Thus, where AI may be good for maintaining a 'golden orbit,' NN should be good for obtaining it via a quantitative approach to 'look and adjust' methods like operator tweaking which use pattern recognition to deal with hardware and software limitations, inaccuracies or errors as well as imprecise knowledge or understanding of effects like annealing and hysteresis. Further, insights from NN allow one to define feasibility conditions for LCS in terms of design constraints and tolerances. Hardware and software implications are discussed and several LCS of current interest are compared and contrasted. 15 refs., 5 figs.

  19. Optimal haptic feedback control of artificial muscles

    NASA Astrophysics Data System (ADS)

    Chen, Daniel; Besier, Thor; Anderson, Iain; McKay, Thomas

    2014-03-01

    As our population ages, and trends in obesity continue to grow, joint degenerative diseases like osteoarthritis (OA) are becoming increasingly prevalent. With no cure currently in sight, the only effective treatments for OA are orthopaedic surgery and prolonged rehabilitation, neither of which is guaranteed to succeed. Gait retraining has tremendous potential to alter the contact forces in the joints due to walking, reducing the risk of one developing hip and knee OA. Dielectric Elastomer Actuators (DEAs) are being explored as a potential way of applying intuitive haptic feedback to alter a patient's walking gait. The main challenge with the use of DEAs in this application is producing large enough forces and strains to induce sensation when coupled to a patient's skin. A novel controller has been proposed to solve this issue. The controller uses simultaneous capacitive self-sensing and actuation which will optimally apply a haptic sensation to the patient's skin independent of variability in DEAs and patient geometries.

  20. Development of a fast voltage control method for electrostatic accelerators

    NASA Astrophysics Data System (ADS)

    Lobanov, Nikolai R.; Linardakis, Peter; Tsifakis, Dimitrios

    2014-12-01

    The concept of a novel fast voltage control loop for tandem electrostatic accelerators is described. This control loop utilises high-frequency components of the ion beam current intercepted by the image slits to generate a correction voltage that is applied to the first few gaps of the low- and high-energy acceleration tubes adjoining the high voltage terminal. New techniques for the direct measurement of the transfer function of an ultra-high impedance structure, such as an electrostatic accelerator, have been developed. For the first time, the transfer function for the fast feedback loop has been measured directly. Slow voltage variations are stabilised with common corona control loop and the relationship between transfer functions for the slow and new fast control loops required for optimum operation is discussed. The main source of terminal voltage instabilities, which are due to variation of the charging current caused by mechanical oscillations of charging chains, has been analysed.

  1. Permafrost carbon-climate feedbacks accelerate global warming.

    PubMed

    Koven, Charles D; Ringeval, Bruno; Friedlingstein, Pierre; Ciais, Philippe; Cadule, Patricia; Khvorostyanov, Dmitry; Krinner, Gerhard; Tarnocai, Charles

    2011-09-01

    Permafrost soils contain enormous amounts of organic carbon, which could act as a positive feedback to global climate change due to enhanced respiration rates with warming. We have used a terrestrial ecosystem model that includes permafrost carbon dynamics, inhibition of respiration in frozen soil layers, vertical mixing of soil carbon from surface to permafrost layers, and CH(4) emissions from flooded areas, and which better matches new circumpolar inventories of soil carbon stocks, to explore the potential for carbon-climate feedbacks at high latitudes. Contrary to model results for the Intergovernmental Panel on Climate Change Fourth Assessment Report (IPCC AR4), when permafrost processes are included, terrestrial ecosystems north of 60°N could shift from being a sink to a source of CO(2) by the end of the 21st century when forced by a Special Report on Emissions Scenarios (SRES) A2 climate change scenario. Between 1860 and 2100, the model response to combined CO(2) fertilization and climate change changes from a sink of 68 Pg to a 27 + -7 Pg sink to 4 + -18 Pg source, depending on the processes and parameter values used. The integrated change in carbon due to climate change shifts from near zero, which is within the range of previous model estimates, to a climate-induced loss of carbon by ecosystems in the range of 25 + -3 to 85 + -16 Pg C, depending on processes included in the model, with a best estimate of a 62 + -7 Pg C loss. Methane emissions from high-latitude regions are calculated to increase from 34 Tg CH(4)/y to 41-70 Tg CH(4)/y, with increases due to CO(2) fertilization, permafrost thaw, and warming-induced increased CH(4) flux densities partially offset by a reduction in wetland extent.

  2. Design of turbofan engine controls using output feedback regulator theory

    NASA Technical Reports Server (NTRS)

    Merrill, W. C.

    1977-01-01

    A multivariable control design procedure based on output feedback regulator (OFR) theory is applied to the F100 turbofan engine. Results for the OFR design are compared to a design based on linear quadratic regulator (LQR) theory. The OFR feedback control is designed in the full order state space and thus eliminates any need for model reduction techniques. Using the performance measure and control structure of the LQR design, an equivalent OFR feedback control is obtained. The flexibility of the OFR as a control design procedure is demonstrated, and differing feedback control structures are evaluated.

  3. Sample-Clock Phase-Control Feedback

    NASA Technical Reports Server (NTRS)

    Quirk, Kevin J.; Gin, Jonathan W.; Nguyen, Danh H.; Nguyen, Huy

    2012-01-01

    To demodulate a communication signal, a receiver must recover and synchronize to the symbol timing of a received waveform. In a system that utilizes digital sampling, the fidelity of synchronization is limited by the time between the symbol boundary and closest sample time location. To reduce this error, one typically uses a sample clock in excess of the symbol rate in order to provide multiple samples per symbol, thereby lowering the error limit to a fraction of a symbol time. For systems with a large modulation bandwidth, the required sample clock rate is prohibitive due to current technological barriers and processing complexity. With precise control of the phase of the sample clock, one can sample the received signal at times arbitrarily close to the symbol boundary, thus obviating the need, from a synchronization perspective, for multiple samples per symbol. Sample-clock phase-control feedback was developed for use in the demodulation of an optical communication signal, where multi-GHz modulation bandwidths would require prohibitively large sample clock frequencies for rates in excess of the symbol rate. A custom mixedsignal (RF/digital) offset phase-locked loop circuit was developed to control the phase of the 6.4-GHz clock that samples the photon-counting detector output. The offset phase-locked loop is driven by a feedback mechanism that continuously corrects for variation in the symbol time due to motion between the transmitter and receiver as well as oscillator instability. This innovation will allow significant improvements in receiver throughput; for example, the throughput of a pulse-position modulation (PPM) with 16 slots can increase from 188 Mb/s to 1.5 Gb/s.

  4. Combustion diagnostic for active engine feedback control

    DOEpatents

    Green, Jr., Johney Boyd; Daw, Charles Stuart; Wagner, Robert Milton

    2007-10-02

    This invention detects the crank angle location where combustion switches from premixed to diffusion, referred to as the transition index, and uses that location to define integration limits that measure the portions of heat released during the combustion process that occur during the premixed and diffusion phases. Those integrated premixed and diffusion values are used to develop a metric referred to as the combustion index. The combustion index is defined as the integrated diffusion contribution divided by the integrated premixed contribution. As the EGR rate is increased enough to enter the low temperature combustion regime, PM emissions decrease because more of the combustion process is occurring over the premixed portion of the heat release rate profile and the diffusion portion has been significantly reduced. This information is used to detect when the engine is or is not operating in a low temperature combustion mode and provides that feedback to an engine control algorithm.

  5. Optimal Feedback Controlled Assembly of Perfect Crystals.

    PubMed

    Tang, Xun; Rupp, Bradley; Yang, Yuguang; Edwards, Tara D; Grover, Martha A; Bevan, Michael A

    2016-07-26

    Perfectly ordered states are targets in diverse molecular to microscale systems involving, for example, atomic clusters, protein folding, protein crystallization, nanoparticle superlattices, and colloidal crystals. However, there is no obvious approach to control the assembly of perfectly ordered global free energy minimum structures; near-equilibrium assembly is impractically slow, and faster out-of-equilibrium processes generally terminate in defective states. Here, we demonstrate the rapid and robust assembly of perfect crystals by navigating kinetic bottlenecks using closed-loop control of electric field mediated crystallization of colloidal particles. An optimal policy is computed with dynamic programming using a reaction coordinate based dynamic model. By tracking real-time stochastic particle configurations and adjusting applied fields via feedback, the evolution of unassembled particles is guided through polycrystalline states into single domain crystals. This approach to controlling the assembly of a target structure is based on general principles that make it applicable to a broad range of processes from nano- to microscales (where tuning a global thermodynamic variable yields temporal control over thermal sampling of different states via their relative free energies).

  6. [Feedback control mechanisms of plant cell expansion

    SciTech Connect

    Cosgrove, D.J.

    1992-01-01

    We have generated considerable evidence for the significance of wall stress relaxation in the control of plant growth and found that several agents (gibberellin, light, genetic loci for dwarf stature) influence growth rate via alteration of wall relaxation. We have refined our methods for measuring wall relaxation and, moreover, have found that wall relaxation properties bear only a distance relationship to wall mechanical properties. We have garnered novel insights into the nature of cell expansion mechanisms by analyzing spontaneous fluctuations of plant growth rate in seedlings. These experiments involved the application of mathematical techniques for analyzing growth rate fluctuations and the development of new instrumentation for measuring and forcing plant growth in a controlled fashion. These studies conclude that growth rate fluctuations generated by the plant as consequence of a feedback control system. This conclusion has important implications for the nature of wall loosening processes and demands a different framework for thinking about growth control. It also implies the existence of a growth rate sensor.

  7. Minimal-Inversion Feedforward-And-Feedback Control System

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1990-01-01

    Recent developments in theory of control systems support concept of minimal-inversion feedforward-and feedback control system consisting of three independently designable control subsystems. Applicable to the control of linear, time-invariant plant.

  8. Narrowband feedback for narrowband control of resonant and non-resonant vibration

    NASA Astrophysics Data System (ADS)

    Kim, Sang-Myeong; Brennan, Michael J.; Abreu, Gustavo L. C. M.

    2016-08-01

    This paper presents a simple feedback methodology that uses second order filters to control narrowband resonant and non-resonant vibration of a structural system. In particular, a single degree-of-freedom system is studied throughout the paper. The idea of the methodology is based on the fact that direct feedback is effective for in-phase vibration control. Thus, the position, velocity and acceleration are respectively fed back to control the low, resonant and high frequency vibration of the system. Each of these is passed through a band pass filter of second order that is inserted to extract and feed back the in-phase signal component only. This is called narrowband feedback. It is demonstrated with experiments that narrowband feedback is useful for narrowband control of resonant and non-resonant vibration.

  9. Autonomous benthic algal cultivator under feedback control of ecosystem metabolism

    Technology Transfer Automated Retrieval System (TEKTRAN)

    An autonomous and internally-controlled techno-ecological hybrid was developed that controls primary production of algae in a laboratory-scale cultivator. The technoecosystem is based on an algal turf scrubber (ATS) system that combines engineered feedback control programming with internal feedback...

  10. Disrupting vagal feedback affects birdsong motor control

    PubMed Central

    Méndez, Jorge M.; Dall'Asén, Analía G.; Goller, Franz

    2010-01-01

    Coordination of different motor systems for sound production involves the use of feedback mechanisms. Song production in oscines is a well-established animal model for studying learned vocal behavior. Whereas the online use of auditory feedback has been studied in the songbird model, very little is known about the role of other feedback mechanisms. Auditory feedback is required for the maintenance of stereotyped adult song. In addition, the use of somatosensory feedback to maintain pressure during song has been demonstrated with experimentally induced fluctuations in air sac pressure. Feedback information mediating this response is thought to be routed to the central nervous system via afferent fibers of the vagus nerve. Here, we tested the effects of unilateral vagotomy on the peripheral motor patterns of song production and the acoustic features. Unilateral vagotomy caused a variety of disruptions and alterations to the respiratory pattern of song, some of which affected the acoustic structure of vocalizations. These changes were most pronounced a few days after nerve resection and varied between individuals. In the most extreme cases, the motor gestures of respiration were so severely disrupted that individual song syllables or the song motif were atypically terminated. Acoustic changes also suggest altered use of the two sound generators and upper vocal tract filtering, indicating that the disruption of vagal feedback caused changes to the motor program of all motor systems involved in song production and modification. This evidence for the use of vagal feedback by the song system with disruption of song during the first days after nerve cut provides a contrast to the longer-term effects of auditory feedback disruption. It suggests a significant role for somatosensory feedback that differs from that of auditory feedback. PMID:21113000

  11. Self-Controlled Feedback in 10-Year-Old Children: Higher Feedback Frequencies Enhance Learning

    ERIC Educational Resources Information Center

    Chiviacowsky, Suzete; Wulf, Gabriele; de Medeiros, Franklin Laroque; Kaefer, Angelica; Wally, Raquel

    2008-01-01

    The purpose of the present study was to examine whether learning in 10-year-old children--that is, the age group for which the Chiviacowsky et al. (2006) study found benefits of self-controlled knowledge of results (KR)--would differ depending on the frequency of feedback they chose. The authors surmised that a relatively high feedback frequency…

  12. Sensory-Feedback Exoskeletal Arm Controller

    NASA Technical Reports Server (NTRS)

    An, Bin; Massie, Thomas H.; Vayner, Vladimir

    2004-01-01

    An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

  13. Self-control of feedback during motor learning: accounting for the absolute amount of feedback using a yoked group with self-control over feedback.

    PubMed

    Hansen, Steve; Pfeiffer, Jacob; Patterson, Jae Todd

    2011-01-01

    A traditional control group yoked to a group that self-controls their reception of feedback receives feedback in the same relative and absolute manner. This traditional control group typically does not learn the task as well as the self-control group. Although the groups are matched for the amount of feedback they receive, the information is provided on trials in which the individual may not request feedback if he or she were provided the opportunity. Similarly, individuals may not receive feedback on trials for which it would be a beneficial learning experience. Subsequently, the mismatch between the provision of feedback and the potential learning opportunity leads to a decrement in retention. The present study was designed to examine motor learning for a yoked group with the same absolute amount of feedback, but who could self-control when they received feedback. Increased mental processing of error detection and correction was expected for the participants in the yoked self-control group because of their choice to employ a limited resource in the form of a decreasing amount of feedback opportunities. Participants in the yoked with self-control group committed fewer errors than the self-control group in retention and the traditional yoked group in both the retention and time transfer blocks. The results suggest that the yoked with self-control group was able to produce efficient learning effects and can be a viable control group for further motor learning studies. PMID:21347953

  14. Multichannel electrotactile feedback for simultaneous and proportional myoelectric control

    NASA Astrophysics Data System (ADS)

    Patel, Gauravkumar K.; Dosen, Strahinja; Castellini, Claudio; Farina, Dario

    2016-10-01

    Objective. Closing the loop in myoelectric prostheses by providing artificial somatosensory feedback to the user is an important need for prosthetic users. Previous studies investigated feedback strategies in combination with the control of one degree of freedom of simple grippers. Modern hands, however, are sophisticated multifunction systems. In this study, we assessed multichannel electrotactile feedback integrated with an advanced method for the simultaneous and proportional control of individual fingers of a dexterous hand. Approach. The feedback used spatial and frequency coding to provide information on the finger positions (normalized flexion angles). A comprehensive set of conditions have been investigated in 28 able-bodied subjects, including feedback modalities (visual, electrotactile and no feedback), control tasks (fingers and grasps), systems (virtual and real hand), control methods (ideal and realistic) and range of motion (low and high). The task for the subjects was to operate the hand using closed-loop myoelectric control and generate the desired movement (e.g., selected finger or grasp at a specific level of closure). Main results. The subjects could perceive the multichannel and multivariable electrotactile feedback and effectively exploit it to improve the control performance with respect to open-loop grasping. The improvement however depended on the reliability of the feedforward control, with less consistent control exhibiting performance trends that were more complex across the conditions. Significance. The results are promising for the potential application of advanced feedback to close the control loop in sophisticated prosthetic systems.

  15. Feedback control of flow vorticity at low Reynolds numbers.

    PubMed

    Zeitz, Maria; Gurevich, Pavel; Stark, Holger

    2015-03-01

    Our aim is to explore strategies of feedback control to design and stabilize novel dynamic flow patterns in model systems of complex fluids. To introduce the control strategies, we investigate the simple Newtonian fluid at low Reynolds number in a circular geometry. Then, the fluid vorticity satisfies a diffusion equation. We determine the mean vorticity in the sensing area and use two control strategies to feed it back into the system by controlling the angular velocity of the circular boundary. Hysteretic feedback control generates self-regulated stable oscillations in time, the frequency of which can be adjusted over several orders of magnitude by tuning the relevant feedback parameters. Time-delayed feedback control initiates unstable vorticity modes for sufficiently large feedback strength. For increasing delay time, we first observe oscillations with beats and then regular trains of narrow pulses. Close to the transition line between the resting fluid and the unstable modes, these patterns are relatively stable over long times.

  16. Role of feedback in voluntary control of heart rate.

    PubMed

    Manuck, S B; Levenson, R W; Hinrichsen, J J; Gryll, S L

    1975-06-01

    The relative effectiveness of biofeedback techniques on the voluntary control of heart rate was examined by randomly assigning 32 Ss to one of four feedback conditions in a bi-directional heart-rate control task: (1) no feedback, (2) binary feedback--S was signaled when an interbeat interval had changed in the correct direction, (3) "real-time," proportional feedback--S was provided information about the relative duration of successive interbeat intervals, and (4) numerical, proportional feedback--each interbeat interval was represented as a numeral indicating its relationship to pre-trial mean by direction and magnitude. Significant over-all heart-rate changes were evidenced for both increase and decrease directions, but no differences were found between the feedback conditions. While these data suggest that feedback may be a relatively insignificant factor in voluntary heart-rate control, it was recommended that further investigation examine the role of feedback within the context of other training, mediating and motivational variables.

  17. Developing an active artificial hair cell using nonlinear feedback control

    NASA Astrophysics Data System (ADS)

    Joyce, Bryan S.; Tarazaga, Pablo A.

    2015-09-01

    The hair cells in the mammalian cochlea convert sound-induced vibrations into electrical signals. These cells have inspired a variety of artificial hair cells (AHCs) to serve as biologically inspired sound, fluid flow, and acceleration sensors and could one day replace damaged hair cells in humans. Most of these AHCs rely on passive transduction of stimulus while it is known that the biological cochlea employs active processes to amplify sound-induced vibrations and improve sound detection. In this work, an active AHC mimics the active, nonlinear behavior of the cochlea. The AHC consists of a piezoelectric bimorph beam subjected to a base excitation. A feedback control law is used to reduce the linear damping of the beam and introduce a cubic damping term which gives the AHC the desired nonlinear behavior. Model and experimental results show the AHC amplifies the response due to small base accelerations, has a higher frequency sensitivity than the passive system, and exhibits a compressive nonlinearity like that of the mammalian cochlea. This bio-inspired accelerometer could lead to new sensors with lower thresholds of detection, improved frequency sensitivities, and wider dynamic ranges.

  18. Control of force through feedback in small driven systems.

    PubMed

    Dieterich, E; Camunas-Soler, J; Ribezzi-Crivellari, M; Seifert, U; Ritort, F

    2016-07-01

    Controlling a time-dependent force applied to single molecules or colloidal particles is crucial for many types of experiments. Since in optical tweezers the primary controlled variable is the position of the trap, imposing a target force requires an active feedback process. We analyze this feedback process for the paradigmatic case of a nonequilibrium steady state generated by a dichotomous force protocol, first theoretically for a colloidal particle in a harmonic trap and then with both simulations and experiments for a long DNA hairpin. For the first setup, we find there is an optimal feedback gain separating monotonic from oscillatory response, whereas a too strong feedback leads to an instability. For the DNA molecule, reaching the target force requires substantial feedback gain since weak feedback cannot overcome the tendency to relax towards the equilibrium force. PMID:27575077

  19. Control of force through feedback in small driven systems.

    PubMed

    Dieterich, E; Camunas-Soler, J; Ribezzi-Crivellari, M; Seifert, U; Ritort, F

    2016-07-01

    Controlling a time-dependent force applied to single molecules or colloidal particles is crucial for many types of experiments. Since in optical tweezers the primary controlled variable is the position of the trap, imposing a target force requires an active feedback process. We analyze this feedback process for the paradigmatic case of a nonequilibrium steady state generated by a dichotomous force protocol, first theoretically for a colloidal particle in a harmonic trap and then with both simulations and experiments for a long DNA hairpin. For the first setup, we find there is an optimal feedback gain separating monotonic from oscillatory response, whereas a too strong feedback leads to an instability. For the DNA molecule, reaching the target force requires substantial feedback gain since weak feedback cannot overcome the tendency to relax towards the equilibrium force.

  20. Control of force through feedback in small driven systems

    NASA Astrophysics Data System (ADS)

    Dieterich, E.; Camunas-Soler, J.; Ribezzi-Crivellari, M.; Seifert, U.; Ritort, F.

    2016-07-01

    Controlling a time-dependent force applied to single molecules or colloidal particles is crucial for many types of experiments. Since in optical tweezers the primary controlled variable is the position of the trap, imposing a target force requires an active feedback process. We analyze this feedback process for the paradigmatic case of a nonequilibrium steady state generated by a dichotomous force protocol, first theoretically for a colloidal particle in a harmonic trap and then with both simulations and experiments for a long DNA hairpin. For the first setup, we find there is an optimal feedback gain separating monotonic from oscillatory response, whereas a too strong feedback leads to an instability. For the DNA molecule, reaching the target force requires substantial feedback gain since weak feedback cannot overcome the tendency to relax towards the equilibrium force.

  1. Control of linear accelerator noise in the Los Alamos free-electron laser (FEL)

    SciTech Connect

    Lynch, M.T.

    1986-01-01

    The Los Alamos FEL requires tight control of the amplitudes and phases of the fields in two linear accelerator tanks to obtain stable lasing. The accelerator control loops must establish constant, stable, repeatable amplitudes and phases of the rf fields and must have excellent bandwidth to control high-frequency noise components. A model of the feedback loops has been developed that agrees well with measurements and allows easy substitution of components and circuits, thus reducing breadboarding requirements. The model permits both frequency and time-domain analysis. This paper describes the accelerator control scheme and our model and discusses the control of noise in feedback loops, showing how low-frequency-noise components (errors) can be corrected, but high-frequency-noise components (errors) are actually amplified by the feedback circuit. Measurements of noise in both open- and closed-loop modes are shown and comparison is made with results from the model calculations.

  2. Lyapunov optimal feedback control of a nonlinear inverted pendulum

    NASA Technical Reports Server (NTRS)

    Grantham, W. J.; Anderson, M. J.

    1989-01-01

    Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

  3. Thermodynamics of quantum-jump-conditioned feedback control.

    PubMed

    Strasberg, Philipp; Schaller, Gernot; Brandes, Tobias; Esposito, Massimiliano

    2013-12-01

    We consider open quantum systems weakly coupled to thermal reservoirs and subjected to quantum feedback operations triggered with or without delay by monitored quantum jumps. We establish a thermodynamic description of such systems and analyze how the first and second law of thermodynamics are modified by the feedback. We apply our formalism to study the efficiency of a qubit subjected to a quantum feedback control and operating as a heat pump between two reservoirs. We also demonstrate that quantum feedbacks can be used to stabilize coherences in nonequilibrium stationary states which in some cases may even become pure quantum states. PMID:24483386

  4. Modification of piezoelectric vibratory gyroscope resonator parameters by feedback control.

    PubMed

    Loveday, P W; Rogers, C A

    1998-01-01

    A method for analyzing the effect of feedback control on the dynamics of piezoelectric resonators used in vibratory gyroscopes has been developed. This method can be used to determine the feasibility of replacing the traditional mechanical balancing operations, used to adjust the resonant frequency, by displacement feedback and for determining the velocity feedback required to produce a particular bandwidth. Experiments were performed on a cylindrical resonator with discrete piezoelectric actuation and sensing elements to demonstrate the principles. Good agreement between analysis and experiment was obtained, and it was shown that this type of resonator could be balanced by displacement feedback. The analysis method presented also is applicable to micromachined piezoelectric gyroscopes. PMID:18244281

  5. Direct laser additive fabrication system with image feedback control

    DOEpatents

    Griffith, Michelle L.; Hofmeister, William H.; Knorovsky, Gerald A.; MacCallum, Danny O.; Schlienger, M. Eric; Smugeresky, John E.

    2002-01-01

    A closed-loop, feedback-controlled direct laser fabrication system is disclosed. The feedback refers to the actual growth conditions obtained by real-time analysis of thermal radiation images. The resulting system can fabricate components with severalfold improvement in dimensional tolerances and surface finish.

  6. Feedback sensor noise rejection control strategy for quadrotor UAV system

    NASA Astrophysics Data System (ADS)

    Tanveer, M. Hassan; Hazry, D.; Ahmed, S. Faiz; Joyo, M. Kamran; Warsi, Faizan A.; Kamarudin, H.; Wan, Khairunizam; Razlan, Zuradzman M.; Shahriman A., B.; Hussain, A. T.

    2015-05-01

    This paper describes a methodology for estimating the true value of all parameters from feedback sensor of quadrotor systems. A simple gyroscope and accelerometer sensors are taken into account for calculating the accurate value of system. Secondly, for filtering and controlling the feedback data of system, a Non-linear Model Predictive Control (NMPC) is proposed. For testing the accuracy of proposed technique a complete model of quadrotor with feedback system is implemented on Matlab and simulation results shows the effectiveness of proposed technique and controller design.

  7. Coherent feedback control of a single qubit in diamond

    NASA Astrophysics Data System (ADS)

    Hirose, Masashi; Cappellaro, Paola

    2016-04-01

    Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla-qubit correlation

  8. Coherent feedback control of a single qubit in diamond.

    PubMed

    Hirose, Masashi; Cappellaro, Paola

    2016-04-01

    Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla-qubit correlation

  9. Neural mechanisms underlying auditory feedback control of speech.

    PubMed

    Tourville, Jason A; Reilly, Kevin J; Guenther, Frank H

    2008-02-01

    The neural substrates underlying auditory feedback control of speech were investigated using a combination of functional magnetic resonance imaging (fMRI) and computational modeling. Neural responses were measured while subjects spoke monosyllabic words under two conditions: (i) normal auditory feedback of their speech and (ii) auditory feedback in which the first formant frequency of their speech was unexpectedly shifted in real time. Acoustic measurements showed compensation to the shift within approximately 136 ms of onset. Neuroimaging revealed increased activity in bilateral superior temporal cortex during shifted feedback, indicative of neurons coding mismatches between expected and actual auditory signals, as well as right prefrontal and Rolandic cortical activity. Structural equation modeling revealed increased influence of bilateral auditory cortical areas on right frontal areas during shifted speech, indicating that projections from auditory error cells in posterior superior temporal cortex to motor correction cells in right frontal cortex mediate auditory feedback control of speech.

  10. Pulsed klystrons with feedback controlled mod-anode modulators

    SciTech Connect

    Reass, William A; Baca, David M; Jerry, Davis L; Rees, Daniel E

    2009-01-01

    This paper describes a fast rise and fall, totem-pole mod-anode modulators for klystron application. Details of these systems as recently installed utilizing a beam switch tube ''on-deck'' and a planar triode ''off-deck'' in a grid-catch feedback regulated configuration will be provided. The grid-catch configuration regulates the klystron mod-anode voltage at a specified set-point during switching as well as providing a control mechanism that flat-top regulates the klystron beam current during the pulse. This flat-topped klystron beam current is maintained while the capacitor bank droops. In addition, we will review more modern on-deck designs using a high gain, high voltage planar triode as a regulating and switching element. These designs are being developed, tested, and implemented for the Los Alamos Neutron Science Center (LANSCE) accelerator refurbishment project, ''LANSCE-R''. An advantage of the planar triode is that the tube can be directly operated with solid state linear components and provides for a very compact design. The tubes are inexpensive compared to stacked semiconductor switching assemblies and also provide a linear control capability. Details of these designs are provided as well as operational and developmental results.

  11. Quantum effects improve the energy efficiency of feedback control.

    PubMed

    Horowitz, Jordan M; Jacobs, Kurt

    2014-04-01

    The laws of thermodynamics apply equally well to quantum systems as to classical systems, and because of this, quantum effects do not change the fundamental thermodynamic efficiency of isothermal refrigerators or engines. We show that, despite this fact, quantum mechanics permits measurement-based feedback control protocols that are more thermodynamically efficient than their classical counterparts. As part of our analysis, we perform a detailed accounting of the thermodynamics of unitary feedback control and elucidate the sources of inefficiency in measurement-based and coherent feedback.

  12. Quantum effects improve the energy efficiency of feedback control.

    PubMed

    Horowitz, Jordan M; Jacobs, Kurt

    2014-04-01

    The laws of thermodynamics apply equally well to quantum systems as to classical systems, and because of this, quantum effects do not change the fundamental thermodynamic efficiency of isothermal refrigerators or engines. We show that, despite this fact, quantum mechanics permits measurement-based feedback control protocols that are more thermodynamically efficient than their classical counterparts. As part of our analysis, we perform a detailed accounting of the thermodynamics of unitary feedback control and elucidate the sources of inefficiency in measurement-based and coherent feedback. PMID:24827219

  13. A Proposed Fast Luminosity Feedback for the Super-B Accelerator

    SciTech Connect

    Bertsche, Kirk; Field, R.Clive; Fisher, Alan; Sullivan, Michael; Drago, Alessandro; /Frascati

    2009-05-15

    We present a possible design for a fast luminosity feedback for the SuperB Interaction Point (IP). The design is an extension of the fast luminosity feedback installed on the PEP-II accelerator. During the last two runs of PEP-II and BaBar (2007-2008), we had an improved luminosity feedback system that was able to maintain peak luminosity with faster correction speed than the previous system. The new system utilized fast dither coils on the High-Energy Beam (HEB) to independently dither the x position, the y position and the y angle at the IP, at roughly 100 Hz. The luminosity signal was then read out with three independent lock-in amplifiers. An overall correction was computed based on the lock-in signal strengths and beam corrections for position in x and y and in the y angle at the IP were simultaneously applied to the HEB. With the 100 times increase in luminosity for the SuperB design, we propose using a similar fast luminosity feedback that can operate at frequencies between DC and 1 kHz, high enough to follow any beam motion from the final focusing magnets.

  14. Adaptive method with intercessory feedback control for an intelligent agent

    DOEpatents

    Goldsmith, Steven Y.

    2004-06-22

    An adaptive architecture method with feedback control for an intelligent agent provides for adaptively integrating reflexive and deliberative responses to a stimulus according to a goal. An adaptive architecture method with feedback control for multiple intelligent agents provides for coordinating and adaptively integrating reflexive and deliberative responses to a stimulus according to a goal. Re-programming of the adaptive architecture is through a nexus which coordinates reflexive and deliberator components.

  15. Application accelerator system having bunch control

    DOEpatents

    Wang, Dunxiong; Krafft, Geoffrey Arthur

    1999-01-01

    An application accelerator system for monitoring the gain of a free electron laser. Coherent Synchrotron Radiation (CSR) detection techniques are used with a bunch length monitor for ultra short, picosec to several tens of femtosec, electron bunches. The monitor employs an application accelerator, a coherent radiation production device, an optical or beam chopping device, an infrared radiation collection device, a narrow-banding filter, an infrared detection device, and a control.

  16. Application accelerator system having bunch control

    DOEpatents

    Wang, D.; Krafft, G.A.

    1999-06-22

    An application accelerator system for monitoring the gain of a free electron laser is disclosed. Coherent Synchrotron Radiation (CSR) detection techniques are used with a bunch length monitor for ultra short, picosec to several tens of femtosec, electron bunches. The monitor employs an application accelerator, a coherent radiation production device, an optical or beam chopping device, an infrared radiation collection device, a narrow-banding filter, an infrared detection device, and a control. 1 fig.

  17. Control problems in very large accelerators

    NASA Astrophysics Data System (ADS)

    Crowley-Milling, M. C.

    1985-06-01

    There is no fundamental difference of kind in the control requirements between a small and a large accelerator since they are built of the same types of components, which individually have similar control inputs and outputs. The main difference is one of scale; the large machine has many more components of each type, and the distances involved are much greater. Both of these factors must be taken into account in determining the optimum way of carrying out the control functions. Small machines should use standard equipment and software for control as much as possible, as special developments for small quantities cannot normally be justified if all costs are taken into account. On the other hand, the very great number of devices needed for a large machine means that, if special developments can result in simplification, they may make possible an appreciable reduction in the control equipment costs. It is the purpose of this report to look at the special control problems of large accelerators, which the author shall arbitarily define as those with a length of circumference in excess of 10 km, and point out where special developments, or the adoption of developments from outside the accelerator control field, can be of assistance in minimizing the cost of the control system. Most of the first part of this report was presented as a paper to the 1985 Particle Accelerator Conference. It has now been extended to include a discussion on the special case of the controls for the SSC.

  18. Ground test accelerator control system software

    SciTech Connect

    Burczyk, L.; Dalesio, R.; Dingler, R.; Hill, J.; Howell, J.A.; Kerstiens, D.; King, R.; Kozubal, A.; Little, C.; Martz, V.; Rothrock, R.; Sutton, J.

    1988-01-01

    The GTA control system provides an environment in which the automation of a state-of-the-art accelerator can be developed. It makes use of commercially available computers, workstations, computer networks, industrial I/O equipment, and software. This system has built-in supervisory control (like most accelerator control systems), tools to support continuous control (like the process control industry), and sequential control for automatic startup and fault recovery (like few other accelerator control systems). Several software tools support these levels of control: a real-time operating system (VxWorks) with a real-time kernel (VRTX), a configuration database, a sequencer, and a graphics editor. VxWorks supports multitasking, fast context-switching, and preemptive scheduling. VxWorks/VRTX is a network-based development environment specifically designed to work in partnership with the UNIX operating system. A database provides the interface to the accelerator components. It consists of a run time library and a database configuration and editing tool. A sequencer initiates and controls the operation of all sequence programs (expressed as state programs). A graphics editor gives the user the ability to create color graphic displays showing the state of the machine in either text or graphics form. 11 refs., 2 figs.

  19. Preliminary determination of Newtonian gravitational constant with angular acceleration feedback method

    PubMed Central

    Xue, Chao; Quan, Li-Di; Yang, Shan-Qing; Wang, Bing-Peng; Wu, Jun-Fei; Shao, Cheng-Gang; Tu, Liang-Cheng; Milyukov, Vadim; Luo, Jun

    2014-01-01

    This paper describes the preliminary measurement of the Newtonian gravitational constant G with the angular acceleration feedback method at HUST. The apparatus has been built, and preliminary measurement performed, to test all aspects of the experimental design, particularly the feedback function, which was recently discussed in detail by Quan et al. The experimental results show that the residual twist angle of the torsion pendulum at the signal frequency introduces 0.4 ppm to the value of G. The relative uncertainty of the angular acceleration of the turntable is approximately 100 ppm, which is mainly limited by the stability of the apparatus. Therefore, the experiment has been modified with three features: (i) the height of the apparatus is reduced almost by half, (ii) the aluminium shelves were replaced with shelves made from ultra-low expansion material and (iii) a perfect compensation of the laboratory-fixed gravitational background will be carried out. With these improvements, the angular acceleration is expected to be determined with an uncertainty of better than 10 ppm, and a reliable value of G with 20 ppm or below will be obtained in the near future. PMID:25201996

  20. Preliminary determination of Newtonian gravitational constant with angular acceleration feedback method.

    PubMed

    Xue, Chao; Quan, Li-Di; Yang, Shan-Qing; Wang, Bing-Peng; Wu, Jun-Fei; Shao, Cheng-Gang; Tu, Liang-Cheng; Milyukov, Vadim; Luo, Jun

    2014-10-13

    This paper describes the preliminary measurement of the Newtonian gravitational constant G with the angular acceleration feedback method at HUST. The apparatus has been built, and preliminary measurement performed, to test all aspects of the experimental design, particularly the feedback function, which was recently discussed in detail by Quan et al. The experimental results show that the residual twist angle of the torsion pendulum at the signal frequency introduces 0.4 ppm to the value of G. The relative uncertainty of the angular acceleration of the turntable is approximately 100 ppm, which is mainly limited by the stability of the apparatus. Therefore, the experiment has been modified with three features: (i) the height of the apparatus is reduced almost by half, (ii) the aluminium shelves were replaced with shelves made from ultra-low expansion material and (iii) a perfect compensation of the laboratory-fixed gravitational background will be carried out. With these improvements, the angular acceleration is expected to be determined with an uncertainty of better than 10 ppm, and a reliable value of G with 20 ppm or below will be obtained in the near future.

  1. A New Control Room for SLAC Accelerators

    SciTech Connect

    Erickson, Roger; Guerra, E.; Stanek, M.; Hoover, Z.Van; Warren, J.; /SLAC

    2012-06-04

    We are planning to construct a new control room at SLAC to unify and improve the operation of the LCLS, SPEAR3, and FACET accelerator facilities, and to provide the space and flexibility needed to support the LCLS-II and proposed new test beam facilities. The existing control rooms for the linac and SPEAR3 have been upgraded in various ways over the last decade, but their basic features have remained unchanged. We propose to build a larger modern Accelerator Control Room (ACR) in the new Research Support Building (RSB) which is currently under construction at SLAC. Shifting the center of control for the accelerator facilities entails both technical and administrative challenges. In this paper, we describe the history, concept, and status of this project.

  2. A variable-gain output feedback control design methodology

    NASA Technical Reports Server (NTRS)

    Halyo, Nesim; Moerder, Daniel D.; Broussard, John R.; Taylor, Deborah B.

    1989-01-01

    A digital control system design technique is developed in which the control system gain matrix varies with the plant operating point parameters. The design technique is obtained by formulating the problem as an optimal stochastic output feedback control law with variable gains. This approach provides a control theory framework within which the operating range of a control law can be significantly extended. Furthermore, the approach avoids the major shortcomings of the conventional gain-scheduling techniques. The optimal variable gain output feedback control problem is solved by embedding the Multi-Configuration Control (MCC) problem, previously solved at ICS. An algorithm to compute the optimal variable gain output feedback control gain matrices is developed. The algorithm is a modified version of the MCC algorithm improved so as to handle the large dimensionality which arises particularly in variable-gain control problems. The design methodology developed is applied to a reconfigurable aircraft control problem. A variable-gain output feedback control problem was formulated to design a flight control law for an AFTI F-16 aircraft which can automatically reconfigure its control strategy to accommodate failures in the horizontal tail control surface. Simulations of the closed-loop reconfigurable system show that the approach produces a control design which can accommodate such failures with relative ease. The technique can be applied to many other problems including sensor failure accommodation, mode switching control laws and super agility.

  3. An Accelerator Control Middle Layer Using MATLAB

    SciTech Connect

    Portmann, Gregory J.; Corbett, Jeff; Terebilo, Andrei

    2005-03-15

    Matlab is a matrix manipulation language originally developed to be a convenient language for using the LINPACK and EISPACK libraries. What makes Matlab so appealing for accelerator physics is the combination of a matrix oriented programming language, an active workspace for system variables, powerful graphics capability, built-in math libraries, and platform independence. A number of software toolboxes for accelerators have been written in Matlab--the Accelerator Toolbox (AT) for machine simulations, LOCO for accelerator calibration, Matlab Channel Access Toolbox (MCA) for EPICS connections, and the Middle Layer. This paper will describe the ''middle layer'' software toolbox that resides between the high-level control applications and the low-level accelerator control system. This software was a collaborative effort between ALS (LBNL) and SPEAR3 (SSRL) but easily ports to other machines. Five accelerators presently use this software. The high-level Middle Layer functionality includes energy ramp, configuration control (save/restore), global orbit correction, local photon beam steering, insertion device compensation, beam-based alignment, tune correction, response matrix measurement, and script-based programs for machine physics studies.

  4. The BNL Accelerator Test Facility control system

    SciTech Connect

    Malone, R.; Bottke, I.; Fernow, R.; Ben-Zvi, I.

    1993-01-01

    Described is the VAX/CAMAC-based control system for Brookhaven National Laboratory's Accelerator Test Facility, a laser/linac research complex. Details of hardware and software configurations are presented along with experiences of using Vsystem, a commercial control system package.

  5. Control, Transport Reduction and Diagnostic use of Feedback

    NASA Astrophysics Data System (ADS)

    Sen, A. K.

    1999-11-01

    In the past we have reported on feedback suppression of a variety of micro-instabilities in the Columbia Linear Machine via an electron/ion beam suppressor. These include a curvature driven trapped particle mode, an E×B flute mode and an ITG mode; sometimes two of them simultaneously. We now report on reduction and scaling of transport under feedback. The anomalous particle transport due to an E×B centrifugally driven mode has been measured via cross-correlation of density and potential fluctuations. The transport is found to be reduced by up to a factor of three under feedback. By controlling the fluctuation amplitudes and consequently the transport via feedback, we find the scaling of diffusion coefficient to be linear with RMS fluctuation level. The scaling appears not to agree with any generic theory. Recently, we have performed a numerical experiment on feedback control of dissipative drift wave instability in collaboration with ETP, University of Marseille. The preliminary result is that even a highly chaotic state of the instability can be suppressed, if the feedback delay is less than the correlation time of fluctuations. We will explore the implication of these results for the remote prospect of reduction of micro-turbulence and associated transport. We are also persuing a variety of diagnostic uses of feedback. The primary goal is an experimental methodology for the determination of dynamic models of plasma turbulence, both for better transport understanding and more credible feedback controller designs. A specific motivation is to search for a low order dynamic model, suitable for the convenient study of both transport and feedback. First, we use time series analysis method for the determination of chaotic attractor dimension of plasma fluctuations. For E×B rotational flute modes it is found to be close to three, indicating that a model of three coupled modes may be adequate for transport prediction and feedback controller design. Secondly, we have

  6. Automation of particle accelerator control

    SciTech Connect

    Silbar, R.R.; Schultz, D.E.

    1988-01-01

    We have begun a program aiming toward automatic control of charged-particle beam optics using artificial intelligence programming techniques. In developing our prototype, we are working with LISP machines and the KEE expert system shell. Our first goal was to develop a 'mouseable' representation of a typical beamline. This responds actively to changes input from the mouse or keyboard, giving an updated display of the beamline itself, its optical properties, and the instrumentation and control devices as seen by the operator. We have incorporated the Fortran beam optics code TRANSPORT for simulation of the beam. The paper describes the experience gained in this process and discusses plans to extend the work so that it is usable, in real-time, on an operating beamline. 11 refs., 2 figs.

  7. Control of resistance plug welding using quantitative feedback theory

    SciTech Connect

    Bentley, A.E.; Horowitz, I. ||; Chait, Y.; Rodrigues, J.

    1996-12-01

    Resistance welding is used extensively throughout the manufacturing industry. Variations in weld quality often result in costly post-weld inspections. Applications of feed-back control to such processes have been limited by the lack of accurate models describing the nonlinear dynamics of this process. A new system based on electrode displacement feedback is developed that greatly improves quality control of the resistance plug welding process. The system is capable of producing repeatable welds of consistent displacement (and thus consistent quality), with wide variations in weld parameters. This paper describes the feedback design of a robust controller using Quantitative Feedback Theory for this highly complex process, and the experimental results of the applied system.

  8. Coherent control of plasma dynamics by feedback-optimized wavefront manipulation

    SciTech Connect

    He, Z.-H.; Hou, B.; Gao, G.; Nees, J. A.; Krushelnick, K.; Thomas, A. G. R.; Lebailly, V.; Clarke, R.

    2015-05-15

    Plasmas generated by an intense laser pulse can support coherent structures such as large amplitude wakefield that can affect the outcome of an experiment. We investigate the coherent control of plasma dynamics by feedback-optimized wavefront manipulation using a deformable mirror. The experimental outcome is directly used as feedback in an evolutionary algorithm for optimization of the phase front of the driving laser pulse. In this paper, we applied this method to two different experiments: (i) acceleration of electrons in laser driven plasma waves and (ii) self-compression of optical pulses induced by ionization nonlinearity. The manipulation of the laser wavefront leads to orders of magnitude improvement to electron beam properties such as the peak charge, beam divergence, and transverse emittance. The demonstration of coherent control for plasmas opens new possibilities for future laser-based accelerators and their applications.

  9. Transverse wakefield control and feedback in the SLC (SLAC Linear Collider) linear

    SciTech Connect

    Seeman, J.T.; Campisi, I.E.; Herrmannsfeldt, W.; Lee, M.; Petersen, A.; Phinney, N.; Ross, M.; Abrams, G.S.; Adolphsen, C.; Soderstrom, E.

    1987-01-01

    Transverse wakefields in the linac of the SLAC Linear Collider (SLC) have been observed to enlarge the effective emittance of beams which are not properly centered in the accelerating structure. A fast feedback system has been constructed to minimize the enlargement under changing conditions by controlling the beam launching parameters. Theoretical aspects of this transverse feedback system are reviewed as well as the design of the beam sensors, launch controllers, communication equipment and data processing micro-computer. A variety of beam observations have been made. They show that dispersion as well as wakefield effects are important. In the near future the fast transverse feedback system will be beam tested, and algorithms tailored to the noise environment of the SLC will be tried.

  10. Feedback Control Systems Loop Shaping Design with Practical Considerations

    NASA Technical Reports Server (NTRS)

    Kopsakis, George

    2007-01-01

    This paper describes loop shaping control design in feedback control systems, primarily from a practical stand point that considers design specifications. Classical feedback control design theory, for linear systems where the plant transfer function is known, has been around for a long time. But it s still a challenge of how to translate the theory into practical and methodical design techniques that simultaneously satisfy a variety of performance requirements such as transient response, stability, and disturbance attenuation while taking into account the capabilities of the plant and its actuation system. This paper briefly addresses some relevant theory, first in layman s terms, so that it becomes easily understood and then it embarks into a practical and systematic design approach incorporating loop shaping design coupled with lead-lag control compensation design. The emphasis is in generating simple but rather powerful design techniques that will allow even designers with a layman s knowledge in controls to develop effective feedback control designs.

  11. Sampled-Data State Feedback Stabilization of Boolean Control Networks.

    PubMed

    Liu, Yang; Cao, Jinde; Sun, Liangjie; Lu, Jianquan

    2016-04-01

    In this letter, we investigate the sampled-data state feedback control (SDSFC) problem of Boolean control networks (BCNs). Some necessary and sufficient conditions are obtained for the global stabilization of BCNs by SDSFC. Different from conventional state feedback controls, new phenomena observed the study of SDSFC. Based on the controllability matrix, we derive some necessary and sufficient conditions under which the trajectories of BCNs can be stabilized to a fixed point by piecewise constant control (PCC). It is proved that the global stabilization of BCNs under SDSFC is equivalent to that by PCC. Moreover, algorithms are given to construct the sampled-data state feedback controllers. Numerical examples are given to illustrate the efficiency of the obtained results.

  12. Control of Cardiac Arrhythmia by Nonlinear Spatiotemporal Delayed Feedback

    NASA Astrophysics Data System (ADS)

    Boroujeni, Forough Rezaei; Vasegh, Nastaran; Sedigh, Ali Khaki

    The dynamic feedback control of the cardiac pacing interval has been widely used to suppress alternans. In this paper, temporally and spatially suppressing the alternans for cardiac tissue consisting of a one-dimensional chain of cardiac units is investigated. The model employed is a nonlinear partial difference equation. The model's fixed points and their stability conditions are determined, and bifurcations and chaos phenomenon have been studied by numerical simulations. The main objective of this paper is to stabilize the unstable fixed point of the model. The proposed approach is nonlinear spatiotemporal delayed feedback, and the appropriate interval for controller feedback gain is calculated using the linear stability analysis. It is proven that the proposed approach is robust with respect to all bifurcation parameter variations. Also, set point tracking is achieved by employing delayed feedback with an integrator. Finally, simulation results are provided to show the effectiveness of the proposed methodology.

  13. Cognitive Evaluation Theory, Locus of Control and Positive Verbal Feedback.

    ERIC Educational Resources Information Center

    Lonky, Edward; Reihman, Jacqueline

    This study tests the hypothesis that individual differences in locus of control orientation may mediate elementary school students' responses to positive verbal feedback. A total of 30 kindergarten through fourth grade subjects were assessed for locus of control orientation using the Bialer Children's Locus of Control Questionnaire. To establish a…

  14. Towards MRI-guided linear accelerator control: gating on an MRI accelerator.

    PubMed

    Crijns, S P M; Kok, J G M; Lagendijk, J J W; Raaymakers, B W

    2011-08-01

    To boost the possibilities of image guidance in radiotherapy by providing images with superior soft-tissue contrast during treatment, we pursue diagnostic quality MRI functionality integrated with a linear accelerator. Large respiration-induced semi-periodic target excursions hamper treatment of cancer of the abdominal organs. Methods to compensate in real time for such motion are gating and tracking. These strategies are most effective in cases where anatomic motion can be visualized directly, which supports the use of an integrated MRI accelerator. We establish here an infrastructure needed to realize gated radiation delivery based on MR feedback and demonstrate its potential as a first step towards more advanced image guidance techniques. The position of a phantom subjected to one-dimensional periodic translation is tracked with the MR scanner. Real-time communication with the MR scanner and control of the radiation beam are established. Based on the time-resolved position of the phantom, gated radiation delivery to the phantom is realized. Dose distributions for dynamic delivery conditions with varying gating windows are recorded on gafchromic film. The similarity between dynamically and statically obtained dose profiles gradually increases as the gating window is decreased. With gating windows of 5 mm, we obtain sharp dose profiles. We validate our gating implementation by comparing measured dose profiles to theoretical profiles calculated using the knowledge of the imposed motion pattern. Excellent correspondence is observed. At the same time, we show that real-time on-line reconstruction of the accumulated dose can be performed using time-resolved target position information. This facilitates plan adaptation not only on a fraction-to-fraction scale but also during one fraction, which is especially valuable in highly accelerated treatment strategies. With the currently established framework and upcoming improvements to our prototype-integrated MRI accelerator

  15. Output feedback fuzzy controller design with local nonlinear feedback laws for discrete-time nonlinear systems.

    PubMed

    Dong, Jiuxiang; Wang, Youyi; Yang, Guang-Hong

    2010-12-01

    This paper considers the output feedback control problem for nonlinear discrete-time systems, which are represented by a type of fuzzy systems with local nonlinear models. By using the estimations of the states and nonlinear functions in local models, sufficient conditions for designing observer-based controllers are given for discrete-time nonlinear systems. First, a separation property, i.e., the controller and the observer can be independently designed, is proved for the class of fuzzy systems. Second, a two-step procedure with cone complementarity linearization algorithms is also developed for solving the H( ∞) dynamic output feedback (DOF) control problem. Moreover, for the case where the nonlinear functions in local submodels are measurable, a convex condition for designing H(∞) controllers is given by a new DOF control scheme. In contrast to the existing methods, the new methods can design output feedback controllers with fewer fuzzy rules as well as less computational burden, which is helpful for controller designs and implementations. Lastly, numerical examples are given to illustrate the effectiveness of the proposed methods.

  16. Feedback control laws for highly maneuverable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Balas, Gary J.

    1995-01-01

    During this year, we concentrated our efforts on the design of controllers for lateral/directional control using mu synthesis. This proved to be a more difficult task than we anticipated and we are still working on the designs. In the lateral-directional control problem, the inputs are pilot lateral stick and pedal commands and the outputs are roll rate about the velocity vector and side slip angle. The control effectors are ailerons, rudder deflection, and directional thrust vectoring vane deflection which produces a yawing moment about the body axis. Our math model does not contain any provision for thrust vectoring of rolling moment. This has resulted in limitations of performance at high angles of attack. During 1994-95, the following tasks for the lateral-directional controllers were accomplished: (1) Designed both inner and outer loop dynamic inversion controllers. These controllers are implemented using accelerometer outputs rather than an a priori model of the vehicle aerodynamics; (2) Used classical techniques to design controllers for the system linearized by dynamics inversion. These controllers acted to control roll rate and Dutch roll response; (3) Implemented the inner loop dynamic inversion and classical controllers on the six DOF simulation; (4) Developed a lateral-directional control allocation scheme based on minimizing required control effort among the ailerons, rudder, and directional thrust vectoring; and (5) Developed mu outer loop controllers combined with classical inner loop controllers.

  17. An L-Band Superconducting Traveling Wave Accelerating Structure With Feedback

    SciTech Connect

    Kanareykin, A.; Avrakhov, P.; Yakovlev, V. P.; Solyak, N.; Kazakov, S.

    2009-01-22

    The most severe problem of the International Linear Collider is its high cost, resulting in part from the enormous length of the collider. This length is determined mainly by the achievable accelerating gradient in the RF system of the ILC. In the ILC project the required accelerating gradient is higher than 30 MeV/m. Further improvement of the coupling to the beam may be achieved by using a Traveling Wave SC structure [1]. We have demonstrated that an additional gradient increase of up to 46% may be possible if a {pi}/2 TW SC structure is employed. However, a TW SC structure requires a SC feedback waveguide to return the few GW of circulating RF power from the structure output back to the structure input. The test cavity with feedback is designed to demonstrate the possibility of achieving a significantly higher gradient than existing SC structures. The double-coupler powering excitation and tuning have been studied numerically and the corresponding model results are presented. The proposed double-coupler powering scheme significantly reduces the tuning requirements as long as any of the partial modes of given magnitude and phase are excited independently, providing a clear traveling wave regime of structure operation.

  18. EMG feedback as a muscle reeducation technique: a controlled study.

    PubMed

    Middaugh, S J

    1978-01-01

    In an effort to evaluate the efficacy and function of EMG feedback in muscle reeducation, improvement of the abductor function of the abductor hallucis muscle was studied under three training conditions involving 1) EMG feedback, 2) sensory stimulation or 3) equal time for unassisted practice; and a fourth, control condition involving testing without training. Active range of motion was measured before and after training to assess ability to use the muscle as an abductor. EMG activity was quantified for a 1-minute test contraction to evaluate ability to maintain and maximize a voluntary contraction of the target muscle. The results indicated that EMG feedback was highly effective when subjects had little initial use of the target muscle. EMG feedback improved the ability of these subjects to maintain and maximize voluntary muscle contractions, as demonstrated on the EMG measure. EMG feedback did not add to the learning situation when only a relatively brief, phasic contraction was required, as on the range-of-motion measure; similar gains were made with equivalent practive without EMG feedback. When subjects already had considerable use of the target muscle prior to training, EMG feedback may have actually interfered with training; in this case unassisted practice was more effective.

  19. Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Eure, Kenneth W.

    1998-01-01

    Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.

  20. Feedback.

    ERIC Educational Resources Information Center

    Stenstrom, Anna-Brita

    A study of feedback in conversational question-response exchanges focused on the questioner's feedback to the respondent. It examined three types of "followup" moves: the ordinary type revealing the questioner's attitude to the response and closing the exchange; the type signaling the questioner's reaction to the response and inviting further…

  1. Dynamic output feedback H ∞ control for affine fuzzy systems

    NASA Astrophysics Data System (ADS)

    Wang, Huimin; Yang, Guang-Hong

    2013-06-01

    This article investigates the problem of designing H ∞ dynamic output feedback controllers for nonlinear systems, which are described by affine fuzzy models. The system outputs have been chosen as premise variables, which can guarantee that the plant and the controller always switch to the same region. By using a piecewise Lyapunov function and adding slack matrix variables, a piecewise-affine dynamic output feedback controller design method is obtained in the formulation of linear matrix inequalities (LMIs), which can be efficiently solved numerically. In contrast to the existing work, the proposed approach needs less LMI constraints and leads to less conservatism. Finally, numerical examples illustrate the effectiveness of the new result.

  2. Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

    NASA Technical Reports Server (NTRS)

    Bean, Jacob; Fuller, Chris; Schiller, Noah

    2016-01-01

    Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

  3. A Heading and Flight-Path Angle Control of Aircraft Based on Required Acceleration Vector

    NASA Astrophysics Data System (ADS)

    Yoshitani, Naoharu

    This paper describes a control of heading and flight-path angles of aircraft to time-varying command angles. The controller first calculates an acceleration command vector (acV), which is vertical to the velocity vector. acV consists of two components; the one is feedforward acceleration obtained from the rates of command angles, and the other is feedback acceleration obtained from angle deviations by using PID control law. A bank angle command around the velocity vector and commands of pitch and yaw rates are then obtained to generate the required acceleration. A roll rate command is calculated from bank angle deviation. Roll, pitch and yaw rate commands are put into the attitude controller, which can be composed of any suitable control laws such as PID control. The control requires neither aerodynamic coefficients nor online calculation of the inverse dynamics of the aircraft. A numerical simulation illustrates the effects of the control.

  4. Nonlinear feedback control of highly manoeuvrable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Enns, Dale F.; Snell, S. A.

    1992-01-01

    This paper describes the application of nonlinear quadratic regulator (NLQR) theory to the design of control laws for a typical high-performance aircraft. The NLQR controller design is performed using truncated solutions of the Hamilton-Jacobi-Bellman equation of optimal control theory. The performance of the NLQR controller is compared with the performance of a conventional P + I gain scheduled controller designed by applying standard frequency response techniques to the equations of motion of the aircraft linearized at various angles of attack. Both techniques result in control laws which are very similar in structure to one another and which yield similar performance. The results of applying both control laws to a high-g vertical turn are illustrated by nonlinear simulation.

  5. Effect of motor dynamics on nonlinear feedback robot arm control

    NASA Technical Reports Server (NTRS)

    Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

    1991-01-01

    A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

  6. Feedback control laws for highly maneuverable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Balas, Gary J.

    1994-01-01

    During the first half of the year, the investigators concentrated their efforts on completing the design of control laws for the longitudinal axis of the HARV. During the second half of the year they concentrated on the synthesis of control laws for the lateral-directional axes. The longitudinal control law design efforts can be briefly summarized as follows. Longitudinal control laws were developed for the HARV using mu synthesis design techniques coupled with dynamic inversion. An inner loop dynamic inversion controller was used to simplify the system dynamics by eliminating the aerodynamic nonlinearities and inertial cross coupling. Models of the errors resulting from uncertainties in the principal longitudinal aerodynamic terms were developed and included in the model of the HARV with the inner loop dynamic inversion controller. This resulted in an inner loop transfer function model which was an integrator with the modeling errors characterized as uncertainties in gain and phase. Outer loop controllers were then designed using mu synthesis to provide robustness to these modeling errors and give desired response to pilot inputs. Both pitch rate and angle of attack command following systems were designed. The following tasks have been accomplished for the lateral-directional controllers: inner and outer loop dynamic inversion controllers have been designed; an error model based on a linearized perturbation model of the inner loop system was derived; controllers for the inner loop system have been designed, using classical techniques, that control roll rate and Dutch roll response; the inner loop dynamic inversion and classical controllers have been implemented on the six degree of freedom simulation; and lateral-directional control allocation scheme has been developed based on minimizing required control effort.

  7. ELM frequency feedback control on JET

    NASA Astrophysics Data System (ADS)

    Lennholm, M.; Beaumont, P. S.; Carvalho, I. S.; Chapman, I. T.; Felton, R.; Frigione, D.; Garzotti, L.; Goodyear, A.; Graves, J.; Grist, D.; Jachmich, S.; Lang, P.; Lerche, E.; de la Luna, E.; Mooney, R.; Morris, J.; Nave, M. F. F.; Rimini, F.; Sips, G.; Solano, E.; Tsalas, M.; EFDA Contributors, JET

    2015-06-01

    This paper describes the first development and implementation of a closed loop edge localized mode (ELM) frequency controller using gas injection as the actuator. The controller has been extensively used in recent experiments on JET and it has proved to work well at ELM frequencies in the 15-40 Hz range. The controller responds effectively to a variety of disturbances, generally recovering the requested ELM frequency within approximately 500 ms. Controlling the ELM frequency has become of prime importance in the new JET configuration with all metal walls, where insufficient ELM frequency is associated with excessive tungsten influx. The controller has allowed successful operation near the minimum acceptable ELM frequency where the best plasma confinement can be achieved. Use of the ELM frequency controller in conjunction with pellet injection has enabled investigations of ELM triggering by pellets while maintaining the desired ELM frequency even when pellets fail to trigger ELMs.

  8. Feedback controlled optics with wavefront compensation

    NASA Technical Reports Server (NTRS)

    Breckenridge, William G. (Inventor); Redding, David C. (Inventor)

    1993-01-01

    The sensitivity model of a complex optical system obtained by linear ray tracing is used to compute a control gain matrix by imposing the mathematical condition for minimizing the total wavefront error at the optical system's exit pupil. The most recent deformations or error states of the controlled segments or optical surfaces of the system are then assembled as an error vector, and the error vector is transformed by the control gain matrix to produce the exact control variables which will minimize the total wavefront error at the exit pupil of the optical system. These exact control variables are then applied to the actuators controlling the various optical surfaces in the system causing the immediate reduction in total wavefront error observed at the exit pupil of the optical system.

  9. Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing.

    PubMed

    Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

    2016-01-01

    The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy. PMID:27148031

  10. Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing.

    PubMed

    Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

    2016-01-01

    The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy.

  11. Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing

    PubMed Central

    Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

    2016-01-01

    The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy. PMID:27148031

  12. Dynamics for Linear Feedback Controlled Two-Dimensional Benard Equations with Distributed Controls

    SciTech Connect

    Lee, Hyung-Chun; Shin, Byeong Chun

    2001-07-01

    The long-time behavior of solutions for some feedback distributed control problems associated with the Benard equations is studied. Some linear feedback solutions for the Benard equations are constructed. Then we prove that these feedback solutions possess the decay (in time) properties.

  13. FEEDBACK CONTROL OF THE DIII-D ECH SYSTEM

    SciTech Connect

    J. LOHR; J.R. FERRON; Y.A. GORELOV; K. KAJIWARA; D. PONCE; M.R. WADE

    2002-08-01

    The output power of the DIII-D gyrotron complex has been modulated by the plasma control system using feedback on the difference between a desired electron temperature and the ECE measurement. Operation was stable and permitted control of the flux penetration during initiation of the discharge.

  14. An Accelerator Control Middle Layer Using MATLAB

    SciTech Connect

    Portmann, Gregory J.; Corbett, Jeff; Terebilo, Andrei

    2005-05-15

    Matlab is an interpretive programming language originally developed for convenient use with the LINPACK and EISPACK libraries. Matlab is appealing for accelerator physics because it is matrix-oriented, provides an active workspace for system variables, powerful graphics capabilities, built-in math libraries, and platform independence. A number of accelerator software toolboxes have been written in Matlab -- the Accelerator Toolbox (AT) for model-based machine simulations, LOCO for on-line model calibration, and Matlab Channel Access (MCA) to connect with EPICS. The function of the MATLAB ''MiddleLayer'' is to provide a scripting language for machine simulations and on-line control, including non-EPICS based control systems. The MiddleLayer has simplified and streamlined development of high-level applications including configuration control, energy ramp, orbit correction, photon beam steering, ID compensation, beam-based alignment, tune correction and response matrix measurement. The database-driven Middle Layer software is largely machine-independent and easy to port. Six accelerators presently use the software package with more scheduled to come on line soon.

  15. CONTROLLING ABSOLUTE FREQUENCY OF FEEDBACK IN A SELF-CONTROLLED SITUATION ENHANCES MOTOR LEARNING.

    PubMed

    Tsai, Min-Jen; Jwo, Hank

    2015-12-01

    The guidance hypothesis suggested that excessive extrinsic feedback facilitates motor performance but blocks the processing of intrinsic information. The present study tested the tenet of guidance hypothesis in self-controlled feedback by controlling the feedback frequency. The motor learning effect of limiting absolute feedback frequency was examined. Thirty-six participants (25 men, 11 women; M age=25.1 yr., SD=2.2) practiced a hand-grip force control task on a dynamometer by the non-dominant hand with varying amounts of feedback. They were randomly assigned to: (a) Self-controlled, (b) Yoked with self-controlled, and (c) Limited self-controlled conditions. In acquisition, two-way analysis of variance indicated significantly lower absolute error in both the yoked and limited self-controlled groups than the self-controlled group. The effect size of absolute error between trials with feedback and without feedback in the limited self-controlled condition was larger than that of the self-controlled condition. In the retention and transfer tests, the Limited self-controlled feedback group had significantly lower absolute error than the other two groups. The results indicated an increased motor learning effect of limiting absolute frequency of feedback in the self-controlled condition.

  16. Feedback Linearized Aircraft Control Using Dynamic Cell Structure

    NASA Technical Reports Server (NTRS)

    Jorgensen, C. C.

    1998-01-01

    A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.

  17. Feedback Implementation of Zermelo's Optimal Control by Sugeno Approximation

    NASA Technical Reports Server (NTRS)

    Clifton, C.; Homaifax, A.; Bikdash, M.

    1997-01-01

    This paper proposes an approach to implement optimal control laws of nonlinear systems in real time. Our methodology does not require solving two-point boundary value problems online and may not require it off-line either. The optimal control law is learned using the original Sugeno controller (OSC) from a family of optimal trajectories. We compare the trajectories generated by the OSC and the trajectories yielded by the optimal feedback control law when applied to Zermelo's ship steering problem.

  18. Feedback control of singular systems with applications to incompressible flows

    NASA Astrophysics Data System (ADS)

    Gandikota, Ramakrishna V.

    2000-10-01

    Singular systems of differential equations, also referred to as differential algebraic equation (DAE) systems, arise as models in a variety of engineering applications. In chemical engineering, they typically arise under the quasi-steady state assumptions of phase, reaction or thermal equilibrium in the modeling of processes with fast mass transfer, reaction or heat transfer. They also arise in incompressible fluid flow systems. The control of singular systems has attracted considerable attention in the last two decades. The majority of the developed methods are on the state feedback control of linear and nonlinear singular systems in continuous-time, and they rely on the derivation of standard state space realizations (i.e. ODE descriptions) that can be used as the basis for the controller design. This thesis addresses (i) the derivation of state space realizations for the output feedback control of linear singular systems in continuous time, (ii) the derivation of state space realizations of singular systems of difference equations, which can be used for the state feedback control of nonlinear discrete time singular systems, (iii) a parallel analysis of the continuous in space and discretized in space incompressible Navier Stokes equations, with emphasis on the derivation of standard PDE and ODE descriptions respectively, and (iv) a case study on the numerical simulation and feedback control of the flow pattern in a lid-driven cavity. The performance of the developed controllers is illustrated via numerical simulation studies.

  19. Integrated Control with Structural Feedback to Enable Lightweight Aircraft

    NASA Technical Reports Server (NTRS)

    Taylor, Brian R.

    2011-01-01

    This presentation for the Fundamental Aeronautics Program Technical Conference covers the benefits of active structural control, related research areas, and focuses on the use of optimal control allocation for the prevention of critical loads. Active control of lightweight structures has the potential to reduce aircraft weight and fuel burn. Sensor, control law, materials, control effector, and system level research will be necessary to enable active control of lightweight structures. Optimal control allocation with structural feedback has been shown in simulation to be feasible in preventing critical loads and is one example of a control law to enable future lightweight aircraft.

  20. A biopsychosocial model based on negative feedback and control

    PubMed Central

    Carey, Timothy A.; Mansell, Warren; Tai, Sara J.

    2014-01-01

    Although the biopsychosocial model has been a popular topic of discussion for over four decades it has not had the traction in fields of research that might be expected of such an intuitively appealing idea. One reason for this might be the absence of an identified mechanism or a functional architecture that is authentically biopsychosocial. What is needed is a robust mechanism that is equally important to biochemical processes as it is to psychological and social processes. Negative feedback may be the mechanism that is required. Negative feedback has been implicated in the regulation of neurotransmitters as well as important psychological and social processes such as emotional regulation and the relationship between a psychotherapist and a client. Moreover, negative feedback is purported to also govern the activity of all other organisms as well as humans. Perceptual Control Theory (PCT) describes the way in which negative feedback establishes control at increasing levels of perceptual complexity. Thus, PCT may be the first biopsychosocial model to be articulated in functional terms. In this paper we outline the working model of PCT and explain how PCT provides an embodied hierarchical neural architecture that utilizes negative feedback to control physiological, psychological, and social variables. PCT has major implications for both research and practice and, importantly, provides a guide by which fields of research that are currently separated may be integrated to bring about substantial progress in understanding the way in which the brain alters, and is altered by, its behavioral and environmental context. PMID:24616685

  1. A biopsychosocial model based on negative feedback and control.

    PubMed

    Carey, Timothy A; Mansell, Warren; Tai, Sara J

    2014-01-01

    Although the biopsychosocial model has been a popular topic of discussion for over four decades it has not had the traction in fields of research that might be expected of such an intuitively appealing idea. One reason for this might be the absence of an identified mechanism or a functional architecture that is authentically biopsychosocial. What is needed is a robust mechanism that is equally important to biochemical processes as it is to psychological and social processes. Negative feedback may be the mechanism that is required. Negative feedback has been implicated in the regulation of neurotransmitters as well as important psychological and social processes such as emotional regulation and the relationship between a psychotherapist and a client. Moreover, negative feedback is purported to also govern the activity of all other organisms as well as humans. Perceptual Control Theory (PCT) describes the way in which negative feedback establishes control at increasing levels of perceptual complexity. Thus, PCT may be the first biopsychosocial model to be articulated in functional terms. In this paper we outline the working model of PCT and explain how PCT provides an embodied hierarchical neural architecture that utilizes negative feedback to control physiological, psychological, and social variables. PCT has major implications for both research and practice and, importantly, provides a guide by which fields of research that are currently separated may be integrated to bring about substantial progress in understanding the way in which the brain alters, and is altered by, its behavioral and environmental context.

  2. Stabilization and feedback control of weak measurement monitored quantum oscillators

    NASA Astrophysics Data System (ADS)

    Uys, Hermann; Du Toit, Pieter; Burd, Shaun; Konrad, Thomas

    2016-05-01

    We study feedback control of quantum oscillators, monitored through periodic weak measurement. By implementing reversals of measurement perturbations based on a Bayesian estimate of the state dynamics, we demonstrate suppressed measurement noise leading to greater oscillator stability and improved quantum feedback control. The work in this paper was supported in part by the National Research Foundation of South Africa through Grant No. 93602 as well as an award by the United States Airforce Office of Scientific Research, Award No. FA9550-14-1-0151.

  3. Output feedback regulator design for jet engine control systems

    NASA Technical Reports Server (NTRS)

    Merrill, W. C.

    1977-01-01

    A multivariable control design procedure based on the output feedback regulator formulation is described and applied to turbofan engine model. Full order model dynamics, were incorporated in the example design. The effect of actuator dynamics on closed loop performance was investigaged. Also, the importance of turbine inlet temperature as an element of the dynamic feedback was studied. Step responses were given to indicate the improvement in system performance with this control. Calculation times for all experiments are given in CPU seconds for comparison purposes.

  4. Preliminary results on reflectance feedback control of photocoagulation in vivo.

    PubMed

    Jerath, M R; Chundru, R; Barrett, S F; Rylander, H G; Welch, A J

    1994-02-01

    The size of therapeutic laser-induced retinal lesions is critical for effective treatment and minimal complications. Due to tissue variability, the size of a lesion that results from a given set of laser irradiation parameters cannot be predicted. Real time feedback control of lesion size is implemented based on two-dimensional reflectance images acquired during irradiation. Preliminary results of feedback controlled lesions formed in pigmented rabbits demonstrate an ability to produce uniform lesions despite variations in tissue absorption or changes in laser power.

  5. A stochastic optimal feedforward and feedback control methodology for superagility

    NASA Technical Reports Server (NTRS)

    Halyo, Nesim; Direskeneli, Haldun; Taylor, Deborah B.

    1992-01-01

    A new control design methodology is developed: Stochastic Optimal Feedforward and Feedback Technology (SOFFT). Traditional design techniques optimize a single cost function (which expresses the design objectives) to obtain both the feedforward and feedback control laws. This approach places conflicting demands on the control law such as fast tracking versus noise atttenuation/disturbance rejection. In the SOFFT approach, two cost functions are defined. The feedforward control law is designed to optimize one cost function, the feedback optimizes the other. By separating the design objectives and decoupling the feedforward and feedback design processes, both objectives can be achieved fully. A new measure of command tracking performance, Z-plots, is also developed. By analyzing these plots at off-nominal conditions, the sensitivity or robustness of the system in tracking commands can be predicted. Z-plots provide an important tool for designing robust control systems. The Variable-Gain SOFFT methodology was used to design a flight control system for the F/A-18 aircraft. It is shown that SOFFT can be used to expand the operating regime and provide greater performance (flying/handling qualities) throughout the extended flight regime. This work was performed under the NASA SBIR program. ICS plans to market the software developed as a new module in its commercial CACSD software package: ACET.

  6. Is feedback control effective for ecosystem-based fisheries management?

    PubMed

    Matsuda, Hiroyuki; Abrams, Peter A

    2013-12-21

    We investigate the effects of species interactions on the robustness of feedback control of the harvesting of prey species. We consider the consequences of feedback control of fishing effort. If a prey species is exploited, increasing fishing effort decreases predator abundance more than it does the prey abundance. Feedback control of fishing effort may cause the extinction of the predator, even if the prey population is well controlled. Even when fishing effort is controlled by predator density, it is difficult for the fishery and the predator to coexist, and, if they do so, the system exhibits complex dynamic behaviors. If the predator and fishery coexist, feedback control of fishing effort converges to a stable equilibrium, a synchronous cycle, or an asynchronous cycle. In the last case, the system undergoes more complex cycling with a longer period than that when the fishing effort is kept constant. These analyses suggest that there is no effective strategy that is robust against measurement errors, process errors and complex interactions in ecosystem dynamics.

  7. Is feedback control effective for ecosystem-based fisheries management?

    PubMed

    Matsuda, Hiroyuki; Abrams, Peter A

    2013-12-21

    We investigate the effects of species interactions on the robustness of feedback control of the harvesting of prey species. We consider the consequences of feedback control of fishing effort. If a prey species is exploited, increasing fishing effort decreases predator abundance more than it does the prey abundance. Feedback control of fishing effort may cause the extinction of the predator, even if the prey population is well controlled. Even when fishing effort is controlled by predator density, it is difficult for the fishery and the predator to coexist, and, if they do so, the system exhibits complex dynamic behaviors. If the predator and fishery coexist, feedback control of fishing effort converges to a stable equilibrium, a synchronous cycle, or an asynchronous cycle. In the last case, the system undergoes more complex cycling with a longer period than that when the fishing effort is kept constant. These analyses suggest that there is no effective strategy that is robust against measurement errors, process errors and complex interactions in ecosystem dynamics. PMID:23792332

  8. Feedback control as a framework for understanding tradeoffs in biology.

    PubMed

    Cowan, Noah J; Ankarali, Mert M; Dyhr, Jonathan P; Madhav, Manu S; Roth, Eatai; Sefati, Shahin; Sponberg, Simon; Stamper, Sarah A; Fortune, Eric S; Daniel, Thomas L

    2014-07-01

    Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the stability (or change) of dynamical systems. It provides a framework for understanding any system with regulation via feedback, including biological ones such as regulatory gene networks, cellular metabolic systems, sensorimotor dynamics of moving animals, and even ecological or evolutionary dynamics of organisms and populations. Here, we focus on four case studies of the sensorimotor dynamics of animals, each of which involves the application of principles from control theory to probe stability and feedback in an organism's response to perturbations. We use examples from aquatic (two behaviors performed by electric fish), terrestrial (following of walls by cockroaches), and aerial environments (flight control by moths) to highlight how one can use control theory to understand the way feedback mechanisms interact with the physical dynamics of animals to determine their stability and response to sensory inputs and perturbations. Each case study is cast as a control problem with sensory input, neural processing, and motor dynamics, the output of which feeds back to the sensory inputs. Collectively, the interaction of these systems in a closed loop determines the behavior of the entire system. PMID:24893678

  9. Contribution of Accelerated Degradation to Feedback Regulation of 3-Hydroxy-3-methylglutaryl Coenzyme A Reductase and Cholesterol Metabolism in the Liver.

    PubMed

    Hwang, Seonghwan; Hartman, Isamu Z; Calhoun, Leona N; Garland, Kristina; Young, Gennipher A; Mitsche, Matthew A; McDonald, Jeffrey; Xu, Fang; Engelking, Luke; DeBose-Boyd, Russell A

    2016-06-24

    Accumulation of sterols in endoplasmic reticulum membranes stimulates the ubiquitination of 3-hydroxy-3-methylglutaryl coenzyme A reductase (HMGCR), which catalyzes a rate-limiting step in synthesis of cholesterol. This ubiquitination marks HMGCR for proteasome-mediated degradation and constitutes one of several mechanisms for feedback control of cholesterol synthesis. Mechanisms for sterol-accelerated ubiquitination and degradation of HMGCR have been elucidated through the study of cultured mammalian cells. However, the extent to which these reactions modulate HMGCR and contribute to control of cholesterol metabolism in whole animals is unknown. Here, we examine transgenic mice expressing in the liver the membrane domain of HMGCR (HMGCR (TM1-8)), a region necessary and sufficient for sterol-accelerated degradation, and knock-in mice in which endogenous HMGCR harbors mutations that prevent sterol-induced ubiquitination. Characterization of transgenic mice revealed that HMGCR (TM1-8) is appropriately regulated in the liver of mice fed a high cholesterol diet or chow diet supplemented with the HMGCR inhibitor lovastatin. Ubiquitination-resistant HMGCR protein accumulates in the liver and other tissues disproportionately to its mRNA, indicating that sterol-accelerated degradation significantly contributes to feedback regulation of HMGCR in vivo Results of these studies demonstrate that HMGCR is subjected to sterol-accelerated degradation in the liver through mechanisms similar to those established in cultured cells. Moreover, these studies designate sterol-accelerated degradation of HMGCR as a potential therapeutic target for prevention of atherosclerosis and associated cardiovascular disease. PMID:27129778

  10. Theory of feedback controlled brain stimulations for Parkinson's disease

    NASA Astrophysics Data System (ADS)

    Sanzeni, A.; Celani, A.; Tiana, G.; Vergassola, M.

    2016-01-01

    Limb tremor and other debilitating symptoms caused by the neurodegenerative Parkinson's disease are currently treated by administering drugs and by fixed-frequency deep brain stimulation. The latter interferes directly with the brain dynamics by delivering electrical impulses to neurons in the subthalamic nucleus. While deep brain stimulation has shown therapeutic benefits in many instances, its mechanism is still unclear. Since its understanding could lead to improved protocols of stimulation and feedback control, we have studied a mathematical model of the many-body neural network dynamics controlling the dynamics of the basal ganglia. On the basis of the results obtained from the model, we propose a new procedure of active stimulation, that depends on the feedback of the network and that respects the constraints imposed by existing technology. We show by numerical simulations that the new protocol outperforms the standard ones for deep brain stimulation and we suggest future experiments that could further improve the feedback procedure.

  11. Active flutter suppression using optical output feedback digital controllers

    NASA Technical Reports Server (NTRS)

    1982-01-01

    A method for synthesizing digital active flutter suppression controllers using the concept of optimal output feedback is presented. A convergent algorithm is employed to determine constrained control law parameters that minimize an infinite time discrete quadratic performance index. Low order compensator dynamics are included in the control law and the compensator parameters are computed along with the output feedback gain as part of the optimization process. An input noise adjustment procedure is used to improve the stability margins of the digital active flutter controller. Sample rate variation, prefilter pole variation, control structure variation and gain scheduling are discussed. A digital control law which accommodates computation delay can stabilize the wing with reasonable rms performance and adequate stability margins.

  12. ACCELERATOR TARGET POSITIONER AND CONTROL CIRCUIT THEREFOR

    DOEpatents

    Stone, K.F.; Force, R.J.; Olson, W.W.; Cagle, D.S.

    1959-12-15

    An apparatus is described for inserting and retracting a target material with respect to the internal beam of a charged particle accelerator and to circuitry for controlling the timing and motion of the target placement. Two drive coils are mounted on the shaft of a target holder arm and disposed within the accelerator magnetic field with one coil at right angles to the other. Control circuitry alternately connects each coil to a current source and to a varying shorting resistance whereby the coils interchangeably produce driving and braking forces which swing the target arm within a ninety degree arc. The target is thus moved into the beam and away from it at high speeds and is brought to rest after each movement without whiplash or vibration.

  13. Discrete-time infinity control problem with measurement feedback

    NASA Technical Reports Server (NTRS)

    Stoorvogel, A. A.; Saberi, A.; Chen, B. M.

    1992-01-01

    The paper is concerned with the discrete-time H(sub infinity) control problem with measurement feedback. The authors extend previous results by having weaker assumptions on the system parameters. The authors also show explicitly the structure of H(sub infinity) controllers. Finally, they show that it is in certain cases possible, without loss of performance, to reduce the dynamical order of the controllers.

  14. Multiple feedback control apparatus for power conditioning equipment

    NASA Technical Reports Server (NTRS)

    Biess, John (Inventor); Yu, Yuan (Inventor)

    1977-01-01

    An improved feedback control system to govern the cyclic operation of the power switch of a non-dissipative power conditioning equipment. The apparatus includes two or three control loops working in unison. The first causes the output DC level to be compared with a reference, and the error amplified for control purposes. The second utilizes the AC component of the voltage across the output filter inductor or the current through the output filter capacitor, and the third loop senses the output transients.

  15. Advanced concepts in accelerator timing control

    SciTech Connect

    Frankel, R.; Salwen, C.

    1988-01-01

    The control system for the Booster accelerator presently under construction at BNL includes a timing section with serial high speed coded data distribution, computer based encoders for both real time and field driven clocks and a method of easily tracking the performance and reliability of these timing streams. We have developed a simple method for the generation of timing which operates to produce pulses which may be repeated as desired with minimal latency.

  16. Neural networks and orbit control in accelerators

    SciTech Connect

    Bozoki, E.; Friedman, A.

    1994-07-01

    An overview of the architecture, workings and training of Neural Networks is given. We stress the aspects which are important for the use of Neural Networks for orbit control in accelerators and storage rings, especially its ability to cope with the nonlinear behavior of the orbit response to `kicks` and the slow drift in the orbit response during long-term operation. Results obtained for the two NSLS storage rings with several network architectures and various training methods for each architecture are given.

  17. Robust Feedback Control of Flow Induced Structural Radiation of Sound

    NASA Technical Reports Server (NTRS)

    Heatwole, Craig M.; Bernhard, Robert J.; Franchek, Matthew A.

    1997-01-01

    A significant component of the interior noise of aircraft and automobiles is a result of turbulent boundary layer excitation of the vehicular structure. In this work, active robust feedback control of the noise due to this non-predictable excitation is investigated. Both an analytical model and experimental investigations are used to determine the characteristics of the flow induced structural sound radiation problem. The problem is shown to be broadband in nature with large system uncertainties associated with the various operating conditions. Furthermore the delay associated with sound propagation is shown to restrict the use of microphone feedback. The state of the art control methodologies, IL synthesis and adaptive feedback control, are evaluated and shown to have limited success for solving this problem. A robust frequency domain controller design methodology is developed for the problem of sound radiated from turbulent flow driven plates. The control design methodology uses frequency domain sequential loop shaping techniques. System uncertainty, sound pressure level reduction performance, and actuator constraints are included in the design process. Using this design method, phase lag was added using non-minimum phase zeros such that the beneficial plant dynamics could be used. This general control approach has application to lightly damped vibration and sound radiation problems where there are high bandwidth control objectives requiring a low controller DC gain and controller order.

  18. Nonlinear feedback control for high alpha flight

    NASA Technical Reports Server (NTRS)

    Stalford, Harold

    1990-01-01

    Analytical aerodynamic models are derived from a high alpha 6 DOF wind tunnel model. One detail model requires some interpolation between nonlinear functions of alpha. One analytical model requires no interpolation and as such is a completely continuous model. Flight path optimization is conducted on the basic maneuvers: half-loop, 90 degree pitch-up, and level turn. The optimal control analysis uses the derived analytical model in the equations of motion and is based on both moment and force equations. The maximum principle solution for the half-loop is poststall trajectory performing the half-loop in 13.6 seconds. The agility induced by thrust vectoring capability provided a minimum effect on reducing the maneuver time. By means of thrust vectoring control the 90 degrees pitch-up maneuver can be executed in a small place over a short time interval. The agility capability of thrust vectoring is quite beneficial for pitch-up maneuvers. The level turn results are based currently on only outer layer solutions of singular perturbation. Poststall solutions provide high turn rates but generate higher losses of energy than that of classical sustained solutions.

  19. Feedback and Modularity in Cell Cycle Control

    NASA Astrophysics Data System (ADS)

    Skotheim, Jan

    2009-03-01

    Underlying the wonderful diversity of natural forms is the ability of an organism to grow into its appropriate shape. Regulation ensures that cells grow, divide and differentiate so that the organism and its constitutive parts are properly proportioned and of suitable size. Although the size-control mechanism active in an individual cell is of fundamental importance to this process, it is difficult to isolate and study in complex multi-cellular systems and remains poorly understood. This motivates our use of the budding yeast model organism, whose Start checkpoint integrates multiple internal (e.g. cell size) and external signals into an irreversible decision to enter the cell cycle. We have endeavored to address the following two questions: What makes the Start transition irreversible? How does a cell compute its own size? I will report on the progress we have made. Our work is part of an emerging framework for understanding biological control circuits, which will allow us to discern the function of natural systems and aid us in engineering synthetic systems.

  20. Microgravity vibration isolation: Optimal preview and feedback control

    NASA Technical Reports Server (NTRS)

    Hampton, R. D.; Knospe, C. R.; Grodsinsky, C. M.; Allaire, P. E.; Lewis, D. W.

    1992-01-01

    In order to achieve adequate low-frequency vibration isolation for certain space experiments an active control is needed, due to inherent passive-isolator limitations. Proposed here are five possible state-space models for a one-dimensional vibration isolation system with a quadratic performance index. The five models are subsets of a general set of nonhomogeneous state space equations which includes disturbance terms. An optimal control is determined, using a differential equations approach, for this class of problems. This control is expressed in terms of constant, Linear Quadratic Regulator (LQR) feedback gains and constant feedforward (preview) gains. The gains can be easily determined numerically. They result in a robust controller and offers substantial improvements over a control that uses standard LQR feedback alone.

  1. Ultrashort pulse laser microsurgery system with plasma luminescence feedback control

    SciTech Connect

    Kim, B.M.; Feit, M.D.; Rubenchik, A.M.; Gold, D.M.; Darrow, C.B.; Da Silva, L.B.

    1997-11-10

    Plasma luminescence spectroscopy was used for precise ablation of bone tissue during ultrashort pulse laser (USPL) micro-spinal surgery. Strong contrast of the luminescence spectra between bone marrow and spinal cord provided the real time feedback control so that only bone tissue can be selectively ablated while preserving the spinal cord.

  2. Design of multivariable feedback control systems via spectral assignment

    NASA Technical Reports Server (NTRS)

    Mielke, R. R.; Tung, L. J.; Marefat, M.

    1983-01-01

    The applicability of spectral assignment techniques to the design of multivariable feedback control systems was investigated. A fractional representation design procedure for unstable plants is presented and illustrated with an example. A computer aided design software package implementing eigenvalue/eigenvector design procedures is described. A design example which illustrates the use of the program is explained.

  3. Application of local area networks to accelerator control systems at the Stanford Linear Accelerator

    SciTech Connect

    Fox, J.D.; Linstadt, E.; Melen, R.

    1983-03-01

    The history and current status of SLAC's SDLC networks for distributed accelerator control systems are discussed. These local area networks have been used for instrumentation and control of the linear accelerator. Network topologies, protocols, physical links, and logical interconnections are discussed for specific applications in distributed data acquisition and control system, computer networks and accelerator operations.

  4. Toward broadband electroacoustic resonators through optimized feedback control strategies

    NASA Astrophysics Data System (ADS)

    Boulandet, R.; Lissek, H.

    2014-09-01

    This paper presents a methodology for the design of broadband electroacoustic resonators for low-frequency room equalization. An electroacoustic resonator denotes a loudspeaker used as a membrane resonator, the acoustic impedance of which can be modified through proportional feedback control, to match a target impedance. However, such impedance matching only occurs over a limited bandwidth around resonance, which can limit its use for the low-frequency equalization of rooms, requiring an effective control at least up to the Schroeder frequency. Previous experiments have shown that impedance matching can be achieved over a range of a few octaves using a simple proportional control law. But there is still a limit to the feedback gain, beyond which the feedback-controlled loudspeaker becomes non-dissipative. This paper evaluates the benefits of using PID control and phase compensation techniques to improve the overall performance of the electroacoustic resonator. More specifically, it is shown that some adverse effects due to high-order dynamics in the moving-coil transducer can be mitigated. The corresponding control settings are also identified with equivalent electroacoustic resonator parameters, allowing a straightforward design of the controller. Experimental results using PID control and phase compensation are finally compared in terms of sound absorption performances. As a conclusion the overall performances of electroacoustic resonators for damping the modal resonances inside a duct are presented, along with general discussions on practical implementation and the extension to actual room modes damping.

  5. Accessibility, stabilizability, and feedback control of continuous orbital transfer.

    PubMed

    Gurfil, Pini

    2004-05-01

    This paper investigates the problem of low-thrust orbital transfer using orbital element feedback from a control-theoretic standpoint, concepts of controllability, feedback stabilizability, and their interaction. The Gauss variational equations (GVEs) are used to model the state-space dynamics. First, the notion of accessibility, a weaker form of controllability, is presented. It is then shown that the GVEs are globally accessible. Based on the accessibility result, a nonlinear feedback controller is derived that asymptotically steers a vehicle from an initial elliptic Keplerian orbit to any given elliptic Keplerian orbit. The performance of the new controller is illustrated by simulating an orbital transfer between two geosynchronous Earth orbits. It is shown that the low-thrust controller requires less fuel than an impulsive maneuver for the same transfer time. Closed-form, analytic expressions for the new orbital transfer controller are given. Finally, it is proved, based on a topological nonlinear stabilizability test, that there does not exist a continuous closed-loop controller that can transfer a spacecraft to a parabolic escape trajectory.

  6. Feedback control of major disruptions in International Thermonuclear Experimental Reactor

    SciTech Connect

    Sen, A. K.

    2011-08-15

    It is argued that major disruptions in ITER can be avoided by the feedback control of the causative MHD precursors. The sensors will be 2D-arrays of ECE detectors and the suppressors will be modulated ECH beams injected radially to produce non-thermal radial pressures to counter the radial dynamics of MHD modes. The appropriate amplitude and phase of this signal can stabilize the relevant MHD modes and prevent their evolution to a major disruption. For multimode MHD precursors, an optimal feedback scheme with a Kalman filter is discussed.

  7. L1 adaptive output-feedback control architectures

    NASA Astrophysics Data System (ADS)

    Kharisov, Evgeny

    This research focuses on development of L 1 adaptive output-feedback control. The objective is to extend the L1 adaptive control framework to a wider class of systems, as well as obtain architectures that afford more straightforward tuning. We start by considering an existing L1 adaptive output-feedback controller for non-strictly positive real systems based on piecewise constant adaptation law. It is shown that L 1 adaptive control architectures achieve decoupling of adaptation from control, which leads to bounded away from zero time-delay and gain margins in the presence of arbitrarily fast adaptation. Computed performance bounds provide quantifiable performance guarantees both for system output and control signal in transient and steady state. A noticeable feature of the L1 adaptive controller is that its output behavior can be made close to the behavior of a linear time-invariant system. In particular, proper design of the lowpass filter can achieve output response, which almost scales for different step reference commands. This property is relevant to applications with human operator in the loop (for example: control augmentation systems of piloted aircraft), since predictability of the system response is necessary for adequate performance of the operator. Next we present applications of the L1 adaptive output-feedback controller in two different fields of engineering: feedback control of human anesthesia, and ascent control of a NASA crew launch vehicle (CLV). The purpose of the feedback controller for anesthesia is to ensure that the patient's level of sedation during surgery follows a prespecified profile. The L1 controller is enabled by anesthesiologist after he/she achieves sufficient patient sedation level by introducing sedatives manually. This problem formulation requires safe switching mechanism, which avoids controller initialization transients. For this purpose, we used an L1 adaptive controller with special output predictor initialization routine

  8. Feedback Control of Two-Component Regulatory Systems.

    PubMed

    Groisman, Eduardo A

    2016-09-01

    Two-component systems are a dominant form of bacterial signal transduction. The prototypical two-component system consists of a sensor that responds to a specific input(s) by modifying the output of a cognate regulator. Because the output of a two-component system is the amount of phosphorylated regulator, feedback mechanisms may alter the amount of regulator, and/or modify the ability of a sensor or other proteins to alter the phosphorylation state of the regulator. Two-component systems may display intrinsic feedback whereby the amount of phosphorylated regulator changes under constant inducing conditions and without the participation of additional proteins. Feedback control allows a two-component system to achieve particular steady-state levels, to reach a given steady state with distinct dynamics, to express coregulated genes in a given order, and to activate a regulator to different extents, depending on the signal acting on the sensor. PMID:27607549

  9. Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

    NASA Technical Reports Server (NTRS)

    Wood, S. J.; Rupert, A. H.; Vanya, R. D.; Esteves, J. T.; Clement, G.

    2011-01-01

    We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, <20 cm radius) in a darkened room is utilized to elicit otolith reflexes in the lateral plane without concordant canal or visual cues. A Tilt-Translation Sled (TTS) is capable of synchronizing pitch tilt with fore-aft translation to align the resultant gravitoinertial vector with the longitudinal body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a

  10. Output feedback control of a quadrotor UAV using neural networks.

    PubMed

    Dierks, Travis; Jagannathan, Sarangapani

    2010-01-01

    In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

  11. Feedback control of chlorine inductively coupled plasma etch processing

    SciTech Connect

    Lin Chaung; Leou, K.-C.; Shiao, K.-M.

    2005-03-01

    Feedback control has been applied to poly-Si etch processing using a chlorine inductively coupled plasma. Since the positive ion flux and ion energy incident upon the wafer surface are the key factors that influence the etch rate, the ion current and the root mean square (rms) rf voltage on the wafer stage, which are measured using an impedance meter connected to the wafer stage, are adopted as the controlled variables to enhance etch rate. The actuators are two 13.56 MHz rf power generators, which adjust ion density and ion energy, respectively. The results of closed-loop control show that the advantages of feedback control can be achieved. For example, with feedback control, etch rate variation under the transient chamber wall condition is reduced roughly by a factor of 2 as compared to the open-loop case. In addition, the capability of the disturbance rejection was also investigated. For a gas pressure variation of 20%, the largest etch rate variation is about 2.4% with closed-loop control as compared with as large as about 6% variation using open-loop control. Also the effect of ion current and rms rf voltage on etch rate was studied using 2{sup 2} factorial design whose results were used to derive a model equation. The obtained formula was used to adjust the set point of ion current and rf voltage so that the desired etch rate was obtained.

  12. Controlled Microwave Heating Accelerates Rolling Circle Amplification.

    PubMed

    Yoshimura, Takeo; Suzuki, Takamasa; Mineki, Shigeru; Ohuchi, Shokichi

    2015-01-01

    Rolling circle amplification (RCA) generates single-stranded DNAs or RNA, and the diverse applications of this isothermal technique range from the sensitive detection of nucleic acids to analysis of single nucleotide polymorphisms. Microwave chemistry is widely applied to increase reaction rate as well as product yield and purity. The objectives of the present research were to apply microwave heating to RCA and indicate factors that contribute to the microwave selective heating effect. The microwave reaction temperature was strictly controlled using a microwave applicator optimized for enzymatic-scale reactions. Here, we showed that microwave-assisted RCA reactions catalyzed by either of the four thermostable DNA polymerases were accelerated over 4-folds compared with conventional RCA. Furthermore, the temperatures of the individual buffer components were specifically influenced by microwave heating. We concluded that microwave heating accelerated isothermal RCA of DNA because of the differential heating mechanisms of microwaves on the temperatures of reaction components, although the overall reaction temperatures were the same.

  13. Low Order Empirical Galerkin Models for Feedback Flow Control

    NASA Astrophysics Data System (ADS)

    Tadmor, Gilead; Noack, Bernd

    2005-11-01

    Model-based feedback control restrictions on model order and complexity stem from several generic considerations: real time computation, the ability to either measure or reliably estimate the state in real time and avoiding sensitivity to noise, uncertainty and numerical ill-conditioning are high on that list. Empirical POD Galerkin models are attractive in the sense that they are simple and (optimally) efficient, but are notoriously fragile, and commonly fail to capture transients and control effects. In this talk we review recent efforts to enhance empirical Galerkin models and make them suitable for feedback design. Enablers include `subgrid' estimation of turbulence and pressure representations, tunable models using modes from multiple operating points, and actuation models. An invariant manifold defines the model's dynamic envelope. It must be respected and can be exploited in observer and control design. These ideas are benchmarked in the cylinder wake system and validated by a systematic DNS investigation of a 3-dimensional Galerkin model of the controlled wake.

  14. Nonlinear feedback method of robot control - A preliminary experimental study

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Ganguly, S.; Li, Z.; Bejczy, A. K.

    1990-01-01

    The nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which was shown viable through simulation results earlier, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100-Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed.

  15. Output-feedback control of reactive batch distillation columns

    SciTech Connect

    Monroy-Loperena, R.; Alvarez-Ramirez, J.

    2000-02-01

    In this work, an output-feedback, control for the regulation of distillate purity via manipulations of the reflux ratio in reactive batch distillation is designed. The approach is based on an approximate model of the composition dynamics and makes use of a reduced-order observer to estimate the modeling error. An input/output linearizing feedback is proposed where the estimated modeling error is included to achieve robust tracking of a composition reference. It is shown that the resulting controller has the structure of a proportional-integral derivative (PID) controller with antireset windup. The controller performance is tested using a simulation example including strong uncertainties in the reaction model. An interesting finding is that the required reflux ratio policy to reach asymptotically a constant reference resembles the reflux ratio policy obtained from posing an optimization technique.

  16. Force Feedback Control of Robotic Forceps for Minimally Invasive Surgery

    NASA Astrophysics Data System (ADS)

    Ishii, Chiharu; Kamei, Yusuke

    2008-06-01

    Recently, the robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operativity and safety of minimally invasive surgery, the development of haptic forceps manipulator is in demand to help surgeon's immersion and dexterity. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, in order to control the developed robotic forceps as a slave manipulator, joy-stick type master manipulator with force feedback mechanism for remote control is designed and built, and force feedback bilateral control system was constructed for grasping and bending motions of the robotic forceps. Experimental works were carried out and experimental results showed the effectiveness of the proposed control system.

  17. Stability analysis in a car-following model with reaction-time delay and delayed feedback control

    NASA Astrophysics Data System (ADS)

    Jin, Yanfei; Xu, Meng

    2016-10-01

    The delayed feedback control in terms of both headway and velocity differences has been proposed to guarantee the stability of a car-following model including the reaction-time delay of drivers. Using Laplace transformation and transfer function, the stable condition is derived and appropriate choices of time delay and feedback gains are designed to stabilize traffic flow. Meanwhile, an upper bound on explicit time delay is determined with respect to the response of desired acceleration. To ensure the string stability, the explicit time delay cannot over its upper bound. Numerical simulations indicate that the proposed control method can restraint traffic congestion and improve control performance.

  18. Improved feedback control of wall stabilized kink modes with different plasma-wall couplings and mode rotation

    NASA Astrophysics Data System (ADS)

    Peng, Q.; Levesque, J. P.; Stoafer, C. C.; Bialek, J.; Byrne, P.; Hughes, P. E.; Mauel, M. E.; Navratil, G. A.; Rhodes, D. J.

    2016-04-01

    A new algorithm for feedback control of rotating, wall-stabilized kink modes in the High Beta Tokamak-Extended Pulse (HBT-EP) device maintains an accurate phase shift between the perturbation and the measured rotating mode through current control, with control power emphasizing fast rotation and phase jumps over fast amplitude changes. In HBT-EP, wall-stabilized kink modes become unstable above the ideal wall stability limit, and feedback suppression is aimed at delaying the onset of discharge disruption through reduction of the kink mode amplitude. Performance of the new feedback algorithm is tested under different experimental conditions, including variation of the plasma-wall coupling, insertion of a ferritic wall, changing mode rotation frequency over the range of 4-8 kHz using an internal biased electrode, and adjusting the feedback phase-angle to accelerate, amplify, or suppress the mode. We find the previously reported excitation of the slowly rotating mode at high feedback gain in HBT-EP is mitigated by the current control scheme. We also find good agreement between the observed and predicted changes to the mode rotation frequency and amplitude. When ferritic material is introduced, or the plasma-wall coupling becomes weaker as the walls are retracted from plasma, the feedback gain needs to be increased to achieve the same level of suppression. When mode rotation is slowed by a biased electrode, the feedback system still achieves mode suppression, and demonstrates wide bandwidth effectiveness.

  19. Electrotactile EMG feedback improves the control of prosthesis grasping force

    NASA Astrophysics Data System (ADS)

    Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

    2016-10-01

    Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for

  20. Multiple electrokinetic actuators for feedback control of colloidal crystal size.

    PubMed

    Juárez, Jaime J; Mathai, Pramod P; Liddle, J Alexander; Bevan, Michael A

    2012-10-21

    We report a feedback control method to precisely target the number of colloidal particles in quasi-2D ensembles and their subsequent assembly into crystals in a quadrupole electrode. Our approach relies on tracking the number of particles within a quadrupole electrode, which is used in a real-time feedback control algorithm to dynamically actuate competing electrokinetic transport mechanisms. Particles are removed from the quadrupole using DC-field mediated electrophoretic-electroosmotic transport, while high-frequency AC-field mediated dielectrophoretic transport is used to concentrate and assemble colloidal crystals. Our results show successful control of the size of crystals containing 20 to 250 colloidal particles with less than 10% error. Assembled crystals are characterized by their radius of gyration, crystallinity, and number of edge particles, and demonstrate the expected size-dependent properties. Our findings demonstrate successful ensemble feedback control of the assembly of different sized colloidal crystals using multiple actuators, which has broad implications for control over nano- and micro- scale assembly processes involving colloidal components.

  1. Precision Intelligent Control of Electrorheological Fluids with Feedback

    NASA Astrophysics Data System (ADS)

    Radcliffe, C. J.; Lloyd, J. R.

    1997-03-01

    Electrorheological (ER) fluids have electrically controllable stiffness, heat transfer and viscosity properties. Since their recognition in the last century, ER fluids have been proposed for wide application to the electrical control of systems such as hydraulic valves, clutches, heat exchangers and suspension systems. Previous approaches to application of ER fluids have been hampered by the slow, strongly time-dependent, non-linear behavior of these fluid systems. The effects of electric field activation history, temperature and humidity also contribute to wide variation in "open-loop" speed and strength of response. Successfull application of ER fluids to engineering systems requires fast, precise control of the internal fluid state which yields the controllable properties to be exploited. This work presents an intelligent feedback control approach of ER fluid state which uses laser sensing to allow higher initial field strengths to speed ER response while lowering the level of applied electric field to exactly that level required to maintain a specified level of ER fluid viscosity, stiffness, thermal conductivity or transmissibility. An analytical model for both the ER fluid and control system are developed which predicts system response as controlled field drive is varied. Laser sensing and feedback allows the use of these fluids in a wide variety of applications where the lack of fast, precise control limited their past use. The ability to quickly and precisely control ER fluid response may make possible the applications of ER fluids promised since their invention 5 decades ago. When compared against conventional "open-loop" fluid control methods, laboratory tests of "closed-loop feedback control demonstrate ER fluid response 30 times faster with 30 times more precision than previously possible

  2. Toward automatic control of particle accelerator beams

    SciTech Connect

    Schultz, D.E.; Silbar, R.R.

    1988-01-01

    We describe a program aiming toward automatic control of particle accelerator beams. A hybrid approach is used, combining knowledge- based system programming techniques and traditional numerical simulations. We use an expert system shell for the symbolic processing and have incorporated the FORTRAN beam optics code TRANSPORT for numerical simulation. The paper discusses the symbolic model we built, the reasoning components, how the knowledge base accesses information from an operating beamline, and the experience gained in merging the two worlds of numeric and symbolic processing. We also discuss plans for a future real-time system. 6 refs., 6 figs.

  3. Open Hardware for CERN's accelerator control systems

    NASA Astrophysics Data System (ADS)

    van der Bij, E.; Serrano, J.; Wlostowski, T.; Cattin, M.; Gousiou, E.; Alvarez Sanchez, P.; Boccardi, A.; Voumard, N.; Penacoba, G.

    2012-01-01

    The accelerator control systems at CERN will be upgraded and many electronics modules such as analog and digital I/O, level converters and repeaters, serial links and timing modules are being redesigned. The new developments are based on the FPGA Mezzanine Card, PCI Express and VME64x standards while the Wishbone specification is used as a system on a chip bus. To attract partners, the projects are developed in an `Open' fashion. Within this Open Hardware project new ways of working with industry are being evaluated and it has been proven that industry can be involved at all stages, from design to production and support.

  4. VFC - Variational Feedback Controller and its application to semi-active suspensions

    NASA Astrophysics Data System (ADS)

    Pepe, G.; Carcaterra, A.

    2016-08-01

    Active and semi-active control of oscillating devices and structures is a challenging field and this paper proposes an original investigation based on variational controls that can be successfully applied to mechanical systems. The method produces a general class of new controllers, named VFC - Variational Feedback Controllers, that is the main theoretical contribution of the paper. The value of the theory relies on using a reformulation of the Variational Optimal Control Theory, that has in general the limit of producing control program strategies and not directly feedback control methods. The difficulties are in fact related to the intrinsic nature of the variational optimal control, that must solve initial and final boundary conditions. A special definition of the class of the considered objective functions, permits to skip this difficulty, producing a pure feedback control. The presented theory goes beyond with respect to the most acknowledged LQR variational-based techniques, in that VFC can be applied to more general nonlinear dynamical systems, even with finite time horizon. To test the effectiveness of the novel approach in real engineering problems, a deep investigation on nonlinear suspension systems treated by VFC is proposed in this paper. To this aim, VFC is systematically compared with the most recent methods available in this field and suitable to deal with nonlinear system control of car suspensions. In particular, the comparative analysis is made in terms of both comfort and handling key performance indexes, that permits to easily and significantly compare different control logics, such as the Sky-hook and Ground-hook control families, the Acceleration and Power Driven Dampers. The results of this comparison are collected in a performance plane, having comfort and handling indexes as coordinate axes, showing that VFC controllers completely cover the regions reached by the other mentioned control logics in this plane, but reveal to have access to

  5. An integrated optical sensor for GMAW feedback control

    NASA Astrophysics Data System (ADS)

    Taylor, P. L.; Watkins, A. D.; Larsen, E. D.; Smartt, H. B.

    The integrated optical sensor (IOS) is a multifunction feedback control sensor for arc welding, that is computer automated and independent of significant operator interaction. It is based on three major 'off-the-shelf' components: a charged coupled device (CCD) camera, a diode laser, and a processing computer. The sensor head is compact and lightweight to avoid interference with weld head mobility, hardened to survive the harsh operating environment, and free of specialized cooling and power requirements. The sensor is positioned behind the GMAW torch and measures weld pool position and width, standoff distance, and postweld centerline cooling rate. Weld pool position and width are used in a feedback loop, by the weld controller, to track the weld pool relative to the weld joint, thus allowing compensation for such phenomena as arc blow. Sensor stand off distance is used in a feedback loop to control the contact tip to base metal distance during the welding process. Cooling rate information is used to infer the final metallurgical state of the weld bead and heat affected zone, thereby providing a means of controlling post weld mechanical properties.

  6. Scanning ablation of root caries with acoustic feedback control

    NASA Astrophysics Data System (ADS)

    Fan, Kenneth; Fried, Daniel

    2007-02-01

    It has been previously demonstrated that short λ=355-nm laser pulses can be used for the selective removal of caries lesions and composite restorative materials from occlusal surfaces with minimal damage to the peripheral sound tooth structure. One advantage of laser-systems is they can be integrated with acoustic and optical feedback systems for the automated discrimination of dental caries and restorative materials. The objective of this study was to test the hypothesis that root caries could be selectively removed from tooth surfaces using a computer controlled laserscanning system coupled with an acoustic feedback system. Dental root caries surfaces on extracted teeth were scanned with λ=355-nm laser pulses at irradiation intensities ranging from 0.6 to 0.8 J/cm2. Acoustic feedback signals were acquired and used to control the laser output and scanning stages were used to position the laser over carious dentin until all the caries were removed to a fixed depth. Polarization optical coherence tomography (PSOCT) was used to acquire images of the root caries lesions before and after removal by the laser in order to assess if ablation was selective. The amplitude of the acoustic waves generated during the ablation of carious dentin was higher than for sound dentin allowing the acoustic feedback system to discriminate between sound and carious dentin. PS-OCT showed that caries were removed to a depth of up to 1.5-mm with minimal peripheral damage to peripheral sound dentin. The acoustic feedback was successfully used to distinguish between root caries and sound dentin, enabling the selective removal of caries from dentin surfaces using a λ=355-nm, Nd:YAG Q-switched laser system.

  7. Ultrasensitive Negative Feedback Control: A Natural Approach for the Design of Synthetic Controllers

    PubMed Central

    Montefusco, Francesco; Akman, Ozgur E.; Soyer, Orkun S.; Bates, Declan G.

    2016-01-01

    Many of the most important potential applications of Synthetic Biology will require the ability to design and implement high performance feedback control systems that can accurately regulate the dynamics of multiple molecular species within the cell. Here, we argue that the use of design strategies based on combining ultrasensitive response dynamics with negative feedback represents a natural approach to this problem that fully exploits the strongly nonlinear nature of cellular information processing. We propose that such feedback mechanisms can explain the adaptive responses observed in one of the most widely studied biomolecular feedback systems—the yeast osmoregulatory response network. Based on our analysis of such system, we identify strong links with a well-known branch of mathematical systems theory from the field of Control Engineering, known as Sliding Mode Control. These insights allow us to develop design guidelines that can inform the construction of feedback controllers for synthetic biological systems. PMID:27537373

  8. Ultrasensitive Negative Feedback Control: A Natural Approach for the Design of Synthetic Controllers.

    PubMed

    Montefusco, Francesco; Akman, Ozgur E; Soyer, Orkun S; Bates, Declan G

    2016-01-01

    Many of the most important potential applications of Synthetic Biology will require the ability to design and implement high performance feedback control systems that can accurately regulate the dynamics of multiple molecular species within the cell. Here, we argue that the use of design strategies based on combining ultrasensitive response dynamics with negative feedback represents a natural approach to this problem that fully exploits the strongly nonlinear nature of cellular information processing. We propose that such feedback mechanisms can explain the adaptive responses observed in one of the most widely studied biomolecular feedback systems-the yeast osmoregulatory response network. Based on our analysis of such system, we identify strong links with a well-known branch of mathematical systems theory from the field of Control Engineering, known as Sliding Mode Control. These insights allow us to develop design guidelines that can inform the construction of feedback controllers for synthetic biological systems. PMID:27537373

  9. Kinematics and Dynamics of Motion Control Based on Acceleration Control

    NASA Astrophysics Data System (ADS)

    Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

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

  10. The DPC-2000 advanced control system for the Dynamitron accelerator

    NASA Astrophysics Data System (ADS)

    Kestler, Bernard A.; Lisanti, Thomas F.

    1993-07-01

    The DPC-2000 is an advanced control system utilizing the latest technology in computer control circuitry and components. Its overall design is modular and technologically advanced to keep up with customer and engineering demands. The full control system is presented as four units. They are the Remote I/O (Input / Output), Local Analog and Digital I/O, Operator Interface and the Main Computer. The central processing unit, the heart of the system, executes a high level language program that communicates to the different sub-assemblies through advanced serial and parallel communication lines. All operational parameters of the accelerator are monitored, controlled and corrected at close to 20 times per second. The operator is provided with a selection of many informative screen displays. The control program handles all graphic screen displays and the updating of these screens directly; it does not have to communicate to a display terminal. This adds to the quick response and excellent operator feedback received while operating the machine. The CPU also has the ability to store and record all process variable setpoints for each product that will be treated. This allows the operator to set up the process parameters by selecting the product identification code from a menu presented on the display screen. All process parameters are printed to report at regular intervals during a process run for later analysis and record keeping.

  11. Delay-feedback control strategy for reducing CO2 emission of traffic flow system

    NASA Astrophysics Data System (ADS)

    Zhang, Li-Dong; Zhu, Wen-Xing

    2015-06-01

    To study the signal control strategy for reducing traffic emission theoretically, we first presented a kind of discrete traffic flow model with relative speed term based on traditional coupled map car-following model. In the model, the relative speed difference between two successive running cars is incorporated into following vehicle's acceleration running equation. Then we analyzed its stability condition with discrete control system stability theory. Third, we designed a delay-feedback controller to suppress traffic jam and decrease traffic emission based on modern controller theory. Last, numerical simulations are made to support our theoretical results, including the comparison of models' stability analysis, the influence of model type and signal control on CO2 emissions. The results show that the temporal behavior of our model is superior to other models, and the traffic signal controller has good effect on traffic jam suppression and traffic CO2 emission, which fully supports the theoretical conclusions.

  12. Constrained output feedback control of flexible rotor-bearing systems

    NASA Astrophysics Data System (ADS)

    Kim, Jong-Sun; Lee, Chong-Won

    1990-04-01

    The design of an optimal constrained output feedback controller for a rotor-bearing system is described, based on a reduced order model. The aims are to stabilize the unstable or marginally stable motion and to control the large build-up of periodic disturbances occurring during operation. The reduced order model is constructed on the basis of a modal model and singular perturbation, retaining the advantages of the two methods. The onset of instability due to spillover is prevented by the constrained optimization, and the robustness and pole assignability are improved by designing not merely a static output feedback but a dynamic compensator. The periodic disturbances, usually caused by rotation, are reduced by using the disturbance observer and feed-forward compensation. The efficiency of the proposed method is demonstrated through two simulation models, a rigid shaft supported by soft bearings at its ends and an overhung rotor system with a tip disk, under both transient vibration and sudden imbalance situations.

  13. Conformal grasping using feedback controlled bubble actuator array

    NASA Astrophysics Data System (ADS)

    Carrigan, Wei; Stein, Richard; Mittal, Manoj; Wijesundara, Muthu B. J.

    2014-06-01

    This paper presents an implementation of a bubble actuator array (BAA) based active robotic skin, a modular system, onto existing low cost robotic end-effectors or prosthetic hands for conformal grasping of objects. The active skin is comprised of pneumatically controlled polyurethane rubber bubbles with overlaid sensors for feedback control. Sensor feedback allows the BAA based robotic skin to conformally grasp an object with an explicit uniform force distribution. The bubble actuator array reported here is capable of applying up to 4N of force at each point of contact and tested for conformally grasping objects with a radius of curvature up to 57.15mm. Once integrated onto a two-finger gripper with one degree of freedom (DOF), the active skin was shown to reduce point of contact forces of up to 50% for grasped objects.

  14. Improved Position Sensor for Feedback Control of Levitation

    NASA Technical Reports Server (NTRS)

    Hyers, Robert; Savage, Larry; Rogers, Jan

    2004-01-01

    An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.

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

    DOEpatents

    White, Terry L.

    1991-01-01

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

  16. Feedback-Controlled LED Photobioreactor for Photophysiological Studies of Cyanobacteria

    SciTech Connect

    Melnicki, Matthew R.; Pinchuk, Grigoriy E.; Hill, Eric A.; Kucek, Leo A.; Stolyar, Sergey; Fredrickson, Jim K.; Konopka, Allan; Beliaev, Alex S.

    2013-04-09

    A custom photobioreactor (PBR) was designed to enable automatic light adjustments using computerized feedback control. A black anodized aluminum enclosure, constructed to surround the borosilicate reactor vessel, prevents the transmission of ambient light and serves as a mount for arrays of light-emitting diodes (LEDs). The high-output LEDs provide narrow-band light of either 630 or 680 nm for preferential excitation of the cyanobacterial light-harvesting pigments, phycobilin or chlorophyll a, respectively. Custom developed software BioLume provides automatic control of optical properties and a computer feedback loop can automatically adjust the incident irradiance as necessary to maintain a fixed transmitted light through the culture, based on user-determined set points. This feedback control serves to compensate for culture dynamics which have optical effects, (e.g., changing cell density, pigment adaptations) and thus can determine the appropriate light conditions for physiological comparisons or to cultivate light-sensitive strains, without prior analyses. The LED PBR may also be controlled as a turbidostat, using a feedback loop to continuously adjust the rate of media-dilution based on the transmitted light measurements, with a fast and precise response. This cultivation system gains further merit as a high-performance analytical device, using non-invasive tools (e.g., dissolved gas sensors, online mass spectrometry) to automate real-time measurements, thus permitting unsupervised experiments to search for optimal growth conditions, to monitor physiological responses to perturbations, as well as to quantitate photophysiological parameters using an in situ light-saturation response routine.

  17. Optimal feedback control infinite dimensional parabolic evolution systems: Approximation techniques

    NASA Technical Reports Server (NTRS)

    Banks, H. T.; Wang, C.

    1989-01-01

    A general approximation framework is discussed for computation of optimal feedback controls in linear quadratic regular problems for nonautonomous parabolic distributed parameter systems. This is done in the context of a theoretical framework using general evolution systems in infinite dimensional Hilbert spaces. Conditions are discussed for preservation under approximation of stabilizability and detectability hypotheses on the infinite dimensional system. The special case of periodic systems is also treated.

  18. A model for reverberating circuits with controlled feedback

    NASA Astrophysics Data System (ADS)

    Rodrigues, Vanessa de Freitas; de Castro, Maria Clícia Stelling; Wedemann, Roseli Suzi; Cortez, Celia Martins

    2015-12-01

    We studied the behavior of a mathematic-computational model for a reverberating neuronal circuit with controlled feedback, verifying the output pattern of the circuit, by means simulations using a program in language C++. Using values obtained from surveying the literature from animal experiments, we observed that the model was able to reproduce the polissynaptic activity of a neuron group of a vigil rat, with looping time of three neurons of the order of magnitude of 102 ms.

  19. Fiber optic sensor: Feedback control design and implementation

    SciTech Connect

    Tung, D.; Bertram, L.; Hillaire, R.; Anderson, S.; Leonard, S.; Marburger, S.

    1997-07-01

    Digital feedback control of Gas Tungsten Arc Welding (GTAW) has been demonstrated on a tube sample of stainless steel and titanium alloy. A fiber optic sensor returns a signal proportional to backside radiance from the workpiece; that signal is used by the controller to compute a compensation weld current. The controller executes 10 times a second on an Intel 486 chip. For travel speeds of 3 to 6 inches per minute and thicknesses between 0.025 and 0.10 inches, constant backside bead width was maintained within 0.02 inches, from startup to tie-in.

  20. Approach to control moment gyroscope steering using feedback linearization

    NASA Technical Reports Server (NTRS)

    Dzielski, John; Bergmann, Edward; Paradiso, Joseph A.; Rowell, Derek; Wormley, David

    1991-01-01

    This paper presents an approach for controlling spacecraft equipped with control moment gyroscopes. A technique from feedback linearization theory is used to transform the original nonlinear problem to an equivalent linear form without approximating assumptions. In this form, the spacecraft dynamics appear linearly, and are decoupled from redundancy in the system of gyroscopes. A general approach to distributing control effort among the available actuators is described which includes provisions for redistribution of rotors, explicit bounds in gimbal rates, and guaranteed operation at or near singular configurations. A particular algorithm is developed for systems of double-gimbal devices, and demonstrated in two examples for which existing approaches fail to give adequate performance.

  1. Output feedback sliding mode control under networked environment

    NASA Astrophysics Data System (ADS)

    Zhang, Jinhui; Lam, James; Xia, Yuanqing

    2013-04-01

    This article considers the problem of sliding mode output feedback control for networked control systems (NCSs). The key idea is to make use of not only the current and previous measurements, but also previous inputs for the reconstruction of the state variables. Using this idea, sliding mode controllers are designed for systems with constant or time-varying network delay. The approach is not only more practical but also easy to implement. To illustrate this, the design technique is applied to an inverted pendulum system.

  2. Practical Loop-Shaping Design of Feedback Control Systems

    NASA Technical Reports Server (NTRS)

    Kopasakis, George

    2010-01-01

    An improved methodology for designing feedback control systems has been developed based on systematically shaping the loop gain of the system to meet performance requirements such as stability margins, disturbance attenuation, and transient response, while taking into account the actuation system limitations such as actuation rates and range. Loop-shaping for controls design is not new, but past techniques do not directly address how to systematically design the controller to maximize its performance. As a result, classical feedback control systems are designed predominantly using ad hoc control design approaches such as proportional integral derivative (PID), normally satisfied when a workable solution is achieved, without a good understanding of how to maximize the effectiveness of the control design in terms of competing performance requirements, in relation to the limitations of the plant design. The conception of this improved methodology was motivated by challenges in designing control systems of the types needed for supersonic propulsion. But the methodology is generally applicable to any classical control-system design where the transfer function of the plant is known or can be evaluated. In the case of a supersonic aerospace vehicle, a major challenge is to design the system to attenuate anticipated external and internal disturbances, using such actuators as fuel injectors and valves, bypass doors, and ramps, all of which are subject to limitations in actuator response, rates, and ranges. Also, for supersonic vehicles, with long slim type of structures, coupling between the engine and the structural dynamics can produce undesirable effects that could adversely affect vehicle stability and ride quality. In order to design distributed controls that can suppress these potential adverse effects, within the full capabilities of the actuation system, it is important to employ a systematic control design methodology such as this that can maximize the

  3. Task driven feedback control of robot arms - A step toward intelligent control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Tarn, T. J.; Li, Z. F.

    1986-01-01

    The process of connecting task descriptions originating from machine intelligence planning programs to the mechanization of feedback control of robot arms is analyzed. It is shown in this paper that control theories and practices can be extended to a higher level where feedback control of robot arms directly can respond to work space task commands provided that the work space task as a command is given in the form of a closed function of time. A general mathematical procedure using tools from differential geometry is introduced for synthesizing task space motion planning so that the planned motion can be used as a direct input to the robot arm feedback control system to achieve desired robot hand motion. By definition, 'intelligent control' is being manifested through robot performance in the task space relative to task space commands. Thus, the capability of implementing feedback control of robot arms directly driven by appropriate task descriptions in the workspace as commands is a step toward intelligent control.

  4. Evidence for feedback control of pineal melatonin secretion.

    PubMed

    Bedrosian, Tracy A; Herring, Kamillya L; Walton, James C; Fonken, Laura K; Weil, Zachary M; Nelson, Randy J

    2013-05-10

    Melatonin is the principle hormonal product of the pineal gland. It is secreted with a robust daily rhythm, peaking near the middle of the night. During the daytime, concentrations remain very low, as exposure to light robustly suppresses its secretion. The regulation of melatonin by light is well-characterized, but an interesting feature of the daily melatonin rhythm is that its peak occurs near the middle of the night and then levels begin to drop hours before morning light exposure. The mechanism underlying the light-independent drop in melatonin during late night remains unspecified. Feedback control is one mechanism of hormone regulation, but no studies thus far have explored the possibility of such regulation in the pineal of white-footed mice (Peromyscus leucopus). The pineal gland and SCN express melatonin receptors, and melatonin regulates its own receptor density in the brain. We investigated the possibility of feedback control of melatonin by administering melatonin receptor antagonists to female white-footed mice and then measuring plasma melatonin concentrations. In the first experiment, we observed that luzindole, a dual MT1/MT2 receptor antagonist administered 1h after lights off, caused an increase in plasma melatonin both 1 and 2h later. In a second experiment, we did not observe a change in melatonin concentrations following injection of an antagonist specific for the MT2 subtype. These results suggest the possibility of feedback control of melatonin release, occurring preferentially through the MT1 receptor subtype. PMID:23528860

  5. Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics

    NASA Astrophysics Data System (ADS)

    Belavkin, V. P.

    2009-02-01

    A brief account of the quantum information dynamics and dynamical programming methods for the purpose of optimal control in quantum cybernetics with convex constraints and cońcave cost and bequest functions of the quantum state is given. Consideration is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme with continuous observations we exploit the separation theorem of filtering and control aspects for quantum stochastic micro-dynamics of the total system. This allows to start with the Belavkin quantum filtering equation and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to only Hamiltonian terms in the filtering equation. A controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.

  6. Controlled Microwave Heating Accelerates Rolling Circle Amplification.

    PubMed

    Yoshimura, Takeo; Suzuki, Takamasa; Mineki, Shigeru; Ohuchi, Shokichi

    2015-01-01

    Rolling circle amplification (RCA) generates single-stranded DNAs or RNA, and the diverse applications of this isothermal technique range from the sensitive detection of nucleic acids to analysis of single nucleotide polymorphisms. Microwave chemistry is widely applied to increase reaction rate as well as product yield and purity. The objectives of the present research were to apply microwave heating to RCA and indicate factors that contribute to the microwave selective heating effect. The microwave reaction temperature was strictly controlled using a microwave applicator optimized for enzymatic-scale reactions. Here, we showed that microwave-assisted RCA reactions catalyzed by either of the four thermostable DNA polymerases were accelerated over 4-folds compared with conventional RCA. Furthermore, the temperatures of the individual buffer components were specifically influenced by microwave heating. We concluded that microwave heating accelerated isothermal RCA of DNA because of the differential heating mechanisms of microwaves on the temperatures of reaction components, although the overall reaction temperatures were the same. PMID:26348227

  7. Reliable timing systems for computer controlled accelerators

    NASA Astrophysics Data System (ADS)

    Knott, Jürgen; Nettleton, Robert

    1986-06-01

    Over the past decade the use of computers has set new standards for control systems of accelerators with ever increasing complexity coupled with stringent reliability criteria. In fact, with very slow cycling machines or storage rings any erratic operation or timing pulse will cause the loss of precious particles and waste hours of time and effort of preparation. Thus, for the CERN linac and LEAR (Low Energy Antiproton Ring) timing system reliability becomes a crucial factor in the sense that all components must operate practically without fault for very long periods compared to the effective machine cycle. This has been achieved by careful selection of components and design well below thermal and electrical limits, using error detection and correction where possible, as well as developing "safe" decoding techniques for serial data trains. Further, consistent structuring had to be applied in order to obtain simple and flexible modular configurations with very few components on critical paths and to minimize the exchange of information to synchronize accelerators. In addition, this structuring allows the development of efficient strategies for on-line and off-line fault diagnostics. As a result, the timing system for Linac 2 has, so far, been operating without fault for three years, the one for LEAR more than one year since its final debugging.

  8. Independent modal space control with positive position feedback

    NASA Technical Reports Server (NTRS)

    Baz, A.; Poh, S.; Fedor, J.

    1989-01-01

    An independent modal space control (IMSC) algorithm is presented, whose modal control forces are generated from a positive position feedback (PPF) strategy. The proposed algorithm combines the attributes of both the IMSC and the PPF, and maintains the simplicity of the IMSC as it designs the controller of a complex structure at the uncoupled modal level. The effectiveness of the algorithm in damping out the vibration of flexible structures is validated experimentally. A simple cantilevered beam is employed as an example of a flexible structure whose multimodes of vibration are controlled by a single actuator. Performance of the active control system is determined in the frequency and the time domains. The experimental results indicate the potential of the proposed methodology as a viable method for controlling the vibration of large flexible structures.

  9. Mechanisms in Adaptive Feedback Control: Photoisomerization in a Liquid

    SciTech Connect

    Hoki, Kunihito; Brumer, Paul

    2005-10-14

    The underlying mechanism for Adaptive Feedback Control in the experimental photoisomerization of 3,3'-diethyl-2,2'-thiacyanine iodide (NK88) in methanol is exposed theoretically. With given laboratory limitations on laser output, the complicated electric fields are shown to achieve their targets in qualitatively simple ways. Further, control over the cis population without laser limitations reveals an incoherent pump-dump scenario as the optimal isomerization strategy. In neither case are there substantial contributions from quantum multiple-path interference or from nuclear wave packet coherence. Environmentally induced decoherence is shown to justify the use of a simplified theoretical model.

  10. Discretization chaos - Feedback control and transition to chaos

    NASA Technical Reports Server (NTRS)

    Grantham, Walter J.; Athalye, Amit M.

    1990-01-01

    Problems in the design of feedback controllers for chaotic dynamical systems are considered theoretically, focusing on two cases where chaos arises only when a nonchaotic continuous-time system is discretized into a simpler discrete-time systems (exponential discretization and pseudo-Euler integration applied to Lotka-Volterra competition and prey-predator systems). Numerical simulation results are presented in extensive graphs and discussed in detail. It is concluded that care must be taken in applying standard dynamical-systems methods to control systems that may be discontinuous or nondifferentiable.

  11. Neural-Based Adaptive Output-Feedback Control for a Class of Nonstrict-Feedback Stochastic Nonlinear Systems.

    PubMed

    Wang, Huanqing; Liu, Kefu; Liu, Xiaoping; Chen, Bing; Lin, Chong

    2015-09-01

    In this paper, we consider the problem of observer-based adaptive neural output-feedback control for a class of stochastic nonlinear systems with nonstrict-feedback structure. To overcome the design difficulty from the nonstrict-feedback structure, a variable separation approach is introduced by using the monotonically increasing property of system bounding functions. On the basis of the state observer, and by combining the adaptive backstepping technique with radial basis function neural networks' universal approximation capability, an adaptive neural output feedback control algorithm is presented. It is shown that the proposed controller can guarantee that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded in the sense of mean quartic value. Simulation results are provided to show the effectiveness of the proposed control scheme.

  12. Reinforcement learning output feedback NN control using deterministic learning technique.

    PubMed

    Xu, Bin; Yang, Chenguang; Shi, Zhongke

    2014-03-01

    In this brief, a novel adaptive-critic-based neural network (NN) controller is investigated for nonlinear pure-feedback systems. The controller design is based on the transformed predictor form, and the actor-critic NN control architecture includes two NNs, whereas the critic NN is used to approximate the strategic utility function, and the action NN is employed to minimize both the strategic utility function and the tracking error. A deterministic learning technique has been employed to guarantee that the partial persistent excitation condition of internal states is satisfied during tracking control to a periodic reference orbit. The uniformly ultimate boundedness of closed-loop signals is shown via Lyapunov stability analysis. Simulation results are presented to demonstrate the effectiveness of the proposed control. PMID:24807456

  13. Reinforcement learning output feedback NN control using deterministic learning technique.

    PubMed

    Xu, Bin; Yang, Chenguang; Shi, Zhongke

    2014-03-01

    In this brief, a novel adaptive-critic-based neural network (NN) controller is investigated for nonlinear pure-feedback systems. The controller design is based on the transformed predictor form, and the actor-critic NN control architecture includes two NNs, whereas the critic NN is used to approximate the strategic utility function, and the action NN is employed to minimize both the strategic utility function and the tracking error. A deterministic learning technique has been employed to guarantee that the partial persistent excitation condition of internal states is satisfied during tracking control to a periodic reference orbit. The uniformly ultimate boundedness of closed-loop signals is shown via Lyapunov stability analysis. Simulation results are presented to demonstrate the effectiveness of the proposed control.

  14. Feedback control by online learning an inverse model.

    PubMed

    Waegeman, Tim; Wyffels, Francis; Schrauwen, Francis

    2012-10-01

    A model, predictor, or error estimator is often used by a feedback controller to control a plant. Creating such a model is difficult when the plant exhibits nonlinear behavior. In this paper, a novel online learning control framework is proposed that does not require explicit knowledge about the plant. This framework uses two learning modules, one for creating an inverse model, and the other for actually controlling the plant. Except for their inputs, they are identical. The inverse model learns by the exploration performed by the not yet fully trained controller, while the actual controller is based on the currently learned model. The proposed framework allows fast online learning of an accurate controller. The controller can be applied on a broad range of tasks with different dynamic characteristics. We validate this claim by applying our control framework on several control tasks: 1) the heating tank problem (slow nonlinear dynamics); 2) flight pitch control (slow linear dynamics); and 3) the balancing problem of a double inverted pendulum (fast linear and nonlinear dynamics). The results of these experiments show that fast learning and accurate control can be achieved. Furthermore, a comparison is made with some classical control approaches, and observations concerning convergence and stability are made. PMID:24808008

  15. Tools for remote computing in accelerator control

    NASA Astrophysics Data System (ADS)

    Anderssen, Pal S.; Frammery, Veronique; Wilcke, Rainer

    1990-08-01

    In modern accelerator control systems, the intelligence of the equipment is distributed in the geographical and the logical sense. Control processes for a large variety of tasks reside in both the equipment and the control computers. Hence successful operation hinges on the availability and reliability of the communication infrastructure. The computers are interconnected by a communication system and use remote procedure calls and message passing for information exchange. These communication mechanisms need a well-defined convention, i.e. a protocol. They also require flexibility in both the setup and changes to the protocol specification. The Network Compiler is a tool which provides the programmer with a means of establising such a protocol for his application. Input to the Network Compiler is a single Interface Description File provided by the programmer. This file is written according to a grammar, and completely specifies the interprocess communication interfaces. Passed through the Network Compiler, the Interface Description File automatically produces the additional source code needed for the protocol. Hence the programmer does not have to be concerned about the details of the communication calls. Any further additions and modifications are made easy, because all the information about the interface is kept in a single file.

  16. Learning arm's posture control using reinforcement learning and feedback-error-learning.

    PubMed

    Kambara, H; Kim, J; Sato, M; Koike, Y

    2004-01-01

    In this paper, we propose a learning model using the Actor-Critic method and the feedback-error-learning scheme. The Actor-Critic method, which is one of the major frameworks in reinforcement learning, has attracted attention as a computational learning model in the basal ganglia. Meanwhile, the feedback-error-learning is learning architecture proposed as a computationally coherent model of cerebellar motor learning. This learning architecture's purpose is to acquire a feed-forward controller by using a feedback controller's output as an error signal. In past researches, a predetermined constant gain feedback controller was used for the feedback-error-learning. We use the Actor-Critic method for obtaining a feedback controller in the feedback-error-earning. By applying the proposed learning model to an arm's posture control, we show that high-performance feedback and feed-forward controller can be acquired from only by using a scalar value of reward. PMID:17271719

  17. Feedback inhibition controls spike transfer in hybrid thalamic circuits

    NASA Astrophysics Data System (ADS)

    Le Masson, Gwendal; Renaud-Le Masson, Sylvie; Debay, Damien; Bal, Thierry

    2002-06-01

    Sensory information reaches the cerebral cortex through the thalamus, which differentially relays this input depending on the state of arousal. Such `gating' involves inhibition of the thalamocortical relay neurons by the reticular nucleus of the thalamus, but the underlying mechanisms are poorly understood. We reconstructed the thalamocortical circuit as an artificial and biological hybrid network in vitro. With visual input simulated as retinal cell activity, we show here that when the gain in the thalamic inhibitory feedback loop is greater than a critical value, the circuit tends towards oscillations-and thus imposes a temporal decorrelation of retinal cell input and thalamic relay output. This results in the functional disconnection of the cortex from the sensory drive, a feature typical of sleep states. Conversely, low gain in the feedback inhibition and the action of noradrenaline, a known modulator of arousal, converge to increase input-output correlation in relay neurons. Combining gain control of feedback inhibition and modulation of membrane excitability thus enables thalamic circuits to finely tune the gating of spike transmission from sensory organs to the cortex.

  18. Modeling and sensory feedback control for space manipulators

    NASA Technical Reports Server (NTRS)

    Masutani, Yasuhiro; Miyazaki, Fumio; Arimoto, Suguru

    1989-01-01

    The positioning control problem of the endtip of space manipulators whose base are uncontrolled is examined. In such a case, the conventional control method for industrial robots based on a local feedback at each joint is not applicable, because a solution of the joint displacements that satisfies a given position and orientation of the endtip is not decided uniquely. A sensory feedback control scheme for space manipulators based on an artificial potential defined in a task-oriented coordinates is proposed. Using this scheme, the controller can easily determine the input torque of each joint from the data of an external sensor such as a visual device. Since the external sensor is mounted on the unfixed base, the manipulator must track the moving image of the target in sensor coordinates. Moreover the dynamics of the base and the manipulator are interactive. However, the endtip is proven to asymptotically approach the stationary target in an inertial coordinate frame by the Liapunov's method. Finally results of computer simulation for a 6-link space manipulator model show the effectiveness of the proposed scheme.

  19. Control of cardiac alternans by mechanical and electrical feedback

    NASA Astrophysics Data System (ADS)

    Yapari, Felicia; Deshpande, Dipen; Belhamadia, Youssef; Dubljevic, Stevan

    2014-07-01

    A persistent alternation in the cardiac action potential duration has been linked to the onset of ventricular arrhythmia, which may lead to sudden cardiac death. A coupling between these cardiac alternans and the intracellular calcium dynamics has also been identified in previous studies. In this paper, the system of PDEs describing the small amplitude of alternans and the alternation of peak intracellular Ca2+ are stabilized by optimal boundary and spatially distributed actuation. A simulation study demonstrating the successful annihilation of both alternans on a one-dimensional cable of cardiac cells by utilizing the full-state feedback controller is presented. Complimentary to these studies, a three variable Nash-Panfilov model is used to investigate alternans annihilation via mechanical (or stretch) perturbations. The coupled model includes the active stress which defines the mechanical properties of the tissue and is utilized in the feedback algorithm as an independent input from the pacing based controller realization in alternans annihilation. Simulation studies of both control methods demonstrate that the proposed methods can successfully annihilate alternans in cables that are significantly longer than 1 cm, thus overcoming the limitations of earlier control efforts.

  20. Controller Design for EMA in TVC Incorporating Force Feedback

    NASA Technical Reports Server (NTRS)

    Schinstock, Dale E.; Scott, Douglas A.

    1998-01-01

    The objective of this research was to develop control schemes and control design procedures for electromechanical actuators (EMA) in thrust vector control (TVC) applications. For a variety of reasons, there is a tendency within the aerospace community to use electromechanical actuators in applications where hydraulics have traditionally been employed. TVC of rocket engines is one such application. However, there is considerable research, development, and testing to be done before EMA will be accepted by the community at large for these types of applications. Besides the development of design procedures for the basic position controller, two major concerns are dealt with in this research by incorporating force feedback: 1) the effects of resonance on the performance of EMA-TVC-rocket-engine systems, and 2) the effects of engine start transients on EMA. This report only highlights the major contributions of this research.

  1. The muscle spindle as a feedback element in muscle control

    NASA Technical Reports Server (NTRS)

    Andrews, L. T.; Iannone, A. M.; Ewing, D. J.

    1973-01-01

    The muscle spindle, the feedback element in the myotatic (stretch) reflex, is a major contributor to muscular control. Therefore, an accurate description of behavior of the muscle spindle during active contraction of the muscle, as well as during passive stretch, is essential to the understanding of muscle control. Animal experiments were performed in order to obtain the data necessary to model the muscle spindle. Spectral density functions were used to identify a linear approximation of the two types of nerve endings from the spindle. A model reference adaptive control system was used on a hybrid computer to optimize the anatomically defined lumped parameter estimate of the spindle. The derived nonlinear model accurately predicts the behavior of the muscle spindle both during active discharge and during its silent period. This model is used to determine the mechanism employed to control muscle movement.

  2. Decoupling Suspension Controller Based on Magnetic Flux Feedback

    PubMed Central

    Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

    2013-01-01

    The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced. PMID:23844415

  3. Experimental Feedback Control of Flow Induced Cavity Tones

    NASA Technical Reports Server (NTRS)

    Cabell, Randolph H.; Kegerise, Michael A.; Cox, David E.; Gibbs, Gary P.

    2002-01-01

    An experimental study of the application of discrete-time, linear quadratic control design methods to the cavity tone problem is described. State space models of the dynamics from a synthetic jet actuator at the leading edge of the cavity to two pressure sensors in the cavity were computed from experimental data. Variations in model order, control order, control bandwidth, and properties of a Kalman state estimator were studied. Feedback control reduced the levels of multiple cavity tones at Mach 0.275, 0.35, and 0.45. Closed loop performance was often limited by excitation of sidebands of cavity tones, and creation of new tones in the spectrum. State space models were useful for explaining some of these limitations, but were not able to account for non-linear dynamics, such as interactions between tones at different frequencies.

  4. Applications toolkit for accelerator control and analysis

    SciTech Connect

    Borland, M.

    1997-06-01

    The Advanced Photon Source (APS) has taken a unique approach to creating high-level software applications for accelerator operation and analysis. The approach is based on self-describing data, modular program toolkits, and scripts. Self-describing data provide a communication standard that aids the creation of modular program toolkits by allowing compliant programs to be used in essentially arbitrary combinations. These modular programs can be used as part of an arbitrary number of high-level applications. At APS, a group of about 70 data analysis, manipulation, and display tools is used in concert with about 20 control-system-specific tools to implement applications for commissioning and operations. High-level applications are created using scripts, which are relatively simple interpreted programs. The Tcl/Tk script language is used, allowing creating of graphical user interfaces (GUIs) and a library of algorithms that are separate from the interface. This last factor allows greater automation of control by making it easy to take the human out of the loop. Applications of this methodology to operational tasks such as orbit correction, configuration management, and data review will be discussed.

  5. Modelling human balance using switched systems with linear feedback control.

    PubMed

    Kowalczyk, Piotr; Glendinning, Paul; Brown, Martin; Medrano-Cerda, Gustavo; Dallali, Houman; Shapiro, Jonathan

    2012-02-01

    We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations. PMID:21697168

  6. Quantum-trajectory thermodynamics with discrete feedback control

    NASA Astrophysics Data System (ADS)

    Gong, Zongping; Ashida, Yuto; Ueda, Masahito

    2016-07-01

    We employ the quantum-jump-trajectory approach to construct a systematic framework to study the thermodynamics at the trajectory level in a nonequilibrium open quantum system under discrete feedback control. Within this framework, we derive quantum versions of the generalized Jarzynski equalities, which are demonstrated in an isolated pseudospin system and a coherently driven two-level open quantum system. Due to quantum coherence and measurement backaction, a fundamental distinction from the classical generalized Jarzynski equalities emerges in the quantum versions, which is characterized by a large negative information gain reflecting genuinely quantum rare events. A possible experimental scheme to test our findings in superconducting qubits is discussed.

  7. Modelling human balance using switched systems with linear feedback control.

    PubMed

    Kowalczyk, Piotr; Glendinning, Paul; Brown, Martin; Medrano-Cerda, Gustavo; Dallali, Houman; Shapiro, Jonathan

    2012-02-01

    We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations.

  8. BIOCONAID System (Bionic Control of Acceleration Induced Dimming). Final Report.

    ERIC Educational Resources Information Center

    Rogers, Dana B.; And Others

    The system described represents a new technique for enhancing the fidelity of flight simulators during high acceleration maneuvers. This technique forces the simulator pilot into active participation and energy expenditure similar to the aircraft pilot undergoing actual accelerations. The Bionic Control of Acceleration Induced Dimming (BIOCONAID)…

  9. Hybrid FES orthosis incorporating closed loop control and sensory feedback.

    PubMed

    Andrews, B J; Baxendale, R H; Barnett, R; Phillips, G F; Yamazaki, T; Paul, J P; Freeman, P A

    1988-04-01

    A hybrid functional electrical stimulation (FES) orthosis is described, comprising a rigid ankle-foot brace, a multi-channel FES stimulator with surface electrodes, body mounted sensors, a 'rule-based' controller and an electro-cutaneous display for supplementary sensory feedback. The mechanical brace provides stability, without FES activation of muscles, for standing postures normally adopted by patients. This avoids inducing muscle fatigue during prolonged upright activity. However, stability is conditional upon the position of the ground reaction vector (GRV) relative to the knee joint. The finite state FES controller reacts automatically to destabilizing shifts of the GRV by stimulating appropriate anti-gravity musculature to brace the leg. The FES system also features a control mode to initiate and terminate flexion of the leg during forward progression. A simple mode of supplementary sensory feedback was used during the laboratory standing tests to assist the patient in maintaining a set posture. Preliminary results of laboratory tests for two spinal cord injured subjects are presented. PMID:3361878

  10. Effect of vibrotactile feedback on an EMG-based proportional cursor control system.

    PubMed

    Li, Shunchong; Chen, Xingyu; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

    2013-01-01

    Surface electromyography (sEMG) has been introduced into the bio-mechatronics systems, however, most of them are lack of the sensory feedback. In this paper, the effect of vibrotactile feedback for a myoelectric cursor control system is investigated quantitatively. Simultaneous and proportional control signals are extracted from EMG using a muscle synergy model. Different types of feedback including vibrotactile feedback and visual feedback are added, assessed and compared with each other. The results show that vibrotactile feedback is capable of improving the performance of EMG-based human machine interface.

  11. A Microcomputer-Controlled Measurement of Acceleration.

    ERIC Educational Resources Information Center

    Crandall, A. Jared; Stoner, Ronald

    1982-01-01

    Describes apparatus and method used to allow rapid and repeated measurement of acceleration of a ball rolling down an inclined plane. Acceleration measurements can be performed in an hour with the apparatus interfaced to a Commodore PET microcomputer. A copy of the BASIC program is available from the authors. (Author/JN)

  12. Time-delayed quantum coherent Pyragas feedback control of photon squeezing in a degenerate parametric oscillator

    NASA Astrophysics Data System (ADS)

    Kraft, Manuel; Hein, Sven M.; Lehnert, Judith; Schöll, Eckehard; Hughes, Stephen; Knorr, Andreas

    2016-08-01

    Quantum coherent feedback control is a measurement-free control method fully preserving quantum coherence. In this paper we show how time-delayed quantum coherent feedback can be used to control the degree of squeezing in the output field of a cavity containing a degenerate parametric oscillator. We focus on the specific situation of Pyragas-type feedback control where time-delayed signals are fed back directly into the quantum system. Our results show how time-delayed feedback can enhance or decrease the degree of squeezing as a function of time delay and feedback strength.

  13. Automatic Overset Grid Generation with Heuristic Feedback Control

    NASA Technical Reports Server (NTRS)

    Robinson, Peter I.

    2001-01-01

    An advancing front grid generation system for structured Overset grids is presented which automatically modifies Overset structured surface grids and control lines until user-specified grid qualities are achieved. The system is demonstrated on two examples: the first refines a space shuttle fuselage control line until global truncation error is achieved; the second advances, from control lines, the space shuttle orbiter fuselage top and fuselage side surface grids until proper overlap is achieved. Surface grids are generated in minutes for complex geometries. The system is implemented as a heuristic feedback control (HFC) expert system which iteratively modifies the input specifications for Overset control line and surface grids. It is developed as an extension of modern control theory, production rules systems and subsumption architectures. The methodology provides benefits over the full knowledge lifecycle of an expert system for knowledge acquisition, knowledge representation, and knowledge execution. The vector/matrix framework of modern control theory systematically acquires and represents expert system knowledge. Missing matrix elements imply missing expert knowledge. The execution of the expert system knowledge is performed through symbolic execution of the matrix algebra equations of modern control theory. The dot product operation of matrix algebra is generalized for heuristic symbolic terms. Constant time execution is guaranteed.

  14. Feedback control of wave propagation in a rectangular panel, part 2: Experimental realization using clustered velocity and displacement feedback

    NASA Astrophysics Data System (ADS)

    Iwamoto, Hiroyuki; Tanaka, Nobuo; Hill, Simon G.

    2012-10-01

    This study presents the feedback control of flexural waves propagating in a rectangular panel. The objective of this paper (part 2) is to experimentally implement the feedback wave control method which was proposed in part 1 of the two series papers. Firstly, based on the collocation of sensors and actuators, clustered velocity and displacement feedback (C-VDFB) is newly proposed. Next, linking C-VDFB with the active wave control proposed in part 1, it is clarified that the active wave control system can be realized to a limited extent. Then, from a viewpoint of numerical simulations, the characteristics of the feedback gains of C-VDFB and its control performance are clarified. It is shown that C-VDFB enables the inactivation of vibration modes at the target frequencies. Furthermore, it is clarified that even at the non-target frequencies, the proposed method sufficiently reduces the structural vibration. Finally, experiments on the reflected wave absorbing control using clustered direct velocity and displacement feedback are carried out. The experimental results show good agreement with those obtained in the simulation.

  15. Robust Nonlinear Feedback Control of Aircraft Propulsion Systems

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Balas, Gary J.; Litt, Jonathan (Technical Monitor)

    2001-01-01

    This is the final report on the research performed under NASA Glen grant NASA/NAG-3-1975 concerning feedback control of the Pratt & Whitney (PW) STF 952, a twin spool, mixed flow, after burning turbofan engine. The research focussed on the design of linear and gain-scheduled, multivariable inner-loop controllers for the PW turbofan engine using H-infinity and linear, parameter-varying (LPV) control techniques. The nonlinear turbofan engine simulation was provided by PW within the NASA Rocket Engine Transient Simulator (ROCETS) simulation software environment. ROCETS was used to generate linearized models of the turbofan engine for control design and analysis as well as the simulation environment to evaluate the performance and robustness of the controllers. Comparison between the H-infinity, and LPV controllers are made with the baseline multivariable controller and developed by Pratt & Whitney engineers included in the ROCETS simulation. Simulation results indicate that H-infinity and LPV techniques effectively achieve desired response characteristics with minimal cross coupling between commanded values and are very robust to unmodeled dynamics and sensor noise.

  16. Multiobjective controller synthesis via eigenstructure assignment with state feedback

    NASA Astrophysics Data System (ADS)

    Li, Zhao; Lam, James

    2016-10-01

    A general parameter scheme for multiobjective controller synthesis via eigenstructure assignment with state feedback is proposed. The scheme provides total pole configurability, that is, pole assignment constraints, partial pole assignment constraints, generalised regional pole assignment constraints can be dealt with simultaneously without introducing essential conservatism. The scheme is derived from the pole assignment approach using Sylvester equations, and the parameter space is the Cartesian product of some subspaces characterising the free parameters. Under the scheme, the controller design problems are formulated as nonlinear optimisation problems with both objectives and constraints being differentiable and can be solved by derivative-based nonlinear programming technique. Numerical examples are given to illustrate the efficiency of the proposed method.

  17. PARTICLE ACCELERATOR AND METHOD OF CONTROLLING THE TEMPERATURE THEREOF

    DOEpatents

    Neal, R.B.; Gallagher, W.J.

    1960-10-11

    A method and means for controlling the temperature of a particle accelerator and more particularly to the maintenance of a constant and uniform temperature throughout a particle accelerator is offered. The novel feature of the invention resides in the provision of two individual heating applications to the accelerator structure. The first heating application provided is substantially a duplication of the accelerator heat created from energization, this first application being employed only when the accelerator is de-energized thereby maintaining the accelerator temperature constant with regard to time whether the accelerator is energized or not. The second heating application provided is designed to add to either the first application or energization heat in a manner to create the same uniform temperature throughout all portions of the accelerator.

  18. Cooperative vocal control in marmoset monkeys via vocal feedback

    PubMed Central

    Choi, Jung Yoon; Takahashi, Daniel Y.

    2015-01-01

    Humans adjust speech amplitude as a function of distance from a listener; we do so in a manner that would compensate for such distance. This ability is presumed to be the product of high-level sociocognitive skills. Nonhuman primates are thought to lack such socially related flexibility in vocal production. Using predictions from a simple arousal-based model whereby vocal feedback from a conspecific modulates the drive to produce a vocalization, we tested whether another primate exhibits this type of cooperative vocal control. We conducted a playback experiment with marmoset monkeys and simulated “far-away” and “nearby” conspecifics using contact calls that differed in sound intensity. We found that marmoset monkeys increased the amplitude of their contact calls and produced such calls with shorter response latencies toward more distant conspecifics. The same was not true in response to changing levels of background noise. To account for how simulated conspecific distance can change both the amplitude and timing of vocal responses, we developed a model that incorporates dynamic interactions between the auditory system and limbic “drive” systems. Overall, our data show that, like humans, marmoset monkeys cooperatively control the acoustics of their vocalizations according to changes in listener distance, increasing the likelihood that a conspecific will hear their call. However, we propose that such cooperative vocal control is a system property that does not necessitate any particularly advanced sociocognitive skill. At least in marmosets, this vocal control can be parsimoniously explained by the regulation of arousal states across two interacting individuals via vocal feedback. PMID:25925323

  19. Effects of positive and negative feedback on behavior control in hyperactive and normal boys.

    PubMed

    Worland, J

    1976-01-01

    The hypothesis that hyperactive boys have relatively less response to negative feedback than to positive feedback was studied. Sixteen hyperactive boys and 16 controls were compared on two tasks under different feedback conditions. Feedback conditions were no feedback, positive feedback, and negative feedback. Tasks were symbol encoding and correcting spelling words. Hyperactives and controls were compared in amount of time on-task and amount of work correctly completed. Hyperactives were on-task significantly more under conditions of negative feedback than under positive feedback, but negative feedback significantly increased errors on the spelling correction task. Controls were equally responsive to positive, negative, or no feedback. Hyperactives accomplished significantly less than controls on the coding task, but performed as well as controls on the spelling correction task, which was administered to each boy at his own level of spelling ability. The results imply that while consistent negative feedback can reduce off-task behavior for hyperactives, it can also decrease the accuracy of the work they are doing.

  20. Torque-based optimal acceleration control for electric vehicle

    NASA Astrophysics Data System (ADS)

    Lu, Dongbin; Ouyang, Minggao

    2014-03-01

    The existing research of the acceleration control mainly focuses on an optimization of the velocity trajectory with respect to a criterion formulation that weights acceleration time and fuel consumption. The minimum-fuel acceleration problem in conventional vehicle has been solved by Pontryagin's maximum principle and dynamic programming algorithm, respectively. The acceleration control with minimum energy consumption for battery electric vehicle(EV) has not been reported. In this paper, the permanent magnet synchronous motor(PMSM) is controlled by the field oriented control(FOC) method and the electric drive system for the EV(including the PMSM, the inverter and the battery) is modeled to favor over a detailed consumption map. The analytical algorithm is proposed to analyze the optimal acceleration control and the optimal torque versus speed curve in the acceleration process is obtained. Considering the acceleration time, a penalty function is introduced to realize a fast vehicle speed tracking. The optimal acceleration control is also addressed with dynamic programming(DP). This method can solve the optimal acceleration problem with precise time constraint, but it consumes a large amount of computation time. The EV used in simulation and experiment is a four-wheel hub motor drive electric vehicle. The simulation and experimental results show that the required battery energy has little difference between the acceleration control solved by analytical algorithm and that solved by DP, and is greatly reduced comparing with the constant pedal opening acceleration. The proposed analytical and DP algorithms can minimize the energy consumption in EV's acceleration process and the analytical algorithm is easy to be implemented in real-time control.

  1. Experimental Feedback Control of Flow Induced Cavity Tones

    NASA Technical Reports Server (NTRS)

    Cabell, Randolph H.; Kegerise, Michael A.; Cox, David E.; Gibbs, Gary P.

    2005-01-01

    Discrete-time, linear quadratic methods were used to design feedback controllers for reducing tones generated by flow over a cavity. The dynamics of a synthetic jet actuator mounted at the leading edge of the cavity as observed by two microphones in the cavity were modeled over a broad frequency range using state space models computed from experimental data. Variations in closed loop performance as a function of model order, control order, control bandwidth, and state estimator design were studied using a cavity in the Probe Calibration Tunnel at NASA Langley. The controller successfully reduced the levels of multiple cavity tones at the tested flow speeds of Mach 0.275, 0.35, and 0.45. In some cases, the closed loop results were limited by excitation of sidebands of the cavity tones, or the creation of new tones at frequencies away from the cavity tones. Nonetheless, the results validate the combination of optimal control and experimentally-generated state space models, and suggest this approach may be useful for other flow control problems. The models were not able to account for non-linear dynamics, such as interactions between tones at different frequencies.

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

    PubMed

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

    2012-01-01

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

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

    PubMed Central

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

    2016-01-01

    Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies. PMID:26931281

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

    NASA Astrophysics Data System (ADS)

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

    2016-03-01

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

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

    PubMed

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

    2016-01-01

    Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies. PMID:26931281

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

    PubMed

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

    2016-03-02

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

  7. Feedback Control and Learning To Program with the CMU Lisp Tutor.

    ERIC Educational Resources Information Center

    Corbett, Albert T.; Anderson, John R.

    This study manipulated the timing and control of error feedback in problem solving and examined their effects on skill acquisition by 40 undergraduate students learning to program in the computer language Lisp under four error feedback conditions. These four conditions included two types of symbol-by-symbol feedback that vary in content, a…

  8. Simulation and design of feedback control on resistive wall modes in Keda Torus eXperiment

    SciTech Connect

    Li, Chenguang; Liu, Wandong; Li, Hong

    2014-12-15

    The feedback control of resistive wall modes (RWMs) in Keda Torus eXperiment (KTX) (Liu et al., Plasma Phys. Controlled Fusion 56, 094009 (2014)) is investigated by simulation. A linear model is built to describe the growth of the unstable modes in the absence of feedback and the resulting mode suppression due to feedback, given the typical reversed field pinch plasma equilibrium. The layout of KTX with two shell structures (the vacuum vessel and the stabilizing shell) is taken into account. The feedback performance is explored both in the scheme of “clean mode control” (Zanca et al., Nucl. Fusion 47, 1425 (2007)) and “raw mode control.” The discrete time control model with specific characteristic times will mimic the real feedback control action and lead to the favored control cycle. Moreover, the conceptual design of feedback control system is also presented, targeting on both RWMs and tearing modes.

  9. Spectral element method and the delayed feedback control of chaos.

    PubMed

    Tweten, Dennis J; Mann, Brian P

    2012-10-01

    A spectral element approach is introduced to determine the Floquet exponents (FEs) of unstable periodic orbits (UPOs) stabilized by extended delayed feedback control (EDFC). The spectral approach does not require solving time-dependent eigenproblems that existing methods require. Instead, the spectral approach determines the stability of the delay differential equations of the system by numerical approximation. The method is capable of analyzing systems whose UPOs arise from bifurcations other than period-doubling. Results are presented for stabilizing UPOs in Duffing systems. The FEs calculated by the spectral approach are compared to published results for two examples. In both cases, the spectral method results agree well with those determined by previous methods. In addition, the spectral method was used to analyze a high-dimensional, asymmetrical system with a UPO in chaos arising from tori doubling following a Hopf bifurcation. PMID:23214670

  10. Population-dynamics method with a multicanonical feedback control.

    PubMed

    Nemoto, Takahiro; Bouchet, Freddy; Jack, Robert L; Lecomte, Vivien

    2016-06-01

    We discuss the Giardinà-Kurchan-Peliti population dynamics method for evaluating large deviations of time-averaged quantities in Markov processes [Phys. Rev. Lett. 96, 120603 (2006)PRLTAO0031-900710.1103/PhysRevLett.96.120603]. This method exhibits systematic errors which can be large in some circumstances, particularly for systems with weak noise, with many degrees of freedom, or close to dynamical phase transitions. We show how these errors can be mitigated by introducing control forces within the algorithm. These forces are determined by an iteration-and-feedback scheme, inspired by multicanonical methods in equilibrium sampling. We demonstrate substantially improved results in a simple model, and we discuss potential applications to more complex systems. PMID:27415224

  11. Noise Control in Gene Regulatory Networks with Negative Feedback.

    PubMed

    Hinczewski, Michael; Thirumalai, D

    2016-07-01

    Genes and proteins regulate cellular functions through complex circuits of biochemical reactions. Fluctuations in the components of these regulatory networks result in noise that invariably corrupts the signal, possibly compromising function. Here, we create a practical formalism based on ideas introduced by Wiener and Kolmogorov (WK) for filtering noise in engineered communications systems to quantitatively assess the extent to which noise can be controlled in biological processes involving negative feedback. Application of the theory, which reproduces the previously proven scaling of the lower bound for noise suppression in terms of the number of signaling events, shows that a tetracycline repressor-based negative-regulatory gene circuit behaves as a WK filter. For the class of Hill-like nonlinear regulatory functions, this type of filter provides the optimal reduction in noise. Our theoretical approach can be readily combined with experimental measurements of response functions in a wide variety of genetic circuits, to elucidate the general principles by which biological networks minimize noise.

  12. Beam Control for Ion Induction Accelerators

    SciTech Connect

    Sangster, T.C.; Ahle, L.

    2000-02-17

    Coordinated bending and acceleration of an intense space-charge-dominated ion beam has been achieved for the first time. This required the development of a variable waveform, precision, bi-polar high voltage pulser and a precision, high repetition rate induction core modulator. Waveforms applied to the induction cores accelerate the beam as the bi-polar high voltage pulser delivers a voltage ramp to electrostatic dipoles which bend the beam through a 90 degree permanent magnet quadrupole lattice. Further work on emittance minimization is also reported.

  13. Treatment with a position feedback-controlled head stabilizer.

    PubMed

    Harris, F A

    1979-08-01

    A position feedback-controlled head stabilizer has been developed to provide cerebral palsied individuals with resistive exercise to strengthen the neck musculature. This apparatus detects "involuntary" head motion and stabilizes the head by applying opposing forces; it also can be used to facilitate muscular contraction by resisting the subject's voluntary movements. The purpose of the present study was to determine whether voluntary head control in cerebral palsied individuals can be improved through systematic exercise using the stabilizer to strengthen the muscles of the neck and improve their balance of action. The findings support the author's contention that this is possible. The apparatus consists of a helmet and shoulder pads, interconnected so that the head is supported in the helmet by a manipulator arm. At its lower end, the manipulator arm is attached to the shoulder pad mounting frame via a gimbal assembly which allows head movement in two planes of tilt (pitch, or forward-and back, and roll, or side-to-side). Feedback control circuitry is so arranged that any deviation of the head from the desired position leads to actuation of pneumatic cylinders, which apply torques to the manipulator gimbal axes so as to oppose or conteract the incipient head movement. It is particularly significant that none of these patients participating in these experiments were at all apprehensive about or resisted being placed in the apparatus. (Even the youngest subject to use the apparatus--five year old-- did not mind being restrained by the shoulder pads or having his head gripped by helment.) While JG utilized the safety release valve quite often during the first few head control training sessions, he soon became confident enough in the action of the stabilizer that he did not even bother to grip the handle of the release valve. While DA had the action of safety valve explained and demonstrated for her, she never bothered to use it even from the outset of her experience

  14. V/STOL tilt rotor aircraft study. Volume 7: Tilt rotor flight control program feedback studies

    NASA Technical Reports Server (NTRS)

    Alexander, H. R.; Eason, W.; Gillmore, K.; Morris, J.; Spittle, R.

    1973-01-01

    An exploratory study has been made of the use of feedback control in tilt rotor aircraft. This has included the use of swashplate cyclic and collective controls and direct lift control. Various sensor and feedback systems are evaluated in relation to blade loads alleviation, improvement in flying qualities, and modal suppression. Recommendations are made regarding additional analytical and wind tunnel investigations and development of feedback systems in the full scale flight vehicle. Estimated costs and schedules are given.

  15. Algorithms for output feedback, multiple-model, and decentralized control problems

    NASA Technical Reports Server (NTRS)

    Halyo, N.; Broussard, J. R.

    1984-01-01

    The optimal stochastic output feedback, multiple-model, and decentralized control problems with dynamic compensation are formulated and discussed. Algorithms for each problem are presented, and their relationship to a basic output feedback algorithm is discussed. An aircraft control design problem is posed as a combined decentralized, multiple-model, output feedback problem. A control design is obtained using the combined algorithm. An analysis of the design is presented.

  16. Hopf bifurcation control in a congestion control model via dynamic delayed feedback.

    PubMed

    Guo, Songtao; Feng, Gang; Liao, Xiaofeng; Liu, Qun

    2008-12-01

    A typical objective of bifurcation control is to delay the onset of undesirable bifurcation. In this paper, the problem of Hopf bifurcation control in a second-order congestion control model is considered. In particular, a suitable Hopf bifurcation is created at a desired location with preferred properties and a dynamic delayed feedback controller is developed for the creation of the Hopf bifurcation. With this controller, one can increase the critical value of the communication delay, and thus guarantee a stationary data sending rate for larger delay. Furthermore, explicit formulae to determine the period and the direction of periodic solutions bifurcating from the equilibrium are obtained by applying perturbation approach. Finally, numerical simulation results are presented to show that the dynamic delayed feedback controller is efficient in controlling Hopf bifurcation.

  17. Acceleration Sensing, Feedback Cooling, and Nonlinear Dynamics with Nanoscale Cavity-Optomechanical Devices

    NASA Astrophysics Data System (ADS)

    Krause, Alexander Grey

    Light has long been used for the precise measurement of moving bodies, but the burgeoning field of optomechanics is concerned with the interaction of light and matter in a regime where the typically weak radiation pressure force of light is able to push back on the moving object. This field began with the realization in the late 1960's that the momentum imparted by a recoiling photon on a mirror would place fundamental limits on the smallest measurable displacement of that mirror. This coupling between the frequency of light and the motion of a mechanical object does much more than simply add noise, however. It has been used to cool objects to their quantum ground state, demonstrate electromagnetically-induced-transparency, and modify the damping and spring constant of the resonator. Amazingly, these radiation pressure effects have now been demonstrated in systems ranging 18 orders of magnitude in mass (kg to fg). In this work we will focus on three diverse experiments in three different optomechanical devices which span the fields of inertial sensors, closed-loop feedback, and nonlinear dynamics. The mechanical elements presented cover 6 orders of magnitude in mass (ng to fg), but they all employ nano-scale photonic crystals to trap light and resonantly enhance the light-matter interaction. In the first experiment we take advantage of the sub-femtometer displacement resolution of our photonic crystals to demonstrate a sensitive chip-scale optical accelerometer with a kHz-frequency mechanical resonator. This sensor has a noise density of approximately 10 micro-g/rt-Hz over a useable bandwidth of approximately 20 kHz and we demonstrate at least 50 dB of linear dynamic sensor range. We also discuss methods to further improve performance of this device by a factor of 10. In the second experiment, we used a closed-loop measurement and feedback system to damp and cool a room-temperature MHz-frequency mechanical oscillator from a phonon occupation of 6.5 million down to

  18. Feedback loop process for controlling inertial cavitation: experimental evidence

    NASA Astrophysics Data System (ADS)

    Inserra, Claude; Sabraoui, Abbas; Reslan, Lina; Bera, Jean-Christophe; Gilles, Bruno; Mestas, Jean-Louis

    2011-09-01

    Applications involving cavitation mechanisms, such as sonoporation, are irreproducible in the case of a fixed-intensity sonication, due to the non-stationary behavior of cavitation. We then propose to work at a fixed-cavitation level instead of under fixed-intensity sonication conditions. For this purpose a regulated cavitation generator has been developed in a stationary wave field configuration, which allows regulation of the cavitation level during sonication by modulating the applied acoustic intensity with a feedback loop based on acoustic cavitation measurements. The cavitation level indicator was quantified by the broadband spectrum noise level relative to inertial cavitation events. This generated inertial cavitation was characterized by both acoustic and chemical measurements, quantifying hydroxyl radicals produced by water sonolysis. While the cavitation level is obtained with a 40% standard deviation for fixed applied acoustic intensities in the range [0.01 3.44] W/cm2, the regulated generator reproduces the cavitation level with a standard deviation of 3%. The results show that the hydroxyl radical production is better correlated with the cavitation level setting than with the applied acoustic intensity, highlighting the fact that broadband noise is a good indicator of inertial cavitation, with greatest interest for cavitation monitoring. In summary, the regulated device generates a cavitation level that is reproducible, repeatable and stable in time. This system produces reproducible effects that allow consideration of biological applications such as sonoporation to be independent of the experimental ultrasound device, as confirmed by transfection efficiency and cell cytotoxicity studies. Thus, this feedback loop process presents interesting perspectives for monitoring and controlling in-vivo cavitation.

  19. Movement goals and feedback and feedforward control mechanisms in speech production

    PubMed Central

    Perkell, Joseph S.

    2010-01-01

    Studies of speech motor control are described that support a theoretical framework in which fundamental control variables for phonemic movements are multi-dimensional regions in auditory and somatosensory spaces. Auditory feedback is used to acquire and maintain auditory goals and in the development and function of feedback and feedforward control mechanisms. Several lines of evidence support the idea that speakers with more acute sensory discrimination acquire more distinct goal regions and therefore produce speech sounds with greater contrast. Feedback modification findings indicate that fluently produced sound sequences are encoded as feedforward commands, and feedback control serves to correct mismatches between expected and produced sensory consequences. PMID:22661828

  20. Global feedback control of Turing patterns in network-organized activator-inhibitor systems

    NASA Astrophysics Data System (ADS)

    Hata, S.; Nakao, H.; Mikhailov, A. S.

    2012-06-01

    Results of the first systematic study on feedback control of nonequilibrium pattern formation in networks are reported. Effects of global feedback control on Turing patterns in network-organized activator-inhibitor system have been investigated. The feedback signal was introduced into one of the parameters of the system and was proportional to the amplitude of the developing Turing pattern. Without the control, the Turing instability corresponded to a subcritical bifurcation and hysteresis effects were observed. Sufficiently strong feedback control rendered, however, the bifurcation supercritical and eliminated the hysteresis effects.

  1. Feedback control design for the complete synchronisation of two coupled Boolean networks

    NASA Astrophysics Data System (ADS)

    Li, Fangfei

    2016-09-01

    In the literatures, to design state feedback controllers to make the response Boolean network synchronise with the drive Boolean network is rarely considered. Motivated by this, feedback control design for the complete synchronisation of two coupled Boolean networks is investigated in this paper. A necessary condition for the existence of a state feedback controller achieving the complete synchronisation is established first. Then, based on the necessary condition, the feedback control law is proposed. Finally, an example is worked out to illustrate the proposed design procedure.

  2. Cavity control system advanced modeling and simulations for TESLA linear accelerator and free electron laser

    NASA Astrophysics Data System (ADS)

    Czarski, Tomasz; Romaniuk, Ryszard S.; Pozniak, Krzysztof T.; Simrock, Stefan

    2004-07-01

    The cavity control system for the TESLA -- TeV-Energy Superconducting Linear Accelerator project is initially introduced. The elementary analysis of the cavity resonator on RF (radio frequency) level and low level frequency with signal and power considerations is presented. For the field vector detection the digital signal processing is proposed. The electromechanical model concerning Lorentz force detuning is applied for analyzing the basic features of the system performance. For multiple cavities driven by one klystron the field vector sum control is considered. Simulink model implementation is developed to explore the feedback and feed-forward system operation and some experimental results for signals and power considerations are presented.

  3. Walking Flexibility after Hemispherectomy: Split-Belt Treadmill Adaptation and Feedback Control

    ERIC Educational Resources Information Center

    Choi, Julia T.; Vining, Eileen P. G.; Reisman, Darcy S.; Bastian, Amy J.

    2009-01-01

    Walking flexibility depends on use of feedback or reactive control to respond to unexpected changes in the environment, and the ability to adapt feedforward or predictive control for sustained alterations. Recent work has demonstrated that cerebellar damage impairs feedforward adaptation, but not feedback control, during human split-belt treadmill…

  4. Control Quality of a Feedback Control System under Cyclostationary Noise in Power Line Communication

    NASA Astrophysics Data System (ADS)

    Carrizo, Cesar; Kobayashi, Kentaro; Okada, Hiraku; Katayama, Masaaki

    This paper discusses a control system that employs a power line to transfer signals to control the motion of a single machine, and explores the influence of packet losses on the quality of the control. As an example of a controlled system, a controller with a rotary inverted pendulum as a controlled object, is considered. The feedback loop in between is the power line. The control performance is evaluated in the power line cyclostationary noise environment and compared against the performance in a stationary noise environment. As a result, it is confirmed that the power line and its cyclostationary noise features present an advantage against transmission in a channel with stationary noise.

  5. BNL ACCELERATOR TEST FACILITY CONTROL SYSTEM UPGRADE.

    SciTech Connect

    MALONE,R.; BEN-ZVI,I.; WANG,X.; YAKIMENKO,V.

    2001-06-18

    Brookhaven National Laboratory's Accelerator Test Facility (ATF) has embarked on a complete upgrade of its decade old computer system. The planned improvements affect every major component: processors (Intel Pentium replaces VAXes), operating system (Linux/Real-Time Linux supplants OpenVMS), and data acquisition equipment (fast Ethernet equipment replaces CAMAC serial highway.) This paper summarizes the strategies and progress of the upgrade along with plans for future expansion.

  6. Techniques for increasing the reliability of accelerator control system electronics

    SciTech Connect

    Utterback, J.

    1993-09-01

    As the physical size of modern accelerators becomes larger and larger, the number of required control system circuit boards increases, and the probability of one of those circuit boards failing while in service also increases. In order to do physics, the experimenters need the accelerator to provide beam reliably with as little down time as possible. With the advent of colliding beams physics, reliability becomes even more important due to the fact that a control system failure can cause the loss of painstakingly produced antiprotons. These facts prove the importance of keeping reliability in mind when designing and maintaining accelerator control system electronics.

  7. NODAL — The second life of the accelerator control language

    NASA Astrophysics Data System (ADS)

    Cuisinier, G.; Perriollat, F.; Ribeiro, P.; Kagarmanov, A.; Kovaltsov, V.

    1994-12-01

    NODAL has been a popular interpreter language for accelerator controls since the beginning of the 1970s. NODAL has been rewritten in the C language to be easily portable to the different computer platforms which are in use in accelerator controls. The paper describes the major features of this new version of NODAL, the major software packages which are available through this implementation, the platforms on which it is currently running, and some relevant performances. The experience gained during the rejuvenation project of the CERN accelerator control systems is presented. The benefit of this is discussed, in particular in a view of the prevailing strong constraints in personnel and money resources.

  8. Multi-cavity complex controller with vector simulator for TESLA technology linear accelerator

    NASA Astrophysics Data System (ADS)

    Czarski, Tomasz; Pozniak, Krzysztof T.; Romaniuk, Ryszard S.; Szewinski, Jaroslaw

    2008-01-01

    A digital control, as the main part of the Low Level RF system, for superconducting cavities of a linear accelerator is presented. The FPGA based controller, supported by MATLAB system, was developed to investigate a novel firmware implementation. The complex control algorithm based on the non-linear system identification is the proposal verified by the preliminary experimental results. The general idea is implemented as the Multi-Cavity Complex Controller (MCC) and is still under development. The FPGA based controller executes procedure according to the prearranged control tables: Feed-Forward, Set-Point and Corrector unit, to fulfill the required cavity performance: driving in the resonance during filling and field stabilization for the flattop range. Adaptive control algorithm is applied for the feed-forward and feedback modes. The vector Simulator table has been introduced for an efficient verification of the FPGA controller structure. Experimental results of the internal simulation, are presented for a cavity representative condition.

  9. Laser-ion acceleration through controlled surface contamination

    SciTech Connect

    Hou Bixue; Nees, John A.; He Zhaohan; Easter, James H.; Thomas, Alexander G. R.; Krushelnick, Karl M.; Petrov, George; Davis, Jack

    2011-04-15

    In laser-plasma ion accelerators, control of target contamination layers can lead to selection of accelerated ion species and enhancement of acceleration. To demonstrate this, deuterons up to 75 keV are accelerated from an intense laser interaction with a glass target simply by placing 1 ml of heavy water inside the experimental chamber prior to pumping to generate a deuterated contamination layer on the target. Using the same technique with a deuterated-polystyrene-coated target also enhances deuteron yield by a factor of 3 to 5, while increasing the maximum energy of the generated deuterons to 140 keV.

  10. Proximal Blade Twist Feedback Control for Heliogyro Solar Sails

    NASA Astrophysics Data System (ADS)

    Smith, Sarah Mitchell

    mode is on the order of 0.005%, meaning there is almost no inherent damping in the blade. Next, the proximal blade twist feedback control design was successful in overcoming friction in the root actuator and added damping to the blade. The damping ratio for the lowest frequency torsional mode was increased from 0.001% to 0.09%, which is a significant amount for a heliogyro spacecraft. Finally, the camera sensor used for the proximal differential twist measurement proved to be feasible and quantization from these measurements only decreased the damping ratio to 0.075%. This research provides the first indication that a physically realizable blade root controller can deal with friction in an effective way, thus taking a step towards advancing the technology readiness level of the heliogyro spacecraft.

  11. Accelerator control system at KEKB and the linac

    NASA Astrophysics Data System (ADS)

    Akiyama, Atsuyoshi; Furukawa, Kazuro; Kadokura, Eiichi; Kurashina, Miho; Mikawa, Katsuhiko; Nakamura, Tatsuro; Odagiri, Jun-ichi; Satoh, Masanori; Suwada, Tsuyoshi

    2013-03-01

    KEKB has completed all of the technical milestones and has offered important insights into the flavor structure of elementary particles, especially CP violation. The accelerator control system at KEKB and the injector linac was initiated by a combination of scripting languages at the operation layer and EPICS (experimental physics and industrial control system) at the equipment layer. During the project, many features were implemented to achieve extreme performance from the machine. In particular, the online linkage to the accelerator simulation played an essential role. In order to further improve the reliability and flexibility, two major concepts were additionally introduced later in the project, namely, channel access everywhere and dual-tier controls. Based on the improved control system, a virtual accelerator concept was realized, allowing the single injector linac to serve as three separate injectors to KEKB's high-energy ring, low-energy ring, and Photon Factory, respectively. These control technologies are indispensable for future particle accelerators.

  12. Temperature feedback control for long-term carrier-envelope phase locking

    DOEpatents

    Chang, Zenghu; Yun, Chenxia; Chen, Shouyuan; Wang, He; Chini, Michael

    2012-07-24

    A feedback control module for stabilizing a carrier-envelope phase of an output of a laser oscillator system comprises a first photodetector, a second photodetector, a phase stabilizer, an optical modulator, and a thermal control element. The first photodetector may generate a first feedback signal corresponding to a first portion of a laser beam from an oscillator. The second photodetector may generate a second feedback signal corresponding to a second portion of the laser beam filtered by a low-pass filter. The phase stabilizer may divide the frequency of the first feedback signal by a factor and generate an error signal corresponding to the difference between the frequency-divided first feedback signal and the second feedback signal. The optical modulator may modulate the laser beam within the oscillator corresponding to the error signal. The thermal control unit may change the temperature of the oscillator corresponding to a signal operable to control the optical modulator.

  13. Influence of self-controlled feedback on learning a serial motor skill.

    PubMed

    Lim, Soowoen; Ali, Asif; Kim, Wonchan; Kim, Jingu; Choi, Sungmook; Radlo, Steven J

    2015-04-01

    Self-controlled feedback on a variety of tasks are well established as effective means of facilitating motor skill learning. This study assessed the effects of self-controlled feedback on the performance of a serial motor skill. The task was to learn the sequence of 18 movements that make up the Taekwondo Poomsae Taegeuk first, which is the first beginner's practice form learned in this martial art. Twenty-four novice female participants (M age=27.2 yr., SD=1.8) were divided into two groups. All participants performed 16 trials in 4 blocks of the acquisition phase and 20 hr. later, 8 trials in 2 blocks of the retention phase. The self-controlled feedback group had significantly higher performance compared to the yoked-feedback group with regard to acquisition and retention. The results of this study may contribute to the literature regarding feedback by extending the usefulness of self-controlled feedback for learning a serial skill.

  14. Precise feedback control underlies sensorimotor learning in speech.

    PubMed

    Vaughn, Chris; Nasir, Sazzad M

    2015-02-01

    Acquiring the skill of speaking in another language, or for that matter a child's learning to talk, does not follow a single recipe. People learn by variable amounts. A major component of speech learnability seems to be sensing precise feedback errors to correct subsequent utterances that help maintain speech goals. We have tested this idea in a speech motor learning paradigm under altered auditory feedback, in which subjects repeated a word while their auditory feedback was changed online. Subjects learned the task to variable degrees, with some simply failing to learn. We assessed feedback contribution by computing one-lag covariance between formant trajectories of the current feedback and the following utterance that was found to be a significant predictor of learning. Our findings rely on a novel use of information-rich formant trajectories in evaluating speech motor learning and argue for their relevance in auditory speech goals of vowel sounds.

  15. Active control of a flexible structure using a modal positive position feedback controller

    NASA Technical Reports Server (NTRS)

    Poh, S.; Baz, A.

    1990-01-01

    The feasibility of a new Modal Positive Position Feedback (MPPF) strategy in controlling the vibration of a complex flexible structure using a single piezo-electric active structural member is demonstrated. The control strategy generates its control forces by manipulating only the modal position signals of the structure to provide a damping action to undamped modes. This is in contrast to conventional modal controllers that rely in their operation on negative feedback of both the modal position and velocity. The proposed strategy is very simple to design and implement as it designs the controller at the uncoupled modal level and utilizes simple first order filters to achieve the Positive Position Feedback effect. The performance of the new strategy is enhanced by augmenting it with a time sharing strategy to share a small number of actuators between larger number of modes. The effectiveness of the new strategy is validated experimentally on a flexible box-type structure that has four bays and its first two bending modes are 2.015 and 6.535 Hz, respectively. A single piezo-electric actuator is utilized as an active structural member to control several transverse bending modes of the structure. The performance of the active control system is determined in the time and the frequency domains. The results are compared with those obtained when using the Independent Modal Space Control (IMSC) of Meirovitch. The experimental results suggest the potential of the proposed strategy as a viable means for controlling the vibration of large flexible structures in real time.

  16. Active control of a flexible structure using a modal positive position feedback controller

    NASA Technical Reports Server (NTRS)

    Poh, S.; Baz, A.

    1990-01-01

    The feasibility of a new Modal Positive Position Feedback (MPPF) strategy in controlling the vibration of a complex flexible structure using a single piezo-electric active structural member is demonstrated. The control strategy generates its control forces by manipulating only the modal position signals of the structure to provide a damping action to undamped modes. This is in contrast to conventional modal controllers that rely in their operation on negative feedback of both the modal position and velocity. The proposed strategy is very simple to design and implement as it designs the controller at the uncoupled modal level and utilizes simple first order filters to achieve the Positive Position Feedback effect. The performance of the new strategy is enhanced by augmenting it with a time sharing strategy to share a small number of actuators between larger number of modes. The effectiveness of the new strategy is validated experimentally on a flexible box-type structure that has four bays and its first two bending modes are 2.015 and 6.535 Hz respectively. A single piezo-electric actuator is utilized as an active structural member to control several transverse bending modes of the structure. The performance of the active control system is determined in the time and the frequency domains. The results are compared with those obtained when using the Independent Modal Space Control (IMSC) of Meirovitch. The experimental results suggest the potential of the proposed strategy as a viable means for controlling the vibration of large flexible structures in real time.

  17. Randomized Controlled Trial of Web-Based Decisional Balance Feedback and Personalized Normative Feedback for College Drinkers

    PubMed Central

    Collins, Susan E; Kirouac, Megan; Lewis, Melissa A; Witkiewitz, Katie; Carey, Kate B

    2014-01-01

    Objective: Web-based personalized feedback interventions, particularly personalized normative feedback (PNF), are efficacious in improving college drinking outcomes; however, no personalized feedback interventions to date have provided college drinkers with feedback about their own decisional balance. This study tested the relative efficacy of a novel decisional balance feedback (DBF) intervention, PNF, and an assessment-only control condition. Method: Participants (N = 724; 56% female) were undergraduate students at a 4-year university in the U.S. Pacific Northwest and were randomized to receive one-time exposure to web-based DBF, PNF, or assessment only. Web-based assessment occurred at baseline and at 1-, 6-, and 12-month follow-ups and included measures of motivation to change, drinking quantity norms, drinking frequency/quantity, and alcohol-related problems. Results: At the 1-month follow-up, DBF and PNF participants reported reductions in alcohol-related problems; however, only PNF participants reduced their drinking frequency and quantity. At the 6-month follow-up, only DBF participants showed significant reductions in drinking quantity and alcohol-related problems. Neither group maintained reductions in alcohol use or alcohol-related problems at the 12-month follow-up. Conclusions: This study provided preliminary evidence that web-based DBF and PNF are efficacious interventions for college drinkers, with DBF having somewhat longer lasting effects. PMID:25343656

  18. Improved methods in neural network-based adaptive output feedback control, with applications to flight control

    NASA Astrophysics Data System (ADS)

    Kim, Nakwan

    Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.

  19. Neural Networks for Modeling and Control of Particle Accelerators

    DOE PAGES

    Edelen, A. L.; Biedron, S. G.; Chase, B. E.; Edstrom, D.; Milton, S. V.; Stabile, P.

    2016-04-01

    Myriad nonlinear and complex physical phenomena are host to particle accelerators. They often involve a multitude of interacting systems, are subject to tight performance demands, and should be able to run for extended periods of time with minimal interruptions. Often times, traditional control techniques cannot fully meet these requirements. One promising avenue is to introduce machine learning and sophisticated control techniques inspired by artificial intelligence, particularly in light of recent theoretical and practical advances in these fields. Within machine learning and artificial intelligence, neural networks are particularly well-suited to modeling, control, and diagnostic analysis of complex, nonlinear, and time-varying systems,more » as well as systems with large parameter spaces. Consequently, the use of neural network-based modeling and control techniques could be of significant benefit to particle accelerators. For the same reasons, particle accelerators are also ideal test-beds for these techniques. Moreover, many early attempts to apply neural networks to particle accelerators yielded mixed results due to the relative immaturity of the technology for such tasks. For the purpose of this paper is to re-introduce neural networks to the particle accelerator community and report on some work in neural network control that is being conducted as part of a dedicated collaboration between Fermilab and Colorado State University (CSU). We also describe some of the challenges of particle accelerator control, highlight recent advances in neural network techniques, discuss some promising avenues for incorporating neural networks into particle accelerator control systems, and describe a neural network-based control system that is being developed for resonance control of an RF electron gun at the Fermilab Accelerator Science and Technology (FAST) facility, including initial experimental results from a benchmark controller.« less

  20. Learning feedback and feedforward control in a mirror-reversed visual environment.

    PubMed

    Kasuga, Shoko; Telgen, Sebastian; Ushiba, Junichi; Nozaki, Daichi; Diedrichsen, Jörn

    2015-10-01

    When we learn a novel task, the motor system needs to acquire both feedforward and feedback control. Currently, little is known about how the learning of these two mechanisms relate to each other. In the present study, we tested whether feedforward and feedback control need to be learned separately, or whether they are learned as common mechanism when a new control policy is acquired. Participants were trained to reach to two lateral and one central target in an environment with mirror (left-right)-reversed visual feedback. One group was allowed to make online movement corrections, whereas the other group only received visual information after the end of the movement. Learning of feedforward control was assessed by measuring the accuracy of the initial movement direction to lateral targets. Feedback control was measured in the responses to sudden visual perturbations of the cursor when reaching to the central target. Although feedforward control improved in both groups, it was significantly better when online corrections were not allowed. In contrast, feedback control only adaptively changed in participants who received online feedback and remained unchanged in the group without online corrections. Our findings suggest that when a new control policy is acquired, feedforward and feedback control are learned separately, and that there may be a trade-off in learning between feedback and feedforward controllers. PMID:26245313

  1. Design of multivariable feedback control systems via spectral assignment. [as applied to aircraft flight control

    NASA Technical Reports Server (NTRS)

    Liberty, S. R.; Mielke, R. R.; Tung, L. J.

    1981-01-01

    Applied research in the area of spectral assignment in multivariable systems is reported. A frequency domain technique for determining the set of all stabilizing controllers for a single feedback loop multivariable system is described. It is shown that decoupling and tracking are achievable using this procedure. The technique is illustrated with a simple example.

  2. Adaptive NN backstepping output-feedback control for stochastic nonlinear strict-feedback systems with time-varying delays.

    PubMed

    Chen, Weisheng; Jiao, Licheng; Li, Jing; Li, Ruihong

    2010-06-01

    For the first time, this paper addresses the problem of adaptive output-feedback control for a class of uncertain stochastic nonlinear strict-feedback systems with time-varying delays using neural networks (NNs). The circle criterion is applied to designing a nonlinear observer, and no linear growth condition is imposed on nonlinear functions depending on system states. Under the assumption that time-varying delays exist in the system output, only an NN is employed to compensate for all unknown nonlinear terms depending on the delayed output, and thus, the proposed control algorithm is more simple even than the existing NN backstepping control schemes for uncertain systems described by ordinary differential equations. Three examples are given to demonstrate the effectiveness of the control scheme proposed in this paper.

  3. Composite Adaptive Fuzzy Output Feedback Control Design for Uncertain Nonlinear Strict-Feedback Systems With Input Saturation.

    PubMed

    Li, Yongming; Tong, Shaocheng; Li, Tieshan

    2015-10-01

    In this paper, a composite adaptive fuzzy output-feedback control approach is proposed for a class of single-input and single-output strict-feedback nonlinear systems with unmeasured states and input saturation. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, and a fuzzy state observer is designed to estimate the unmeasured states. By utilizing the designed fuzzy state observer, a serial-parallel estimation model is established. Based on adaptive backstepping dynamic surface control technique and utilizing the prediction error between the system states observer model and the serial-parallel estimation model, a new fuzzy controller with the composite parameters adaptive laws are developed. It is proved that all the signals of the closed-loop system are bounded and the system output can follow the given bounded reference signal. A numerical example and simulation comparisons with previous control methods are provided to show the effectiveness of the proposed approach.

  4. Motivation in vigilance - Effects of self-evaluation and experimenter-controlled feedback.

    NASA Technical Reports Server (NTRS)

    Warm, J. S.; Kanfer, F. H.; Kuwada, S.; Clark, J. L.

    1972-01-01

    Vigilance experiments have been performed to study the relative efficiency of feedback operations in enhancing vigilance performance. Two feedback operations were compared - i.e., experimenter-controlled feedback in the form of knowledge of results (KR) regarding response times to signal detections, and subject-controlled feedback in the form of self-evaluation (SE) of response times to signal detections. The subjects responded to the aperiodic offset of a visual signal during a 1-hr vigil. Both feedback operations were found to enhance performance efficiency: subjects in the KR and SE conditions had faster response times than controls receiving no evaluative feedback. Moreover, the data of the KR and SE groups did not differ significantly from each other. The results are discussed in terms of the hypothesis that self-evaluation is a critical factor underlying the incentive value of KR in vigilance tasks.

  5. Control and optimization of a staged laser-wakefield accelerator

    NASA Astrophysics Data System (ADS)

    Golovin, G.; Banerjee, S.; Chen, S.; Powers, N.; Liu, C.; Yan, W.; Zhang, J.; Zhang, P.; Zhao, B.; Umstadter, D.

    2016-09-01

    We report results of an experimental study of laser-wakefield acceleration of electrons, using a staged device based on a double-jet gas target that enables independent injection and acceleration stages. This novel scheme is shown to produce stable, quasi-monoenergetic, and tunable electron beams. We show that optimal accelerator performance is achieved by systematic variation of five critical parameters. For the injection stage, we show that the amount of trapped charge is controlled by the gas density, composition, and laser power. For the acceleration stage, the gas density and the length of the jet are found to determine the final electron energy. This independent control over both the injection and acceleration processes enabled independent control over the charge and energy of the accelerated electron beam while preserving the quasi-monoenergetic character of the beam. We show that the charge and energy can be varied in the ranges of 2-45 pC, and 50-450 MeV, respectively. This robust and versatile electron accelerator will find application in the generation of high-brightness and controllable x-rays, and as the injector stage for more conventional devices.

  6. Why self-controlled feedback enhances motor learning: Answers from electroencephalography and indices of motivation.

    PubMed

    Grand, Kirk F; Bruzi, Alessandro T; Dyke, Ford B; Godwin, Maurice M; Leiker, Amber M; Thompson, Andrew G; Buchanan, Taylor L; Miller, Matthew W

    2015-10-01

    It was tested whether learners who choose when to receive augmented feedback while practicing a motor skill exhibit enhanced augmented feedback processing and intrinsic motivation, along with superior learning, relative to learners who do not control their feedback. Accordingly, participants were assigned to either self-control (Self) or yoked groups and asked to practice a non-dominant arm beanbag toss. Self participants received augmented feedback at their discretion, whereas Yoked participants were given feedback schedules matched to Self counterparts. Participants' visual feedback was occluded, and when they received augmented feedback, their processing of it was indexed with the electroencephalography-derived feedback-related negativity (FRN). Participants self-reported intrinsic motivation via the Intrinsic Motivation Inventory (IMI) after practice, and completed a retention and transfer test the next day to index learning. Results partially support the hypothesis. Specifically, Self participants reported higher IMI scores, exhibited larger FRNs, and demonstrated better accuracy on the transfer test, but not on the retention test, nor did they exhibit greater consistency on the retention or transfer tests. Additionally, post-hoc multiple regression analysis indicated FRN amplitude predicted transfer test accuracy (accounting for IMI score). Results suggest self-controlled feedback schedules enhance feedback processing, which enhances the transfer of a newly acquired motor skill.

  7. Why self-controlled feedback enhances motor learning: Answers from electroencephalography and indices of motivation.

    PubMed

    Grand, Kirk F; Bruzi, Alessandro T; Dyke, Ford B; Godwin, Maurice M; Leiker, Amber M; Thompson, Andrew G; Buchanan, Taylor L; Miller, Matthew W

    2015-10-01

    It was tested whether learners who choose when to receive augmented feedback while practicing a motor skill exhibit enhanced augmented feedback processing and intrinsic motivation, along with superior learning, relative to learners who do not control their feedback. Accordingly, participants were assigned to either self-control (Self) or yoked groups and asked to practice a non-dominant arm beanbag toss. Self participants received augmented feedback at their discretion, whereas Yoked participants were given feedback schedules matched to Self counterparts. Participants' visual feedback was occluded, and when they received augmented feedback, their processing of it was indexed with the electroencephalography-derived feedback-related negativity (FRN). Participants self-reported intrinsic motivation via the Intrinsic Motivation Inventory (IMI) after practice, and completed a retention and transfer test the next day to index learning. Results partially support the hypothesis. Specifically, Self participants reported higher IMI scores, exhibited larger FRNs, and demonstrated better accuracy on the transfer test, but not on the retention test, nor did they exhibit greater consistency on the retention or transfer tests. Additionally, post-hoc multiple regression analysis indicated FRN amplitude predicted transfer test accuracy (accounting for IMI score). Results suggest self-controlled feedback schedules enhance feedback processing, which enhances the transfer of a newly acquired motor skill. PMID:26163375

  8. Development of electrical feedback controlled heat pipes and the advanced thermal control flight experiment

    NASA Technical Reports Server (NTRS)

    Bienert, W. B.

    1974-01-01

    The development and characteristics of electrical feedback controlled heat pipes (FCHP) are discussed. An analytical model was produced to describe the performance of the FCHP under steady state and transient conditions. An advanced thermal control flight experiment was designed to demonstrate the performance of the thermal control component in a space environment. The thermal control equipment was evaluated on the ATS-F satellite to provide performance data for the components and to act as a thermal control system which can be used to provide temperature stability of spacecraft components in future applications.

  9. APPARATUS FOR CONTROL OF HIGH-ENERGY ACCELERATORS

    DOEpatents

    Heard, H.G.

    1961-10-24

    A particle beam positioning control for a synchrotron or the like is described. The control includes means for selectively impressing a sinusoidal perturbation upon the rising voltage utilized to sweep the frequency of the f-m oscillator which is conventionally coupled to the accelerating electrode of a synchrotron. The perturbation produces a variation in the normal rate of change of frequency of the accelerating voltage applied to the accelerating electrode, resulting in an expansion or contraction of the particle beam orbit diameter during the perturbation. The beam may thus be controlled such that a portion strikes a target positioned close to the expanded or contracted orbit diameter and returns to the original orbit for further acceleration to the final energy. (AEC)

  10. Design study of a feedback control system for the Multicyclic Flap System rotor (MFS)

    NASA Technical Reports Server (NTRS)

    Weisbrich, R.; Perley, R.; Howes, H.

    1977-01-01

    The feasibility of automatically providing higher harmonic control to a deflectable control flap at the tip of a helicopter rotor blade through feedback of selected independent parameter was investigated. Control parameters were selected for input to the feedback system. A preliminary circuit was designed to condition the selected parameters, weigh limiting factors, and provide a proper output signal to the multi-cyclic control actuators. Results indicate that feedback control for the higher harmonic is feasible; however, design for a flight system requires an extension of the present analysis which was done for one flight condition - 120 kts, 11,500 lbs gross weight and level flight.

  11. Feedback Control of Floor Reaction Force Based on Force-Reflecting-Type Multilateral Control

    NASA Astrophysics Data System (ADS)

    Nagase, Kazuki; Katsura, Seiichiro

    Real-world haptics is being studied not only for improving feedback on real-world haptic information in teleoperation but also for developing key technologies for future human support. For the remote operating of systems at distant places, haptic information is required in addition to visual information. The haptic information around a work environment can be the floor reaction force, which can be obtained using a movement-type haptic device. The floor reaction force from the environment that the mobile haptic device touches is fed back accurately to the operator. First, this paper proposes a general force-reflecting-type multilateral control. Second, this paper extends the control to feedback control of the floor reaction force by using force-reflecting-type multilateral control and a novel haptic device employing a biped robot with a slave system. The position response of a master system is transformed to a leg tip position command for the biped-type haptic device. In addition, the floor reaction force determined by the biped-type haptic device is fed back to the master system. The proposed method can determine the force feedback to the sole of the foot, which is not possible with a conventional stationary system. As a result, the floor reaction force from a large area can be obtained, and the operability of the control system is improved by using the proposed system.

  12. Deterministic creation and stabilization of entanglement in circuit QED by homodyne-mediated feedback control

    SciTech Connect

    Liu Zhuo; Kuang Luelin; Hu Kai; Xu Luting; Wei Suhua; Guo Lingzhen; Li Xinqi

    2010-09-15

    In a solid-state circuit QED system, we demonstrate that a homodyne-current-based feedback can create and stabilize highly entangled two-qubit states in the presence of a moderate noisy environment. Particularly, we present an extended analysis for the current-based Markovian feedback, which leads to an improved feedback scheme. We show that this is essential to achieve a desirable control effect by the use of dispersive measurement.

  13. Rapid feedback control and stabilization of an optical tweezers with a budget microcontroller

    NASA Astrophysics Data System (ADS)

    Nino, Daniel; Wang, Haowei; Milstein, Joshua N.

    2014-09-01

    Laboratories ranging the scientific disciplines employ feedback control to regulate variables within their experiments, from the flow of liquids within a microfluidic device to the temperature within a cell incubator. We have built an inexpensive, yet fast and rapidly deployed, feedback control system that is straightforward and flexible to implement from a commercially available Arduino Due microcontroller. This is in comparison with the complex, time-consuming and often expensive electronics that are commonly implemented. As an example of its utility, we apply our feedback controller to the task of stabilizing the main trapping laser of an optical tweezers. The feedback controller, which is inexpensive yet fast and rapidly deployed, was implemented from hacking an open source Arduino Due microcontroller. Our microcontroller based feedback system can stabilize the laser intensity to a few tenths of a per cent at 200 kHz, which is an order of magnitude better than the laser's base specifications, illustrating the utility of these devices.

  14. IPNS Chopper Control and Accelerator Interface Systems

    SciTech Connect

    Ostrowski, G.E.; Donley, L.I.; Rauchas, A.V.; Volk, G.J.; Jung, E.A.; Haumann, J.R.; Pelizzari, C.A.

    1985-01-01

    Several of the instruments at the Intense Pulsed Neutron Source (IPNS) at Argonne use rotating Fermi choppers. The techniques used to control the speed and phase of these rotating devices are discussed.

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

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

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

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  17. The predictability of frequency-altered auditory feedback changes the weighting of feedback and feedforward input for speech motor control.

    PubMed

    Scheerer, Nichole E; Jones, Jeffery A

    2014-12-01

    Speech production requires the combined effort of a feedback control system driven by sensory feedback, and a feedforward control system driven by internal models. However, the factors that dictate the relative weighting of these feedback and feedforward control systems are unclear. In this event-related potential (ERP) study, participants produced vocalisations while being exposed to blocks of frequency-altered feedback (FAF) perturbations that were either predictable in magnitude (consistently either 50 or 100 cents) or unpredictable in magnitude (50- and 100-cent perturbations varying randomly within each vocalisation). Vocal and P1-N1-P2 ERP responses revealed decreases in the magnitude and trial-to-trial variability of vocal responses, smaller N1 amplitudes, and shorter vocal, P1 and N1 response latencies following predictable FAF perturbation magnitudes. In addition, vocal response magnitudes correlated with N1 amplitudes, vocal response latencies, and P2 latencies. This pattern of results suggests that after repeated exposure to predictable FAF perturbations, the contribution of the feedforward control system increases. Examination of the presentation order of the FAF perturbations revealed smaller compensatory responses, smaller P1 and P2 amplitudes, and shorter N1 latencies when the block of predictable 100-cent perturbations occurred prior to the block of predictable 50-cent perturbations. These results suggest that exposure to large perturbations modulates responses to subsequent perturbations of equal or smaller size. Similarly, exposure to a 100-cent perturbation prior to a 50-cent perturbation within a vocalisation decreased the magnitude of vocal and N1 responses, but increased P1 and P2 latencies. Thus, exposure to a single perturbation can affect responses to subsequent perturbations.

  18. Ih channels control feedback regulation from amacrine cells to photoreceptors.

    PubMed

    Hu, Wen; Wang, Tingting; Wang, Xiao; Han, Junhai

    2015-04-01

    In both vertebrates and invertebrates, photoreceptors' output is regulated by feedback signals from interneurons that contribute to several important visual functions. Although synaptic feedback regulation of photoreceptors is known to occur in Drosophila, many questions about the underlying molecular mechanisms and physiological implementation remain unclear. Here, we systematically investigated these questions using a broad range of experimental methods. We isolated two Ih mutant fly lines that exhibit rhythmic photoreceptor depolarization without light stimulation. We discovered that Ih channels regulate glutamate release from amacrine cells by modulating calcium channel activity. Moreover, we showed that the eye-enriched kainate receptor (EKAR) is expressed in photoreceptors and receives the glutamate signal released from amacrine cells. Finally, we presented evidence that amacrine cell feedback regulation helps maintain light sensitivity in ambient light. Our findings suggest plausible molecular underpinnings and physiological effects of feedback regulation from amacrine cells to photoreceptors. These results provide new mechanistic insight into how synaptic feedback regulation can participate in network processing by modulating neural information transfer and circuit excitability.

  19. Reduced state feedback gain computation. [optimization and control theory for aircraft control

    NASA Technical Reports Server (NTRS)

    Kaufman, H.

    1976-01-01

    Because application of conventional optimal linear regulator theory to flight controller design requires the capability of measuring and/or estimating the entire state vector, it is of interest to consider procedures for computing controls which are restricted to be linear feedback functions of a lower dimensional output vector and which take into account the presence of measurement noise and process uncertainty. Therefore, a stochastic linear model that was developed is presented which accounts for aircraft parameter and initial uncertainty, measurement noise, turbulence, pilot command and a restricted number of measurable outputs. Optimization with respect to the corresponding output feedback gains was performed for both finite and infinite time performance indices without gradient computation by using Zangwill's modification of a procedure originally proposed by Powell. Results using a seventh order process show the proposed procedures to be very effective.

  20. Cross Feedback Control of a Magnetic Bearing System: Controller Design Considering Gyroscopic Effects

    NASA Technical Reports Server (NTRS)

    Ahrens, Markus; Kucera, Ladislav

    1996-01-01

    For flywheel rotors or other rotors with significant ratios of moments of inertia, the influence of gyroscopic effects has to be considered. While conservative or damped systems remain stable even under gyroscopic effects, magnetically suspended rotors can be destabilized with increasing rotational speed. The influence of gyroscopic effects on the stability and behavior of a magnetic bearing system is analyzed. The analysis is carried out with a rigid body model for the rotor and a nonlinear model for the magnetic bearing and its amplifier. Cross feedback control can compensate gyroscopic effects. This compensation leads to better system performance and can avoid instability. Furthermore, the implementation of this compensation is simple. The main structure of a decentralized controller can still be used. It has only to be expanded by the cross feedback path.

  1. Interior Noise Reduction by Adaptive Feedback Vibration Control

    NASA Technical Reports Server (NTRS)

    Lim, Tae W.

    1998-01-01

    . The on-line identification algorithm developed in this research will be useful in constructing a state estimator for feedback vibration control.

  2. Eco-hydrological feedback mechanisms control ecological services in wetlands

    NASA Astrophysics Data System (ADS)

    Coletti, J.; Hinz, C.; Vogwill, R.; Tareque, H.; Hipsey, M. R.

    2011-12-01

    Wetland ecosystems contain various feedback mechanisms between their abiotc and biotic components. The feedbacks are triggered by climate and propagate into patterns of environment partitioning based on distinct zones of hydrological function that vary in time and space. This partitioning co-evolves with vegetation, defines carbon metabolism and creates niches that govern patterns of flora and fauna abundance and distribution. Using a minimalistic model for wetland eco-hydrology, we explore vegetation adaptation to climate variability and the net metabolism of a wetland ecosystem given a range of climate conditions. We then apply the model to characterize the changes in niche habitat availability for a tortoise population endangered by a drying climate.

  3. The generalized pole assignment problem. [dynamic output feedback control systems

    NASA Technical Reports Server (NTRS)

    Djaferis, T. E.; Mitter, S. K.

    1979-01-01

    For some linear, strictly proper system given by its transfer function, two dynamic output feedback problems can be posed. The first one is that of using dynamic-output feedback to assign the closed-loop characteristic polynomial and the second that of assigning the closed-loop invariant factors. These problems and their interrelationships are discussed. The formulation is done in the frequency domain and the investigation carried out from an algebraic point of view, in terms of linear equations over rings of polynomials. Using the notion of genericity, several necessary and sufficient conditions are expressed.

  4. Supervisor Feedback.

    ERIC Educational Resources Information Center

    Hayman, Marilyn J.

    1981-01-01

    Investigated the effectiveness of supervisor feedback in contributing to learning counseling skills. Counselor trainees (N=64) were assigned to supervisor feedback, no supervisor feedback, or control groups for three training sessions. Results indicated counseling skills were learned best by students with no supervisor feedback but self and peer…

  5. A Case Study of Representing Signal Transduction in Liver Cells as a Feedback Control Problem

    ERIC Educational Resources Information Center

    Singh, Abhay; Jayaraman, Arul; Hahn, Juergen

    2007-01-01

    Cell signaling pathways often contain feedback loops where proteins are produced that regulate signaling. While feedback regulatory mechanisms are commonly found in signaling pathways, there is no example available in the literature that is simple enough to be presented in an undergraduate control class. This paper presents a simulation study of…

  6. The Effects of Self-Controlled Video Feedback on the Learning of the Basketball Set Shot

    PubMed Central

    Aiken, Christopher Adam; Fairbrother, Jeffrey T.; Post, Phillip Guy

    2012-01-01

    Allowing learners to control some aspect of instructional support (e.g., augmented feedback) appears to facilitate motor skill acquisition. No studies, however, have examined self-controlled (SC) video feedback without the provision of additional attentional cueing. The purpose of this study was to extend previous SC research using video feedback about movement form for the basketball set shot without explicitly directing attention to specific aspects of the movement. The SC group requested video feedback of their performance following any trial during the acquisition phase. The yoked group received feedback according to a schedule created by a SC counterpart. During acquisition participants were also allowed to view written instructional cues at any time. Results revealed that the SC group had significantly higher form scores during the transfer phase and utilized the instructional cues more frequently during acquisition. Post-training questionnaire responses indicated no preference for requesting or receiving feedback following good trials as reported by Chiviacowsky and Wulf (2002, 2005). The nature of the task was such that participants could have assigned both positive and negative evaluations to different aspects of the movement during the same trial. Thus, the lack of preferences along with the similarity in scores for feedback and no-feedback trials may simply have reflected this complexity. Importantly, however, the results indicated that SC video feedback conferred a learning benefit without the provision of explicit additional attentional cueing. PMID:22973257

  7. The effects of self-controlled video feedback on the learning of the basketball set shot.

    PubMed

    Aiken, Christopher Adam; Fairbrother, Jeffrey T; Post, Phillip Guy

    2012-01-01

    Allowing learners to control some aspect of instructional support (e.g., augmented feedback) appears to facilitate motor skill acquisition. No studies, however, have examined self-controlled (SC) video feedback without the provision of additional attentional cueing. The purpose of this study was to extend previous SC research using video feedback about movement form for the basketball set shot without explicitly directing attention to specific aspects of the movement. The SC group requested video feedback of their performance following any trial during the acquisition phase. The yoked group received feedback according to a schedule created by a SC counterpart. During acquisition participants were also allowed to view written instructional cues at any time. Results revealed that the SC group had significantly higher form scores during the transfer phase and utilized the instructional cues more frequently during acquisition. Post-training questionnaire responses indicated no preference for requesting or receiving feedback following good trials as reported by Chiviacowsky and Wulf (2002, 2005). The nature of the task was such that participants could have assigned both positive and negative evaluations to different aspects of the movement during the same trial. Thus, the lack of preferences along with the similarity in scores for feedback and no-feedback trials may simply have reflected this complexity. Importantly, however, the results indicated that SC video feedback conferred a learning benefit without the provision of explicit additional attentional cueing.

  8. Force and Position Control in Humans - The Role of Augmented Feedback.

    PubMed

    Lauber, Benedikt; Keller, Martin; Leukel, Christian; Gollhofer, Albert; Taube, Wolfgang

    2016-01-01

    During motor behaviour, humans interact with the environment by for example manipulating objects and this is only possible because sensory feedback is constantly integrated into the central nervous system and these sensory inputs need to be weighted in order meet the task specific goals. Additional feedback presented as augmented feedback was shown to have an impact on motor control and motor learning. A number of studies investigated whether force or position feedback has an influence on motor control and neural activation. However, as in the previous studies the presentation of the force and position feedback was always identical, a recent study assessed whether not only the content but also the interpretation of the feedback has an influence on the time to fatigue of a sustained submaximal contraction and the (inhibitory) activity of the primary motor cortex using subthreshold transcranial magnetic stimulation. This paper describes one possible way to investigate the influence of the interpretation of feedback on motor behaviour by investigating the time to fatigue of submaximal sustained contractions together with the neuromuscular adaptations that can be investigated using surface EMG. Furthermore, the current protocol also describes how motor cortical (inhibitory) activity can be investigated using subthreshold TMS, a method known to act solely on the cortical level. The results show that when participants interpret the feedback as position feedback, they display a significantly shorter time to fatigue of a submaximal sustained contraction. Furthermore, subjects also displayed an increased inhibitory activity of the primary cortex when they believed to receive position feedback compared when they believed to receive force feedback. Accordingly, the results show that interpretation of feedback results in differences on a behavioural level (time to fatigue) that is also reflected in interpretation-specific differences in the amount of inhibitory M1 activity

  9. Controlled Trial Using Computerized Feedback to Improve Physicians' Diagnostic Judgments.

    ERIC Educational Resources Information Center

    Poses, Roy M.; And Others

    1992-01-01

    A study involving 14 experienced physicians investigated the effectiveness of a computer program (providing statistical feedback to teach a clinical diagnostic rule that predicts the probability of streptococcal pharyngitis), in conjunction with traditional lecture and periodic disease-prevalence reports. Results suggest the integrated method is a…

  10. Controllability in Multi-Stage Laser Ion Acceleration

    NASA Astrophysics Data System (ADS)

    Kawata, S.; Kamiyama, D.; Ohtake, Y.; Barada, D.; Ma, Y. Y.; Kong, Q.; Wang, P. X.; Gu, Y. J.; Li, X. F.; Yu, Q.

    2015-11-01

    The present paper shows a concept for a future laser ion accelerator, which should have an ion source, ion collimators, ion beam bunchers and ion post acceleration devices. Based on the laser ion accelerator components, the ion particle energy and the ion energy spectrum are controlled, and a future compact laser ion accelerator would be designed for ion cancer therapy or for ion material treatment. In this study each component is designed to control the ion beam quality. The energy efficiency from the laser to ions is improved by using a solid target with a fine sub-wavelength structure or a near-critical density gas plasma. The ion beam collimation is performed by holes behind the solid target or a multi-layered solid target. The control of the ion energy spectrum and the ion particle energy, and the ion beam bunching are successfully realized by a multi-stage laser-target interaction. A combination of each component provides a high controllability of the ion beam quality to meet variable requirements in various purposes in the laser ion accelerator. The work was partly supported by MEXT, JSPS, ASHULA project/ ILE, Osaka University, CORE (Center for Optical Research and Education, Utsunomiya University, Japan), Fudan University and CDI (Creative Dept. for Innovation) in CCRD, Utsunomiya University.

  11. A piezo-driven micro-inclination stage for calibration of a micro-acceleration transducer: structure and control strategy

    NASA Astrophysics Data System (ADS)

    Shao, Shubao; Song, Siyang; Xu, Minglong; Xie, Shilin; Li, Liang

    2016-02-01

    In some space applications, such as space navigation and vibration control of the large space structures, micro-acceleration transducers are required and have to be calibrated accurately. Unfortunately, providing extremely small static and quasi-static stimuli (accelerations) for the calibration of the micro-acceleration transducer has been a challenging task. This paper proposes a novel piezo-driven micro-inclination stage (PMIS) that can produce both discrete and continuous tumbles in a gravity field so that extremely small static and quasi-static stimuli (accelerations) can be obtained from a tiny component of the gravity constant. The proposed PMIS, which is driven by the lead zirconate titanate (PZT) stack, employs a rhombic mechanism to provide the PZT stack with a proper preload for the purpose of outputting a bidirectional force. To produce accurate static and quasi-static stimuli, the hysteresis non-linearity inherent in PZT stack is compensated by employing the strain feedback based adaptive control where the hysteresis property is identified online using the controlled auto-regressive moving average model. Furthermore, to improve the resolution of strain feedback, the strain sensitivity is maximized through structure optimization of the rhombic mechanism. The experimental results demonstrated that the proposed PMIS can produce minimal micro-inclination of {{0.1}\\prime \\prime} (corresponding to the induced micro-acceleration of 0.5μ g ) with the frequency ranging from 0 (DC) to 2 Hz.

  12. The role of feed-forward and feedback processes for closed-loop prosthesis control

    PubMed Central

    2011-01-01

    Background It is widely believed that both feed-forward and feed-back mechanisms are required for successful object manipulation. Open-loop upper-limb prosthesis wearers receive no tactile feedback, which may be the cause of their limited dexterity and compromised grip force control. In this paper we ask whether observed prosthesis control impairments are due to lack of feedback or due to inadequate feed-forward control. Methods Healthy subjects were fitted with a closed-loop robotic hand and instructed to grasp and lift objects of different weights as we recorded trajectories and force profiles. We conducted three experiments under different feed-forward and feed-back configurations to elucidate the role of tactile feedback (i) in ideal conditions, (ii) under sensory deprivation, and (iii) under feed-forward uncertainty. Results (i) We found that subjects formed economical grasps in ideal conditions. (ii) To our surprise, this ability was preserved even when visual and tactile feedback were removed. (iii) When we introduced uncertainty into the hand controller performance degraded significantly in the absence of either visual or tactile feedback. Greatest performance was achieved when both sources of feedback were present. Conclusions We have introduced a novel method to understand the cognitive processes underlying grasping and lifting. We have shown quantitatively that tactile feedback can significantly improve performance in the presence of feed-forward uncertainty. However, our results indicate that feed-forward and feed-back mechanisms serve complementary roles, suggesting that to improve on the state-of-the-art in prosthetic hands we must develop prostheses that empower users to correct for the inevitable uncertainty in their feed-forward control. PMID:22032545

  13. Fault tolerant attitude sensing and force feedback control for unmanned aerial vehicles

    NASA Astrophysics Data System (ADS)

    Jagadish, Chirag

    Two aspects of an unmanned aerial vehicle are studied in this work. One is fault tolerant attitude determination and the other is to provide force feedback to the joy-stick of the UAV so as to prevent faulty inputs from the pilot. Determination of attitude plays an important role in control of aerial vehicles. One way of defining the attitude is through Euler angles. These angles can be determined based on the measurements of the projections of the gravity and earth magnetic fields on the three body axes of the vehicle. Attitude determination in unmanned aerial vehicles poses additional challenges due to limitations of space, payload, power and cost. Therefore it provides for almost no room for any bulky sensors or extra sensor hardware for backup and as such leaves no room for sensor fault issues either. In the face of these limitations, this study proposes a fault tolerant computing of Euler angles by utilizing multiple different computation methods, with each method utilizing a different subset of the available sensor measurement data. Twenty-five such methods have been presented in this document. The capability of computing the Euler angles in multiple ways provides a diversified redundancy required for fault tolerance. The proposed approach can identify certain sets of sensor failures and even separate the reference fields from the disturbances. A bank-to-turn maneuver of the NASA GTM UAV is used to demonstrate the fault tolerance provided by the proposed method as well as to demonstrate the method of determining the correct Euler angles despite interferences by inertial acceleration disturbances. Attitude computation is essential for stability. But as of today most UAVs are commanded remotely by human pilots. While basic stability control is entrusted to machine or the on-board automatic controller, overall guidance is usually with humans. It is therefore the pilot who sets the command/references through a joy-stick. While this is a good compromise between

  14. Fake feedback on pain tolerance impacts proactive versus reactive control strategies.

    PubMed

    Rigoni, Davide; Braem, Senne; Pourtois, Gilles; Brass, Marcel

    2016-05-01

    It is well-known that beliefs about one's own ability to execute a task influence task performance. Here, we tested the hypothesis that beliefs about a specific self-control capacity, namely pain tolerance, modulate basic cognitive control processes. Participants received fake comparative social feedback that their ability to tolerate painful stimulations was either very poor or outstanding after which they performed an unrelated go/no-go task. Participants receiving low-tolerance feedback, relative to high-tolerance feedback, were less successful at inhibiting their responses and more influenced by previous trial conditions, as indicated by an increased slowdown following errors and more failed inhibitions following go-trials. These observations demonstrate a shift from a more proactive to a more reactive control mode. This study shows that providing feedback about one's own capacity to control impulsive reactions to painful stimulations directly influences low-level cognitive control dynamics.

  15. Fake feedback on pain tolerance impacts proactive versus reactive control strategies.

    PubMed

    Rigoni, Davide; Braem, Senne; Pourtois, Gilles; Brass, Marcel

    2016-05-01

    It is well-known that beliefs about one's own ability to execute a task influence task performance. Here, we tested the hypothesis that beliefs about a specific self-control capacity, namely pain tolerance, modulate basic cognitive control processes. Participants received fake comparative social feedback that their ability to tolerate painful stimulations was either very poor or outstanding after which they performed an unrelated go/no-go task. Participants receiving low-tolerance feedback, relative to high-tolerance feedback, were less successful at inhibiting their responses and more influenced by previous trial conditions, as indicated by an increased slowdown following errors and more failed inhibitions following go-trials. These observations demonstrate a shift from a more proactive to a more reactive control mode. This study shows that providing feedback about one's own capacity to control impulsive reactions to painful stimulations directly influences low-level cognitive control dynamics. PMID:27149180

  16. Can executive control be influenced by performance feedback? Two experimental studies with younger and older adults

    PubMed Central

    Drueke, Barbara; Boecker, Maren; Mainz, Verena; Gauggel, Siegfried; Mungard, Lydia

    2012-01-01

    Executive control describes a wide range of cognitive processes which are critical for the goal-directed regulation of stimulus processing and action regulation. Previous studies have shown that executive control performance declines with age but yet, it is still not clear whether different internal and external factors—as performance feedback and age—influence these cognitive processes and how they might interact with each other. Therefore, we investigated feedback effects in the flanker task in young as well as in older adults in two experiments. Performance feedback significantly improved executive performance in younger adults at the expense of errors. In older adults, feedback also led to higher error rates, but had no significant effect on executive performance which might be due to stronger interference. Results indicate that executive functions can be positively influenced by performance feedback in younger adults, but not necessarily in older adults. PMID:22529793

  17. Magnetic control of particle injection in plasma based accelerators.

    PubMed

    Vieira, J; Martins, S F; Pathak, V B; Fonseca, R A; Mori, W B; Silva, L O

    2011-06-01

    The use of an external transverse magnetic field to trigger and to control electron self-injection in laser- and particle-beam driven wakefield accelerators is examined analytically and through full-scale particle-in-cell simulations. A magnetic field can relax the injection threshold and can be used to control main output beam features such as charge, energy, and transverse dynamics in the ion channel associated with the plasma blowout. It is shown that this mechanism could be studied using state-of-the-art magnetic fields in next generation plasma accelerator experiments.

  18. New synchronization criteria for memristor-based networks: adaptive control and feedback control schemes.

    PubMed

    Li, Ning; Cao, Jinde

    2015-01-01

    In this paper, we investigate synchronization for memristor-based neural networks with time-varying delay via an adaptive and feedback controller. Under the framework of Filippov's solution and differential inclusion theory, and by using the adaptive control technique and structuring a novel Lyapunov functional, an adaptive updated law was designed, and two synchronization criteria were derived for memristor-based neural networks with time-varying delay. By removing some of the basic literature assumptions, the derived synchronization criteria were found to be more general than those in existing literature. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.

  19. New synchronization criteria for memristor-based networks: adaptive control and feedback control schemes.

    PubMed

    Li, Ning; Cao, Jinde

    2015-01-01

    In this paper, we investigate synchronization for memristor-based neural networks with time-varying delay via an adaptive and feedback controller. Under the framework of Filippov's solution and differential inclusion theory, and by using the adaptive control technique and structuring a novel Lyapunov functional, an adaptive updated law was designed, and two synchronization criteria were derived for memristor-based neural networks with time-varying delay. By removing some of the basic literature assumptions, the derived synchronization criteria were found to be more general than those in existing literature. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results. PMID:25299765

  20. An active feedback system to control synchrotron oscillations in the SLC Damping Rings

    SciTech Connect

    Corredoura, P.L.; Pellegrin, J.L.; Schwarz, H.D.; Sheppard, J.C.

    1989-03-01

    Initially the SLC Damping Rings accomplished Robinson instability damping by operating the RF accelerating cavities slightly detuned. In order to be able to run the cavities tuned and achieve damping for Robinson instability and synchrotron oscillations at injection an active feedback system has been developed. This paper describes the theoretical basis for the feedback system and the development of the hardware. Extensive measurements of the loop response including stored beam were performed. Overall performance of the system is also reported. 3 refs., 6 figs.

  1. Knowledge engineering for PACES, the particle accelerator control expert system

    NASA Astrophysics Data System (ADS)

    Lind, P. C.; Poehlman, W. F. S.; Stark, J. W.; Cousins, T.

    1992-04-01

    The KN-3000 used at Defense Research Establishment Ottawa is a Van de Graaff particle accelerator employed primarily to produce monoenergetic neutrons for calibrating radiation detectors. To provide training and assistance for new operators, it was decided to develop an expert system for accelerator operation. Knowledge engineering aspects of the expert system are reviewed. Two important issues are involved: the need to encapsulate expert knowledge into the system in a form that facilitates automatic accelerator operation and to partition the system so that time-consuming inferencing is minimized in favor of faster, more algorithmic control. It is seen that accelerator control will require fast, narrowminded decision making for rapid fine tuning, but slower and broader reasoning for machine startup, shutdown, fault diagnosis, and correction. It is also important to render the knowledge base in a form conducive to operator training. A promising form of the expert system involves a hybrid system in which high level reasoning is performed on the host machine that interacts with the user, while an embedded controller employs neural networks for fast but limited adjustment of accelerator performance. This partitioning of duty facilitates a hierarchical chain of command yielding an effective mixture of speed and reasoning ability.

  2. On stability theory. [of nonlinear feedback control systems

    NASA Technical Reports Server (NTRS)

    Safonov, M. G.; Athans, M.

    1979-01-01

    It is found that under mild assumptions, feedback system stability can be concluded if one can 'topologically separate' the infinite-dimensional function space containing the system's dynamical input-output relations into two regions, one region containing the dynamical input-output relation of the 'feedforward' element of the system and the other region containing the dynamical output-input relation of the 'feedback' element. Nonlinear system stability criteria of both the input-output type and the state-space (Liapunov) type are interpreted in this context. The abstract generality and conceptual simplicity afforded by the topological separation perspective clarifies some of the basic issues underlying stability theory and serves to suggest improvements in existing stability criteria. A generalization of Zames' (1966) conic-relation stability criterion is proved, laying the foundation for improved multivariable generalizations of the frequency-domain circle stability criterion for nonlinear systems.

  3. Haptic control of the hand force feedback system

    NASA Astrophysics Data System (ADS)

    Prisco, Giuseppe M.; Ortiz, Massimiliano; Barbagli, Frederico; Avizzano, Carlo A.; Bergamasco, Massimo

    1999-11-01

    The Hand Force Feedback System is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements.

  4. Comparing the Effects of Self-Controlled and Examiner-Controlled Feedback on Learning in Children With Developmental Coordination Disorder

    PubMed Central

    Zamani, Mohamad Hosein; Fatemi, Rouholah; Soroushmoghadam, Keyvan

    2015-01-01

    Background: Feedback can improve task learning in children with developmental coordination disorder (DCD). However, the frequency and type of feedback may play different role in learning and needs to more investigations. Objectives: The aim of this study was to evaluate the acquisition and retention of new feedback skills in children with DCD under different frequency of self-control and control examiner feedback. Materials and Methods: In this quasi-experimental study with pretest-posttest design, participants based on their retention were divided into four feedback groups: self-controlled feedback groups with frequencies of 50% and75%, experimenter controls with frequencies of 50% and 75%. The study sample consisted of 24 boys with DCD aged between 9 to 11 years old in Ahvaz City, Iran. Then subjects practiced 30 throwing (6 blocks of 5 attempts) in eighth session. Acquisition test immediately after the last training session, and then the retention test were taken. Data were analyzed using the paired t-test, ANOVA and Tukey tests. Results: The results showed no significant difference between groups in the acquisition phase (P > 0.05). However,in the retention session, group of self-control showed better performance than the control tester group (P < 0.05). Conclusions: Based on the current findings, self-control feedback with high frequency leads to more learning in DCD children. The results of this study can be used in rehabilitation programs to improve performance and learning in children with DCD. PMID:26834805

  5. A count rate based contamination control standard for electron accelerators

    SciTech Connect

    May, R.T.; Schwahn, S.O.

    1996-12-31

    Accelerators of sufficient energy and particle fluence can produce radioactivity as an unwanted byproduct. The radioactivity is typically imbedded in structural materials but may also be removable from surfaces. Many of these radionuclides decay by positron emission or electron capture; they often have long half lives and produce photons of low energy and yield making detection by standard devices difficult. The contamination control limit used throughout the US nuclear industry and the Department of Energy is 1,000 disintegrations per minute. This limit is based on the detection threshold of pancake type Geiger-Mueller probes for radionuclides of relatively high radiotoxicity, such as cobalt-60. Several radionuclides of concern at a high energy electron accelerator are compared in terms of radiotoxicity with radionuclides commonly found in the nuclear industry. Based on this comparison, a count-rate based contamination control limit and associated measurement strategy is proposed which provides adequate detection of contamination at accelerators without an increase in risk.

  6. Feedback control in a general almost periodic discrete system of plankton allelopathy.

    PubMed

    Yin, Wenshuang

    2014-01-01

    We study the properties of almost periodic solutions for a general discrete system of plankton allelopathy with feedback controls and establish a theorem on the uniformly asymptotic stability of almost periodic solutions. PMID:24592189

  7. Feedback control of nuclear spin bath for a single hole spin in a quantum dot

    NASA Astrophysics Data System (ADS)

    Pang, Hongliang; Gong, Zhirui; Yao, Wang

    2014-03-01

    In a semiconductor quantum dot, the nuclear spin bath plays an important role as the ultimate environment of an electron or hole spin at low temperature. Through dynamic nuclear spin polarization driven by an oscillating electric field, we show that feedback controls can be implemented on the nuclear spin bath of a single hole spin. The feedback controls utilize the anisotropic hyperfine interaction between the hole spin and the nuclear spins. The negative feedback can suppress the statistical fluctuations of the nuclear hyperfine field and lead to longer coherence time of the hole spin. Positive feedback can possibly lead to cat like state of nuclear spin bath. The efficiency of the controls schemes is investigated under different parameters and control strategies. The work is supported by the Croucher Foundation under the Croucher Innovation Award, and the Research Grant Council of Hong Kong (HKU706309P, HKU8/CRF/11G).

  8. Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

    NASA Astrophysics Data System (ADS)

    Bunderson, Nathan E.; Ting, Lena H.; Burkholder, Thomas J.

    2007-09-01

    Maintaining the postural configuration of a limb such as an arm or leg is a fundamental neural control task that involves the coordination of multiple linked body segments. Biological systems are known to use a complex network of inter- and intra-joint feedback mechanisms arising from muscles, spinal reflexes and higher neuronal structures to stabilize the limbs. While previous work has shown that a small amount of asymmetric heterogenic feedback contributes to the behavior of these systems, a satisfactory functional explanation for this non-conservative feedback structure has not been put forth. We hypothesized that an asymmetric multi-joint control strategy would confer both an energetic and stability advantage in maintaining endpoint position of a kinematically redundant system. We tested this hypothesis by using optimal control models incorporating symmetric versus asymmetric feedback with the goal of maintaining the endpoint location of a kinematically redundant, planar limb. Asymmetric feedback improved endpoint control performance of the limb by 16%, reduced energetic cost by 21% and increased interjoint coordination by 40% compared to the symmetric feedback system. The overall effect of the asymmetry was that proximal joint motion resulted in greater torque generation at distal joints than vice versa. The asymmetric organization is consistent with heterogenic stretch reflex gains measured experimentally. We conclude that asymmetric feedback has a functionally relevant role in coordinating redundant degrees of freedom to maintain the position of the hand or foot.

  9. Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

    PubMed Central

    Bunderson, Nathan E.; Ting, Lena H.; Burkholder, Thomas J.

    2008-01-01

    Maintaining the postural configuration of a limb such as an arm or leg is a fundamental neural control task that involves the coordination of multiple linked body segments. Biological systems are known to use a complex network of inter- and intra-joint feedback mechanisms arising from muscles, spinal reflexes, and higher neuronal structures to stabilize the limbs. While previous work has shown that a small amount of asymmetric heterogenic feedback contributes to the behavior of these systems, a satisfactory functional explanation for this nonconservative feedback structure has not been put forth. We hypothesized that an asymmetric multi-joint control strategy would confer both an energetic and stability advantage in maintaining endpoint position of a kinematically redundant system. We tested this hypothesis by using optimal control models incorporating symmetric versus asymmetric feedback with the goal of maintaining the endpoint location of a kinematically redundant, planar limb. Asymmetric feedback improved endpoint control performance of the limb by 16%, reduced energetic cost by 21% and increased interjoint coordination by 40% compared to the symmetric feedback system. The overall effect of the asymmetry was that proximal joint motion resulted in greater torque generation at distal joints than vice versa. The asymmetric organization is consistent with heterogenic stretch reflex gains measured experimentally. We conclude that asymmetric feedback has a functionally relevant role in coordinating redundant degrees of freedom to maintain the position of the hand or foot. PMID:17873426

  10. Optimization and static output-feedback control for half-car active suspensions with constrained information

    NASA Astrophysics Data System (ADS)

    Wang, Gang; Chen, Changzheng; Yu, Shenbo

    2016-09-01

    In this paper, the static output-feedback control problem of active suspension systems with information structure constraints is investigated. In order to simultaneously improve the ride comfort and stability, a half car model is used. Other constraints such as suspension deflection, actuator saturation, and controller constrained information are also considered. A novel static output-feedback design method based on the variable substitution is employed in the controller design. A single-step linear matrix inequality (LMI) optimization problem is solved to derive the initial feasible solution with a sparsity constraint. The initial infeasibility issue of the static output-feedback is resolved by using state-feedback information. Specifically, an optimization algorithm is proposed to search for less conservative results based on the feasible controller gain matrix. Finally, the validity of the designed controller for different road profiles is illustrated through numerical examples. The simulation results indicate that the optimized static output-feedback controller can achieve better suspension performances when compared with the feasible static output-feedback controller.

  11. Towards easier realization of time-delayed feedback control of odd-number orbits.

    PubMed

    Flunkert, V; Schöll, E

    2011-07-01

    We develop generalized time-delayed feedback schemes for the stabilization of periodic orbits with an odd number of positive Floquet exponents, which are particularly well suited for experimental realization. We construct the parameter regimes of successful control and validate these by numerical simulations and numerical continuation methods. In particular, it is shown how periodic orbits can be stabilized with symmetric feedback matrices by introducing an additional latency time in the control loop. Finally, we show using normal form analysis and numerical simulations how our results could be implemented in a laser setup using optoelectronic feedback.

  12. Method for neural network control of motion using real-time environmental feedback

    NASA Technical Reports Server (NTRS)

    Buckley, Theresa M. (Inventor)

    1997-01-01

    A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

  13. Nonlinear feedforward-feedback control of clutch-to-clutch shift technique

    NASA Astrophysics Data System (ADS)

    Gao, Bingzhao; Chen, Hong; Hu, Yunfeng; Sanada, Kazushi

    2011-12-01

    To improve the shift quality of the vehicle with clutch-to-clutch gear shifts, a nonlinear feedforward-feedback control scheme is proposed for clutch slip control during the shift inertia phase. The feedforward control is designed based on flatness in consideration of the system nonlinearities, and the linear feedback control is given to accommodate the model errors and the disturbances. Lookup tables, which are widely used to represent complex nonlinear characteristics of powertrain systems, appear in their original form in the designed feedforward controller, while the linear feedback controller is calculated through linear matrix inequalities such that the control system is robust against the parameter uncertainties. Finally, the designed controller is tested on an AMESim powertrain simulation model, which contains a time-variant model of clutch actuators.

  14. Vibration suppression for large scale adaptive truss structures using direct output feedback control

    NASA Technical Reports Server (NTRS)

    Lu, Lyan-Ywan; Utku, Senol; Wada, Ben K.

    1993-01-01

    In this article, the vibration control of adaptive truss structures, where the control actuation is provided by length adjustable active members, is formulated as a direct output feedback control problem. A control method named Model Truncated Output Feedback (MTOF) is presented. The method allows the control feedback gain to be determined in a decoupled and truncated modal space in which only the critical vibration modes are retained. The on-board computation required by MTOF is minimal; thus, the method is favorable for the applications of vibration control of large scale structures. The truncation of the modal space inevitably introduces spillover effect during the control process. In this article, the effect is quantified in terms of active member locations, and it is shown that the optimal placement of active members, which minimizes the spillover effect (and thus, maximizes the control performance) can be sought. The problem of optimally selecting the locations of active members is also treated.

  15. RKH space approximations for the feedback operator in a linear hereditary control system

    NASA Technical Reports Server (NTRS)

    Reneke, J. A.; Fennell, R. E.

    1987-01-01

    Computational implementation of feedback control laws for linear hereditary systems requires the approximation of infinite dimensional feedback operators with finite dimensional operators. The dense subspaces of K-polygonal functions in reproducing kernel Hilbert spaces, RKH spaces, suggest finite dimensional approximations of the matrix representations of the control operators. A convergence theorem is developed for the approximations and the numerical implementation of the approximations is discussed.

  16. Feedback control of a solid-state qubit using high-fidelity projective measurement.

    PubMed

    Ristè, D; Bultink, C C; Lehnert, K W; DiCarlo, L

    2012-12-14

    We demonstrate feedback control of a superconducting transmon qubit using discrete, projective measurement and conditional coherent driving. Feedback realizes a fast and deterministic qubit reset to a target state with 2.4% error averaged over input superposition states, and allows concatenating experiments more than 10 times faster than by passive initialization. This closed-loop qubit control is necessary for measurement-based protocols such as quantum error correction and teleportation. PMID:23368293

  17. Controlling chaos in some laser systems via variable coupling and feedback time delays

    NASA Astrophysics Data System (ADS)

    Shahverdiev, E. M.

    2016-09-01

    We study numerically a system of two lasers cross-coupled optoelectronically with a time delay where the output intensity of each laser modulates the pump current of the other laser. We demonstrate control of chaos via variable coupling time delay by converting the laser intensity chaos to the steady-state. We also show that wavelength chaos in an electrically tunable distributed Bragg reflector (DBR) laser diode with a feedback loop that can be controlled via variable feedback time delay.

  18. Mitigation of ground motion effects in linear accelerators via feed-forward control

    NASA Astrophysics Data System (ADS)

    Pfingstner, J.; Artoos, K.; Charrondiere, C.; Janssens, St.; Patecki, M.; Renier, Y.; Schulte, D.; Tomás, R.; Jeremie, A.; Kubo, K.; Kuroda, S.; Naito, T.; Okugi, T.; Tauchi, T.; Terunuma, N.

    2014-12-01

    Ground motion is a severe problem for many particle accelerators, since it excites beam oscillations, which decrease the beam quality and create beam-beam offset (at colliders). Orbit feedback systems can only compensate ground motion effects at frequencies significantly smaller than the beam repetition rate. In linear colliders, where the repetition rate is low, additional counter measures have to be put in place. For this reason, a ground motion mitigation method based on feed-forward control is presented in this paper. It has several advantages compared to other techniques (stabilization systems and intratrain feedback systems) such as cost reduction and potential performance improvement. An analytical model is presented that allows the derivation of hardware specification and performance estimates for a specific accelerator and ground motion model. At the Accelerator Test Facility (ATF2), ground motion sensors have been installed to verify the feasibility of important parts of the mitigation strategy. In experimental studies, it has been shown that beam excitations due to ground motion can be predicted from ground motion measurements on a pulse-to-pulse basis. Correlations of up to 80% between the estimated and measured orbit jitter have been observed. Additionally, an orbit jitter source was identified and has been removed, which halved the orbit jitter power at ATF2 and shows that the feed-forward scheme is also very useful for the detection of installation issues. We believe that the presented mitigation method has the potential to reduce costs and improve the performance of linear colliders and potentially other linear accelerators.

  19. Implementation of the beamline controls at the Florence accelerator laboratory

    NASA Astrophysics Data System (ADS)

    Carraresi, L.; Mirto, F. A.

    2008-05-01

    The new Tandetron accelerator in Florence, with many different beamlines, has required a new organization of all the control signals of the used equipment (slow control). We present our solution, which allows us the control of all the employed instruments simultaneously from a number of different workplaces. All of our equipment has been designed to be Ethernet based and this is the key to accomplish two very important requirements: simultaneous remote control from many computers and electrical isolation to achieve a lower noise level. The control of the instruments requires only one Ethernet network and no particular interfaces or drivers on the computers.

  20. Phase and amplitude control system for Stanford Linear Accelerator

    SciTech Connect

    Yoo, S.J.

    1983-09-26

    The computer controlled phase and amplitude detection system measures the instantaneous phase and amplitude of a 1 micro-second 2856 MHz rf pulse at a 180 Hz rate. This will be used for phase feedback control, and also for phase and amplitude jitter measurement. The program, which was originally written by John Fox and Keith Jobe, has been modified to improve the function of the system. The software algorithms used in the measurement are described, as is the performance of the prototype phase and amplitude detector system.

  1. Advanced feedback control methods in EXTRAP T2R reversed field pinch

    NASA Astrophysics Data System (ADS)

    Yadikin, D.; Brunsell, P. R.; Paccagnella, R.

    2006-07-01

    Previous experiments in the EXTRAP T2R reversed field pinch device have shown the possibility of suppression of multiple resistive wall modes (RWM). A feedback system has been installed in EXTRAP T2R having 100% coverage of the toroidal surface by the active coil array. Predictions based on theory and the previous experimental results show that the number of active coils should be sufficient for independent stabilization of all unstable RWMs in the EXTRAP T2R. Experiments using different feedback schemes are performed, comparing the intelligent shell, the fake rotating shell, and the mode control with complex feedback gains. Stabilization of all unstable RWMs throughout the discharge duration of td≈10τw is seen using the intelligent shell feedback scheme. Mode rotation and the control of selected Fourier harmonics is obtained simultaneously using the mode control scheme with complex gains. Different sensor signals are studied. A feedback system with toroidal magnetic field sensors could have an advantage of lower feedback gain needed for the RWM suppression compared to the system with radial magnetic field sensors. In this study, RWM suppression is demonstrated, using also the toroidal field component as a sensor signal in the feedback system.

  2. Feedback and Feedforward Control of Frequency Tuning to Naturalistic Stimuli

    PubMed Central

    Chacron, Maurice J.; Maler, Leonard; Bastian, Joseph

    2016-01-01

    Sensory neurons must respond to a wide variety of natural stimuli that can have very different spatiotemporal characteristics. Optimal responsiveness to subsets of these stimuli can be achieved by devoting specialized neural circuitry to different stimulus categories, or, alternatively, this circuitry can be modulated or tuned to optimize responsiveness to current stimulus conditions. This study explores the mechanisms that enable neurons within the initial processing station of the electrosensory system of weakly electric fish to shift their tuning properties based on the spatial extent of the stimulus. These neurons are tuned to low frequencies when the stimulus is restricted to a small region within the receptive field center but are tuned to higher frequencies when the stimulus impinges on large regions of the sensory epithelium. Through a combination of modeling and in vivo electrophysiology, we reveal the respective contributions of the filtering characteristics of extended dendritic structures and feedback circuitry to this shift in tuning. Our results show that low-frequency tuning can result from the cable properties of an extended dendrite that conveys receptor-afferent information to the cell body. The shift from low- to high-frequency tuning, seen in response to spatially extensive stimuli, results from increased wide-band input attributable to activation of larger populations of receptor afferents, as well as the activation of parallel fiber feedback from the cerebellum. This feedback provides a cancellation signal with low-pass characteristics that selectively attenuates low-frequency responsiveness. Thus, with spatially extensive stimuli, these cells preferentially respond to the higher-frequency components of the receptor-afferent input. PMID:15944380

  3. Feedback control of plasma instabilities with charged particle beams and study of plasma turbulence

    NASA Technical Reports Server (NTRS)

    Tham, Philip Kin-Wah

    1994-01-01

    A new non-perturbing technique for feedback control of plasma instabilities has been developed in the Columbia Linear Machine (CLM). The feedback control scheme involves the injection of a feedback modulated ion beam as a remote suppressor. The ion beam was obtained from a compact ion beam source which was developed for this purpose. A Langmuir probe was used as the feedback sensor. The feedback controller consisted of a phase-shifter and amplifiers. This technique was demonstrated by stabilizing various plasma instabilities to the background noise level, like the trapped particle instability, the ExB instability and the ion-temperature-gradient (ITG) driven instability. An important feature of this scheme is that the injected ion beam is non-perturbing to the plasma equilibrium parameters. The robustness of this feedback stabilization scheme was also investigated. The principal result is that the scheme is fairly robust, tolerating about 100% variation about the nominal parameter values. Next, this scheme is extended to the unsolved general problem of controlling multimode plasma instabilities simultaneously with a single sensor-suppressor pair. A single sensor-suppressor pair of feedback probes is desirable to reduce the perturbation caused by the probes. Two plasma instabilities the ExB and the ITG modes, were simultaneously stabilized. A simple 'state' feedback type method was used where more state information was generated from the single sensor Langmuir probe by appropriate signal processing, in this case, by differentiation. This proof-of-principle experiment demonstrated for the first time that by designing a more sophisticated electronic feedback controller, many plasma instabilities may be simultaneously controlled. Simple theoretical models showed generally good agreement with the feedback experimental results. On a parallel research front, a better understanding of the saturated state of a plasma instability was sought partly with the help of feedback

  4. Load speed regulation in compliant mechanical transmission systems using feedback and feedforward control actions.

    PubMed

    Raul, P R; Dwivedula, R V; Pagilla, P R

    2016-07-01

    The problem of controlling the load speed of a mechanical transmission system consisting of a belt-pulley and gear-pair is considered. The system is modeled as two inertia (motor and load) connected by a compliant transmission. If the transmission is assumed to be rigid, then using either the motor or load speed feedback provides the same result. However, with transmission compliance, due to belts or long shafts, the stability characteristics and performance of the closed-loop system are quite different when either motor or load speed feedback is employed. We investigate motor and load speed feedback schemes by utilizing the singular perturbation method. We propose and discuss a control scheme that utilizes both motor and load speed feedback, and design an adaptive feedforward action to reject load torque disturbances. The control algorithms are implemented on an experimental platform that is typically used in roll-to-roll manufacturing and results are shown and discussed. PMID:27126600

  5. A combined stochastic feedforward and feedback control design methodology with application to autoland design

    NASA Technical Reports Server (NTRS)

    Halyo, Nesim

    1987-01-01

    A combined stochastic feedforward and feedback control design methodology was developed. The objective of the feedforward control law is to track the commanded trajectory, whereas the feedback control law tries to maintain the plant state near the desired trajectory in the presence of disturbances and uncertainties about the plant. The feedforward control law design is formulated as a stochastic optimization problem and is embedded into the stochastic output feedback problem where the plant contains unstable and uncontrollable modes. An algorithm to compute the optimal feedforward is developed. In this approach, the use of error integral feedback, dynamic compensation, control rate command structures are an integral part of the methodology. An incremental implementation is recommended. Results on the eigenvalues of the implemented versus designed control laws are presented. The stochastic feedforward/feedback control methodology is used to design a digital automatic landing system for the ATOPS Research Vehicle, a Boeing 737-100 aircraft. The system control modes include localizer and glideslope capture and track, and flare to touchdown. Results of a detailed nonlinear simulation of the digital control laws, actuator systems, and aircraft aerodynamics are presented.

  6. High alpha feedback control for agile half-loop maneuvers of the F-18 airplane

    NASA Technical Reports Server (NTRS)

    Stalford, Harold

    1988-01-01

    A nonlinear feedback control law for the F/A-18 airplane that provides time-optimal or agile maneuvering of the half-loop maneuver at high angles of attack is given. The feedback control law was developed using the mathematical approach of singular perturbations, in which the control devices considered were conventional aerodynamic control surfaces and thrusting. The derived nonlinear control law was used to simulate F/A-18 half-loop maneuvers. The simulated results at Mach 0.6 and 0.9 compared well with pilot simulations conducted at NASA.

  7. Tibialis anterior muscle fatigue leads to changes in tibial axial acceleration after impact when ankle dorsiflexion angles are visually controlled.

    PubMed

    Duquette, Adriana M; Andrews, David M

    2010-08-01

    Heel impact forces may lead to injury as they travel through the human musculoskeletal system. Previous work on the effect that localized muscle fatigue has on the tibial response (shank axial acceleration) to impact was limited because ankle angle was not controlled. The purpose of this study was to compare the tibial response when the tibialis anterior was fatigued and when not fatigued, while participants controlled dorsiflexion angles at impact using visual feedback. Twenty participants (10 male, 10 female; M+/-SD=21.8+/-2.9 years) were strapped supine to a human pendulum apparatus, and instrumented with a low mass accelerometer (affixed medial to the tibial tuberosity). Participant dorsiflexion angle range was recorded by an electro-goniometer, and divided into four angle ranges so tibial response variables (peak tibial acceleration, time to peak acceleration, acceleration slope) could be compared when fatigued and not fatigued. Peak tibial acceleration and acceleration slopes decreased, and time to peak acceleration increased following fatigue, when comparing values across the same dorsiflexion ranges. Dorsiflexion angle alone did not account for differences in tibial response during localized leg muscle fatigue; supporting prior work and suggesting that the muscle and ankle joint become less stiff when fatigued, thereby increasing the lower extremity attenuation capability to heel impacts.

  8. Nonlinear gain-scheduling output-feedback control for polynomial nonlinear systems subject to actuator saturation

    NASA Astrophysics Data System (ADS)

    Wu, Fen; Hays, Scott

    2013-09-01

    This paper investigates nonlinear gain-scheduling control approaches for a class of polynomial nonlinear systems, containing an output-dependent vector field with input saturation. Using the polytopic differential inclusion and norm-bounded differential inclusion (NDI) of saturation and dead-zone functions, the nonlinear plants are transformed into systems with measurable parameters. For the polytopic differential inclusion description, a quasi-linear parameter varying (quasi-LPV) output-feedback controller will be sought for saturation control. On the other hand, the NDI model leads to a nonlinear fractional transformation (NFT) output-feedback controller for saturated nonlinear systems. The quasi-LPV and NFT output-feedback control synthesis conditions are derived in the forms of output-dependent matrix inequalities. They can be reformulated as sum-of-squares (SOS) optimisations and solved efficiently using SOS programming. The proposed nonlinear gain-scheduling saturation control approaches will be demonstrated using the Van der Pol equation.

  9. Adaptive fuzzy output-feedback controller design for nonlinear time-delay systems with unknown control direction.

    PubMed

    Hua, Chang-Chun; Wang, Qing-Guo; Guan, Xin-Ping

    2009-04-01

    In this paper, the robust-control problem is investigated for a class of uncertain nonlinear time-delay systems via dynamic output-feedback approach. The considered system is in the strict-feedback form with unknown control direction. A full-order observer is constructed with the gains computed via linear matrix inequality at first. Then, with the bounds of uncertain functions known, we design the dynamic output-feedback controller such that the closed-loop system is asymptotically stable. Furthermore, when the bound functions of uncertainties are not available, the adaptive fuzzy-logic system is employed to approximate the uncertain function, and the corresponding output-feedback controller is designed. It is shown that the resulting closed-loop system is stable in the sense of semiglobal uniform ultimate boundedness. Finally, simulations are done to verify the feasibility and effectiveness of the obtained theoretical results.

  10. A Higher Bandwidth Servo Design for Magnetic Disk Drives: A Head-positioning Control System with Strain Feedback Control

    NASA Astrophysics Data System (ADS)

    Nakagawa, Shinsuke; Yamaguchi, Takashi

    In magnetic disk drives, mechanical resonance modes prevent a higher bandwidth servo being used for head positioning control. To overcome this limitation and realize more precise head positioning, a strain feedback controller which is added to a conventional head-position feedback loop was developed. The controller of a strain-feedback control system was designed so that the gain and the phase delay of the sensitivity function of the strain-feedback control system were both reduced below the frequency of a primary mechanical resonance. The controller achieves gain suppression by about 10dB at a primary mechanical resonance and phase delay of about zero degrees. It was found that the head-position control system (i.e., the strain feedback plus the conventional head-position feedback loop) increases the servo bandwidth by 17% and improves the positioning accuracy by 18%. It was also confirmed that unlike conventional servo system, the new servo design does not suffer degradation of servo characteristics at high temperature.

  11. Hydraulic engine valve actuation system including independent feedback control

    DOEpatents

    Marriott, Craig D

    2013-06-04

    A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.

  12. New MHD feedback control schemes using the MARTe framework in RFX-mod

    NASA Astrophysics Data System (ADS)

    Piron, Chiara; Manduchi, Gabriele; Marrelli, Lionello; Piovesan, Paolo; Zanca, Paolo

    2013-10-01

    Real-time feedback control of MHD instabilities is a topic of major interest in magnetic thermonuclear fusion, since it allows to optimize a device performance even beyond its stability bounds. The stability properties of different magnetic configurations are important test benches for real-time control systems. RFX-mod, a Reversed Field Pinch experiment that can also operate as a tokamak, is a well suited device to investigate this topic. It is equipped with a sophisticated magnetic feedback system that controls MHD instabilities and error fields by means of 192 active coils and a corresponding grid of sensors. In addition, the RFX-mod control system has recently gained new potentialities thanks to the introduction of the MARTe framework and of a new CPU architecture. These capabilities allow to study new feedback algorithms relevant to both RFP and tokamak operation and to contribute to the debate on the optimal feedback strategy. This work focuses on the design of new feedback schemes. For this purpose new magnetic sensors have been explored, together with new algorithms that refine the de-aliasing computation of the radial sideband harmonics. The comparison of different sensor and feedback strategy performance is described in both RFP and tokamak experiments.

  13. Influence of self-controlled feedback on learning a serial motor skill.

    PubMed

    Lim, Soowoen; Ali, Asif; Kim, Wonchan; Kim, Jingu; Choi, Sungmook; Radlo, Steven J

    2015-04-01

    Self-controlled feedback on a variety of tasks are well established as effective means of facilitating motor skill learning. This study assessed the effects of self-controlled feedback on the performance of a serial motor skill. The task was to learn the sequence of 18 movements that make up the Taekwondo Poomsae Taegeuk first, which is the first beginner's practice form learned in this martial art. Twenty-four novice female participants (M age=27.2 yr., SD=1.8) were divided into two groups. All participants performed 16 trials in 4 blocks of the acquisition phase and 20 hr. later, 8 trials in 2 blocks of the retention phase. The self-controlled feedback group had significantly higher performance compared to the yoked-feedback group with regard to acquisition and retention. The results of this study may contribute to the literature regarding feedback by extending the usefulness of self-controlled feedback for learning a serial skill. PMID:25914937

  14. Distinct noise-controlling roles of multiple negative feedback mechanisms in a prokaryotic operon system.

    PubMed

    Nguyen, L K; Kulasiri, D

    2011-03-01

    Molecular fluctuations are known to affect dynamics of cellular systems in important ways. Studies aimed at understanding how molecular systems of certain regulatory architectures control noise therefore become essential. The interplay between feedback regulation and noise has been previously explored for cellular networks governed by a single negative feedback loop. However, similar issues within networks consisting of more complex regulatory structures remain elusive. The authors investigate how negative feedback loops manage noise within a biochemical cascade concurrently governed by multiple negative feedback loops, using the prokaryotic tryptophan (trp) operon system in Escherechia coli as the model system. To the authors knowledge, this is the first study of noise in the trp operon system. They show that the loops in the trp operon system possess distinct, even opposing, noise-controlling effects despite their seemingly analogous feedback structures. The enzyme inhibition loop, although controlling the last reaction of the cascade, was found to suppress noise not only for the tryptophan output but also for other upstream components. In contrast, the Repression (Rep) loop enhances noise for all systems components. Attenuation (Att) poses intermediate effects by attenuating noise for the upstream components but promoting noise for components downstream of its target. Regarding noise at the output tryptophan, Rep and Att can be categorised as noise-enhancing loops whereas Enzyme Inhibition as a noise-reducing loop. These findings suggest novel implications in how cellular systems with multiple feedback mechanisms control noise. [Includes supplementary material]. PMID:21405203

  15. Simulation of the fast steering mirror control system based on gyro velocity feedback

    NASA Astrophysics Data System (ADS)

    Kuang, Jiagming; Tang, Tao; Fu, Chengyu; Ding, Ke; Yu, Wei

    2009-11-01

    The fast steering mirror is a significant element of the photoelectric precision tracking system and is mainly used for attenuating the tracking error of the main axis and rejecting the line-of-sight jitter caused by various disturbances. A control loop model is constructed and object parameters have been identified according to this model in this paper. Low sampling frequency introduce great delay into the imaging tracking system, which may restrict greatly the closed-loop bandwidth, reduce tracking precision of the system and even make the system unsteady. Various elements which limit tracking loop bandwidth are presented and analyzed. Three tracking systems with different sampling frequency are simulated and analyzed. From the simulation result the conclusion can be drawn that it is difficult to increase the closedloop bandwidth in the presence of great delay by means of the general control method. Accordingly feedback control or feed forward control may be tried to improve the error attenuation of the system. The micro-mechanical gyro can be used for measuring the angular velocity of fast steering mirror, so output of velocity gyro as velocity loop feedback may improve the system performance. Furthermore, the velocity loop feedback can enhance the rigidity and the output stability of the tracking system. Finally, the velocity feedback can increase the type of the open loop system; consequently it will improve the error attenuation of the system. The simulation result shows that the tracking precision of the system with velocity feedback is 10 times better than the system without velocity feedback.

  16. Quick setup of unit test for accelerator controls system

    SciTech Connect

    Fu, W.; D'Ottavio, T.; Gassner, D.; Nemesure, S.; Morris, J.

    2011-03-28

    Testing a single hardware unit of an accelerator control system often requires the setup of a program with graphical user interface. Developing a dedicated application for a specific hardware unit test could be time consuming and the application may become obsolete after the unit tests. This paper documents a methodology for quick design and setup of an interface focused on performing unit tests of accelerator equipment with minimum programming work. The method has three components. The first is a generic accelerator device object (ADO) manager which can be used to setup, store, and log testing controls parameters for any unit testing system. The second involves the design of a TAPE (Tool for Automated Procedure Execution) sequence file that specifies and implements all te testing and control logic. The sting third is the design of a PET (parameter editing tool) page that provides the unit tester with all the necessary control parameters required for testing. This approach has been used for testing the horizontal plane of the Stochastic Cooling Motion Control System at RHIC.

  17. Rotor-state feedback in the design of flight control laws for a hovering helicopter

    NASA Technical Reports Server (NTRS)

    Takahashi, Marc D.

    1994-01-01

    The use of rigid-body and rotor-state feedback gains in the design of helicopter flight control laws was investigated analytically on a blade element, articulated rotor, helicopter model. The study was conducted while designing a control law to meet an existing military rotorcraft handling qualities design specification (ADS-33C) in low-speed flight. A systematic approach to meet this specification was developed along with an assessment of the function of these gains in the feedback loops. Using the results of this assessment, the pitch and roll crossover behavior was easily modified by adjusting the body attitude and rotor-flap feedback gains. Critical to understanding the feedback gains is that the roll and pitch rate dynamics each have second-order behavior, not the classic first-order behavior, which arises from a quasi-static rotor, six degree-of-freedom model.

  18. Global Output-Feedback Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robots

    NASA Astrophysics Data System (ADS)

    Chang, J.; Zhang, L. J.; Xue, D.

    A time-varying global output-feedback controller is presented that solves both tracking and stabilization for wheeled mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov direct method and backstepping technique. The performance of the proposed controller is demonstrated by simulation.

  19. Active control of an innovative seat suspension system with acceleration measurement based friction estimation

    NASA Astrophysics Data System (ADS)

    Ning, Donghong; Sun, Shuaishuai; Li, Hongyi; Du, Haiping; Li, Weihua

    2016-12-01

    In this paper, an innovative active seat suspension system for vehicles is presented. This seat suspension prototype is built with two low cost actuators each of which has one rotary motor and one gear reducer. A H∞ controller with friction compensation is designed for the seat suspension control system where the friction is estimated and compensated based on the measurement of seat acceleration. This principal aim of this research was to control the low frequency vibration transferred or amplified by the vehicle (chassis) suspension, and to maintain the passivity of the seat suspension at high frequency (isolation vibration) while taking into consideration the trade-off between the active seat suspension cost and its high frequency performance. Sinusoidal excitations of 1-4.5 Hz were applied to test the active seat suspension both when controlled and when uncontrolled and this is compared with a well-tuned passive heavy duty vehicle seat suspension. The results indicate the effectiveness of the proposed control algorithm within the tested frequencies. Further tests were conducted using the excitations generated from a quarter-car model under bump and random road profiles. The bump road tests indicate the controlled active seat suspension has good transient response performance. The Power Spectral Density (PSD) method and ISO 2631-1 standards were applied to analyse the seat suspension's acceleration under random road conditions. Although some low magnitude and high frequency noise will inevitably be introduced by the active system, the weighted-frequency Root Mean Square (RMS) acceleration shows that this may not have a large effect on ride comfort. In fact, the ride comfort is improved from being an 'a little uncomfortable' to a 'not uncomfortable' level when compared with the well-tuned passive seat suspension. This low cost active seat suspension design and the proposed controller with the easily measured feedback signals are very practical for real

  20. Optimal control of nonlinear continuous-time systems in strict-feedback form.

    PubMed

    Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani

    2015-10-01

    This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results. PMID:26111400

  1. Delayed Visual Feedback of One’s Own Action Promotes Sense of Control for Auditory Events

    PubMed Central

    Kawabe, Takahiro

    2015-01-01

    Sense of control refers to one’s feelings to control environmental events through one’s own action. A prevailing view is that the sense of control is strong (or is not diminished) when predicted sensory signals, which are generated in motor control mechanisms, are consistent with afferent sensory signals. Such intact sense of control often leads to the misjudgment of temporal relation between timings of one’s action and its effect (so-called, intentional binding). The present study showed that the intentional binding could be enhanced by the delayed visual feedback of an agent’s action. We asked participants to press a button to produce a tone as action outcome. In some conditions, they were given the delayed visual feedback of their button press. Participants judged whether the onset of the auditory outcome was delayed from the timing of their button press. Consequently, delay detection thresholds were significantly higher when the feedback was given 0.2 and 0.4 s delays than when no feedback was displayed to the participants. The results indicate that action agents misjudge the timing of their action (button press) in the presence of the delayed visual feedback of their action. Interestingly, delay detection thresholds were strongly correlated with the subjective magnitude of the sense of control. Thus, the sense of control is possibly determined by cross-modal processing for action-related and outcome-related sensory signals. PMID:26635552

  2. Delayed Visual Feedback of One's Own Action Promotes Sense of Control for Auditory Events.

    PubMed

    Kawabe, Takahiro

    2015-01-01

    Sense of control refers to one's feelings to control environmental events through one's own action. A prevailing view is that the sense of control is strong (or is not diminished) when predicted sensory signals, which are generated in motor control mechanisms, are consistent with afferent sensory signals. Such intact sense of control often leads to the misjudgment of temporal relation between timings of one's action and its effect (so-called, intentional binding). The present study showed that the intentional binding could be enhanced by the delayed visual feedback of an agent's action. We asked participants to press a button to produce a tone as action outcome. In some conditions, they were given the delayed visual feedback of their button press. Participants judged whether the onset of the auditory outcome was delayed from the timing of their button press. Consequently, delay detection thresholds were significantly higher when the feedback was given 0.2 and 0.4 s delays than when no feedback was displayed to the participants. The results indicate that action agents misjudge the timing of their action (button press) in the presence of the delayed visual feedback of their action. Interestingly, delay detection thresholds were strongly correlated with the subjective magnitude of the sense of control. Thus, the sense of control is possibly determined by cross-modal processing for action-related and outcome-related sensory signals. PMID:26635552

  3. Odd-number theorem: optical feedback control at a subcritical Hopf bifurcation in a semiconductor laser.

    PubMed

    Schikora, S; Wünsche, H-J; Henneberger, F

    2011-02-01

    A subcritical Hopf bifurcation is prepared in a multisection semiconductor laser. In the free-running state, hysteresis is absent due to noise-induced escape processes. The missing branches are recovered by stabilizing them against noise through application of phase-sensitive noninvasive delayed optical feedback control. The same type of control is successfully used to stabilize the unstable pulsations born in the Hopf bifurcation. This experimental finding represents an optical counterexample to the so-called odd-number limitation of delayed feedback control. However, as a leftover of the limitation, the domains of control are extremely small.

  4. Global adaptive output feedback control for a class of nonlinear time-delay systems.

    PubMed

    Zhai, Jun-yong; Zha, Wen-ting

    2014-01-01

    This paper addresses the problem of global output feedback control for a class of nonlinear time-delay systems. The nonlinearities are dominated by a triangular form satisfying linear growth condition in the unmeasurable states with an unknown growth rate. With a change of coordinates, a linear-like controller is constructed, which avoids the repeated derivatives of the nonlinearities depending on the observer states and the dynamic gain in backstepping approach and therefore, simplifies the design procedure. Using the idea of universal control, we explicitly construct a universal-type adaptive output feedback controller which globally regulates all the states of the nonlinear time-delay systems.

  5. Advanced feedback control of indoor air quality using real-time computational fluid dynamics

    SciTech Connect

    Ratnam, E.; Campbell, T.; Bradley, R.

    1998-10-01

    This paper describes the partial implementation of a novel method of controlling indoor air quality (IAQ) for critical applications. The proposed method uses a numerical modeling technique known as computational fluid dynamics (CFD) for modeling the effect of variable ventilation rates for intelligent and rapid control of air contamination in space. This paper describes how a CFD model is made to run in real time linked to a feedback control loop. The technique was simulated in a graphical programming language. The simulation results indicate that a quasi-transient potential flow CFD model is a viable technique for feedback control of IAQ, and it is currently being implemented in an experimental validation.

  6. Finite-time quantised feedback asynchronously switched control of sampled-data switched linear systems

    NASA Astrophysics Data System (ADS)

    Wang, Ronghao; Xing, Jianchun; Li, Juelong; Xiang, Zhengrong

    2016-10-01

    This paper studies the problem of stabilising a sampled-data switched linear system by quantised feedback asynchronously switched controllers. The idea of a quantised feedback asynchronously switched control strategy originates in earlier work reflecting actual system characteristic of switching and quantising, respectively. A quantised scheme is designed depending on switching time using dynamic quantiser. When sampling time, system switching time and controller switching time are all not uniform, the proposed switching controllers guarantee the system to be finite-time stable by a piecewise Lyapunov function and the average dwell-time method. Simulation examples are provided to show the effectiveness of the developed results.

  7. Delayed feedback control of the Lorenz system: an analytical treatment at a subcritical Hopf bifurcation.

    PubMed

    Pyragas, V; Pyragas, K

    2006-03-01

    We develop an analytical approach for the delayed feedback control of the Lorenz system close to a subcritical Hopf bifurcation. The periodic orbits arising at this bifurcation have no torsion and cannot be stabilized by a conventional delayed feedback control technique. We utilize a modification based on an unstable delayed feedback controller. The analytical approach employs the center manifold theory and the near identity transformation. We derive the characteristic equation for the Floquet exponents of the controlled orbit in an analytical form and obtain simple expressions for the threshold of stability as well as for an optimal value of the control gain. The analytical results are supported by numerical analysis of the original system of nonlinear differential-difference equations.

  8. Novel fuzzy feedback linearization strategy for control via differential geometry approach.

    PubMed

    Li, Tzuu-Hseng S; Huang, Chiou-Jye; Chen, Chung-Cheng

    2010-07-01

    The study investigates a novel fuzzy feedback linearization strategy for control. The main contributions of this study are to construct a control strategy such that the resulting closed-loop system is valid for any initial condition with almost disturbance decoupling performance, and develop the feedback linearization design for some class of nonlinear control systems. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control is immediately applied via a human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the almost disturbance decoupling and the convergence rate performances are easily achieved by the proposed approach.

  9. Novel fuzzy feedback linearization strategy for control via differential geometry approach.

    PubMed

    Li, Tzuu-Hseng S; Huang, Chiou-Jye; Chen, Chung-Cheng

    2010-07-01

    The study investigates a novel fuzzy feedback linearization strategy for control. The main contributions of this study are to construct a control strategy such that the resulting closed-loop system is valid for any initial condition with almost disturbance decoupling performance, and develop the feedback linearization design for some class of nonlinear control systems. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control is immediately applied via a human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the almost disturbance decoupling and the convergence rate performances are easily achieved by the proposed approach. PMID:20347083

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

    SciTech Connect

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

    2006-01-15

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

  11. Active vibration control for nonlinear vehicle suspension with actuator delay via I/O feedback linearization

    NASA Astrophysics Data System (ADS)

    Lei, Jing; Jiang, Zuo; Li, Ya-Li; Li, Wu-Xin

    2014-10-01

    The problem of nonlinear vibration control for active vehicle suspension systems with actuator delay is considered. Through feedback linearization, the open-loop nonlinearity is eliminated by the feedback nonlinear term. Based on the finite spectrum assignment, the quarter-car suspension system with actuator delay is converted into an equivalent delay-free one. The nonlinear control includes a linear feedback term, a feedforward compensator, and a control memory term, which can be derived from a Riccati equation and a Sylvester equation, so that the effects produced by the road disturbances and the actuator delay are compensated, respectively. A predictor is designed to implement the predictive state in the designed control. Moreover, a reduced-order observer is constructed to solve its physical unrealisability problem. The stability proofs for the zero dynamics and the closed-loop system are provided. Numerical simulations illustrate the effectiveness and the simplicity of the designed control.

  12. Validation of a new control system for Elekta accelerators facilitating continuously variable dose rate

    SciTech Connect

    Bertelsen, Anders; Lorenzen, Ebbe L.; Brink, Carsten

    2011-08-15

    Purpose: Elekta accelerators controlled by the current clinically used accelerator control system, Desktop 7.01 (D7), uses binned variable dose rate (BVDR) for volumetric modulated arc therapy (VMAT). The next version of the treatment control system (Integrity) supports continuously variable dose rate (CVDR) as well as BVDR. Using CVDR opposed to BVDR for VMAT has the potential of reducing the treatment time but may lead to lower dosimetric accuracy due to faster moving accelerator parts. Using D7 and a test version of Integrity, differences in ability to control the accelerator, treatment efficiency, and dosimetric accuracy between the two systems were investigated. Methods: Single parameter tests were designed to expose differences in the way the two systems control the movements of the accelerator. In these tests, either the jaws, multi leaf collimators (MLCs), or gantry moved at constant speed while the dose rate was changed in discrete steps. The positional errors of the moving component and dose rate were recorded using the control systems with a sampling frequency of 4 Hz. The clinical applicability of Integrity was tested using 15 clinically used VMAT plans (5 prostate, 5 H and N, and 5 lung) generated by the SmartArc algorithm in PINNACLE. The treatment time was measured from beam-on to beam-off and the accuracy of the dose delivery was assessed by comparing DELTA4 measurements and PINNACLE calculated doses using gamma evaluation. Results: The single parameter tests showed that Integrity had an improved feedback between gantry motion and dose rate at the slight expense of MLC control compared to D7. The single parameter test did not reveal any significant differences in the control of either jaws or backup jaws between the two systems. These differences in gantry and MLC control together with the use of CVDR gives a smoother Integrity VMAT delivery compared to D7 with less abrupt changes in accelerator motion. Gamma evaluation (2% of 2 Gy and 2 mm) of the

  13. Combustion Control System Design of Diesel Engine via ASPR based Output Feedback Control Strategy with a PFC

    NASA Astrophysics Data System (ADS)

    Mizumoto, Ikuro; Tsunematsu, Junpei; Fujii, Seiya

    2016-09-01

    In this paper, a design method of an output feedback control system with a simple feedforward input for a combustion model of diesel engine will be proposed based on the almost strictly positive real-ness (ASPR-ness) of the controlled system for a combustion control of diesel engines. A parallel feedforward compensator (PFC) design scheme which renders the resulting augmented controlled system ASPR will also be proposed in order to design a stable output feedback control system for the considered combustion model. The effectiveness of our proposed method will be confirmed through numerical simulations.

  14. Observer-based output feedback control of discrete-time linear systems with input and output delays

    NASA Astrophysics Data System (ADS)

    Zhou, Bin

    2014-11-01

    In this paper, we study observer-based output feedback control of discrete-time linear systems with both multiple input and output delays. By generalising our recently developed truncated predictor feedback approach for state feedback stabilisation of discrete-time time-delay systems to the design of observer-based output feedback, two types of observer-based output feedback controllers, one being memory and the other memoryless, are constructed. Both full-order and reduced-order observer-based controllers are established in both the memory and memoryless schemes. It is shown that the separation principle holds for the memory observer-based output feedback controllers, but does not hold for the memoryless ones. We further show that the proposed observer-based output feedback controllers solve both the l2 and l∞ semi-global stabilisation problems. A numerical example is given to illustrate the effectiveness of the proposed approaches.

  15. Three degree-of-freedom force feedback control for robotic mating of umbilical lines

    NASA Technical Reports Server (NTRS)

    Fullmer, R. Rees

    1988-01-01

    The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

  16. Delayed feedback control of unstable steady states with high-frequency modulation of the delay.

    PubMed

    Gjurchinovski, Aleksandar; Jüngling, Thomas; Urumov, Viktor; Schöll, Eckehard

    2013-09-01

    We analyze the stabilization of unstable steady states by delayed feedback control with a periodic time-varying delay in the regime of a high-frequency modulation of the delay. The average effect of the delayed feedback term in the control force is equivalent to a distributed delay in the interval of the modulation, and the obtained distribution depends on the type of the modulation. In our analysis we use a simple generic normal form of an unstable focus, and investigate the effects of phase-dependent coupling and the influence of the control loop latency on the controllability. In addition, we have explored the influence of the modulation of the delays in multiple delay feedback schemes consisting of two independent delay lines of Pyragas type. A main advantage of the variable delay is the considerably larger domain of stabilization in parameter space.

  17. Energy-aware feedback control for a H.264 video decoder

    NASA Astrophysics Data System (ADS)

    Durand, Sylvain; Alt, Anne-Marie; Simon, Daniel; Marchand, Nicolas

    2015-06-01

    Embedded devices using highly integrated chips must cope with conflicting constraints, while executing computationally demanding applications under limited energy storage. Automatic control and feedback loops appear to be an effective solution to simultaneously accommodate for performance uncertainties due to the tiny scale gates variability, varying and poorly predictable computing demands and limited energy storage constraints. This paper presents the example of an embedded video decoder controlled by several feedback loops to carry out the trade-off between decoding quality and energy consumption, exploiting the frequency and voltage scaling capabilities of the chip. The inner loop controls the dynamic voltage and frequency scaling through a fast predictive control strategy. The outer loop computes the scheduling set-points needed by the inner loop to process frames decoding. The feedback loops have been implemented on a stock PC and experimental results are provided.

  18. A Kalman filter for feedback control of rotating external kink instabilities in the presence of noise

    SciTech Connect

    Hanson, Jeremy M.; De Bono, Bryan; Levesque, Jeffrey P.; Mauel, Michael E.; Maurer, David A.; Navratil, Gerald A.; Pedersen, Thomas Sunn; Shiraki, Daisuke; James, Royce W.

    2009-05-15

    The simulation and experimental optimization of a Kalman filter feedback control algorithm for n=1 tokamak external kink modes are reported. In order to achieve the highest plasma pressure limits in ITER, resistive wall mode stabilization is required [T. C. Hender et al., Nucl. Fusion 47, S128 (2007)] and feedback algorithms will need to distinguish the mode from noise due to other magnetohydrodynamic activity. The Kalman filter contains an internal model that captures the dynamics of a rotating, growing n=1 mode. This model is actively compared with real-time measurements to produce an optimal estimate for the mode's amplitude and phase. On the High Beta Tokamak-Extended Pulse experiment [T. H. Ivers et al., Phys. Plasmas 3, 1926 (1996)], the Kalman filter algorithm is implemented using a set of digital, field-programmable gate array controllers with 10 {mu}s latencies. Signals from an array of 20 poloidal sensor coils are used to measure the n=1 mode, and the feedback control is applied using 40 poloidally and toroidally localized control coils. The feedback system with the Kalman filter is able to suppress the external kink mode over a broad range of phase angles between the sensed mode and applied control field. Scans of filter parameters show good agreement between simulation and experiment, and feedback suppression and excitation of the kink mode are enhanced in experiments when a filter made using optimal parameters from the scans is used.

  19. Reversed field pinch operation with intelligent shell feedback control in EXTRAP T2R

    NASA Astrophysics Data System (ADS)

    Brunsell, P. R.; Kuldkepp, M.; Menmuir, S.; Cecconello, M.; Hedqvist, A.; Yadikin, D.; Drake, J. R.; Rachlew, E.

    2006-11-01

    Discharges in the thin shell reversed field pinch (RFP) device EXTRAP T2R without active feedback control are characterized by growth of non-resonant m = 1 unstable resistive wall modes (RWMs) in agreement with linear MHD theory. Resonant m = 1 tearing modes (TMs) exhibit initially fast rotation and the associated perturbed radial fields at the shell are small, but eventually TMs wall-lock and give rise to a growing radial field. The increase in the radial field at the wall due to growing RWMs and wall-locked TMs is correlated with an increase in the toroidal loop voltage, which leads to discharge termination after 3-4 wall times. An active magnetic feedback control system has been installed in EXTRAP T2R. A two-dimensional array of 128 active saddle coils (pair-connected into 64 independent m = 1 coils) is used with intelligent shell feedback control to suppress the m = 1 radial field at the shell. With feedback control, active stabilization of the full toroidal spectrum of 16 unstable m = 1 non-resonant RWMs is achieved, and TM wall locking is avoided. A three-fold extension of the pulse length, up to the power supply limit, is observed. Intelligent shell feedback control is able to maintain the plasma equilibrium for 10 wall times, with plasma confinement parameters sustained at values comparable to those obtained in thick shell devices of similar size.

  20. Steady state bifurcation of a periodically excited system under delayed feedback controls

    NASA Astrophysics Data System (ADS)

    Leung, A. Y. T.; Guo, Zhongjin; Myers, Alan

    2012-12-01

    This paper investigates the steady state bifurcation of a periodically excited system subject to time-delayed feedback controls by the combined method of residue harmonic balance and polynomial homotopy continuation. Three kinds of delayed feedback controls are considered to examine the effects of different delayed feedback controls and delay time on the steady state response. By means of polynomial homotopy continuation, all the possible steady state solutions corresponding the third-order superharmonic and second-subharmonic responses are derived analytically, i.e. without numerical integration. It is found that the delayed feedback changes the bifurcating curves qualitatively and possibly eliminates the saddle-node bifurcation during resonant. The delayed position-velocity coupling and the delayed velocity feedback controls can destabilize the steady state responses. Coexisting periodic solutions, period-doubling bifurcation and even chaos are found in these control systems. The neighborhood of the periodic solutions is verified numerically in the phase portraits. The various effects of time delay on the steady state response are investigated. Many new phenomena are observed.

  1. Circadian neuron feedback controls the Drosophila sleep--activity profile.

    PubMed

    Guo, Fang; Yu, Junwei; Jung, Hyung Jae; Abruzzi, Katharine C; Luo, Weifei; Griffith, Leslie C; Rosbash, Michael

    2016-08-18

    Little is known about the ability of Drosophila circadian neurons to promote sleep. Here we show, using optogenetic manipulation and video recording, that a subset of dorsal clock neurons (DN1s) are potent sleep-promoting cells that release glutamate to directly inhibit key pacemaker neurons. The pacemakers promote morning arousal by activating these DN1s, implying that a late-day feedback circuit drives midday siesta and night-time sleep. To investigate more plastic aspects of the sleep program, we used a calcium assay to monitor and compare the real-time activity of DN1 neurons in freely behaving males and females. Our results revealed that DN1 neurons were more active in males than in females, consistent with the finding that male flies sleep more during the day. DN1 activity is also enhanced by elevated temperature, consistent with the ability of higher temperatures to increase sleep. These new approaches indicate that DN1s have a major effect on the fly sleep-wake profile and integrate environmental information with the circadian molecular program. PMID:27479324

  2. Coagulation of egg white by thermal-feedback-controlled CO2 laser

    NASA Astrophysics Data System (ADS)

    Cilesiz, Inci F.; Katzir, Abraham

    2000-11-01

    Temperature feedback control during laser-assisted tissue coagulation was investigated and demonstrated using the egg white model. Dynamics of photothermal denaturation during CO2 laser irradiation was observed by simultaneously controlling surface temperature and monitoring HeNe laser transmission of egg white samples. Once a quasi-constant surface temperature was established, transmission of egg white tended to decrease linearly with time. A first order rate process was observed. Our experiments demonstrated that thermal feedback can effectively control/limit photothermal damage.

  3. Delayed feedback control of dynamical systems at a subcritical Hopf bifurcation

    NASA Astrophysics Data System (ADS)

    Pyragas, K.; Pyragas, V.; Benner, H.

    2004-11-01

    We consider the delayed feedback control of a torsion-free unstable periodic orbit originated in a dynamical system at a subcritical Hopf bifurcation. Close to the bifurcation point the problem is treated analytically using the method of averaging. We discuss the necessity of employing an unstable degree of freedom in the feedback loop as well as a nonlinear coupling between the controlled system and controller. To demonstrate our analytical approach the specific example of a nonlinear electronic circuit is taken as a model of a subcritical Hopf bifurcation.

  4. Delayed feedback control of dynamical systems at a subcritical Hopf bifurcation.

    PubMed

    Pyragas, K; Pyragas, V; Benner, H

    2004-11-01

    We consider the delayed feedback control of a torsion-free unstable periodic orbit originated in a dynamical system at a subcritical Hopf bifurcation. Close to the bifurcation point the problem is treated analytically using the method of averaging. We discuss the necessity of employing an unstable degree of freedom in the feedback loop as well as a nonlinear coupling between the controlled system and controller. To demonstrate our analytical approach the specific example of a nonlinear electronic circuit is taken as a model of a subcritical Hopf bifurcation.

  5. Nonlinear Time Delayed Feedback Control of Aeroelastic Systems: A Functional Approach

    NASA Technical Reports Server (NTRS)

    Marzocca, Piergiovanni; Librescu, Liviu; Silva, Walter A.

    2003-01-01

    In addition to its intrinsic practical importance, nonlinear time delayed feedback control applied to lifting surfaces can result in interesting aeroelastic behaviors. In this paper, nonlinear aeroelastic response to external time-dependent loads and stability boundary for actively controlled lifting surfaces, in an incompressible flow field, are considered. The structural model and the unsteady aerodynamics are considered linear. The implications of the presence of time delays in the linear/nonlinear feedback control and of geometrical parameters on the aeroelasticity of lifting surfaces are analyzed and conclusions on their implications are highlighted.

  6. Adaptive output feedback control of a class of uncertain nonlinear systems with unknown time delays

    NASA Astrophysics Data System (ADS)

    Guan, Wei

    2012-04-01

    This article studies the adaptive output feedback control problem of a class of uncertain nonlinear systems with unknown time delays. The systems considered are dominated by a triangular system without zero dynamics satisfying linear growth in the unmeasurable states. The novelty of this article is that a universal-type adaptive output feedback controller is presented to time-delay systems, which can globally regulate all the states of the uncertain systems without knowing the growth rate. An illustrative example is provided to show the applicability of the developed control strategy.

  7. Performance Optimization of Force Feedback Control System in Virtual Vascular Intervention Surgery

    PubMed Central

    Cai, Ping; Qin, Peng; Xie, Le

    2014-01-01

    In virtual surgery of minimally invasive vascular intervention, the force feedback is transmitted through the flexible guide wire. The disturbance caused by the flexible deformation would affect the fidelity of the VR (virtual reality) training. SMC (sliding mode control) strategy with delayed-output observer is adopted to suppress the effect of flexible deformation. In this study, the control performance of the strategy is assessed when the length of guide wire between actuator and the operating point changes. The performance assessment results demonstrate the effectiveness of the proposed method and find the optimal length of guide wire for the force feedback control. PMID:25254063

  8. Effect of displacement, velocity, and combined vibrotactile tilt feedback on postural control of vestibulopathic subjects.

    PubMed

    Wall, C; Kentala, E

    2010-01-01

    Vibrotactile tilt feedback was used to help vestibulopathic subjects control their anterioposterior (AP) sway during sensory organization tests 5 and 6 of Equitest computerized dynamic posturography. We used four kinds of signals to activate the feedback. The first signal was proportional (P) to the measured tilt of the subject, while the second used the first derivative (D) of the tilt. The third signal was the sum of the proportional and one half of the first derivative signals (PD). The final signal used a prediction of the subject's sway projected 100 msec in advance. The signals were used to activate vibrators mounted on the front of the torso to signal forward motion, and on the back of the torso for backward motion. Subject responses varied significantly with the kind of feedback signal. Proportional and derivative feedback resulted in similar root mean squared tilt, but the PD signal significantly reduced the tilt compared to either P or D feedback. The predicted motion signal also reduced the response compared to the PD signal. These preliminary results are somewhat consistent with an inverted pendulum model of postural control, but need to be confirmed with a larger study that also considers mediolateral tilt and feedback. The improvement by using a predictor is consistent with compensating for a neural processing delay. PMID:20555168

  9. An Integrated Enterprise Accelerator Database for the SLC Control System

    SciTech Connect

    Lahey, Terri E

    2002-08-07

    Since its inception in the early 1980's, the SLC Control System has been driven by a highly structured memory-resident real-time database. While efficient, its rigid structure and file-based sources makes it difficult to maintain and extract relevant information. The goal of transforming the sources for this database into a relational form is to enable it to be part of a Control System Enterprise Database that is an integrated central repository for SLC accelerator device and Control System data with links to other associated databases. We have taken the concepts developed for the NLC Enterprise Database and used them to create and load a relational model of the online SLC Control System database. This database contains data and structure to allow querying and reporting on beamline devices, their associations and parameters. In the future this will be extended to allow generation of EPICS and SLC database files, setup of applications and links to other databases such as accelerator maintenance, archive data, financial and personnel records, cabling information, documentation etc. The database is implemented using Oracle 8i. In the short term it will be updated daily in batch from the online SLC database. In the longer term, it will serve as the primary source for Control System static data, an R&D platform for the NLC, and contribute to SLC Control System operations.

  10. Observer-based state feedback for enhanced insulin control of type 'i' diabetic patients.

    PubMed

    Hariri, Ali; Wang, Le Yi

    2011-01-01

    During the past few decades, biomedical modeling techniques have been applied to improve performance of a wide variety of medical systems that require monitoring and control. Diabetes is one of the most important medical problems. This paper focuses on designing a state feedback controller with observer to improve the performance of the insulin control for type 'I' diabetic patients. The dynamic model of glucose levels in diabetic patients is a nonlinear model. The system is a typical fourth-order single-input-single-output state space model. Using a linear time invariant controller based on an operating condition is a common method to simplify control design. On the other hand, adaptive control can potentially improve system performance. But it increases control complexity and may create further stability issues. This paper investigates patient models and presents a simplified control scheme using observer-based feedback controllers. By comparing different control schemes, it shows that a properly designed state feedback controller with observer can eliminate the adaptation strategy that the Proportional-Integral-Derivative (PID) controllers need to improve the control performance. Control strategies are simulated and their performance is evaluated in MATLAB and Simulink.

  11. Observer-Based State Feedback for Enhanced Insulin Control of Type ‘I’ Diabetic Patients

    PubMed Central

    Hariri, Ali; Wang, Le Yi

    2011-01-01

    During the past few decades, biomedical modeling techniques have been applied to improve performance of a wide variety of medical systems that require monitoring and control. Diabetes is one of the most important medical problems. This paper focuses on designing a state feedback controller with observer to improve the performance of the insulin control for type ‘I’ diabetic patients. The dynamic model of glucose levels in diabetic patients is a nonlinear model. The system is a typical fourth-order single-input-single-output state space model. Using a linear time invariant controller based on an operating condition is a common method to simplify control design. On the other hand, adaptive control can potentially improve system performance. But it increases control complexity and may create further stability issues. This paper investigates patient models and presents a simplified control scheme using observer-based feedback controllers. By comparing different control schemes, it shows that a properly designed state feedback controller with observer can eliminate the adaptation strategy that the Proportional-Integral-Derivative (PID) controllers need to improve the control performance. Control strategies are simulated and their performance is evaluated in MATLAB and Simulink. PMID:22276077

  12. Implementation of local feedback controllers for vibration supression of a truss using active struts

    NASA Astrophysics Data System (ADS)

    McClelland, Robert; Lim, Tae W.; Bosse, Albert; Fisher, Shalom

    1996-05-01

    This paper describes the design and implementation of local feedback controllers for active vibration suppression of a laboratory truss referred to as the Naval Research Laboratory (NRL) space truss. The NRL space truss is a 3.7 meter, 12-bay aluminum laboratory truss used as a testbed to explore smart structures technologies for future Navy spacecraft missions. To conduct real-time control and data acquisition for the implementation of controllers, a digital signal processor based system is used. Two piezoceramic active struts are employed in this experimental study. Each strut is instrumented with a force transducer and a displacement sensor. Modal strain energy computed using a refined finite element model was used to select the optimum locations of the two actuators to ensure controllability of the first two structural modes. Two local feedback controllers were designed and implemented, an integral force feedback and an integral plus double-integral force feedback. The controllers were designed independently for each active strut using classical control design techniques applied to an identified model of the system dynamics. System identification results and controller design procedure are described along with closed loop test results. The test results show up to a factor of 1/110 attenuation of the truss tip motion due to sinusoidal resonant input disturbances and up to 100 times increase in damping of the lower frequency modes of the truss.

  13. Closed-loop torque feedback for a universal field-oriented controller

    SciTech Connect

    De Doncker, R.W.A.A.; King, R.D.; Sanza, P.C.; Haefner, K.B.

    1992-11-24

    A torque feedback system is employed in a universal field-oriented (UFO) controller to tune a torque-producing current command and a slip frequency command in order to achieve robust torque control of an induction machine even in the event of current regulator errors and during transitions between pulse width modulated (PWM) and square wave modes of operation. 1 figure.

  14. Closed-loop torque feedback for a universal field-oriented controller

    DOEpatents

    De Doncker, Rik W. A. A.; King, Robert D.; Sanza, Peter C.; Haefner, Kenneth B.

    1992-01-01

    A torque feedback system is employed in a universal field-oriented (UFO) controller to tune a torque-producing current command and a slip frequency command in order to achieve robust torque control of an induction machine even in the event of current regulator errors and during transitions between pulse width modulated (PWM) and square wave modes of operation.

  15. Device Configuration Handler for Accelerator Control Applications at Jefferson Lab

    SciTech Connect

    Matt Bickley; P. Chevtsov; T. Larrieu

    2003-10-01

    The accelerator control system at Jefferson Lab uses hundreds of physical devices with such popular instrument bus interfaces as Industry Pack (IPAC), GPIB, RS-232, etc. To properly handle all these components, control computers (IOCs) must be provided with the correct information about the unique memory addresses of the used interface cards, interrupt numbers (if any), data communication channels and protocols. In these conditions, the registration of a new control device in the control system is not an easy task for software developers. Because the device configuration is distributed, it requires the detailed knowledge about not only the new device but also the configuration of all other devices on the existing system. A configuration handler implemented at Jefferson Lab centralizes the information about all control devices making their registration user-friendly and very easy to use. It consists of a device driver framework and the device registration software developed on the basis of ORACLE database and freely available scripting tools (perl, php).

  16. Photocathode transfer and storage techniques using alkali vapor feedback control

    NASA Astrophysics Data System (ADS)

    Springer, R. W.; Cameron, B. J.

    1992-07-01

    Photocathodes of quantum efficiency (QE) above 1% at the doubled YAG frequency of 532 nm are very sensitive to the local vacuum environment. These cathodes must have a band gap of less than 2.3 eV, and a work function that is also on the order of ˜ 2V or less. As such, these surfaces are very reactive because they provide many surface states for the residual gases that have positive electron affinities such as oxygen and water. In addition to this problem it is found that the optimal operating point for some of these cesium based cathodes is unstable. Three of the cesium series were tried, the CsAgBiO, the Cs3Sb and the K2CsSb. The most stable material found is the K2CsSb. The required vacuum conditions can be met by a variety of pumping schemes such as using sputter ion diode pumps and baking at 250°C or less for whatever time is required to reduce the pump currents to below 1 μA at room temperature. To obtain the required partial pressure of cesium, a simple, very sensitive, diagnostic gauge has been developed that can discriminate between free alkali atoms and other gases. This Pressure Alkali Monitor (PAM) can be used with cesium sources to provide a low partial pressure using standard feedback techniques. Photocathodes of arbitrary composition have been transferred to a separate vaccuum system and preserved for over 10 days with less than a 25% loss to the QE at 543.5 nm.

  17. Numerical investigation of closed-loop control for Hall accelerators

    SciTech Connect

    Barral, S.; Miedzik, J.

    2011-01-01

    Low frequency discharge current oscillations in Hall accelerators are conventionally damped with external inductor-capacitor (LC) or resistor-inductor-capacitor (RLC) networks. The role of such network in the stabilization of the plasma discharge is investigated with a numerical model and the potential advantages of proportional-integral-derivative (PID) closed-loop control over RLC networks are subsequently assessed using either discharge voltage or magnetic field modulation. Simulations confirm the reduction of current oscillations in the presence of a RLC network, but suggest that PID control could ensure nearly oscillation-free operation with little sensitivity toward the PID settings.

  18. The Total Synthesis Problem of linear multivariable control. II - Unity feedback and the design morphism

    NASA Technical Reports Server (NTRS)

    Sain, M. K.; Antsaklis, P. J.; Gejji, R. R.; Wyman, B. F.; Peczkowski, J. L.

    1981-01-01

    Zames (1981) has observed that there is, in general, no 'separation principle' to guarantee optimality of a division between control law design and filtering of plant uncertainty. Peczkowski and Sain (1978) have solved a model matching problem using transfer functions. Taking into consideration this investigation, Peczkowski et al. (1979) proposed the Total Synthesis Problem (TSP), wherein both the command/output-response and command/control-response are to be synthesized, subject to the plant constraint. The TSP concept can be subdivided into a Nominal Design Problem (NDP), which is not dependent upon specific controller structures, and a Feedback Synthesis Problem (FSP), which is. Gejji (1980) found that NDP was characterized in terms of the plant structural matrices and a single, 'good' transfer function matrix. Sain et al. (1981) have extended this NDP work. The present investigation is concerned with a study of FSP for the unity feedback case. NDP, together with feedback synthesis, is understood as a Total Synthesis Problem.

  19. A program to evaluate a control system based on feedback of aerodynamic pressure differentials

    NASA Technical Reports Server (NTRS)

    Levy, D. W.; Finn, P.; Roskam, J.

    1981-01-01

    The use of aerodynamic pressure differentials to position a control surface is evaluated. The system is a differential pressure command loop, analogous to a position command loop, where the surface is commanded to move until a desired differential pressure across the surface is achieved. This type of control is more direct and accurate because it is the differential pressure which causes the control forces and moments. A frequency response test was performed in a low speed wind tunnel to measure the performance of the system. Both pressure and position feedback were tested. The pressure feedback performed as well as position feedback implying that the actuator, with a break frequency on the order of 10 Rad/sec, was the limiting component. Theoretical considerations indicate that aerodynamic lags will not appear below frequencies of 50 Rad/sec, or higher.

  20. An Application of Fictitious Reference Iterative Tuning to State Feedback Control

    NASA Astrophysics Data System (ADS)

    Matsui, Yoshihiro; Akamatsu, Shunichi; Kimura, Tomohiko; Nakano, Kazushi; Sakurama, Kazunori

    In this paper, an application method of Fictitious Reference Iterative Tuning (FRIT), which has been developed for controller gain tuning for single-input single-output systems, to state feedback gain tuning for single-input multivariable systems is proposed. Transient response data of a single-input multivariable plant obtained under closed-loop operation is used for model matching by the FRIT in time domain. The data is also used in frequency domain to estimate the stability and to improve the control performance of the closed-loop system with the state feedback gain tuned by the method. The method is applied to a state feedback control system for an inverted pendulum with an inertia rotor and its usefulness is illustrated through experiments.

  1. Optimal velocity model with consideration of the lateral effect and its feedback control research

    NASA Astrophysics Data System (ADS)

    Zheng, Y. Z.; Ge, H. X.

    2016-06-01

    In this paper, a car-following model with the consideration of lateral effect is constructed. An improved control signal with considering more comprehensive information is introduced according to the feedback control theory. The stability conditions with control signal or not are derived. Numerical simulations are carried out to illustrate the advantage of the modified model with and without the control signal, and the results are consistent with the analytical ones.

  2. A feedback linearization approach to spacecraft control using momentum exchange devices. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Dzielski, John Edward

    1988-01-01

    Recent developments in the area of nonlinear control theory have shown how coordiante changes in the state and input spaces can be used with nonlinear feedback to transform certain nonlinear ordinary differential equations into equivalent linear equations. These feedback linearization techniques are applied to resolve two problems arising in the control of spacecraft equipped with control moment gyroscopes (CMGs). The first application involves the computation of rate commands for the gimbals that rotate the individual gyroscopes to produce commanded torques on the spacecraft. The second application is to the long-term management of stored momentum in the system of control moment gyroscopes using environmental torques acting on the vehicle. An approach to distributing control effort among a group of redundant actuators is described that uses feedback linearization techniques to parameterize sets of controls which influence a specified subsystem in a desired way. The approach is adapted for use in spacecraft control with double-gimballed gyroscopes to produce an algorithm that avoids problematic gimbal configurations by approximating sets of gimbal rates that drive CMG rotors into desirable configurations. The momentum management problem is stated as a trajectory optimization problem with a nonlinear dynamical constraint. Feedback linearization and collocation are used to transform this problem into an unconstrainted nonlinear program. The approach to trajectory optimization is fast and robust. A number of examples are presented showing applications to the proposed NASA space station.

  3. Controllably accelerating and decelerating Airy–Bessel–Gaussian wave packets

    NASA Astrophysics Data System (ADS)

    Deng, Fu; Yu, Weihao; Deng, Dongmei

    2016-11-01

    By solving the (3  +  1)D free-space Schrödinger equation in polar coordinates analytically, we have investigated the propagation of 3D controllably accelerating and decelerating Airy–Bessel–Gaussian (CAiBG) wave packets, even CAiBG wave packets, odd CAiBG wave packets and the superposition of several CAiBG wave packets in free space. The CAiBG wave packets are constructed with the Airy pulses with initial velocity in temporal domain and the Bessel–Gaussian beams in space domain. Due to the initial velocity on Airy pulses, we can obtain decelerating and accelerating Airy–Bessel–Gaussian wave packets by selecting different initial velocities. Moreover, by superposing several CAiBG wave packets, we can obtain the rotating wave packets.

  4. Composite multi-modal vibration control for a stiffened plate using non-collocated acceleration sensor and piezoelectric actuator

    NASA Astrophysics Data System (ADS)

    Li, Shengquan; Li, Juan; Mo, Yueping; Zhao, Rong

    2014-01-01

    A novel active method for multi-mode vibration control of an all-clamped stiffened plate (ACSP) is proposed in this paper, using the extended-state-observer (ESO) approach based on non-collocated acceleration sensors and piezoelectric actuators. Considering the estimated capacity of ESO for system state variables, output superposition and control coupling of other modes, external excitation, and model uncertainties simultaneously, a composite control method, i.e., the ESO based vibration control scheme, is employed to ensure the lumped disturbances and uncertainty rejection of the closed-loop system. The phenomenon of phase hysteresis and time delay, caused by non-collocated sensor/actuator pairs, degrades the performance of the control system, even inducing instability. To solve this problem, a simple proportional differential (PD) controller and acceleration feed-forward with an output predictor design produce the control law for each vibration mode. The modal frequencies, phase hysteresis loops and phase lag values due to non-collocated placement of the acceleration sensor and piezoelectric patch actuator are experimentally obtained, and the phase lag is compensated by using the Smith Predictor technology. In order to improve the vibration control performance, the chaos optimization method based on logistic mapping is employed to auto-tune the parameters of the feedback channel. The experimental control system for the ACSP is tested using the dSPACE real-time simulation platform. Experimental results demonstrate that the proposed composite active control algorithm is an effective approach for suppressing multi-modal vibrations.

  5. Design of proportional-derivative-type state feedback controllers for congestion control of transmission control protocol networks

    NASA Astrophysics Data System (ADS)

    Azadegan, Masoumeh; Beheshti, Mohammad T. H.; Tavassoli, Babak

    2015-07-01

    A new proportional-derivative-type state feedback controller is proposed for congestion control of transmission control protocol (TCP) networks. An analytical TCP model is adopted. In the proposed control scheme, it is possible to efficiently control the TCP traffic using only the queue length at the router without the need to know the TCP window size which is not available locally. The results are presented in terms of delay-dependent linear matrix inequality. The proposed method is verified by simulation examples using NS software, and the effectiveness and superiority of our method over other control schemes, such as the proportional-integral, random early detection and generalised minimum variancemethods, are also shown.

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

    NASA Technical Reports Server (NTRS)

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

    2012-01-01

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

  7. Application of nonlinear feedback control theory to supermaneuverable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Enns, Dale F.

    1991-01-01

    Controlled flight at extremely high angles of attack, far exceeding the stall angle, and/or at high angular rates is sometimes referred to as supermaneuvering flight. The objective was to examine methods for design of control laws for aircraft performing supermaneuvers. Since the equations which govern the motion of aircraft during supermaneuvers are nonlinear, this study concentrated on nonlinear control law design procedures. The two nonlinear techniques considered were Nonlinear Quadratic Regulator (NLQR) theory and nonlinear dynamic inversion. A conventional gain scheduled proportional plus integral (P + I) controller was also developed to serve as a baseline design typical of current control laws used in aircraft. A mathematical model of a generic supermaneuverable aircraft was developed from data obtained from the literature. A detailed computer simulation of the aircraft was also developed. This simulation allowed the flying of proposed supermaneuvers and was used to evaluate the performance of the control law designs and to generate linearized models of the aircraft at different flight conditions.

  8. Frequency modulated cutaneous orientation feedback from artificial arms. [dynamic control model of human arm

    NASA Technical Reports Server (NTRS)

    Solomonow, M.; Freedy, A.; Lyman, J.

    1975-01-01

    A model of the human arm, emphasizing the neuromuscular mechanisms of feedback control, has been constructed. The various parameters and functions of physiological receptors in the feedback section have been classified into an automated category that can be incorporated in the prosthesis servo loop, and into a sensory category that should be communicated to the operator if control and dynamic performance are to be optimized. A scheme for simultaneous display of two such sensory parameters, i.e., fingertip pressure and elbow position, has been developed, implemented and evaluated. The neurophysiological mechanism of such displays, and the feasibility of sensory transformation, is discussed in this paper.

  9. Multivariable output feedback robust adaptive tracking control design for a class of delayed systems

    NASA Astrophysics Data System (ADS)

    Mirkin, Boris; Gutman, Per-Olof

    2015-02-01

    In this paper, we develop a model reference adaptive control scheme for a class of multi-input multi-output nonlinearly perturbed dynamic systems with unknown time-varying state delays which is also robust with respect to an external disturbance with unknown bounds. The output feedback adaptive control scheme uses feedback actions only, and thus does not require a direct measurement of the command or disturbance signals. A suitable Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms and to prove stability.

  10. JT-60 configuration parameters for feedback control determined by regression analysis

    NASA Astrophysics Data System (ADS)

    Matsukawa, Makoto; Hosogane, Nobuyuki; Ninomiya, Hiromasa

    1991-12-01

    The stepwise regression procedure was applied to obtain measurement formulas for equilibrium parameters used in the feedback control of JT-60. This procedure automatically selects variables necessary for the measurements, and selects a set of variables which are not likely to be picked up by physical considerations. Regression equations with stable and small multicollinearity were obtained and it was experimentally confirmed that the measurement formulas obtained through this procedure were accurate enough to be applicable to the feedback control of plasma configurations in JT-60.

  11. Second law of thermodynamics and quantum feedback control: Maxwell's demon with weak measurements

    SciTech Connect

    Jacobs, Kurt

    2009-07-15

    Recently Sagawa and Ueda [Phys. Rev. Lett. 100, 080403 (2008)] derived a bound on the work that can be extracted from a quantum system with the use of feedback control. For many quantum measurements their bound was not tight. We show that a tight version of this bound follows straightforwardly from recent work on Maxwell's demon by Alicki et al. [Open Syst. Inf. Dyn. 11, 205 (2004)], for both discrete and continuous feedback control. Our analysis also shows that bare, efficient measurements always do non-negative work on a system in equilibrium, but do not add heat.

  12. Neural network-based optimal adaptive output feedback control of a helicopter UAV.

    PubMed

    Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

    2013-07-01

    Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

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

    PubMed

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

    2015-08-01

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

  14. A predictive and feedback control algorithm maintains a constant glucose concentration in fed-batch fermentations.

    PubMed

    Kleman, G L; Chalmers, J J; Luli, G W; Strohl, W R

    1991-04-01

    A combined predictive and feedback control algorithm based on measurements of the concentration of glucose on-line has been developed to control fed-batch fermentations of Escherichia coli. The predictive control algorithm was based on the on-line calculation of glucose demand by the culture and plotting a linear regression to the next datum point to obtain a predicted glucose demand. This provided a predictive "coarse" control for the glucose-based nutrient feed. A direct feedback control using a proportional controller, based on glucose measurements every 2 min, fine-tuned the feed rate. These combined control schemes were used to maintain glucose concentrations in fed-batch fermentations as tight as 0.49 +/- 0.04 g/liter during growth of E. coli to high cell densities. PMID:2059049

  15. A predictive and feedback control algorithm maintains a constant glucose concentration in fed-batch fermentations.

    PubMed Central

    Kleman, G L; Chalmers, J J; Luli, G W; Strohl, W R

    1991-01-01

    A combined predictive and feedback control algorithm based on measurements of the concentration of glucose on-line has been developed to control fed-batch fermentations of Escherichia coli. The predictive control algorithm was based on the on-line calculation of glucose demand by the culture and plotting a linear regression to the next datum point to obtain a predicted glucose demand. This provided a predictive "coarse" control for the glucose-based nutrient feed. A direct feedback control using a proportional controller, based on glucose measurements every 2 min, fine-tuned the feed rate. These combined control schemes were used to maintain glucose concentrations in fed-batch fermentations as tight as 0.49 +/- 0.04 g/liter during growth of E. coli to high cell densities. PMID:2059049

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

    PubMed

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

    2015-08-01

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

  17. Neural network control of multifingered robot hands using visual feedback.

    PubMed

    Zhao, Yu; Cheah, Chien Chern

    2009-05-01

    It is interesting to observe that humans are able to manipulate an object easily and skillfully without the exact knowledge of the object, contact points, or kinematics of our fingers. However, research so far on multifingered robot control has assumed that the kinematics and contact points of the fingers are known exactly. In many applications of multifingered robot hands, the kinematics and contact points of the fingers are uncertain and structures of the Jacobian matrices are unknown. In this paper, we propose an adaptive neural network (NN) Jacobian controller for multifingered robot hand with uncertainties in kinematics, Jacobian matrices, and dynamics. It is shown that using NNs, the uniform ultimate boundedness of the position error can be achieved in the presence of the uncertainties. Simulation results are presented to illustrate the performance of the proposed controller.

  18. Intelligent control of robotic paint stripping using color vision feedback

    NASA Astrophysics Data System (ADS)

    Harvey, D. N.; Rogers, T. W.

    1993-08-01

    The paper describes a color-based machine vision system which is capable of functioning as a real-time process control system for a robotic work cell currently being developed for stripping paint from both large and small aircraft. The system is based on hue, saturation, and intensity representation of the image data and on rapid analysis techniques and is capable of differentiating between painted, primed, stripped, and roughened aircraft surfaces. These techniques were tested on a large number of aircraft paint schemes under actual stripping conditions, and were found to be fast and robust enough for real-time process control.

  19. Decentralised memory static output feedback control for the nonlinear time-delay similar interconnected systems

    NASA Astrophysics Data System (ADS)

    Ma, Yuechao; Jin, Shujie; Gu, Nannan

    2016-07-01

    In this paper, the problem of decentralised memory static output feedback control for a class of nonlinear time-delayed interconnected systems with similar structure is investigated, where both the linear and nonlinear state vectors involve time delay. The contributions of the paper include the following: (1) a new similar structure is presented via memory static output feedback; (2) by exploiting the structure of interconnected systems, the new integral inequalities, constrained Lyapunov equations and LMI method, the decentralised memory static output derivative feedback controllers with similar structure are designed, which is dependent of time delays, to stabilise the interconnected systems uniformly asymptotically; and (3) the stability domain is estimated. The conservatism of the results obtained is reduced by full using the system output information. Finally, the numerical examples are given to demonstrate the effectiveness of the results obtained in this paper.

  20. High-fidelity measurement and quantum feedback control in circuit QED

    SciTech Connect

    Sarovar, Mohan; Milburn, G. J.; Goan, H.-S.; Spiller, T. P.

    2005-12-15

    Circuit QED is a promising solid-state quantum computing architecture. It also has excellent potential as a platform for quantum control--especially quantum feedback control--experiments. However, the current scheme for measurement in circuit QED is low efficiency and has low signal-to-noise ratio for single-shot measurements. The low quality of this measurement makes the implementation of feedback difficult, and here we propose two schemes for measurement in circuit QED architectures that can significantly improve signal-to-noise ratio and potentially achieve quantum-limited measurement. Such measurements would enable the implementation of quantum feedback protocols and we illustrate this with a simple entanglement-stabilization scheme.

  1. Feedback in the brainstem: An excitatory disynaptic pathway for control of whisking

    PubMed Central

    Matthews, David W.; Deschênes, Martin; Furuta, Takahiro; Moore, Jeffrey D.; Wang, Fan; Karten, Harvey J.; Kleinfeld, David

    2014-01-01

    Sensorimotor processing relies on hierarchical neuronal circuits to mediate sensory-driven behaviors. In the mouse vibrissa system, trigeminal brainstem circuits are thought to mediate the first stage of vibrissa scanning control via sensory feedback that provides reflexive protraction in response to stimulation. However, these circuits are not well defined. Here, we describe a complete disynaptic sensory receptor-to-muscle circuit for positive feedback in vibrissa movement. We identified a novel region of trigeminal brainstem, spinal trigeminal nucleus pars muralis, that contains a class of vGluT2+ excitatory projection neurons involved in vibrissa motor control. Complementary single- and duallabeling with traditional and virus tracers demonstrate that these neurons both receive primary inputs from vibrissa sensory afferent fibers and send monosynaptic connections to facial nucleus motoneurons that directly innervate vibrissa musculature. These anatomical results suggest a general role of disynaptic architecture in fast positive feedback for motor output driving active sensation. PMID:25503925

  2. Investigation of Space Interferometer Control Using Imaging Sensor Output Feedback

    NASA Technical Reports Server (NTRS)

    Leitner, Jesse A.; Cheng, Victor H. L.

    2003-01-01

    Numerous space interferometry missions are planned for the next decade to verify different enabling technologies towards very-long-baseline interferometry to achieve high-resolution imaging and high-precision measurements. These objectives will require coordinated formations of spacecraft separately carrying optical elements comprising the interferometer. High-precision sensing and control of the spacecraft and the interferometer-component payloads are necessary to deliver sub-wavelength accuracy to achieve the scientific objectives. For these missions, the primary scientific product of interferometer measurements may be the only source of data available at the precision required to maintain the spacecraft and interferometer-component formation. A concept is studied for detecting the interferometer's optical configuration errors based on information extracted from the interferometer sensor output. It enables precision control of the optical components, and, in cases of space interferometers requiring formation flight of spacecraft that comprise the elements of a distributed instrument, it enables the control of the formation-flying vehicles because independent navigation or ranging sensors cannot deliver the high-precision metrology over the entire required geometry. Since the concept can act on the quality of the interferometer output directly, it can detect errors outside the capability of traditional metrology instruments, and provide the means needed to augment the traditional instrumentation to enable enhanced performance. Specific analyses performed in this study include the application of signal-processing and image-processing techniques to solve the problems of interferometer aperture baseline control, interferometer pointing, and orientation of multiple interferometer aperture pairs.

  3. Status and Future Developments in Large Accelerator Control Systems

    SciTech Connect

    Karen S. White

    2006-10-31

    Over the years, accelerator control systems have evolved from small hardwired systems to complex computer controlled systems with many types of graphical user interfaces and electronic data processing. Today's control systems often include multiple software layers, hundreds of distributed processors, and hundreds of thousands of lines of code. While it is clear that the next generation of accelerators will require much bigger control systems, they will also need better systems. Advances in technology will be needed to ensure the network bandwidth and CPU power can provide reasonable update rates and support the requisite timing systems. Beyond the scaling problem, next generation systems face additional challenges due to growing cyber security threats and the likelihood that some degree of remote development and operation will be required. With a large number of components, the need for high reliability increases and commercial solutions can play a key role towards this goal. Future control systems will operate more complex machines and need to present a well integrated, interoperable set of tools with a high degree of automation. Consistency of data presentation and exception handling will contribute to efficient operations. From the development perspective, engineers will need to provide integrated data management in the beginning of the project and build adaptive software components around a central data repository. This will make the system maintainable and ensure consistency throughout the inevitable changes during the machine lifetime. Additionally, such a large project will require professional project management and disciplined use of well-defined engineering processes. Distributed project teams will make the use of standards, formal requirements and design and configuration control vital. Success in building the control system of the future may hinge on how well we integrate commercial components and learn from best practices used in other industries.

  4. Controlled Electron Acceleration in a Plane Laser Beam

    NASA Astrophysics Data System (ADS)

    Tataronis, J. A.; Petržílka, V.; Krlín, L.

    2002-11-01

    Through numerical modeling of the relativistic test particle motion of an ensemble of electrons in a plane laser beam, we show in the present contribution that a significant electron acceleration arises if an additional perpendicularly propagagating transverse laser beam with a randomized phase is present. We also demonstrate that the acceleration rate can be controlled by the power flux intensity of the additional laser beam. The power flux intensity of the additional beam can be typically much lower than the power flux intensity of the main laser beam. In the main laser beam, the electrons perform also a forward oscillating motion because of the effects of the magnetic field intensity of the beam. The acceleration results from the accumulation of the forward electron motion due to phase changes provided by the additional laser beam. For parameters of the PALS^1 device (Prague Asterix Laser System), the attainable electron energy is about 40 MeV in 10^4 wave periods. [2pt] Acknowledgments: This work has been supported by Czech grant GACR 202/00/1217 and USDOE Grant DE-FG02-97ER54398. [2pt] ^1K.Jungwirth et al., Phys. Plasmas 8 (2001) 2495.

  5. Magnetically Controlled Plasma Waveguide For Laser Wakefield Acceleration

    SciTech Connect

    Froula, D H; Divol, L; Davis, P; Palastro, J; Michel, P; Leurent, V; Glenzer, S H; Pollock, B; Tynan, G

    2008-05-14

    An external magnetic field applied to a laser plasma is shown produce a plasma channel at densities relevant to creating GeV monoenergetic electrons through laser wakefield acceleration. Furthermore, the magnetic field also provides a pressure to help shape the channel to match the guiding conditions of an incident laser beam. Measured density channels suitable for guiding relativistic short-pulse laser beams are presented with a minimum density of 5 x 10{sup 17} cm{sup -3} which corresponds to a linear dephasing length of several centimeters suitable for multi-GeV electron acceleration. The experimental setup at the Jupiter Laser Facility, Lawrence Livermore National Laboratory, where a 1-ns, 150 J 1054 nm laser will produce a magnetically controlled channel to guide a < 75 fs, 10 J short-pulse laser beam through 5-cm of 5 x 10{sup 17} cm{sup -3} plasma is presented. Calculations presented show that electrons can be accelerated to 3 GeV with this system. Three-dimensional resistive magneto-hydrodynamic simulations are used to design the laser and plasma parameters and quasi-static kinetic simulations indicate that the channel will guide a 200 TW laser beam over 5-cm.

  6. Feedback Linearization approach for Standard and Fault Tolerant control: Application to a Quadrotor UAV Testbed

    NASA Astrophysics Data System (ADS)

    Ghandour, J.; Aberkane, S.; Ponsart, J.-C.

    2014-12-01

    In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. We develop a Feedback linearization approach to design a controller whose task is to make the vehicle performs trajectory following. Then we use the same approach to design a controller whose task is to make the vehicle enter a stable spin around its vertical axis, while retaining zero angular velocities around the other axis when a rotor failure is present. These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control. At last, to test the robustness of the feedback linearization technique, we applied wind to the quadrotor in mid flight.

  7. Relation between the extended time-delayed feedback control algorithm and the method of harmonic oscillators.

    PubMed

    Pyragas, Viktoras; Pyragas, Kestutis

    2015-08-01

    In a recent paper [Phys. Rev. E 91, 012920 (2015)] Olyaei and Wu have proposed a new chaos control method in which a target periodic orbit is approximated by a system of harmonic oscillators. We consider an application of such a controller to single-input single-output systems in the limit of an infinite number of oscillators. By evaluating the transfer function in this limit, we show that this controller transforms into the known extended time-delayed feedback controller. This finding gives rise to an approximate finite-dimensional theory of the extended time-delayed feedback control algorithm, which provides a simple method for estimating the leading Floquet exponents of controlled orbits. Numerical demonstrations are presented for the chaotic Rössler, Duffing, and Lorenz systems as well as the normal form of the Hopf bifurcation. PMID:26382493

  8. Feedback linearisation control of an induction machine augmented by single-hidden layer neural networks

    NASA Astrophysics Data System (ADS)

    Ait Abbas, Hamou; Belkheiri, Mohammed; Zegnini, Boubakeur

    2016-01-01

    We consider adaptive output feedback control methodology of highly uncertain nonlinear systems with both parametric uncertainties and unmodelled dynamics. The approach is also applicable to systems of unknown, but bounded dimension. However, the relative degree of the regulated output is assumed to be known. This new control strategy is proposed to address the tracking problem of an induction motor based on a modified field-oriented control method. The obtained controller is then augmented by an online neural network that serves as an approximator for the neglected dynamics and modelling errors. The network weight adaptation rule is derived from the Lyapunov stability analysis, that guarantees boundedness of all the error signals of the closed-loop system. Computer simulations of an output feedback controlled induction machine, augmented via single-hidden-layer neural networks, demonstrate the practical potential of the proposed control algorithm.

  9. Hybrid Invariance and Stability of a Feedback Linearizing Controller for Powered Prostheses

    PubMed Central

    Martin, Anne E.; Gregg, Robert D.

    2015-01-01

    The development of powered lower-limb prostheses has the potential to significantly improve amputees’ quality of life. By applying advanced control schemes, such as hybrid zero dynamics (HZD), to prostheses, more intelligent prostheses could be designed. Originally developed to control bipedal robots, HZD-based control specifies the motion of the actuated degrees of freedom using output functions to be zeroed, and the required torques are calculated using feedback linearization. Previous work showed that an HZD-like prosthesis controller can successfully control the stance period of gait. This paper shows that an HZD-based prosthesis controller can be used for the entire gait cycle and that feedback linearization can be performed using only information measured with on-board sensors. An analytic metric for orbital stability of a two-step periodic gait is developed. The results are illustrated in simulation. PMID:26604427

  10. Relation between the extended time-delayed feedback control algorithm and the method of harmonic oscillators

    NASA Astrophysics Data System (ADS)

    Pyragas, Viktoras; Pyragas, Kestutis

    2015-08-01

    In a recent paper [Phys. Rev. E 91, 012920 (2015), 10.1103/PhysRevE.91.012920] Olyaei and Wu have proposed a new chaos control method in which a target periodic orbit is approximated by a system of harmonic oscillators. We consider an application of such a controller to single-input single-output systems in the limit of an infinite number of oscillators. By evaluating the transfer function in this limit, we show that this controller transforms into the known extended time-delayed feedback controller. This finding gives rise to an approximate finite-dimensional theory of the extended time-delayed feedback control algorithm, which provides a simple method for estimating the leading Floquet exponents of controlled orbits. Numerical demonstrations are presented for the chaotic Rössler, Duffing, and Lorenz systems as well as the normal form of the Hopf bifurcation.

  11. Synthetic gene network restoring endogenous pituitary-thyroid feedback control in experimental Graves' disease.

    PubMed

    Saxena, Pratik; Charpin-El Hamri, Ghislaine; Folcher, Marc; Zulewski, Henryk; Fussenegger, Martin

    2016-02-01

    Graves' disease is an autoimmune disorder that causes hyperthyroidism because of autoantibodies that bind to the thyroid-stimulating hormone receptor (TSHR) on the thyroid gland, triggering thyroid hormone release. The physiological control of thyroid hormone homeostasis by the feedback loops involving the hypothalamus-pituitary-thyroid axis is disrupted by these stimulating autoantibodies. To reset the endogenous thyrotrophic feedback control, we designed a synthetic mammalian gene circuit that maintains thyroid hormone homeostasis by monitoring thyroid hormone levels and coordinating the expression of a thyroid-stimulating hormone receptor antagonist (TSHAntag), which competitively inhibits the binding of thyroid-stimulating hormone or the human autoantibody to TSHR. This synthetic control device consists of a synthetic thyroid-sensing receptor (TSR), a yeast Gal4 protein/human thyroid receptor-α fusion, which reversibly triggers expression of the TSHAntag gene from TSR-dependent promoters. In hyperthyroid mice, this synthetic circuit sensed pathological thyroid hormone levels and restored the thyrotrophic feedback control of the hypothalamus-pituitary-thyroid axis to euthyroid hormone levels. Therapeutic plug and play gene circuits that restore physiological feedback control in metabolic disorders foster advanced gene- and cell-based therapies.

  12. Synthetic gene network restoring endogenous pituitary–thyroid feedback control in experimental Graves’ disease

    PubMed Central

    Saxena, Pratik; Charpin-El Hamri, Ghislaine; Folcher, Marc; Zulewski, Henryk; Fussenegger, Martin

    2016-01-01

    Graves’ disease is an autoimmune disorder that causes hyperthyroidism because of autoantibodies that bind to the thyroid-stimulating hormone receptor (TSHR) on the thyroid gland, triggering thyroid hormone release. The physiological control of thyroid hormone homeostasis by the feedback loops involving the hypothalamus–pituitary–thyroid axis is disrupted by these stimulating autoantibodies. To reset the endogenous thyrotrophic feedback control, we designed a synthetic mammalian gene circuit that maintains thyroid hormone homeostasis by monitoring thyroid hormone levels and coordinating the expression of a thyroid-stimulating hormone receptor antagonist (TSHAntag), which competitively inhibits the binding of thyroid-stimulating hormone or the human autoantibody to TSHR. This synthetic control device consists of a synthetic thyroid-sensing receptor (TSR), a yeast Gal4 protein/human thyroid receptor-α fusion, which reversibly triggers expression of the TSHAntag gene from TSR-dependent promoters. In hyperthyroid mice, this synthetic circuit sensed pathological thyroid hormone levels and restored the thyrotrophic feedback control of the hypothalamus–pituitary–thyroid axis to euthyroid hormone levels. Therapeutic plug and play gene circuits that restore physiological feedback control in metabolic disorders foster advanced gene- and cell-based therapies. PMID:26787873

  13. Synthetic gene network restoring endogenous pituitary-thyroid feedback control in experimental Graves' disease.

    PubMed

    Saxena, Pratik; Charpin-El Hamri, Ghislaine; Folcher, Marc; Zulewski, Henryk; Fussenegger, Martin

    2016-02-01

    Graves' disease is an autoimmune disorder that causes hyperthyroidism because of autoantibodies that bind to the thyroid-stimulating hormone receptor (TSHR) on the thyroid gland, triggering thyroid hormone release. The physiological control of thyroid hormone homeostasis by the feedback loops involving the hypothalamus-pituitary-thyroid axis is disrupted by these stimulating autoantibodies. To reset the endogenous thyrotrophic feedback control, we designed a synthetic mammalian gene circuit that maintains thyroid hormone homeostasis by monitoring thyroid hormone levels and coordinating the expression of a thyroid-stimulating hormone receptor antagonist (TSHAntag), which competitively inhibits the binding of thyroid-stimulating hormone or the human autoantibody to TSHR. This synthetic control device consists of a synthetic thyroid-sensing receptor (TSR), a yeast Gal4 protein/human thyroid receptor-α fusion, which reversibly triggers expression of the TSHAntag gene from TSR-dependent promoters. In hyperthyroid mice, this synthetic circuit sensed pathological thyroid hormone levels and restored the thyrotrophic feedback control of the hypothalamus-pituitary-thyroid axis to euthyroid hormone levels. Therapeutic plug and play gene circuits that restore physiological feedback control in metabolic disorders foster advanced gene- and cell-based therapies. PMID:26787873

  14. Auditory reafferences: the influence of real-time feedback on movement control

    PubMed Central

    Kennel, Christian; Streese, Lukas; Pizzera, Alexandra; Justen, Christoph; Hohmann, Tanja; Raab, Markus

    2015-01-01

    Auditory reafferences are real-time auditory products created by a person’s own movements. Whereas the interdependency of action and perception is generally well studied, the auditory feedback channel and the influence of perceptual processes during movement execution remain largely unconsidered. We argue that movements have a rhythmic character that is closely connected to sound, making it possible to manipulate auditory reafferences online to understand their role in motor control. We examined if step sounds, occurring as a by-product of running, have an influence on the performance of a complex movement task. Twenty participants completed a hurdling task in three auditory feedback conditions: a control condition with normal auditory feedback, a white noise condition in which sound was masked, and a delayed auditory feedback condition. Overall time and kinematic data were collected. Results show that delayed auditory feedback led to a significantly slower overall time and changed kinematic parameters. Our findings complement previous investigations in a natural movement situation with non-artificial auditory cues. Our results support the existing theoretical understanding of action–perception coupling and hold potential for applied work, where naturally occurring movement sounds can be implemented in the motor learning processes. PMID:25688230

  15. Ideomotor feedback control in a recurrent neural network.

    PubMed

    Galtier, Mathieu

    2015-06-01

    The architecture of a neural network controlling an unknown environment is presented. It is based on a randomly connected recurrent neural network from which both perception and action are simultaneously read and fed back. There are two concurrent learning rules implementing a sort of ideomotor control: (i) perception is learned along the principle that the network should predict reliably its incoming stimuli; (ii) action is learned along the principle that the prediction of the network should match a target time series. The coherent behavior of the neural network in its environment is a consequence of the interaction between the two principles. Numerical simulations show a promising performance of the approach, which can be turned into a local and better "biologically plausible" algorithm.

  16. Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed

    NASA Technical Reports Server (NTRS)

    Tian, Ye; Song, Qi; Cattafesta, Louis

    2005-01-01

    This report summarizes the activities on "Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed." The work summarized consists primarily of two parts. The first part summarizes our previous work and the extensions to adaptive ID and control algorithms. The second part concentrates on the validation of adaptive algorithms by applying them to a vibration beam test bed. Extensions to flow control problems are discussed.

  17. A high precision dual feedback discrete control system designed for satellite trajectory simulator

    NASA Astrophysics Data System (ADS)

    Liu, Ximin; Liu, Liren; Sun, Jianfeng; Xu, Nan

    2005-08-01

    Cooperating with the free-space laser communication terminals, the satellite trajectory simulator is used to test the acquisition, pointing, tracking and communicating performances of the terminals. So the satellite trajectory simulator plays an important role in terminal ground test and verification. Using the double-prism, Sun etc in our group designed a satellite trajectory simulator. In this paper, a high precision dual feedback discrete control system designed for the simulator is given and a digital fabrication of the simulator is made correspondingly. In the dual feedback discrete control system, Proportional- Integral controller is used in velocity feedback loop and Proportional- Integral- Derivative controller is used in position feedback loop. In the controller design, simplex method is introduced and an improvement to the method is made. According to the transfer function of the control system in Z domain, the digital fabrication of the simulator is given when it is exposed to mechanism error and moment disturbance. Typically, when the mechanism error is 100urad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.49urad, 6.12urad, 4.56urad, 4.09urad respectively. When the moment disturbance is 0.1rad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.26urad, 0.22urad, 0.16urad, 0.15urad respectively. The digital fabrication results demonstrate that the dual feedback discrete control system designed for the simulator can achieve the anticipated high precision performance.

  18. Combining Vibrotactile Feedback with Volitional Myoelectric Control for Robotic Transtibial Prostheses

    PubMed Central

    Chen, Baojun; Feng, Yanggang; Wang, Qining

    2016-01-01

    In recent years, the development of myoelectric control for robotic lower-limb prostheses makes it possible for amputee users to volitionally control prosthetic joints. However, the human-centered control loop is not closed due to the lack of sufficient feedback of prosthetic joint movement, and it may result in poor control performance. In this research, we propose a vibrotactile stimulation system to provide the feedback of ankle joint position, and validate the necessity of combining it with volitional myoelectric control to achieve improved control performance. The stimulation system is wearable and consists of six vibrators. Three of the vibrators are placed on the anterior side of the thigh and the other three on the posterior side of the thigh. To explore the potential of applying the proposed vibrotactile feedback system for prosthetic ankle control, eight able-bodied subjects and two transtibial amputee subjects (TT1 and TT2) were recruited in this research, and several experiments were designed to investigate subjects’ sensitivities to discrete and continuous vibration stimulations applied on the thigh. Then, we proposed a stimulation controller to produce different stimulation patterns according to current ankle angle. Amputee subjects were asked to control a virtual ankle displayed on the computer screen to reach different target ankle angles with a myoelectric controller, and control performances under different feedback conditions were compared. Experimental results indicated that subjects were more sensitive to stimulation position changes (identification accuracies were 96.39 ± 0.86, 91.11, and 93.89% for able-bodied subjects, TT1, and TT2, respectively) than stimulation amplitude changes (identification accuracies were 89.89 ± 2.40, 87.04, and 85.19% for able-bodied subjects, TT1, and TT2, respectively). Response times of able-bodied subjects, TT1, and TT2 to stimulation pattern changes were 0.47 ± 0.02 s, 0.53 s, and 0.48

  19. Combining Vibrotactile Feedback with Volitional Myoelectric Control for Robotic Transtibial Prostheses.

    PubMed

    Chen, Baojun; Feng, Yanggang; Wang, Qining

    2016-01-01

    In recent years, the development of myoelectric control for robotic lower-limb prostheses makes it possible for amputee users to volitionally control prosthetic joints. However, the human-centered control loop is not closed due to the lack of sufficient feedback of prosthetic joint movement, and it may result in poor control performance. In this research, we propose a vibrotactile stimulation system to provide the feedback of ankle joint position, and validate the necessity of combining it with volitional myoelectric control to achieve improved control performance. The stimulation system is wearable and consists of six vibrators. Three of the vibrators are placed on the anterior side of the thigh and the other three on the posterior side of the thigh. To explore the potential of applying the proposed vibrotactile feedback system for prosthetic ankle control, eight able-bodied subjects and two transtibial amputee subjects (TT1 and TT2) were recruited in this research, and several experiments were designed to investigate subjects' sensitivities to discrete and continuous vibration stimulations applied on the thigh. Then, we proposed a stimulation controller to produce different stimulation patterns according to current ankle angle. Amputee subjects were asked to control a virtual ankle displayed on the computer screen to reach different target ankle angles with a myoelectric controller, and control performances under different feedback conditions were compared. Experimental results indicated that subjects were more sensitive to stimulation position changes (identification accuracies were 96.39 ± 0.86, 91.11, and 93.89% for able-bodied subjects, TT1, and TT2, respectively) than stimulation amplitude changes (identification accuracies were 89.89 ± 2.40, 87.04, and 85.19% for able-bodied subjects, TT1, and TT2, respectively). Response times of able-bodied subjects, TT1, and TT2 to stimulation pattern changes were 0.47 ± 0.02 s, 0.53 s, and 0.48

  20. Feedback control of wave propagation in a rectangular panel, Part 1: Theoretical investigation of fundamental characteristics

    NASA Astrophysics Data System (ADS)

    Iwamoto, Hiroyuki; Tanaka, Nobuo; Hill, Simon G.

    2013-08-01

    This study presents the feedback control of flexural waves propagating in a rectangular panel. The objective of this paper (part 1) is to theoretically investigate the fundamental properties of the feedback wave control system. First, a transfer matrix method in the Laplace domain is introduced which is based on a wave solution of a rectangular panel. This is followed by the derivation of the characteristic equation and the feedback control laws for absorbing the reflected waves. Then, from a viewpoint of numerical simulations, the control performance of the proposed method is clarified. It is found that the reflected wave absorbing control enables inactivation of vibration modes since standing waves which cause resonant phenomena disappear from the structural vibration. Finally, the stability verification of the proposed control system is conducted using Nyquist diagram. It is shown that although the controller has unstable poles in some cases, the nominal control system is stable irrespective of whether the collocation holds or not. Furthermore, it is clarified that a wave-absorbing control system becomes robust for the parameter fluctuation if the uncontrolled region does not exist.

  1. On the interaction structure of linear multi-input feedback control systems. M.S. Thesis; [problem solving, lattices (mathematics)

    NASA Technical Reports Server (NTRS)

    Wong, P. K.

    1975-01-01

    The closely-related problems of designing reliable feedback stabilization strategy and coordinating decentralized feedbacks are considered. Two approaches are taken. A geometric characterization of the structure of control interaction (and its dual) was first attempted and a concept of structural homomorphism developed based on the idea of 'similarity' of interaction pattern. The idea of finding classes of individual feedback maps that do not 'interfere' with the stabilizing action of each other was developed by identifying the structural properties of nondestabilizing and LQ-optimal feedback maps. Some known stability properties of LQ-feedback were generalized and some partial solutions were provided to the reliable stabilization and decentralized feedback coordination problems. A concept of coordination parametrization was introduced, and a scheme for classifying different modes of decentralization (information, control law computation, on-line control implementation) in control systems was developed.

  2. Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback. M.S. Thesis

    NASA Technical Reports Server (NTRS)

    Gettman, Chang-Ching LO

    1993-01-01

    This thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.

  3. Reduced-order model based feedback control of the modified Hasegawa-Wakatani model

    SciTech Connect

    Goumiri, I. R.; Rowley, C. W.; Ma, Z.; Gates, D. A.; Krommes, J. A.; Parker, J. B.

    2013-04-15

    In this work, the development of model-based feedback control that stabilizes an unstable equilibrium is obtained for the Modified Hasegawa-Wakatani (MHW) equations, a classic model in plasma turbulence. First, a balanced truncation (a model reduction technique that has proven successful in flow control design problems) is applied to obtain a low dimensional model of the linearized MHW equation. Then, a model-based feedback controller is designed for the reduced order model using linear quadratic regulators. Finally, a linear quadratic Gaussian controller which is more resistant to disturbances is deduced. The controller is applied on the non-reduced, nonlinear MHW equations to stabilize the equilibrium and suppress the transition to drift-wave induced turbulence.

  4. Reduced-Order Model Based Feedback Control For Modified Hasegawa-Wakatani Model

    SciTech Connect

    Goumiri, I. R.; Rowley, C. W.; Ma, Z.; Gates, D. A.; Krommes, J. A.; Parker, J. B.

    2013-01-28

    In this work, the development of model-based feedback control that stabilizes an unstable equilibrium is obtained for the Modi ed Hasegawa-Wakatani (MHW) equations, a classic model in plasma turbulence. First, a balanced truncation (a model reduction technique that has proven successful in ow control design problems) is applied to obtain a low dimensional model of the linearized MHW equation. Then a modelbased feedback controller is designed for the reduced order model using linear quadratic regulators (LQR). Finally, a linear quadratic gaussian (LQG) controller, which is more resistant to disturbances is deduced. The controller is applied on the non-reduced, nonlinear MHW equations to stabilize the equilibrium and suppress the transition to drift-wave induced turbulence.

  5. Learning from adaptive neural network output feedback control of a unicycle-type mobile robot.

    PubMed

    Zeng, Wei; Wang, Qinghui; Liu, Fenglin; Wang, Ying

    2016-03-01

    This paper studies learning from adaptive neural network (NN) output feedback control of nonholonomic unicycle-type mobile robots. The major difficulties are caused by the unknown robot system dynamics and the unmeasurable states. To overcome these difficulties, a new adaptive control scheme is proposed including designing a new adaptive NN output feedback controller and two high-gain observers. It is shown that the stability of the closed-loop robot system and the convergence of tracking errors are guaranteed. The unknown robot system dynamics can be approximated by radial basis function NNs. When repeating same or similar control tasks, the learned knowledge can be recalled and reused to achieve guaranteed stability and better control performance, thereby avoiding the tremendous repeated training process of NNs. PMID:26830003

  6. Learning from adaptive neural network output feedback control of a unicycle-type mobile robot.

    PubMed

    Zeng, Wei; Wang, Qinghui; Liu, Fenglin; Wang, Ying

    2016-03-01

    This paper studies learning from adaptive neural network (NN) output feedback control of nonholonomic unicycle-type mobile robots. The major difficulties are caused by the unknown robot system dynamics and the unmeasurable states. To overcome these difficulties, a new adaptive control scheme is proposed including designing a new adaptive NN output feedback controller and two high-gain observers. It is shown that the stability of the closed-loop robot system and the convergence of tracking errors are guaranteed. The unknown robot system dynamics can be approximated by radial basis function NNs. When repeating same or similar control tasks, the learned knowledge can be recalled and reused to achieve guaranteed stability and better control performance, thereby avoiding the tremendous repeated training process of NNs.

  7. Nonlinear power flow feedback control for improved stability and performance of airfoil sections

    DOEpatents

    Wilson, David G.; Robinett, III, Rush D.

    2013-09-03

    A computer-implemented method of determining the pitch stability of an airfoil system, comprising using a computer to numerically integrate a differential equation of motion that includes terms describing PID controller action. In one model, the differential equation characterizes the time-dependent response of the airfoil's pitch angle, .alpha.. The computer model calculates limit-cycles of the model, which represent the stability boundaries of the airfoil system. Once the stability boundary is known, feedback control can be implemented, by using, for example, a PID controller to control a feedback actuator. The method allows the PID controller gain constants, K.sub.I, K.sub.p, and K.sub.d, to be optimized. This permits operation closer to the stability boundaries, while preventing the physical apparatus from unintentionally crossing the stability boundaries. Operating closer to the stability boundaries permits greater power efficiencies to be extracted from the airfoil system.

  8. Reduced-order model based feedback control of the modified Hasegawa-Wakatani model

    NASA Astrophysics Data System (ADS)

    Goumiri, I. R.; Rowley, C. W.; Ma, Z.; Gates, D. A.; Krommes, J. A.; Parker, J. B.

    2013-04-01

    In this work, the development of model-based feedback control that stabilizes an unstable equilibrium is obtained for the Modified Hasegawa-Wakatani (MHW) equations, a classic model in plasma turbulence. First, a balanced truncation (a model reduction technique that has proven successful in flow control design problems) is applied to obtain a low dimensional model of the linearized MHW equation. Then, a model-based feedback controller is designed for the reduced order model using linear quadratic regulators. Finally, a linear quadratic Gaussian controller which is more resistant to disturbances is deduced. The controller is applied on the non-reduced, nonlinear MHW equations to stabilize the equilibrium and suppress the transition to drift-wave induced turbulence.

  9. Reduced-order-model based feedback control of the Modified Hasegawa-Wakatani equations

    NASA Astrophysics Data System (ADS)

    Goumiri, Imene; Rowley, Clarence; Ma, Zhanhua; Gates, David; Parker, Jeffrey; Krommes, John

    2012-10-01

    In this study, we demonstrate the development of model-based feedback control for stabilization of an unstable equilibrium obtained in the Modified Hasegawa-Wakatani (MHW) equations, a classic model in plasma turbulence. First, a balanced truncation is applied; a model reduction technique that has been proved successful in flow control design problems, to obtain a low dimensional model of the linearized MHW equation. A model-based feedback controller is then designed for the reduced order model using linear quadratic regulators (LQR) then a linear quadratic gaussian (LQG) control. The controllers are then applied on the original linearized and nonlinear MHW equations to stabilize the equilibrium and suppress the transition to drift-wave induced turbulences.

  10. Support surface related changes in feedforward and feedback control of standing posture

    PubMed Central

    Mohapatra, Sambit; Kukkar, Komal K.; Aruin, Alexander S.

    2013-01-01

    The aim of the study was to investigate the effect of different support surfaces on feedforward and feedback components of postural control. Nine healthy subjects were exposed to external perturbations applied to their shoulders while standing on a rigid platform, foam, and wobble board with eyes open or closed. Electrical activity of nine trunk and leg muscles and displacements of the center of pressure were recorded and analyzed during the time frames typical of feedforward and feedback postural adjustments. Feedforward control of posture was characterized by earlier activation of anterior muscles when the subjects stood on foam compared to a wobble board or a firm surface. In addition, the magnitude of feedforward muscle activity was the largest when the foam was used. During the feedback control, anterior muscles were activated prior to posterior muscles irrespective of the nature of surface. Moreover, the largest muscle activity was seen when the supporting surface was foam. Maximum CoP displacement occurred when subjects were standing on a rigid surface. Altering support surface affects both feedforward and feedback components of postural control. This information should be taken into consideration in planning rehabilitation interventions geared towards improvement of balance. PMID:24268589

  11. Plasma luminescence feedback control system for precise ultrashort pulse laser tissue ablation

    SciTech Connect

    Kim, B.M.; Feit, M.D.; Rubenchick, A.M.; Gold, D.M.; Darrown, C.B.; Da Silva, L.B.

    1998-01-01

    Plasma luminescence spectroscopy was used for precise ablation of bone tissue without damaging nearby soft tissue using ultrashort pulse laser (USPL). Strong contrast of the luminescence spectra between bone marrow and spinal cord provided the real time feedback control so that only bone tissue can be selectively ablated while preserving the spinal cord.

  12. Efficacy of Web-Based Personalized Normative Feedback: A Two-Year Randomized Controlled Trial

    ERIC Educational Resources Information Center

    Neighbors, Clayton; Lewis, Melissa A.; Atkins, David C.; Jensen, Megan M.; Walter, Theresa; Fossos, Nicole; Lee, Christine M.; Larimer, Mary E.

    2010-01-01

    Objective: Web-based brief alcohol interventions have the potential to reach a large number of individuals at low cost; however, few controlled evaluations have been conducted to date. The present study was designed to evaluate the efficacy of gender-specific versus gender-nonspecific personalized normative feedback (PNF) with single versus…

  13. Suppression and Feedback Control of Anomalous Induced Backscattering by Pump-Frequency Modulation

    SciTech Connect

    Arkhipenko, V. I.; Simonchik, L. V.; Truhachev, F. M.; Gusakov, E. Z.

    2008-10-24

    The possibility of induced backscattering parametric decay instability resonant suppression by harmonic pump-frequency modulation is demonstrated experimentally. It is shown that the pump anomalous reflection is strongly reduced at the modulation frequency equal to the difference of the decay instability eigenfrequencies. The parametric instability feedback control method is proposed based on this effect.

  14. How Predictive Is Grip Force Control in the Complete Absence of Somatosensory Feedback?

    ERIC Educational Resources Information Center

    Nowak, Dennis A.; Glasauer, Stefan; Hermsdorfer, Joachim

    2004-01-01

    Grip force control relies on accurate internal models of the dynamics of our motor system and the external objects we manipulate. Internal models are not fixed entities, but rather are trained and updated by sensory experience. Sensory feedback signals relevant object properties and mechanical events, e.g. at the skin-object interface, to modify…

  15. Feedback/feedforward control of hysteresis-compensated piezoelectric actuators for high-speed scanning applications

    NASA Astrophysics Data System (ADS)

    Liu, Yanfang; Shan, Jinjun; Gabbert, Ulrich

    2015-01-01

    This paper presents the control system design for a piezoelectric actuator (PEA) for a high-speed trajectory scanning application. First nonlinear hysteresis is compensated for by using the Maxwell resistive capacitor model. Then the linear dynamics of the hysteresis-compensated piezoelectric actuator are identified. A proportional plus integral (PI) controller is designed based on the linear system, enhanced by feedforward hysteresis compensation. It is found that the feedback controller does not always improve tracking accuracy. When the input frequency exceeds a certain value, feedforward control only may result in better control performance. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

  16. Communication analysis for feedback control of civil infrastructure using cochlea-inspired sensing nodes

    NASA Astrophysics Data System (ADS)

    Peckens, Courtney A.; Cook, Ireana; Lynch, Jerome P.

    2016-04-01

    Wireless sensor networks (WSNs) have emerged as a reliable, low-cost alternative to the traditional wired sensing paradigm. While such networks have made significant progress in the field of structural monitoring, significantly less development has occurred for feedback control applications. Previous work in WSNs for feedback control has highlighted many of the challenges of using this technology including latency in the wireless communication channel and computational inundation at the individual sensing nodes. This work seeks to overcome some of those challenges by drawing inspiration from the real-time sensing and control techniques employed by the biological central nervous system and in particular the mammalian cochlea. A novel bio-inspired wireless sensor node was developed that employs analog filtering techniques to perform time-frequency decomposition of a sensor signal, thus encompassing the functionality of the cochlea. The node then utilizes asynchronous sampling of the filtered signal to compress the signal prior to communication. This bio-inspired sensing architecture is extended to a feedback control application in order to overcome the traditional challenges currently faced by wireless control. In doing this, however, the network experiences high bandwidths of low-significance information exchange between nodes, resulting in some lost data. This study considers the impact of this lost data on the control capabilities of the bio-inspired control architecture and finds that it does not significantly impact the effectiveness of control.

  17. Control of pattern formation by time-delay feedback with global and local contributions

    NASA Astrophysics Data System (ADS)

    Stich, Michael; Beta, Carsten

    2010-09-01

    We consider the suppression of spatiotemporal chaos in the complex Ginzburg-Landau equation by a combined global and local time-delay feedback. Feedback terms are implemented as a control scheme, i.e., they are proportional to the difference between the time-delayed state of the system and its current state. We perform a linear stability analysis of uniform oscillations with respect to space-dependent perturbations and compare with numerical simulations. Similarly, for the fixed-point solution that corresponds to amplitude death in the spatially extended system, a linear stability analysis with respect to space-dependent perturbations is performed and complemented by numerical simulations.

  18. Polarisation control through an optical feedback technique and its application in precise measurements

    PubMed Central

    Chen, Wenxue; Zhang, Shulian; Long, Xingwu

    2013-01-01

    We present an anisotropic optical feedback technique for controlling light polarisation. The technique is based on the principle that the effective gain of a light mode is modulated by the magnitude of the anisotropic feedback. A new physical model that integrates Lamb's semi-classical theory and a model of the equivalent cavity of a Fabry-Perot interferometer is developed to reveal the physical nature of this technique. We use this technique to measure the phase retardation, optical axis, angle, thickness and refractive index with a high precision of λ/1380, 0.01°, 0.002°, 59 nm and 0.0006, respectively. PMID:23771164

  19. Optimal feedback control of two-qubit entanglement in dissipative environments

    NASA Astrophysics Data System (ADS)

    Rafiee, Morteza; Nourmandipour, Alireza; Mancini, Stefano

    2016-07-01

    We study the correction of errors intervening in two qubits dissipating into their own environments. This is done by resorting to local feedback actions with the aim of preserving as much as possible the initial amount of entanglement. Optimal control is found first by gaining insights from the subsystem purity and then by numerical analysis on the concurrence. This is tantamount to a double optimization on the actuation and on the measurement processes. Repeated feedback action is also investigated, thus paving the way for a continuous-time formulation and a solution of the problem.

  20. Using Spontaneous Emission of a Qubit as a Resource for Feedback Control

    NASA Astrophysics Data System (ADS)

    Campagne-Ibarcq, P.; Jezouin, S.; Cottet, N.; Six, P.; Bretheau, L.; Mallet, F.; Sarlette, A.; Rouchon, P.; Huard, B.

    2016-08-01

    Persistent control of a transmon qubit is performed by a feedback protocol based on continuous heterodyne measurement of its fluorescence. By driving the qubit and cavity with microwave signals whose amplitudes depend linearly on the instantaneous values of the quadratures of the measured fluorescence field, we show that it is possible to stabilize permanently the qubit in any targeted state. Using a Josephson mixer as a phase-preserving amplifier, it was possible to reach a total measurement efficiency η =35 %, leading to a maximum of 59% of excitation and 44% of coherence for the stabilized states. The experiment demonstrates multiple-input multiple-output analog Markovian feedback in the quantum regime.

  1. An artificial intelligence approach to accelerator control systems

    SciTech Connect

    Schultz, D.E.; Hurd, J.W.; Brown, S.K.

    1987-01-01

    An experiment was recently started at LAMPF to evaluate the power and limitations of using artificial intelligence techniques to solve problems in accelerator control and operation. A knowledge base was developed to describe the characteristics and the relationships of the first 30 devices in the LAMPF H+ beam line. Each device was categorized and pertinent attributes for each category defined. Specific values were assigned in the knowledge base to represent each actual device. Relationships between devices are modeled using the artificial intelligence techniques of rules, active values, and object-oriented methods. This symbolic model, built using the Knowledge Engineering Environment (KEE) system, provides a framework for analyzing faults, tutoring trainee operators, and offering suggestions to assist in beam tuning. Based on information provided by the domain expert responsible for tuning this portion of the beam line, additional rules were written to describe how he tunes, how he analyzes what is actually happening, and how he deals with failures. Initial results have shown that artificial intelligence techniques can be a useful adjunct to traditional methods of numerical simulation. Successful and efficient operation of future accelerators may depend on the proper merging of symbolic reasoning and conventional numerical control algorithms.

  2. The BASL Polarity Protein Controls a MAPK Signaling Feedback Loop in Asymmetric Cell Division

    PubMed Central

    Zhang, Ying; Wang, Pengcheng; Shao, Wanchen; Zhu, Jian-Kang; Dong, Juan

    2015-01-01

    SUMMARY Cell polarization is linked to fate determination during asymmetric division of plant stem cells, but the underlying molecular mechanisms remain unknown. In Arabidopsis, BREAKING OF ASYMMETRY IN THE STOMATAL LINEAGE (BASL) is polarized to control stomatal asymmetric division. A MITOGEN-ACTIVATED PROTEIN KINASE (MAPK) cascade determines terminal stomatal fate by promoting the degradation of the lineage determinant SPEECHLESS (SPCH). Here we demonstrate that a positive feedback loop between BASL and the MAPK pathway constitutes a polarity module at the cortex. Cortical localization of BASL requires phosphorylation mediated by MPK3/6. Phosphorylated BASL functions as a scaffold and recruits the MAPKKK YODA and MPK3/6 to spatially concentrate signaling at the cortex. Activated MPK3/6 reinforces the feedback loop by phosphorylating BASL, and inhibits stomatal fate by phosphorylating SPCH. Polarization of the BASL-MAPK signaling feedback module represents a mechanism connecting cell polarity to fate differentiation during asymmetric stem cell division in plants. PMID:25843888

  3. Feasibility of a feedback control of atomic self-organization in an optical cavity

    SciTech Connect

    Ivanov, D. A. Ivanova, T. Yu.

    2015-08-15

    Many interesting nonlinear effects are based on the strong interaction of motional degrees of freedom of atoms with an optical cavity field. Among them is the spatial self-organization of atoms in a pattern where the atoms group in either odd or even sites of the cavity-induced optical potential. An experimental observation of this effect can be simplified by using, along with the original cavity-induced feedback, an additional electronic feedback based on the detection of light leaking the cavity and the control of the optical potential for the atoms. Following our previous study, we show that this approach is more efficient from the laser power perspective than the original scheme without the electronic feedback.

  4. Programming generality into a performance feedback writing intervention: A randomized controlled trial.

    PubMed

    Hier, Bridget O; Eckert, Tanya L

    2016-06-01

    Substantial numbers of students in the United States are performing below grade-level expectations in core academic areas, and these deficits are most pronounced in the area of writing. Although performance feedback procedures have been shown to produce promising short-term improvements in elementary-aged students' writing skills, evidence of maintenance and generalization of these intervention effects is limited. The purpose of this study was to examine the immediate, generalized, and sustained effects of incorporating multiple exemplar training into the performance feedback procedures of a writing intervention using a randomized controlled trial (RCT). Results indicated that although the addition of multiple exemplar training did not improve students' writing performance on measures of stimulus and response generalization, it did result in greater maintenance of intervention effects in comparison to students who received performance feedback without generality programming and students who engaged in weekly writing practice alone.

  5. Computer control of large accelerators design concepts and methods

    SciTech Connect

    Beck, F.; Gormley, M.

    1984-05-01

    Unlike most of the specialities treated in this volume, control system design is still an art, not a science. These lectures are an attempt to produce a primer for prospective practitioners of this art. A large modern accelerator requires a comprehensive control system for commissioning, machine studies and day-to-day operation. Faced with the requirement to design a control system for such a machine, the control system architect has a bewildering array of technical devices and techniques at his disposal, and it is our aim in the following chapters to lead him through the characteristics of the problems he will have to face and the practical alternatives available for solving them. We emphasize good system architecture using commercially available hardware and software components, but in addition we discuss the actual control strategies which are to be implemented since it is at the point of deciding what facilities shall be available that the complexity of the control system and its cost are implicitly decided. 19 references.

  6. Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator

    PubMed Central

    Ayvali, Elif; Desai, Jaydev P.

    2013-01-01

    This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories. PMID:24791130

  7. Adaptive femtosecond control using feedback from three-dimensional momentum images

    NASA Astrophysics Data System (ADS)

    Wells, E.

    2011-05-01

    Shaping ultrafast laser pulses using adaptive feedback is a proven technique for manipulating dynamics in molecular systems with no readily apparent control mechanism. Commonly employed feedback signals include fluorescence or ion yield, which may not uniquely identify the final state. Raw velocity map images, which contain a two-dimensional representation of the full three-dimensional photofragment momentum vector, are a more specific feedback source. The raw images, however, are limited by an azimuthal ambiguity which is usually removed in offline processing. By implementing a rapid inversion procedure based upon the onion-peeling technique, we are able to incorporate three-dimensional momentum information directly into the adaptive control loop. This method enables more targeted control experiments. Two examples are used to demonstrate the utility of this feedback. First, double ionization of CO produces C+ and O+ fragments ejected both perpendicular and parallel to the laser polarization with kinetic energy release of ~6 eV. Both suppression and enhancement of the perpendicular transitions relative to the parallel transitions are demonstrated. Second, double ionization of acetylene can lead to both HCCH2+ and HHCC2+ isomers. We select between these outcomes using the angular information contained in the CH+ and CH2+images. Supported by National Science Foundation award PHY-0969687 and the Chemical Sciences, Geosciences, and Biosciences Division, Office of Basic Energy Science, Office of Science, US Department of Energy.

  8. A simplified adaptive neural network prescribed performance controller for uncertain MIMO feedback linearizable systems.

    PubMed

    Theodorakopoulos, Achilles; Rovithakis, George A

    2015-03-01

    In this paper, the problem of deriving a continuous, state-feedback controller for a class of multiinput multioutput feedback linearizable systems is considered with special emphasis on controller simplification and reduction of the overall design complexity with respect to the current state of the art. The proposed scheme achieves prescribed bounds on the transient and steady-state performance of the output tracking errors despite the uncertainty in system nonlinearities. Contrary to the current state of the art, however, only a single neural network is utilized to approximate a scalar function that partly incorporates the system nonlinearities. Furthermore, the loss of model controllability problem, typically introduced owing to approximation model singularities, is avoided without attaching additional complexity to the control or adaptive law. Simulations are performed to verify and clarify the theoretical findings.

  9. Robust H∞ output-feedback control for path following of autonomous ground vehicles

    NASA Astrophysics Data System (ADS)

    Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

    2016-03-01

    This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

  10. Stability of a double inverted pendulum model during human quiet stance with continuous delay feedback control.

    PubMed

    Suzuki, Yasuyuki; Nomura, Taishin; Morasso, Pietro

    2011-01-01

    Recent debate about neural mechanisms for stabilizing human upright quiet stance focuses on whether the active and time delay neural feedback control generating muscle torque is continuous or intermittent. A single inverted pendulum controlled by the active torque actuating the ankle joint has often been used for the debate on the presumption of well-known ankle strategy hypothesis claiming that the upright quiet stance can be stabilized mostly by the ankle torque. However, detailed measurements are showing that the hip joint angle exhibits amount of fluctuations comparable with the ankle joint angle during natural postural sway. Here we analyze a double inverted pendulum model during human quiet stance to demonstrate that the conventional proportional and derivative delay feedback control, i.e., the continuous delay PD control with gains in the physiologically plausible range is far from adequate as the neural mechanism for stabilizing human upright quiet stance. PMID:22256061

  11. Closed loop control of dielectric elastomer actuators based on self-sensing displacement feedback

    NASA Astrophysics Data System (ADS)

    Rizzello, G.; Naso, D.; York, A.; Seelecke, S.

    2016-03-01

    This paper describes a sensorless control algorithm for a positioning system based on a dielectric elastomer actuator (DEA). The voltage applied to the membrane and the resulting current can be measured during the actuation and used to estimate its displacement, i.e., to perform self-sensing. The estimated displacement can be then used as a feedback signal for a position control algorithm, which results in a compact device capable of operating in closed loop control without the need for additional electromechanical or optical transducers. In this work, a circular DEA preloaded with a bi-stable spring is used as a case of study to validate the proposed control architecture. A comparison of the closed loop performance achieved using an accurate laser displacement sensor for feedback is also provided to better assess the performance limitations of the overall sensorless scheme.

  12. Proof of quasi-adaptivity for the m-measurement feedback class of stochastic control policies

    NASA Technical Reports Server (NTRS)

    Bayard, David S.

    1987-01-01

    Bounds on expected performance are established which show that the m-measurement feedback (mM) policy for nonlinear stochastic control performs as well or better than the open-loop optimal control policy, and thus is quasi-adaptive in the sense of Witenhausen (1966). The chain of performance inequalities indicate a tendency for the mM policy performance to improve with increasing m. It is suggested that the present analytical method, based on the construction of artificial control sequences denoted as utility controls, can be used to establish performance bounds on other well-known policies, avoiding the extensive Monte Carlo simulations necessary in comparing stochastic control policies.

  13. Turbulent Drag Reduction: Studies of Feedback Control and Flow Over Riblets

    NASA Astrophysics Data System (ADS)

    Choi, Haecheon

    The objective of this study is to explore concepts for control of turbulent boundary layers leading to skin -friction reduction using the direct numerical simulation technique. This report is divided into three parts where three different control methods are investigated; a passive control by longitudinal riblets, an active control by sensing and perturbing structures near the wall, and a feedback control procedure guided by control theory. In PART I significant drag reduction is achieved when the surface boundary condition is modified to suppress the dynamically significant coherent structures present in the wall region. The drag reduction is accompanied with significant reduction in the intensity of the wall -layer structures and reductions in the magnitude of Reynolds shear stress throughout the flow. Two essential drag reduction mechanisms are presented. In PART II mathematical methods of control theory are applied to the problem of control of fluid flow. The procedure of how to cast the problem of controlling turbulence into a problem in optimal control theory is presented through the formalism and language of control theory. Then a suboptimal control and feedback procedure are presented using methods of calculus of variations through the adjoint state and gradient algorithms. This suboptimal feedback control procedure is applied to the distributed and boundary controls of the stochastic Burgers equation. Most cases considered show significant reductions of the costs. In PART III direct numerical simulation is performed to analyze turbulent flow over longitudinal riblets, and to educe the mechanism of drag reduction by riblets. The computed drags on the riblet surfaces are in good agreement with the existing experimental data. Differences in the mean-velocity profile and turbulence quantities are found to be limited to the inner region of the boundary layer. Velocity and vorticity fluctuations as well as the Reynolds shear stresses above the riblets are

  14. Projective lag synchronization in drive-response dynamical networks via hybrid feedback control

    NASA Astrophysics Data System (ADS)

    Al-Mahbashi, Ghada; Noorani, Mohd Salmi Md; Bakar, Sakhinah Abu

    2015-09-01

    This paper investigates projective lag synchronization (PLS) behavior in drive-response dynamical networks (DRDNs) model with non-identical reference node. Based on Lyapunov stability theory and hybrid feedback control method the problem of PLS with mismatch terms is solved. Finally, analytical results show that the states of the dynamical network with non-delayed coupling can be asymptotically synchronized onto a desired scaling factor under the designed controller. Moreover, the numerical simulations results demonstrate the validity of the proposed method.

  15. Modeling, analysis and control of effects of the electrical feedbacks on PSOFC power conditioning system

    NASA Astrophysics Data System (ADS)

    Pradhan, Sanjaya Kumar

    To resolve the interaction among various subsystems (power electronics subsystem (PES), balance of plant subsystem (BOPS), PSOFC stack, and the application load) of the PSOFC power conditioning system, a hierarchical modeling framework for the PSOFC PCS is designed, with comprehensive and reduced-order component models of the subsystems. The accuracy of the model predictions are verified experimentally both in the steady state and during the transients. A detailed parametric study of various electrical feedback effects such as the load transients, low frequency ripple, load harmonics and power factor are conducted to investigate their impacts on the PSOFC PCS. The no-load to full-load transient is found to be detrimental to the PSOFC performance. The thermal analysis predicts an increase in the failure probability of the electrolyte. Again, the load transients found to degrade the efficiency of the stack in the long run. Therefore, the degrading impacts of load transients need to be alleviated using a suitable energy buffering technique. The higher ripple magnitude in the stack current lowers the available power from the stack, as well as the stack efficiency. In the long term, the ripple current accelerates the degradation of the ASR, which also deteriorates the performance of the stack. The magnitude of this ripple is found to be depend on the power factor and the harmonic contents in the load. An efficient and cost-effective fuel cell power-conditioning system, based on reconfigurable and distributed multi-converter power electronics architecture, is designed to alleviate the impact of load transients on the fuel cell stack. The distributed PES minimizes the PES cost by reduction in the redundancy of the converters by selective connection of individual modules to the sources (the battery or the fuel cell stack). The PES maximizes its efficiency using an optimal power sharing strategy. The hierarchical power management strategy optimizes the control parameters of

  16. Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot

    PubMed Central

    Tidoni, Emmanuele; Gergondet, Pierre; Kheddar, Abderrahmane; Aglioti, Salvatore M.

    2014-01-01

    Advancement in brain computer interfaces (BCI) technology allows people to actively interact in the world through surrogates. Controlling real humanoid robots using BCI as intuitively as we control our body represents a challenge for current research in robotics and neuroscience. In order to successfully interact with the environment the brain integrates multiple sensory cues to form a coherent representation of the world. Cognitive neuroscience studies demonstrate that multisensory integration may imply a gain with respect to a single modality and ultimately improve the overall sensorimotor performance. For example, reactivity to simultaneous visual and auditory stimuli may be higher than to the sum of the same stimuli delivered in isolation or in temporal sequence. Yet, knowledge about whether audio-visual integration may improve the control of a surrogate is meager. To explore this issue, we provided human footstep sounds as audio feedback to BCI users while controlling a humanoid robot. Participants were asked to steer their robot surrogate and perform a pick-and-place task through BCI-SSVEPs. We found that audio-visual synchrony between footsteps sound and actual humanoid's walk reduces the time required for steering the robot. Thus, auditory feedback congruent with the humanoid actions may improve motor decisions of the BCI's user and help in the feeling of control over it. Our results shed light on the possibility to increase robot's control through the combination of multisensory feedback to a BCI user. PMID:24987350

  17. Contact force measurement of instruments for force-feedback on a surgical robot: acceleration force cancellations based on acceleration sensor readings.

    PubMed

    Shimachi, Shigeyuki; Kameyama, Fumie; Hakozaki, Yoshihide; Fujiwara, Yasunori

    2005-01-01

    For delicate operations conducted using surgical robot systems, surgeons need to receive information regarding the contact forces on the tips of surgical instruments. For the detection of this contact force, one of the authors previously proposed a new method, called the overcoat method, in which the instrument is supported by sensors positioned on the overcoat pipe. This method requires cancellation of the acceleration forces of the instrument/holder attached to the overcoat sensor. In the present report, the authors attempt to use acceleration sensors to obtain the acceleration forces of the instrument/holder. The new cancellation method provides a force-detection accuracy of approximately 0.05-0.1 N for a dynamic response range of up to approximately 20 Hz, compared to approximately 1 Hz, which was achieved by using acceleration forces based on the theoretical robot motion.

  18. A Framework for a General Purpose Intelligent Control System for Particle Accelerators. Phase II Final Report

    SciTech Connect

    Dr. Robert Westervelt; Dr. William Klein; Dr. Michael Kroupa; Eric Olsson; Rick Rothrock

    1999-06-28

    Vista Control Systems, Inc. has developed a portable system for intelligent accelerator control. The design is general in scope and is thus configurable to a wide range of accelerator facilities and control problems. The control system employs a multi-layer organization in which knowledge-based decision making is used to dynamically configure lower level optimization and control algorithms.

  19. Tailorable software architectures in the accelerator control system environment

    NASA Astrophysics Data System (ADS)

    Mejuev, Igor; Kumagai, Akira; Kadokura, Eiichi

    2001-08-01

    Tailoring is further evolution of an application after deployment in order to adapt it to requirements that were not accounted for in the original design. End-user tailorability has been extensively researched in applied computer science from HCl and software engineering perspectives. Tailorability allows coping with flexibility requirements, decreasing maintenance and development costs of software products. In general, dynamic or diverse software requirements constitute the need for implementing end-user tailorability in computer systems. In accelerator physics research the factor of dynamic requirements is especially important, due to frequent software and hardware modifications resulting in correspondingly high upgrade and maintenance costs. In this work we introduce the results of feasibility study on implementing end-user tailorability in the software for accelerator control system, considering the design and implementation of distributed monitoring application for 12 GeV KEK Proton Synchrotron as an example. The software prototypes used in this work are based on a generic tailoring platform (VEDICI), which allows decoupling of tailoring interfaces and runtime components. While representing a reusable application-independent framework, VEDICI can be potentially applied for tailoring of arbitrary compositional Web-based applications.

  20. Improving doctors' prescribing behaviour through reflection on guidelines and prescription feedback: a randomised controlled study

    PubMed Central

    Lagerlov, P.; Loeb, M.; Andrew, M.; Hjortdahl, P.

    2000-01-01

    Background—It is difficult to put research findings into clinical practice by either guidelines or prescription feedback. Aim—To study the effect on the quality of prescribing by a combined intervention of providing individual feedback and deriving quality criteria using guideline recommendations in peer review groups. Methods—199 general practitioners in 32 groups were randomised to participate in peer review meetings related to either asthma or urinary tract infections. The dispensing by the participating doctors of antiasthmatic drugs and antibiotics during the year before the intervention period provided the basis for prescription feedback. The intervention feedback was designed to describe the treatment given in relation to recommendations in the national guidelines. In each group the doctors agreed on quality criteria for their own treatment of the corresponding diseases based on these recommendations. Comparison of their prescription feedback with their own quality criteria gave each doctor the proportion of acceptable and unacceptable treatments. Main outcome measure—Difference in the prescribing behaviour between the year before and the year after the intervention. Results—Before intervention the mean proportions of acceptably treated asthma patients in the asthma group and urinary tract infection (control) group were 28% and 27%, respectively. The mean proportion of acceptably treated patients in the asthma group was increased by 6% relative to the control group; this difference was statistically significant. The mean proportions of acceptable treatments of urinary tract infection before intervention in the urinary tract infection group and asthma (control) group were 12% for both groups which increased by 13% in the urinary tract infection group relative to the control group. Relative to the mean pre-intervention values this represented an improvement in treatment of 21% in the asthma group and 108% in the urinary tract infection group